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feat: rename JointAxesMask::X/Y/Z by ::LIN_X/LIN_Y/LIN_Z and JointAxis::X/Y/Z by ::LinX/LinY/LinZ

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This commit is contained in:
Sébastien Crozet
2024-05-26 18:12:26 +02:00
committed by Sébastien Crozet
parent 5c44d936f7
commit c785ea4996
7 changed files with 61 additions and 59 deletions
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54
src/dynamics/joint/generic_joint.rs
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@@ -13,12 +13,12 @@ bitflags::bitflags! {
/// A bit mask identifying multiple degrees of freedom of a joint.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
pub struct JointAxesMask: u8 {
/// The translational degree of freedom along the local X axis of a joint.
const X = 1 << 0;
/// The translational degree of freedom along the local Y axis of a joint.
const Y = 1 << 1;
/// The translational degree of freedom along the local Z axis of a joint.
const Z = 1 << 2;
/// The linear (translational) degree of freedom along the local X axis of a joint.
const LIN_X = 1 << 0;
/// The linear (translational) degree of freedom along the local Y axis of a joint.
const LIN_Y = 1 << 1;
/// The linear (translational) degree of freedom along the local Z axis of a joint.
const LIN_Z = 1 << 2;
/// The angular degree of freedom along the local X axis of a joint.
const ANG_X = 1 << 3;
/// The angular degree of freedom along the local Y axis of a joint.
@@ -26,23 +26,23 @@ bitflags::bitflags! {
/// The angular degree of freedom along the local Z axis of a joint.
const ANG_Z = 1 << 5;
/// The set of degrees of freedom locked by a revolute joint.
const LOCKED_REVOLUTE_AXES = Self::X.bits | Self::Y.bits | Self::Z.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
const LOCKED_REVOLUTE_AXES = Self::LIN_X.bits | Self::LIN_Y.bits | Self::LIN_Z.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
/// The set of degrees of freedom locked by a prismatic joint.
const LOCKED_PRISMATIC_AXES = Self::Y.bits | Self::Z.bits | Self::ANG_X.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
const LOCKED_PRISMATIC_AXES = Self::LIN_Y.bits | Self::LIN_Z.bits | Self::ANG_X.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
/// The set of degrees of freedom locked by a fixed joint.
const LOCKED_FIXED_AXES = Self::X.bits | Self::Y.bits | Self::Z.bits | Self::ANG_X.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
const LOCKED_FIXED_AXES = Self::LIN_X.bits | Self::LIN_Y.bits | Self::LIN_Z.bits | Self::ANG_X.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
/// The set of degrees of freedom locked by a spherical joint.
const LOCKED_SPHERICAL_AXES = Self::X.bits | Self::Y.bits | Self::Z.bits;
const LOCKED_SPHERICAL_AXES = Self::LIN_X.bits | Self::LIN_Y.bits | Self::LIN_Z.bits;
/// The set of degrees of freedom left free by a revolute joint.
const FREE_REVOLUTE_AXES = Self::ANG_X.bits;
/// The set of degrees of freedom left free by a prismatic joint.
const FREE_PRISMATIC_AXES = Self::X.bits;
const FREE_PRISMATIC_AXES = Self::LIN_X.bits;
/// The set of degrees of freedom left free by a fixed joint.
const FREE_FIXED_AXES = 0;
/// The set of degrees of freedom left free by a spherical joint.
const FREE_SPHERICAL_AXES = Self::ANG_X.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
/// The set of all translational degrees of freedom.
const LIN_AXES = Self::X.bits() | Self::Y.bits() | Self::Z.bits();
const LIN_AXES = Self::LIN_X.bits() | Self::LIN_Y.bits() | Self::LIN_Z.bits();
/// The set of all angular degrees of freedom.
const ANG_AXES = Self::ANG_X.bits() | Self::ANG_Y.bits() | Self::ANG_Z.bits();
}
@@ -53,26 +53,26 @@ bitflags::bitflags! {
/// A bit mask identifying multiple degrees of freedom of a joint.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
pub struct JointAxesMask: u8 {
/// The translational degree of freedom along the local X axis of a joint.
const X = 1 << 0;
/// The translational degree of freedom along the local Y axis of a joint.
const Y = 1 << 1;
/// The linear (translational) degree of freedom along the local X axis of a joint.
const LIN_X = 1 << 0;
/// The linear (translational) degree of freedom along the local Y axis of a joint.
const LIN_Y = 1 << 1;
/// The angular degree of freedom of a joint.
const ANG_X = 1 << 2;
/// The set of degrees of freedom locked by a revolute joint.
const LOCKED_REVOLUTE_AXES = Self::X.bits | Self::Y.bits;
const LOCKED_REVOLUTE_AXES = Self::LIN_X.bits | Self::LIN_Y.bits;
/// The set of degrees of freedom locked by a prismatic joint.
const LOCKED_PRISMATIC_AXES = Self::Y.bits | Self::ANG_X.bits;
const LOCKED_PRISMATIC_AXES = Self::LIN_Y.bits | Self::ANG_X.bits;
/// The set of degrees of freedom locked by a fixed joint.
const LOCKED_FIXED_AXES = Self::X.bits | Self::Y.bits | Self::ANG_X.bits;
const LOCKED_FIXED_AXES = Self::LIN_X.bits | Self::LIN_Y.bits | Self::ANG_X.bits;
/// The set of degrees of freedom left free by a revolute joint.
const FREE_REVOLUTE_AXES = Self::ANG_X.bits;
/// The set of degrees of freedom left free by a prismatic joint.
const FREE_PRISMATIC_AXES = Self::X.bits;
const FREE_PRISMATIC_AXES = Self::LIN_X.bits;
/// The set of degrees of freedom left free by a fixed joint.
const FREE_FIXED_AXES = 0;
/// The set of all translational degrees of freedom.
const LIN_AXES = Self::X.bits() | Self::Y.bits();
const LIN_AXES = Self::LIN_X.bits() | Self::LIN_Y.bits();
/// The set of all angular degrees of freedom.
const ANG_AXES = Self::ANG_X.bits();
}
@@ -88,13 +88,13 @@ impl Default for JointAxesMask {
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug, PartialEq)]
pub enum JointAxis {
/// The translational degree of freedom along the joint’s local X axis.
X = 0,
/// The translational degree of freedom along the joint’s local Y axis.
Y,
/// The translational degree of freedom along the joint’s local Z axis.
/// The linear (translational) degree of freedom along the joint’s local X axis.
LinX = 0,
/// The linear (translational) degree of freedom along the joint’s local Y axis.
LinY,
/// The linear (translational) degree of freedom along the joint’s local Z axis.
#[cfg(feature = "dim3")]
Z,
LinZ,
/// The rotational degree of freedom along the joint’s local X axis.
AngX,
/// The rotational degree of freedom along the joint’s local Y axis.

6
src/dynamics/joint/multibody_joint/multibody_ik.rs
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@@ -116,14 +116,14 @@ impl Multibody {
delta_ang.z
];
if !options.constrained_axes.contains(JointAxesMask::X) {
if !options.constrained_axes.contains(JointAxesMask::LIN_X) {
delta[0] = 0.0;
}
if !options.constrained_axes.contains(JointAxesMask::Y) {
if !options.constrained_axes.contains(JointAxesMask::LIN_Y) {
delta[1] = 0.0;
}
#[cfg(feature = "dim3")]
if !options.constrained_axes.contains(JointAxesMask::Z) {
if !options.constrained_axes.contains(JointAxesMask::LIN_Z) {
delta[2] = 0.0;
}
if !options.constrained_axes.contains(JointAxesMask::ANG_X) {

16
src/dynamics/joint/prismatic_joint.rs
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@@ -92,19 +92,19 @@ impl PrismaticJoint {
/// The motor affecting the joint’s translational degree of freedom.
#[must_use]
pub fn motor(&self) -> Option<&JointMotor> {
self.data.motor(JointAxis::X)
self.data.motor(JointAxis::LinX)
}
/// 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::X, model);
self.data.set_motor_model(JointAxis::LinX, 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::X, target_vel, factor);
.set_motor_velocity(JointAxis::LinX, target_vel, factor);
self
}
@@ -116,7 +116,7 @@ impl PrismaticJoint {
damping: Real,
) -> &mut Self {
self.data
.set_motor_position(JointAxis::X, target_pos, stiffness, damping);
.set_motor_position(JointAxis::LinX, target_pos, stiffness, damping);
self
}
@@ -129,25 +129,25 @@ impl PrismaticJoint {
damping: Real,
) -> &mut Self {
self.data
.set_motor(JointAxis::X, target_pos, target_vel, stiffness, damping);
.set_motor(JointAxis::LinX, target_pos, target_vel, stiffness, damping);
self
}
/// Sets the maximum force the motor can deliver.
pub fn set_motor_max_force(&mut self, max_force: Real) -> &mut Self {
self.data.set_motor_max_force(JointAxis::X, max_force);
self.data.set_motor_max_force(JointAxis::LinX, max_force);
self
}
/// The limit distance attached bodies can translate along the joint’s principal axis.
#[must_use]
pub fn limits(&self) -> Option<&JointLimits<Real>> {
self.data.limits(JointAxis::X)
self.data.limits(JointAxis::LinX)
}
/// Sets the `[min,max]` limit distances attached bodies can translate along the joint’s principal axis.
pub fn set_limits(&mut self, limits: [Real; 2]) -> &mut Self {
self.data.set_limits(JointAxis::X, limits);
self.data.set_limits(JointAxis::LinX, limits);
self
}
}

14
src/dynamics/joint/rope_joint.rs
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@@ -74,14 +74,14 @@ impl RopeJoint {
/// 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::X, model);
self.data.set_motor_model(JointAxis::LinX, 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::X, target_vel, factor);
.set_motor_velocity(JointAxis::LinX, target_vel, factor);
self
}
@@ -93,7 +93,7 @@ impl RopeJoint {
damping: Real,
) -> &mut Self {
self.data
.set_motor_position(JointAxis::X, target_pos, stiffness, damping);
.set_motor_position(JointAxis::LinX, target_pos, stiffness, damping);
self
}
@@ -106,13 +106,13 @@ impl RopeJoint {
damping: Real,
) -> &mut Self {
self.data
.set_motor(JointAxis::X, target_pos, target_vel, stiffness, damping);
.set_motor(JointAxis::LinX, target_pos, target_vel, stiffness, damping);
self
}
/// Sets the maximum force the motor can deliver.
pub fn set_motor_max_force(&mut self, max_force: Real) -> &mut Self {
self.data.set_motor_max_force(JointAxis::X, max_force);
self.data.set_motor_max_force(JointAxis::LinX, max_force);
self
}
@@ -120,7 +120,7 @@ impl RopeJoint {
#[must_use]
pub fn max_distance(&self) -> Real {
self.data
.limits(JointAxis::X)
.limits(JointAxis::LinX)
.map(|l| l.max)
.unwrap_or(Real::MAX)
}
@@ -129,7 +129,7 @@ impl RopeJoint {
///
/// The `max_dist` must be strictly greater than 0.0.
pub fn set_max_distance(&mut self, max_dist: Real) -> &mut Self {
self.data.set_limits(JointAxis::X, [0.0, max_dist]);
self.data.set_limits(JointAxis::LinX, [0.0, max_dist]);
self
}
}

6
src/dynamics/joint/spring_joint.rs
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@@ -22,8 +22,8 @@ impl SpringJoint {
pub fn new(rest_length: Real, stiffness: Real, damping: Real) -> Self {
let data = GenericJointBuilder::new(JointAxesMask::empty())
.coupled_axes(JointAxesMask::LIN_AXES)
.motor_position(JointAxis::X, rest_length, stiffness, damping)
.motor_model(JointAxis::X, MotorModel::ForceBased)
.motor_position(JointAxis::LinX, rest_length, stiffness, damping)
.motor_model(JointAxis::LinX, MotorModel::ForceBased)
.build();
Self { data }
}
@@ -75,7 +75,7 @@ impl SpringJoint {
/// `MotorModel::AccelerationBased`, the spring constants will be automatically scaled by the attached masses,
/// making the spring more mass-independent.
pub fn set_spring_model(&mut self, model: MotorModel) -> &mut Self {
self.data.set_motor_model(JointAxis::X, model);
self.data.set_motor_model(JointAxis::LinX, model);
self
}