createJoint method

void createJoint(Joint joint)

Adds a joint to constrain bodies together.

This may cause the connected bodies to cease colliding.

Adding a joint doesn't wake up the bodies.

Warning: This function is locked during callbacks.

Implementation

void createJoint(Joint joint) {
  assert(!isLocked);
  joints.add(joint);

  final bodyA = joint.bodyA;
  final bodyB = joint.bodyB;
  bodyA.joints.add(joint);
  bodyB.joints.add(joint);

  // If the joint prevents collisions, then flag any contacts for filtering.
  if (!joint.collideConnected) {
    for (final contact in bodyB.contacts) {
      if (contact.getOtherBody(bodyB) == bodyA) {
        // Flag the contact for filtering at the next time step (where either
        // body is awake).
        contact.flagForFiltering();
      }
    }
  }
}