feat: implement new "small-steps" solver + joint improvements

1 files changed, 14 insertions, 9 deletions

diff --git a/src/dynamics/solver/joint_constraint/mod.rs b/src/dynamics/solver/joint_constraint/mod.rs
index 503bd81..7d9f0c5 100644
--- a/src/dynamics/solver/joint_constraint/mod.rs
+++ b/src/dynamics/solver/joint_constraint/mod.rs
@@ -1,13 +1,18 @@
-pub use joint_velocity_constraint::{MotorParameters, SolverBody, WritebackId};
+pub use joint_velocity_constraint::{JointSolverBody, MotorParameters, WritebackId};
 
-pub use joint_constraint::AnyJointVelocityConstraint;
-pub use joint_generic_velocity_constraint::{
-    JointGenericVelocityConstraint, JointGenericVelocityGroundConstraint,
+pub use any_joint_constraint::JointConstraintTypes;
+pub use joint_constraint_builder::JointTwoBodyConstraintHelper;
+pub use joint_constraints_set::JointConstraintsSet;
+pub use joint_generic_constraint::{JointGenericOneBodyConstraint, JointGenericTwoBodyConstraint};
+pub use joint_generic_constraint_builder::{
+    JointGenericOneBodyConstraintBuilder, JointGenericTwoBodyConstraintBuilder,
+    JointGenericVelocityOneBodyExternalConstraintBuilder,
+    JointGenericVelocityOneBodyInternalConstraintBuilder,
 };
-pub use joint_velocity_constraint_builder::JointVelocityConstraintBuilder;
 
-mod joint_constraint;
-mod joint_generic_velocity_constraint;
-mod joint_generic_velocity_constraint_builder;
+mod any_joint_constraint;
+mod joint_constraint_builder;
+mod joint_constraints_set;
+mod joint_generic_constraint;
+mod joint_generic_constraint_builder;
 mod joint_velocity_constraint;
-mod joint_velocity_constraint_builder;