Newton Dynamics  4.00
ndSkeletonContainer::ndNode Class Reference

Public Member Functions

ndInt32 Factorize (const ndLeftHandSide *const leftHandSide, const ndRightHandSide *const rightHandSide, ndSpatialMatrix *const bodyMassArray, ndSpatialMatrix *const jointMassArray)
 
void CalculateJacobianBlock ()
 
void CalculateInertiaMatrix (ndSpatialMatrix *const bodyMassArray) const
 
void CalculateJointDiagonal (const ndSpatialMatrix *const bodyMassArray, ndSpatialMatrix *const jointMassArray)
 
void CalculateBodyDiagonal (ndNode *const child, ndSpatialMatrix *const bodyMassArray, const ndSpatialMatrix *const jointMassArray)
 
void GetJacobians (const ndLeftHandSide *const leftHandSide, const ndRightHandSide *const rightHandSide, ndSpatialMatrix *const jointMassArray)
 
void BodyDiagInvTimeSolution (ndForcePair &force)
 
void JointDiagInvTimeSolution (ndForcePair &force)
 
void JointJacobianTimeMassForward (ndForcePair &force)
 
void BodyJacobianTimeSolutionBackward (ndForcePair &force) const
 
ndInt32 GetAuxiliaryRows (const ndRightHandSide *const rightHandSide) const
 
void BodyJacobianTimeMassForward (const ndForcePair &force, ndForcePair &parentForce) const
 
void JointJacobianTimeSolutionBackward (ndForcePair &force, const ndForcePair &parentForce) const
 

Public Attributes

ndBodyJointMatrixDataPair m_data
 
ndBodyKinematicm_body
 
ndJointBilateralConstraintm_joint
 
ndNodem_parent
 
ndNodem_child
 
ndNodem_sibling
 
ndInt32 m_index
 
ndOrdinal m_ordinal
 
ndInt8 m_dof
 
ndInt8 m_swapJacobianBodiesIndex