From 5063f3bb4fec2716f78a208552ee260f22428840 Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <developer@crozet.re>
Date: Thu, 23 Jun 2022 16:23:39 +0200
Subject: Add the ability to disable contacts between two rigid-bodies attached
 by joints

---
 src/dynamics/joint/impulse_joint/impulse_joint_set.rs | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

(limited to 'src/dynamics/joint/impulse_joint')

diff --git a/src/dynamics/joint/impulse_joint/impulse_joint_set.rs b/src/dynamics/joint/impulse_joint/impulse_joint_set.rs
index c4ec734..7409172 100644
--- a/src/dynamics/joint/impulse_joint/impulse_joint_set.rs
+++ b/src/dynamics/joint/impulse_joint/impulse_joint_set.rs
@@ -71,6 +71,20 @@ impl ImpulseJointSet {
         &self.joint_graph
     }
 
+    /// Iterates through all the joints between two rigid-bodies.
+    pub fn joints_between<'a>(
+        &'a self,
+        body1: RigidBodyHandle,
+        body2: RigidBodyHandle,
+    ) -> impl Iterator<Item = (ImpulseJointHandle, &'a ImpulseJoint)> {
+        self.rb_graph_ids
+            .get(body1.0)
+            .zip(self.rb_graph_ids.get(body2.0))
+            .into_iter()
+            .flat_map(move |(id1, id2)| self.joint_graph.interaction_pair(*id1, *id2).into_iter())
+            .map(|inter| (inter.2.handle, inter.2))
+    }
+
     /// Iterates through all the impulse joints attached to the given rigid-body.
     pub fn attached_joints<'a>(
         &'a self,
-- 
cgit