public DistanceJoint(IWorldPool argWorld, DistanceJointDef def) : base(argWorld, def)
{
m_localAnchorA = def.localAnchorA.clone();
m_localAnchorB = def.localAnchorB.clone();
m_length = def.length;
m_impulse = 0.0d;
m_frequencyHz = def.frequencyHz;
m_dampingRatio = def.dampingRatio;
m_gamma = 0.0d;
m_bias = 0.0d;
}
public ConstantVolumeJoint(World argWorld, ConstantVolumeJointDef def) : base(argWorld.getPool(), def)
{
world = argWorld;
if (def.bodies.Count <= 2)
{
throw new ArgumentException(
"You cannot create a constant volume joint with less than three bodies.");
}
bodies = def.bodies.ToArray();
targetLengths = new double[bodies.Length];
for (int i = 0; i < targetLengths.Length; ++i)
{
int next = (i == targetLengths.Length - 1) ? 0 : i + 1;
double dist = bodies[i].getWorldCenter().sub(bodies[next].getWorldCenter()).length();
targetLengths[i] = dist;
}
targetVolume = getBodyArea();
if (def.joints != null && def.joints.Count != def.bodies.Count)
{
throw new ArgumentException(
"Incorrect joint definition. Joints have to correspond to the bodies");
}
if (def.joints == null)
{
var djd = new DistanceJointDef();
distanceJoints = new DistanceJoint[bodies.Length];
for (int i = 0; i < targetLengths.Length; ++i)
{
int next = (i == targetLengths.Length - 1) ? 0 : i + 1;
djd.frequencyHz = def.frequencyHz; // 20.0d;
djd.dampingRatio = def.dampingRatio; // 50.0d;
djd.collideConnected = def.collideConnected;
djd.initialize(bodies[i], bodies[next], bodies[i].getWorldCenter(),
bodies[next].getWorldCenter());
distanceJoints[i] = (DistanceJoint)world.createJoint(djd);
}
}
else
{
distanceJoints = def.joints.ToArray();
}
normals = new Vec2[bodies.Length];
for (int i = 0; i < normals.Length; ++i)
{
normals[i] = new Vec2();
}
}