Function nphysics2d::integration::euler::semi_implicit_integrate

pub fn semi_implicit_integrate<N: Real>(
    dt: N, 
    p: &Isometry<N>, 
    c: &Point<N>, 
    lv: &Vector<N>, 
    av: &Orientation<N>, 
    l_acc: &Vector<N>, 
    a_acc: &Orientation<N>
) -> (Isometry<N>, Vector<N>, Orientation<N>)

Semi-implicit Euler integrator.