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#[cfg(feature = "dim3")]
use crate::dynamics::RevoluteJoint;
use crate::dynamics::{BallJoint, FixedJoint, JointHandle, PrismaticJoint, RigidBodyHandle};
#[derive(Copy, Clone)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
pub enum JointParams {
BallJoint(BallJoint),
FixedJoint(FixedJoint),
PrismaticJoint(PrismaticJoint),
#[cfg(feature = "dim3")]
RevoluteJoint(RevoluteJoint),
}
impl JointParams {
pub fn type_id(&self) -> usize {
match self {
JointParams::BallJoint(_) => 0,
JointParams::FixedJoint(_) => 1,
JointParams::PrismaticJoint(_) => 2,
#[cfg(feature = "dim3")]
JointParams::RevoluteJoint(_) => 3,
}
}
pub fn as_ball_joint(&self) -> Option<&BallJoint> {
if let JointParams::BallJoint(j) = self {
Some(j)
} else {
None
}
}
pub fn as_fixed_joint(&self) -> Option<&FixedJoint> {
if let JointParams::FixedJoint(j) = self {
Some(j)
} else {
None
}
}
pub fn as_prismatic_joint(&self) -> Option<&PrismaticJoint> {
if let JointParams::PrismaticJoint(j) = self {
Some(j)
} else {
None
}
}
#[cfg(feature = "dim3")]
pub fn as_revolute_joint(&self) -> Option<&RevoluteJoint> {
if let JointParams::RevoluteJoint(j) = self {
Some(j)
} else {
None
}
}
}
impl From<BallJoint> for JointParams {
fn from(j: BallJoint) -> Self {
JointParams::BallJoint(j)
}
}
impl From<FixedJoint> for JointParams {
fn from(j: FixedJoint) -> Self {
JointParams::FixedJoint(j)
}
}
#[cfg(feature = "dim3")]
impl From<RevoluteJoint> for JointParams {
fn from(j: RevoluteJoint) -> Self {
JointParams::RevoluteJoint(j)
}
}
impl From<PrismaticJoint> for JointParams {
fn from(j: PrismaticJoint) -> Self {
JointParams::PrismaticJoint(j)
}
}
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
pub struct Joint {
pub body1: RigidBodyHandle,
pub body2: RigidBodyHandle,
pub(crate) handle: JointHandle,
#[cfg(feature = "parallel")]
pub(crate) constraint_index: usize,
#[cfg(feature = "parallel")]
pub(crate) position_constraint_index: usize,
pub params: JointParams,
}