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858146ca4be2c30dbf87266bfad44530c0be7c84
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3 Commits

Author SHA1 Message Date
Henry Weller
858146ca4b rigidBodyDynamics: Generalized the interface to the restraints 
Now internal forces and restraints may be applied between bodies within
the articulated structure.
 2016-04-19 21:58:10 +01:00
Henry Weller
0825c1b924 rigidBodyDynamics/restraints: Added sphericalAngularDamper, spherical angular damper restraint 2016-04-11 16:12:23 +01:00
Henry Weller
8b92402930 rigidBodyDynamics/restraints: Added linearAxialAngularSpring, linear axial angular spring restraint 
Included for backward-compatibility with the 6-DoF solver but in the
future will be re-implemented as a joint rather than body restraint and
accumulated in tau (internal forces) rather than fx (external forces).
 2016-04-11 15:14:18 +01:00