feat: Add frame setter methods for revolute/prismatic joints#370
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wkwooten wants to merge 1 commit into
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feat: Add frame setter methods for revolute/prismatic joints#370wkwooten wants to merge 1 commit into
wkwooten wants to merge 1 commit into
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This implements the frame transformation capabilities requested in issue dimforge#271, allowing users to set joint frames after joint creation via: - setFrameX1() / setFrameX2() for rotation frames - setLocalFrame1() / setLocalFrame2() for full frame (anchor + rotation) These methods enable more flexible joint configuration in physics simulations, particularly for use cases like VistaKine where joint frames need adjustment after initial setup. Fixes dimforge#271
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Summary
This PR implements the frame transformation capabilities requested in #271, allowing users to set joint frames after joint creation.
Changes
Added four new setter methods to
ImpulseJoint:setFrameX1(rotation)- Sets the rotation frame for the first rigid-body attachmentsetFrameX2(rotation)- Sets the rotation frame for the second rigid-body attachmentsetLocalFrame1(anchor, rotation)- Sets the full local frame (position + rotation) for the first attachmentsetLocalFrame2(anchor, rotation)- Sets the full local frame (position + rotation) for the second attachmentThese complement the existing
frameX1()andframeX2()getters, providing symmetric read/write access to joint frames.Motivation
Joint frames are currently read-only in the JavaScript bindings despite being settable in the Rust API. This limitation prevents adjustments to joint configurations after creation.
Testing
The implementation delegates directly to Rapier's safe abstractions (
set_local_frame1/set_local_frame2), following the same pattern as existing anchor setters. This has been used in a production application for several months without issues.Fixes
Fixes #271