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use crate::dynamics::joint::{GenericJoint, GenericJointBuilder, JointAxesMask};
use crate::dynamics::{JointAxis, JointLimits, JointMotor, MotorModel};
use crate::math::{Point, Real};
#[cfg(feature = "dim3")]
use crate::math::UnitVector;
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug, PartialEq)]
#[repr(transparent)]
pub struct RevoluteJoint {
data: GenericJoint,
}
impl RevoluteJoint {
#[cfg(feature = "dim2")]
pub fn new() -> Self {
let data = GenericJointBuilder::new(JointAxesMask::LOCKED_REVOLUTE_AXES);
Self { data: data.build() }
}
#[cfg(feature = "dim3")]
pub fn new(axis: UnitVector<Real>) -> Self {
let data = GenericJointBuilder::new(JointAxesMask::LOCKED_REVOLUTE_AXES)
.local_axis1(axis)
.local_axis2(axis)
.build();
Self { data }
}
pub fn data(&self) -> &GenericJoint {
&self.data
}
#[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
}
#[must_use]
pub fn motor(&self) -> Option<&JointMotor> {
self.data.motor(JointAxis::AngX)
}
/// Set the spring-like model used by the motor to reach the desired target velocity and position.
pub fn set_motor_model(&mut self, model: MotorModel) -> &mut Self {
self.data.set_motor_model(JointAxis::AngX, model);
self
}
/// Sets the target velocity this motor needs to reach.
pub fn set_motor_velocity(&mut self, target_vel: Real, factor: Real) -> &mut Self {
self.data
.set_motor_velocity(JointAxis::AngX, target_vel, factor);
self
}
/// Sets the target angle this motor needs to reach.
pub fn set_motor_position(
&mut self,
target_pos: Real,
stiffness: Real,
damping: Real,
) -> &mut Self {
self.data
.set_motor_position(JointAxis::AngX, target_pos, stiffness, damping);
self
}
/// Configure both the target angle and target velocity of the motor.
pub fn set_motor(
&mut self,
target_pos: Real,
target_vel: Real,
stiffness: Real,
damping: Real,
) -> &mut Self {
self.data
.set_motor(JointAxis::AngX, target_pos, target_vel, stiffness, damping);
self
}
pub fn set_motor_max_force(&mut self, max_force: Real) -> &mut Self {
self.data.set_motor_max_force(JointAxis::AngX, max_force);
self
}
#[must_use]
pub fn limits(&self) -> Option<&JointLimits<Real>> {
self.data.limits(JointAxis::AngX)
}
pub fn set_limits(&mut self, limits: [Real; 2]) -> &mut Self {
self.data.set_limits(JointAxis::AngX, limits);
self
}
}
impl Into<GenericJoint> for RevoluteJoint {
fn into(self) -> GenericJoint {
self.data
}
}
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug, PartialEq)]
pub struct RevoluteJointBuilder(RevoluteJoint);
impl RevoluteJointBuilder {
#[cfg(feature = "dim2")]
pub fn new() -> Self {
Self(RevoluteJoint::new())
}
#[cfg(feature = "dim3")]
pub fn new(axis: UnitVector<Real>) -> Self {
Self(RevoluteJoint::new(axis))
}
#[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
}
/// Set the spring-like model used by the motor to reach the desired target velocity and position.
#[must_use]
pub fn motor_model(mut self, model: MotorModel) -> Self {
self.0.set_motor_model(model);
self
}
/// Sets the target velocity this motor needs to reach.
#[must_use]
pub fn motor_velocity(mut self, target_vel: Real, factor: Real) -> Self {
self.0.set_motor_velocity(target_vel, factor);
self
}
/// Sets the target angle this motor needs to reach.
#[must_use]
pub fn motor_position(mut self, target_pos: Real, stiffness: Real, damping: Real) -> Self {
self.0.set_motor_position(target_pos, stiffness, damping);
self
}
/// Configure both the target angle and target velocity of the motor.
#[must_use]
pub fn motor(
mut self,
target_pos: Real,
target_vel: Real,
stiffness: Real,
damping: Real,
) -> Self {
self.0.set_motor(target_pos, target_vel, stiffness, damping);
self
}
#[must_use]
pub fn motor_max_force(mut self, max_force: Real) -> Self {
self.0.set_motor_max_force(max_force);
self
}
#[must_use]
pub fn limits(mut self, limits: [Real; 2]) -> Self {
self.0.set_limits(limits);
self
}
#[must_use]
pub fn build(self) -> RevoluteJoint {
self.0
}
}
impl Into<GenericJoint> for RevoluteJointBuilder {
fn into(self) -> GenericJoint {
self.0.into()
}
}
|
