public void dJointAttach(DBody b1, DBody b2) {
DxBody body1 = (DxBody) b1;
DxBody body2 = (DxBody) b2;
// check arguments
// dUASSERT (joint,"bad joint argument");
dUASSERT(body1 == null || body1 != body2, "can't have body1==body2");
DxWorld world = this.world;
dUASSERT(
(body1 == null || body1.getWorld() == world)
&& (body2 == null || body2.getWorld() == world),
"joint and bodies must be in same world");
// check if the joint can not be attached to just one body
dUASSERT(
!((flags & dJOINT_TWOBODIES) != 0 && ((body1 != null) ^ (body2 != null))),
"joint can not be attached to just one body");
// remove any existing body attachments
if (node[0].body != null || node[1].body != null) {
removeJointReferencesFromAttachedBodies();
}
// if a body is zero, make sure that it is body2, so 0 --> node[1].body
if (body1 == null) {
body1 = body2;
body2 = null;
flags |= dJOINT_REVERSE;
} else {
flags &= (~dJOINT_REVERSE);
}
// attach to new bodies
node[0].body = body1;
node[1].body = body2;
if (body1 != null) {
node[1].next = body1.firstjoint.get();
body1.firstjoint.set(node[1]);
} else node[1].next = null;
if (body2 != null) {
node[0].next = body2.firstjoint.get();
body2.firstjoint.set(node[0]);
} else {
node[0].next = null;
}
// Since the bodies are now set.
// Calculate the values depending on the bodies.
// Only need to calculate relative value if a body exist
if (body1 != null || body2 != null) setRelativeValues();
}
