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use crate::dynamics::{GenericJoint, GenericJointBuilder, JointAxesMask};
use crate::math::{Isometry, Point, Real};
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug, PartialEq)]
#[repr(transparent)]
pub struct FixedJoint {
data: GenericJoint,
}
impl Default for FixedJoint {
fn default() -> Self {
FixedJoint::new()
}
}
impl FixedJoint {
#[must_use]
pub fn new() -> Self {
let data = GenericJointBuilder::new(JointAxesMask::LOCKED_FIXED_AXES).build();
Self { data }
}
#[must_use]
pub fn local_frame1(&self) -> &Isometry<Real> {
&self.data.local_frame1
}
pub fn set_local_frame1(&mut self, local_frame: Isometry<Real>) -> &mut Self {
self.data.set_local_frame1(local_frame);
self
}
#[must_use]
pub fn local_frame2(&self) -> &Isometry<Real> {
&self.data.local_frame2
}
pub fn set_local_frame2(&mut self, local_frame: Isometry<Real>) -> &mut Self {
self.data.set_local_frame2(local_frame);
self
}
#[must_use]
pub fn local_anchor1(&self) -> Point<Real> {
self.data.local_anchor1()
}
pub fn set_local_anchor1(&mut self, anchor1: Point<Real>) -> &mut Self {
self.data.set_local_anchor1(anchor1);
self
}
#[must_use]
pub fn local_anchor2(&self) -> Point<Real> {
self.data.local_anchor2()
}
pub fn set_local_anchor2(&mut self, anchor2: Point<Real>) -> &mut Self {
self.data.set_local_anchor2(anchor2);
self
}
}
impl Into<GenericJoint> for FixedJoint {
fn into(self) -> GenericJoint {
self.data
}
}
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug, PartialEq, Default)]
pub struct FixedJointBuilder(FixedJoint);
impl FixedJointBuilder {
pub fn new() -> Self {
Self(FixedJoint::new())
}
#[must_use]
pub fn local_frame1(mut self, local_frame: Isometry<Real>) -> Self {
self.0.set_local_frame1(local_frame);
self
}
#[must_use]
pub fn local_frame2(mut self, local_frame: Isometry<Real>) -> Self {
self.0.set_local_frame2(local_frame);
self
}
#[must_use]
pub fn local_anchor1(mut self, anchor1: Point<Real>) -> Self {
self.0.set_local_anchor1(anchor1);
self
}
#[must_use]
pub fn local_anchor2(mut self, anchor2: Point<Real>) -> Self {
self.0.set_local_anchor2(anchor2);
self
}
#[must_use]
pub fn build(self) -> FixedJoint {
self.0
}
}
impl Into<GenericJoint> for FixedJointBuilder {
fn into(self) -> GenericJoint {
self.0.into()
}
}
|
