# [−][src]Module nphysics3d::solver::helper

Utilities for computing velocity and position constraints.

## Enums

ForceDirection | The direction of a force in world-space. |

## Functions

align_axis | Generate position constraints to moved the body parts such that the given axis will become aligned. |

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

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

cancel_relative_linear_velocity | Generates velocity constraints to cancel the relative linear velocity of two body parts. |

cancel_relative_linear_velocity_wrt_axis | Generates velocity constraints to cancel the relative linear velocity of two body parts wrt the given axis. |

cancel_relative_rotation | Generate position constraints to cancel the relative rotation of two bodies. |

cancel_relative_translation | Generate position constraints to cancel the relative translation of two bodies. |

cancel_relative_translation_wrt_axis | Generate position constraints to cancel the relative translation of two bodies wrt the given axis. |

constraint_pair_geometry | Fills all the jacobians (and the jacobians multiplied by the invers augmented mass matricxs) for a
constraint applying a force at the points |

constraints_are_ground_constraints | Test if a constraint between the two given bodies should be a ground constraint (a constraint between a dynamic body and one without any degree of freedom). |

project_anchor_to_axis | Generate position constraints to project |

restore_angle_between_axis | Generate position constraints to ensure the two given axis are seperated by the given angle. |

restrict_relative_angular_velocity_to_axis | Generate velocity constraints to cancel the relative angular velocity of two bodies along all axis except the one provided. |

restrict_relative_linear_velocity_to_axis | Generate velocity constraints to cancel the relative linear velocity of two bodies along all axis except the one provided. |

split_ext_vels | Retrieve the external velocity subvectors for the given bodies. |