fix sprin joint to use correct axis

appsinacup · Jul 10, 2024 · c1b7de1 · c1b7de1
1 parent cda3862
commit c1b7de1
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Showing 2 changed files with 7 additions and 5 deletions.
diff --git a/src/joints/rapier_damped_spring_joint_2d.rs b/src/joints/rapier_damped_spring_joint_2d.rs
@@ -28,7 +28,7 @@ impl RapierDampedSpringJoint2D {
         let invalid_joint = Self {
             rest_length: 0.0,
             stiffness: 20.0,
-            damping: 1.5,
+            damping: 1.0,
             base: RapierJointBase::default(),
         };
         let body_a_rid = body_a.get_base().get_rid();
@@ -54,14 +54,14 @@ impl RapierDampedSpringJoint2D {
             vector_to_rapier(rapier_anchor_a),
             vector_to_rapier(rapier_anchor_b),
             20.0,
-            1.5,
+            1.0,
             rest_length,
             true,
         );
         Self {
             rest_length,
             stiffness: 20.0,
-            damping: 1.5,
+            damping: 1.0,
             base: RapierJointBase::new(space_handle, space_rid, handle),
         }
     }

diff --git a/src/rapier_wrapper/joint.rs b/src/rapier_wrapper/joint.rs
@@ -22,7 +22,6 @@ impl PhysicsEngine {
             let mut joint = RevoluteJointBuilder::new()
                 .local_anchor1(Point { coords: anchor_1 })
                 .local_anchor2(Point { coords: anchor_2 })
-                .motor_model(MotorModel::ForceBased)
                 .contacts_enabled(!disable_collision);
             if angular_limit_enabled {
                 joint = joint.limits([angular_limit_lower, angular_limit_upper]);
@@ -128,7 +127,10 @@ impl PhysicsEngine {
         {
             joint
                 .data
-                .set_motor_position(JointAxis::AngX, rest_length, stiffness, damping);
+                .set_motor_position(JointAxis::LinX, rest_length, stiffness, damping);
+            joint
+                .data
+                .set_motor_model(JointAxis::LinX, MotorModel::AccelerationBased);
         }
     }