Avian Motors

This crate provides a modular motor control system for use with the avian3d physics engine and the bevy game engine. Proper motor joints are a planned feature of Avian, so this will hopefully be obsolete soon.

Currently, only revolute joints are supported, but prismatic, spherical, planar, and distance joints are planned on an intermediate timeline.

Features

• Velocity or position control of revolute joints.
• Examples of motor implementation in examples/.
• f32 and f64 support (default is f64) using the f64 or f32 feature flags.
  • f32 works very poorly though, and is not recommended.

Getting Started

Prerequisites

This library requires bevy and avian3d as dependencies:

• bevy = "0.14"
• avian3d = "0.1"

Installation

Add the following dependencies to your Cargo.toml:

[dependencies]
avian_motors = "0.1.0"
bevy = "0.14"
avian3d = { version = "0.1", default-features = false, features = [
  "3d",
  "f64",
  "default-collider",
  "parry-f64",
  "collider-from-mesh",
  "parallel",
  "simd"
] }

Example Usage

Some basic examples are provided in the examples/ directory.

cargo run --example revolute_position to control a revolute joint with position control.

cargo run --example revolute_velocity to control a revolute joint with velocity control.

Feedback and Contributions

Feel free to open issues or pull requests for any bugs, feature requests, or improvements Contributions are welcome! Also feel to reach out for advice on using this crate.