nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

14
examples3d/joints3.rs
View File

@@ -18,9 +18,9 @@ fn create_coupled_joints(
colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 1.0, 1.0), body1, bodies); colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 1.0, 1.0), body1, bodies);
let joint1 = GenericJointBuilder::new(JointAxesMask::empty()) let joint1 = GenericJointBuilder::new(JointAxesMask::empty())
.limits(JointAxis::X, [-3.0, 3.0]) .limits(JointAxis::LinX, [-3.0, 3.0])
.limits(JointAxis::Y, [0.0, 3.0]) .limits(JointAxis::LinY, [0.0, 3.0])
.coupled_axes(JointAxesMask::Y | JointAxesMask::Z); .coupled_axes(JointAxesMask::LIN_Y | JointAxesMask::LIN_Z);
if use_articulations { if use_articulations {
multibody_joints.insert(ground, body1, joint1, true); multibody_joints.insert(ground, body1, joint1, true);
@@ -416,13 +416,13 @@ fn create_spherical_joints_with_limits(
let joint1 = SphericalJointBuilder::new() let joint1 = SphericalJointBuilder::new()
.local_anchor2(Point::from(-shift)) .local_anchor2(Point::from(-shift))
.limits(JointAxis::X, [-0.2, 0.2]) .limits(JointAxis::LinX, [-0.2, 0.2])
.limits(JointAxis::Y, [-0.2, 0.2]); .limits(JointAxis::LinY, [-0.2, 0.2]);
let joint2 = SphericalJointBuilder::new() let joint2 = SphericalJointBuilder::new()
.local_anchor2(Point::from(-shift)) .local_anchor2(Point::from(-shift))
.limits(JointAxis::X, [-0.3, 0.3]) .limits(JointAxis::LinX, [-0.3, 0.3])
.limits(JointAxis::Y, [-0.3, 0.3]); .limits(JointAxis::LinY, [-0.3, 0.3]);
if use_articulations { if use_articulations {
multibody_joints.insert(ground, ball1, joint1, true); multibody_joints.insert(ground, ball1, joint1, true);

10
examples3d/vehicle_joints3.rs
View File

@@ -96,15 +96,17 @@ pub fn init_world(testbed: &mut Testbed) {
wheel_pos_in_car_space - body_position_in_car_space; wheel_pos_in_car_space - body_position_in_car_space;
// Suspension between the body and the axle. // Suspension between the body and the axle.
let mut locked_axes = let mut locked_axes = JointAxesMask::LIN_X
JointAxesMask::X | JointAxesMask::Z | JointAxesMask::ANG_X | JointAxesMask::ANG_Z; | JointAxesMask::LIN_Z
| JointAxesMask::ANG_X
| JointAxesMask::ANG_Z;
if !is_front { if !is_front {
locked_axes |= JointAxesMask::ANG_Y; locked_axes |= JointAxesMask::ANG_Y;
} }
let mut suspension_joint = GenericJointBuilder::new(locked_axes) let mut suspension_joint = GenericJointBuilder::new(locked_axes)
.limits(JointAxis::Y, [0.0, suspension_height]) .limits(JointAxis::LinY, [0.0, suspension_height])
.motor_position(JointAxis::Y, 0.0, 1.0e4, 1.0e3) .motor_position(JointAxis::LinY, 0.0, 1.0e4, 1.0e3)
.local_anchor1(suspension_attachment_in_body_space.into()); .local_anchor1(suspension_attachment_in_body_space.into());
if is_front { if is_front {

54
src/dynamics/joint/generic_joint.rs
View File

@@ -13,12 +13,12 @@ bitflags::bitflags! {
/// A bit mask identifying multiple degrees of freedom of a joint. /// A bit mask identifying multiple degrees of freedom of a joint.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
pub struct JointAxesMask: u8 { pub struct JointAxesMask: u8 {
/// The translational degree of freedom along the local X axis of a joint. /// The linear (translational) degree of freedom along the local X axis of a joint.
const X = 1 << 0; const LIN_X = 1 << 0;
/// The translational degree of freedom along the local Y axis of a joint. /// The linear (translational) degree of freedom along the local Y axis of a joint.
const Y = 1 << 1; const LIN_Y = 1 << 1;
/// The translational degree of freedom along the local Z axis of a joint. /// The linear (translational) degree of freedom along the local Z axis of a joint.
const Z = 1 << 2; const LIN_Z = 1 << 2;
/// The angular degree of freedom along the local X axis of a joint. /// The angular degree of freedom along the local X axis of a joint.
const ANG_X = 1 << 3; const ANG_X = 1 << 3;
/// The angular degree of freedom along the local Y axis of a joint. /// 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. /// The angular degree of freedom along the local Z axis of a joint.
const ANG_Z = 1 << 5; const ANG_Z = 1 << 5;
/// The set of degrees of freedom locked by a revolute joint. /// 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. /// 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. /// 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. /// 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. /// The set of degrees of freedom left free by a revolute joint.
const FREE_REVOLUTE_AXES = Self::ANG_X.bits; const FREE_REVOLUTE_AXES = Self::ANG_X.bits;
/// The set of degrees of freedom left free by a prismatic joint. /// 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. /// The set of degrees of freedom left free by a fixed joint.
const FREE_FIXED_AXES = 0; const FREE_FIXED_AXES = 0;
/// The set of degrees of freedom left free by a spherical joint. /// 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; const FREE_SPHERICAL_AXES = Self::ANG_X.bits | Self::ANG_Y.bits | Self::ANG_Z.bits;
/// The set of all translational degrees of freedom. /// 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. /// The set of all angular degrees of freedom.
const ANG_AXES = Self::ANG_X.bits() | Self::ANG_Y.bits() | Self::ANG_Z.bits(); 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. /// A bit mask identifying multiple degrees of freedom of a joint.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
pub struct JointAxesMask: u8 { pub struct JointAxesMask: u8 {
/// The translational degree of freedom along the local X axis of a joint. /// The linear (translational) degree of freedom along the local X axis of a joint.
const X = 1 << 0; const LIN_X = 1 << 0;
/// The translational degree of freedom along the local Y axis of a joint. /// The linear (translational) degree of freedom along the local Y axis of a joint.
const Y = 1 << 1; const LIN_Y = 1 << 1;
/// The angular degree of freedom of a joint. /// The angular degree of freedom of a joint.
const ANG_X = 1 << 2; const ANG_X = 1 << 2;
/// The set of degrees of freedom locked by a revolute joint. /// 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. /// 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. /// 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. /// The set of degrees of freedom left free by a revolute joint.
const FREE_REVOLUTE_AXES = Self::ANG_X.bits; const FREE_REVOLUTE_AXES = Self::ANG_X.bits;
/// The set of degrees of freedom left free by a prismatic joint. /// 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. /// The set of degrees of freedom left free by a fixed joint.
const FREE_FIXED_AXES = 0; const FREE_FIXED_AXES = 0;
/// The set of all translational degrees of freedom. /// 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. /// The set of all angular degrees of freedom.
const ANG_AXES = Self::ANG_X.bits(); const ANG_AXES = Self::ANG_X.bits();
} }
@@ -88,13 +88,13 @@ impl Default for JointAxesMask {
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug, PartialEq)] #[derive(Copy, Clone, Debug, PartialEq)]
pub enum JointAxis { pub enum JointAxis {
/// The translational degree of freedom along the joint’s local X axis. /// The linear (translational) degree of freedom along the joint’s local X axis.
X = 0, LinX = 0,
/// The translational degree of freedom along the joint’s local Y axis. /// The linear (translational) degree of freedom along the joint’s local Y axis.
Y, LinY,
/// The translational degree of freedom along the joint’s local Z axis. /// The linear (translational) degree of freedom along the joint’s local Z axis.
#[cfg(feature = "dim3")] #[cfg(feature = "dim3")]
Z, LinZ,
/// The rotational degree of freedom along the joint’s local X axis. /// The rotational degree of freedom along the joint’s local X axis.
AngX, AngX,
/// The rotational degree of freedom along the joint’s local Y axis. /// The rotational degree of freedom along the joint’s local Y axis.

6
src/dynamics/joint/multibody_joint/multibody_ik.rs
View File

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

16
src/dynamics/joint/prismatic_joint.rs
View File

@@ -92,19 +92,19 @@ impl PrismaticJoint {
/// The motor affecting the joint’s translational degree of freedom. /// The motor affecting the joint’s translational degree of freedom.
#[must_use] #[must_use]
pub fn motor(&self) -> Option<&JointMotor> { 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. /// 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 { 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 self
} }
/// Sets the target velocity this motor needs to reach. /// Sets the target velocity this motor needs to reach.
pub fn set_motor_velocity(&mut self, target_vel: Real, factor: Real) -> &mut Self { pub fn set_motor_velocity(&mut self, target_vel: Real, factor: Real) -> &mut Self {
self.data self.data
.set_motor_velocity(JointAxis::X, target_vel, factor); .set_motor_velocity(JointAxis::LinX, target_vel, factor);
self self
} }
@@ -116,7 +116,7 @@ impl PrismaticJoint {
damping: Real, damping: Real,
) -> &mut Self { ) -> &mut Self {
self.data self.data
.set_motor_position(JointAxis::X, target_pos, stiffness, damping); .set_motor_position(JointAxis::LinX, target_pos, stiffness, damping);
self self
} }
@@ -129,25 +129,25 @@ impl PrismaticJoint {
damping: Real, damping: Real,
) -> &mut Self { ) -> &mut Self {
self.data self.data
.set_motor(JointAxis::X, target_pos, target_vel, stiffness, damping); .set_motor(JointAxis::LinX, target_pos, target_vel, stiffness, damping);
self self
} }
/// Sets the maximum force the motor can deliver. /// Sets the maximum force the motor can deliver.
pub fn set_motor_max_force(&mut self, max_force: Real) -> &mut Self { 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 self
} }
/// The limit distance attached bodies can translate along the joint’s principal axis. /// The limit distance attached bodies can translate along the joint’s principal axis.
#[must_use] #[must_use]
pub fn limits(&self) -> Option<&JointLimits<Real>> { 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. /// 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 { 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 self
} }
} }

14
src/dynamics/joint/rope_joint.rs
View File

@@ -74,14 +74,14 @@ impl RopeJoint {
/// Set the spring-like model used by the motor to reach the desired target velocity and position. /// 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 { 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 self
} }
/// Sets the target velocity this motor needs to reach. /// Sets the target velocity this motor needs to reach.
pub fn set_motor_velocity(&mut self, target_vel: Real, factor: Real) -> &mut Self { pub fn set_motor_velocity(&mut self, target_vel: Real, factor: Real) -> &mut Self {
self.data self.data
.set_motor_velocity(JointAxis::X, target_vel, factor); .set_motor_velocity(JointAxis::LinX, target_vel, factor);
self self
} }
@@ -93,7 +93,7 @@ impl RopeJoint {
damping: Real, damping: Real,
) -> &mut Self { ) -> &mut Self {
self.data self.data
.set_motor_position(JointAxis::X, target_pos, stiffness, damping); .set_motor_position(JointAxis::LinX, target_pos, stiffness, damping);
self self
} }
@@ -106,13 +106,13 @@ impl RopeJoint {
damping: Real, damping: Real,
) -> &mut Self { ) -> &mut Self {
self.data self.data
.set_motor(JointAxis::X, target_pos, target_vel, stiffness, damping); .set_motor(JointAxis::LinX, target_pos, target_vel, stiffness, damping);
self self
} }
/// Sets the maximum force the motor can deliver. /// Sets the maximum force the motor can deliver.
pub fn set_motor_max_force(&mut self, max_force: Real) -> &mut Self { 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 self
} }
@@ -120,7 +120,7 @@ impl RopeJoint {
#[must_use] #[must_use]
pub fn max_distance(&self) -> Real { pub fn max_distance(&self) -> Real {
self.data self.data
.limits(JointAxis::X) .limits(JointAxis::LinX)
.map(|l| l.max) .map(|l| l.max)
.unwrap_or(Real::MAX) .unwrap_or(Real::MAX)
} }
@@ -129,7 +129,7 @@ impl RopeJoint {
/// ///
/// The `max_dist` must be strictly greater than 0.0. /// The `max_dist` must be strictly greater than 0.0.
pub fn set_max_distance(&mut self, max_dist: Real) -> &mut Self { 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 self
} }
} }

6
src/dynamics/joint/spring_joint.rs
View File

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