144 lines
4.6 KiB
Rust
144 lines
4.6 KiB
Rust
#[cfg(feature = "dim3")]
|
|
use crate::dynamics::RevoluteJoint;
|
|
use crate::dynamics::{BallJoint, FixedJoint, JointHandle, PrismaticJoint, RigidBodyHandle};
|
|
|
|
#[derive(Copy, Clone)]
|
|
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
|
|
/// An enum grouping all possible types of joints.
|
|
pub enum JointParams {
|
|
/// A Ball joint that removes all relative linear degrees of freedom between the affected bodies.
|
|
BallJoint(BallJoint),
|
|
/// A fixed joint that removes all relative degrees of freedom between the affected bodies.
|
|
FixedJoint(FixedJoint),
|
|
/// A prismatic joint that removes all degrees of degrees of freedom between the affected
|
|
/// bodies except for the translation along one axis.
|
|
PrismaticJoint(PrismaticJoint),
|
|
#[cfg(feature = "dim3")]
|
|
/// A revolute joint that removes all degrees of degrees of freedom between the affected
|
|
/// bodies except for the translation along one axis.
|
|
RevoluteJoint(RevoluteJoint),
|
|
// GenericJoint(GenericJoint),
|
|
}
|
|
|
|
impl JointParams {
|
|
/// An integer identifier for each type of joint.
|
|
pub fn type_id(&self) -> usize {
|
|
match self {
|
|
JointParams::BallJoint(_) => 0,
|
|
JointParams::FixedJoint(_) => 1,
|
|
JointParams::PrismaticJoint(_) => 2,
|
|
// JointParams::GenericJoint(_) => 3,
|
|
#[cfg(feature = "dim3")]
|
|
JointParams::RevoluteJoint(_) => 4,
|
|
}
|
|
}
|
|
|
|
/// Gets a reference to the underlying ball joint, if `self` is one.
|
|
pub fn as_ball_joint(&self) -> Option<&BallJoint> {
|
|
if let JointParams::BallJoint(j) = self {
|
|
Some(j)
|
|
} else {
|
|
None
|
|
}
|
|
}
|
|
|
|
/// Gets a reference to the underlying fixed joint, if `self` is one.
|
|
pub fn as_fixed_joint(&self) -> Option<&FixedJoint> {
|
|
if let JointParams::FixedJoint(j) = self {
|
|
Some(j)
|
|
} else {
|
|
None
|
|
}
|
|
}
|
|
|
|
// /// Gets a reference to the underlying generic joint, if `self` is one.
|
|
// pub fn as_generic_joint(&self) -> Option<&GenericJoint> {
|
|
// if let JointParams::GenericJoint(j) = self {
|
|
// Some(j)
|
|
// } else {
|
|
// None
|
|
// }
|
|
// }
|
|
|
|
/// Gets a reference to the underlying prismatic joint, if `self` is one.
|
|
pub fn as_prismatic_joint(&self) -> Option<&PrismaticJoint> {
|
|
if let JointParams::PrismaticJoint(j) = self {
|
|
Some(j)
|
|
} else {
|
|
None
|
|
}
|
|
}
|
|
|
|
/// Gets a reference to the underlying revolute joint, if `self` is one.
|
|
#[cfg(feature = "dim3")]
|
|
pub fn as_revolute_joint(&self) -> Option<&RevoluteJoint> {
|
|
if let JointParams::RevoluteJoint(j) = self {
|
|
Some(j)
|
|
} else {
|
|
None
|
|
}
|
|
}
|
|
}
|
|
|
|
impl From<BallJoint> for JointParams {
|
|
fn from(j: BallJoint) -> Self {
|
|
JointParams::BallJoint(j)
|
|
}
|
|
}
|
|
|
|
impl From<FixedJoint> for JointParams {
|
|
fn from(j: FixedJoint) -> Self {
|
|
JointParams::FixedJoint(j)
|
|
}
|
|
}
|
|
|
|
// impl From<GenericJoint> for JointParams {
|
|
// fn from(j: GenericJoint) -> Self {
|
|
// JointParams::GenericJoint(j)
|
|
// }
|
|
// }
|
|
|
|
#[cfg(feature = "dim3")]
|
|
impl From<RevoluteJoint> for JointParams {
|
|
fn from(j: RevoluteJoint) -> Self {
|
|
JointParams::RevoluteJoint(j)
|
|
}
|
|
}
|
|
|
|
impl From<PrismaticJoint> for JointParams {
|
|
fn from(j: PrismaticJoint) -> Self {
|
|
JointParams::PrismaticJoint(j)
|
|
}
|
|
}
|
|
|
|
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
|
|
#[derive(Clone)]
|
|
/// A joint attached to two bodies.
|
|
pub struct Joint {
|
|
/// Handle to the first body attached to this joint.
|
|
pub body1: RigidBodyHandle,
|
|
/// Handle to the second body attached to this joint.
|
|
pub body2: RigidBodyHandle,
|
|
// A joint needs to know its handle to simplify its removal.
|
|
pub(crate) handle: JointHandle,
|
|
#[cfg(feature = "parallel")]
|
|
pub(crate) constraint_index: usize,
|
|
#[cfg(feature = "parallel")]
|
|
pub(crate) position_constraint_index: usize,
|
|
/// The joint geometric parameters and impulse.
|
|
pub params: JointParams,
|
|
}
|
|
|
|
impl Joint {
|
|
/// Can this joint use SIMD-accelerated constraint formulations?
|
|
pub fn supports_simd_constraints(&self) -> bool {
|
|
match &self.params {
|
|
JointParams::PrismaticJoint(joint) => joint.supports_simd_constraints(),
|
|
JointParams::FixedJoint(joint) => joint.supports_simd_constraints(),
|
|
JointParams::BallJoint(joint) => joint.supports_simd_constraints(),
|
|
#[cfg(feature = "dim3")]
|
|
JointParams::RevoluteJoint(joint) => joint.supports_simd_constraints(),
|
|
}
|
|
}
|
|
}
|