Blender  V3.3
btConstraintSolver.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_CONSTRAINT_SOLVER_H
17 #define BT_CONSTRAINT_SOLVER_H
18 
19 #include "LinearMath/btScalar.h"
20 
22 class btRigidBody;
23 class btCollisionObject;
24 class btTypedConstraint;
25 struct btContactSolverInfo;
26 struct btBroadphaseProxy;
27 class btIDebugDraw;
28 class btStackAlloc;
29 class btDispatcher;
31 
33 {
39 };
40 
42 {
43 public:
44  virtual ~btConstraintSolver() {}
45 
46  virtual void prepareSolve(int /* numBodies */, int /* numManifolds */) { ; }
47 
49  virtual btScalar solveGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, class btIDebugDraw* debugDrawer, btDispatcher* dispatcher) = 0;
50 
51  virtual void allSolved(const btContactSolverInfo& /* info */, class btIDebugDraw* /* debugDrawer */) { ; }
52 
54  virtual void reset() = 0;
55 
57 };
58 
59 #endif //BT_CONSTRAINT_SOLVER_H
btBroadphaseProxy
btCollisionObject
btConstraintSolverType
btConstraintSolver provides solver interface
@ BT_MULTIBODY_SOLVER
@ BT_MLCP_SOLVER
@ BT_SEQUENTIAL_IMPULSE_SOLVER
@ BT_NNCG_SOLVER
@ BT_BLOCK_SOLVER
btPersistentManifold()
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint ** constraints
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint int numConstraints
btSequentialImpulseConstraintSolverMt int numBodies
btSequentialImpulseConstraintSolverMt int btPersistentManifold int numManifolds
btTypedConstraint(btTypedConstraintType type, btRigidBody &rbA)
virtual btConstraintSolverType getSolverType() const =0
virtual void allSolved(const btContactSolverInfo &, class btIDebugDraw *)
virtual void prepareSolve(int, int)
virtual btScalar solveGroup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifold, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &info, class btIDebugDraw *debugDrawer, btDispatcher *dispatcher)=0
solve a group of constraints
virtual void reset()=0
clear internal cached data and reset random seed
The StackAlloc class provides some fast stack-based memory allocator (LIFO last-in first-out)
Definition: btStackAlloc.h:35