From fb20d72ee29de9311a81aec6eb9f02fd2aa35fc4 Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <developer@crozet.re>
Date: Sun, 20 Feb 2022 12:55:00 +0100
Subject: Joint API and joint motors improvements

---
 src/dynamics/joint/fixed_joint.rs | 93 ++++++++++++++++++++++++++++++---------
 1 file changed, 73 insertions(+), 20 deletions(-)

(limited to 'src/dynamics/joint/fixed_joint.rs')

diff --git a/src/dynamics/joint/fixed_joint.rs b/src/dynamics/joint/fixed_joint.rs
index c7ca904..192b7d9 100644
--- a/src/dynamics/joint/fixed_joint.rs
+++ b/src/dynamics/joint/fixed_joint.rs
@@ -1,10 +1,11 @@
-use crate::dynamics::{JointAxesMask, JointData};
+use crate::dynamics::{GenericJoint, GenericJointBuilder, JointAxesMask};
 use crate::math::{Isometry, Point, Real};
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[derive(Copy, Clone, Debug, PartialEq)]
+#[repr(transparent)]
 pub struct FixedJoint {
-    data: JointData,
+    data: GenericJoint,
 }
 
 impl Default for FixedJoint {
@@ -14,48 +15,100 @@ impl Default for FixedJoint {
 }
 
 impl FixedJoint {
+    #[must_use]
     pub fn new() -> Self {
-        #[cfg(feature = "dim2")]
-        let mask = JointAxesMask::X | JointAxesMask::Y | JointAxesMask::ANG_X;
-        #[cfg(feature = "dim3")]
-        let mask = JointAxesMask::X
-            | JointAxesMask::Y
-            | JointAxesMask::Z
-            | JointAxesMask::ANG_X
-            | JointAxesMask::ANG_Y
-            | JointAxesMask::ANG_Z;
-
-        let data = JointData::default().lock_axes(mask);
+        let data = GenericJointBuilder::new(JointAxesMask::LOCKED_FIXED_AXES).build();
         Self { data }
     }
 
+    #[must_use]
+    pub fn local_frame1(&self) -> &Isometry<Real> {
+        &self.data.local_frame1
+    }
+
+    pub fn set_local_frame1(&mut self, local_frame: Isometry<Real>) -> &mut Self {
+        self.data.set_local_frame1(local_frame);
+        self
+    }
+
+    #[must_use]
+    pub fn local_frame2(&self) -> &Isometry<Real> {
+        &self.data.local_frame2
+    }
+
+    pub fn set_local_frame2(&mut self, local_frame: Isometry<Real>) -> &mut Self {
+        self.data.set_local_frame2(local_frame);
+        self
+    }
+
+    #[must_use]
+    pub fn local_anchor1(&self) -> Point<Real> {
+        self.data.local_anchor1()
+    }
+
+    pub fn set_local_anchor1(&mut self, anchor1: Point<Real>) -> &mut Self {
+        self.data.set_local_anchor1(anchor1);
+        self
+    }
+
+    #[must_use]
+    pub fn local_anchor2(&self) -> Point<Real> {
+        self.data.local_anchor2()
+    }
+
+    pub fn set_local_anchor2(&mut self, anchor2: Point<Real>) -> &mut Self {
+        self.data.set_local_anchor2(anchor2);
+        self
+    }
+}
+
+impl Into<GenericJoint> for FixedJoint {
+    fn into(self) -> GenericJoint {
+        self.data
+    }
+}
+
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Copy, Clone, Debug, PartialEq, Default)]
+pub struct FixedJointBuilder(FixedJoint);
+
+impl FixedJointBuilder {
+    pub fn new() -> Self {
+        Self(FixedJoint::new())
+    }
+
     #[must_use]
     pub fn local_frame1(mut self, local_frame: Isometry<Real>) -> Self {
-        self.data = self.data.local_frame1(local_frame);
+        self.0.set_local_frame1(local_frame);
         self
     }
 
     #[must_use]
     pub fn local_frame2(mut self, local_frame: Isometry<Real>) -> Self {
-        self.data = self.data.local_frame2(local_frame);
+        self.0.set_local_frame2(local_frame);
         self
     }
 
     #[must_use]
     pub fn local_anchor1(mut self, anchor1: Point<Real>) -> Self {
-        self.data = self.data.local_anchor1(anchor1);
+        self.0.set_local_anchor1(anchor1);
         self
     }
 
     #[must_use]
     pub fn local_anchor2(mut self, anchor2: Point<Real>) -> Self {
-        self.data = self.data.local_anchor2(anchor2);
+        self.0.set_local_anchor2(anchor2);
         self
     }
+
+    #[must_use]
+    pub fn build(self) -> FixedJoint {
+        self.0
+    }
 }
 
-impl Into<JointData> for FixedJoint {
-    fn into(self) -> JointData {
-        self.data
+impl Into<GenericJoint> for FixedJointBuilder {
+    fn into(self) -> GenericJoint {
+        self.0.into()
     }
 }
-- 
cgit