Ballz.GameSession.Physics.PhysicsControl.AddRope C# (CSharp) Method

        public void AddRope(Rope rope)
        {
            float ropeLength = (rope.AttachedEntity.Position - rope.AttachedPosition).Length();
            int segmentCount = (int)Round(1 + (ropeLength / Rope.SegmentLength));

            if (segmentCount < 2)
                segmentCount = 2;

            var ropeSegmentDir = Vector2.Normalize(rope.AttachedEntity.Position - rope.AttachedPosition);

            // TODO: fix the RotationFromDirection function!
            var ropeRotation = ropeSegmentDir.RotationFromDirection();

            rope.PhysicsSegments.Clear();

            for (int i = 0; i < segmentCount; i++)
            {
                var ropeSegmentLength = i > 0 ? Rope.SegmentLength : Rope.Diameter;
                var ropeSegmentVector = ropeSegmentDir * ropeSegmentLength;
                var segmentStart = rope.AttachedPosition + ropeSegmentVector * i;
                var segmentCenter = rope.AttachedPosition + ropeSegmentVector * (i + 0.5f);

                var boxWidth = Rope.Diameter;
                var boxHeight = i > 0 ? Rope.SegmentLength : Rope.Diameter;

                //var segment = BodyFactory.CreateCircle(PhysicsWorld, Rope.JointRadius, Rope.SegmentDensity);// BodyFactory.CreateRectangle(PhysicsWorld, 0.05f, Rope.SegmentLength, 0.5f);
                var segment = BodyFactory.CreateRectangle(PhysicsWorld, boxWidth, boxHeight, Rope.SegmentDensity);
                segment.BodyType = BodyType.Dynamic;
                segment.Friction = 0.5f;
                segment.Restitution = 0.2f;
                segment.AngularDamping = 0.2f;//1.1f;
                segment.LinearDamping = 0.2f;// 1.1f;
                segment.CollisionCategories = Category.Cat3;
                segment.SetTransform(segmentCenter, -ropeRotation - 0.5f * (float)Math.PI);

                rope.PhysicsSegments.Add(segment);

                if (i > 0)
                {
                    var segmentJoint = JointFactory.CreateRevoluteJoint(PhysicsWorld, rope.PhysicsSegments[i - 1], segment, new Vector2(0, i == 1 ? Rope.Diameter / 2 : Rope.SegmentLength / 2), new Vector2(0, -Rope.SegmentLength / 2));
                    segmentJoint.CollideConnected = false;
                    rope.PhysicsSegmentJoints.Add(segmentJoint);
                }
                else
                {
                    segment.BodyType = BodyType.Static;
                }
            }
            //var ballAnchor = rope.AttachedEntity.Position + new Vector2(0, rope.AttachedEntity.Radius + 1f);
            var ballJoint = JointFactory.CreateRevoluteJoint(PhysicsWorld, rope.PhysicsSegments.Last(), rope.AttachedEntity.PhysicsBody, new Vector2(0, Rope.SegmentLength / 2), Vector2.Zero);
            ballJoint.CollideConnected = false;
            rope.PhysicsEntityJoint = ballJoint;
            
            rope.AttachedEntity.PhysicsBody.FixedRotation = false;
            //rope.AttachedEntity.PhysicsBody.Mass = 2f;
        }