improvement in the pulley behaviour

Signed-off-by: Aniket Anvit <seeanvit@gmail.com>
improvement int the getConstraintsInfo() function

Signed-off-by: Aniket Anvit <seeanvit@gmail.com>
improvement in the pulleycord

Signed-off-by: Aniket Anvit <seeanvit@gmail.com>