#include "LinearMath/btMatrix3x3.h"

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, 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, btVector3, m_0MinvJt, m_1MinvJt, m_Adiag, m_aJ, and m_bJ.

◆ 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, m_0MinvJt, m_1MinvJt, m_Adiag, m_aJ, and m_bJ.

◆ 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, m_0MinvJt, m_1MinvJt, m_Adiag, m_aJ, and m_bJ.

◆ 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(), btSolve2LinearConstraint::resolveBilateralPairConstraint(), resolveSingleBilateral(), and btSolve2LinearConstraint::resolveUnilateralPairConstraint().