Additional PinSlotJoint 2D implementation with DOF: 1 translation + 1 rotation (#775)

* Additional groove joint 2D implementation with 1 translation + 1 rotation

* Conditional import for 2d feature flag

* Groove joint 2d tests in testbed examples

* Renamed GrooveJoint to PinSlotJoint

* cargo fmt

* Cross-reference to groove joint in Godot engine

examples2d/all_examples2.rs

@@ -26,6 +26,7 @@ mod joint_motor_position2;
 mod joints2;
 mod locked_rotations2;
 mod one_way_platforms2;
+mod pin_slot_joint2;
 mod platform2;
 mod polyline2;
 mod pyramid2;
@@ -66,6 +67,7 @@ pub fn main() {
         ("One-way platforms", one_way_platforms2::init_world),
         ("Platform", platform2::init_world),
         ("Polyline", polyline2::init_world),
+        ("Pin Slot Joint", pin_slot_joint2::init_world),
         ("Pyramid", pyramid2::init_world),
         ("Restitution", restitution2::init_world),
         ("Rope Joints", rope_joints2::init_world),

examples2d/pin_slot_joint2.rs

@@ -0,0 +1,86 @@
+use rapier2d::prelude::*;
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let mut impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 3.0;
+    let ground_height = 0.1;
+
+    let rigid_body_floor = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
+    let floor_handle = bodies.insert(rigid_body_floor);
+    let floor_collider = ColliderBuilder::cuboid(ground_size, ground_height);
+    colliders.insert_with_parent(floor_collider, floor_handle, &mut bodies);
+
+    /*
+     * Character we will control manually.
+     */
+    let rigid_body_character =
+        RigidBodyBuilder::kinematic_position_based().translation(vector![0.0, 0.3]);
+    let character_handle = bodies.insert(rigid_body_character);
+    let character_collider = ColliderBuilder::cuboid(0.15, 0.3);
+    colliders.insert_with_parent(character_collider, character_handle, &mut bodies);
+
+    /*
+     * Tethered cube.
+     */
+    let rad = 0.4;
+
+    let rigid_body_cube =
+        RigidBodyBuilder::new(RigidBodyType::Dynamic).translation(vector![1.0, 1.0]);
+    let cube_handle = bodies.insert(rigid_body_cube);
+    let cube_collider = ColliderBuilder::cuboid(rad, rad);
+    colliders.insert_with_parent(cube_collider, cube_handle, &mut bodies);
+
+    /*
+     * Rotation axis indicator ball.
+     */
+    let rigid_body_ball =
+        RigidBodyBuilder::new(RigidBodyType::Dynamic).translation(vector![1.0, 1.0]);
+    let ball_handle = bodies.insert(rigid_body_ball);
+    let ball_collider = ColliderBuilder::ball(0.1);
+    colliders.insert_with_parent(ball_collider, ball_handle, &mut bodies);
+
+    /*
+     * Fixed joint between rotation axis indicator and cube.
+     */
+    let fixed_joint = FixedJointBuilder::new()
+        .local_anchor1(point![0.0, 0.0])
+        .local_anchor2(point![0.0, -0.4])
+        .build();
+    impulse_joints.insert(cube_handle, ball_handle, fixed_joint, true);
+
+    /*
+     * Pin slot joint between cube and ground.
+     */
+    let axis: nalgebra::Unit<
+        nalgebra::Matrix<
+            f32,
+            nalgebra::Const<2>,
+            nalgebra::Const<1>,
+            nalgebra::ArrayStorage<f32, 2, 1>,
+        >,
+    > = UnitVector::new_normalize(vector![1.0, 1.0]);
+    let pin_slot_joint = PinSlotJointBuilder::new(axis)
+        .local_anchor1(point![2.0, 2.0])
+        .local_anchor2(point![0.0, 0.4])
+        .limits([-1.0, f32::INFINITY]) // Set the limits for the pin slot joint
+        .build();
+    impulse_joints.insert(character_handle, cube_handle, pin_slot_joint, true);
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.set_character_body(character_handle);
+    testbed.look_at(point![0.0, 1.0], 100.0);
+}

src/dynamics/joint/generic_joint.rs

@@ -67,6 +67,8 @@ bitflags::bitflags! {
         const LOCKED_REVOLUTE_AXES = Self::LIN_X.bits() | Self::LIN_Y.bits();
         /// The set of degrees of freedom locked by a prismatic joint.
         const LOCKED_PRISMATIC_AXES = Self::LIN_Y.bits() | Self::ANG_X.bits();
+        /// The set of degrees of freedom locked by a pin slot joint.
+        const LOCKED_PIN_SLOT_AXES = Self::LIN_Y.bits();
         /// The set of degrees of freedom locked by a fixed joint.
         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.

src/dynamics/joint/mod.rs

@@ -3,6 +3,7 @@ pub use self::generic_joint::*;
 pub use self::impulse_joint::*;
 pub use self::motor_model::MotorModel;
 pub use self::multibody_joint::*;
+pub use self::pin_slot_joint::*;
 pub use self::prismatic_joint::*;
 pub use self::revolute_joint::*;
 pub use self::rope_joint::*;
@@ -16,6 +17,7 @@ mod generic_joint;
 mod impulse_joint;
 mod motor_model;
 mod multibody_joint;
+mod pin_slot_joint;
 mod prismatic_joint;
 mod revolute_joint;
 mod rope_joint;

src/dynamics/joint/pin_slot_joint.rs

@@ -0,0 +1,276 @@
+#[cfg(feature = "dim2")]
+use crate::dynamics::joint::{GenericJointBuilder, JointAxesMask};
+
+use crate::dynamics::joint::GenericJoint;
+use crate::dynamics::{JointAxis, MotorModel};
+use crate::math::{Point, Real, UnitVector};
+
+use super::{JointLimits, JointMotor};
+
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Copy, Clone, Debug, PartialEq)]
+#[repr(transparent)]
+/// A pin slot joint, locks all relative motion between two bodies except for translation along the joint’s principal axis and relative rotations.
+/// This joint is also known as a [groove joint in Godot](https://docs.godotengine.org/en/stable/classes/class_groovejoint2d.html).
+pub struct PinSlotJoint {
+    /// The underlying joint data.
+    pub data: GenericJoint,
+}
+
+impl PinSlotJoint {
+    /// Creates a new pin slot joint allowing only relative translations along the specified axis and relative rotations.
+    ///
+    /// This axis is expressed in the local-space of both rigid-bodies.
+    #[cfg(feature = "dim2")]
+    pub fn new(axis: UnitVector<Real>) -> Self {
+        let data = GenericJointBuilder::new(JointAxesMask::LOCKED_PIN_SLOT_AXES)
+            .local_axis1(axis)
+            .local_axis2(axis)
+            .build();
+        Self { data }
+    }
+
+    /// The underlying generic joint.
+    pub fn data(&self) -> &GenericJoint {
+        &self.data
+    }
+
+    /// Are contacts between the attached rigid-bodies enabled?
+    pub fn contacts_enabled(&self) -> bool {
+        self.data.contacts_enabled
+    }
+
+    /// Sets whether contacts between the attached rigid-bodies are enabled.
+    pub fn set_contacts_enabled(&mut self, enabled: bool) -> &mut Self {
+        self.data.set_contacts_enabled(enabled);
+        self
+    }
+
+    /// The joint’s anchor, expressed in the local-space of the first rigid-body.
+    #[must_use]
+    pub fn local_anchor1(&self) -> Point<Real> {
+        self.data.local_anchor1()
+    }
+
+    /// Sets the joint’s anchor, expressed in the local-space of the first rigid-body.
+    pub fn set_local_anchor1(&mut self, anchor1: Point<Real>) -> &mut Self {
+        self.data.set_local_anchor1(anchor1);
+        self
+    }
+
+    /// The joint’s anchor, expressed in the local-space of the second rigid-body.
+    #[must_use]
+    pub fn local_anchor2(&self) -> Point<Real> {
+        self.data.local_anchor2()
+    }
+
+    /// Sets the joint’s anchor, expressed in the local-space of the second rigid-body.
+    pub fn set_local_anchor2(&mut self, anchor2: Point<Real>) -> &mut Self {
+        self.data.set_local_anchor2(anchor2);
+        self
+    }
+
+    /// The principal axis of the joint, expressed in the local-space of the first rigid-body.
+    #[must_use]
+    pub fn local_axis1(&self) -> UnitVector<Real> {
+        self.data.local_axis1()
+    }
+
+    /// Sets the principal axis of the joint, expressed in the local-space of the first rigid-body.
+    pub fn set_local_axis1(&mut self, axis1: UnitVector<Real>) -> &mut Self {
+        self.data.set_local_axis1(axis1);
+        self
+    }
+
+    /// The principal axis of the joint, expressed in the local-space of the second rigid-body.
+    #[must_use]
+    pub fn local_axis2(&self) -> UnitVector<Real> {
+        self.data.local_axis2()
+    }
+
+    /// Sets the principal axis of the joint, expressed in the local-space of the second rigid-body.
+    pub fn set_local_axis2(&mut self, axis2: UnitVector<Real>) -> &mut Self {
+        self.data.set_local_axis2(axis2);
+        self
+    }
+
+    /// The motor affecting the joint’s translational degree of freedom.
+    #[must_use]
+    pub fn motor(&self) -> Option<&JointMotor> {
+        self.data.motor(JointAxis::LinX)
+    }
+
+    /// 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 {
+        self.data.set_motor_model(JointAxis::LinX, model);
+        self
+    }
+
+    /// Sets the target velocity this motor needs to reach.
+    pub fn set_motor_velocity(&mut self, target_vel: Real, factor: Real) -> &mut Self {
+        self.data
+            .set_motor_velocity(JointAxis::LinX, target_vel, factor);
+        self
+    }
+
+    /// Sets the target angle this motor needs to reach.
+    pub fn set_motor_position(
+        &mut self,
+        target_pos: Real,
+        stiffness: Real,
+        damping: Real,
+    ) -> &mut Self {
+        self.data
+            .set_motor_position(JointAxis::LinX, target_pos, stiffness, damping);
+        self
+    }
+
+    /// Configure both the target angle and target velocity of the motor.
+    pub fn set_motor(
+        &mut self,
+        target_pos: Real,
+        target_vel: Real,
+        stiffness: Real,
+        damping: Real,
+    ) -> &mut Self {
+        self.data
+            .set_motor(JointAxis::LinX, target_pos, target_vel, stiffness, damping);
+        self
+    }
+
+    /// Sets the maximum force the motor can deliver.
+    pub fn set_motor_max_force(&mut self, max_force: Real) -> &mut Self {
+        self.data.set_motor_max_force(JointAxis::LinX, max_force);
+        self
+    }
+
+    /// The limit distance attached bodies can translate along the joint’s principal axis.
+    #[must_use]
+    pub fn limits(&self) -> Option<&JointLimits<Real>> {
+        self.data.limits(JointAxis::LinX)
+    }
+
+    /// 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 {
+        self.data.set_limits(JointAxis::LinX, limits);
+        self
+    }
+}
+
+impl From<PinSlotJoint> for GenericJoint {
+    fn from(val: PinSlotJoint) -> GenericJoint {
+        val.data
+    }
+}
+
+/// Create pin slot joints using the builder pattern.
+///
+/// A pin slot joint locks all relative motion except for translations along the joint’s principal axis and relative rotations.
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+#[derive(Copy, Clone, Debug, PartialEq)]
+pub struct PinSlotJointBuilder(pub PinSlotJoint);
+
+impl PinSlotJointBuilder {
+    /// Creates a new builder for pin slot joints.
+    ///
+    /// This axis is expressed in the local-space of both rigid-bodies.
+    #[cfg(feature = "dim2")]
+    pub fn new(axis: UnitVector<Real>) -> Self {
+        Self(PinSlotJoint::new(axis))
+    }
+
+    /// Sets whether contacts between the attached rigid-bodies are enabled.
+    #[must_use]
+    pub fn contacts_enabled(mut self, enabled: bool) -> Self {
+        self.0.set_contacts_enabled(enabled);
+        self
+    }
+
+    /// Sets the joint’s anchor, expressed in the local-space of the first rigid-body.
+    #[must_use]
+    pub fn local_anchor1(mut self, anchor1: Point<Real>) -> Self {
+        self.0.set_local_anchor1(anchor1);
+        self
+    }
+
+    /// Sets the joint’s anchor, expressed in the local-space of the second rigid-body.
+    #[must_use]
+    pub fn local_anchor2(mut self, anchor2: Point<Real>) -> Self {
+        self.0.set_local_anchor2(anchor2);
+        self
+    }
+
+    /// Sets the principal axis of the joint, expressed in the local-space of the first rigid-body.
+    #[must_use]
+    pub fn local_axis1(mut self, axis1: UnitVector<Real>) -> Self {
+        self.0.set_local_axis1(axis1);
+        self
+    }
+
+    /// Sets the principal axis of the joint, expressed in the local-space of the second rigid-body.
+    #[must_use]
+    pub fn local_axis2(mut self, axis2: UnitVector<Real>) -> Self {
+        self.0.set_local_axis2(axis2);
+        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, model: MotorModel) -> Self {
+        self.0.set_motor_model(model);
+        self
+    }
+
+    /// Sets the target velocity this motor needs to reach.
+    #[must_use]
+    pub fn motor_velocity(mut self, target_vel: Real, factor: Real) -> Self {
+        self.0.set_motor_velocity(target_vel, factor);
+        self
+    }
+
+    /// Sets the target angle this motor needs to reach.
+    #[must_use]
+    pub fn motor_position(mut self, target_pos: Real, stiffness: Real, damping: Real) -> Self {
+        self.0.set_motor_position(target_pos, stiffness, damping);
+        self
+    }
+
+    /// Configure both the target angle and target velocity of the motor.
+    #[must_use]
+    pub fn set_motor(
+        mut self,
+        target_pos: Real,
+        target_vel: Real,
+        stiffness: Real,
+        damping: Real,
+    ) -> Self {
+        self.0.set_motor(target_pos, target_vel, stiffness, damping);
+        self
+    }
+
+    /// Sets the maximum force the motor can deliver.
+    #[must_use]
+    pub fn motor_max_force(mut self, max_force: Real) -> Self {
+        self.0.set_motor_max_force(max_force);
+        self
+    }
+
+    /// Sets the `[min,max]` limit distances attached bodies can translate along the joint’s principal axis.
+    #[must_use]
+    pub fn limits(mut self, limits: [Real; 2]) -> Self {
+        self.0.set_limits(limits);
+        self
+    }
+
+    /// Builds the pin slot joint.
+    #[must_use]
+    pub fn build(self) -> PinSlotJoint {
+        self.0
+    }
+}
+
+impl From<PinSlotJointBuilder> for GenericJoint {
+    fn from(val: PinSlotJointBuilder) -> GenericJoint {
+        val.0.into()
+    }
+}