Function bevy_rapier3d::prelude::unit_joint_limit_constraint
source · [−]pub fn unit_joint_limit_constraint(
params: &IntegrationParameters,
multibody: &Multibody,
link: &MultibodyLink,
limits: [f32; 2],
curr_pos: f32,
dof_id: usize,
j_id: &mut usize,
jacobians: &mut Matrix<f32, Dynamic, Const<1_usize>, VecStorage<f32, Dynamic, Const<1_usize>>>,
constraints: &mut Vec<AnyJointVelocityConstraint, Global>
)
Expand description
Initializes and generate the velocity constraints applicable to the multibody links attached to this multibody_joint.