internal PulleyJoint(IWorldPool argWorldPool, PulleyJointDef def)
: base(argWorldPool, def)
{
m_groundAnchorA.set(def.groundAnchorA);
m_groundAnchorB.set(def.groundAnchorB);
m_localAnchorA.set(def.localAnchorA);
m_localAnchorB.set(def.localAnchorB);
Debug.Assert(def.ratio != 0.0f);
m_ratio = def.ratio;
m_lengthA = def.lengthA;
m_lengthB = def.lengthB;
m_constant = def.lengthA + m_ratio*def.lengthB;
m_impulse = 0.0f;
}
public override void initTest(bool deserialized)
{
if (deserialized)
{
return;
}
float y = 16.0f;
float L = 12.0f;
float a = 1.0f;
float b = 2.0f;
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = getWorld().createBody(bd);
EdgeShape shape = new EdgeShape();
shape.set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.createFixture(shape, 0.0f);
CircleShape circle = new CircleShape();
circle.m_radius = 2.0f;
circle.m_p.set(-10.0f, y + b + L);
ground.createFixture(circle, 0.0f);
circle.m_p.set(10.0f, y + b + L);
ground.createFixture(circle, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.setAsBox(a, b);
BodyDef bd = new BodyDef();
bd.type = BodyType.DYNAMIC;
bd.position.set(-10.0f, y);
Body body1 = getWorld().createBody(bd);
body1.createFixture(shape, 5.0f);
bd.position.set(10.0f, y);
Body body2 = getWorld().createBody(bd);
body2.createFixture(shape, 5.0f);
PulleyJointDef pulleyDef = new PulleyJointDef();
Vec2 anchor1 = new Vec2(-10.0f, y + b);
Vec2 anchor2 = new Vec2(10.0f, y + b);
Vec2 groundAnchor1 = new Vec2(-10.0f, y + b + L);
Vec2 groundAnchor2 = new Vec2(10.0f, y + b + L);
pulleyDef.initialize(body1, body2, groundAnchor1, groundAnchor2, anchor1, anchor2, 2.0f);
m_joint1 = (PulleyJoint) getWorld().createJoint(pulleyDef);
}
}