concinnity_core/physics/
joints.rs

1// The constraint shapes the simulation can be asked to build between two
2// bodies.
3// Angles are radians and velocities are per-second: the authored degrees are
4// converted once, by whoever reads the asset.
5
6/// Constraint shape connecting two bodies.
7#[derive(Debug, Clone, Copy, PartialEq)]
8pub enum JointSpec {
9    /// All six degrees of freedom locked: the bodies move and rotate as one
10    /// rigid assembly relative to their anchors.
11    Fixed,
12    /// Hinge: rotation is allowed only around one axis.
13    Revolute {
14        /// Hinge axis, in each body's local frame.
15        axis: [f32; 3],
16        /// Clamps the hinge angle, in radians.
17        limits: Option<[f32; 2]>,
18        /// Drives the hinge at a target angular velocity.
19        motor: Option<JointMotor>,
20    },
21    /// Ball-and-socket: translation locked, all three rotational axes free.
22    Spherical,
23    /// Slider: translation is allowed only along one axis.
24    Prismatic {
25        /// Slide axis, in each body's local frame.
26        axis: [f32; 3],
27        /// Clamps the slide distance, in world units.
28        limits: Option<[f32; 2]>,
29        /// Drives the slide at a target linear velocity.
30        motor: Option<JointMotor>,
31    },
32}
33
34/// Velocity-driven motor parameters for a revolute or prismatic joint.
35#[derive(Debug, Clone, Copy, PartialEq)]
36pub struct JointMotor {
37    /// Target velocity: radians/second for revolute, units/second for prismatic.
38    pub target_velocity: f32,
39    /// Maximum force the motor may apply to reach the target.
40    pub max_force: f32,
41}
concinnity_core/physics/joints.rs

concinnity_core/physics/
joints.rs
