[−][src]Function nphysics2d::joint::unit_joint_velocity_constraints
pub fn unit_joint_velocity_constraints<N: RealField, J: UnitJoint<N>>(
joint: &J,
parameters: &IntegrationParameters<N>,
multibody: &Multibody<N>,
link: &MultibodyLink<N>,
assembly_id: usize,
dof_id: usize,
ext_vels: &[N],
ground_j_id: &mut usize,
jacobians: &mut [N],
constraints: &mut ConstraintSet<N, (), (), usize>
)
Initializes and generate the velocity constraints applicable to the multibody links attached to this joint.