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| author | Sébastien Crozet <sebcrozet@dimforge.com> | 2024-06-09 12:11:30 +0200 |
|---|---|---|
| committer | Sébastien Crozet <sebastien@crozet.re> | 2024-06-09 13:20:09 +0200 |
| commit | a8a0f297f52d4336c0d3b0effc24401e8066183b (patch) | |
| tree | a654c41b2d64dc229f8ae1ab2e52de2ac1a957b9 /examples3d | |
| parent | a5a4152815ab88d4117a80d97b42476d48b1eb69 (diff) | |
| download | rapier-a8a0f297f52d4336c0d3b0effc24401e8066183b.tar.gz rapier-a8a0f297f52d4336c0d3b0effc24401e8066183b.tar.bz2 rapier-a8a0f297f52d4336c0d3b0effc24401e8066183b.zip | |
feat: add RevoluteJoint::angle to compute the revolute joint’s angle
Diffstat (limited to 'examples3d')
| -rw-r--r-- | examples3d/joint_motor_position3.rs | 30 |
1 files changed, 21 insertions, 9 deletions
diff --git a/examples3d/joint_motor_position3.rs b/examples3d/joint_motor_position3.rs index 0a15e63..f89e880 100644 --- a/examples3d/joint_motor_position3.rs +++ b/examples3d/joint_motor_position3.rs @@ -15,6 +15,7 @@ pub fn init_world(testbed: &mut Testbed) { */ let rigid_body = RigidBodyBuilder::fixed(); let ground_handle = bodies.insert(rigid_body); + let mut target_angles = vec![]; /* * A rectangle on a motor with target position. @@ -28,15 +29,13 @@ pub fn init_world(testbed: &mut Testbed) { let collider = ColliderBuilder::cuboid(0.1, 0.5, 0.1); colliders.insert_with_parent(collider, handle, &mut bodies); + let target_angle = -std::f32::consts::PI + std::f32::consts::PI / 4.0 * num as f32; let joint = RevoluteJointBuilder::new(Vector::z_axis()) .local_anchor1(point![x_pos, 1.5, 0.0]) .local_anchor2(point![0.0, -0.5, 0.0]) - .motor_position( - -std::f32::consts::PI + std::f32::consts::PI / 4.0 * num as f32, - 1000.0, - 150.0, - ); + .motor_position(target_angle, 1000.0, 150.0); impulse_joints.insert(ground_handle, handle, joint, true); + target_angles.push(target_angle); } /* @@ -52,18 +51,31 @@ pub fn init_world(testbed: &mut Testbed) { let collider = ColliderBuilder::cuboid(0.1, 0.5, 0.1); colliders.insert_with_parent(collider, handle, &mut bodies); + let max_angle_limit = -std::f32::consts::PI + std::f32::consts::PI / 4.0 * num as f32; let joint = RevoluteJointBuilder::new(Vector::z_axis()) .local_anchor1(point![x_pos, 5.0, 0.0]) .local_anchor2(point![0.0, -0.5, 0.0]) .motor_velocity(1.5, 30.0) .motor_max_force(100.0) - .limits([ - -std::f32::consts::PI, - -std::f32::consts::PI + std::f32::consts::PI / 4.0 * num as f32, - ]); + .limits([-std::f32::consts::PI, max_angle_limit]); impulse_joints.insert(ground_handle, handle, joint, true); + target_angles.push(max_angle_limit); } + testbed.add_callback(move |_, physics, _, state| { + for ((_, joint), target) in physics.impulse_joints.iter().zip(target_angles.iter()) { + let rb1 = &physics.bodies[joint.body1]; + let rb2 = &physics.bodies[joint.body2]; + let revolute = joint.data.as_revolute().unwrap(); + println!( + "[Step {}] rev angle: {} (target = {})", + state.timestep_id, + revolute.angle(rb1.rotation(), rb2.rotation()), + target + ); + } + }); + /* * Set up the testbed. */ |