Function nphysics3d::joint::unit_joint_velocity_constraints

pub fn unit_joint_velocity_constraints<N: RealField, J: UnitJoint<N>>(
    joint: &J, 
    parameters: &IntegrationParameters<N>, 
    multibody: &Multibody<N>, 
    link: &MultibodyLink<N>, 
    assembly_id: usize, 
    dof_id: usize, 
    ext_vels: &[N], 
    ground_j_id: &mut usize, 
    jacobians: &mut [N], 
    constraints: &mut ConstraintSet<N, (), (), usize>
)

Initializes and generate the velocity constraints applicable to the multibody links attached to this joint.