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-rw-r--r--examples3d/joints3.rs14
-rw-r--r--examples3d/vehicle_joints3.rs10
-rw-r--r--src/dynamics/joint/generic_joint.rs54
-rw-r--r--src/dynamics/joint/multibody_joint/multibody_ik.rs6
-rw-r--r--src/dynamics/joint/prismatic_joint.rs16
-rw-r--r--src/dynamics/joint/rope_joint.rs14
-rw-r--r--src/dynamics/joint/spring_joint.rs6
7 files changed, 61 insertions, 59 deletions
diff --git a/examples3d/joints3.rs b/examples3d/joints3.rs
index 73f48ae..24303d1 100644
--- a/examples3d/joints3.rs
+++ b/examples3d/joints3.rs
@@ -18,9 +18,9 @@ fn create_coupled_joints(
colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 1.0, 1.0), body1, bodies);
let joint1 = GenericJointBuilder::new(JointAxesMask::empty())
- .limits(JointAxis::X, [-3.0, 3.0])
- .limits(JointAxis::Y, [0.0, 3.0])
- .coupled_axes(JointAxesMask::Y | JointAxesMask::Z);
+ .limits(JointAxis::LinX, [-3.0, 3.0])
+ .limits(JointAxis::LinY, [0.0, 3.0])
+ .coupled_axes(JointAxesMask::LIN_Y | JointAxesMask::LIN_Z);
if use_articulations {
multibody_joints.insert(ground, body1, joint1, true);
@@ -416,13 +416,13 @@ fn create_spherical_joints_with_limits(
let joint1 = SphericalJointBuilder::new()
.local_anchor2(Point::from(-shift))
- .limits(JointAxis::X, [-0.2, 0.2])
- .limits(JointAxis::Y, [-0.2, 0.2]);
+ .limits(JointAxis::LinX, [-0.2, 0.2])
+ .limits(JointAxis::LinY, [-0.2, 0.2]);
let joint2 = SphericalJointBuilder::new()
.local_anchor2(Point::from(-shift))
- .limits(JointAxis::X, [-0.3, 0.3])
- .limits(JointAxis::Y, [-0.3, 0.3]);
+ .limits(JointAxis::LinX, [-0.3, 0.3])
+ .limits(JointAxis::LinY, [-0.3, 0.3]);
if use_articulations {
multibody_joints.insert(ground, ball1, joint1, true);
diff --git a/examples3d/vehicle_joints3.rs b/examples3d/vehicle_joints3.rs
index 5eba608..c284175 100644
--- a/examples3d/vehicle_joints3.rs
+++ b/examples3d/vehicle_joints3.rs
@@ -96,15 +96,17 @@ pub fn init_world(testbed: &mut Testbed) {
wheel_pos_in_car_space - body_position_in_car_space;
// Suspension between the body and the axle.
- let mut locked_axes =
- JointAxesMask::X | JointAxesMask::Z | JointAxesMask::ANG_X | JointAxesMask::ANG_Z;
+ let mut locked_axes = JointAxesMask::LIN_X
+ | JointAxesMask::LIN_Z
+ | JointAxesMask::ANG_X
+ | JointAxesMask::ANG_Z;
if !is_front {
locked_axes |= JointAxesMask::ANG_Y;
}
let mut suspension_joint = GenericJointBuilder::new(locked_axes)
- .limits(JointAxis::Y, [0.0, suspension_height])
- .motor_position(JointAxis::Y, 0.0, 1.0e4, 1.0e3)
+ .limits(JointAxis::LinY, [0.0, suspension_height])
+ .motor_position(JointAxis::LinY, 0.0, 1.0e4, 1.0e3)
.local_anchor1(suspension_attachment_in_body_space.into());
if is_front {
diff --git a/src/dynamics/joint/generic_joint.rs b/src/dynamics/joint/generic_joint.rs
index 8c8a4aa..2651592 100644
--- a/src/dynamics/joint/generic_joint.rs
+++ b/src/dynamics/joint/generic_joint.rs
@@ -13,12 +13,12 @@ bitflags::bitflags! {
/// A bit mask identifying multiple degrees of freedom of a joint.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
pub struct JointAxesMask: u8 {
- /// The translational degree of freedom along the local X axis of a joint.
- const X = 1 << 0;
- /// The translational degree of freedom along the local Y axis of a joint.
- const Y = 1 << 1;
- /// The translational degree of freedom along the local Z axis of a joint.
- const Z = 1 << 2;
+ /// The linear (translational) degree of freedom along the local X axis of a joint.
+ const LIN_X = 1 << 0;
+ /// The linear (translational) degree of freedom along the local Y axis of a joint.
+ const LIN_Y = 1 << 1;
+ /// The linear (translational) degree of freedom along the local Z axis of a joint.
+ const LIN_Z = 1 << 2;
/// The angular degree of freedom along the local X axis of a joint.
const ANG_X = 1 << 3;
/// The angular degree of freedom along the local Y axis of a joint.
@@ -26,23 +26,23 @@ bitflags::bitflags! {
/// The angular degree of freedom along the local Z axis of a joint.
const ANG_Z = 1 << 5;
/// The set of degrees of freedom locked by a revolute joint.
- const LOCKED_REVOLUTE_AXES = Self::X.bits | Self::Y.bits | Self::Z.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
+ const LOCKED_REVOLUTE_AXES = Self::LIN_X.bits | Self::LIN_Y.bits | Self::LIN_Z.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
/// The set of degrees of freedom locked by a prismatic joint.
- const LOCKED_PRISMATIC_AXES = Self::Y.bits | Self::Z.bits | Self::ANG_X.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
+ const LOCKED_PRISMATIC_AXES = Self::LIN_Y.bits | Self::LIN_Z.bits | Self::ANG_X.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
/// The set of degrees of freedom locked by a fixed joint.
- const LOCKED_FIXED_AXES = Self::X.bits | Self::Y.bits | Self::Z.bits | Self::ANG_X.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
+ const LOCKED_FIXED_AXES = Self::LIN_X.bits | Self::LIN_Y.bits | Self::LIN_Z.bits | Self::ANG_X.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
/// The set of degrees of freedom locked by a spherical joint.
- const LOCKED_SPHERICAL_AXES = Self::X.bits | Self::Y.bits | Self::Z.bits;
+ const LOCKED_SPHERICAL_AXES = Self::LIN_X.bits | Self::LIN_Y.bits | Self::LIN_Z.bits;
/// The set of degrees of freedom left free by a revolute joint.
const FREE_REVOLUTE_AXES = Self::ANG_X.bits;
/// The set of degrees of freedom left free by a prismatic joint.
- const FREE_PRISMATIC_AXES = Self::X.bits;
+ const FREE_PRISMATIC_AXES = Self::LIN_X.bits;
/// The set of degrees of freedom left free by a fixed joint.
const FREE_FIXED_AXES = 0;
/// The set of degrees of freedom left free by a spherical joint.
const FREE_SPHERICAL_AXES = Self::ANG_X.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
/// The set of all translational degrees of freedom.
- const LIN_AXES = Self::X.bits() | Self::Y.bits() | Self::Z.bits();
+ const LIN_AXES = Self::LIN_X.bits() | Self::LIN_Y.bits() | Self::LIN_Z.bits();
/// The set of all angular degrees of freedom.
const ANG_AXES = Self::ANG_X.bits() | Self::ANG_Y.bits() | Self::ANG_Z.bits();
}
@@ -53,26 +53,26 @@ bitflags::bitflags! {
/// A bit mask identifying multiple degrees of freedom of a joint.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
pub struct JointAxesMask: u8 {
- /// The translational degree of freedom along the local X axis of a joint.
- const X = 1 << 0;
- /// The translational degree of freedom along the local Y axis of a joint.
- const Y = 1 << 1;
+ /// The linear (translational) degree of freedom along the local X axis of a joint.
+ const LIN_X = 1 << 0;
+ /// The linear (translational) degree of freedom along the local Y axis of a joint.
+ const LIN_Y = 1 << 1;
/// The angular degree of freedom of a joint.
const ANG_X = 1 << 2;
/// The set of degrees of freedom locked by a revolute joint.
- const LOCKED_REVOLUTE_AXES = Self::X.bits | Self::Y.bits;
+ const LOCKED_REVOLUTE_AXES = Self::LIN_X.bits | Self::LIN_Y.bits;
/// The set of degrees of freedom locked by a prismatic joint.
- const LOCKED_PRISMATIC_AXES = Self::Y.bits | Self::ANG_X.bits;
+ const LOCKED_PRISMATIC_AXES = Self::LIN_Y.bits | Self::ANG_X.bits;
/// The set of degrees of freedom locked by a fixed joint.
- const LOCKED_FIXED_AXES = Self::X.bits | Self::Y.bits | Self::ANG_X.bits;
+ const LOCKED_FIXED_AXES = Self::LIN_X.bits | Self::LIN_Y.bits | Self::ANG_X.bits;
/// The set of degrees of freedom left free by a revolute joint.
const FREE_REVOLUTE_AXES = Self::ANG_X.bits;
/// The set of degrees of freedom left free by a prismatic joint.
- const FREE_PRISMATIC_AXES = Self::X.bits;
+ const FREE_PRISMATIC_AXES = Self::LIN_X.bits;
/// The set of degrees of freedom left free by a fixed joint.
const FREE_FIXED_AXES = 0;
/// The set of all translational degrees of freedom.
- const LIN_AXES = Self::X.bits() | Self::Y.bits();
+ const LIN_AXES = Self::LIN_X.bits() | Self::LIN_Y.bits();
/// The set of all angular degrees of freedom.
const ANG_AXES = Self::ANG_X.bits();
}
@@ -88,13 +88,13 @@ impl Default for JointAxesMask {
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug, PartialEq)]
pub enum JointAxis {
- /// The translational degree of freedom along the joint’s local X axis.
- X = 0,
- /// The translational degree of freedom along the joint’s local Y axis.
- Y,
- /// The translational degree of freedom along the joint’s local Z axis.
+ /// The linear (translational) degree of freedom along the joint’s local X axis.
+ LinX = 0,
+ /// The linear (translational) degree of freedom along the joint’s local Y axis.
+ LinY,
+ /// The linear (translational) degree of freedom along the joint’s local Z axis.
#[cfg(feature = "dim3")]
- Z,
+ LinZ,
/// The rotational degree of freedom along the joint’s local X axis.
AngX,
/// The rotational degree of freedom along the joint’s local Y axis.
diff --git a/src/dynamics/joint/multibody_joint/multibody_ik.rs b/src/dynamics/joint/multibody_joint/multibody_ik.rs
index 7e0fc15..2171cf6 100644
--- a/src/dynamics/joint/multibody_joint/multibody_ik.rs
+++ b/src/dynamics/joint/multibody_joint/multibody_ik.rs
@@ -116,14 +116,14 @@ impl Multibody {
delta_ang.z
];
- if !options.constrained_axes.contains(JointAxesMask::X) {
+ if !options.constrained_axes.contains(JointAxesMask::LIN_X) {
delta[0] = 0.0;
}
- if !options.constrained_axes.contains(JointAxesMask::Y) {
+ if !options.constrained_axes.contains(JointAxesMask::LIN_Y) {
delta[1] = 0.0;
}
#[cfg(feature = "dim3")]
- if !options.constrained_axes.contains(JointAxesMask::Z) {
+ if !options.constrained_axes.contains(JointAxesMask::LIN_Z) {
delta[2] = 0.0;
}
if !options.constrained_axes.contains(JointAxesMask::ANG_X) {
diff --git a/src/dynamics/joint/prismatic_joint.rs b/src/dynamics/joint/prismatic_joint.rs
index d0f3a7d..8a1c59f 100644
--- a/src/dynamics/joint/prismatic_joint.rs
+++ b/src/dynamics/joint/prismatic_joint.rs
@@ -92,19 +92,19 @@ impl PrismaticJoint {
/// The motor affecting the joint’s translational degree of freedom.
#[must_use]
pub fn motor(&self) -> Option<&JointMotor> {
- self.data.motor(JointAxis::X)
+ self.data.motor(JointAxis::LinX)
}
/// 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::LinX, model);
self
}
/// Sets the target velocity this motor needs to reach.
pub fn set_motor_velocity(&mut self, target_vel: Real, factor: Real) -> &mut Self {
self.data
- .set_motor_velocity(JointAxis::X, target_vel, factor);
+ .set_motor_velocity(JointAxis::LinX, target_vel, factor);
self
}
@@ -116,7 +116,7 @@ impl PrismaticJoint {
damping: Real,
) -> &mut Self {
self.data
- .set_motor_position(JointAxis::X, target_pos, stiffness, damping);
+ .set_motor_position(JointAxis::LinX, target_pos, stiffness, damping);
self
}
@@ -129,25 +129,25 @@ impl PrismaticJoint {
damping: Real,
) -> &mut Self {
self.data
- .set_motor(JointAxis::X, target_pos, target_vel, stiffness, damping);
+ .set_motor(JointAxis::LinX, 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::LinX, max_force);
self
}
/// The limit distance attached bodies can translate along the joint’s principal axis.
#[must_use]
pub fn limits(&self) -> Option<&JointLimits<Real>> {
- self.data.limits(JointAxis::X)
+ self.data.limits(JointAxis::LinX)
}
/// Sets the `[min,max]` limit distances attached bodies can translate along the joint’s principal axis.
pub fn set_limits(&mut self, limits: [Real; 2]) -> &mut Self {
- self.data.set_limits(JointAxis::X, limits);
+ self.data.set_limits(JointAxis::LinX, limits);
self
}
}
diff --git a/src/dynamics/joint/rope_joint.rs b/src/dynamics/joint/rope_joint.rs
index 64a66ea..67c0c3e 100644
--- a/src/dynamics/joint/rope_joint.rs
+++ b/src/dynamics/joint/rope_joint.rs
@@ -74,14 +74,14 @@ impl RopeJoint {
/// 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::LinX, model);
self
}
/// Sets the target velocity this motor needs to reach.
pub fn set_motor_velocity(&mut self, target_vel: Real, factor: Real) -> &mut Self {
self.data
- .set_motor_velocity(JointAxis::X, target_vel, factor);
+ .set_motor_velocity(JointAxis::LinX, target_vel, factor);
self
}
@@ -93,7 +93,7 @@ impl RopeJoint {
damping: Real,
) -> &mut Self {
self.data
- .set_motor_position(JointAxis::X, target_pos, stiffness, damping);
+ .set_motor_position(JointAxis::LinX, target_pos, stiffness, damping);
self
}
@@ -106,13 +106,13 @@ impl RopeJoint {
damping: Real,
) -> &mut Self {
self.data
- .set_motor(JointAxis::X, target_pos, target_vel, stiffness, damping);
+ .set_motor(JointAxis::LinX, 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::LinX, max_force);
self
}
@@ -120,7 +120,7 @@ impl RopeJoint {
#[must_use]
pub fn max_distance(&self) -> Real {
self.data
- .limits(JointAxis::X)
+ .limits(JointAxis::LinX)
.map(|l| l.max)
.unwrap_or(Real::MAX)
}
@@ -129,7 +129,7 @@ impl RopeJoint {
///
/// The `max_dist` must be strictly greater than 0.0.
pub fn set_max_distance(&mut self, max_dist: Real) -> &mut Self {
- self.data.set_limits(JointAxis::X, [0.0, max_dist]);
+ self.data.set_limits(JointAxis::LinX, [0.0, max_dist]);
self
}
}
diff --git a/src/dynamics/joint/spring_joint.rs b/src/dynamics/joint/spring_joint.rs
index f5cb5bd..eea639f 100644
--- a/src/dynamics/joint/spring_joint.rs
+++ b/src/dynamics/joint/spring_joint.rs
@@ -22,8 +22,8 @@ impl SpringJoint {
pub fn new(rest_length: Real, stiffness: Real, damping: Real) -> Self {
let data = GenericJointBuilder::new(JointAxesMask::empty())
.coupled_axes(JointAxesMask::LIN_AXES)
- .motor_position(JointAxis::X, rest_length, stiffness, damping)
- .motor_model(JointAxis::X, MotorModel::ForceBased)
+ .motor_position(JointAxis::LinX, rest_length, stiffness, damping)
+ .motor_model(JointAxis::LinX, MotorModel::ForceBased)
.build();
Self { data }
}
@@ -75,7 +75,7 @@ impl SpringJoint {
/// `MotorModel::AccelerationBased`, the spring constants will be automatically scaled by the attached masses,
/// making the spring more mass-independent.
pub fn set_spring_model(&mut self, model: MotorModel) -> &mut Self {
- self.data.set_motor_model(JointAxis::X, model);
+ self.data.set_motor_model(JointAxis::LinX, model);
self
}
generated by cgit (git 2.34.1) at 2026-01-16 16:58:42 +0000