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>

Collaboration diagram for btJacobianEntry:

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 29 of file btJacobianEntry.h.

Constructor & Destructor Documentation

btJacobianEntry() [1/5]

btJacobianEntry::btJacobianEntry ( )

inline

Definition at line 33 of file btJacobianEntry.h.

btJacobianEntry() [2/5]

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() [3/5]

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() [4/5]

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

inline

Definition at line 73 of file btJacobianEntry.h.

btJacobianEntry() [5/5]

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 87 of file btJacobianEntry.h.

Member Function Documentation

getDiagonal()

btScalar btJacobianEntry::getDiagonal ( ) const

inline

Definition at line 104 of file btJacobianEntry.h.

getNonDiagonal() [1/2]

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

inline

Definition at line 107 of file btJacobianEntry.h.

getNonDiagonal() [2/2]

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

inline

Definition at line 116 of file btJacobianEntry.h.

getRelativeVelocity()

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

inline

Definition at line 128 of file btJacobianEntry.h.

Member Data Documentation

m_0MinvJt

btVector3 btJacobianEntry::m_0MinvJt

Definition at line 144 of file btJacobianEntry.h.

m_1MinvJt

btVector3 btJacobianEntry::m_1MinvJt

Definition at line 145 of file btJacobianEntry.h.

m_Adiag

btScalar btJacobianEntry::m_Adiag

Definition at line 147 of file btJacobianEntry.h.

m_aJ

btVector3 btJacobianEntry::m_aJ

Definition at line 142 of file btJacobianEntry.h.

m_bJ

btVector3 btJacobianEntry::m_bJ

Definition at line 143 of file btJacobianEntry.h.

m_linearJointAxis

btVector3 btJacobianEntry::m_linearJointAxis

Definition at line 141 of file btJacobianEntry.h.

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

• btJacobianEntry.h