Haverty/elevator bug

fission/src/systems/input/InputSystem.ts

@@ -69,7 +69,7 @@ class InputSystem extends WorldSystem {
         }
     }
 
-    public Update(_: number): void {InputSystem
+    public Update(_: number): void {
         InputSystem._currentModifierState = { ctrl: InputSystem.isKeyPressed("ControlLeft") || InputSystem.isKeyPressed("ControlRight"), alt: InputSystem.isKeyPressed("AltLeft") || InputSystem.isKeyPressed("AltRight"), shift: InputSystem.isKeyPressed("ShiftLeft") || InputSystem.isKeyPressed("ShiftRight"), meta: InputSystem.isKeyPressed("MetaLeft") || InputSystem.isKeyPressed("MetaRight") }
     }
 

fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts

@@ -9,7 +9,7 @@ class GenericElevatorBehavior extends Behavior {
     private _positiveInput: string;
     private _negativeInput: string;
 
-    private _linearSpeed = 1;
+    private _linearSpeed = 10;
 
     constructor(sliderDriver: SliderDriver, sliderStimulus: SliderStimulus, jointIndex: number) {
         super([sliderDriver], [sliderStimulus]);
@@ -25,12 +25,12 @@ class GenericElevatorBehavior extends Behavior {
     }
 
     // Changes the elevators target position
-    moveElevator(positionDelta: number) {
-        this._sliderDriver.targetPosition += positionDelta; 
+    moveElevator(linearVelocity: number) {
+        this._sliderDriver.targetVelocity = linearVelocity; 
     }
 
-    public Update(deltaT: number): void {
-        this.moveElevator(InputSystem.GetAxis(this._positiveInput, this._negativeInput)*this._linearSpeed*deltaT); 
+    public Update(_: number): void {
+        this.moveElevator(InputSystem.GetAxis(this._positiveInput, this._negativeInput)*this._linearSpeed); 
     }
 }
 

fission/src/systems/simulation/driver/Driver.ts

@@ -2,4 +2,9 @@ abstract class Driver {
     public abstract Update(deltaT: number): void;
 }
 
+export enum DriverControlMode {
+    Velocity = 0,
+    Position = 1
+}
+
 export default Driver;

fission/src/systems/simulation/driver/HingeDriver.ts

@@ -1,5 +1,5 @@
 import Jolt from "@barclah/jolt-physics";
-import Driver from "./Driver";
+import Driver, { DriverControlMode } from "./Driver";
 import { SIMULATION_PERIOD } from "@/systems/physics/PhysicsSystem";
 import JOLT from "@/util/loading/JoltSyncLoader";
 
@@ -22,7 +22,7 @@ class HingeDriver extends Driver {
         return this._targetAngle;
     }
     public set targetAngle(rads: number) {
-        this._targetAngle = rads;
+        this._targetAngle = Math.max(this._constraint.GetLimitsMin(), Math.min(this._constraint.GetLimitsMax(), rads));
     }
 
     public set minTorqueLimit(nm: number) {
@@ -37,6 +37,7 @@ class HingeDriver extends Driver {
     public get controlMode(): DriverControlMode {
         return this._controlMode;
     }
+
     public set controlMode(mode: DriverControlMode) {
         this._controlMode = mode;
         switch (mode) {
@@ -79,13 +80,7 @@ class HingeDriver extends Driver {
         } else if (this._controlMode == DriverControlMode.Position) {
             this._constraint.SetTargetAngle(this._targetAngle);
         }
-
     }
 }
 
-export enum DriverControlMode {
-    Velocity = 0,
-    Position = 1
-}
-
 export default HingeDriver;

fission/src/systems/simulation/driver/SliderDriver.ts

@@ -1,14 +1,23 @@
 import Jolt from "@barclah/jolt-physics";
-import Driver from "./Driver";
+import Driver, { DriverControlMode } from "./Driver";
 import { SIMULATION_PERIOD } from "@/systems/physics/PhysicsSystem";
 import JOLT from "@/util/loading/JoltSyncLoader";
-import InputSystem from "@/systems/input/InputSystem";
 
 class SliderDriver extends Driver {
 
     private _constraint: Jolt.SliderConstraint;
+
+    private _controlMode: DriverControlMode = DriverControlMode.Velocity;
+    private _targetVelocity: number = 0.0;
     private _targetPosition: number = 0.0;
 
+    public get targetVelocity(): number {
+        return this._targetVelocity;
+    }
+    public set targetVelocity(radsPerSec: number) {
+        this._targetVelocity = radsPerSec;
+    }
+
     public get targetPosition(): number {
         return this._targetPosition;
     }
@@ -25,6 +34,25 @@ class SliderDriver extends Driver {
         motorSettings.mMaxForceLimit = newtons;
     }
 
+    public get controlMode(): DriverControlMode {
+        return this._controlMode;
+    }
+
+    public set controlMode(mode: DriverControlMode) {
+        this._controlMode = mode;
+        switch (mode) {
+            case DriverControlMode.Velocity:
+                this._constraint.SetMotorState(JOLT.EMotorState_Velocity);
+                break;
+            case DriverControlMode.Position:
+                this._constraint.SetMotorState(JOLT.EMotorState_Position);
+                break;
+            default:
+                // idk
+                break;
+        }
+    }
+
     public constructor(constraint: Jolt.SliderConstraint) {
         super();
 
@@ -36,17 +64,24 @@ class SliderDriver extends Driver {
         springSettings.mDamping = 0.995;
 
         motorSettings.mSpringSettings = springSettings;
-        motorSettings.mMinForceLimit = -125.0;
-        motorSettings.mMaxForceLimit = 125.0;
+        motorSettings.mMinForceLimit = -250.0;
+        motorSettings.mMaxForceLimit = 250.0;
 
-        this._constraint.SetMotorState(JOLT.EMotorState_Position);
+        //this._constraint.SetMotorState(JOLT.EMotorState_Position);
 
         this.targetPosition = this._constraint.GetCurrentPosition();
+        this.controlMode = DriverControlMode.Velocity;
     }
 
     public Update(_: number): void {
-        this._targetPosition += ((InputSystem.getInput("sliderUp") ? 1 : 0) - (InputSystem.getInput("sliderDown") ? 1 : 0))*3;
-        this._constraint.SetTargetPosition(this._targetPosition);
+        // this._targetPosition += ((InputSystem.getInput("sliderUp") ? 1 : 0) - (InputSystem.getInput("sliderDown") ? 1 : 0))*3;
+        // this._constraint.SetTargetVelocity(this._targetPosition);
+
+        if (this._controlMode == DriverControlMode.Velocity) {
+            this._constraint.SetTargetVelocity(this._targetVelocity);
+        } else if (this._controlMode == DriverControlMode.Position) {
+            this._constraint.SetTargetPosition(this._targetPosition);
+        }
     }
 }