/// Initialize the bodies, anchors, axis, and reference angle using the world /// anchor and world axis. public void Initialize(Body b1, Body b2, Vector2 anchor, Vector2 axis) { body1 = b1; body2 = b2; localAnchor1 = body1.GetLocalPoint(anchor); localAnchor2 = body2.GetLocalPoint(anchor); localAxis1 = body1.GetLocalVector(axis); }