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>
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 |
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.
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.
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.
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.