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| author | Crozet Sébastien <developer@crozet.re> | 2021-02-21 17:14:34 +0100 |
|---|---|---|
| committer | Crozet Sébastien <developer@crozet.re> | 2021-02-21 17:14:43 +0100 |
| commit | f5515c39736aced54f65879a42b2a74a68609ee7 (patch) | |
| tree | bca6045915179a7a7e4e95f8ef5b769ca7ecb439 /src/dynamics/joint | |
| parent | dc8ccc0c30e75aea8f144dbfad16be088d4d4ea2 (diff) | |
| download | rapier-f5515c39736aced54f65879a42b2a74a68609ee7.tar.gz rapier-f5515c39736aced54f65879a42b2a74a68609ee7.tar.bz2 rapier-f5515c39736aced54f65879a42b2a74a68609ee7.zip | |
Fix lever-arm handling in the revolute joint.
Diffstat (limited to 'src/dynamics/joint')
| -rw-r--r-- | src/dynamics/joint/revolute_joint.rs | 2 | ||||
| -rw-r--r-- | src/dynamics/joint/spring_model.rs | 6 |
2 files changed, 7 insertions, 1 deletions
diff --git a/src/dynamics/joint/revolute_joint.rs b/src/dynamics/joint/revolute_joint.rs index 022779d..e1e1441 100644 --- a/src/dynamics/joint/revolute_joint.rs +++ b/src/dynamics/joint/revolute_joint.rs @@ -72,7 +72,7 @@ impl RevoluteJoint { motor_max_impulse: Real::MAX, motor_impulse: 0.0, prev_axis1: *local_axis1, - motor_model: SpringModel::VelocityBased, + motor_model: SpringModel::default(), motor_last_angle: 0.0, } } diff --git a/src/dynamics/joint/spring_model.rs b/src/dynamics/joint/spring_model.rs index dd6035d..c2c9ebd 100644 --- a/src/dynamics/joint/spring_model.rs +++ b/src/dynamics/joint/spring_model.rs @@ -21,6 +21,12 @@ pub enum SpringModel { ForceBased, } +impl Default for SpringModel { + fn default() -> Self { + SpringModel::VelocityBased + } +} + impl SpringModel { /// Combines the coefficients used for solving the spring equation. /// |