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| author | Sébastien Crozet <developer@crozet.re> | 2021-08-07 18:20:19 +0200 |
|---|---|---|
| committer | Sébastien Crozet <sebastien@crozet.re> | 2021-08-08 18:38:12 +0200 |
| commit | f7643272f40fa5776ce21a5ccdb43101d987030e (patch) | |
| tree | 0a5a374aa879f830b710d91d1ef1d2ea4d21793b /src/dynamics/joint/revolute_joint.rs | |
| parent | ac77c95c9c161948433ce3a05bab1f2e9fe32f61 (diff) | |
| download | rapier-f7643272f40fa5776ce21a5ccdb43101d987030e.tar.gz rapier-f7643272f40fa5776ce21a5ccdb43101d987030e.tar.bz2 rapier-f7643272f40fa5776ce21a5ccdb43101d987030e.zip | |
Implement limits for ball joints.
Diffstat (limited to 'src/dynamics/joint/revolute_joint.rs')
| -rw-r--r-- | src/dynamics/joint/revolute_joint.rs | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/src/dynamics/joint/revolute_joint.rs b/src/dynamics/joint/revolute_joint.rs index 53a82f5..6531a89 100644 --- a/src/dynamics/joint/revolute_joint.rs +++ b/src/dynamics/joint/revolute_joint.rs @@ -93,7 +93,7 @@ impl RevoluteJoint { /// Can a SIMD constraint be used for resolving this joint? pub fn supports_simd_constraints(&self) -> bool { - // SIMD revolute constraints don't support motors right now. + // SIMD revolute constraints don't support motors and limits right now. !self.limits_enabled && (self.motor_max_impulse == 0.0 || (self.motor_stiffness == 0.0 && self.motor_damping == 0.0)) @@ -142,6 +142,7 @@ impl RevoluteJoint { ) } + /// Estimates the current position of the motor angle given the joint parameters. pub fn estimate_motor_angle_from_params( axis1: &Unit<Vector<Real>>, tangent1: &Vector<Real>, |