/// <summary>
/// Gets the reaction torque using the specified inv dt
/// </summary>
/// <param name="invDt">The inv dt</param>
/// <returns>The float</returns>
public override float GetReactionTorque(float invDt)
{
// TODO_ERIN not tested
Vec2 r = Math.Mul(Body2.GetXForm().R, LocalAnchor2 - Body2.GetLocalCenter());
Vec2 p = Impulse * jacobian.Linear2;
float l = Impulse * jacobian.Angular2 - Vec2.Cross(r, p);
return(invDt * l);
}
/// <summary>
/// Initializes a new instance of the <see cref="MouseJoint" /> class
/// </summary>
/// <param name="def">The def</param>
public MouseJoint(MouseJointDef def)
: base(def)
{
Target = def.Target;
LocalAnchor = Math.MulT(Body2.GetXForm(), Target);
MaxForce = def.MaxForce;
Impulse.SetZero();
FrequencyHz = def.FrequencyHz;
DampingRatio = def.DampingRatio;
Beta = 0.0f;
Gamma = 0.0f;
}