[−][src]Function nphysics3d::solver::helper::cancel_relative_linear_velocity_wrt_axis
pub fn cancel_relative_linear_velocity_wrt_axis<N: RealField>(
body1: &dyn Body<N>,
part1: &dyn BodyPart<N>,
body2: &dyn Body<N>,
part2: &dyn BodyPart<N>,
assembly_id1: usize,
assembly_id2: usize,
anchor1: &Point<N>,
anchor2: &Point<N>,
axis: &Unit<Vector<N>>,
ext_vels: &DVector<N>,
impulse: N,
impulse_id: usize,
ground_j_id: &mut usize,
j_id: &mut usize,
jacobians: &mut [N],
constraints: &mut ConstraintSet<N>
)
Generates velocity constraints to cancel the relative linear velocity of two body parts wrt the given axis.
All inputs mut be given in world-space.