[−][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.