Function oxygengine_physics_2d::prelude::solver::helper::constraint_pair_geometry

pub fn constraint_pair_geometry<N, B, H>(
    body1: &B, 
    part1: &(dyn BodyPart<N> + 'static), 
    handle1: BodyPartHandle<H>, 
    body2: &B, 
    part2: &(dyn BodyPart<N> + 'static), 
    handle2: BodyPartHandle<H>, 
    center1: &Point<N, U2>, 
    center2: &Point<N, U2>, 
    dir: &ForceDirection<N>, 
    ground_j_id: &mut usize, 
    j_id: &mut usize, 
    jacobians: &mut [N], 
    ext_vels1: Option<&Matrix<N, Dynamic, U1, SliceStorage<N, Dynamic, U1, U1, Dynamic>>>, 
    ext_vels2: Option<&Matrix<N, Dynamic, U1, SliceStorage<N, Dynamic, U1, U1, Dynamic>>>, 
    out_vel: Option<&mut N>
) -> ConstraintGeometry<N> where
    B: Body<N> + ?Sized,
    H: BodyHandle,
    N: RealField, 

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.