Rename JointSet::joints_with to attached_joints

src/dynamics/island_manager.rs

@@ -256,7 +256,7 @@ impl IslandManager {
             // in contact or joined with this collider.
             push_contacting_bodies(&rb.colliders, colliders, narrow_phase, &mut self.stack);
 
-            for inter in impulse_joints.joints_with(handle) {
+            for inter in impulse_joints.attached_joints(handle) {
                 let other = crate::utils::select_other((inter.0, inter.1), handle);
                 self.stack.push(other);
             }

src/dynamics/joint/impulse_joint/impulse_joint_set.rs

@@ -69,15 +69,23 @@ impl ImpulseJointSet {
         &self.joint_graph
     }
 
-    /// Iterates through all the impulse_joints attached to the given rigid-body.
+    /// Iterates through all the impulse joints attached to the given rigid-body.
-    pub fn joints_with<'a>(
+    pub fn attached_joints<'a>(
         &'a self,
         body: RigidBodyHandle,
-    ) -> impl Iterator<Item = (RigidBodyHandle, RigidBodyHandle, &'a ImpulseJoint)> {
+    ) -> impl Iterator<
+        Item = (
+            RigidBodyHandle,
+            RigidBodyHandle,
+            ImpulseJointHandle,
+            &'a ImpulseJoint,
+        ),
+    > {
         self.rb_graph_ids
             .get(body.0)
             .into_iter()
             .flat_map(move |id| self.joint_graph.interactions_with(*id))
+            .map(|inter| (inter.0, inter.1, inter.2.handle, inter.2))
     }
 
     /// Is the given joint handle valid?

src/dynamics/joint/multibody_joint/multibody_joint_set.rs

@@ -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.
+                // There is a multibody_joint handle is equal to the second rigid-body’s handle.
-                // If this is an outbound edge, then the multibody_joint’s handle is equal to the
+                articulations_to_remove.push(MultibodyJointHandle(rb2.0));
-                // second body handle.
-                if rb1 == rb_to_remove {
-                    articulations_to_remove.push(MultibodyJointHandle(rb2.0));
-                } else {
-                    articulations_to_remove.push(MultibodyJointHandle(rb1.0));
-                }
 
                 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>(