Method prismatic

Source/Physics/Joint.cpp:199–233

}

MotorJoint* Joint::prismatic(
	bool collideConnected,
	Body* bodyA,
	Body* bodyB,
	const Vec2& worldAnchor,
	float axisAngle,
	float lowerTranslation,
	float upperTranslation,
	float maxMotorForce,
	float motorSpeed) {
	if (bodyA->getPhysicsWorld() != bodyB->getPhysicsWorld()) {
		return nullptr;
	}
	pr::BodyID bA = bodyA->getPrBody();
	pr::BodyID bB = bodyB->getPrBody();
	auto world = bodyA->getPhysicsWorld();
	if (!world || !world->getPrWorld()) {
		return nullptr;
	}
	auto& prWorld = *world->getPrWorld();
	pr::Vec2 a = PhysicsWorld::prVal(worldAnchor);
	pd::PrismaticJointConf conf = pd::GetPrismaticJointConf(prWorld,
		bA, bB, a, pd::UnitVec::Get(-bx::toRad(axisAngle)))
									  .UseLowerLength(PhysicsWorld::prVal(lowerTranslation))
									  .UseUpperLength(PhysicsWorld::prVal(upperTranslation))
									  .UseEnableLimit((lowerTranslation || upperTranslation) && (lowerTranslation <= upperTranslation))
									  .UseCollideConnected(collideConnected);
	conf.maxMotorForce = maxMotorForce;
	conf.motorSpeed = PhysicsWorld::prVal(motorSpeed);
	MotorJoint* joint = MotorJoint::create();
	joint->_world = world;
	joint->_joint = pd::CreateJoint(prWorld, conf);
	world->setJointData(joint->_joint, joint);
	return joint;
}

Joint* Joint::pulley(
	bool collideConnected,