e12c89e8c9
Document version and how to extract sources in thirdparty/README.md. Drop unnecessary CMake and Premake files. Simplify SCsub, drop unused one.
65 lines
2.1 KiB
C++
65 lines
2.1 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#ifndef BT_CONSTRAINT_SOLVER_H
|
|
#define BT_CONSTRAINT_SOLVER_H
|
|
|
|
#include "LinearMath/btScalar.h"
|
|
|
|
class btPersistentManifold;
|
|
class btRigidBody;
|
|
class btCollisionObject;
|
|
class btTypedConstraint;
|
|
struct btContactSolverInfo;
|
|
struct btBroadphaseProxy;
|
|
class btIDebugDraw;
|
|
class btStackAlloc;
|
|
class btDispatcher;
|
|
/// btConstraintSolver provides solver interface
|
|
|
|
|
|
enum btConstraintSolverType
|
|
{
|
|
BT_SEQUENTIAL_IMPULSE_SOLVER=1,
|
|
BT_MLCP_SOLVER=2,
|
|
BT_NNCG_SOLVER=4
|
|
};
|
|
|
|
class btConstraintSolver
|
|
{
|
|
|
|
public:
|
|
|
|
virtual ~btConstraintSolver() {}
|
|
|
|
virtual void prepareSolve (int /* numBodies */, int /* numManifolds */) {;}
|
|
|
|
///solve a group of constraints
|
|
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer,btDispatcher* dispatcher) = 0;
|
|
|
|
virtual void allSolved (const btContactSolverInfo& /* info */,class btIDebugDraw* /* debugDrawer */) {;}
|
|
|
|
///clear internal cached data and reset random seed
|
|
virtual void reset() = 0;
|
|
|
|
virtual btConstraintSolverType getSolverType() const=0;
|
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
#endif //BT_CONSTRAINT_SOLVER_H
|