@dimforge/rapier3d
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3-dimensional physics engine in Rust - official JS bindings.
123 lines • 3.95 kB
JavaScript
import { RawJointAxis, RawJointType, } from "../raw";
export class MultibodyJoint {
constructor(rawSet, handle) {
this.rawSet = rawSet;
this.handle = handle;
}
static newTyped(rawSet, handle) {
switch (rawSet.jointType(handle)) {
case RawJointType.Revolute:
return new RevoluteMultibodyJoint(rawSet, handle);
case RawJointType.Prismatic:
return new PrismaticMultibodyJoint(rawSet, handle);
case RawJointType.Fixed:
return new FixedMultibodyJoint(rawSet, handle);
// #if DIM3
case RawJointType.Spherical:
return new SphericalMultibodyJoint(rawSet, handle);
// #endif
default:
return new MultibodyJoint(rawSet, handle);
}
}
/**
* Checks if this joint is still valid (i.e. that it has
* not been deleted from the joint set yet).
*/
isValid() {
return this.rawSet.contains(this.handle);
}
// /**
// * The unique integer identifier of the first rigid-body this joint it attached to.
// */
// public bodyHandle1(): RigidBodyHandle {
// return this.rawSet.jointBodyHandle1(this.handle);
// }
//
// /**
// * The unique integer identifier of the second rigid-body this joint is attached to.
// */
// public bodyHandle2(): RigidBodyHandle {
// return this.rawSet.jointBodyHandle2(this.handle);
// }
//
// /**
// * The type of this joint given as a string.
// */
// public type(): JointType {
// return this.rawSet.jointType(this.handle);
// }
//
// // #if DIM3
// /**
// * The rotation quaternion that aligns this joint's first local axis to the `x` axis.
// */
// public frameX1(): Rotation {
// return RotationOps.fromRaw(this.rawSet.jointFrameX1(this.handle));
// }
//
// // #endif
//
// // #if DIM3
// /**
// * The rotation matrix that aligns this joint's second local axis to the `x` axis.
// */
// public frameX2(): Rotation {
// return RotationOps.fromRaw(this.rawSet.jointFrameX2(this.handle));
// }
//
// // #endif
//
// /**
// * The position of the first anchor of this joint.
// *
// * The first anchor gives the position of the points application point on the
// * local frame of the first rigid-body it is attached to.
// */
// public anchor1(): Vector {
// return VectorOps.fromRaw(this.rawSet.jointAnchor1(this.handle));
// }
//
// /**
// * The position of the second anchor of this joint.
// *
// * The second anchor gives the position of the points application point on the
// * local frame of the second rigid-body it is attached to.
// */
// public anchor2(): Vector {
// return VectorOps.fromRaw(this.rawSet.jointAnchor2(this.handle));
// }
/**
* Controls whether contacts are computed between colliders attached
* to the rigid-bodies linked by this joint.
*/
setContactsEnabled(enabled) {
this.rawSet.jointSetContactsEnabled(this.handle, enabled);
}
/**
* Indicates if contacts are enabled between colliders attached
* to the rigid-bodies linked by this joint.
*/
contactsEnabled() {
return this.rawSet.jointContactsEnabled(this.handle);
}
}
export class UnitMultibodyJoint extends MultibodyJoint {
}
export class FixedMultibodyJoint extends MultibodyJoint {
}
export class PrismaticMultibodyJoint extends UnitMultibodyJoint {
rawAxis() {
return RawJointAxis.LinX;
}
}
export class RevoluteMultibodyJoint extends UnitMultibodyJoint {
rawAxis() {
return RawJointAxis.AngX;
}
}
// #if DIM3
export class SphericalMultibodyJoint extends MultibodyJoint {
}
// #endif
//# sourceMappingURL=multibody_joint.js.map