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dimforge / rapier

2D and 3D physics engines focused on performance.
https://rapier.rs
Apache License 2.0
3.96k stars 249 forks source link

Fix one body joints limits not being flipped #623

Closed funmaker closed 5 months ago

funmaker commented 5 months ago

This PR attempts to fix #549

I am not 100% convenient in the correctness of this change, but it does fix the issue I was experiencing in my program. Especially the changes to JointGenericVelocityOneBodyExternalConstraintBuilder, since as far as I can tell this is used with multibodies, which I do not use. But I followed the same logic I did with JointOneBodyConstraintBuilder.

I also removed some outdated TODO comments that are no longer relevant I think.

sebcrozet commented 5 months ago

This is perfect, thank you @funmaker!