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use na::{DVectorSliceMut, RealField};
use crate::joint::Joint;
use crate::math::{Isometry, JacobianSliceMut, Vector, Velocity, SPATIAL_DIM};
use crate::solver::IntegrationParameters;
#[derive(Copy, Clone, Debug)]
pub struct FreeJoint<N: RealField> {
position: Isometry<N>,
}
impl<N: RealField> FreeJoint<N> {
pub fn new(position: Isometry<N>) -> Self {
FreeJoint { position }
}
fn apply_displacement(&mut self, disp: &Velocity<N>) {
let disp = Isometry::new(disp.linear, disp.angular);
self.position = Isometry::from_parts(
disp.translation * self.position.translation,
disp.rotation * self.position.rotation,
)
}
}
impl<N: RealField> Joint<N> for FreeJoint<N> {
#[inline]
fn clone(&self) -> Box<Joint<N>> {
Box::new(*self)
}
fn ndofs(&self) -> usize {
SPATIAL_DIM
}
fn body_to_parent(&self, _: &Vector<N>, _: &Vector<N>) -> Isometry<N> {
self.position
}
fn update_jacobians(&mut self, _: &Vector<N>, _: &[N]) {}
fn jacobian(&self, _: &Isometry<N>, out: &mut JacobianSliceMut<N>) {
out.fill_diagonal(N::one());
}
fn jacobian_dot(&self, _: &Isometry<N>, _: &mut JacobianSliceMut<N>) {}
fn jacobian_dot_veldiff_mul_coordinates(
&self,
_: &Isometry<N>,
_: &[N],
_: &mut JacobianSliceMut<N>,
) {
}
fn integrate(&mut self, params: &IntegrationParameters<N>, vels: &[N]) {
let disp = Velocity::from_slice(vels) * params.dt;
self.apply_displacement(&disp);
}
fn apply_displacement(&mut self, disp: &[N]) {
let disp = Velocity::from_slice(disp);
self.apply_displacement(&disp);
}
fn jacobian_mul_coordinates(&self, vels: &[N]) -> Velocity<N> {
Velocity::from_slice(vels)
}
fn jacobian_dot_mul_coordinates(&self, _: &[N]) -> Velocity<N> {
Velocity::zero()
}
fn default_damping(&self, _: &mut DVectorSliceMut<N>) {}
}