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Implement limits for ball joints.

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This commit is contained in:
Sébastien Crozet
2021-08-07 18:20:19 +02:00
committed by Sébastien Crozet
parent ac77c95c9c
commit f7643272f4
6 changed files with 366 additions and 54 deletions
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24
src/dynamics/joint/ball_joint.rs
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@@ -1,5 +1,5 @@
use crate::dynamics::SpringModel;
use crate::math::{Point, Real, Rotation, Vector};
use crate::math::{Point, Real, Rotation, UnitVector, Vector};
#[derive(Copy, Clone, PartialEq)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
@@ -38,6 +38,17 @@ pub struct BallJoint {
pub motor_impulse: Vector<Real>,
/// The spring-like model used by the motor to reach the target velocity and .
pub motor_model: SpringModel,
/// Are the limits enabled for this joint?
pub limits_enabled: bool,
/// The axis of the limit cone for this joint, if the local-space of the first body.
pub limits_local_axis1: UnitVector<Real>,
/// The axis of the limit cone for this joint, if the local-space of the first body.
pub limits_local_axis2: UnitVector<Real>,
/// The maximum angle allowed between the two limit axes in world-space.
pub limits_angle: Real,
/// The impulse applied to enforce joint limits.
pub limits_impulse: Real,
}
impl BallJoint {
@@ -62,13 +73,20 @@ impl BallJoint {
motor_impulse: na::zero(),
motor_max_impulse: Real::MAX,
motor_model: SpringModel::default(),
limits_enabled: false,
limits_local_axis1: Vector::x_axis(),
limits_local_axis2: Vector::x_axis(),
limits_angle: Real::MAX,
limits_impulse: 0.0,
}
}
/// Can a SIMD constraint be used for resolving this joint?
pub fn supports_simd_constraints(&self) -> bool {
// SIMD ball constraints don't support motors right now.
self.motor_max_impulse == 0.0 || (self.motor_stiffness == 0.0 && self.motor_damping == 0.0)
// SIMD ball constraints don't support motors and limits right now.
!self.limits_enabled
&& (self.motor_max_impulse == 0.0
|| (self.motor_stiffness == 0.0 && self.motor_damping == 0.0))
}
/// Set the spring-like model used by the motor to reach the desired target velocity and position.

3
src/dynamics/joint/revolute_joint.rs
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@@ -93,7 +93,7 @@ impl RevoluteJoint {
/// Can a SIMD constraint be used for resolving this joint?
pub fn supports_simd_constraints(&self) -> bool {
// SIMD revolute constraints don't support motors right now.
// SIMD revolute constraints don't support motors and limits right now.
!self.limits_enabled
&& (self.motor_max_impulse == 0.0
|| (self.motor_stiffness == 0.0 && self.motor_damping == 0.0))
@@ -142,6 +142,7 @@ impl RevoluteJoint {
)
}
/// Estimates the current position of the motor angle given the joint parameters.
pub fn estimate_motor_angle_from_params(
axis1: &Unit<Vector<Real>>,
tangent1: &Vector<Real>,