[][src]Function nphysics3d::solver::helper::cancel_relative_angular_velocity

pub fn cancel_relative_angular_velocity<N: RealField, B: ?Sized + Body<N>, H: BodyHandle>(
    body1: &B,
    part1: &dyn BodyPart<N>,
    handle1: BodyPartHandle<H>,
    body2: &B,
    part2: &dyn BodyPart<N>,
    handle2: BodyPartHandle<H>,
    assembly_id1: usize,
    assembly_id2: usize,
    anchor1: &Point<N>,
    anchor2: &Point<N>,
    ext_vels: &DVector<N>,
    impulses: &AngularVector<N>,
    impulse_id: usize,
    ground_j_id: &mut usize,
    j_id: &mut usize,
    jacobians: &mut [N],
    constraints: &mut LinearConstraints<N, usize>
)

Generate velocity constraints to cancel the relative angular velocity of two bodies.

All inputs mut be given in world-space.