Function dJointAttach

3rd_party/Src/ode/ode/src/ode.cpp:1085–1130

void dJointAttach (dxJoint *joint, dxBody *body1, dxBody *body2)
{
  // check arguments
  dUASSERT (joint,"bad joint argument");
  dUASSERT (body1 == 0 || body1 != body2,"can't have body1==body2");
  //dxWorld *world = joint->world;
  //dUASSERT ( (!body1 || body1->world == world) &&
	//     (!body2 || body2->world == world),
	//     "joint and bodies must be in same world");

  // check if the joint can not be attached to just one body
  dUASSERT (!((joint->flags & dJOINT_TWOBODIES) &&
	      ((body1 != 0) ^ (body2 != 0))),
	    "joint can not be attached to just one body");

  // remove any existing body attachments
  if (joint->node[0].body || joint->node[1].body) {
    removeJointReferencesFromAttachedBodies (joint);
  }

  // if a body is zero, make sure that it is body2, so 0 --> node[1].body
  if (body1==0) {
    body1 = body2;
    body2 = 0;
    joint->flags |= dJOINT_REVERSE;
  }
  else {
    joint->flags &= (~dJOINT_REVERSE);
  }

  // attach to new bodies
  joint->node[0].body = body1;
  joint->node[1].body = body2;
  if (body1) {
    joint->node[1].next = body1->firstjoint;
    body1->firstjoint = &joint->node[1];
  }
  else joint->node[1].next = 0;
  if (body2) {
    joint->node[0].next = body2->firstjoint;
    body2->firstjoint = &joint->node[0];
  }
  else {
    joint->node[0].next = 0;
  }
}


void dJointSetData (dxJoint *joint, void *data)