Function nphysics3d::solver::helper::constraint_pair_geometry

pub fn constraint_pair_geometry<N: RealField + Copy, B: ?Sized + Body<N>, H: BodyHandle>(
    body1: &B, 
    part1: &dyn BodyPart<N>, 
    handle1: BodyPartHandle<H>, 
    body2: &B, 
    part2: &dyn BodyPart<N>, 
    handle2: BodyPartHandle<H>, 
    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.