btJacobianEntry.h File Reference

#include "LinearMath/btMatrix3x3.h"

Go to the source code of this file.

Functions
	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)

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

Function Documentation

btJacobianEntry() [1/4]

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 )

Definition at line 35 of file btJacobianEntry.h.

References btAssert, btMatrix3x3, btVector3, m_0MinvJt, m_1MinvJt, m_Adiag, m_aJ, m_bJ, and m_linearJointAxis.

btJacobianEntry() [2/4]

btJacobianEntry	(	const btMatrix3x3 &	world2A,
		const btVector3 &	rel_pos1,
		const btVector3 &	rel_pos2,
		const btVector3 &	jointAxis,
		const btVector3 &	inertiaInvA,
		const btScalar	massInvA )

Definition at line 87 of file btJacobianEntry.h.

References btAssert, btMatrix3x3, btVector3, m_0MinvJt, m_1MinvJt, m_Adiag, m_aJ, m_bJ, and m_linearJointAxis.

btJacobianEntry() [3/4]

btJacobianEntry	(	const btVector3 &	axisInA,
		const btVector3 &	axisInB,
		const btVector3 &	inertiaInvA,
		const btVector3 &	inertiaInvB )

Definition at line 73 of file btJacobianEntry.h.

References btAssert, btVector3, m_0MinvJt, m_1MinvJt, m_Adiag, m_aJ, m_bJ, and m_linearJointAxis.

btJacobianEntry() [4/4]

btJacobianEntry	(	const btVector3 &	jointAxis,
		const btMatrix3x3 &	world2A,
		const btMatrix3x3 &	world2B,
		const btVector3 &	inertiaInvA,
		const btVector3 &	inertiaInvB )

Definition at line 56 of file btJacobianEntry.h.

References btAssert, btMatrix3x3, btVector3, m_0MinvJt, m_1MinvJt, m_Adiag, m_aJ, m_bJ, and m_linearJointAxis.

getDiagonal()

btScalar getDiagonal

(

)

const

Definition at line 104 of file btJacobianEntry.h.

References m_Adiag.

getNonDiagonal() [1/2]

btScalar getNonDiagonal	(	const btJacobianEntry &	jacB,
		const btScalar	massInvA ) const

Definition at line 107 of file btJacobianEntry.h.

References btJacobianEntry.

getNonDiagonal() [2/2]

btScalar getNonDiagonal	(	const btJacobianEntry &	jacB,
		const btScalar	massInvA,
		const btScalar	massInvB ) const

Definition at line 116 of file btJacobianEntry.h.

References btJacobianEntry, btVector3, and sum().

getRelativeVelocity()

btScalar getRelativeVelocity	(	const btVector3 &	linvelA,
		const btVector3 &	angvelA,
		const btVector3 &	linvelB,
		const btVector3 &	angvelB )

Definition at line 128 of file btJacobianEntry.h.

References btVector3, m_aJ, m_bJ, m_linearJointAxis, and SIMD_EPSILON.

Variable Documentation

btJacobianEntry

btJacobianEntry

Initial value:

{
public:
    btJacobianEntry(){}

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.

Referenced by buildAngularJacobian(), buildJacobian(), buildLinearJacobian(), getNonDiagonal(), getNonDiagonal(), btSolve2LinearConstraint::resolveBilateralPairConstraint(), resolveSingleBilateral(), and btSolve2LinearConstraint::resolveUnilateralPairConstraint().

m_0MinvJt

btVector3 m_0MinvJt

Definition at line 144 of file btJacobianEntry.h.

Referenced by btJacobianEntry(), btJacobianEntry(), btJacobianEntry(), and btJacobianEntry().

m_1MinvJt

btVector3 m_1MinvJt

Definition at line 145 of file btJacobianEntry.h.

Referenced by btJacobianEntry(), btJacobianEntry(), btJacobianEntry(), and btJacobianEntry().

m_Adiag

btScalar m_Adiag

Definition at line 147 of file btJacobianEntry.h.

Referenced by btJacobianEntry(), btJacobianEntry(), btJacobianEntry(), btJacobianEntry(), and getDiagonal().

m_aJ

btVector3 m_aJ

Definition at line 142 of file btJacobianEntry.h.

Referenced by btJacobianEntry(), btJacobianEntry(), btJacobianEntry(), btJacobianEntry(), and getRelativeVelocity().

m_bJ

btVector3 m_bJ

Definition at line 143 of file btJacobianEntry.h.

Referenced by btJacobianEntry(), btJacobianEntry(), btJacobianEntry(), btJacobianEntry(), and getRelativeVelocity().

m_linearJointAxis

btVector3 m_linearJointAxis

Definition at line 141 of file btJacobianEntry.h.

Referenced by btJacobianEntry(), btJacobianEntry(), btJacobianEntry(), btJacobianEntry(), and getRelativeVelocity().