attach method

void attach(Shape shape1, Shape shape2)

Attach the contact to the shapes.

shape1 First shape of the attached contact shape2 Second shape of the attached contact

Implementation

void attach(Shape shape1,Shape shape2){
  this.shape1 = shape1;
  this.shape2 = shape2;
  body1 = shape1.parent;
  body2 = shape2.parent;

  manifold.body1 = body1;
  manifold.body2 = body2;
  constraint.body1 = body1;
  constraint.body2 = body2;
  constraint.attach();

  s1Link.shape = shape2;
  s1Link.body = body2;
  s2Link.shape = shape1;
  s2Link.body = body1;

  if(shape1.contactLink != null){
    (s1Link.next = shape1.contactLink)!.prev = s1Link;
  }
  else{
    s1Link.next=null;
  }
  shape1.contactLink = s1Link;
  shape1.numContacts++;

  if(shape2.contactLink !=null ){
    (s2Link.next=shape2.contactLink)!.prev = s2Link;
  }
  else{
    s2Link.next = null;
  }
  shape2.contactLink = s2Link;
  shape2.numContacts++;

  b1Link.shape = shape2;
  b1Link.body = body2;
  b2Link.shape = shape1;
  b2Link.body = body1;

  if(body1!.contactLink!=null){
    (b1Link.next = body1!.contactLink)!.prev = b1Link;
  }
  else{
    b1Link.next=null;
  }
  body1!.contactLink = b1Link;
  body1!.numContacts++;

  if(body2!.contactLink!=null){
    (b2Link.next=body2!.contactLink)!.prev = b2Link;
  }
  else{
    b2Link.next=null;
  }
  body2!.contactLink = b2Link;
  body2!.numContacts++;

  prev = null;
  next = null;

  persisting = true;
  sleeping = body1!.sleeping&&body2!.sleeping;
  manifold.numPoints=0;
}