No way to check angle of joint

[jonathankittel]

I want to check the angle of a revolute joint. Through impulsejoint.data I can get many details, local_anchor, local_axis, local_basis, etc. But not the actual angle of the joint.

[ThierryBerger]

I'm a bit confused, are you using a RevoluteJoint or an ImpulseJoint ?

Do you want to know the current angle of the joint (at the time you're calling the method) ?
If yes, The data will not be enough as this contains only the configuration of the joint, you'll want to consolidate this information (local anchor + axis probably ?) with its entity transform.

[jonathankittel]

Revolute joint. I want to call the joint to check it's degree of rotation, and then modify other parameters of the motor that drives it. I'm using rapier for a robotics simulation.

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On Tue, May 21, 2024 at 11:36 AM Thierry Berger ***@***.***> wrote: I'm a bit confused, are you using a RevoluteJoint or an ImpulseJoint ? Do you want to know the current angle of the joint (at the time you're calling the method) ? If yes, The data will not be enough as this contains only the configuration of the joint, you'll want to consolidate this information (local anchor + axis probably ?) with its entity transform. — Reply to this email directly, view it on GitHub <#496 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/BDY4YZHKV5FLMZODYDMAIHLZDNSX7AVCNFSM6AAAAABGVSLHC6VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCMRSHEYDMOBZGQ> . You are receiving this because you authored the thread.Message ID: ***@***.***>

[ThierryBerger]

With rapier 0.20 there are some helper functions ; #530 attempts to bring an easier API around it