In file /home/blah/darwin2k/src/dyno/mechanism/dynoConstraint.h:

int addJointConstraints

(mechanism* m,
  ptrList* jointConstraints = NULL)

adds limitConstraints to m for the joint DOFs that have limits.

Documentation

adds limitConstraints to m for the joint DOFs that have limits. if jointConstraints is non-NULL, any limitConstraints created by the system are added to jointConstraints.

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