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Merge pull request #505 from mrDIMAS/master

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`user_data` for joints
This commit is contained in:
Sébastien Crozet
2023-09-09 12:59:50 +02:00
committed by GitHub
parent 39a839560e 64b0d08c14
commit dfb4f2a1aa
1 changed files with 9 additions and 0 deletions
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9
src/dynamics/joint/generic_joint.rs
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@@ -223,6 +223,8 @@ pub struct GenericJoint {
pub contacts_enabled: bool, pub contacts_enabled: bool,
/// Whether or not the joint is enabled. /// Whether or not the joint is enabled.
pub enabled: JointEnabled, pub enabled: JointEnabled,
/// User-defined data associated to this joint.
pub user_data: u128,
} }
impl Default for GenericJoint { impl Default for GenericJoint {
@@ -238,6 +240,7 @@ impl Default for GenericJoint {
motors: [JointMotor::default(); SPATIAL_DIM], motors: [JointMotor::default(); SPATIAL_DIM],
contacts_enabled: true, contacts_enabled: true,
enabled: JointEnabled::Enabled, enabled: JointEnabled::Enabled,
user_data: 0,
} }
} }
} }
@@ -669,6 +672,12 @@ impl GenericJointBuilder {
self self
} }
/// An arbitrary user-defined 128-bit integer associated to the joints built by this builder.
pub fn user_data(mut self, data: u128) -> Self {
self.0.user_data = data;
self
}
/// Builds the generic joint. /// Builds the generic joint.
#[must_use] #[must_use]
pub fn build(self) -> GenericJoint { pub fn build(self) -> GenericJoint {