mirror of https://github.com/axmolengine/axmol.git
60 lines
2.2 KiB
C
60 lines
2.2 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,
|
||
|
|
BT_MULTIBODY_SOLVER = 8,
|
||
|
|
BT_BLOCK_SOLVER = 16,
|
||
|
|
};
|
||
|
|
|
||
|
|
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
|