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