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| author | Sébastien Crozet <developer@crozet.re> | 2024-01-24 23:26:42 +0100 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2024-01-24 23:26:42 +0100 |
| commit | 6cee6b01f2e5487d1109a1ce9a7250252426aa8a (patch) | |
| tree | 77f6e0b2f5a22015ad9fbf9f6d3e80cb38ab3814 /src | |
| parent | 7ba53df734128c45d3440366169d5f10bfa87183 (diff) | |
| parent | 9fed726aa9c221fe1591784d1ea57c3f8d80ced6 (diff) | |
| download | rapier-6cee6b01f2e5487d1109a1ce9a7250252426aa8a.tar.gz rapier-6cee6b01f2e5487d1109a1ce9a7250252426aa8a.tar.bz2 rapier-6cee6b01f2e5487d1109a1ce9a7250252426aa8a.zip | |
Merge pull request #571 from AnonymousAcid7787/fix-Setting-the-motor-position-of-a-Spherical-multibody-joint-is-broken
Fix #416 Update spherical joint motor position
Diffstat (limited to 'src')
| -rw-r--r-- | src/dynamics/joint/multibody_joint/multibody_joint.rs | 3 |
1 files changed, 3 insertions, 0 deletions
diff --git a/src/dynamics/joint/multibody_joint/multibody_joint.rs b/src/dynamics/joint/multibody_joint/multibody_joint.rs index 62fc434..11ea890 100644 --- a/src/dynamics/joint/multibody_joint/multibody_joint.rs +++ b/src/dynamics/joint/multibody_joint/multibody_joint.rs @@ -115,6 +115,9 @@ impl MultibodyJoint { let angvel = Vector3::from_row_slice(&vels[curr_free_dof..curr_free_dof + 3]); let disp = UnitQuaternion::new_eps(angvel * dt, 0.0); self.joint_rot = disp * self.joint_rot; + self.coords[3] += angvel[0] * dt; + self.coords[4] += angvel[1] * dt; + self.coords[5] += angvel[2] * dt; } _ => unreachable!(), } |