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

fix initialization of the joint_motor_position examples

Browse Source
This commit is contained in:
Sébastien Crozet
2023-12-10 21:52:27 +01:00
parent 76557448d7
commit efa1ac3609
2 changed files with 13 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
examples2d/joint_motor_position2.rs
View File

@@ -11,15 +11,10 @@ pub fn init_world(testbed: &mut Testbed) {
let multibody_joints = MultibodyJointSet::new(); let multibody_joints = MultibodyJointSet::new();
/* /*
* The ground * Fixed ground to attach one end of the joints.
*/ */
let ground_size = 5.0; let rigid_body = RigidBodyBuilder::fixed();
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
let ground_handle = bodies.insert(rigid_body); let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/* /*
* A rectangle on a motor with target position. * A rectangle on a motor with target position.
@@ -28,7 +23,6 @@ pub fn init_world(testbed: &mut Testbed) {
let x_pos = -6.0 + 1.5 * num as f32; let x_pos = -6.0 + 1.5 * num as f32;
let rigid_body = RigidBodyBuilder::dynamic() let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![x_pos, 2.0]) .translation(vector![x_pos, 2.0])
.rotation(std::f32::consts::PI)
.can_sleep(false); .can_sleep(false);
let handle = bodies.insert(rigid_body); let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(0.1, 0.5); let collider = ColliderBuilder::cuboid(0.1, 0.5);
@@ -38,7 +32,7 @@ pub fn init_world(testbed: &mut Testbed) {
.local_anchor1(point![x_pos, 1.5]) .local_anchor1(point![x_pos, 1.5])
.local_anchor2(point![0.0, -0.5]) .local_anchor2(point![0.0, -0.5])
.motor_position( .motor_position(
std::f32::consts::PI - std::f32::consts::PI / 4.0 * num as f32, -std::f32::consts::PI + std::f32::consts::PI / 4.0 * num as f32,
1000.0, 1000.0,
150.0, 150.0,
); );
@@ -48,11 +42,11 @@ pub fn init_world(testbed: &mut Testbed) {
/* /*
* A rectangle on a motor with limits. * A rectangle on a motor with limits.
*/ */
for num in 2..3 { for num in 0..8 {
let x_pos = -6.0 + 1.5 * num as f32; let x_pos = -6.0 + 1.5 * num as f32;
let rigid_body = RigidBodyBuilder::dynamic() let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![x_pos, 5.0]) .translation(vector![x_pos, 4.5])
.angvel(4.0) .rotation(std::f32::consts::PI)
.can_sleep(false); .can_sleep(false);
let handle = bodies.insert(rigid_body); let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(0.1, 0.5); let collider = ColliderBuilder::cuboid(0.1, 0.5);
@@ -65,7 +59,7 @@ pub fn init_world(testbed: &mut Testbed) {
.motor_max_force(100.0) .motor_max_force(100.0)
.limits([ .limits([
-std::f32::consts::PI, -std::f32::consts::PI,
std::f32::consts::PI / 4.0 * num as f32, -std::f32::consts::PI + std::f32::consts::PI / 4.0 * num as f32,
]); ]);
impulse_joints.insert(ground_handle, handle, joint, true); impulse_joints.insert(ground_handle, handle, joint, true);
} }

17
examples3d/joint_motor_position3.rs
View File

@@ -11,15 +11,10 @@ pub fn init_world(testbed: &mut Testbed) {
let multibody_joints = MultibodyJointSet::new(); let multibody_joints = MultibodyJointSet::new();
/* /*
* The ground * Fixed ground to attach one end of the joints.
*/ */
let ground_size = 5.0; let rigid_body = RigidBodyBuilder::fixed();
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]);
let ground_handle = bodies.insert(rigid_body); let ground_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, ground_handle, &mut bodies);
/* /*
* A rectangle on a motor with target position. * A rectangle on a motor with target position.
@@ -37,7 +32,7 @@ pub fn init_world(testbed: &mut Testbed) {
.local_anchor1(point![x_pos, 1.5, 0.0]) .local_anchor1(point![x_pos, 1.5, 0.0])
.local_anchor2(point![0.0, -0.5, 0.0]) .local_anchor2(point![0.0, -0.5, 0.0])
.motor_position( .motor_position(
-(std::f32::consts::PI - std::f32::consts::PI / 4.0 * num as f32), -std::f32::consts::PI + std::f32::consts::PI / 4.0 * num as f32,
1000.0, 1000.0,
150.0, 150.0,
); );
@@ -47,10 +42,10 @@ pub fn init_world(testbed: &mut Testbed) {
/* /*
* A rectangle on a motor with limits. * A rectangle on a motor with limits.
*/ */
for num in 0..9 { for num in 0..8 {
let x_pos = -6.0 + 1.5 * num as f32; let x_pos = -6.0 + 1.5 * num as f32;
let rigid_body = RigidBodyBuilder::dynamic() let rigid_body = RigidBodyBuilder::dynamic()
.translation(vector![x_pos, 5.0, 0.0]) .translation(vector![x_pos, 4.5, 0.0])
.rotation(vector![0.0, 0.0, std::f32::consts::PI]) .rotation(vector![0.0, 0.0, std::f32::consts::PI])
.can_sleep(false); .can_sleep(false);
let handle = bodies.insert(rigid_body); let handle = bodies.insert(rigid_body);
@@ -64,7 +59,7 @@ pub fn init_world(testbed: &mut Testbed) {
.motor_max_force(100.0) .motor_max_force(100.0)
.limits([ .limits([
-std::f32::consts::PI, -std::f32::consts::PI,
std::f32::consts::PI / 4.0 * num as f32, -std::f32::consts::PI + std::f32::consts::PI / 4.0 * num as f32,
]); ]);
impulse_joints.insert(ground_handle, handle, joint, true); impulse_joints.insert(ground_handle, handle, joint, true);
} }