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feat: add RevoluteJoint::angle to compute the revolute joint’s angle

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Sébastien Crozet
2024-06-09 12:11:30 +02:00
committed by Sébastien Crozet
parent a5a4152815
commit a8a0f297f5
3 changed files with 92 additions and 10 deletions
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30
examples3d/joint_motor_position3.rs
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@@ -15,6 +15,7 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let rigid_body = RigidBodyBuilder::fixed();
let ground_handle = bodies.insert(rigid_body);
let mut target_angles = vec![];
/*
* A rectangle on a motor with target position.
@@ -28,15 +29,13 @@ pub fn init_world(testbed: &mut Testbed) {
let collider = ColliderBuilder::cuboid(0.1, 0.5, 0.1);
colliders.insert_with_parent(collider, handle, &mut bodies);
let target_angle = -std::f32::consts::PI + std::f32::consts::PI / 4.0 * num as f32;
let joint = RevoluteJointBuilder::new(Vector::z_axis())
.local_anchor1(point![x_pos, 1.5, 0.0])
.local_anchor2(point![0.0, -0.5, 0.0])
.motor_position(
-std::f32::consts::PI + std::f32::consts::PI / 4.0 * num as f32,
1000.0,
150.0,
);
.motor_position(target_angle, 1000.0, 150.0);
impulse_joints.insert(ground_handle, handle, joint, true);
target_angles.push(target_angle);
}
/*
@@ -52,18 +51,31 @@ pub fn init_world(testbed: &mut Testbed) {
let collider = ColliderBuilder::cuboid(0.1, 0.5, 0.1);
colliders.insert_with_parent(collider, handle, &mut bodies);
let max_angle_limit = -std::f32::consts::PI + std::f32::consts::PI / 4.0 * num as f32;
let joint = RevoluteJointBuilder::new(Vector::z_axis())
.local_anchor1(point![x_pos, 5.0, 0.0])
.local_anchor2(point![0.0, -0.5, 0.0])
.motor_velocity(1.5, 30.0)
.motor_max_force(100.0)
.limits([
-std::f32::consts::PI,
-std::f32::consts::PI + std::f32::consts::PI / 4.0 * num as f32,
]);
.limits([-std::f32::consts::PI, max_angle_limit]);
impulse_joints.insert(ground_handle, handle, joint, true);
target_angles.push(max_angle_limit);
}
testbed.add_callback(move |_, physics, _, state| {
for ((_, joint), target) in physics.impulse_joints.iter().zip(target_angles.iter()) {
let rb1 = &physics.bodies[joint.body1];
let rb2 = &physics.bodies[joint.body2];
let revolute = joint.data.as_revolute().unwrap();
println!(
"[Step {}] rev angle: {} (target = {})",
state.timestep_id,
revolute.angle(rb1.rotation(), rb2.rotation()),
target
);
}
});
/*
* Set up the testbed.
*/