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/* _____ _ __ ________ ___ *\
** / ___/(_) |/ / ___/ |__ \ Simple Mechanics Simulator 2 **
** \__ \/ / /|_/ /\__ \ __/ / copyright (c) 2011 Jakob Odersky **
** ___/ / / / / /___/ / / __/ **
** /____/_/_/ /_//____/ /____/ **
\* */
package sims.dynamics.constraints
import sims.math.Vector2D
/** A Jacobian matrix used for solving constraints.
*
* In SiMS 2 constraints are considered to remove one degree of freedom for two bodies.
* Let '''v''',,1,,, w,,1,,, '''v''',,2,,, w,,2,, be the linear and angular velocities of both bodies
* respectively.
* Let v = ['''v''',,1,,, w,,1,,, '''v''',,2,,, w,,2,,].
* The velocity constraint function is then given by 'Ċ='''Jv'''+b' and
* the Jacobian ('''J''') is given by '''J''' = ['''Jv''',,1,,, Jw,,1,,, '''Jv''',,2,,, Jw,,2,,] = [Jv,,1,x,,, Jv,,1,y,,, Jw,,1,,, Jv,,2,x,,, Jv,,2,y,,, Jw,,2,,]
*
* @param v1 corresponds to '''Jv''',,1,, in the description above
* @param w1 corresponds to Jw,,1,, in the description above
* @param v2 corresponds to '''Jv''',,2,, in the description above
* @param w2 corresponds to Jw,,2,, in the description above
* @see sims.dynamics.constraints.Constraint */
class Jacobian(val v1: Vector2D, val w1: Double, val v2: Vector2D, val w2: Double)
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