diff options
Diffstat (limited to 'src/dynamics')
5 files changed, 6 insertions, 6 deletions
diff --git a/src/dynamics/joint/impulse_joint/impulse_joint_set.rs b/src/dynamics/joint/impulse_joint/impulse_joint_set.rs index 3f9835e..3331822 100644 --- a/src/dynamics/joint/impulse_joint/impulse_joint_set.rs +++ b/src/dynamics/joint/impulse_joint/impulse_joint_set.rs @@ -36,7 +36,7 @@ pub(crate) type JointIndex = usize; pub(crate) type JointGraphEdge = crate::data::graph::Edge<ImpulseJoint>; #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] -#[derive(Clone, Default)] +#[derive(Clone, Default, Debug)] /// A set of impulse_joints that can be handled by a physics `World`. pub struct ImpulseJointSet { rb_graph_ids: Coarena<RigidBodyGraphIndex>, diff --git a/src/dynamics/joint/multibody_joint/multibody.rs b/src/dynamics/joint/multibody_joint/multibody.rs index 6859fd9..f05ce75 100644 --- a/src/dynamics/joint/multibody_joint/multibody.rs +++ b/src/dynamics/joint/multibody_joint/multibody.rs @@ -62,7 +62,7 @@ fn concat_rb_mass_matrix( /// An articulated body simulated using the reduced-coordinates approach. #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] -#[derive(Clone)] +#[derive(Clone, Debug)] pub struct Multibody { // TODO: serialization: skip the workspace fields. pub(crate) links: MultibodyLinkVec, diff --git a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs index 67df159..694e2ff 100644 --- a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs +++ b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs @@ -86,7 +86,7 @@ impl Default for MultibodyLinkId { #[derive(Default)] /// A set of rigid bodies that can be handled by a physics pipeline. #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] -#[derive(Clone)] +#[derive(Clone, Debug)] pub struct MultibodyJointSet { pub(crate) multibodies: Arena<Multibody>, // NOTE: a Slab would be sufficient. pub(crate) rb2mb: Coarena<MultibodyLinkId>, diff --git a/src/dynamics/joint/multibody_joint/multibody_link.rs b/src/dynamics/joint/multibody_joint/multibody_link.rs index bf6d605..611cb49 100644 --- a/src/dynamics/joint/multibody_joint/multibody_link.rs +++ b/src/dynamics/joint/multibody_joint/multibody_link.rs @@ -6,7 +6,7 @@ use crate::prelude::RigidBodyVelocity; /// One link of a multibody. #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] -#[derive(Copy, Clone)] +#[derive(Copy, Clone, Debug)] pub struct MultibodyLink { // FIXME: make all those private. pub(crate) internal_id: usize, @@ -104,7 +104,7 @@ impl MultibodyLink { // FIXME: keep this even if we already have the Index2 traits? #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] -#[derive(Clone)] +#[derive(Clone, Debug)] pub(crate) struct MultibodyLinkVec(pub Vec<MultibodyLink>); impl MultibodyLinkVec { diff --git a/src/dynamics/joint/multibody_joint/multibody_workspace.rs b/src/dynamics/joint/multibody_joint/multibody_workspace.rs index 767d751..3bad390 100644 --- a/src/dynamics/joint/multibody_joint/multibody_workspace.rs +++ b/src/dynamics/joint/multibody_joint/multibody_workspace.rs @@ -4,7 +4,7 @@ use na::DVector; /// A temporary workspace for various updates of the multibody. #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] -#[derive(Clone)] +#[derive(Clone, Debug)] pub(crate) struct MultibodyWorkspace { pub accs: Vec<RigidBodyVelocity>, pub ndofs_vec: DVector<Real>, |