Haverty/elevator bug

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 default Driver
+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"
 
@@ -21,7 +21,7 @@ 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) {
@@ -36,6 +36,7 @@ class HingeDriver extends Driver {
     public get controlMode(): DriverControlMode {
         return this._controlMode
     }
+
     public set controlMode(mode: DriverControlMode) {
         this._controlMode = mode
         switch (mode) {
@@ -81,9 +82,4 @@ class HingeDriver extends Driver {
     }
 }
 
-export enum DriverControlMode {
-    Velocity = 0,
-    Position = 1,
-}
-
-export default HingeDriver
+export default HingeDriver

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

@@ -1,12 +1,22 @@
 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 _targetPosition: number = 0.0
+
+    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
@@ -27,6 +37,25 @@ 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()
 
@@ -38,17 +67,23 @@ 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.controlMode = DriverControlMode.Velocity;
         this.targetPosition = this._constraint.GetCurrentPosition()
     }
 
     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);
+        }
     }
 }