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| author | Chris Bacon <chris@dunelm.org.uk> | 2025-01-08 16:47:13 +0000 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2025-01-08 17:47:13 +0100 |
| commit | 564f7b73481e89eb144fc786aad39df1d866c61a (patch) | |
| tree | 9d3a5299a64ad92122387d54899c67b2ceb718be | |
| parent | dc4bd24da869cfa8143c3ee9a98cdec662db289e (diff) | |
| download | rapier-564f7b73481e89eb144fc786aad39df1d866c61a.tar.gz rapier-564f7b73481e89eb144fc786aad39df1d866c61a.tar.bz2 rapier-564f7b73481e89eb144fc786aad39df1d866c61a.zip | |
Fix Nans from RevoluteJoint::angle() (#736)
Fixes #735
| -rw-r--r-- | src/dynamics/joint/revolute_joint.rs | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/dynamics/joint/revolute_joint.rs b/src/dynamics/joint/revolute_joint.rs index 4dfed5c..c7f0288 100644 --- a/src/dynamics/joint/revolute_joint.rs +++ b/src/dynamics/joint/revolute_joint.rs @@ -87,9 +87,9 @@ impl RevoluteJoint { #[cfg(feature = "dim3")] if joint_rot1.dot(&joint_rot2) < 0.0 { - -ang_err.i.asin() * 2.0 + -ang_err.i.clamp(-1.0, 1.0).asin() * 2.0 } else { - ang_err.i.asin() * 2.0 + ang_err.i.clamp(-1.0, 1.0).asin() * 2.0 } #[cfg(feature = "dim2")] |