Add ability to set coupled_axes in GenericConstraint

Author: TheLMiffy1111

common/src/main/java/dev/ryanhcode/sable/api/physics/constraint/GenericConstraintConfiguration.java

@@ -23,9 +23,14 @@ public record GenericConstraintConfiguration(
         Vector3dc pos2,
         Quaterniondc orientation1,
         Quaterniondc orientation2,
-        Set<ConstraintJointAxis> lockedAxes
+        Set<ConstraintJointAxis> lockedAxes,
+        Set<ConstraintJointAxis> coupledAxes
 ) implements PhysicsConstraintConfiguration<GenericConstraintHandle> {
 
+    public GenericConstraintConfiguration(final Vector3dc pos1, final Vector3dc pos2, final Quaterniondc orientation1, final Quaterniondc orientation2, final Set<ConstraintJointAxis> lockedAxes) {
+        this(pos1, pos2, orientation1, orientation2, lockedAxes, EnumSet.noneOf(ConstraintJointAxis.class));
+    }
+
     public GenericConstraintConfiguration(final Vector3dc pos1, final Vector3dc pos2, final Quaterniondc orientation1, final Quaterniondc orientation2) {
         this(pos1, pos2, orientation1, orientation2, EnumSet.noneOf(ConstraintJointAxis.class));
     }

sable_rapier/src/main/java/dev/ryanhcode/sable/physics/impl/rapier/Rapier3D.java

@@ -415,6 +415,7 @@ public static native long addFreeConstraint(final long sceneHandle,
      * @param localOrientationZB the local orientation Z of the second object
      * @param localOrientationWB the local orientation W of the second object
      * @param lockedAxesMask     bit mask of locked axes; bit {@code n} corresponds to {@link dev.ryanhcode.sable.api.physics.constraint.ConstraintJointAxis#ordinal()}
+     * @param coupledAxesMask    bit mask of coupled axes; bit {@code n} corresponds to {@link dev.ryanhcode.sable.api.physics.constraint.ConstraintJointAxis#ordinal()}
      */
     @ApiStatus.Internal
     public static native long addGenericConstraint(final long sceneHandle,
@@ -434,7 +435,8 @@ public static native long addGenericConstraint(final long sceneHandle,
                                                    double localOrientationYB,
                                                    double localOrientationZB,
                                                    double localOrientationWB,
-                                                   int lockedAxesMask);
+                                                   int lockedAxesMask,
+                                                   int coupledAxesMask);
 
     /**
      * Sets the local frame on one side of a constraint.

sable_rapier/src/main/java/dev/ryanhcode/sable/physics/impl/rapier/constraint/generic/RapierGenericConstraintHandle.java

@@ -32,6 +32,11 @@ public class RapierGenericConstraintHandle extends RapierConstraintHandle implem
             lockedAxesMask |= 1 << axis.ordinal();
         }
 
+        int coupledAxesMask = 0;
+        for (final ConstraintJointAxis axis : config.coupledAxes()) {
+            coupledAxesMask |= 1 << axis.ordinal();
+        }
+
         final long handle = Rapier3D.addGenericConstraint(
                 sceneHandle,
                 bodyA == null ? -1 : Rapier3D.getID(bodyA),
@@ -50,7 +55,8 @@ public class RapierGenericConstraintHandle extends RapierConstraintHandle implem
                 config.orientation2().y(),
                 config.orientation2().z(),
                 config.orientation2().w(),
-                lockedAxesMask
+                lockedAxesMask,
+                coupledAxesMask
         );
 
         return new RapierGenericConstraintHandle(sceneHandle, handle);

sable_rapier/src/main/rust/rapier/src/joints.rs

@@ -594,6 +594,7 @@ pub extern "system" fn Java_dev_ryanhcode_sable_physics_impl_rapier_Rapier3D_add
     local_q_z_b: jdouble,
     local_q_w_b: jdouble,
     locked_axes_mask: jint,
+    coupled_axes_mask: jint,
 ) -> SableJointHandle {
     with_handle(handle, |scene| {
         let mut sable_data = scene.sable_data.write().unwrap();
@@ -612,6 +613,7 @@ pub extern "system" fn Java_dev_ryanhcode_sable_physics_impl_rapier_Rapier3D_add
         };
 
         let locked_axes = JointAxesMask::from_bits_truncate(locked_axes_mask as u8);
+        let coupled_axes = JointAxesMask::from_bits_truncate(coupled_axes_mask as u8);
 
         let rotation_a = Quat::from_xyzw(
             local_q_x_a as Real,
@@ -626,10 +628,12 @@ pub extern "system" fn Java_dev_ryanhcode_sable_physics_impl_rapier_Rapier3D_add
             local_q_w_b as Real,
         );
 
-        let mut joint = GenericJointBuilder::new(locked_axes).softness(SpringCoefficients::new(
-            JOINT_SPRING_FREQUENCY,
-            JOINT_SPRING_DAMPING_RATIO,
-        ));
+        let mut joint = GenericJointBuilder::new(locked_axes)
+            .coupled_axes(coupled_axes)
+            .softness(SpringCoefficients::new(
+                JOINT_SPRING_FREQUENCY,
+                JOINT_SPRING_DAMPING_RATIO,
+            ));
         joint.0.local_frame1.rotation = rotation_a;
         joint.0.local_frame2.rotation = rotation_b;