// 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 Body(BodyDef bd, World world)
{
Debug.Assert(bd.position.isValid());
Debug.Assert(bd.linearVelocity.isValid());
Debug.Assert(bd.gravityScale >= 0.0f);
Debug.Assert(bd.angularDamping >= 0.0f);
Debug.Assert(bd.linearDamping >= 0.0f);
m_flags = 0;
if (bd.bullet)
{
m_flags |= BodyFlags.Bullet;
}
if (bd.fixedRotation)
{
m_flags |= BodyFlags.FixedRotation;
}
if (bd.allowSleep)
{
m_flags |= BodyFlags.AutoSleep;
}
if (bd.awake)
{
m_flags |= BodyFlags.Awake;
}
if (bd.active)
{
m_flags |= BodyFlags.Active;
}
m_world = world;
m_xf.p.set(bd.position);
m_xf.q.set(bd.angle);
m_sweep.localCenter.setZero();
m_sweep.c0.set(m_xf.p);
m_sweep.c.set(m_xf.p);
m_sweep.a0 = bd.angle;
m_sweep.a = bd.angle;
m_sweep.alpha0 = 0.0f;
m_jointList = null;
m_contactList = null;
m_prev = null;
m_next = null;
m_linearVelocity.set(bd.linearVelocity);
m_angularVelocity = bd.angularVelocity;
m_linearDamping = bd.linearDamping;
m_angularDamping = bd.angularDamping;
m_gravityScale = bd.gravityScale;
m_force.setZero();
m_torque = 0.0f;
m_sleepTime = 0.0f;
m_type = bd.type;
if (m_type == BodyType.DYNAMIC)
{
m_mass = 1f;
m_invMass = 1f;
}
else
{
m_mass = 0f;
m_invMass = 0f;
}
m_I = 0.0f;
m_invI = 0.0f;
m_userData = bd.userData;
m_fixtureList = null;
m_fixtureCount = 0;
}