/// <summary> Reconfigure this joint
///
/// </summary>
/// <param name="b1">The first body attached to this joint
/// </param>
/// <param name="b2">The second body attached to this joint
/// </param>
/// <param name="anchor">The static anchor point between the joints
/// </param>
public virtual void Reconfigure(Body b1, Body b2, Vector2f anchor)
{
body1 = b1;
body2 = b2;
Matrix2f rot1 = new Matrix2f(body1.Rotation);
Matrix2f rot2 = new Matrix2f(body2.Rotation);
Matrix2f rot1T = rot1.Transpose();
Matrix2f rot2T = rot2.Transpose();
Vector2f a1 = new Vector2f(anchor);
a1.Sub(body1.GetPosition());
localAnchor1 = MathUtil.Mul(rot1T, a1);
Vector2f a2 = new Vector2f(anchor);
a2.Sub(body2.GetPosition());
localAnchor2 = MathUtil.Mul(rot2T, a2);
accumulatedImpulse.Reconfigure(0.0f, 0.0f);
relaxation = 1.0f;
}
/// <summary> Reconfigure this joint
///
/// </summary>
/// <param name="b1">The first body attached to this joint
/// </param>
/// <param name="b2">The second body attached to this joint
/// </param>
/// <param name="anchor1">The location of the attachment to the first body, in absolute coordinates.
/// </param>
/// <param name="anchor2">The location of the attachment to the second body, in absolute coordinates.
/// </param>
public virtual void Reconfigure(Body b1, Body b2, ROVector2f anchor1, ROVector2f anchor2)
{
body1 = b1;
body2 = b2;
Matrix2f rot1 = new Matrix2f(body1.Rotation);
Matrix2f rot1T = rot1.Transpose();
Vector2f a1 = new Vector2f(anchor1);
a1.Sub(body1.GetPosition());
localAnchor1 = MathUtil.Mul(rot1T, a1);
Matrix2f rot2 = new Matrix2f(body2.Rotation);
Matrix2f rot2T = rot2.Transpose();
Vector2f a2 = new Vector2f(anchor2);
a2.Sub(body2.GetPosition());
localAnchor2 = MathUtil.Mul(rot2T, a2);
}
