From a1e11eef7d1b2e873c923ac17115c5617c92d4fb Mon Sep 17 00:00:00 2001 From: Julio Jerez Date: Mon, 19 Feb 2024 11:35:23 -0800 Subject: [PATCH] made new signal zero by when on ground, that way has zero effect on current controller. sor off. (wip) --- newton-4.00/applications/ndSandbox/demos/ndUnicycle.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/newton-4.00/applications/ndSandbox/demos/ndUnicycle.cpp b/newton-4.00/applications/ndSandbox/demos/ndUnicycle.cpp index 42199b336c..525dcbdf05 100644 --- a/newton-4.00/applications/ndSandbox/demos/ndUnicycle.cpp +++ b/newton-4.00/applications/ndSandbox/demos/ndUnicycle.cpp @@ -48,7 +48,7 @@ namespace ndUnicycle m_topBoxAngle, m_topBoxOmega, m_jointAngle, - m_hasWheelContact, + m_isOnAir, m_stateSize }; @@ -320,7 +320,7 @@ namespace ndUnicycle state[m_topBoxAngle] = ndReal(angle); state[m_topBoxOmega] = ndReal(omega.m_z); state[m_jointAngle] = ndReal(m_legJoint->GetAngle() / ND_MAX_LEG_JOINT_ANGLE); - state[m_hasWheelContact] = HasSupportContact() ? ndReal(1.0f) : ndReal(0.0f); + state[m_isOnAir] = HasSupportContact() ? ndReal(0.0f) : ndReal(1.0f); } void ApplyActions(ndBrainFloat* const actions) const