internal PrismaticJoint(PrismaticJointDef def)
: base(def)
{
LocalAnchorA = def.LocalAnchorA;
LocalAnchorB = def.LocalAnchorB;
LocalXAxisA = def.LocalAxisA;
LocalXAxisA.Normalize();
LocalYAxisA = MathUtils.Cross(1.0f, LocalXAxisA);
ReferenceAngle = def.ReferenceAngle;
_impulse.SetZero();
_axialMass = 0.0f;
_motorImpulse = 0.0f;
_lowerImpulse = 0.0f;
_upperImpulse = 0.0f;
_lowerTranslation = def.LowerTranslation;
_upperTranslation = def.UpperTranslation;
Debug.Assert(_lowerTranslation <= _upperTranslation);
_maxMotorForce = def.MaxMotorForce;
_motorSpeed = def.MotorSpeed;
_enableLimit = def.EnableLimit;
_enableMotor = def.EnableMotor;
_translation = 0.0f;
_axis.SetZero();
_perp.SetZero();
}
