[−][src]Function nphysics2d::solver::helper::constraint_pair_geometry
pub fn constraint_pair_geometry<N: Real>(
body1: &dyn Body<N>,
part1: &dyn BodyPart<N>,
body2: &dyn Body<N>,
part2: &dyn BodyPart<N>,
center1: &Point<N>,
center2: &Point<N>,
dir: &ForceDirection<N>,
ground_j_id: &mut usize,
j_id: &mut usize,
jacobians: &mut [N],
ext_vels1: Option<&DVectorSlice<N>>,
ext_vels2: Option<&DVectorSlice<N>>,
out_vel: Option<&mut N>
) -> ConstraintGeometry<N>
Fills all the jacobians (and the jacobians multiplied by the invers augmented mass matricxs) for a
constraint applying a force at the points center1, center2
and the direction dir
.
If the force is a torque, it is applied at the centers of mass of the body parts. Every input are expressed in world-space.