Function heron::rapier_plugin::rapier3d::prelude::unit_joint_motor_constraint
pub fn unit_joint_motor_constraint(
params: &IntegrationParameters,
multibody: &Multibody,
link: &MultibodyLink,
motor: &JointMotor,
curr_pos: f32,
limits: Option<[f32; 2]>,
dof_id: usize,
j_id: &mut usize,
jacobians: &mut Matrix<f32, Dynamic, Const<1>, VecStorage<f32, Dynamic, Const<1>>>,
constraints: &mut Vec<AnyJointVelocityConstraint, Global>,
insert_at: &mut Option<usize>
)
Expand description
Initializes and generate the velocity constraints applicable to the multibody links attached to this multibody_joint.