concinnity_physics/
joints.rs

1// concinnity-physics/src/joints.rs
2//
3// The constraint shapes the simulation can be asked to build between two
4// bodies.
5// Angles are radians and velocities are per-second: the authored degrees are
6// converted once, by whoever reads the asset.
7
8/// Constraint shape connecting two bodies.
9#[derive(Debug, Clone, Copy, PartialEq)]
10pub enum JointSpec {
11    /// All six degrees of freedom locked: the bodies move and rotate as one
12    /// rigid assembly relative to their anchors.
13    Fixed,
14    /// Hinge: rotation is allowed only around one axis.
15    Revolute {
16        /// Hinge axis, in each body's local frame.
17        axis: [f32; 3],
18        /// Clamps the hinge angle, in radians.
19        limits: Option<[f32; 2]>,
20        /// Drives the hinge at a target angular velocity.
21        motor: Option<JointMotor>,
22    },
23    /// Ball-and-socket: translation locked, all three rotational axes free.
24    Spherical,
25    /// Slider: translation is allowed only along one axis.
26    Prismatic {
27        /// Slide axis, in each body's local frame.
28        axis: [f32; 3],
29        /// Clamps the slide distance, in world units.
30        limits: Option<[f32; 2]>,
31        /// Drives the slide at a target linear velocity.
32        motor: Option<JointMotor>,
33    },
34}
35
36/// Velocity-driven motor parameters for a revolute or prismatic joint.
37#[derive(Debug, Clone, Copy, PartialEq)]
38pub struct JointMotor {
39    /// Target velocity: radians/second for revolute, units/second for prismatic.
40    pub target_velocity: f32,
41    /// Maximum force the motor may apply to reach the target.
42    pub max_force: f32,
43}
concinnity_physics/joints.rs

concinnity_physics/
joints.rs
