[−][src]Function nphysics3d::solver::helper::restrict_relative_angular_velocity_to_axis
pub fn restrict_relative_angular_velocity_to_axis<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,
axis: &Unit<AngularVector<N>>,
anchor1: &Point<N>,
anchor2: &Point<N>,
ext_vels: &DVector<N>,
impulses: &[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 along all axis except the one provided.
All inputs mut be given in world-space.