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btJacobianEntry Class Reference

#include <btJacobianEntry.h>

List of all members.


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.


Public Member Functions

 btJacobianEntry (const btMatrix3x3 &world2A, const btVector3 &rel_pos1, const btVector3 &rel_pos2, const btVector3 &jointAxis, const btVector3 &inertiaInvA, const btScalar massInvA)
 btJacobianEntry (const btVector3 &axisInA, const btVector3 &axisInB, const btVector3 &inertiaInvA, const btVector3 &inertiaInvB)
 btJacobianEntry (const btVector3 &jointAxis, const btMatrix3x3 &world2A, const btMatrix3x3 &world2B, const btVector3 &inertiaInvA, const btVector3 &inertiaInvB)
 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)
btScalar getDiagonal () const
btScalar getNonDiagonal (const btJacobianEntry &jacB, const btScalar massInvA, const btScalar massInvB) const
btScalar getNonDiagonal (const btJacobianEntry &jacB, const btScalar massInvA) const
btScalar getRelativeVelocity (const btVector3 &linvelA, const btVector3 &angvelA, const btVector3 &linvelB, const btVector3 &angvelB)

Public Attributes

btVector3 m_0MinvJt
btVector3 m_1MinvJt
btScalar m_Adiag
btVector3 m_aJ
btVector3 m_bJ
btVector3 m_linearJointAxis

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

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