[−][src]Function oxygengine_physics_2d::prelude::solver::helper::cancel_relative_linear_velocity
pub fn cancel_relative_linear_velocity<N, B, H>(
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>,
ext_vels: &Matrix<N, Dynamic, U1, VecStorage<N, Dynamic, U1>>,
impulses: &Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>,
impulse_id: usize,
ground_j_id: &mut usize,
j_id: &mut usize,
jacobians: &mut [N],
constraints: &mut LinearConstraints<N, usize>
) where
B: Body<N> + ?Sized,
H: BodyHandle,
N: RealField,
Generates velocity constraints to cancel the relative linear velocity of two body parts.
All inputs mut be given in world-space.