Function oxygengine_physics_2d::prelude::solver::helper::cancel_relative_angular_velocity_wrt_axis

pub fn cancel_relative_angular_velocity_wrt_axis<N, B, H, Id>(
    body1: &B, 
    part1: &(dyn BodyPart<N> + 'static), 
    handle1: BodyPartHandle<H>, 
    body2: &B, 
    part2: &(dyn BodyPart<N> + 'static), 
    handle2: BodyPartHandle<H>, 
    assembly_id1: usize, 
    assembly_id2: usize, 
    anchor1: &Point<N, U2>, 
    anchor2: &Point<N, U2>, 
    axis: &Unit<Matrix<N, U1, U1, <DefaultAllocator as Allocator<N, U1, U1>>::Buffer>>, 
    ext_vels: &Matrix<N, Dynamic, U1, VecStorage<N, Dynamic, U1>>, 
    impulse: N, 
    impulse_id: Id, 
    ground_j_id: &mut usize, 
    j_id: &mut usize, 
    jacobians: &mut [N], 
    constraints: &mut LinearConstraints<N, Id>
) where
    B: Body<N> + ?Sized,
    H: BodyHandle,
    N: RealField, 

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

All inputs mut be given in world-space.