Collision has an effect on constraint solution, so maintaining validity of constraint system is accomplished by modifying constraint solution sequence or constraint chain.
碰撞检测对约束求解产生影响，通过改变约束求解顺序或改变约束链，达到对约束系统有效性的维护。
OK, and we can find this one from the constraints as we've een at the beginning either by differentiating the constraint, or by using the chain rule on the constraint.
我们可以从限制条件中找到这个，我们一开始就看到的，要么用微分限制条件，要么利用链式法则。
Although a planar pair might theoretically be included, this would impose no constraint and thus be equivalent to an opening in the kinematic chain.
尽管理论上还可以包括平面，但平面却不能加以约束，因此只相当于开式运动链。
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