adding 3d rope joint

1 files changed, 25 insertions, 2 deletions

diff --git a/src/dynamics/joint/rope_joint.rs b/src/dynamics/joint/rope_joint.rs
index cb68860..3b7317c 100644
--- a/src/dynamics/joint/rope_joint.rs
+++ b/src/dynamics/joint/rope_joint.rs
@@ -88,13 +88,16 @@ impl RopeJoint {
 
     /// The motor affecting the joint’s translational degree of freedom.
     #[must_use]
-    pub fn motor(&self) -> Option<&JointMotor> {
-        self.data.motor(JointAxis::X)
+    pub fn motor(&self, axis: JointAxis) -> Option<&JointMotor> {
+        self.data.motor(axis)
     }
 
     /// Set the spring-like model used by the motor to reach the desired target velocity and position.
     pub fn set_motor_model(&mut self, model: MotorModel) -> &mut Self {
         self.data.set_motor_model(JointAxis::X, model);
+        self.data.set_motor_model(JointAxis::Y, model);
+        #[cfg(feature = "dim3")]
+        self.data.set_motor_model(JointAxis::Z, model);
         self
     }
 
@@ -102,6 +105,11 @@ impl RopeJoint {
     pub fn set_motor_velocity(&mut self, target_vel: Real, factor: Real) -> &mut Self {
         self.data
             .set_motor_velocity(JointAxis::X, target_vel, factor);
+        self.data
+            .set_motor_velocity(JointAxis::Y, target_vel, factor);
+        #[cfg(feature = "dim3")]
+        self.data
+            .set_motor_velocity(JointAxis::Z, target_vel, factor);
         self
     }
 
@@ -114,6 +122,11 @@ impl RopeJoint {
     ) -> &mut Self {
         self.data
             .set_motor_position(JointAxis::X, target_pos, stiffness, damping);
+        self.data
+            .set_motor_position(JointAxis::Y, target_pos, stiffness, damping);
+        #[cfg(feature = "dim3")]
+        self.data
+            .set_motor_position(JointAxis::Z, target_pos, stiffness, damping);
         self
     }
 
@@ -127,12 +140,20 @@ impl RopeJoint {
     ) -> &mut Self {
         self.data
             .set_motor(JointAxis::X, target_pos, target_vel, stiffness, damping);
+        self.data
+            .set_motor(JointAxis::Y, target_pos, target_vel, stiffness, damping);
+        #[cfg(feature = "dim3")]
+        self.data
+            .set_motor(JointAxis::Y, target_pos, target_vel, stiffness, damping);
         self
     }
 
     /// Sets the maximum force the motor can deliver.
     pub fn set_motor_max_force(&mut self, max_force: Real) -> &mut Self {
         self.data.set_motor_max_force(JointAxis::X, max_force);
+        self.data.set_motor_max_force(JointAxis::Y, max_force);
+        #[cfg(feature = "dim3")]
+        self.data.set_motor_max_force(JointAxis::Z, max_force);
         self
     }
 
@@ -146,6 +167,8 @@ impl RopeJoint {
     pub fn set_limits(&mut self, limits: [Real; 2]) -> &mut Self {
         self.data.set_limits(JointAxis::X, limits);
         self.data.set_limits(JointAxis::Y, limits);
+        #[cfg(feature = "dim3")]
+        self.data.set_limits(JointAxis::Z, limits);
         self
     }
 }