diff options
Diffstat (limited to 'examples2d')
| -rw-r--r-- | examples2d/joint_motor_position2.rs | 44 |
1 files changed, 38 insertions, 6 deletions
diff --git a/examples2d/joint_motor_position2.rs b/examples2d/joint_motor_position2.rs index a701bd0..c44ea13 100644 --- a/examples2d/joint_motor_position2.rs +++ b/examples2d/joint_motor_position2.rs @@ -22,20 +22,52 @@ pub fn init_world(testbed: &mut Testbed) { colliders.insert_with_parent(collider, ground_handle, &mut bodies); /* - * A rectangle on a motor + * A rectangle on a motor with target position. */ 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 rigid_body = RigidBodyBuilder::dynamic() + .translation(vector![x_pos, 2.0]) + .rotation(std::f32::consts::PI) + .can_sleep(false); 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); + .local_anchor1(point![x_pos, 1.5]) + .local_anchor2(point![0.0, -0.5]) + .motor_position( + (std::f32::consts::PI - std::f32::consts::PI / 4.0 * num as f32), + 1000.0, + 150.0, + ); + impulse_joints.insert(ground_handle, handle, joint, true); + } + + /* + * A rectangle on a motor with limits. + */ + for num in 2..3 { + let x_pos = -6.0 + 1.5 * num as f32; + let rigid_body = RigidBodyBuilder::dynamic() + .translation(vector![x_pos, 5.0]) + .angvel(4.0) + .can_sleep(false); + 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_anchor1(point![x_pos, 5.0]) + .local_anchor2(point![0.0, -0.5]) + .motor_velocity(1.5, 30.0) + .motor_max_force(100.0) + .limits([ + -std::f32::consts::PI, + std::f32::consts::PI / 4.0 * num as f32, + ]); + impulse_joints.insert(ground_handle, handle, joint, true); } /* |