diff options
Diffstat (limited to 'src/dynamics/joint')
| -rw-r--r-- | src/dynamics/joint/generic_joint.rs | 26 |
1 files changed, 14 insertions, 12 deletions
diff --git a/src/dynamics/joint/generic_joint.rs b/src/dynamics/joint/generic_joint.rs index 154c439..8d4066d 100644 --- a/src/dynamics/joint/generic_joint.rs +++ b/src/dynamics/joint/generic_joint.rs @@ -12,6 +12,7 @@ use crate::dynamics::SphericalJoint; bitflags::bitflags! { /// A bit mask identifying multiple degrees of freedom of a joint. #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] + #[derive(Copy, Clone, PartialEq, Eq, Debug)] pub struct JointAxesMask: u8 { /// The linear (translational) degree of freedom along the local X axis of a joint. const LIN_X = 1 << 0; @@ -26,21 +27,21 @@ 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::LIN_X.bits | Self::LIN_Y.bits | Self::LIN_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::LIN_Y.bits | Self::LIN_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::LIN_X.bits | Self::LIN_Y.bits | Self::LIN_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::LIN_X.bits | Self::LIN_Y.bits | Self::LIN_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; + 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::LIN_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; + 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::LIN_X.bits() | Self::LIN_Y.bits() | Self::LIN_Z.bits(); /// The set of all angular degrees of freedom. @@ -52,6 +53,7 @@ bitflags::bitflags! { bitflags::bitflags! { /// A bit mask identifying multiple degrees of freedom of a joint. #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] + #[derive(Copy, Clone, PartialEq, Eq, Debug)] pub struct JointAxesMask: u8 { /// The linear (translational) degree of freedom along the local X axis of a joint. const LIN_X = 1 << 0; @@ -60,15 +62,15 @@ bitflags::bitflags! { /// 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::LIN_X.bits | Self::LIN_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::LIN_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::LIN_X.bits | Self::LIN_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; + 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::LIN_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. |