// Limit:
// C = norm(pB - pA) - L
// u = (pB - pA) / norm(pB - pA)
// Cdot = dot(u, vB + cross(wB, rB) - vA - cross(wA, rA))
// J = [-u -cross(rA, u) u cross(rB, u)]
// K = J * invM * JT
// = invMassA + invIA * cross(rA, u)^2 + invMassB + invIB * cross(rB, u)^2
internal RopeJoint(RopeJointDef def) : base(def)
{
m_localAnchorA = def.localAnchorA;
m_localAnchorB = def.localAnchorB;
m_maxLength = def.maxLength;
m_mass = 0.0f;
m_impulse = 0.0f;
m_state = LimitState.e_inactiveLimit;
m_length = 0.0f;
}
// Limit:
// C = norm(pB - pA) - L
// u = (pB - pA) / norm(pB - pA)
// Cdot = dot(u, vB + cross(wB, rB) - vA - cross(wA, rA))
// J = [-u -cross(rA, u) u cross(rB, u)]
// K = J * invM * JT
// = invMassA + invIA * cross(rA, u)^2 + invMassB + invIB * cross(rB, u)^2
internal RopeJoint(RopeJointDef def): base(def)
{
m_localAnchorA = def.localAnchorA;
m_localAnchorB = def.localAnchorB;
m_maxLength = def.maxLength;
m_mass = 0.0f;
m_impulse = 0.0f;
m_state = LimitState.e_inactiveLimit;
m_length = 0.0f;
}