From 150b113a1839f31e182428a71b50d96bf78ef0e0 Mon Sep 17 00:00:00 2001
From: Wolftousen <eliot.t.eikenberry@perilforge.com>
Date: Fri, 4 Nov 2022 23:47:54 -0400
Subject: Adding a Rope Joint

---
 src/dynamics/joint/generic_joint.rs | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

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

diff --git a/src/dynamics/joint/generic_joint.rs b/src/dynamics/joint/generic_joint.rs
index bb1598d..3458311 100644
--- a/src/dynamics/joint/generic_joint.rs
+++ b/src/dynamics/joint/generic_joint.rs
@@ -1,5 +1,5 @@
 use crate::dynamics::solver::MotorParameters;
-use crate::dynamics::{FixedJoint, MotorModel, PrismaticJoint, RevoluteJoint};
+use crate::dynamics::{FixedJoint, MotorModel, PrismaticJoint, RevoluteJoint, RopeJoint};
 use crate::math::{Isometry, Point, Real, Rotation, UnitVector, Vector, SPATIAL_DIM};
 use crate::utils::{WBasis, WReal};
 
@@ -484,6 +484,12 @@ impl GenericJoint {
         PrismaticJoint,
         JointAxesMask::LOCKED_PRISMATIC_AXES
     );
+    joint_conversion_methods!(
+        as_rope,
+        as_rope_mut,
+        RopeJoint,
+        JointAxesMask::FREE_FIXED_AXES
+    );
 
     #[cfg(feature = "dim3")]
     joint_conversion_methods!(
-- 
cgit