OneBodyAngularMotor has force without leverage? #181
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Hello, OneBodyAngularMotor accepts target velocity, max force, and damping. To apply angular velocity I thought it would also have to take an offset in order to convert the motor's force to torque by calculating the length of the lever arm. I see there are some calculations being performed to convert force to impulse -- does this assume the max force in the motor settings is premultiplied by the length of the lever arm (making it max torque) or am I forgetting something from physics class? |
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For angular-only constraints, the 'maximum force' in MotorSettings is interpreted as maximum torque. There's no lever arm involved, just a direct effect on angular velocity. It's an unfortunate naming side effect of reusing MotorSettings across all types of motors. |
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Makes sense, thanks! I only noticed because I'm writing an F# wrapper and attaching typed units of measure to everything :) |
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For angular-only constraints, the 'maximum force' in MotorSettings is interpreted as maximum torque. There's no lever arm involved, just a direct effect on angular velocity.
It's an unfortunate naming side effect of reusing MotorSettings across all types of motors.