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Springhead
An open source physics engine for virtual reality, haptics and motion generation.
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Springhead
An open source physics engine for virtual reality, haptics and motion generation.
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拘束の基本クラス．PHConstraint, PHJointLimit, PHJointMotor, PHGearが派生
#include <PHConstraint.h>
Public メソッド | |
| virtual void | SetupAxisIndex () |
| virtual void | Setup () |
| 速度LCPの前処理 | |
| virtual void | SetupCorrection () |
| 位置LCPの前処理 | |
| virtual bool | Iterate () |
| 速度LCP(GS)の繰り返し計算 | |
| virtual bool | IterateCorrection () |
| 位置LCP(GS)の繰り返し計算 | |
| virtual void | CompResponseMatrix () |
| virtual void | CompResponse (double df, int i) |
Public 変数 | |
| SpatialVector | b |
| SpatialVector | db |
| SpatialVector | B |
| SpatialVector | A |
| SpatialVector | dA |
| SpatialVector | Ainv |
| SpatialVector | f |
| SpatialVector | F |
| SpatialVector | fnew |
| SpatialVector | Fnew |
| SpatialVector | df |
| SpatialVector | dv |
| SpatialVector | dF |
| SpatialVector | dV |
| SpatialVector | res |
| AxisIndex< 6 > | axes |
| 拘束軸管理クラス | |
| bool | dv_changed [6] |
| bool | dv_changed_next [6] |
1.8.5