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Fix warnings and add comments.

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This commit is contained in:
Sébastien Crozet
2022-03-19 16:10:49 +01:00
committed by Sébastien Crozet
parent e2e6fc7871
commit db6a8c526d
23 changed files with 391 additions and 131 deletions
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13
src/dynamics/joint/multibody_joint/multibody_link.rs
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@@ -18,12 +18,13 @@ pub struct MultibodyLink {
/*
* Change at each time step.
*/
/// The multibody joint of this link.
pub joint: MultibodyJoint,
// TODO: should this be removed in favor of the rigid-body position?
pub local_to_world: Isometry<Real>,
pub local_to_parent: Isometry<Real>,
pub shift02: Vector<Real>,
pub shift23: Vector<Real>,
pub(crate) local_to_world: Isometry<Real>,
pub(crate) local_to_parent: Isometry<Real>,
pub(crate) shift02: Vector<Real>,
pub(crate) shift23: Vector<Real>,
/// The velocity added by the joint, in world-space.
pub(crate) joint_velocity: RigidBodyVelocity,
@@ -56,10 +57,12 @@ impl MultibodyLink {
}
}
/// The multibody joint of this link.
pub fn joint(&self) -> &MultibodyJoint {
&self.joint
}
/// The handle of the rigid-body of this link.
pub fn rigid_body_handle(&self) -> RigidBodyHandle {
self.rigid_body
}
@@ -86,11 +89,13 @@ impl MultibodyLink {
}
}
/// The world-space transform of the rigid-body attached to this link.
#[inline]
pub fn local_to_world(&self) -> &Isometry<Real> {
&self.local_to_world
}
/// The position of the rigid-body attached to this link relative to its parent.
#[inline]
pub fn local_to_parent(&self) -> &Isometry<Real> {
&self.local_to_parent