| public GetLocalPoint ( Vector2 &worldPoint ) : Vector2 | ||
| worldPoint | Vector2 | A point in world coordinates. |
| return | Vector2 | |
public Vector2 GetLocalPoint(ref Vector2 worldPoint)
{
return new Vector2((worldPoint.X - Xf.Position.X)*Xf.R.Col1.X + (worldPoint.Y - Xf.Position.Y)*Xf.R.Col1.Y,
(worldPoint.X - Xf.Position.X)*Xf.R.Col2.X + (worldPoint.Y - Xf.Position.Y)*Xf.R.Col2.Y);
}
/// <summary>
/// Creates a revolute joint and adds it to the world
/// </summary>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="localanchorB"></param>
/// <returns></returns>
public static RevoluteJoint CreateRevoluteJoint(Body bodyA, Body bodyB, Vector2 localanchorB)
{
Vector2 localanchorA = bodyA.GetLocalPoint(bodyB.GetWorldPoint(localanchorB));
RevoluteJoint joint = new RevoluteJoint(bodyA, bodyB, localanchorA, localanchorB);
return joint;
}
