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use crate::math::{Point, Vector};
use crate::utils::WBasis;
use na::{Unit, Vector5};
#[derive(Copy, Clone)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// A joint that removes all relative motion between two bodies, except for the rotations along one axis.
pub struct RevoluteJoint {
/// Where the revolute joint is attached on the first body, expressed in the local space of the first attached body.
pub local_anchor1: Point<f32>,
/// Where the revolute joint is attached on the second body, expressed in the local space of the second attached body.
pub local_anchor2: Point<f32>,
/// The rotation axis of this revolute joint expressed in the local space of the first attached body.
pub local_axis1: Unit<Vector<f32>>,
/// The rotation axis of this revolute joint expressed in the local space of the second attached body.
pub local_axis2: Unit<Vector<f32>>,
/// The basis orthonormal to `local_axis1`, expressed in the local space of the first attached body.
pub basis1: [Vector<f32>; 2],
/// The basis orthonormal to `local_axis2`, expressed in the local space of the second attached body.
pub basis2: [Vector<f32>; 2],
/// The impulse applied by this joint on the first body.
///
/// The impulse applied to the second body is given by `-impulse`.
pub impulse: Vector5<f32>,
}
impl RevoluteJoint {
/// Creates a new revolute joint with the given point of applications and axis, all expressed
/// in the local-space of the affected bodies.
pub fn new(
local_anchor1: Point<f32>,
local_axis1: Unit<Vector<f32>>,
local_anchor2: Point<f32>,
local_axis2: Unit<Vector<f32>>,
) -> Self {
Self {
local_anchor1,
local_anchor2,
local_axis1,
local_axis2,
basis1: local_axis1.orthonormal_basis(),
basis2: local_axis2.orthonormal_basis(),
impulse: na::zero(),
}
}
}
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