AMPlus LMPlus: general purpose angular and linear constraints

[Daniel K. O.]

The AMPlus joint controls relative orientation similar to the AMotor, but allows joint limits. Angles are defined by specifying 'anchor axes' relative to both bodies. AMPlus controls the angle formed by those axes.

The LMPlus joint controls relative position similar to the LMotor, but instead of only controlling body center of mass, it controls the distance between user-specified anchor points. It also allows the user to set joint limits.

(submitted by Joseph Cooper)

[Daniel K. O.]

The images that were originally attached to the SF patch.