public void AddBody(Body body)
{
ControllerEdge edge = new ControllerEdge();
edge.body = body;
edge.controller = this;
//Add edge to controller list
edge.nextBody = _bodyList;
edge.prevBody = null;
if(_bodyList!=null)
_bodyList.prevBody = edge;
_bodyList = edge;
++_bodyCount;
//Add edge to body list
edge.nextController = body._controllerList;
edge.prevController = null;
if(body._controllerList!=null)
body._controllerList.prevController = edge;
body._controllerList = edge;
}