The Jacobian entry of this equation. 6 numbers, 3 per body (x,y,angle).
First body participating in the constraint
Second body participating in the constraint
Whether this equation is enabled or not. If true, it will be added to the solver.
Cap the constraint violation (G*q) to this value.
Max force to apply when solving.
Minimum force to apply when solving.
The resulting constraint multiplier from the last solve. This is mostly equivalent to the force produced by the constraint.
Indicates if stiffness or relaxation was changed.
The gear ratio.
Relative velocity.
The number of time steps needed to stabilize the constraint equation. Typically between 3 and 5 time steps.
The stiffness of this equation. Typically chosen to a large number (~1e7), but can be chosen somewhat freely to get a stable simulation.
Static DEFAULT_The default relaxation when creating a new Equation.
Static DEFAULT_The default stiffness when creating a new Equation.
Locks the relative angle between two bodies. The constraint tries to keep the dot product between two vectors, local in each body, to zero. The local angle in body i is a parameter.