315 lines
9.1 KiB
Rust
315 lines
9.1 KiB
Rust
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use crate::math::{RawRotation, RawVector};
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use na::Unit;
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use rapier::dynamics::{
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FixedJointBuilder, GenericJoint, JointAxesMask, JointAxis, MotorModel, PrismaticJointBuilder,
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RevoluteJointBuilder, RopeJointBuilder, SpringJointBuilder,
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};
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#[cfg(feature = "dim3")]
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use rapier::dynamics::{GenericJointBuilder, SphericalJointBuilder};
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use rapier::math::Isometry;
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use wasm_bindgen::prelude::*;
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#[wasm_bindgen]
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#[cfg(feature = "dim2")]
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pub enum RawJointType {
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Revolute,
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Fixed,
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Prismatic,
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Rope,
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Spring,
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Generic,
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}
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#[wasm_bindgen]
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#[cfg(feature = "dim3")]
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pub enum RawJointType {
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Revolute,
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Fixed,
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Prismatic,
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Rope,
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Spring,
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Spherical,
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Generic,
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}
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/// The type of this joint.
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#[cfg(feature = "dim2")]
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impl From<JointAxesMask> for RawJointType {
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fn from(ty: JointAxesMask) -> RawJointType {
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let rev_axes = JointAxesMask::LIN_X | JointAxesMask::LIN_Y;
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let pri_axes = JointAxesMask::LIN_Y | JointAxesMask::ANG_X;
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let fix_axes = JointAxesMask::LIN_X | JointAxesMask::LIN_Y | JointAxesMask::ANG_X;
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if ty == rev_axes {
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RawJointType::Revolute
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} else if ty == pri_axes {
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RawJointType::Prismatic
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} else if ty == fix_axes {
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RawJointType::Fixed
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} else {
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RawJointType::Generic
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}
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}
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}
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/// The type of this joint.
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#[cfg(feature = "dim3")]
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impl From<JointAxesMask> for RawJointType {
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fn from(ty: JointAxesMask) -> RawJointType {
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let rev_axes = JointAxesMask::LIN_X
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| JointAxesMask::LIN_Y
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| JointAxesMask::LIN_Z
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| JointAxesMask::ANG_Y
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| JointAxesMask::ANG_Z;
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let pri_axes = JointAxesMask::LIN_Y
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| JointAxesMask::LIN_Z
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| JointAxesMask::ANG_X
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| JointAxesMask::ANG_Y
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| JointAxesMask::ANG_Z;
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let sph_axes = JointAxesMask::ANG_X | JointAxesMask::ANG_Y | JointAxesMask::ANG_Z;
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let fix_axes = JointAxesMask::LIN_X
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| JointAxesMask::LIN_Y
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| JointAxesMask::LIN_Z
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| JointAxesMask::ANG_X
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| JointAxesMask::ANG_Y
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| JointAxesMask::ANG_Z;
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if ty == rev_axes {
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RawJointType::Revolute
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} else if ty == pri_axes {
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RawJointType::Prismatic
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} else if ty == sph_axes {
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RawJointType::Spherical
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} else if ty == fix_axes {
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RawJointType::Fixed
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} else {
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RawJointType::Generic
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}
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}
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}
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#[wasm_bindgen]
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pub enum RawMotorModel {
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AccelerationBased,
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ForceBased,
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}
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impl From<RawMotorModel> for MotorModel {
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fn from(model: RawMotorModel) -> MotorModel {
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match model {
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RawMotorModel::AccelerationBased => MotorModel::AccelerationBased,
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RawMotorModel::ForceBased => MotorModel::ForceBased,
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}
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}
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}
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#[cfg(feature = "dim2")]
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#[wasm_bindgen]
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#[derive(Copy, Clone)]
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pub enum RawJointAxis {
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LinX,
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LinY,
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AngX,
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}
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#[cfg(feature = "dim3")]
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#[wasm_bindgen]
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#[derive(Copy, Clone)]
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pub enum RawJointAxis {
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LinX,
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LinY,
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LinZ,
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AngX,
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AngY,
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AngZ,
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}
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impl From<RawJointAxis> for JointAxis {
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fn from(axis: RawJointAxis) -> JointAxis {
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match axis {
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RawJointAxis::LinX => JointAxis::LinX,
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RawJointAxis::LinY => JointAxis::LinY,
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#[cfg(feature = "dim3")]
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RawJointAxis::LinZ => JointAxis::LinZ,
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RawJointAxis::AngX => JointAxis::AngX,
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#[cfg(feature = "dim3")]
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RawJointAxis::AngY => JointAxis::AngY,
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#[cfg(feature = "dim3")]
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RawJointAxis::AngZ => JointAxis::AngZ,
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}
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}
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}
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#[wasm_bindgen]
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pub struct RawGenericJoint(pub(crate) GenericJoint);
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#[wasm_bindgen]
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impl RawGenericJoint {
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/// Creates a new joint descriptor that builds generic joints.
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///
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/// Generic joints allow arbitrary axes of freedom to be selected
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/// for the joint from the available 6 degrees of freedom.
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#[cfg(feature = "dim3")]
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pub fn generic(
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anchor1: &RawVector,
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anchor2: &RawVector,
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axis: &RawVector,
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lockedAxes: u8,
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) -> Option<RawGenericJoint> {
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let axesMask: JointAxesMask = JointAxesMask::from_bits(lockedAxes)?;
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let axis = Unit::try_new(axis.0, 0.0)?;
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let joint: GenericJoint = GenericJointBuilder::new(axesMask)
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.local_anchor1(anchor1.0.into())
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.local_anchor2(anchor2.0.into())
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.local_axis1(axis)
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.local_axis2(axis)
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.into();
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Some(Self(joint))
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}
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pub fn spring(
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rest_length: f32,
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stiffness: f32,
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damping: f32,
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anchor1: &RawVector,
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anchor2: &RawVector,
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) -> Self {
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Self(
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SpringJointBuilder::new(rest_length, stiffness, damping)
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.local_anchor1(anchor1.0.into())
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.local_anchor2(anchor2.0.into())
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.into(),
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)
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}
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pub fn rope(length: f32, anchor1: &RawVector, anchor2: &RawVector) -> Self {
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Self(
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RopeJointBuilder::new(length)
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.local_anchor1(anchor1.0.into())
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.local_anchor2(anchor2.0.into())
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.into(),
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)
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}
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/// Create a new joint descriptor that builds spherical joints.
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///
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/// A spherical joints allows three relative rotational degrees of freedom
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/// by preventing any relative translation between the anchors of the
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/// two attached rigid-bodies.
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#[cfg(feature = "dim3")]
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pub fn spherical(anchor1: &RawVector, anchor2: &RawVector) -> Self {
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Self(
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SphericalJointBuilder::new()
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.local_anchor1(anchor1.0.into())
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.local_anchor2(anchor2.0.into())
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.into(),
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)
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}
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/// Creates a new joint descriptor that builds a Prismatic joint.
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///
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/// A prismatic joint removes all the degrees of freedom between the
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/// affected bodies, except for the translation along one axis.
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///
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/// Returns `None` if any of the provided axes cannot be normalized.
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#[cfg(feature = "dim2")]
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pub fn prismatic(
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anchor1: &RawVector,
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anchor2: &RawVector,
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axis: &RawVector,
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limitsEnabled: bool,
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limitsMin: f32,
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limitsMax: f32,
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) -> Option<RawGenericJoint> {
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let axis = Unit::try_new(axis.0, 0.0)?;
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let mut joint = PrismaticJointBuilder::new(axis)
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.local_anchor1(anchor1.0.into())
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.local_anchor2(anchor2.0.into());
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if limitsEnabled {
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joint = joint.limits([limitsMin, limitsMax]);
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}
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Some(Self(joint.into()))
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}
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/// Creates a new joint descriptor that builds a Prismatic joint.
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///
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/// A prismatic joint removes all the degrees of freedom between the
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/// affected bodies, except for the translation along one axis.
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///
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/// Returns `None` if any of the provided axes cannot be normalized.
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#[cfg(feature = "dim3")]
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pub fn prismatic(
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anchor1: &RawVector,
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anchor2: &RawVector,
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axis: &RawVector,
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limitsEnabled: bool,
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limitsMin: f32,
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limitsMax: f32,
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) -> Option<RawGenericJoint> {
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let axis = Unit::try_new(axis.0, 0.0)?;
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let mut joint = PrismaticJointBuilder::new(axis)
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.local_anchor1(anchor1.0.into())
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.local_anchor2(anchor2.0.into());
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if limitsEnabled {
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joint = joint.limits([limitsMin, limitsMax]);
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}
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Some(Self(joint.into()))
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}
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/// Creates a new joint descriptor that builds a Fixed joint.
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///
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/// A fixed joint removes all the degrees of freedom between the affected bodies.
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pub fn fixed(
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anchor1: &RawVector,
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axes1: &RawRotation,
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anchor2: &RawVector,
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axes2: &RawRotation,
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) -> RawGenericJoint {
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let pos1 = Isometry::from_parts(anchor1.0.into(), axes1.0);
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let pos2 = Isometry::from_parts(anchor2.0.into(), axes2.0);
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Self(
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FixedJointBuilder::new()
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.local_frame1(pos1)
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.local_frame2(pos2)
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.into(),
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)
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}
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/// Create a new joint descriptor that builds Revolute joints.
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///
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/// A revolute joint removes all degrees of freedom between the affected
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/// bodies except for the rotation.
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#[cfg(feature = "dim2")]
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pub fn revolute(anchor1: &RawVector, anchor2: &RawVector) -> Option<RawGenericJoint> {
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Some(Self(
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RevoluteJointBuilder::new()
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.local_anchor1(anchor1.0.into())
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.local_anchor2(anchor2.0.into())
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.into(),
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))
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}
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/// Create a new joint descriptor that builds Revolute joints.
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///
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/// A revolute joint removes all degrees of freedom between the affected
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/// bodies except for the rotation along one axis.
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#[cfg(feature = "dim3")]
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pub fn revolute(
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anchor1: &RawVector,
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anchor2: &RawVector,
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axis: &RawVector,
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) -> Option<RawGenericJoint> {
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let axis = Unit::try_new(axis.0, 0.0)?;
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Some(Self(
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RevoluteJointBuilder::new(axis)
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.local_anchor1(anchor1.0.into())
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.local_anchor2(anchor2.0.into())
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.into(),
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))
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}
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}
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