pub fn clamp_impulse(lambda_n: f64, lambda_t: [f64; 2], mu: f64) -> [f64; 2]Expand description
Clamp an impulse to the friction cone.
lambda_n — normal impulse (must be ≥ 0).
lambda_t — current tangential impulse vector [lt_x, lt_y].
mu — friction coefficient.
Returns the clamped tangential impulse.