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use crate::dynamics::{JointAxesMask, JointData};
use crate::math::{Isometry, Point, Real};
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug, PartialEq)]
pub struct FixedJoint {
data: JointData,
}
impl FixedJoint {
pub fn new() -> Self {
#[cfg(feature = "dim2")]
let mask = JointAxesMask::X | JointAxesMask::Y | JointAxesMask::ANG_X;
#[cfg(feature = "dim3")]
let mask = JointAxesMask::X
| JointAxesMask::Y
| JointAxesMask::Z
| JointAxesMask::ANG_X
| JointAxesMask::ANG_Y
| JointAxesMask::ANG_Z;
let data = JointData::default().lock_axes(mask);
Self { data }
}
#[must_use]
pub fn local_frame1(mut self, local_frame: Isometry<Real>) -> Self {
self.data = self.data.local_frame1(local_frame);
self
}
#[must_use]
pub fn local_frame2(mut self, local_frame: Isometry<Real>) -> Self {
self.data = self.data.local_frame2(local_frame);
self
}
#[must_use]
pub fn local_anchor1(mut self, anchor1: Point<Real>) -> Self {
self.data = self.data.local_anchor1(anchor1);
self
}
#[must_use]
pub fn local_anchor2(mut self, anchor2: Point<Real>) -> Self {
self.data = self.data.local_anchor2(anchor2);
self
}
}
impl Into<JointData> for FixedJoint {
fn into(self) -> JointData {
self.data
}
}