Implement multibody joints and the new solver

src/dynamics/mod.rs

@@ -1,4 +1,4 @@
-//! Structures related to dynamics: bodies, joints, etc.
+//! Structures related to dynamics: bodies, impulse_joints, etc.
 
 pub use self::ccd::CCDSolver;
 pub use self::coefficient_combine_rule::CoefficientCombineRule;
@@ -6,18 +6,7 @@ pub use self::integration_parameters::IntegrationParameters;
 pub use self::island_manager::IslandManager;
 pub(crate) use self::joint::JointGraphEdge;
 pub(crate) use self::joint::JointIndex;
-#[cfg(feature = "dim3")]
-pub use self::joint::RevoluteJoint;
-pub use self::joint::{
-    BallJoint,
-    FixedJoint,
-    Joint,
-    JointHandle,
-    JointParams,
-    JointSet,
-    PrismaticJoint,
-    SpringModel, // GenericJoint
-};
+pub use self::joint::*;
 pub use self::rigid_body_components::*;
 #[cfg(not(feature = "parallel"))]
 pub(crate) use self::solver::IslandSolver;