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Diffstat (limited to 'src/main/scala/sims/dynamics/constraints/Jacobian.scala')
| -rw-r--r-- | src/main/scala/sims/dynamics/constraints/Jacobian.scala | 26 |
1 files changed, 26 insertions, 0 deletions
diff --git a/src/main/scala/sims/dynamics/constraints/Jacobian.scala b/src/main/scala/sims/dynamics/constraints/Jacobian.scala new file mode 100644 index 0000000..3b16bde --- /dev/null +++ b/src/main/scala/sims/dynamics/constraints/Jacobian.scala @@ -0,0 +1,26 @@ +/* _____ _ __ ________ ___ *\ +** / ___/(_) |/ / ___/ |__ \ 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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