Function nphysics3d::solver::helper::cancel_relative_angular_velocity_wrt_axis

pub fn cancel_relative_angular_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<AngularVector<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>
)

Generate velocity constraints to cancel the relative angular velocity of two bodies wrt. the given axis.

All inputs mut be given in world-space.