Bullet Collision Detection & Physics Library
Public Member Functions | Public Attributes | List of all members
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>

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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 30 of file btJacobianEntry.h.

Constructor & Destructor Documentation

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.

Member Function Documentation

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.

Member Data Documentation

btVector3 btJacobianEntry::m_0MinvJt

Definition at line 148 of file btJacobianEntry.h.

btVector3 btJacobianEntry::m_1MinvJt

Definition at line 149 of file btJacobianEntry.h.

btScalar btJacobianEntry::m_Adiag

Definition at line 151 of file btJacobianEntry.h.

btVector3 btJacobianEntry::m_aJ

Definition at line 146 of file btJacobianEntry.h.

btVector3 btJacobianEntry::m_bJ

Definition at line 147 of file btJacobianEntry.h.

btVector3 btJacobianEntry::m_linearJointAxis

Definition at line 145 of file btJacobianEntry.h.


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