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use nalgebra::{RealField, Unit, Vector3};
use std::fmt::{self, Display};
#[derive(Copy, Debug, Clone)]
pub enum JointType<T: RealField> {
Fixed,
Rotational {
axis: Unit<Vector3<T>>,
},
Linear {
axis: Unit<Vector3<T>>,
},
}
fn axis_to_string<T: RealField>(axis: &Unit<Vector3<T>>) -> &str {
if *axis == Vector3::x_axis() {
"+X"
} else if *axis == Vector3::y_axis() {
"+Y"
} else if *axis == Vector3::z_axis() {
"+Z"
} else if *axis == -Vector3::x_axis() {
"-X"
} else if *axis == -Vector3::y_axis() {
"-Y"
} else if *axis == -Vector3::z_axis() {
"-Z"
} else {
""
}
}
impl<T: RealField> Display for JointType<T> {
fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
match self {
JointType::Fixed => write!(f, "[⚓]"),
JointType::Rotational { axis } => write!(f, "[⚙{}]", axis_to_string(axis)),
JointType::Linear { axis } => write!(f, "[↕{}]", axis_to_string(axis)),
}
}
}