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Fix #378 Added one example join_motor_position

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This commit is contained in:
pellico
2022-11-27 18:47:35 +01:00
committed by Sébastien Crozet
parent c33b4eeb5c
commit 6432909110
4 changed files with 91 additions and 16 deletions
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2
examples2d/all_examples2.rs
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@@ -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),
];

46
examples2d/joint_motor_position2.rs Normal file
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@@ -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);
}

30
src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint_builder.rs
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@@ -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);

29
src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs
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@@ -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);