Add joint limits and motors to physics system#150
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Extend revolute joints with angle limits and optional motors, and distance joints with min/max length limits. This enables constrained hinges (e.g. door stops, elbow joints) and motor-driven rotation (e.g. wheels, powered mechanisms). - JointMotor struct drives revolute joints toward a target angular velocity - Distance limits define a free range; no correction within [min, max] - Angle limits clamp revolute rotation via position-level correction - solve() now receives rotations for angle-limit computation - solve_velocity() applies clamped motor impulses per timestep - Builder methods: with_angle_limits, with_motor, with_distance_limits - 16 unit tests covering limits, motors, convergence, and builder panics Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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Summary
JointMotorfor driving rotation toward a target angular velocitysolve_velocity()for motor impulse application,has_motor()for efficient filteringdtand rotation data through the solver call chain insystems.rsTest plan
cargo test -p euca-physics --lib joints::tests)cargo test --workspace-- 0 failures)cargo clippy --workspace -- -D warningscleancargo fmt --all -- --checkclean🤖 Generated with Claude Code