/// Initialize the bodies, anchors, lengths, max lengths, and ratio using the world anchors.
public void Initialize(Body bodyA, Body bodyB,
Vec2 groundAnchorA, Vec2 groundAnchorB,
Vec2 anchorA, Vec2 anchorB,
float ratio)
{
BodyA = bodyA;
BodyB = bodyB;
_groundAnchorA = groundAnchorA;
_groundAnchorB = groundAnchorB;
_localAnchorA = bodyA.GetLocalPoint(anchorA);
_localAnchorB = bodyB.GetLocalPoint(anchorB);
Vec2 d1 = anchorA - groundAnchorA;
_lengthA = d1.Length();
Vec2 d2 = anchorB - groundAnchorB;
_lengthB = d2.Length();
_ratio = ratio;
if (!(ratio > float.Epsilon))
{
throw new ArgumentException("Ratio is too small");
}
float C = _lengthA + ratio * _lengthB;
_maxLengthA = C - ratio * b2_minPulleyLength;
_maxLengthB = (C - b2_minPulleyLength) / ratio;
}
/// Initialize the bodies, anchors, and length using the world
/// anchors.
public void Initialize(Body bodyA, Body bodyB,
Vec2 anchorA, Vec2 anchorB)
{
BodyA = bodyA;
BodyB = bodyB;
_localAnchorA = bodyA.GetLocalPoint(anchorA);
_localAnchorB = bodyB.GetLocalPoint(anchorB);
Vec2 d = anchorB - anchorA;
_length = d.Length();
}