// Cache here per time step to reduce cache misses.
// Vec2 m_localCenterA, m_localCenterB;
// float m_invMassA, m_invIA;
// float m_invMassB, m_invIB;
protected Joint(IWorldPool worldPool, JointDef def)
{
Debug.Assert(def.bodyA != def.bodyB);
pool = worldPool;
m_type = def.type;
m_prev = null;
m_next = null;
m_bodyA = def.bodyA;
m_bodyB = def.bodyB;
m_collideConnected = def.collideConnected;
m_islandFlag = false;
m_userData = def.userData;
m_edgeA = new JointEdge();
m_edgeA.joint = null;
m_edgeA.other = null;
m_edgeA.prev = null;
m_edgeA.next = null;
m_edgeB = new JointEdge();
m_edgeB.joint = null;
m_edgeB.other = null;
m_edgeB.prev = null;
m_edgeB.next = null;
// m_localCenterA = new Vec2();
// m_localCenterB = new Vec2();
}
public static Joint create(World world, JointDef def)
{
switch (def.type)
{
case JointType.MOUSE:
return new MouseJoint(world.getPool(), (MouseJointDef)def);
case JointType.DISTANCE:
return new DistanceJoint(world.getPool(), (DistanceJointDef)def);
case JointType.PRISMATIC:
return new PrismaticJoint(world.getPool(), (PrismaticJointDef)def);
case JointType.REVOLUTE:
return new RevoluteJoint(world.getPool(), (RevoluteJointDef)def);
case JointType.WELD:
return new WeldJoint(world.getPool(), (WeldJointDef)def);
case JointType.FRICTION:
return new FrictionJoint(world.getPool(), (FrictionJointDef)def);
case JointType.WHEEL:
return new WheelJoint(world.getPool(), (WheelJointDef)def);
case JointType.GEAR:
return new GearJoint(world.getPool(), (GearJointDef)def);
case JointType.PULLEY:
return new PulleyJoint(world.getPool(), (PulleyJointDef) def);
case JointType.CONSTANT_VOLUME:
return new ConstantVolumeJoint(world, (ConstantVolumeJointDef)def);
case JointType.ROPE:
return new RopeJoint(world.getPool(), (RopeJointDef)def);
case JointType.MOTOR:
return new MotorJoint(world.getPool(), (MotorJointDef)def);
case JointType.UNKNOWN:
return null;
default:
return null;
}
}
/**
* create a joint to constrain bodies together. No reference to the definition is retained. This
* may cause the connected bodies to cease colliding.
*
* @warning This function is locked during callbacks.
* @param def
* @return
*/
public Joint createJoint(JointDef def)
{
Debug.Assert(isLocked() == false);
if (isLocked())
{
return null;
}
Joint j = Joint.create(this, def);
// Connect to the world list.
j.m_prev = null;
j.m_next = m_jointList;
if (m_jointList != null)
{
m_jointList.m_prev = j;
}
m_jointList = j;
++m_jointCount;
// Connect to the bodies' doubly linked lists.
j.m_edgeA.joint = j;
j.m_edgeA.other = j.getBodyB();
j.m_edgeA.prev = null;
j.m_edgeA.next = j.getBodyA().m_jointList;
if (j.getBodyA().m_jointList != null)
{
j.getBodyA().m_jointList.prev = j.m_edgeA;
}
j.getBodyA().m_jointList = j.m_edgeA;
j.m_edgeB.joint = j;
j.m_edgeB.other = j.getBodyA();
j.m_edgeB.prev = null;
j.m_edgeB.next = j.getBodyB().m_jointList;
if (j.getBodyB().m_jointList != null)
{
j.getBodyB().m_jointList.prev = j.m_edgeB;
}
j.getBodyB().m_jointList = j.m_edgeB;
Body bodyA = def.bodyA;
Body bodyB = def.bodyB;
// If the joint prevents collisions, then flag any contacts for filtering.
if (def.collideConnected == false)
{
ContactEdge edge = bodyB.getContactList();
while (edge != null)
{
if (edge.other == bodyA)
{
// Flag the contact for filtering at the next time step (where either
// body is awake).
edge.contact.flagForFiltering();
}
edge = edge.next;
}
}
// Note: creating a joint doesn't wake the bodies.
return j;
}