Yes .
It goes
Japanese jiu-jitsu ( Hand to hand art of the Samurai, what they did when attacked without a sword or lost their weapon in combat. This was a full Martial system that had strikes, chokes, arm locks, throws, weapon disarms and self defense moves/attacks, no real rules of engagement this is Combat, Groin kicks , eye pokes..all good)
Judo ( Sport martial art made when samurai lost majority of their rights as Japan modernized to look similar to the West and had a bunch of Martial Art killing machines( Samurai) hanging around with nothing to do. Judo removed strikes and created competition based grappling with rules)
BJJ ( Brazilians took what they had learned from traveling Japanese Judoka's and built on it , primarily the Gracie family in which one brother was not as physically capable as the other and chose to take BJJ in more of a technical route (Helio) and made it less about power and strength and more about leverage and control as he couldn't do the throws or aggressive movements of traditional Judo due to his physical limitations)
I know all of this because i personally study Japanese jiu-jitsu , albeit a Modern version as im from North America but part of our training is to understand its origins and have been taught and researched this throughout my training as for my black belt test part of it requires a essay to be written about its history, I am currently a Blue belt ( should be brown but i missed my last test) which makes me just 2 belts away from a black. The gym i train with had links/ties to Carlos Newton back in the day