y = constraint(x);
This function iteratively assigns a value to y such that x approaches zero within a given error margin. It only works in combination with the MBDF simulation method! The function is very useful for entering constraints in physical systems and inverse dynamics.
This example makes a velocity vm equal to a reference velocity vs:
vs = sin(time); // reference velocity
v = vm - vs; // If v = 0 then the mass follows the reference velocity
F = constraint(v); // Make F have a value that yields a zero velocity v
vm = (1/m)*int(F); // mass