From 68e2ba780cb50f4ddfbae1a097d381f3f47914ad Mon Sep 17 00:00:00 2001
From: Shane Celis <shane.celis@gmail.com>
Date: Thu, 26 Sep 2024 07:04:02 -0400
Subject: [PATCH] Make disabling joints possible. (#519)

---
 src/dynamics/solver/joints/mod.rs | 7 +++++++
 src/dynamics/solver/xpbd/mod.rs   | 2 +-
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/src/dynamics/solver/joints/mod.rs b/src/dynamics/solver/joints/mod.rs
index 6fa37350..c6ae9e6c 100644
--- a/src/dynamics/solver/joints/mod.rs
+++ b/src/dynamics/solver/joints/mod.rs
@@ -338,3 +338,10 @@ impl AngleLimit {
         None
     }
 }
+
+/// Disables the joint of the entity it is placed on.
+#[derive(Reflect, Clone, Copy, Component, Debug)]
+#[cfg_attr(feature = "serialize", derive(serde::Serialize, serde::Deserialize))]
+#[cfg_attr(feature = "serialize", reflect(Serialize, Deserialize))]
+#[reflect(Debug, Component)]
+pub struct JointDisabled;
diff --git a/src/dynamics/solver/xpbd/mod.rs b/src/dynamics/solver/xpbd/mod.rs
index be7539cf..37077865 100644
--- a/src/dynamics/solver/xpbd/mod.rs
+++ b/src/dynamics/solver/xpbd/mod.rs
@@ -351,7 +351,7 @@ pub trait XpbdConstraint<const ENTITY_COUNT: usize>: MapEntities {
 pub fn solve_constraint<C: XpbdConstraint<ENTITY_COUNT> + Component, const ENTITY_COUNT: usize>(
     mut commands: Commands,
     mut bodies: Query<RigidBodyQuery>,
-    mut constraints: Query<&mut C, Without<RigidBody>>,
+    mut constraints: Query<&mut C, (Without<RigidBody>, Without<JointDisabled>)>,
     time: Res<Time>,
 ) {
     let delta_secs = time.delta_seconds_adjusted();