From f5515c39736aced54f65879a42b2a74a68609ee7 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Sun, 21 Feb 2021 17:14:34 +0100
Subject: Fix lever-arm handling in the revolute joint.

---
 src/dynamics/joint/revolute_joint.rs | 2 +-
 src/dynamics/joint/spring_model.rs   | 6 ++++++
 2 files changed, 7 insertions(+), 1 deletion(-)

(limited to 'src/dynamics/joint')

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.
     ///
-- 
cgit