From 536122e08066c762a0f6a1585c458f6c7a54bc2e Mon Sep 17 00:00:00 2001
From: zhguchev <zhguchev@arrival.com>
Date: Tue, 11 Jan 2022 14:56:26 +0100
Subject: add defaults for the several structs

---
 src/dynamics/joint/fixed_joint.rs                         | 6 +++++-
 src/dynamics/joint/multibody_joint/multibody.rs           | 8 ++++++--
 src/dynamics/joint/multibody_joint/multibody_joint_set.rs | 1 +
 src/dynamics/joint/spherical_joint.rs                     | 6 +++++-
 4 files changed, 17 insertions(+), 4 deletions(-)

(limited to 'src/dynamics/joint')

diff --git a/src/dynamics/joint/fixed_joint.rs b/src/dynamics/joint/fixed_joint.rs
index 10c4d7e..6082938 100644
--- a/src/dynamics/joint/fixed_joint.rs
+++ b/src/dynamics/joint/fixed_joint.rs
@@ -6,7 +6,11 @@ use crate::math::{Isometry, Point, Real};
 pub struct FixedJoint {
     data: JointData,
 }
-
+impl Default for FixedJoint{
+    fn default() -> Self {
+        FixedJoint::new()
+    }
+}
 impl FixedJoint {
     pub fn new() -> Self {
         #[cfg(feature = "dim2")]
diff --git a/src/dynamics/joint/multibody_joint/multibody.rs b/src/dynamics/joint/multibody_joint/multibody.rs
index e31a333..5779b3e 100644
--- a/src/dynamics/joint/multibody_joint/multibody.rs
+++ b/src/dynamics/joint/multibody_joint/multibody.rs
@@ -18,7 +18,7 @@ use na::{
 };
 
 #[repr(C)]
-#[derive(Copy, Clone, Debug)]
+#[derive(Copy, Clone, Debug,Default)]
 struct Force {
     linear: Vector<Real>,
     angular: AngVector<Real>,
@@ -91,7 +91,11 @@ pub struct Multibody {
     coriolis_w: Vec<OMatrix<Real, AngDim, Dynamic>>,
     i_coriolis_dt: Jacobian<Real>,
 }
-
+impl Default for Multibody{
+    fn default() -> Self {
+        Multibody::new()
+    }
+}
 impl Multibody {
     /// Creates a new multibody with no link.
     pub fn new() -> Self {
diff --git a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs
index 24b329f..3e786e2 100644
--- a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs
+++ b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs
@@ -75,6 +75,7 @@ impl Default for MultibodyJointLink {
     }
 }
 
+#[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)]
diff --git a/src/dynamics/joint/spherical_joint.rs b/src/dynamics/joint/spherical_joint.rs
index 581b959..19fbd6f 100644
--- a/src/dynamics/joint/spherical_joint.rs
+++ b/src/dynamics/joint/spherical_joint.rs
@@ -7,7 +7,11 @@ use crate::math::{Point, Real};
 pub struct SphericalJoint {
     data: JointData,
 }
-
+impl Default for SphericalJoint{
+    fn default() -> Self {
+        SphericalJoint::new()
+    }
+}
 impl SphericalJoint {
     pub fn new() -> Self {
         let data =
-- 
cgit