diff options
4 files changed, 91 insertions, 16 deletions
diff --git a/examples2d/all_examples2.rs b/examples2d/all_examples2.rs index d102b46..fff20c5 100644 --- a/examples2d/all_examples2.rs +++ b/examples2d/all_examples2.rs @@ -16,6 +16,7 @@ mod convex_polygons2; mod damping2; mod debug_box_ball2; mod drum2; +mod joint_motor_position2; mod heightfield2; mod joints2; mod locked_rotations2; @@ -79,6 +80,7 @@ pub fn main() { ("Rope Joints", rope_joints2::init_world), ("Sensor", sensor2::init_world), ("Trimesh", trimesh2::init_world), + ("Joint motor position", joint_motor_position2::init_world), ("(Debug) box ball", debug_box_ball2::init_world), ]; diff --git a/examples2d/joint_motor_position2.rs b/examples2d/joint_motor_position2.rs new file mode 100644 index 0000000..5a79874 --- /dev/null +++ b/examples2d/joint_motor_position2.rs @@ -0,0 +1,46 @@ +use rapier2d::prelude::*; +use rapier_testbed2d::Testbed; + +pub fn init_world(testbed: &mut Testbed) { + /* + * World + */ + let mut bodies = RigidBodySet::new(); + let mut colliders = ColliderSet::new(); + let mut impulse_joints = ImpulseJointSet::new(); + let multibody_joints = MultibodyJointSet::new(); + + /* + * The ground + */ + let ground_size = 5.0; + let ground_height = 0.1; + + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]); + let ground_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(ground_size, ground_height); + colliders.insert_with_parent(collider, ground_handle, &mut bodies); + + /* + * A rectangle on a motor + */ + for num in 0..9 { + let x_pos = -6.0 + 1.5 * num as f32; + let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x_pos, 2.0]); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(0.1, 0.5); + colliders.insert_with_parent(collider, handle, &mut bodies); + + let joint = RevoluteJointBuilder::new() + .local_anchor2(point![x_pos, 1.5]) + .local_anchor1(point![0.0, -0.5]) + .motor_position(std::f32::consts::PI/4.0*num as f32, 100.0, 15.0); + impulse_joints.insert(handle,ground_handle, joint, true); + } + + /* + * Set up the testbed. + */ + testbed.set_world_with_params(bodies, colliders, impulse_joints, multibody_joints,vector![0.0,0.0],()); + testbed.look_at(point![0.0, 0.0], 40.0); +} diff --git a/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint_builder.rs b/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint_builder.rs index 1e7df89..4156680 100644 --- a/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint_builder.rs +++ b/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint_builder.rs @@ -12,6 +12,8 @@ use na::{DVector, SVector}; #[cfg(feature = "dim3")] use crate::utils::WAngularInertia; +#[cfg(feature = "dim2")] +const PI: Real = std::f64::consts::PI as Real; impl SolverBody<Real, 1> { pub fn fill_jacobians( @@ -413,11 +415,17 @@ impl JointVelocityConstraintBuilder<Real> { let mut rhs_wo_bias = 0.0; if motor_params.erp_inv_dt != 0.0 { #[cfg(feature = "dim2")] - let s_ang_dist = self.ang_err.im; + { + let s_ang_dist = self.ang_err.angle(); + let s_target_ang = motor_params.target_pos; + rhs_wo_bias += ((s_ang_dist - s_target_ang) % (2.0*PI))/(2.0*PI) * motor_params.erp_inv_dt; + } #[cfg(feature = "dim3")] - let s_ang_dist = self.ang_err.imag()[_motor_axis]; - let s_target_ang = motor_params.target_pos.sin(); - rhs_wo_bias += (s_ang_dist - s_target_ang) * motor_params.erp_inv_dt; + { + let s_ang_dist = self.ang_err.imag()[_motor_axis]; + let s_target_ang = motor_params.target_pos.sin(); + rhs_wo_bias += (s_ang_dist - s_target_ang) * motor_params.erp_inv_dt; + } } let dvel = ang_jac.gdot(body2.angvel) - ang_jac.gdot(body1.angvel); @@ -791,11 +799,17 @@ impl JointVelocityConstraintBuilder<Real> { let mut rhs = 0.0; if motor_params.erp_inv_dt != 0.0 { #[cfg(feature = "dim2")] - let s_ang_dist = self.ang_err.im; + { + let s_ang_dist = self.ang_err.angle(); + let s_target_ang = motor_params.target_pos; + rhs += ((s_ang_dist - s_target_ang) % (2.0*PI))/(2.0*PI) * motor_params.erp_inv_dt; + } #[cfg(feature = "dim3")] - let s_ang_dist = self.ang_err.imag()[_motor_axis]; - let s_target_ang = motor_params.target_pos.sin(); - rhs += (s_ang_dist - s_target_ang) * motor_params.erp_inv_dt; + { + let s_ang_dist = self.ang_err.imag()[_motor_axis]; + let s_target_ang = motor_params.target_pos.sin(); + rhs += (s_ang_dist - s_target_ang) * motor_params.erp_inv_dt; + } } let dvel = ang_jac.gdot(body2.angvel) - ang_jac.gdot(body1.angvel); diff --git a/src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs b/src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs index 439030e..e6cb872 100644 --- a/src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs +++ b/src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs @@ -354,11 +354,18 @@ impl<N: WReal> JointVelocityConstraintBuilder<N> { let mut rhs_wo_bias = N::zero(); if motor_params.erp_inv_dt != N::zero() { #[cfg(feature = "dim2")] - let s_ang_dist = self.ang_err.im; + { + let s_ang_dist = self.ang_err.angle(); + let s_target_ang = motor_params.target_pos; + rhs_wo_bias += ((s_ang_dist - s_target_ang) % N::simd_two_pi())/N::simd_two_pi() * motor_params.erp_inv_dt; + } #[cfg(feature = "dim3")] - let s_ang_dist = self.ang_err.imag()[_motor_axis]; - let s_target_ang = motor_params.target_pos.simd_sin(); - rhs_wo_bias += (s_ang_dist - s_target_ang) * motor_params.erp_inv_dt; + { + let s_ang_dist = self.ang_err.imag()[_motor_axis]; + let s_target_ang = motor_params.target_pos.simd_sin(); + rhs_wo_bias += (s_ang_dist - s_target_ang) * motor_params.erp_inv_dt; + } + } let dvel = ang_jac.gdot(body2.angvel) - ang_jac.gdot(body1.angvel); @@ -795,11 +802,17 @@ impl<N: WReal> JointVelocityConstraintBuilder<N> { let mut rhs_wo_bias = N::zero(); if motor_params.erp_inv_dt != N::zero() { #[cfg(feature = "dim2")] - let s_ang_dist = self.ang_err.im; + { + let s_ang_dist = self.ang_err.angle(); + let s_target_ang = motor_params.target_pos; + rhs_wo_bias += ((s_ang_dist - s_target_ang) % N::simd_two_pi())/N::simd_two_pi() * motor_params.erp_inv_dt; + } #[cfg(feature = "dim3")] - let s_ang_dist = self.ang_err.imag()[_motor_axis]; - let s_target_ang = motor_params.target_pos.simd_sin(); - rhs_wo_bias += (s_ang_dist - s_target_ang) * motor_params.erp_inv_dt; + { + let s_ang_dist = self.ang_err.imag()[_motor_axis]; + let s_target_ang = motor_params.target_pos.simd_sin(); + rhs_wo_bias += (s_ang_dist - s_target_ang) * motor_params.erp_inv_dt; + } } let dvel = ang_jac.gdot(body2.angvel) - ang_jac.gdot(body1.angvel); |