21 lines
696 B
Rust
21 lines
696 B
Rust
use crate::dynamics::{JointData, JointHandle, RigidBodyHandle};
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use crate::math::{Real, SpacialVector};
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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#[derive(Clone, Debug, PartialEq)]
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/// A joint attached to two bodies.
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pub struct ImpulseJoint {
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/// Handle to the first body attached to this joint.
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pub body1: RigidBodyHandle,
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/// Handle to the second body attached to this joint.
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pub body2: RigidBodyHandle,
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pub data: JointData,
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pub impulses: SpacialVector<Real>,
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// A joint needs to know its handle to simplify its removal.
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pub(crate) handle: JointHandle,
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#[cfg(feature = "parallel")]
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pub(crate) constraint_index: usize,
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}
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