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Remove rest_length field from DistanceJoint. #517

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Remove rest_length field from DistanceJoint. #517

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75ae381
excise: Remove rest_length field.
shanecelis Sep 22, 2024
2a018cd
test: Fix failing doc tests.
shanecelis Sep 22, 2024
93e5e6d
feature: Add From impls for DistanceLimit.
shanecelis Sep 22, 2024
f8f4c9c
chore: "Listen to Clippy,
shanecelis Sep 22, 2024
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2 changes: 1 addition & 1 deletion crates/avian2d/examples/distance_joint_2d.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,7 @@ fn setup(mut commands: Commands) {
DistanceJoint::new(anchor, object)
.with_local_anchor_1(Vector::ZERO)
.with_local_anchor_2(Vector::ZERO)
.with_rest_length(100.0)
.with_length_limits(100.0)
.with_linear_velocity_damping(0.1)
.with_angular_velocity_damping(1.0)
.with_compliance(0.00000001),
Expand Down
2 changes: 1 addition & 1 deletion crates/avian3d/examples/distance_joint_3d.rs
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Expand Up @@ -52,7 +52,7 @@ fn setup(
commands.spawn(
DistanceJoint::new(static_cube, dynamic_cube)
.with_local_anchor_2(0.5 * Vector::ONE)
.with_rest_length(1.5)
.with_length_limits(1.5)
.with_compliance(1.0 / 400.0),
);

Expand Down
43 changes: 24 additions & 19 deletions src/dynamics/solver/joints/distance.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -25,10 +25,8 @@ pub struct DistanceJoint {
pub local_anchor1: Vector,
/// Attachment point on the second body.
pub local_anchor2: Vector,
/// The distance the attached bodies will be kept relative to each other.
pub rest_length: Scalar,
/// The extents of the allowed relative translation between the attached bodies.
pub length_limits: Option<DistanceLimit>,
pub length_limits: DistanceLimit,
/// Linear damping applied by the joint.
pub damping_linear: Scalar,
/// Angular damping applied by the joint.
Expand Down Expand Up @@ -62,8 +60,7 @@ impl Joint for DistanceJoint {
entity2,
local_anchor1: Vector::ZERO,
local_anchor2: Vector::ZERO,
rest_length: 0.0,
length_limits: None,
length_limits: DistanceLimit::ZERO,
damping_linear: 0.0,
damping_angular: 0.0,
lagrange: 0.0,
Expand Down Expand Up @@ -132,9 +129,7 @@ impl DistanceJoint {

// If min and max limits aren't specified, use rest length
// TODO: Remove rest length, just use min/max limits.
let limits = self
.length_limits
.unwrap_or(DistanceLimit::new(self.rest_length, self.rest_length));
let limits = self.length_limits;

// Compute the direction and magnitude of the positional correction required
// to keep the bodies within a certain distance from each other.
Expand Down Expand Up @@ -172,18 +167,28 @@ impl DistanceJoint {
self.compute_force(self.lagrange, dir, dt)
}

/// Sets the minimum and maximum distances between the attached bodies.
pub fn with_limits(self, min: Scalar, max: Scalar) -> Self {
Self {
length_limits: Some(DistanceLimit::new(min, max)),
..self
}
}

/// Sets the joint's rest length, or distance the bodies will be kept at.
pub fn with_rest_length(self, rest_length: Scalar) -> Self {
/// Returns self with the minimum and maximum distances between the attached
/// bodies.
///
/// ```
/// # #[cfg(feature = "2d")]
/// # use avian2d::prelude::*;
/// # #[cfg(feature = "3d")]
/// # use avian3d::prelude::*;
/// # use bevy::prelude::*;
/// # fn new_joint() -> DistanceJoint { DistanceJoint::new(Entity::PLACEHOLDER, Entity::PLACEHOLDER) }
/// let j: DistanceJoint = new_joint();
/// let a = j.with_length_limits(DistanceLimit { min: 0.0, max: 1.0 });
/// let b = j.with_length_limits((0.0, 1.0));
/// assert_eq!(a, b);
///
/// let c = j.with_length_limits(DistanceLimit { min: 0.5, max: 0.5 });
/// let d = j.with_length_limits(0.5);
/// assert_eq!(c, d);
/// ```
pub fn with_length_limits(self, limit: impl Into<DistanceLimit>) -> Self {
Self {
rest_length,
length_limits: limit.into(),
..self
}
}
Expand Down
17 changes: 17 additions & 0 deletions src/dynamics/solver/joints/mod.rs
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Expand Up @@ -194,6 +194,23 @@ pub struct DistanceLimit {
pub max: Scalar,
}

/// Convert the `limit` into a distance limit where _min = max = limit_.
impl From<Scalar> for DistanceLimit {
fn from(limit: Scalar) -> DistanceLimit {
DistanceLimit {
min: limit,
max: limit,
}
}
}

/// Convert the `(min, max)` pair into a distance limit.
impl From<(Scalar, Scalar)> for DistanceLimit {
fn from((min, max): (Scalar, Scalar)) -> DistanceLimit {
DistanceLimit { min, max }
}
}

impl DistanceLimit {
/// A `DistanceLimit` with `min` and `max` set to zero.
pub const ZERO: Self = Self { min: 0.0, max: 0.0 };
Expand Down
28 changes: 14 additions & 14 deletions src/spatial_query/system_param.rs
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Expand Up @@ -38,7 +38,7 @@ use bevy::{ecs::system::SystemParam, prelude::*};
/// Dir3::X, // Direction
/// 100.0, // Maximum time of impact (travel distance)
/// true, // Does the ray treat colliders as "solid"
/// SpatialQueryFilter::default(), // Query filter
/// &SpatialQueryFilter::default(), // Query filter
/// ) {
/// println!("First hit: {:?}", first_hit);
/// }
Expand All @@ -50,7 +50,7 @@ use bevy::{ecs::system::SystemParam, prelude::*};
/// 100.0, // Maximum time of impact (travel distance)
/// 20, // Maximum number of hits
/// true, // Does the ray treat colliders as "solid"
/// SpatialQueryFilter::default(), // Query filter
/// &SpatialQueryFilter::default(), // Query filter
/// );
///
/// // Print hits
Expand Down Expand Up @@ -115,7 +115,7 @@ impl<'w, 's> SpatialQuery<'w, 's> {
/// Dir3::X, // Direction
/// 100.0, // Maximum time of impact (travel distance)
/// true, // Does the ray treat colliders as "solid"
/// SpatialQueryFilter::default(), // Query filter
/// &SpatialQueryFilter::default(), // Query filter
/// ) {
/// println!("First hit: {:?}", first_hit);
/// }
Expand Down Expand Up @@ -167,7 +167,7 @@ impl<'w, 's> SpatialQuery<'w, 's> {
/// Dir3::X, // Direction
/// 100.0, // Maximum time of impact (travel distance)
/// true, // Does the ray treat colliders as "solid"
/// SpatialQueryFilter::default(), // Query filter
/// &SpatialQueryFilter::default(), // Query filter
/// &|entity| { // Predicate
/// // Skip entities with the `Invisible` component.
/// !query.contains(entity)
Expand Down Expand Up @@ -229,7 +229,7 @@ impl<'w, 's> SpatialQuery<'w, 's> {
/// 100.0, // Maximum time of impact (travel distance)
/// 20, // Maximum number of hits
/// true, // Does the ray treat colliders as "solid"
/// SpatialQueryFilter::default(), // Query filter
/// &SpatialQueryFilter::default(), // Query filter
/// );
///
/// // Print hits
Expand Down Expand Up @@ -291,7 +291,7 @@ impl<'w, 's> SpatialQuery<'w, 's> {
/// Dir3::X, // Direction
/// 100.0, // Maximum time of impact (travel distance)
/// true, // Does the ray treat colliders as "solid"
/// SpatialQueryFilter::default(), // Query filter
/// &SpatialQueryFilter::default(), // Query filter
/// |hit| { // Callback function
/// hits.push(hit);
/// true
Expand Down Expand Up @@ -359,7 +359,7 @@ impl<'w, 's> SpatialQuery<'w, 's> {
/// Dir3::X, // Direction
/// 100.0, // Maximum time of impact (travel distance)
/// true, // Should initial penetration at the origin be ignored
/// SpatialQueryFilter::default(), // Query filter
/// &SpatialQueryFilter::default(), // Query filter
/// ) {
/// println!("First hit: {:?}", first_hit);
/// }
Expand Down Expand Up @@ -424,7 +424,7 @@ impl<'w, 's> SpatialQuery<'w, 's> {
/// 100.0, // Maximum time of impact (travel distance)
/// 20, // Max hits
/// true, // Should initial penetration at the origin be ignored
/// SpatialQueryFilter::default(), // Query filter
/// &SpatialQueryFilter::default(), // Query filter
/// );
///
/// // Print hits
Expand Down Expand Up @@ -495,7 +495,7 @@ impl<'w, 's> SpatialQuery<'w, 's> {
/// Dir3::X, // Direction
/// 100.0, // Maximum time of impact (travel distance)
/// true, // Should initial penetration at the origin be ignored
/// SpatialQueryFilter::default(), // Query filter
/// &SpatialQueryFilter::default(), // Query filter
/// |hit| { // Callback function
/// hits.push(hit);
/// true
Expand Down Expand Up @@ -557,7 +557,7 @@ impl<'w, 's> SpatialQuery<'w, 's> {
/// if let Some(projection) = spatial_query.project_point(
/// Vec3::ZERO, // Point
/// true, // Are colliders treated as "solid"
/// SpatialQueryFilter::default(), // Query filter
/// &SpatialQueryFilter::default(), // Query filter
/// ) {
/// println!("Projection: {:?}", projection);
/// }
Expand Down Expand Up @@ -593,7 +593,7 @@ impl<'w, 's> SpatialQuery<'w, 's> {
/// # #[cfg(all(feature = "3d", feature = "f32"))]
/// fn print_point_intersections(spatial_query: SpatialQuery) {
/// let intersections =
/// spatial_query.point_intersections(Vec3::ZERO, SpatialQueryFilter::default());
/// spatial_query.point_intersections(Vec3::ZERO, &SpatialQueryFilter::default());
///
/// for entity in intersections.iter() {
/// println!("Entity: {:?}", entity);
Expand Down Expand Up @@ -633,7 +633,7 @@ impl<'w, 's> SpatialQuery<'w, 's> {
///
/// spatial_query.point_intersections_callback(
/// Vec3::ZERO, // Point
/// SpatialQueryFilter::default(), // Query filter
/// &SpatialQueryFilter::default(), // Query filter
/// |entity| { // Callback function
/// intersections.push(entity);
/// true
Expand Down Expand Up @@ -745,7 +745,7 @@ impl<'w, 's> SpatialQuery<'w, 's> {
/// &Collider::sphere(0.5), // Shape
/// Vec3::ZERO, // Shape position
/// Quat::default(), // Shape rotation
/// SpatialQueryFilter::default(), // Query filter
/// &SpatialQueryFilter::default(), // Query filter
/// );
///
/// for entity in intersections.iter() {
Expand Down Expand Up @@ -793,7 +793,7 @@ impl<'w, 's> SpatialQuery<'w, 's> {
/// &Collider::sphere(0.5), // Shape
/// Vec3::ZERO, // Shape position
/// Quat::default(), // Shape rotation
/// SpatialQueryFilter::default(), // Query filter
/// &SpatialQueryFilter::default(), // Query filter
/// |entity| { // Callback function
/// intersections.push(entity);
/// true
Expand Down