void b2World::DestroyJoint()

in Box2D/Dynamics/b2World.cpp [272:365]

• 68 lines of code
• 14 McCabe index (conditional complexity)

void b2World::DestroyJoint(b2Joint* j)
{
	b2Assert(IsLocked() == false);
	if (IsLocked())
	{
		return;
	}

	bool collideConnected = j->m_collideConnected;

	// Remove from the doubly linked list.
	if (j->m_prev)
	{
		j->m_prev->m_next = j->m_next;
	}

	if (j->m_next)
	{
		j->m_next->m_prev = j->m_prev;
	}

	if (j == m_jointList)
	{
		m_jointList = j->m_next;
	}

	// Disconnect from island graph.
	b2Body* bodyA = j->m_bodyA;
	b2Body* bodyB = j->m_bodyB;

	// Wake up connected bodies.
	bodyA->SetAwake(true);
	bodyB->SetAwake(true);

	// Remove from body 1.
	if (j->m_edgeA.prev)
	{
		j->m_edgeA.prev->next = j->m_edgeA.next;
	}

	if (j->m_edgeA.next)
	{
		j->m_edgeA.next->prev = j->m_edgeA.prev;
	}

	if (&j->m_edgeA == bodyA->m_jointList)
	{
		bodyA->m_jointList = j->m_edgeA.next;
	}

	j->m_edgeA.prev = NULL;
	j->m_edgeA.next = NULL;

	// Remove from body 2
	if (j->m_edgeB.prev)
	{
		j->m_edgeB.prev->next = j->m_edgeB.next;
	}

	if (j->m_edgeB.next)
	{
		j->m_edgeB.next->prev = j->m_edgeB.prev;
	}

	if (&j->m_edgeB == bodyB->m_jointList)
	{
		bodyB->m_jointList = j->m_edgeB.next;
	}

	j->m_edgeB.prev = NULL;
	j->m_edgeB.next = NULL;

	b2Joint::Destroy(j, &m_blockAllocator);

	b2Assert(m_jointCount > 0);
	--m_jointCount;

	// If the joint prevents collisions, then flag any contacts for filtering.
	if (collideConnected == false)
	{
		b2ContactEdge* edge = bodyB->GetContactList();
		while (edge)
		{
			if (edge->other == bodyA)
			{
				// Flag the contact for filtering at the next time step (where either
				// body is awake).
				edge->contact->FlagForFiltering();
			}

			edge = edge->next;
		}
	}
}