nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Fix torque generation for the prismatic joint motor

Browse Source
This commit is contained in:
Crozet Sébastien
2021-04-13 11:44:34 +02:00
parent 7ae8184167
commit d70c6f82e3
4 changed files with 159 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
examples3d/joints3.rs
View File

@@ -107,12 +107,12 @@ fn create_actuated_prismatic_joints(
// the limits with large forces.
prism.motor_max_impulse = 1.0;
} else if i > 1 {
prism.configure_motor_position(2.0, 0.2, 1.0);
prism.configure_motor_position(2.0, 0.01, 1.0);
} else {
prism.configure_motor_velocity(1.0, 1.0);
// We set a max impulse so that the motor doesn't fight
// the limits with large forces.
prism.motor_max_impulse = 1.0;
prism.motor_max_impulse = 0.7;
prism.limits_enabled = true;
prism.limits[0] = -2.0;
prism.limits[1] = 5.0;