1 files changed, 33 insertions, 0 deletions
diff --git a/src/dynamics/joint/fixed_joint.rs b/src/dynamics/joint/fixed_joint.rs
new file mode 100644
index 0000000..0731cfb
--- /dev/null
+++ b/src/dynamics/joint/fixed_joint.rs
@@ -0,0 +1,33 @@
+use crate::math::{Isometry, SpacialVector};
+
+#[derive(Copy, Clone)]
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+/// A joint that prevents all relative movement between two bodies.
+///
+/// Given two frames of references, this joint aims to ensure these frame always coincide in world-space.
+pub struct FixedJoint {
+    /// The frame of reference for the first body affected by this joint, expressed in the local frame
+    /// of the first body.
+    pub local_anchor1: Isometry<f32>,
+    /// The frame of reference for the second body affected by this joint, expressed in the local frame
+    /// of the first body.
+    pub local_anchor2: Isometry<f32>,
+    /// The impulse applied to the first body affected by this joint.
+    ///
+    /// The impulse applied to the second body affected by this joint is given by `-impulse`.
+    /// This combines both linear and angular impulses:
+    /// - In 2D, `impulse.xy()` gives the linear impulse, and `impulse.z` the angular impulse.
+    /// - In 3D, `impulse.xyz()` gives the linear impulse, and `(impulse[3], impulse[4], impulse[5])` the angular impulse.
+    pub impulse: SpacialVector<f32>,
+}
+
+impl FixedJoint {
+    /// Creates a new fixed joint from the frames of reference of both bodies.
+    pub fn new(local_anchor1: Isometry<f32>, local_anchor2: Isometry<f32>) -> Self {
+        Self {
+            local_anchor1,
+            local_anchor2,
+            impulse: SpacialVector::zeros(),
+        }
+    }
+}