Function nphysics2d::joint::unit_joint_position_constraint

pub fn unit_joint_position_constraint<N: RealField, J: UnitJoint<N>>(
    joint: &J, 
    multibody: &Multibody<N>, 
    link: &MultibodyLink<N>, 
    handle: BodyPartHandle<()>, 
    dof_id: usize, 
    is_angular: bool, 
    jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, ()>>

Initializes and generate the position constraints applicable to the multibody links attached to this joint.