[−][src]Function oxygengine_physics_2d::prelude::joint::unit_joint_position_constraint
pub fn unit_joint_position_constraint<N, J>(
joint: &J,
multibody: &Multibody<N>,
link: &MultibodyLink<N>,
handle: BodyPartHandle<()>,
dof_id: usize,
is_angular: bool,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, ()>> where
J: UnitJoint<N>,
N: RealField,
Initializes and generate the position constraints applicable to the multibody links attached to this joint.