pub fn compute_jacobian(r_a: [f64; 3], r_b: [f64; 3], n: [f64; 3]) -> [f64; 12]Expand description
Compute the Jacobian row for a distance constraint between two bodies.
r_a — vector from body A’s center to the contact point.
r_b — vector from body B’s center to the contact point.
n — constraint normal direction (unit vector).
Returns [J_lin_a (3), J_ang_a (3), J_lin_b (3), J_ang_b (3)] = 12 values.