ApplyTorque question
I've set the joint up to have no resistance:
float damping = 0.000f;
Microsoft.Robotics.PhysicalModel.
JointDriveProperties jointDrive = new JointDriveProperties(
JointDriveMode.Position,
new SpringProperties(0, damping, 0),
10000
);
The Joint is set to rotate around the Z axis of the pendulum arm:
_joint.State.Connectors[1] = new EntityJointConnector(
_arm,
new Vector3(0, 1, 0),
new Vector3(0, 0, 1),
new Vector3(0f, length/2-radius/2, radius/2)
);
I apply torque around the Z axis in the direction of motion in Update:
Vector3 jointAxis = _joint.State.Connectors[1].JointAxis;
double x = GetJointAngle();
double dx = x - _lastX;
float u = Math.Sign(dx) * _MaxTorque;
if (dx == 0) u = 1f;
_arm.PhysicsEntity.ApplyTorque(new Vector3(0, 0, u));
_lastX = x;
Is there friction somewhere that I am not accounting for?
Do I need to apply the torque around a different coordinate system?
I thought that the Z parameter meant "apply torque around the Z axis". Increasing _MaxTorque does not seem to make a difference until the torque can overcome gravity by itself around Pi/2 (and then the pendulum still reaches a steady angular velocity).
