77 lines
2.7 KiB
TypeScript
77 lines
2.7 KiB
TypeScript
import { RawMultibodyJointSet } from "../raw";
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import { MultibodyJoint, MultibodyJointHandle } from "./multibody_joint";
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import { JointData } from "./impulse_joint";
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import { RigidBodyHandle } from "./rigid_body";
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/**
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* A set of joints.
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*
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* To avoid leaking WASM resources, this MUST be freed manually with `jointSet.free()`
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* once you are done using it (and all the joints it created).
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*/
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export declare class MultibodyJointSet {
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raw: RawMultibodyJointSet;
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private map;
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/**
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* Release the WASM memory occupied by this joint set.
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*/
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free(): void;
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constructor(raw?: RawMultibodyJointSet);
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/**
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* Creates a new joint and return its integer handle.
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*
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* @param desc - The joint's parameters.
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* @param parent1 - The handle of the first rigid-body this joint is attached to.
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* @param parent2 - The handle of the second rigid-body this joint is attached to.
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* @param wakeUp - Should the attached rigid-bodies be awakened?
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*/
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createJoint(desc: JointData, parent1: RigidBodyHandle, parent2: RigidBodyHandle, wakeUp: boolean): MultibodyJoint;
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/**
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* Remove a joint from this set.
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*
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* @param handle - The integer handle of the joint.
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* @param wake_up - If `true`, the rigid-bodies attached by the removed joint will be woken-up automatically.
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*/
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remove(handle: MultibodyJointHandle, wake_up: boolean): void;
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/**
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* Internal function, do not call directly.
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* @param handle
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*/
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unmap(handle: MultibodyJointHandle): void;
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/**
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* The number of joints on this set.
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*/
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len(): number;
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/**
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* Does this set contain a joint with the given handle?
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*
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* @param handle - The joint handle to check.
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*/
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contains(handle: MultibodyJointHandle): boolean;
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/**
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* Gets the joint with the given handle.
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*
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* Returns `null` if no joint with the specified handle exists.
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*
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* @param handle - The integer handle of the joint to retrieve.
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*/
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get(handle: MultibodyJointHandle): MultibodyJoint | null;
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/**
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* Applies the given closure to each joint contained by this set.
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*
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* @param f - The closure to apply.
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*/
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forEach(f: (joint: MultibodyJoint) => void): void;
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/**
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* Calls the given closure with the integer handle of each multibody joint attached to this rigid-body.
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*
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* @param f - The closure called with the integer handle of each multibody joint attached to the rigid-body.
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*/
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forEachJointHandleAttachedToRigidBody(handle: RigidBodyHandle, f: (handle: MultibodyJointHandle) => void): void;
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/**
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* Gets all joints in the list.
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*
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* @returns joint list.
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*/
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getAll(): MultibodyJoint[];
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}
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