144 lines
4.6 KiB
Rust
144 lines
4.6 KiB
Rust
#[cfg(feature = "dim3")]
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use crate::dynamics::RevoluteJoint;
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use crate::dynamics::{BallJoint, FixedJoint, JointHandle, PrismaticJoint, RigidBodyHandle};
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#[derive(Copy, Clone, PartialEq)]
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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/// An enum grouping all possible types of joints.
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pub enum JointParams {
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/// A Ball joint that removes all relative linear degrees of freedom between the affected bodies.
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BallJoint(BallJoint),
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/// A fixed joint that removes all relative degrees of freedom between the affected bodies.
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FixedJoint(FixedJoint),
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/// A prismatic joint that removes all degrees of degrees of freedom between the affected
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/// bodies except for the translation along one axis.
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PrismaticJoint(PrismaticJoint),
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#[cfg(feature = "dim3")]
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/// A revolute joint that removes all degrees of degrees of freedom between the affected
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/// bodies except for the translation along one axis.
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RevoluteJoint(RevoluteJoint),
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// GenericJoint(GenericJoint),
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}
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impl JointParams {
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/// An integer identifier for each type of joint.
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pub fn type_id(&self) -> usize {
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match self {
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JointParams::BallJoint(_) => 0,
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JointParams::FixedJoint(_) => 1,
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JointParams::PrismaticJoint(_) => 2,
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// JointParams::GenericJoint(_) => 3,
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#[cfg(feature = "dim3")]
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JointParams::RevoluteJoint(_) => 4,
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}
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}
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/// Gets a reference to the underlying ball joint, if `self` is one.
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pub fn as_ball_joint(&self) -> Option<&BallJoint> {
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if let JointParams::BallJoint(j) = self {
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Some(j)
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} else {
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None
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}
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}
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/// Gets a reference to the underlying fixed joint, if `self` is one.
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pub fn as_fixed_joint(&self) -> Option<&FixedJoint> {
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if let JointParams::FixedJoint(j) = self {
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Some(j)
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} else {
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None
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}
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}
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// /// Gets a reference to the underlying generic joint, if `self` is one.
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// pub fn as_generic_joint(&self) -> Option<&GenericJoint> {
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// if let JointParams::GenericJoint(j) = self {
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// Some(j)
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// } else {
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// None
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// }
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// }
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/// Gets a reference to the underlying prismatic joint, if `self` is one.
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pub fn as_prismatic_joint(&self) -> Option<&PrismaticJoint> {
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if let JointParams::PrismaticJoint(j) = self {
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Some(j)
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} else {
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None
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}
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}
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/// Gets a reference to the underlying revolute joint, if `self` is one.
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#[cfg(feature = "dim3")]
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pub fn as_revolute_joint(&self) -> Option<&RevoluteJoint> {
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if let JointParams::RevoluteJoint(j) = self {
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Some(j)
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} else {
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None
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}
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}
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}
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impl From<BallJoint> for JointParams {
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fn from(j: BallJoint) -> Self {
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JointParams::BallJoint(j)
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}
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}
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impl From<FixedJoint> for JointParams {
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fn from(j: FixedJoint) -> Self {
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JointParams::FixedJoint(j)
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}
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}
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// impl From<GenericJoint> for JointParams {
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// fn from(j: GenericJoint) -> Self {
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// JointParams::GenericJoint(j)
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// }
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// }
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#[cfg(feature = "dim3")]
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impl From<RevoluteJoint> for JointParams {
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fn from(j: RevoluteJoint) -> Self {
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JointParams::RevoluteJoint(j)
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}
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}
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impl From<PrismaticJoint> for JointParams {
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fn from(j: PrismaticJoint) -> Self {
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JointParams::PrismaticJoint(j)
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}
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}
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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#[derive(Clone)]
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/// A joint attached to two bodies.
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pub struct Joint {
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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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// 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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#[cfg(feature = "parallel")]
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pub(crate) position_constraint_index: usize,
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/// The joint geometric parameters and impulse.
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pub params: JointParams,
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}
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impl Joint {
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/// Can this joint use SIMD-accelerated constraint formulations?
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pub fn supports_simd_constraints(&self) -> bool {
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match &self.params {
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JointParams::PrismaticJoint(joint) => joint.supports_simd_constraints(),
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JointParams::FixedJoint(joint) => joint.supports_simd_constraints(),
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JointParams::BallJoint(joint) => joint.supports_simd_constraints(),
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#[cfg(feature = "dim3")]
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JointParams::RevoluteJoint(joint) => joint.supports_simd_constraints(),
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}
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}
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}
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