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Rename JointSet::joints_with to attached_joints

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This commit is contained in:
Sébastien Crozet
2022-05-30 17:48:31 +02:00
parent 033a26aac4
commit c46f52f451
3 changed files with 29 additions and 12 deletions
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25
src/dynamics/joint/multibody_joint/multibody_joint_set.rs
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@@ -252,14 +252,8 @@ impl MultibodyJointSet {
.connectivity_graph
.interactions_with(link_to_remove.graph_id)
{
// There is an multibody_joint that we need to remove between these two bodies.
// If this is an outbound edge, then the multibody_joint’s handle is equal to the
// second body handle.
if rb1 == rb_to_remove {
articulations_to_remove.push(MultibodyJointHandle(rb2.0));
} else {
articulations_to_remove.push(MultibodyJointHandle(rb1.0));
}
// There is a multibody_joint handle is equal to the second rigid-body’s handle.
articulations_to_remove.push(MultibodyJointHandle(rb2.0));
islands.wake_up(bodies, rb1, true);
islands.wake_up(bodies, rb2, true);
@@ -338,6 +332,21 @@ impl MultibodyJointSet {
))
}
/// Iterates through all the joints attached to the given rigid-body.
pub fn attached_joints(
&self,
rb: RigidBodyHandle,
) -> impl Iterator<Item = (RigidBodyHandle, RigidBodyHandle, MultibodyJointHandle)> + '_ {
self.rb2mb
.get(rb.0)
.into_iter()
.flat_map(move |link| self.connectivity_graph.interactions_with(link.graph_id))
.map(|inter| {
// NOTE: the joint handle is always equal to the handle of the second rigid-body.
(inter.0, inter.1, MultibodyJointHandle(inter.1 .0))
})
}
/// Iterate through the handles of all the rigid-bodies attached to this rigid-body
/// by an multibody_joint.
pub fn attached_bodies<'a>(