PaddleStroke 136b62fa47 Dynamics: joint springs, motors and motion links (refs #9719) (#9768) ...

* claim: joint springs, motors and motion links (refs #9719)

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>

* Dynamics: joint springs, motors and motion links (refs #9719)

Joint spring-dampers and motors act along joint values (revolute, slider, cylindrical and planar) as generalized forces; drives make a joint value follow a time profile (constant, linear, cycloidal ramp, harmonic, table) as a rheonomic constraint and report the effort it takes; motion links tie two values linearly (gear, rack and pinion, screw). Values they use are tracked in the state so angles count whole turns. The energy now carries the work put in (motors, drives, loads) and the energy dissipated, so total + dissipated - input stays constant. Integrators pass time to the stages (Dormand-Prince nodes).

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>

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Co-authored-by: Claude Opus 5.5 <noreply@anthropic.com>

2026-11-07 17:17:10 +00:00

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Dynamics: joint springs, motors and motion links (refs #9719) (#9768)

2026-11-07 17:17:10 +00:00

Cargo.toml

Dynamics: rigid-body solver core with joints, gravity and springs (#9719) (#9721)

2026-11-04 21:27:17 +00:00