Implement multibody joints and the new solver

1 files changed, 15 insertions, 0 deletions

diff --git a/src/dynamics/joint/multibody_joint/mod.rs b/src/dynamics/joint/multibody_joint/mod.rs
new file mode 100644
index 0000000..a701350
--- /dev/null
+++ b/src/dynamics/joint/multibody_joint/mod.rs
@@ -0,0 +1,15 @@
+//! MultibodyJoints using the reduced-coordinates formalism or using constraints.
+
+pub use self::multibody::Multibody;
+pub use self::multibody_joint::MultibodyJoint;
+pub use self::multibody_joint_set::{MultibodyIndex, MultibodyJointHandle, MultibodyJointSet};
+pub use self::multibody_link::MultibodyLink;
+pub use self::unit_multibody_joint::{unit_joint_limit_constraint, unit_joint_motor_constraint};
+
+mod multibody;
+mod multibody_joint_set;
+mod multibody_link;
+mod multibody_workspace;
+
+mod multibody_joint;
+mod unit_multibody_joint;