Implement multibody joints and the new solver

1 files changed, 14 insertions, 13 deletions

diff --git a/src/dynamics/joint/mod.rs b/src/dynamics/joint/mod.rs
index 72a7483..6594b83 100644
--- a/src/dynamics/joint/mod.rs
+++ b/src/dynamics/joint/mod.rs
@@ -1,20 +1,21 @@
-pub use self::ball_joint::BallJoint;
 pub use self::fixed_joint::FixedJoint;
-// pub use self::generic_joint::GenericJoint;
-pub use self::joint::{Joint, JointParams};
-pub(crate) use self::joint_set::{JointGraphEdge, JointIndex};
-pub use self::joint_set::{JointHandle, JointSet};
+pub use self::impulse_joint::*;
+pub use self::joint_data::*;
+pub use self::motor_model::MotorModel;
+pub use self::multibody_joint::*;
 pub use self::prismatic_joint::PrismaticJoint;
-#[cfg(feature = "dim3")]
 pub use self::revolute_joint::RevoluteJoint;
-pub use self::spring_model::SpringModel;
 
-mod ball_joint;
+#[cfg(feature = "dim3")]
+pub use self::spherical_joint::SphericalJoint;
+
 mod fixed_joint;
-// mod generic_joint;
-mod joint;
-mod joint_set;
+mod impulse_joint;
+mod joint_data;
+mod motor_model;
+mod multibody_joint;
 mod prismatic_joint;
-#[cfg(feature = "dim3")]
 mod revolute_joint;
-mod spring_model;
+
+#[cfg(feature = "dim3")]
+mod spherical_joint;