Method CreateJoint

DynamicsB2World.go:278–335

(def B2JointDefInterface)

}

func (world *B2World) CreateJoint(def B2JointDefInterface) B2JointInterface {
	B2Assert(world.IsLocked() == false)
	if world.IsLocked() {
		return nil
	}

	j := B2JointCreate(def)

	// Connect to the world list.
	j.SetPrev(nil)
	j.SetNext(world.M_jointList)
	if world.M_jointList != nil {
		world.M_jointList.SetPrev(j)
	}
	world.M_jointList = j
	world.M_jointCount++

	// Connect to the bodies' doubly linked lists.
	j.GetEdgeA().Joint = j
	j.GetEdgeA().Other = j.GetBodyB()
	j.GetEdgeA().Prev = nil
	j.GetEdgeA().Next = j.GetBodyA().M_jointList
	if j.GetBodyA().M_jointList != nil {
		j.GetBodyA().M_jointList.Prev = j.GetEdgeA()
	}

	j.GetBodyA().M_jointList = j.GetEdgeA()

	j.GetEdgeB().Joint = j
	j.GetEdgeB().Other = j.GetBodyA()
	j.GetEdgeB().Prev = nil
	j.GetEdgeB().Next = j.GetBodyB().M_jointList
	if j.GetBodyB().M_jointList != nil {
		j.GetBodyB().M_jointList.Prev = j.GetEdgeB()
	}
	j.GetBodyB().M_jointList = j.GetEdgeB()

	bodyA := def.GetBodyA()
	bodyB := def.GetBodyB()

	// If the joint prevents collisions, then flag any contacts for filtering.
	if def.IsCollideConnected() == false {
		edge := bodyB.GetContactList()
		for edge != nil {
			if edge.Other == bodyA {
				// Flag the contact for filtering at the next time step (where either
				// body is awake).
				edge.Contact.FlagForFiltering()
			}

			edge = edge.Next
		}
	}

	// Note: creating a joint doesn't wake the bodies.

	return j
}