Complete the implementation of non-simd joint motor for the revolute joint.

1 files changed, 16 insertions, 18 deletions

diff --git a/src/dynamics/joint/joint.rs b/src/dynamics/joint/joint.rs
index 31c5e0a..fe77b4b 100644
--- a/src/dynamics/joint/joint.rs
+++ b/src/dynamics/joint/joint.rs
@@ -1,8 +1,6 @@
 #[cfg(feature = "dim3")]
 use crate::dynamics::RevoluteJoint;
-use crate::dynamics::{
-    BallJoint, FixedJoint, GenericJoint, JointHandle, PrismaticJoint, RigidBodyHandle,
-};
+use crate::dynamics::{BallJoint, FixedJoint, JointHandle, PrismaticJoint, RigidBodyHandle};
 
 #[derive(Copy, Clone)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
@@ -19,7 +17,7 @@ pub enum JointParams {
     /// A revolute joint that removes all degrees of degrees of freedom between the affected
     /// bodies except for the translation along one axis.
     RevoluteJoint(RevoluteJoint),
-    GenericJoint(GenericJoint),
+    // GenericJoint(GenericJoint),
 }
 
 impl JointParams {
@@ -29,7 +27,7 @@ impl JointParams {
             JointParams::BallJoint(_) => 0,
             JointParams::FixedJoint(_) => 1,
             JointParams::PrismaticJoint(_) => 2,
-            JointParams::GenericJoint(_) => 3,
+            // JointParams::GenericJoint(_) => 3,
             #[cfg(feature = "dim3")]
             JointParams::RevoluteJoint(_) => 4,
         }
@@ -53,14 +51,14 @@ impl JointParams {
         }
     }
 
-    /// Gets a reference to the underlying generic joint, if `self` is one.
-    pub fn as_generic_joint(&self) -> Option<&GenericJoint> {
-        if let JointParams::GenericJoint(j) = self {
-            Some(j)
-        } else {
-            None
-        }
-    }
+    // /// Gets a reference to the underlying generic joint, if `self` is one.
+    // pub fn as_generic_joint(&self) -> Option<&GenericJoint> {
+    //     if let JointParams::GenericJoint(j) = self {
+    //         Some(j)
+    //     } else {
+    //         None
+    //     }
+    // }
 
     /// Gets a reference to the underlying prismatic joint, if `self` is one.
     pub fn as_prismatic_joint(&self) -> Option<&PrismaticJoint> {
@@ -94,11 +92,11 @@ impl From<FixedJoint> for JointParams {
     }
 }
 
-impl From<GenericJoint> for JointParams {
-    fn from(j: GenericJoint) -> Self {
-        JointParams::GenericJoint(j)
-    }
-}
+// impl From<GenericJoint> for JointParams {
+//     fn from(j: GenericJoint) -> Self {
+//         JointParams::GenericJoint(j)
+//     }
+// }
 
 #[cfg(feature = "dim3")]
 impl From<RevoluteJoint> for JointParams {