rapier 0.20 feature: RevoluteJoint::angle + more detailed joints enum#530
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ThierryBerger merged 16 commits intodimforge:masterfrom Jul 7, 2024
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…ded from rapier 0.20.
ThierryBerger
commented
Jun 21, 2024
…ecify a lot of systems/filters the generic path could be interesting when/if bevy supports trait queries, but currently I feel it's not worth it.
ThierryBerger
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Jul 4, 2024
sebcrozet
reviewed
Jul 5, 2024
src/dynamics/joint.rs
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| impl JointDescription { | ||
| /// The underlying generic joint. | ||
| pub fn generic_joint(&self) -> &GenericJoint { | ||
| match self { | ||
| JointDescription::FixedJoint(j) => &j.data, | ||
| JointDescription::GenericJoint(j) => j, | ||
| JointDescription::PrismaticJoint(j) => &j.data, | ||
| JointDescription::RevoluteJoint(j) => j.data(), | ||
| JointDescription::RopeJoint(j) => j.data(), | ||
| #[cfg(feature = "dim3")] | ||
| JointDescription::SphericalJoint(j) => j.data(), | ||
| JointDescription::SpringJoint(j) => j.data(), | ||
| } | ||
| } | ||
| /// The underlying generic joint. | ||
| pub fn generic_joint_mut(&mut self) -> &mut GenericJoint { | ||
| match self { | ||
| JointDescription::FixedJoint(ref mut j) => &mut j.data, | ||
| JointDescription::GenericJoint(ref mut j) => j, | ||
| JointDescription::PrismaticJoint(ref mut j) => &mut j.data, | ||
| JointDescription::RevoluteJoint(ref mut j) => &mut j.data, | ||
| JointDescription::RopeJoint(ref mut j) => &mut j.data, | ||
| #[cfg(feature = "dim3")] | ||
| JointDescription::SphericalJoint(ref mut j) => &mut j.data, | ||
| JointDescription::SpringJoint(ref mut j) => &mut j.data, | ||
| } | ||
| } | ||
| } |
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These could be AsRef/AsMut implementations instead.
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true, I'll do that.
For the story behind this explicit naming: ideally I would have liked to wrap our joints (bevy_rapier::FixedJoint, etc...) around the correct joint from rapier (rapier::FixedJoint, etc.), so a user could use the relevant functions from rapier if some functions were not exposed by bevy_rapier (it can easily be forgotten...), but I had difficulties, probably the builder had to be updated significantly so I dropped the idea.
See #529 for similar reasoning logic.
Co-authored-by: Sébastien Crozet <sebastien@crozet.re>
ThierryBerger
changed the title
RevoluteJoint::angleRevoluteJoint::angle + more detailed joints enum
ThierryBerger
commented
Jul 5, 2024
sebcrozet
approved these changes
Jul 7, 2024
Co-authored-by: Sébastien Crozet <sebastien@crozet.re>
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add helper method to get the angle of a revolute joint ; from rapier 0.20.
We noticed a bug on joints because of rapier 0.20, so this builds up on #547.
I wanted to take the
ImpulseJointSetas parameter but that doesn't work withMultibodyJointSetso I settled to pass rigidbodies.I tried to implement a Generic
ImpulseJoint<JointDescription>, but that proved very impractical for functions such assync removal. we could revisit that if one day bevy supports trait queries, but currently I feel it's not worth it.Because we need both
ImpulseJointandRevoluteJointfromRapierContext, I couldn't settle on a better place thanRapierContextfor thisangle_for_entity_impulse_revolute_jointfunction.Failed improvements
I would have liked to make it more typed, but that's the best I could do.
I think it boils down to
bevy_rapier::ImpulseJointnot exposing directlybody1andbody2, which are necessary to compute the angle. I imagine it's current entity +bevy_rapier::ImpulseJoint::parent, but I went the route to get the data from rapier directly, it doesn't complicate the public facing API.I feel a method
angle(entity, entity)would only be more difficult to follow invariants.