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| author | Crozet Sébastien <developer@crozet.re> | 2021-02-22 14:20:06 +0100 |
|---|---|---|
| committer | Crozet Sébastien <developer@crozet.re> | 2021-02-22 14:20:06 +0100 |
| commit | 0eec28325ecf192f386a6894526e97a462e68802 (patch) | |
| tree | 3d5a08cc2a0569df703f5e03c7ccbeeab5e30eaa /src/dynamics/joint/revolute_joint.rs | |
| parent | 4c9138fd2b8413a44ea665a2db5d245370ff54fe (diff) | |
| download | rapier-0eec28325ecf192f386a6894526e97a462e68802.tar.gz rapier-0eec28325ecf192f386a6894526e97a462e68802.tar.bz2 rapier-0eec28325ecf192f386a6894526e97a462e68802.zip | |
Fix warnings.
Diffstat (limited to 'src/dynamics/joint/revolute_joint.rs')
| -rw-r--r-- | src/dynamics/joint/revolute_joint.rs | 4 |
1 files changed, 4 insertions, 0 deletions
diff --git a/src/dynamics/joint/revolute_joint.rs b/src/dynamics/joint/revolute_joint.rs index 6895d3d..d1181e9 100644 --- a/src/dynamics/joint/revolute_joint.rs +++ b/src/dynamics/joint/revolute_joint.rs @@ -85,18 +85,22 @@ impl RevoluteJoint { 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. pub fn configure_motor_model(&mut self, model: SpringModel) { self.motor_model = model; } + /// Sets the target velocity this motor needs to reach. pub fn configure_motor_velocity(&mut self, target_vel: Real, factor: Real) { self.configure_motor(self.motor_target_pos, target_vel, 0.0, factor) } + /// Sets the target angle this motor needs to reach. pub fn configure_motor_position(&mut self, target_pos: Real, stiffness: Real, damping: Real) { self.configure_motor(target_pos, 0.0, stiffness, damping) } + /// Configure both the target angle and target velocity of the motor. pub fn configure_motor( &mut self, target_pos: Real, |