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Merged
rcoreilly merged 3 commits into from
Apr 25, 2026
Merged

joint: physics joints enforce limits #55

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f7a25fe
joint: physics joints enforce limits
rcoreilly Apr 21, 2026
7033dea
update to core 3.24 with important webjs text rendering fix
rcoreilly Apr 25, 2026
5fe8bfe
update to core 3.25..
rcoreilly Apr 25, 2026
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7 changes: 3 additions & 4 deletions go.mod
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@ go 1.25.6
// https://github.com/googleapis/go-genproto/issues/1015

require (
cogentcore.org/core v0.3.23
cogentcore.org/core v0.3.25
github.com/cogentcore/readline v0.1.3
github.com/cogentcore/yaegi v0.0.0-20260116172027-700fbf8949f3
github.com/mitchellh/go-homedir v1.1.0
Expand Down Expand Up @@ -58,7 +58,6 @@ require (
github.com/pelletier/go-toml/v2 v2.2.4 // indirect
github.com/pmezard/go-difflib v1.0.1-0.20181226105442-5d4384ee4fb2 // indirect
github.com/rivo/uniseg v0.4.7 // indirect
github.com/rogpeppe/go-internal v1.13.1 // indirect
github.com/tdewolff/parse/v2 v2.8.5 // indirect
golang.org/x/crypto v0.49.0 // indirect
golang.org/x/image v0.39.0 // indirect
Expand All @@ -67,8 +66,8 @@ require (
golang.org/x/sync v0.20.0 // indirect
golang.org/x/sys v0.42.0 // indirect
golang.org/x/text v0.36.0 // indirect
google.golang.org/genproto v0.0.0-20260414002931-afd174a4e478 // indirect
google.golang.org/genproto/googleapis/rpc v0.0.0-20260406210006-6f92a3bedf2d // indirect
google.golang.org/genproto v0.0.0-20260420184626-e10c466a9529 // indirect
google.golang.org/genproto/googleapis/rpc v0.0.0-20260414002931-afd174a4e478 // indirect
gopkg.in/yaml.v3 v3.0.1 // indirect
modernc.org/knuth v0.5.4 // indirect
modernc.org/token v1.1.0 // indirect
Expand Down
12 changes: 6 additions & 6 deletions go.sum
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Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
codeberg.org/go-pdf/fpdf v0.11.0 h1:n3I8WISQ1cr0S2rvx9DOlE/GypbcimMWqLpel3slHmY=
codeberg.org/go-pdf/fpdf v0.11.0/go.mod h1:Y0DGRAdZ0OmnZPvjbMp/1bYxmIPxm0ws4tfoPOc4LjU=
cogentcore.org/core v0.3.23 h1:50dQPFWNeJ9hI45rDCjRkvleJXdtfQjXfMIMOZgfC1M=
cogentcore.org/core v0.3.23/go.mod h1:JUM27+rY4+89M1vJ4xA50re76RHF3PqxRqfgDfLj8Us=
cogentcore.org/core v0.3.25 h1:nrECnVQIl/JvyGFae5c/KystUAlLwSmIsjW1MkpkpiU=
cogentcore.org/core v0.3.25/go.mod h1:+5R2kihBnWrFmRlYd8yJ8JmRuLsGgCXXgvcgLk/YDEI=
git.sr.ht/~sbinet/cmpimg v0.1.0 h1:E0zPRk2muWuCqSKSVZIWsgtU9pjsw3eKHi8VmQeScxo=
git.sr.ht/~sbinet/cmpimg v0.1.0/go.mod h1:FU12psLbF4TfNXkKH2ZZQ29crIqoiqTZmeQ7dkp/pxE=
github.com/Bios-Marcel/wastebasket/v2 v2.0.3 h1:TkoDPcSqluhLGE+EssHu7UGmLgUEkWg7kNyHyyJ3Q9g=
Expand Down Expand Up @@ -167,10 +167,10 @@ golang.org/x/tools v0.43.0/go.mod h1:uHkMso649BX2cZK6+RpuIPXS3ho2hZo4FVwfoy1vIk0
golang.org/x/xerrors v0.0.0-20191204190536-9bdfabe68543/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
gonum.org/v1/gonum v0.17.0 h1:VbpOemQlsSMrYmn7T2OUvQ4dqxQXU+ouZFQsZOx50z4=
gonum.org/v1/gonum v0.17.0/go.mod h1:El3tOrEuMpv2UdMrbNlKEh9vd86bmQ6vqIcDwxEOc1E=
google.golang.org/genproto v0.0.0-20260414002931-afd174a4e478 h1:aLsVTW0lZ8+IY5u/ERjZSCvAmhuR7slKzyha3YikDNA=
google.golang.org/genproto v0.0.0-20260414002931-afd174a4e478/go.mod h1:YJAzKjfHIUHb9T+bfu8L7mthAp7VVXQBUs1PLdBWS7M=
google.golang.org/genproto/googleapis/rpc v0.0.0-20260406210006-6f92a3bedf2d h1:wT2n40TBqFY6wiwazVK9/iTWbsQrgk5ZfCSVFLO9LQA=
google.golang.org/genproto/googleapis/rpc v0.0.0-20260406210006-6f92a3bedf2d/go.mod h1:4Hqkh8ycfw05ld/3BWL7rJOSfebL2Q+DVDeRgYgxUU8=
google.golang.org/genproto v0.0.0-20260420184626-e10c466a9529 h1:QoMBg0moLIlB/eucPzc+ID5SgPZWuirtjAn3l8nW2Dg=
google.golang.org/genproto v0.0.0-20260420184626-e10c466a9529/go.mod h1:EjLmDZ8liSLBrCTK5vP+bGIxRQHE3ovGvOI0CzGk1PI=
google.golang.org/genproto/googleapis/rpc v0.0.0-20260414002931-afd174a4e478 h1:RmoJA1ujG+/lRGNfUnOMfhCy5EipVMyvUE+KNbPbTlw=
google.golang.org/genproto/googleapis/rpc v0.0.0-20260414002931-afd174a4e478/go.mod h1:4Hqkh8ycfw05ld/3BWL7rJOSfebL2Q+DVDeRgYgxUU8=
google.golang.org/grpc v1.80.0 h1:Xr6m2WmWZLETvUNvIUmeD5OAagMw3FiKmMlTdViWsHM=
google.golang.org/grpc v1.80.0/go.mod h1:ho/dLnxwi3EDJA4Zghp7k2Ec1+c2jqup0bFkw07bwF4=
google.golang.org/protobuf v1.36.11 h1:fV6ZwhNocDyBLK0dj+fg8ektcVegBBuEolpbTQyBNVE=
Expand Down
15 changes: 6 additions & 9 deletions physics/builder/joint.go
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Original file line number Diff line number Diff line change
Expand Up @@ -352,7 +352,7 @@ func (jd *Joint) PoseFromPhysics() {
// this joint in the physics model. Records into [DoF.Current].
func (jd *Joint) SetTargetVel(dof int32, vel, damp float32) {
d := jd.DoF(int(dof))
d.Current.Vel = vel
d.Current.Vel = d.Limit.ClampValue(vel)
d.Current.Damp = damp
physics.SetJointTargetVel(jd.JointIndex, dof, vel, damp)
}
Expand All @@ -361,7 +361,7 @@ func (jd *Joint) SetTargetVel(dof int32, vel, damp float32) {
// this joint in the physics model. Records into [DoF.Current].
func (jd *Joint) SetTargetPos(dof int32, pos, stiff float32) {
d := jd.DoF(int(dof))
d.Current.Pos = pos
d.Current.Pos = d.Limit.ClampValue(pos)
d.Current.Stiff = stiff
physics.SetJointTargetPos(jd.JointIndex, dof, pos, stiff)
}
Expand All @@ -370,7 +370,7 @@ func (jd *Joint) SetTargetPos(dof int32, pos, stiff float32) {
// this joint in the physics model, setting stiffness.
func (jd *Joint) AddTargetPos(dof int32, pos, stiff float32) {
d := jd.DoF(int(dof))
d.Current.Pos += pos
d.Current.Pos = d.Limit.ClampValue(d.Current.Pos + pos)
d.Current.Stiff = stiff
physics.SetJointTargetPos(jd.JointIndex, dof, d.Current.Pos, stiff)
}
Expand All @@ -383,12 +383,10 @@ func (jd *Joint) AddTargetPos(dof int32, pos, stiff float32) {
// which is enforced, and values near the edge can be unstable at higher
// stiffness levels.
func (jd *Joint) SetTargetAngle(dof int32, angDeg, stiff float32) {
pos := math32.WrapPi(math32.DegToRad(angDeg))
// pos := math32.DegToRad(angDeg)
d := jd.DoF(int(dof))
d.Current.Pos = pos
d.Current.Pos = math32.WrapPi(d.Limit.ClampValue(math32.DegToRad(angDeg)))
d.Current.Stiff = stiff
physics.SetJointTargetPos(jd.JointIndex, dof, pos, stiff)
physics.SetJointTargetPos(jd.JointIndex, dof, d.Current.Pos, stiff)
}

// AddTargetAngle adds to the Current target angular position,
Expand All @@ -400,8 +398,7 @@ func (jd *Joint) SetTargetAngle(dof int32, angDeg, stiff float32) {
// stiffness levels.
func (jd *Joint) AddTargetAngle(dof int32, angDeg, stiff float32) {
d := jd.DoF(int(dof))
d.Current.Pos = math32.WrapPi(d.Current.Pos + math32.DegToRad(angDeg))
// d.Current.Pos = d.Current.Pos + math32.DegToRad(angDeg)
d.Current.Pos = math32.WrapPi(d.Limit.ClampValue(d.Current.Pos + math32.DegToRad(angDeg)))
d.Current.Stiff = stiff
physics.SetJointTargetPos(jd.JointIndex, dof, d.Current.Pos, stiff)
}
Expand Down
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