16 #ifndef BT_NNCG_CONSTRAINT_SOLVER_H
17 #define BT_NNCG_CONSTRAINT_SOLVER_H
btConstraintSolverType
btConstraintSolver provides solver interface
bool m_onlyForNoneContact
BT_DECLARE_ALIGNED_ALLOCATOR()
btAlignedObjectArray< btScalar > m_deltafNC
btAlignedObjectArray< btScalar > m_pCRF
btAlignedObjectArray< btScalar > m_deltafC
btAlignedObjectArray< btScalar > m_deltafCRF
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
virtual btConstraintSolverType getSolverType() const
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject **bodies, int numBodies, const btContactSolverInfo &infoGlobal)
btAlignedObjectArray< btScalar > m_deltafCF
btAlignedObjectArray< btScalar > m_pC
btAlignedObjectArray< btScalar > m_pNC
virtual btScalar solveSingleIteration(int iteration, btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
btAlignedObjectArray< btScalar > m_pCF
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
#define ATTRIBUTE_ALIGNED16(a)
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint ** constraints
btSequentialImpulseConstraintSolverMt int btPersistentManifold ** manifoldPtr
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint int numConstraints
btSequentialImpulseConstraintSolverMt int numBodies
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint int const btContactSolverInfo & infoGlobal
btSequentialImpulseConstraintSolverMt int btPersistentManifold int numManifolds
btSequentialImpulseConstraintSolver()
btTypedConstraint(btTypedConstraintType type, btRigidBody &rbA)