From fda7b11148f7df608b1448509d1c86aaf25800aa Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Rapha=C3=ABl=20Ducha=C3=AEne?=
 <11084784+duchainer@users.noreply.github.com>
Date: Sat, 11 Nov 2023 11:49:31 -0500
Subject: [PATCH] Fixed typo in Architecture.md (#754)

"If a constraint is driving a position, the force limits are not used" should have been "... driving to an angle ...".
---
 Docs/Architecture.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Docs/Architecture.md b/Docs/Architecture.md
index d57903ffe..62b262722 100644
--- a/Docs/Architecture.md
+++ b/Docs/Architecture.md
@@ -255,7 +255,7 @@ Motors can have three states (see [EMotorState](@ref EMotorState) or e.g. Slider
 * Velocity: This type of motor drives the relative velocity between bodies. For a slider constraint, you would push the bodies towards/away from each other with constant velocity. For a hinge constraint, you would rotate the bodies relative to each other with constant velocity. Set the target velocity through e.g. SliderConstraint::SetTargetVelocity / HingeConstraint::SetTargetAngularVelocity.
 * Position: This type of motor drives the relative position between bodies. For a slider constraint, you can specify the relative distance you want to achieve between the bodies. For a hinge constraint you can specify the relative angle you want to achieve between the bodies. Set the target position through e.g. SliderConstraint::SetTargetPosition / HingeConstraint::SetTargetAngle.
 
-Motors apply a force (when driving position) or torque (when driving angle) every simulation step to achieve the desired velocity or position. You can control the maximum force/torque that the motor can apply through MotorSettings::mMinForceLimit, MotorSettings::mMaxForceLimit, MotorSettings::mMinTorqueLimit and MotorSettings::mMaxTorqueLimit. Note that if a motor is driving to a position, the torque limits are not used. If a constraint is driving a position, the force limits are not used.
+Motors apply a force (when driving position) or torque (when driving angle) every simulation step to achieve the desired velocity or position. You can control the maximum force/torque that the motor can apply through MotorSettings::mMinForceLimit, MotorSettings::mMaxForceLimit, MotorSettings::mMinTorqueLimit and MotorSettings::mMaxTorqueLimit. Note that if a motor is driving to a position, the torque limits are not used. If a constraint is driving to an angle, the force limits are not used.
 
 Usually the limits are symmetric, so you would set -mMinForceLimit = mMaxForceLimit. This way the motor can push at an equal rate as it can pull. If you would set the range to e.g. [0, FLT_MAX] then the motor would only be able to push in the positive direction. The units for the force limits are Newtons and the values can get pretty big. If your motor doesn't seem to do anything, chances are that you have set the value too low. Since Force = Mass * Acceleration you can calculate the approximate force that a motor would need to supply in order to be effective. Usually the range is set to [-FLT_MAX, FLT_MAX] which lets the motor achieve its target as fast as possible.