public static SimplePart WhoControlsJoint(SimplePart sp1, SimplePart sp2)
{
if (sp1 is Membrane m1 && sp2 is Membrane m2)
{
// sp1 is the default controller if niether has an actual joint
if (GetJoint(sp2, sp1) == null)
{
return(sp1);
}
else
{
return(sp2);
}
}
if (sp1.JointDesire(sp2) > sp2.JointDesire(sp1))
{
return(sp1);
}
else if (sp1.JointDesire(sp2) == sp2.JointDesire(sp1))
{
// If same desire, choose arbitrariliy but consistently.
return(sp1.GetInstanceID() < sp2.GetInstanceID() ? sp1 : sp2);
}
else
{
return(sp2);
}
}
