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| author | Thierry Berger <contact@thierryberger.com> | 2024-07-12 16:29:22 +0200 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2024-07-12 16:29:22 +0200 |
| commit | 01dd2001525850ef0d66374c69e98e1560cb6421 (patch) | |
| tree | 5901b3c00d9ffc53a9af34e0023241eff256c8bc /src/dynamics/joint | |
| parent | 87ada34008f4a1a313ccf8c3040040bab4f10e69 (diff) | |
| download | rapier-01dd2001525850ef0d66374c69e98e1560cb6421.tar.gz rapier-01dd2001525850ef0d66374c69e98e1560cb6421.tar.bz2 rapier-01dd2001525850ef0d66374c69e98e1560cb6421.zip | |
ci: cargo doc step (#671)
Diffstat (limited to 'src/dynamics/joint')
| -rw-r--r-- | src/dynamics/joint/multibody_joint/multibody.rs | 6 |
1 files changed, 4 insertions, 2 deletions
diff --git a/src/dynamics/joint/multibody_joint/multibody.rs b/src/dynamics/joint/multibody_joint/multibody.rs index 7832abe..6859fd9 100644 --- a/src/dynamics/joint/multibody_joint/multibody.rs +++ b/src/dynamics/joint/multibody_joint/multibody.rs @@ -13,6 +13,9 @@ use na::{ StorageMut, LU, }; +#[cfg(doc)] +use crate::prelude::{GenericJoint, RigidBody}; + #[repr(C)] #[derive(Copy, Clone, Debug, Default)] struct Force { @@ -861,8 +864,7 @@ impl Multibody { /// Apply displacements, in generalized coordinates, to this multibody. /// /// Note this does **not** updates the link poses, only their generalized coordinates. - /// To update the link poses and associated rigid-bodies, call [`Self::forward_kinematics`] - /// or [`Self::finalize`]. + /// To update the link poses and associated rigid-bodies, call [`Self::forward_kinematics`]. pub fn apply_displacements(&mut self, disp: &[Real]) { for link in self.links.iter_mut() { link.joint.apply_displacement(&disp[link.assembly_id..]) |