docs: public static void constraintMatrix6x10( DMatrixRMaj L , DMatrixRMaj y ,
  											 FastQueue<Point3D_F64> controlWorldPts ,
  											 List<Point3D_F64> nullPts[] ) {
  		int row = 0;
  		for( int i = 0; i < 4; i++ ) {
  			Point3D_F64 ci = controlWorldPts.get(i);
  			Point3D_F64 vai = nullPts[0].get(i);
  			Point3D_F64 vbi = nullPts[1].get(i);
  			Point3D_F64 vci = nullPts[2].get(i);
  			Point3D_F64 vdi = nullPts[3].get(i);
  
  			for( int j = i+1; j < 4; j++ , row++) {
  				Point3D_F64 cj = controlWorldPts.get(j);
  				Point3D_F64 vaj = nullPts[0].get(j);
  				Point3D_F64 vbj = nullPts[1].get(j);
  				Point3D_F64 vcj = nullPts[2].get(j);
  				Point3D_F64 vdj = nullPts[3].get(j);
  
  				y.set(row,0,ci.distance2(cj));
  
  				double xa = vai.x-vaj.x;
  				double ya = vai.y-vaj.y;
  				double za = vai.z-vaj.z;
  
  				double xb = vbi.x-vbj.x;
  				double yb = vbi.y-vbj.y;
  				double zb = vbi.z-vbj.z;
  
  				double xc = vci.x-vcj.x;
  				double yc = vci.y-vcj.y;
  				double zc = vci.z-vcj.z;
  
  				double xd = vdi.x-vdj.x;
  				double yd = vdi.y-vdj.y;
  				double zd = vdi.z-vdj.z;
  
  				double da = xa*xa + ya*ya + za*za;
  				double db = xb*xb + yb*yb + zb*zb;
  				double dc = xc*xc + yc*yc + zc*zc;
  				double dd = xd*xd + yd*yd + zd*zd;
  
  				double dab = xa*xb + ya*yb + za*zb;
  				double dac = xa*xc + ya*yc + za*zc;
  				double dad = xa*xd + ya*yd + za*zd;
  				double dbc = xb*xc + yb*yc + zb*zc;
  				double dbd = xb*xd + yb*yd + zb*zd;
  				double dcd = xc*xd + yc*yd + zc*zd;
  
  				L.set(row,0,da);
  				L.set(row,1,2*dab);
  				L.set(row,2,2*dac);
  				L.set(row,3,2*dad);
  				L.set(row,4,db);
  				L.set(row,5,2*dbc);
  				L.set(row,6,2*dbd);
  				L.set(row,7,dc);
  				L.set(row,8,2*dcd);
  				L.set(row,9,dd);
  			}
  		}
  	}