Start experimenting with a generic joint implementation for joint drives.

1 files changed, 21 insertions, 0 deletions

diff --git a/src/dynamics/solver/joint_constraint/mod.rs b/src/dynamics/solver/joint_constraint/mod.rs
index 154ff83..b8e833e 100644
--- a/src/dynamics/solver/joint_constraint/mod.rs
+++ b/src/dynamics/solver/joint_constraint/mod.rs
@@ -18,6 +18,21 @@ pub(self) use fixed_velocity_constraint::{FixedVelocityConstraint, FixedVelocity
 pub(self) use fixed_velocity_constraint_wide::{
     WFixedVelocityConstraint, WFixedVelocityGroundConstraint,
 };
+pub(self) use generic_position_constraint::{
+    GenericPositionConstraint, GenericPositionGroundConstraint,
+};
+#[cfg(feature = "simd-is-enabled")]
+pub(self) use generic_position_constraint_wide::{
+    WGenericPositionConstraint, WGenericPositionGroundConstraint,
+};
+pub(self) use generic_velocity_constraint::{
+    GenericVelocityConstraint, GenericVelocityGroundConstraint,
+};
+#[cfg(feature = "simd-is-enabled")]
+pub(self) use generic_velocity_constraint_wide::{
+    WGenericVelocityConstraint, WGenericVelocityGroundConstraint,
+};
+
 pub(crate) use joint_constraint::AnyJointVelocityConstraint;
 pub(crate) use joint_position_constraint::AnyJointPositionConstraint;
 pub(self) use prismatic_position_constraint::{
@@ -63,6 +78,12 @@ mod fixed_position_constraint_wide;
 mod fixed_velocity_constraint;
 #[cfg(feature = "simd-is-enabled")]
 mod fixed_velocity_constraint_wide;
+mod generic_position_constraint;
+#[cfg(feature = "simd-is-enabled")]
+mod generic_position_constraint_wide;
+mod generic_velocity_constraint;
+#[cfg(feature = "simd-is-enabled")]
+mod generic_velocity_constraint_wide;
 mod joint_constraint;
 mod joint_position_constraint;
 mod prismatic_position_constraint;