1 files changed, 46 insertions, 0 deletions
diff --git a/src/dynamics/joint/revolute_joint.rs b/src/dynamics/joint/revolute_joint.rs
new file mode 100644
index 0000000..cdb424b
--- /dev/null
+++ b/src/dynamics/joint/revolute_joint.rs
@@ -0,0 +1,46 @@
+use crate::math::{Point, Vector};
+use crate::utils::WBasis;
+use na::{Unit, Vector5};
+
+#[derive(Copy, Clone)]
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+/// A joint that removes all relative motion between two bodies, except for the rotations along one axis.
+pub struct RevoluteJoint {
+    /// Where the revolute joint is attached on the first body, expressed in the local space of the first attached body.
+    pub local_anchor1: Point<f32>,
+    /// Where the revolute joint is attached on the second body, expressed in the local space of the second attached body.
+    pub local_anchor2: Point<f32>,
+    /// The rotation axis of this revolute joint expressed in the local space of the first attached body.
+    pub local_axis1: Unit<Vector<f32>>,
+    /// The rotation axis of this revolute joint expressed in the local space of the second attached body.
+    pub local_axis2: Unit<Vector<f32>>,
+    /// The basis orthonormal to `local_axis1`, expressed in the local space of the first attached body.
+    pub basis1: [Vector<f32>; 2],
+    /// The basis orthonormal to `local_axis2`, expressed in the local space of the second attached body.
+    pub basis2: [Vector<f32>; 2],
+    /// The impulse applied by this joint on the first body.
+    ///
+    /// The impulse applied to the second body is given by `-impulse`.
+    pub impulse: Vector5<f32>,
+}
+
+impl RevoluteJoint {
+    /// Creates a new revolute joint with the given point of applications and axis, all expressed
+    /// in the local-space of the affected bodies.
+    pub fn new(
+        local_anchor1: Point<f32>,
+        local_axis1: Unit<Vector<f32>>,
+        local_anchor2: Point<f32>,
+        local_axis2: Unit<Vector<f32>>,
+    ) -> Self {
+        Self {
+            local_anchor1,
+            local_anchor2,
+            local_axis1,
+            local_axis2,
+            basis1: local_axis1.orthonormal_basis(),
+            basis2: local_axis2.orthonormal_basis(),
+            impulse: na::zero(),
+        }
+    }
+}