/// Get the current joint translation speed, usually in meters per second.
public float GetJointSpeed()
{
Body b1 = _bodyA;
Body b2 = _bodyB;
Transform xf1, xf2;
b1.GetTransform(out xf1);
b2.GetTransform(out xf2);
Vector2 r1 = MathUtils.Multiply(ref xf1.R, _localAnchor1 - b1.GetLocalCenter());
Vector2 r2 = MathUtils.Multiply(ref xf2.R, _localAnchor2 - b2.GetLocalCenter());
Vector2 p1 = b1._sweep.c + r1;
Vector2 p2 = b2._sweep.c + r2;
Vector2 d = p2 - p1;
Vector2 axis = b1.GetWorldVector(_localxAxis1);
Vector2 v1 = b1._linearVelocity;
Vector2 v2 = b2._linearVelocity;
float w1 = b1._angularVelocity;
float w2 = b2._angularVelocity;
float speed = Vector2.Dot(d, MathUtils.Cross(w1, axis)) + Vector2.Dot(axis, v2 + MathUtils.Cross(w2, r2) - v1 - MathUtils.Cross(w1, r1));
return(speed);
}
/// Get the current joint translation, usually in meters.
public float GetJointTranslation()
{
Body b1 = _bodyA;
Body b2 = _bodyB;
Vector2 p1 = b1.GetWorldPoint(_localAnchor1);
Vector2 p2 = b2.GetWorldPoint(_localAnchor2);
Vector2 d = p2 - p1;
Vector2 axis = b1.GetWorldVector(_localxAxis1);
float translation = Vector2.Dot(d, axis);
return(translation);
}
/// Get the current joint translation, usually in meters.
public float GetJointTranslation()
{
Body bA = m_bodyA;
Body bB = m_bodyB;
Vec2 pA = bA.GetWorldPoint(m_localAnchorA);
Vec2 pB = bB.GetWorldPoint(m_localAnchorB);
Vec2 d = pB - pA;
Vec2 axis = bA.GetWorldVector(m_localXAxisA);
float translation = Utilities.Dot(d, axis);
return(translation);
}
