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#[cfg(feature = "dim3")]
use crate::dynamics::RevoluteJoint;
use crate::dynamics::{BallJoint, FixedJoint, JointHandle, PrismaticJoint, RigidBodyHandle};
#[derive(Copy, Clone)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// An enum grouping all possible types of joints.
pub enum JointParams {
/// A Ball joint that removes all relative linear degrees of freedom between the affected bodies.
BallJoint(BallJoint),
/// A fixed joint that removes all relative degrees of freedom between the affected bodies.
FixedJoint(FixedJoint),
/// A prismatic joint that removes all degrees of degrees of freedom between the affected
/// bodies except for the translation along one axis.
PrismaticJoint(PrismaticJoint),
#[cfg(feature = "dim3")]
/// A revolute joint that removes all degrees of degrees of freedom between the affected
/// bodies except for the translation along one axis.
RevoluteJoint(RevoluteJoint),
}
impl JointParams {
/// An integer identifier for each type of joint.
pub fn type_id(&self) -> usize {
match self {
JointParams::BallJoint(_) => 0,
JointParams::FixedJoint(_) => 1,
JointParams::PrismaticJoint(_) => 2,
#[cfg(feature = "dim3")]
JointParams::RevoluteJoint(_) => 3,
}
}
/// Gets a reference to the underlying ball joint, if `self` is one.
pub fn as_ball_joint(&self) -> Option<&BallJoint> {
if let JointParams::BallJoint(j) = self {
Some(j)
} else {
None
}
}
/// Gets a reference to the underlying fixed joint, if `self` is one.
pub fn as_fixed_joint(&self) -> Option<&FixedJoint> {
if let JointParams::FixedJoint(j) = self {
Some(j)
} else {
None
}
}
/// Gets a reference to the underlying prismatic joint, if `self` is one.
pub fn as_prismatic_joint(&self) -> Option<&PrismaticJoint> {
if let JointParams::PrismaticJoint(j) = self {
Some(j)
} else {
None
}
}
/// Gets a reference to the underlying revolute joint, if `self` is one.
#[cfg(feature = "dim3")]
pub fn as_revolute_joint(&self) -> Option<&RevoluteJoint> {
if let JointParams::RevoluteJoint(j) = self {
Some(j)
} else {
None
}
}
}
impl From<BallJoint> for JointParams {
fn from(j: BallJoint) -> Self {
JointParams::BallJoint(j)
}
}
impl From<FixedJoint> for JointParams {
fn from(j: FixedJoint) -> Self {
JointParams::FixedJoint(j)
}
}
#[cfg(feature = "dim3")]
impl From<RevoluteJoint> for JointParams {
fn from(j: RevoluteJoint) -> Self {
JointParams::RevoluteJoint(j)
}
}
impl From<PrismaticJoint> for JointParams {
fn from(j: PrismaticJoint) -> Self {
JointParams::PrismaticJoint(j)
}
}
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// A joint attached to two bodies.
pub struct Joint {
/// Handle to the first body attached to this joint.
pub body1: RigidBodyHandle,
/// Handle to the second body attached to this joint.
pub body2: RigidBodyHandle,
// A joint needs to know its handle to simplify its removal.
pub(crate) handle: JointHandle,
#[cfg(feature = "parallel")]
pub(crate) constraint_index: usize,
#[cfg(feature = "parallel")]
pub(crate) position_constraint_index: usize,
/// The joint geometric parameters and impulse.
pub params: JointParams,
}
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