- added documentation

Changelog.txt

@@ -1,3 +1,4 @@
+1.3.0
 	- added some documentation
 	- cleaned up project 
 	- added new Joint demo

PositionBasedDynamics/PositionBasedRigidBodyDynamics.h

@@ -26,8 +26,7 @@ namespace PBD
 			Eigen::Matrix3f &K);
 
 	public:
-		/** Initialize rigid ball joint and return infos which are required by the solver step.
-		* Recomputation is only necessary when rest shape changes.\n\n
+		/** Initialize ball joint and return info which is required by the solver step.
 		* 
 		* @param x0 center of mass of first body
 		* @param q0 rotation of first body
@@ -48,7 +47,7 @@ namespace PBD
 			Eigen::Matrix<float, 3, 4> &ballJointInfo
 			);
 
-		/** Update rigid ball joint info which are required by the solver step.
+		/** Update ball joint info which is required by the solver step.
 		* The ball joint info must be generated in the initialization process of the model
 		* by calling the function initRigidBodyBallJointInfo().
 		* This method should be called once per simulation step before executing the solver.\n\n
@@ -70,11 +69,12 @@ namespace PBD
 		/** Perform a solver step for a ball joint which links two rigid bodies.
 		* A ball joint removes three translational degrees of freedom between the bodies.
 		* The ball joint info must be generated in the initialization process of the model
-		* by calling the function initRigidBodyBallJointInfo() updated each time the bodies 
-		* change their state by updateRigidBodyBallJointInfo().
+		* by calling the function initRigidBodyBallJointInfo() and updated each time the bodies 
+		* change their state by updateRigidBodyBallJointInfo().\n\n
+		* More information can be found in: \cite Deul2014
 		*
-		* \image html balljoint.jpg "Ball joint"
-		* \image latex balljoint.jpg "Ball joint" width=0.5\textwidth
+		* \image html balljoint.jpg "ball joint"
+		* \image latex balljoint.jpg "ball joint" width=0.5\textwidth
 		*
 		* @param mass0 mass of first body
 		* @param x0 center of mass of first body
@@ -152,8 +152,12 @@ namespace PBD
 		/** Perform a solver step for a ball-on-line-joint which links two rigid bodies.
 		* A ball-on-line-joint removes two translational degrees of freedom between the bodies.
 		* The joint info must be generated in the initialization process of the model
-		* by calling the function initRigidBodyBallOnLineJointInfo() updated each time the bodies
-		* change their state by updateRigidBodyBallOnLineJointInfo().
+		* by calling the function initRigidBodyBallOnLineJointInfo() and updated each time the bodies
+		* change their state by updateRigidBodyBallOnLineJointInfo().\n\n
+		* More information can be found in: \cite Deul2014
+		*
+		* \image html ballonlinejoint.jpg "ball-on-line joint"
+		* \image latex ballonlinejoint.jpg "ball-on-line joint" width=0.5\textwidth
 		*
 		* @param mass0 mass of first body
 		* @param x0 center of mass of first body
@@ -185,6 +189,20 @@ namespace PBD
 			Eigen::Vector3f &corr_x1, Eigen::Quaternionf &corr_q1);
 
 
+		/** Initialize hinge joint and return info which is required by the solver step.
+		*
+		* @param x0 center of mass of first body
+		* @param q0 rotation of first body
+		* @param x1 center of mass of second body
+		* @param q1 rotation of second body
+		* @param hingeJointPosition position of hinge joint
+		* @param hingeJointAxis axis of hinge joint
+		* @param hingeJointInfo Stores the local and global positions of the connector points.
+		* The hinge joint is a combination of a ball joint and a ball-on-line joint. 
+		* The joint info stores first the info of the ball joint and then the info of
+		* the ball-on-line joint. The info must be updated in each simulation step 
+		* by calling updateRigidBodyHingeJointInfo().
+		*/
 		static bool initRigidBodyHingeJointInfo(
 			const Eigen::Vector3f &x0,						// center of mass of body 0
 			const Eigen::Quaternionf &q0,					// rotation of body 0	
@@ -195,6 +213,17 @@ namespace PBD
 			Eigen::Matrix<float, 3, 14> &hingeJointInfo
 			);
 
+		/** Update hinge joint info which is required by the solver step.
+		* The ball joint info must be generated in the initialization process of the model
+		* by calling the function initRigidBodyHingeJointInfo().
+		* This method should be called once per simulation step before executing the solver.\n\n
+		*
+		* @param x0 center of mass of first body
+		* @param q0 rotation of first body
+		* @param x1 center of mass of second body
+		* @param q1 rotation of second body
+		* @param hingeJointInfo hinge joint information which should be updated
+		*/
 		static bool updateRigidBodyHingeJointInfo(
 			const Eigen::Vector3f &x0,						// center of mass of body 0
 			const Eigen::Quaternionf &q0,					// rotation of body 0	
@@ -203,6 +232,32 @@ namespace PBD
 			Eigen::Matrix<float, 3, 14> &hingeJointInfo
 			);
 
+		/** Perform a solver step for a hinge joint which links two rigid bodies.
+		* A hinge joint removes three translational and two rotational  degrees of freedom between the bodies.
+		* The hinge joint info must be generated in the initialization process of the model
+		* by calling the function initRigidBodyHingeJointInfo() and updated each time the bodies
+		* change their state by updateRigidBodyHingeJointInfo().\n\n
+		* More information can be found in: \cite Deul2014
+		*
+		* \image html hingejoint.jpg "hinge joint"
+		* \image latex hingejoint.jpg "hinge joint" width=0.5\textwidth
+		*
+		* @param mass0 mass of first body
+		* @param x0 center of mass of first body
+		* @param inertiaInverseW0 inverse inertia tensor in world coordinates of first body
+		* @param q0 rotation of first body
+		* @param mass1 mass of second body
+		* @param x1 center of mass of second body
+		* @param inertiaInverseW1 inverse inertia tensor in world coordinates of second body
+		* @param q1 rotation of second body
+		* @param hingeJointInfo Hinge joint information which is required by the solver. This
+		* information must be generated in the beginning by calling initRigidBodyHingeJointInfo()
+		* and updated each time the bodies change their state by updateRigidBodyHingeJointInfo().
+		* @param corr_x0 position correction of center of mass of first body
+		* @param corr_q0 rotation correction of first body
+		* @param corr_x1 position correction of center of mass of second body
+		* @param corr_q1 rotation correction of second body
+		*/
 		static bool solveRigidBodyHingeJoint(
 			const float mass0,								// mass is zero if body is static
 			const Eigen::Vector3f &x0, 						// center of mass of body 0