/// <summary>
/// Initialize the bodies, anchors, and reference angle using the world
/// anchor.
/// </summary>
public void Initialize(Body body1, Body body2, Vector2 anchor)
{
Body1 = body1;
Body2 = body2;
LocalAnchor1 = body1.GetLocalPoint(anchor);
LocalAnchor2 = body2.GetLocalPoint(anchor);
ReferenceAngle = body2.GetAngle() - body1.GetAngle();
}
public void Initialize(Body body1, Body body2, Vec2 anchor)
{
this.Body1 = body1;
this.Body2 = body2;
this.LocalAnchor1 = body1.GetLocalPoint(anchor);
this.LocalAnchor2 = body2.GetLocalPoint(anchor);
this.ReferenceAngle = body2.GetAngle() - body1.GetAngle();
}
public void Initialize(Body body1, Body body2, Vec2 anchor)
{
this.Body1 = body1;
this.Body2 = body2;
this.LocalAnchor1 = body1.GetLocalPoint(anchor);
this.LocalAnchor2 = body2.GetLocalPoint(anchor);
this.ReferenceAngle = body2.GetAngle() - body1.GetAngle();
}
private Vec2 CalcPoleEndPos(Body poleBody)
{
// Determine position of top of pole relative to its center of mass.
float angle = poleBody.GetAngle();
Vec2 polePosTopRelative = new Vec2(__ArmLength * (float)-SysMath.Sin(angle), __ArmLength * (float)SysMath.Cos(angle));
return poleBody.GetPosition() + (polePosTopRelative * 0.5f);
}
/// <summary>
/// Initialize the bodies, anchors, axis, and reference angle using the world
/// anchor and world axis.
/// </summary>
public void Initialize(Body body1, Body body2, Vector2 anchor, Vector2 axis)
{
Body1 = body1;
Body2 = body2;
LocalAnchor1 = body1.GetLocalPoint(anchor);
LocalAnchor2 = body2.GetLocalPoint(anchor);
LocalAxis1 = body1.GetLocalVector(axis);
ReferenceAngle = body2.GetAngle() - body1.GetAngle();
}