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use super::Node;
use crate::types::*;
use derive_new::new;
use derive_setters::Setters;
use serde::{Deserialize, Serialize};
pub type MFNode = Vec<Node>;
define_node!(
/// The `JointParameters` node specifies the parameters of a joint.
///
/// See [Webots Reference](https://cyberbotics.com/doc/reference/jointparameters?version=R2025a).
JointParameters {
/// Default: 0.0
position: SFFloat,
/// Default: 0 0 1
axis: SFVec3f,
/// Default: 0.0
min_stop: SFFloat,
/// Default: 0.0
max_stop: SFFloat,
/// Default: 0.0
spring_constant: SFFloat,
/// Default: 0.0
damping_constant: SFFloat,
/// Default: 0.0
static_friction: SFFloat,
});
define_node!(
/// The `HingeJointParameters` node specifies parameters for a hinge joint.
///
/// See [Webots Reference](https://cyberbotics.com/doc/reference/hingejointparameters?version=R2025a).
HingeJointParameters {
// JointParameters fields
/// Default: 0.0
position: SFFloat,
/// Default: 1 0 0
axis: SFVec3f,
/// Default: 0.0
min_stop: SFFloat,
/// Default: 0.0
max_stop: SFFloat,
/// Default: 0.0
spring_constant: SFFloat,
/// Default: 0.0
damping_constant: SFFloat,
/// Default: 0.0
static_friction: SFFloat,
// HingeJointParameters fields
/// Default: 0 0 0
anchor: SFVec3f,
/// Default: 0.0
suspension_spring_constant: SFFloat,
/// Default: 0.0
suspension_damping_constant: SFFloat,
/// Default: 1 0 0
suspension_axis: SFVec3f,
/// Default: -1.0
stop_erp: SFFloat,
/// Default: -1.0
stop_cfm: SFFloat,
});
define_node!(
/// The `BallJointParameters` node specifies parameters for a ball joint.
///
/// See [Webots Reference](https://cyberbotics.com/doc/reference/balljointparameters?version=R2025a).
BallJointParameters {
// JointParameters fields
/// Default: 0.0
position: SFFloat,
/// Default: 0 0 1
axis: SFVec3f,
/// Default: 0.0
min_stop: SFFloat,
/// Default: 0.0
max_stop: SFFloat,
/// Default: 0.0
spring_constant: SFFloat,
/// Default: 0.0
damping_constant: SFFloat,
/// Default: 0.0
static_friction: SFFloat,
// BallJointParameters fields
/// Default: 0 0 0
anchor: SFVec3f,
});
define_node!(
/// The `HingeJoint` node models a hinge joint (1 DOF).
///
/// See [Webots Reference](https://cyberbotics.com/doc/reference/hingejoint?version=R2025a).
HingeJoint {
/// Default: NULL
joint_parameters: Box<Node>,
/// Default: NULL
end_point: Box<Node>,
/// Default: []
device: MFNode,
/// Default: 0.0
position: SFFloat,
});
define_node!(
/// The `Hinge2Joint` node models a hinge-2 joint (2 DOF).
///
/// See [Webots Reference](https://cyberbotics.com/doc/reference/hinge2joint?version=R2025a).
Hinge2Joint {
/// Default: NULL
joint_parameters: Box<Node>, // HingeJointParameters
/// Default: NULL
joint_parameters2: Box<Node>, // JointParameters
/// Default: NULL
end_point: Box<Node>,
/// Default: []
device: MFNode,
/// Default: []
device2: MFNode,
/// Default: 0.0
position: SFFloat,
/// Default: 0.0
position2: SFFloat,
});
define_node!(
/// The `BallJoint` node models a ball joint (3 DOF).
///
/// See [Webots Reference](https://cyberbotics.com/doc/reference/balljoint?version=R2025a).
BallJoint {
/// Default: NULL
joint_parameters: Box<Node>, // BallJointParameters
/// Default: NULL
joint_parameters2: Box<Node>, // JointParameters
/// Default: NULL
joint_parameters3: Box<Node>, // JointParameters
/// Default: NULL
end_point: Box<Node>,
/// Default: []
device: MFNode,
/// Default: []
device2: MFNode,
/// Default: []
device3: MFNode,
/// Default: 0.0
position: SFFloat,
/// Default: 0.0
position2: SFFloat,
/// Default: 0.0
position3: SFFloat,
});
define_node!(
/// The `SliderJoint` node models a slider joint (1 DOF translation).
///
/// See [Webots Reference](https://cyberbotics.com/doc/reference/sliderjoint?version=R2025a).
SliderJoint {
/// Default: NULL
joint_parameters: Box<Node>,
/// Default: NULL
end_point: Box<Node>,
/// Default: []
device: MFNode,
/// Default: 0.0
position: SFFloat,
});
define_device!(
/// The `Brake` node models a brake device.
///
/// See [Webots Reference](https://cyberbotics.com/doc/reference/brake?version=R2025a).
Brake {});
#[cfg(test)]
mod tests {
use super::*;
#[test]
fn test_joints_new() {
assert!(JointParameters::new().axis.is_none());
assert!(HingeJointParameters::new().axis.is_none());
assert_eq!(Brake::new("brake").name, "brake");
}
}