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

pub fn cancel_relative_angular_velocity_wrt_axis<N: RealField, B: ?Sized + Body<N>, H: BodyHandle, Id>(
    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>,
    axis: &Unit<AngularVector<N>>,
    ext_vels: &DVector<N>,
    impulse: N,
    impulse_id: Id,
    ground_j_id: &mut usize,
    j_id: &mut usize,
    jacobians: &mut [N],
    constraints: &mut LinearConstraints<N, Id>
)

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

All inputs mut be given in world-space.