/// <summary>
/// Initializes a new instance of the <see cref="PulleyJoint" /> class
/// </summary>
/// <param name="def">The def</param>
public PulleyJoint(PulleyJointDef def)
: base(def)
{
Ground = Body1.GetWorld().GetGroundBody();
GroundAnchor1 = def.GroundAnchor1 - Ground.GetXForm().Position;
GroundAnchor2 = def.GroundAnchor2 - Ground.GetXForm().Position;
LocalAnchor1 = def.LocalAnchor1;
LocalAnchor2 = def.LocalAnchor2;
Box2DxDebug.Assert(def.Ratio != 0.0f);
Ratio = def.Ratio;
Constant = def.Length1 + Ratio * def.Length2;
MaxLength1 = Math.Min(def.MaxLength1, Constant - Ratio * MinPulleyLength);
MaxLength2 = Math.Min(def.MaxLength2, (Constant - MinPulleyLength) / Ratio);
Impulse = 0.0f;
LimitImpulse1 = 0.0f;
LimitImpulse2 = 0.0f;
}