Joint API and joint motors improvements

src/dynamics/joint/spherical_joint.rs

@@ -1,11 +1,12 @@
-use crate::dynamics::joint::{JointAxesMask, JointData};
+use crate::dynamics::joint::{GenericJoint, GenericJointBuilder, JointAxesMask};
 use crate::dynamics::{JointAxis, MotorModel};
 use crate::math::{Point, Real};
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[derive(Copy, Clone, Debug, PartialEq)]
+#[repr(transparent)]
 pub struct SphericalJoint {
-    data: JointData,
+    data: GenericJoint,
 }
 
 impl Default for SphericalJoint {
@@ -16,40 +17,128 @@ impl Default for SphericalJoint {
 
 impl SphericalJoint {
     pub fn new() -> Self {
-        let data =
-            JointData::default().lock_axes(JointAxesMask::X | JointAxesMask::Y | JointAxesMask::Z);
+        let data = GenericJointBuilder::new(JointAxesMask::LOCKED_SPHERICAL_AXES).build();
         Self { data }
     }
 
-    pub fn data(&self) -> &JointData {
+    pub fn data(&self) -> &GenericJoint {
         &self.data
     }
 
+    pub fn set_local_anchor1(&mut self, anchor1: Point<Real>) -> &mut Self {
+        self.data.set_local_anchor1(anchor1);
+        self
+    }
+
+    pub fn set_local_anchor2(&mut self, anchor2: Point<Real>) -> &mut Self {
+        self.data.set_local_anchor2(anchor2);
+        self
+    }
+
+    /// Set the spring-like model used by the motor to reach the desired target velocity and position.
+    pub fn set_motor_model(&mut self, axis: JointAxis, model: MotorModel) -> &mut Self {
+        self.data.set_motor_model(axis, model);
+        self
+    }
+
+    /// Sets the target velocity this motor needs to reach.
+    pub fn set_motor_velocity(
+        &mut self,
+        axis: JointAxis,
+        target_vel: Real,
+        factor: Real,
+    ) -> &mut Self {
+        self.data.set_motor_velocity(axis, target_vel, factor);
+        self
+    }
+
+    /// Sets the target angle this motor needs to reach.
+    pub fn set_motor_position(
+        &mut self,
+        axis: JointAxis,
+        target_pos: Real,
+        stiffness: Real,
+        damping: Real,
+    ) -> &mut Self {
+        self.data
+            .set_motor_position(axis, target_pos, stiffness, damping);
+        self
+    }
+
+    /// Configure both the target angle and target velocity of the motor.
+    pub fn set_motor(
+        &mut self,
+        axis: JointAxis,
+        target_pos: Real,
+        target_vel: Real,
+        stiffness: Real,
+        damping: Real,
+    ) -> &mut Self {
+        self.data
+            .set_motor(axis, target_pos, target_vel, stiffness, damping);
+        self
+    }
+
+    pub fn set_motor_max_force(&mut self, axis: JointAxis, max_force: Real) -> &mut Self {
+        self.data.set_motor_max_force(axis, max_force);
+        self
+    }
+
+    pub fn set_limits(&mut self, axis: JointAxis, limits: [Real; 2]) -> &mut Self {
+        self.data.set_limits(axis, limits);
+        self
+    }
+}
+
+impl Into<GenericJoint> for SphericalJoint {
+    fn into(self) -> GenericJoint {
+        self.data
+    }
+}
+
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Copy, Clone, Debug, PartialEq)]
+pub struct SphericalJointBuilder(SphericalJoint);
+
+impl Default for SphericalJointBuilder {
+    fn default() -> Self {
+        Self(SphericalJoint::new())
+    }
+}
+
+impl SphericalJointBuilder {
+    pub fn new() -> Self {
+        Self(SphericalJoint::new())
+    }
+
     #[must_use]
     pub fn local_anchor1(mut self, anchor1: Point<Real>) -> Self {
-        self.data = self.data.local_anchor1(anchor1);
+        self.0.set_local_anchor1(anchor1);
         self
     }
 
     #[must_use]
     pub fn local_anchor2(mut self, anchor2: Point<Real>) -> Self {
-        self.data = self.data.local_anchor2(anchor2);
+        self.0.set_local_anchor2(anchor2);
         self
     }
 
     /// Set the spring-like model used by the motor to reach the desired target velocity and position.
+    #[must_use]
     pub fn motor_model(mut self, axis: JointAxis, model: MotorModel) -> Self {
-        self.data = self.data.motor_model(axis, model);
+        self.0.set_motor_model(axis, model);
         self
     }
 
     /// Sets the target velocity this motor needs to reach.
+    #[must_use]
     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.0.set_motor_velocity(axis, target_vel, factor);
         self
     }
 
     /// Sets the target angle this motor needs to reach.
+    #[must_use]
     pub fn motor_position(
         mut self,
         axis: JointAxis,
@@ -57,14 +146,14 @@ impl SphericalJoint {
         stiffness: Real,
         damping: Real,
     ) -> Self {
-        self.data = self
-            .data
-            .motor_position(axis, target_pos, stiffness, damping);
+        self.0
+            .set_motor_position(axis, target_pos, stiffness, damping);
         self
     }
 
     /// Configure both the target angle and target velocity of the motor.
-    pub fn motor_axis(
+    #[must_use]
+    pub fn motor(
         mut self,
         axis: JointAxis,
         target_pos: Real,
@@ -72,26 +161,31 @@ impl SphericalJoint {
         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.0
+            .set_motor(axis, target_pos, target_vel, stiffness, damping);
         self
     }
 
     #[must_use]
-    pub fn limit_axis(mut self, axis: JointAxis, limits: [Real; 2]) -> Self {
-        self.data = self.data.limit_axis(axis, limits);
+    pub fn motor_max_force(mut self, axis: JointAxis, max_force: Real) -> Self {
+        self.0.set_motor_max_force(axis, max_force);
         self
     }
+
+    #[must_use]
+    pub fn limits(mut self, axis: JointAxis, limits: [Real; 2]) -> Self {
+        self.0.set_limits(axis, limits);
+        self
+    }
+
+    #[must_use]
+    pub fn build(self) -> SphericalJoint {
+        self.0
+    }
 }
 
-impl Into<JointData> for SphericalJoint {
-    fn into(self) -> JointData {
-        self.data
+impl Into<GenericJoint> for SphericalJointBuilder {
+    fn into(self) -> GenericJoint {
+        self.0.into()
     }
 }