Remove duplicated code in joint class derivatives - with interface and method extraction #302
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…on constraints in dual body joints
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What was done?
To address the code duplication identified in Joint-derived classes, an interface was introduced and implemented by the classes containing the repetitive routine. Subsequently, a method was added to the Joint class, which accepts as a parameter instances of classes inheriting from Joint and implementing the newly created interface.
This approach was chosen because the differences between the classes with the duplicated routine and those without it are minimal, making the abstraction of a new parent class unnecessary. A new class would have added only a few attributes and a single functionality, which would not have significantly improved code maintainability or readability.
All relevant Joint-derived classes now implement the ConstrainedBodiesJoint interface, ensuring the extracted initialization function can be applied uniformly.
As a result, code duplication has been reduced, and a clean mechanism for handling common initialization logic has been introduced. The inheritance structure remains unchanged, minimizing invasive modifications to the codebase while enhancing maintainability.
Resolve #301