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use crate::math::{Point, Vector};
#[derive(Copy, Clone)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// A joint that removes all relative linear motion between a pair of points on two bodies.
pub struct BallJoint {
/// Where the ball joint is attached on the first body, expressed in the first body local frame.
pub local_anchor1: Point<f32>,
/// Where the ball joint is attached on the first body, expressed in the first body local frame.
pub local_anchor2: Point<f32>,
/// The impulse applied by this joint on the first body.
///
/// The impulse applied to the second body is given by `-impulse`.
pub impulse: Vector<f32>,
}
impl BallJoint {
/// Creates a new Ball joint from two anchors given on the local spaces of the respective bodies.
pub fn new(local_anchor1: Point<f32>, local_anchor2: Point<f32>) -> Self {
Self::with_impulse(local_anchor1, local_anchor2, Vector::zeros())
}
pub(crate) fn with_impulse(
local_anchor1: Point<f32>,
local_anchor2: Point<f32>,
impulse: Vector<f32>,
) -> Self {
Self {
local_anchor1,
local_anchor2,
impulse,
}
}
}
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