34 lines
1.4 KiB
Rust
34 lines
1.4 KiB
Rust
use crate::math::{Isometry, SpacialVector};
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#[derive(Copy, Clone)]
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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/// A joint that prevents all relative movement between two bodies.
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///
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/// Given two frames of references, this joint aims to ensure these frame always coincide in world-space.
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pub struct FixedJoint {
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/// The frame of reference for the first body affected by this joint, expressed in the local frame
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/// of the first body.
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pub local_anchor1: Isometry<f32>,
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/// The frame of reference for the second body affected by this joint, expressed in the local frame
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/// of the first body.
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pub local_anchor2: Isometry<f32>,
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/// The impulse applied to the first body affected by this joint.
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///
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/// The impulse applied to the second body affected by this joint is given by `-impulse`.
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/// This combines both linear and angular impulses:
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/// - In 2D, `impulse.xy()` gives the linear impulse, and `impulse.z` the angular impulse.
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/// - In 3D, `impulse.xyz()` gives the linear impulse, and `(impulse[3], impulse[4], impulse[5])` the angular impulse.
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pub impulse: SpacialVector<f32>,
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}
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impl FixedJoint {
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/// Creates a new fixed joint from the frames of reference of both bodies.
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pub fn new(local_anchor1: Isometry<f32>, local_anchor2: Isometry<f32>) -> Self {
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Self {
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local_anchor1,
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local_anchor2,
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impulse: SpacialVector::zeros(),
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}
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}
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}
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