From 536122e08066c762a0f6a1585c458f6c7a54bc2e Mon Sep 17 00:00:00 2001 From: zhguchev 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 +++++- src/dynamics/rigid_body_components.rs | 2 +- src/dynamics/solver/delta_vel.rs | 2 +- .../joint_constraint/joint_generic_velocity_constraint.rs | 11 +++++++++++ 7 files changed, 30 insertions(+), 6 deletions(-) (limited to 'src/dynamics') 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, angular: AngVector, @@ -91,7 +91,11 @@ pub struct Multibody { coriolis_w: Vec>, i_coriolis_dt: Jacobian, } - +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 = diff --git a/src/dynamics/rigid_body_components.rs b/src/dynamics/rigid_body_components.rs index fdbd33f..c7542d1 100644 --- a/src/dynamics/rigid_body_components.rs +++ b/src/dynamics/rigid_body_components.rs @@ -12,7 +12,7 @@ use crate::utils::{WAngularInertia, WCross, WDot}; use num::Zero; /// The unique handle of a rigid body added to a `RigidBodySet`. -#[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)] +#[derive(Copy, Clone, Debug, PartialEq, Eq, Hash, Default)] #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] #[repr(transparent)] pub struct RigidBodyHandle(pub crate::data::arena::Index); diff --git a/src/dynamics/solver/delta_vel.rs b/src/dynamics/solver/delta_vel.rs index 697fd24..73f3c91 100644 --- a/src/dynamics/solver/delta_vel.rs +++ b/src/dynamics/solver/delta_vel.rs @@ -3,7 +3,7 @@ use na::{DVectorSlice, DVectorSliceMut}; use na::{Scalar, SimdRealField}; use std::ops::{AddAssign, Sub}; -#[derive(Copy, Clone, Debug)] +#[derive(Copy, Clone, Debug, Default)] #[repr(C)] //#[repr(align(64))] pub struct DeltaVel { diff --git a/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs b/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs index 2646fe8..795009f 100644 --- a/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs +++ b/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs @@ -29,6 +29,12 @@ pub struct JointGenericVelocityConstraint { pub writeback_id: WritebackId, } +impl Default for JointGenericVelocityConstraint { + fn default() -> Self { + JointGenericVelocityConstraint::invalid() + } +} + impl JointGenericVelocityConstraint { pub fn invalid() -> Self { Self { @@ -313,6 +319,11 @@ pub struct JointGenericVelocityGroundConstraint { pub writeback_id: WritebackId, } +impl Default for JointGenericVelocityGroundConstraint{ + fn default() -> Self { + JointGenericVelocityGroundConstraint::invalid() + } +} impl JointGenericVelocityGroundConstraint { pub fn invalid() -> Self { -- cgit From 0c7ebae1aaae3ca2a55e33429a4466110deda208 Mon Sep 17 00:00:00 2001 From: Sébastien Crozet Date: Sun, 23 Jan 2022 18:04:24 +0100 Subject: Run cargo fmt --- src/dynamics/joint/fixed_joint.rs | 4 +++- src/dynamics/joint/multibody_joint/multibody.rs | 4 ++-- src/dynamics/joint/spherical_joint.rs | 4 +++- .../solver/joint_constraint/joint_generic_velocity_constraint.rs | 5 +++-- 4 files changed, 11 insertions(+), 6 deletions(-) (limited to 'src/dynamics') diff --git a/src/dynamics/joint/fixed_joint.rs b/src/dynamics/joint/fixed_joint.rs index 6082938..c7ca904 100644 --- a/src/dynamics/joint/fixed_joint.rs +++ b/src/dynamics/joint/fixed_joint.rs @@ -6,11 +6,13 @@ use crate::math::{Isometry, Point, Real}; pub struct FixedJoint { data: JointData, } -impl Default for FixedJoint{ + +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 5779b3e..f2fa623 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,Default)] +#[derive(Copy, Clone, Debug, Default)] struct Force { linear: Vector, angular: AngVector, @@ -91,7 +91,7 @@ pub struct Multibody { coriolis_w: Vec>, i_coriolis_dt: Jacobian, } -impl Default for Multibody{ +impl Default for Multibody { fn default() -> Self { Multibody::new() } diff --git a/src/dynamics/joint/spherical_joint.rs b/src/dynamics/joint/spherical_joint.rs index 19fbd6f..194682d 100644 --- a/src/dynamics/joint/spherical_joint.rs +++ b/src/dynamics/joint/spherical_joint.rs @@ -7,11 +7,13 @@ use crate::math::{Point, Real}; pub struct SphericalJoint { data: JointData, } -impl Default for SphericalJoint{ + +impl Default for SphericalJoint { fn default() -> Self { SphericalJoint::new() } } + impl SphericalJoint { pub fn new() -> Self { let data = diff --git a/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs b/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs index 795009f..be42b87 100644 --- a/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs +++ b/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs @@ -319,9 +319,10 @@ pub struct JointGenericVelocityGroundConstraint { pub writeback_id: WritebackId, } -impl Default for JointGenericVelocityGroundConstraint{ + +impl Default for JointGenericVelocityGroundConstraint { fn default() -> Self { - JointGenericVelocityGroundConstraint::invalid() + JointGenericVelocityGroundConstraint::invalid() } } -- cgit