Blender  V3.3
Functions | Variables
btJacobianEntry.h File Reference
#include "LinearMath/btMatrix3x3.h"

Go to the source code of this file.

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().

◆ m_0MinvJt

btVector3 m_0MinvJt

Definition at line 144 of file btJacobianEntry.h.

Referenced by btJacobianEntry().

◆ m_1MinvJt

btVector3 m_1MinvJt

Definition at line 145 of file btJacobianEntry.h.

Referenced by btJacobianEntry().

◆ m_Adiag

btScalar m_Adiag

Definition at line 147 of file btJacobianEntry.h.

Referenced by btJacobianEntry(), and getDiagonal().

◆ m_aJ

btVector3 m_aJ

Definition at line 142 of file btJacobianEntry.h.

Referenced by btJacobianEntry(), and getRelativeVelocity().

◆ m_bJ

btVector3 m_bJ

Definition at line 143 of file btJacobianEntry.h.

Referenced by btJacobianEntry(), and getRelativeVelocity().

◆ m_linearJointAxis

btVector3 m_linearJointAxis

Definition at line 141 of file btJacobianEntry.h.

Referenced by btJacobianEntry(), and getRelativeVelocity().