Function nphysics3d::solver::helper::cancel_relative_rotation [−][src]
pub fn cancel_relative_rotation<N: RealField + Copy, B: ?Sized + Body<N>, H: BodyHandle>(
parameters: &IntegrationParameters<N>,
body1: &B,
part1: &dyn BodyPart<N>,
handle1: BodyPartHandle<H>,
body2: &B,
part2: &dyn BodyPart<N>,
handle2: BodyPartHandle<H>,
anchor1: &Point<N>,
anchor2: &Point<N>,
rotation1: &Rotation<N>,
rotation2: &Rotation<N>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, H>>
Expand description
Generate position constraints to cancel the relative rotation of two bodies.
All inputs mut be given in world-space.