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use crate::dynamics::joint::{GenericJoint, GenericJointBuilder, JointAxesMask};
use crate::dynamics::{JointAxis, JointMotor, MotorModel};
use crate::math::{Point, Real};
use super::JointLimits;
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug, PartialEq)]
#[repr(transparent)]
pub struct SphericalJoint {
data: GenericJoint,
}
impl Default for SphericalJoint {
fn default() -> Self {
SphericalJoint::new()
}
}
impl SphericalJoint {
pub fn new() -> Self {
let data = GenericJointBuilder::new(JointAxesMask::LOCKED_SPHERICAL_AXES).build();
Self { data }
}
pub fn data(&self) -> &GenericJoint {
&self.data
}
#[must_use]
pub fn local_anchor1(&self) -> Point<Real> {
self.data.local_anchor1()
}
pub fn set_local_anchor1(&mut self, anchor1: Point<Real>) -> &mut Self {
self.data.set_local_anchor1(anchor1);
self
}
#[must_use]
pub fn local_anchor2(&self) -> Point<Real> {
self.data.local_anchor2()
}
pub fn set_local_anchor2(&mut self, anchor2: Point<Real>) -> &mut Self {
self.data.set_local_anchor2(anchor2);
self
}
#[must_use]
pub fn motor(&self, axis: JointAxis) -> Option<&JointMotor> {
self.data.motor(axis)
}
pub fn set_motor_model(&mut self, axis: JointAxis, model: MotorModel) -> &mut Self {
self.data.set_motor_model(axis, model);
self
}
pub fn set_motor_velocity(
&mut self,
axis: JointAxis,
target_vel: Real,
factor: Real,
) -> &mut Self {
self.data.set_motor_velocity(axis, target_vel, factor);
self
}
pub fn set_motor_position(
&mut self,
axis: JointAxis,
target_pos: Real,
stiffness: Real,
damping: Real,
) -> &mut Self {
self.data
.set_motor_position(axis, target_pos, stiffness, damping);
self
}
pub fn set_motor(
&mut self,
axis: JointAxis,
target_pos: Real,
target_vel: Real,
stiffness: Real,
damping: Real,
) -> &mut Self {
self.data
.set_motor(axis, target_pos, target_vel, stiffness, damping);
self
}
pub fn set_motor_max_force(&mut self, axis: JointAxis, max_force: Real) -> &mut Self {
self.data.set_motor_max_force(axis, max_force);
self
}
#[must_use]
pub fn limits(&self, axis: JointAxis) -> Option<&JointLimits<Real>> {
self.data.limits(axis)
}
pub fn set_limits(&mut self, axis: JointAxis, limits: [Real; 2]) -> &mut Self {
self.data.set_limits(axis, limits);
self
}
}
impl Into<GenericJoint> for SphericalJoint {
fn into(self) -> GenericJoint {
self.data
}
}
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug, PartialEq)]
pub struct SphericalJointBuilder(SphericalJoint);
impl Default for SphericalJointBuilder {
fn default() -> Self {
Self(SphericalJoint::new())
}
}
impl SphericalJointBuilder {
pub fn new() -> Self {
Self(SphericalJoint::new())
}
#[must_use]
pub fn local_anchor1(mut self, anchor1: Point<Real>) -> Self {
self.0.set_local_anchor1(anchor1);
self
}
#[must_use]
pub fn local_anchor2(mut self, anchor2: Point<Real>) -> Self {
self.0.set_local_anchor2(anchor2);
self
}
#[must_use]
pub fn motor_model(mut self, axis: JointAxis, model: MotorModel) -> Self {
self.0.set_motor_model(axis, model);
self
}
#[must_use]
pub fn motor_velocity(mut self, axis: JointAxis, target_vel: Real, factor: Real) -> Self {
self.0.set_motor_velocity(axis, target_vel, factor);
self
}
#[must_use]
pub fn motor_position(
mut self,
axis: JointAxis,
target_pos: Real,
stiffness: Real,
damping: Real,
) -> Self {
self.0
.set_motor_position(axis, target_pos, stiffness, damping);
self
}
#[must_use]
pub fn motor(
mut self,
axis: JointAxis,
target_pos: Real,
target_vel: Real,
stiffness: Real,
damping: Real,
) -> Self {
self.0
.set_motor(axis, target_pos, target_vel, stiffness, damping);
self
}
#[must_use]
pub fn motor_max_force(mut self, axis: JointAxis, max_force: Real) -> Self {
self.0.set_motor_max_force(axis, max_force);
self
}
#[must_use]
pub fn limits(mut self, axis: JointAxis, limits: [Real; 2]) -> Self {
self.0.set_limits(axis, limits);
self
}
#[must_use]
pub fn build(self) -> SphericalJoint {
self.0
}
}
impl Into<GenericJoint> for SphericalJointBuilder {
fn into(self) -> GenericJoint {
self.0.into()
}
}