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use crate::dynamics::joint::{JointAxesMask, JointData};
use crate::dynamics::{JointAxis, MotorModel};
use crate::math::{Point, Real};
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug, PartialEq)]
pub struct SphericalJoint {
data: JointData,
}
impl SphericalJoint {
pub fn new() -> Self {
let data =
JointData::default().lock_axes(JointAxesMask::X | JointAxesMask::Y | JointAxesMask::Z);
Self { data }
}
pub fn data(&self) -> &JointData {
&self.data
}
#[must_use]
pub fn local_anchor1(mut self, anchor1: Point<Real>) -> Self {
self.data = self.data.local_anchor1(anchor1);
self
}
#[must_use]
pub fn local_anchor2(mut self, anchor2: Point<Real>) -> Self {
self.data = self.data.local_anchor2(anchor2);
self
}
/// Set the spring-like model used by the motor to reach the desired target velocity and position.
pub fn motor_model(mut self, axis: JointAxis, model: MotorModel) -> Self {
self.data = self.data.motor_model(axis, model);
self
}
/// Sets the target velocity this motor needs to reach.
pub fn motor_velocity(mut self, axis: JointAxis, target_vel: Real, factor: Real) -> Self {
self.data = self.data.motor_velocity(axis, target_vel, factor);
self
}
/// Sets the target angle this motor needs to reach.
pub fn motor_position(
mut self,
axis: JointAxis,
target_pos: Real,
stiffness: Real,
damping: Real,
) -> Self {
self.data = self
.data
.motor_position(axis, target_pos, stiffness, damping);
self
}
/// Configure both the target angle and target velocity of the motor.
pub fn motor_axis(
mut self,
axis: JointAxis,
target_pos: Real,
target_vel: Real,
stiffness: Real,
damping: Real,
) -> Self {
self.data = self
.data
.motor_axis(axis, target_pos, target_vel, stiffness, damping);
self
}
pub fn motor_max_impulse(mut self, axis: JointAxis, max_impulse: Real) -> Self {
self.data = self.data.motor_max_impulse(axis, max_impulse);
self
}
#[must_use]
pub fn limit_axis(mut self, axis: JointAxis, limits: [Real; 2]) -> Self {
self.data = self.data.limit_axis(axis, limits);
self
}
}
impl Into<JointData> for SphericalJoint {
fn into(self) -> JointData {
self.data
}
}
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