Function jumpy::core::physics::collisions::rapier::unit_joint_limit_constraint
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, Dyn, Const<1>, VecStorage<f32, Dyn, Const<1>>>,
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.