AngularConstraint constructor

AngularConstraint(
  1. Joint joint,
  2. Quaternion targetOrientation
)

An angular constraint for all axes for various joints.

joint the joint of the angular constraint

targetOrientation Prientation of the angular constraint

Implementation

AngularConstraint(this.joint, Quaternion targetOrientation ):super(joint.config) {
  this.targetOrientation = Quaternion(0,0,0,1).invert(targetOrientation);

  b1 = joint.body1!;
  b2 = joint.body2!;
  a1 = b1.angularVelocity;
  a2 = b2.angularVelocity;
  i1 = b1.inverseInertia;
  i2 = b2.inverseInertia;
}