Function unit_joint_motor_constraint

pub fn unit_joint_motor_constraint(
    params: &IntegrationParameters,
    multibody: &Multibody,
    link: &MultibodyLink,
    motor: &JointMotor,
    curr_pos: f32,
    limits: Option<[f32; 2]>,
    dof_id: usize,
    j_id: &mut usize,
    jacobians: &mut DVector<f32>,
    constraints: &mut [JointGenericOneBodyConstraint],
    insert_at: &mut usize,
)

Initializes and generate the velocity constraints applicable to the multibody links attached to this multibody_joint.