From 9b87f06a856c4d673642e210f8b0986cfdbac3af Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Sun, 21 Jan 2024 21:02:23 +0100
Subject: feat: implement new "small-steps" solver + joint improvements

---
 src/dynamics/solver/joint_constraint/mod.rs | 23 ++++++++++++++---------
 1 file changed, 14 insertions(+), 9 deletions(-)

(limited to 'src/dynamics/solver/joint_constraint/mod.rs')

diff --git a/src/dynamics/solver/joint_constraint/mod.rs b/src/dynamics/solver/joint_constraint/mod.rs
index 503bd81..7d9f0c5 100644
--- a/src/dynamics/solver/joint_constraint/mod.rs
+++ b/src/dynamics/solver/joint_constraint/mod.rs
@@ -1,13 +1,18 @@
-pub use joint_velocity_constraint::{MotorParameters, SolverBody, WritebackId};
+pub use joint_velocity_constraint::{JointSolverBody, MotorParameters, WritebackId};
 
-pub use joint_constraint::AnyJointVelocityConstraint;
-pub use joint_generic_velocity_constraint::{
-    JointGenericVelocityConstraint, JointGenericVelocityGroundConstraint,
+pub use any_joint_constraint::JointConstraintTypes;
+pub use joint_constraint_builder::JointTwoBodyConstraintHelper;
+pub use joint_constraints_set::JointConstraintsSet;
+pub use joint_generic_constraint::{JointGenericOneBodyConstraint, JointGenericTwoBodyConstraint};
+pub use joint_generic_constraint_builder::{
+    JointGenericOneBodyConstraintBuilder, JointGenericTwoBodyConstraintBuilder,
+    JointGenericVelocityOneBodyExternalConstraintBuilder,
+    JointGenericVelocityOneBodyInternalConstraintBuilder,
 };
-pub use joint_velocity_constraint_builder::JointVelocityConstraintBuilder;
 
-mod joint_constraint;
-mod joint_generic_velocity_constraint;
-mod joint_generic_velocity_constraint_builder;
+mod any_joint_constraint;
+mod joint_constraint_builder;
+mod joint_constraints_set;
+mod joint_generic_constraint;
+mod joint_generic_constraint_builder;
 mod joint_velocity_constraint;
-mod joint_velocity_constraint_builder;
-- 
cgit