bug #15: if robot is not compliant stiffness is set to 1000. otherwise

to 0 and gravity will pull the arms down

Author: FabienDanieau

Packages/ReachySimulator/Scripts/JointController.cs

@@ -8,6 +8,8 @@ public class JointController : MonoBehaviour
     private bool changed;
     private ArticulationBody articulation;
 
+    private bool compliant = false;
+
     void Start()
     {
         articulation = GetComponent<ArticulationBody>();
@@ -19,6 +21,7 @@ void FixedUpdate()
         {
             var drive = articulation.xDrive;
             drive.target = targetPosition;
+            drive.stiffness = compliant ? 0 : 1000;
             articulation.xDrive = drive;
 
             changed = false;
@@ -31,6 +34,12 @@ public void RotateTo(float newTargetPosition)
         changed = true;
     }
 
+    public void IsCompliant(bool comp)
+    {
+        compliant = comp;
+        changed = true;
+    }
+
     public float GetPresentPosition()
     {
         return Mathf.Rad2Deg * articulation.jointPosition[0];

Packages/ReachySimulator/Scripts/ReachyController.cs

@@ -162,6 +162,7 @@ void Update()
                 {
                     JointController joint = m.gameObject.GetComponent<JointController>();
                     joint.RotateTo(m.targetPosition);
+                    joint.IsCompliant(m.isCompliant);
 
                     m.presentPosition = joint.GetPresentPosition();
                 }