Haverty/elevator bug (#983)

fission/src/systems/input/InputSystem.ts

@@ -121,7 +121,10 @@ class InputSystem extends WorldSystem {
     }
 
     // Returns true if two modifier states are identical
-    private static CompareModifiers(state1: ModifierState, state2: ModifierState): boolean {
+    private static CompareModifiers(state1: ModifierState, state2: ModifierState) : boolean {
+        if (!state1 || !state2)
+            return false;
+
         return (
             state1.alt == state2.alt &&
             state1.ctrl == state2.ctrl &&

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

@@ -6,10 +6,10 @@ import InputSystem, { emptyModifierState } from "@/systems/input/InputSystem"
 class GenericArmBehavior extends Behavior {
     private _hingeDriver: HingeDriver
 
-    private _positiveInput: string
-    private _negativeInput: string
-
-    private _rotationalSpeed = 30
+    private _positiveInput: string;
+    private _negativeInput: string;
+    
+    private _rotationalSpeed = 6;
 
     constructor(hingeDriver: HingeDriver, hingeStimulus: HingeStimulus, jointIndex: number) {
         super([hingeDriver], [hingeStimulus])

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 = 2.5;
 
     constructor(sliderDriver: SliderDriver, sliderStimulus: SliderStimulus, jointIndex: number) {
         super([sliderDriver], [sliderStimulus])
@@ -34,12 +34,12 @@ 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) {
@@ -64,8 +65,8 @@ class HingeDriver extends Driver {
         springSettings.mDamping = 0.995
 
         motorSettings.mSpringSettings = springSettings
-        motorSettings.mMinTorqueLimit = -50.0
-        motorSettings.mMaxTorqueLimit = 50.0
+        motorSettings.mMinTorqueLimit = -200.0
+        motorSettings.mMaxTorqueLimit = 200.0
 
         this._targetAngle = this._constraint.GetCurrentAngle()
 
@@ -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 { SIMULATION_PERIOD } from "@/systems/physics/PhysicsSystem"
-import JOLT from "@/util/loading/JoltSyncLoader"
-import InputSystem from "@/systems/input/InputSystem"
+import Jolt from "@barclah/jolt-physics";
+import Driver, { DriverControlMode } from "./Driver";
+import { SIMULATION_PERIOD } from "@/systems/physics/PhysicsSystem";
+import JOLT from "@/util/loading/JoltSyncLoader";
 
 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()
 
@@ -35,21 +64,21 @@ class SliderDriver extends Driver {
         const motorSettings = this._constraint.GetMotorSettings()
         const springSettings = motorSettings.mSpringSettings
         springSettings.mFrequency = 20 * (1.0 / SIMULATION_PERIOD)
-        springSettings.mDamping = 0.995
+        springSettings.mDamping = 0.999
 
         motorSettings.mSpringSettings = springSettings
-        motorSettings.mMinForceLimit = -125.0
-        motorSettings.mMaxForceLimit = 125.0
-
-        this._constraint.SetMotorState(JOLT.EMotorState_Position)
+        motorSettings.mMinForceLimit = -900.0
+        motorSettings.mMaxForceLimit = 900.0
 
-        this.targetPosition = this._constraint.GetCurrentPosition()
+        this._constraint.SetMotorState(JOLT.EMotorState_Velocity)
+        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)
+    public Update(_: number): void {if (this._controlMode == DriverControlMode.Velocity) {
+            this._constraint.SetTargetVelocity(this._targetVelocity);
+        } else if (this._controlMode == DriverControlMode.Position) {
+            this._constraint.SetTargetPosition(this._targetPosition);
+        }
     }
 }