feat: rename JointAxesMask::X/Y/Z by ::LIN_X/LIN_Y/LIN_Z and JointAxis::X/Y/Z by ::LinX/LinY/LinZ

7 files changed, 61 insertions, 59 deletions

diff --git a/examples3d/joints3.rs b/examples3d/joints3.rs
index 73f48ae..24303d1 100644
--- a/examples3d/joints3.rs
+++ b/examples3d/joints3.rs
@@ -18,9 +18,9 @@ fn create_coupled_joints(
     colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 1.0, 1.0), body1, bodies);
 
     let joint1 = GenericJointBuilder::new(JointAxesMask::empty())
-        .limits(JointAxis::X, [-3.0, 3.0])
-        .limits(JointAxis::Y, [0.0, 3.0])
-        .coupled_axes(JointAxesMask::Y | JointAxesMask::Z);
+        .limits(JointAxis::LinX, [-3.0, 3.0])
+        .limits(JointAxis::LinY, [0.0, 3.0])
+        .coupled_axes(JointAxesMask::LIN_Y | JointAxesMask::LIN_Z);
 
     if use_articulations {
         multibody_joints.insert(ground, body1, joint1, true);
@@ -416,13 +416,13 @@ fn create_spherical_joints_with_limits(
 
     let joint1 = SphericalJointBuilder::new()
         .local_anchor2(Point::from(-shift))
-        .limits(JointAxis::X, [-0.2, 0.2])
-        .limits(JointAxis::Y, [-0.2, 0.2]);
+        .limits(JointAxis::LinX, [-0.2, 0.2])
+        .limits(JointAxis::LinY, [-0.2, 0.2]);
 
     let joint2 = SphericalJointBuilder::new()
         .local_anchor2(Point::from(-shift))
-        .limits(JointAxis::X, [-0.3, 0.3])
-        .limits(JointAxis::Y, [-0.3, 0.3]);
+        .limits(JointAxis::LinX, [-0.3, 0.3])
+        .limits(JointAxis::LinY, [-0.3, 0.3]);
 
     if use_articulations {
         multibody_joints.insert(ground, ball1, joint1, true);
diff --git a/examples3d/vehicle_joints3.rs b/examples3d/vehicle_joints3.rs
index 5eba608..c284175 100644
--- a/examples3d/vehicle_joints3.rs
+++ b/examples3d/vehicle_joints3.rs
@@ -96,15 +96,17 @@ pub fn init_world(testbed: &mut Testbed) {
             wheel_pos_in_car_space - body_position_in_car_space;
 
         // Suspension between the body and the axle.
-        let mut locked_axes =
-            JointAxesMask::X | JointAxesMask::Z | JointAxesMask::ANG_X | JointAxesMask::ANG_Z;
+        let mut locked_axes = JointAxesMask::LIN_X
+            | JointAxesMask::LIN_Z
+            | JointAxesMask::ANG_X
+            | JointAxesMask::ANG_Z;
         if !is_front {
             locked_axes |= JointAxesMask::ANG_Y;
         }
 
         let mut suspension_joint = GenericJointBuilder::new(locked_axes)
-            .limits(JointAxis::Y, [0.0, suspension_height])
-            .motor_position(JointAxis::Y, 0.0, 1.0e4, 1.0e3)
+            .limits(JointAxis::LinY, [0.0, suspension_height])
+            .motor_position(JointAxis::LinY, 0.0, 1.0e4, 1.0e3)
             .local_anchor1(suspension_attachment_in_body_space.into());
 
         if is_front {
diff --git a/src/dynamics/joint/generic_joint.rs b/src/dynamics/joint/generic_joint.rs
index 8c8a4aa..2651592 100644
--- a/src/dynamics/joint/generic_joint.rs
+++ b/src/dynamics/joint/generic_joint.rs
@@ -13,12 +13,12 @@ bitflags::bitflags! {
     /// A bit mask identifying multiple degrees of freedom of a joint.
     #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
     pub struct JointAxesMask: u8 {
-        /// The translational degree of freedom along the local X axis of a joint.
-        const X = 1 << 0;
-        /// The translational degree of freedom along the local Y axis of a joint.
-        const Y = 1 << 1;
-        /// The translational degree of freedom along the local Z axis of a joint.
-        const Z = 1 << 2;
+        /// The linear (translational) degree of freedom along the local X axis of a joint.
+        const LIN_X = 1 << 0;
+        /// The linear (translational) degree of freedom along the local Y axis of a joint.
+        const LIN_Y = 1 << 1;
+        /// The linear (translational) degree of freedom along the local Z axis of a joint.
+        const LIN_Z = 1 << 2;
         /// The angular degree of freedom along the local X axis of a joint.
         const ANG_X = 1 << 3;
         /// The angular degree of freedom along the local Y axis of a joint.
@@ -26,23 +26,23 @@ bitflags::bitflags! {
         /// The angular degree of freedom along the local Z axis of a joint.
         const ANG_Z = 1 << 5;
         /// The set of degrees of freedom locked by a revolute joint.
-        const LOCKED_REVOLUTE_AXES = Self::X.bits | Self::Y.bits | Self::Z.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
+        const LOCKED_REVOLUTE_AXES = Self::LIN_X.bits | Self::LIN_Y.bits | Self::LIN_Z.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
         /// The set of degrees of freedom locked by a prismatic joint.
-        const LOCKED_PRISMATIC_AXES = Self::Y.bits | Self::Z.bits | Self::ANG_X.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
+        const LOCKED_PRISMATIC_AXES = Self::LIN_Y.bits | Self::LIN_Z.bits | Self::ANG_X.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
         /// The set of degrees of freedom locked by a fixed joint.
-        const LOCKED_FIXED_AXES = Self::X.bits | Self::Y.bits | Self::Z.bits | Self::ANG_X.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
+        const LOCKED_FIXED_AXES = Self::LIN_X.bits | Self::LIN_Y.bits | Self::LIN_Z.bits | Self::ANG_X.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
         /// The set of degrees of freedom locked by a spherical joint.
-        const LOCKED_SPHERICAL_AXES = Self::X.bits | Self::Y.bits | Self::Z.bits;
+        const LOCKED_SPHERICAL_AXES = Self::LIN_X.bits | Self::LIN_Y.bits | Self::LIN_Z.bits;
         /// The set of degrees of freedom left free by a revolute joint.
         const FREE_REVOLUTE_AXES = Self::ANG_X.bits;
         /// The set of degrees of freedom left free by a prismatic joint.
-        const FREE_PRISMATIC_AXES = Self::X.bits;
+        const FREE_PRISMATIC_AXES = Self::LIN_X.bits;
         /// The set of degrees of freedom left free by a fixed joint.
         const FREE_FIXED_AXES = 0;
         /// The set of degrees of freedom left free by a spherical joint.
         const FREE_SPHERICAL_AXES = Self::ANG_X.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
         /// The set of all translational degrees of freedom.
-        const LIN_AXES = Self::X.bits() | Self::Y.bits() | Self::Z.bits();
+        const LIN_AXES = Self::LIN_X.bits() | Self::LIN_Y.bits() | Self::LIN_Z.bits();
         /// The set of all angular degrees of freedom.
         const ANG_AXES = Self::ANG_X.bits() | Self::ANG_Y.bits() | Self::ANG_Z.bits();
     }
@@ -53,26 +53,26 @@ bitflags::bitflags! {
     /// A bit mask identifying multiple degrees of freedom of a joint.
     #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
     pub struct JointAxesMask: u8 {
-        /// The translational degree of freedom along the local X axis of a joint.
-        const X = 1 << 0;
-        /// The translational degree of freedom along the local Y axis of a joint.
-        const Y = 1 << 1;
+        /// The linear (translational) degree of freedom along the local X axis of a joint.
+        const LIN_X = 1 << 0;
+        /// The linear (translational) degree of freedom along the local Y axis of a joint.
+        const LIN_Y = 1 << 1;
         /// The angular degree of freedom of a joint.
         const ANG_X = 1 << 2;
         /// The set of degrees of freedom locked by a revolute joint.
-        const LOCKED_REVOLUTE_AXES = Self::X.bits | Self::Y.bits;
+        const LOCKED_REVOLUTE_AXES = Self::LIN_X.bits | Self::LIN_Y.bits;
         /// The set of degrees of freedom locked by a prismatic joint.
-        const LOCKED_PRISMATIC_AXES = Self::Y.bits | Self::ANG_X.bits;
+        const LOCKED_PRISMATIC_AXES = Self::LIN_Y.bits | Self::ANG_X.bits;
         /// The set of degrees of freedom locked by a fixed joint.
-        const LOCKED_FIXED_AXES = Self::X.bits | Self::Y.bits | Self::ANG_X.bits;
+        const LOCKED_FIXED_AXES = Self::LIN_X.bits | Self::LIN_Y.bits | Self::ANG_X.bits;
         /// The set of degrees of freedom left free by a revolute joint.
         const FREE_REVOLUTE_AXES = Self::ANG_X.bits;
         /// The set of degrees of freedom left free by a prismatic joint.
-        const FREE_PRISMATIC_AXES = Self::X.bits;
+        const FREE_PRISMATIC_AXES = Self::LIN_X.bits;
         /// The set of degrees of freedom left free by a fixed joint.
         const FREE_FIXED_AXES = 0;
         /// The set of all translational degrees of freedom.
-        const LIN_AXES = Self::X.bits() | Self::Y.bits();
+        const LIN_AXES = Self::LIN_X.bits() | Self::LIN_Y.bits();
         /// The set of all angular degrees of freedom.
         const ANG_AXES = Self::ANG_X.bits();
     }
@@ -88,13 +88,13 @@ impl Default for JointAxesMask {
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[derive(Copy, Clone, Debug, PartialEq)]
 pub enum JointAxis {
-    /// The translational degree of freedom along the joint’s local X axis.
-    X = 0,
-    /// The translational degree of freedom along the joint’s local Y axis.
-    Y,
-    /// The translational degree of freedom along the joint’s local Z axis.
+    /// The linear (translational) degree of freedom along the joint’s local X axis.
+    LinX = 0,
+    /// The linear (translational) degree of freedom along the joint’s local Y axis.
+    LinY,
+    /// The linear (translational) degree of freedom along the joint’s local Z axis.
     #[cfg(feature = "dim3")]
-    Z,
+    LinZ,
     /// The rotational degree of freedom along the joint’s local X axis.
     AngX,
     /// The rotational degree of freedom along the joint’s local Y axis.
diff --git a/src/dynamics/joint/multibody_joint/multibody_ik.rs b/src/dynamics/joint/multibody_joint/multibody_ik.rs
index 7e0fc15..2171cf6 100644
--- a/src/dynamics/joint/multibody_joint/multibody_ik.rs
+++ b/src/dynamics/joint/multibody_joint/multibody_ik.rs
@@ -116,14 +116,14 @@ impl Multibody {
                 delta_ang.z
             ];
 
-            if !options.constrained_axes.contains(JointAxesMask::X) {
+            if !options.constrained_axes.contains(JointAxesMask::LIN_X) {
                 delta[0] = 0.0;
             }
-            if !options.constrained_axes.contains(JointAxesMask::Y) {
+            if !options.constrained_axes.contains(JointAxesMask::LIN_Y) {
                 delta[1] = 0.0;
             }
             #[cfg(feature = "dim3")]
-            if !options.constrained_axes.contains(JointAxesMask::Z) {
+            if !options.constrained_axes.contains(JointAxesMask::LIN_Z) {
                 delta[2] = 0.0;
             }
             if !options.constrained_axes.contains(JointAxesMask::ANG_X) {
diff --git a/src/dynamics/joint/prismatic_joint.rs b/src/dynamics/joint/prismatic_joint.rs
index d0f3a7d..8a1c59f 100644
--- a/src/dynamics/joint/prismatic_joint.rs
+++ b/src/dynamics/joint/prismatic_joint.rs
@@ -92,19 +92,19 @@ impl PrismaticJoint {
     /// The motor affecting the joint’s translational degree of freedom.
     #[must_use]
     pub fn motor(&self) -> Option<&JointMotor> {
-        self.data.motor(JointAxis::X)
+        self.data.motor(JointAxis::LinX)
     }
 
     /// Set the spring-like model used by the motor to reach the desired target velocity and position.
     pub fn set_motor_model(&mut self, model: MotorModel) -> &mut Self {
-        self.data.set_motor_model(JointAxis::X, model);
+        self.data.set_motor_model(JointAxis::LinX, model);
         self
     }
 
     /// Sets the target velocity this motor needs to reach.
     pub fn set_motor_velocity(&mut self, target_vel: Real, factor: Real) -> &mut Self {
         self.data
-            .set_motor_velocity(JointAxis::X, target_vel, factor);
+            .set_motor_velocity(JointAxis::LinX, target_vel, factor);
         self
     }
 
@@ -116,7 +116,7 @@ impl PrismaticJoint {
         damping: Real,
     ) -> &mut Self {
         self.data
-            .set_motor_position(JointAxis::X, target_pos, stiffness, damping);
+            .set_motor_position(JointAxis::LinX, target_pos, stiffness, damping);
         self
     }
 
@@ -129,25 +129,25 @@ impl PrismaticJoint {
         damping: Real,
     ) -> &mut Self {
         self.data
-            .set_motor(JointAxis::X, target_pos, target_vel, stiffness, damping);
+            .set_motor(JointAxis::LinX, target_pos, target_vel, stiffness, damping);
         self
     }
 
     /// Sets the maximum force the motor can deliver.
     pub fn set_motor_max_force(&mut self, max_force: Real) -> &mut Self {
-        self.data.set_motor_max_force(JointAxis::X, max_force);
+        self.data.set_motor_max_force(JointAxis::LinX, max_force);
         self
     }
 
     /// The limit distance attached bodies can translate along the joint’s principal axis.
     #[must_use]
     pub fn limits(&self) -> Option<&JointLimits<Real>> {
-        self.data.limits(JointAxis::X)
+        self.data.limits(JointAxis::LinX)
     }
 
     /// Sets the `[min,max]` limit distances attached bodies can translate along the joint’s principal axis.
     pub fn set_limits(&mut self, limits: [Real; 2]) -> &mut Self {
-        self.data.set_limits(JointAxis::X, limits);
+        self.data.set_limits(JointAxis::LinX, limits);
         self
     }
 }
diff --git a/src/dynamics/joint/rope_joint.rs b/src/dynamics/joint/rope_joint.rs
index 64a66ea..67c0c3e 100644
--- a/src/dynamics/joint/rope_joint.rs
+++ b/src/dynamics/joint/rope_joint.rs
@@ -74,14 +74,14 @@ impl RopeJoint {
 
     /// Set the spring-like model used by the motor to reach the desired target velocity and position.
     pub fn set_motor_model(&mut self, model: MotorModel) -> &mut Self {
-        self.data.set_motor_model(JointAxis::X, model);
+        self.data.set_motor_model(JointAxis::LinX, model);
         self
     }
 
     /// Sets the target velocity this motor needs to reach.
     pub fn set_motor_velocity(&mut self, target_vel: Real, factor: Real) -> &mut Self {
         self.data
-            .set_motor_velocity(JointAxis::X, target_vel, factor);
+            .set_motor_velocity(JointAxis::LinX, target_vel, factor);
         self
     }
 
@@ -93,7 +93,7 @@ impl RopeJoint {
         damping: Real,
     ) -> &mut Self {
         self.data
-            .set_motor_position(JointAxis::X, target_pos, stiffness, damping);
+            .set_motor_position(JointAxis::LinX, target_pos, stiffness, damping);
         self
     }
 
@@ -106,13 +106,13 @@ impl RopeJoint {
         damping: Real,
     ) -> &mut Self {
         self.data
-            .set_motor(JointAxis::X, target_pos, target_vel, stiffness, damping);
+            .set_motor(JointAxis::LinX, target_pos, target_vel, stiffness, damping);
         self
     }
 
     /// Sets the maximum force the motor can deliver.
     pub fn set_motor_max_force(&mut self, max_force: Real) -> &mut Self {
-        self.data.set_motor_max_force(JointAxis::X, max_force);
+        self.data.set_motor_max_force(JointAxis::LinX, max_force);
         self
     }
 
@@ -120,7 +120,7 @@ impl RopeJoint {
     #[must_use]
     pub fn max_distance(&self) -> Real {
         self.data
-            .limits(JointAxis::X)
+            .limits(JointAxis::LinX)
             .map(|l| l.max)
             .unwrap_or(Real::MAX)
     }
@@ -129,7 +129,7 @@ impl RopeJoint {
     ///
     /// The `max_dist` must be strictly greater than 0.0.
     pub fn set_max_distance(&mut self, max_dist: Real) -> &mut Self {
-        self.data.set_limits(JointAxis::X, [0.0, max_dist]);
+        self.data.set_limits(JointAxis::LinX, [0.0, max_dist]);
         self
     }
 }
diff --git a/src/dynamics/joint/spring_joint.rs b/src/dynamics/joint/spring_joint.rs
index f5cb5bd..eea639f 100644
--- a/src/dynamics/joint/spring_joint.rs
+++ b/src/dynamics/joint/spring_joint.rs
@@ -22,8 +22,8 @@ impl SpringJoint {
     pub fn new(rest_length: Real, stiffness: Real, damping: Real) -> Self {
         let data = GenericJointBuilder::new(JointAxesMask::empty())
             .coupled_axes(JointAxesMask::LIN_AXES)
-            .motor_position(JointAxis::X, rest_length, stiffness, damping)
-            .motor_model(JointAxis::X, MotorModel::ForceBased)
+            .motor_position(JointAxis::LinX, rest_length, stiffness, damping)
+            .motor_model(JointAxis::LinX, MotorModel::ForceBased)
             .build();
         Self { data }
     }
@@ -75,7 +75,7 @@ impl SpringJoint {
     /// `MotorModel::AccelerationBased`, the spring constants will be automatically scaled by the attached masses,
     /// making the spring more mass-independent.
     pub fn set_spring_model(&mut self, model: MotorModel) -> &mut Self {
-        self.data.set_motor_model(JointAxis::X, model);
+        self.data.set_motor_model(JointAxis::LinX, model);
         self
     }