Function rapier2d::dynamics::unit_joint_motor_constraint
source · pub fn unit_joint_motor_constraint(
params: &IntegrationParameters,
multibody: &Multibody,
link: &MultibodyLink,
motor: &JointMotor,
curr_pos: Real,
limits: Option<[Real; 2]>,
dof_id: usize,
j_id: &mut usize,
jacobians: &mut DVector<Real>,
constraints: &mut [JointGenericOneBodyConstraint],
insert_at: &mut usize
)
Expand description
Initializes and generate the velocity constraints applicable to the multibody links attached to this multibody_joint.