Method Initialize

DynamicsB2JointWeld.go:123–129

Point-to-point constraint C = p2 - p1 Cdot = v2 - v1 = v2 + cross(w2, r2) - v1 - cross(w1, r1) J = [-I -r1_skew I r2_skew ] Identity used: w k % (rx i + ry j) = w * (-ry i + rx j) Angle constraint C = angle2 - angle1 - referenceAngle Cdot = w2 - w1 J = [0 0 -1 0 0 1] K = invI1 + invI2

(bA *B2Body, bB *B2Body, anchor B2Vec2)

// // K = invI1 + invI2

func (def *B2WeldJointDef) Initialize(bA *B2Body, bB *B2Body, anchor B2Vec2) {
	def.BodyA = bA
	def.BodyB = bB
	def.LocalAnchorA = def.BodyA.GetLocalPoint(anchor)
	def.LocalAnchorB = def.BodyB.GetLocalPoint(anchor)
	def.ReferenceAngle = def.BodyB.GetAngle() - def.BodyA.GetAngle()
}

func MakeB2WeldJoint(def *B2WeldJointDef) *B2WeldJoint {
	res := B2WeldJoint{