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:

[legend]

List of all members.

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 31 of file btJacobianEntry.h.

Constructor & Destructor Documentation

btJacobianEntry::btJacobianEntry ( ) [inline]

Definition at line 34 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 36 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 57 of file btJacobianEntry.h.

btJacobianEntry::btJacobianEntry	(	const btVector3 &	axisInA,
		const btVector3 &	axisInB,
		const btVector3 &	inertiaInvA,
		const btVector3 &	inertiaInvB
	)			`[inline]`

Definition at line 74 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 90 of file btJacobianEntry.h.

Member Function Documentation

btScalar btJacobianEntry::getDiagonal ( ) const [inline]

Definition at line 107 of file btJacobianEntry.h.

btScalar btJacobianEntry::getNonDiagonal	(	const btJacobianEntry &	jacB,
		const btScalar	massInvA,
		const btScalar	massInvB
	)			const `[inline]`

Definition at line 121 of file btJacobianEntry.h.

btScalar btJacobianEntry::getNonDiagonal	(	const btJacobianEntry &	jacB,
		const btScalar	massInvA
	)			const `[inline]`

Definition at line 110 of file btJacobianEntry.h.

btScalar btJacobianEntry::getRelativeVelocity	(	const btVector3 &	linvelA,
		const btVector3 &	angvelA,
		const btVector3 &	linvelB,
		const btVector3 &	angvelB
	)			`[inline]`