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fix: avoid perpetual movement when the target ang motor position is overshot

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This commit is contained in:
Sébastien Crozet
2023-07-10 09:14:16 +02:00
parent 9f3b5c8642
commit a05622cfe9
6 changed files with 165 additions and 57 deletions
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44
examples2d/joint_motor_position2.rs
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@@ -22,20 +22,52 @@ pub fn init_world(testbed: &mut Testbed) {
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/*
* A rectangle on a motor
* A rectangle on a motor with target position.
*/
for num in 0..9 {
let x_pos = -6.0 + 1.5 * num as f32;
let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x_pos, 2.0]);
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![x_pos, 2.0])
.rotation(std::f32::consts::PI)
.can_sleep(false);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(0.1, 0.5);
colliders.insert_with_parent(collider, handle, &mut bodies);
let joint = RevoluteJointBuilder::new()
.local_anchor2(point![x_pos, 1.5])
.local_anchor1(point![0.0, -0.5])
.motor_position(std::f32::consts::PI / 4.0 * num as f32, 100.0, 15.0);
impulse_joints.insert(handle, ground_handle, joint, true);
.local_anchor1(point![x_pos, 1.5])
.local_anchor2(point![0.0, -0.5])
.motor_position(
(std::f32::consts::PI - std::f32::consts::PI / 4.0 * num as f32),
1000.0,
150.0,
);
impulse_joints.insert(ground_handle, handle, joint, true);
}
/*
* A rectangle on a motor with limits.
*/
for num in 2..3 {
let x_pos = -6.0 + 1.5 * num as f32;
let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![x_pos, 5.0])
.angvel(4.0)
.can_sleep(false);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(0.1, 0.5);
colliders.insert_with_parent(collider, handle, &mut bodies);
let joint = RevoluteJointBuilder::new()
.local_anchor1(point![x_pos, 5.0])
.local_anchor2(point![0.0, -0.5])
.motor_velocity(1.5, 30.0)
.motor_max_force(100.0)
.limits([
-std::f32::consts::PI,
std::f32::consts::PI / 4.0 * num as f32,
]);
impulse_joints.insert(ground_handle, handle, joint, true);
}
/*