#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, 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 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().