Public Member Functions | Public Attributes

btJacobianEntry Class Reference

Jacobian entry is an abstraction that allows to describe constraints it can be used in combination with a constraint solver Can be used to relate the effect of an impulse to the constraint error. More...

#include <btJacobianEntry.h>

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List of all members.

Public Member Functions

 btJacobianEntry ()
 btJacobianEntry (const btMatrix3x3 &world2A, const btMatrix3x3 &world2B, const btVector3 &rel_pos1, const btVector3 &rel_pos2, const btVector3 &jointAxis, const btVector3 &inertiaInvA, const btScalar massInvA, const btVector3 &inertiaInvB, const btScalar massInvB)
 btJacobianEntry (const btVector3 &jointAxis, const btMatrix3x3 &world2A, const btMatrix3x3 &world2B, const btVector3 &inertiaInvA, const btVector3 &inertiaInvB)
 btJacobianEntry (const btVector3 &axisInA, const btVector3 &axisInB, const btVector3 &inertiaInvA, const btVector3 &inertiaInvB)
 btJacobianEntry (const btMatrix3x3 &world2A, const btVector3 &rel_pos1, const btVector3 &rel_pos2, const btVector3 &jointAxis, const btVector3 &inertiaInvA, const btScalar massInvA)
btScalar getDiagonal () const
btScalar getNonDiagonal (const btJacobianEntry &jacB, const btScalar massInvA) const
btScalar getNonDiagonal (const btJacobianEntry &jacB, const btScalar massInvA, const btScalar massInvB) const
btScalar getRelativeVelocity (const btVector3 &linvelA, const btVector3 &angvelA, const btVector3 &linvelB, const btVector3 &angvelB)

Public Attributes

btVector3 m_linearJointAxis
btVector3 m_aJ
btVector3 m_bJ
btVector3 m_0MinvJt
btVector3 m_1MinvJt
btScalar m_Adiag

Detailed Description

Jacobian entry is an abstraction that allows to describe constraints it can be used in combination with a constraint solver Can be used to relate the effect of an impulse to the constraint error.

Definition at line 30 of file btJacobianEntry.h.


Constructor & Destructor Documentation

btJacobianEntry::btJacobianEntry (  )  [inline]

Definition at line 33 of file btJacobianEntry.h.

btJacobianEntry::btJacobianEntry ( const btMatrix3x3 world2A,
const btMatrix3x3 world2B,
const btVector3 rel_pos1,
const btVector3 rel_pos2,
const btVector3 jointAxis,
const btVector3 inertiaInvA,
const btScalar  massInvA,
const btVector3 inertiaInvB,
const btScalar  massInvB 
) [inline]

Definition at line 35 of file btJacobianEntry.h.

btJacobianEntry::btJacobianEntry ( const btVector3 jointAxis,
const btMatrix3x3 world2A,
const btMatrix3x3 world2B,
const btVector3 inertiaInvA,
const btVector3 inertiaInvB 
) [inline]

Definition at line 56 of file btJacobianEntry.h.

btJacobianEntry::btJacobianEntry ( const btVector3 axisInA,
const btVector3 axisInB,
const btVector3 inertiaInvA,
const btVector3 inertiaInvB 
) [inline]

Definition at line 73 of file btJacobianEntry.h.

btJacobianEntry::btJacobianEntry ( const btMatrix3x3 world2A,
const btVector3 rel_pos1,
const btVector3 rel_pos2,
const btVector3 jointAxis,
const btVector3 inertiaInvA,
const btScalar  massInvA 
) [inline]

Definition at line 89 of file btJacobianEntry.h.


Member Function Documentation

btScalar btJacobianEntry::getDiagonal (  )  const [inline]

Definition at line 106 of file btJacobianEntry.h.

btScalar btJacobianEntry::getNonDiagonal ( const btJacobianEntry jacB,
const btScalar  massInvA 
) const [inline]

Definition at line 109 of file btJacobianEntry.h.

btScalar btJacobianEntry::getNonDiagonal ( const btJacobianEntry jacB,
const btScalar  massInvA,
const btScalar  massInvB 
) const [inline]

Definition at line 120 of file btJacobianEntry.h.

btScalar btJacobianEntry::getRelativeVelocity ( const btVector3 linvelA,
const btVector3 angvelA,
const btVector3 linvelB,
const btVector3 angvelB 
) [inline]

Definition at line 132 of file btJacobianEntry.h.


Member Data Documentation

Definition at line 148 of file btJacobianEntry.h.

Definition at line 149 of file btJacobianEntry.h.

Definition at line 151 of file btJacobianEntry.h.

Definition at line 146 of file btJacobianEntry.h.

Definition at line 147 of file btJacobianEntry.h.

Definition at line 145 of file btJacobianEntry.h.


The documentation for this class was generated from the following file: