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