Fix DistanceJoint distance limits
#286
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Jondolf
added
bugfix
A-Dynamics
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Objective
Currently, the distance limits in
DistanceJointdon't actually work, and it always just uses the rest length instead.Solution
If distance limits are specified, use them, otherwise use the rest length. Eventually, we should probably just remove the rest length in favor of only the min/max distance limits.
I also managed to clean up and optimize the limit handling a bit by making
DistanceLimit::compute_correctionreturn the correction direction and magnitude separately.