mirror of https://github.com/axmolengine/axmol.git
58 lines
2.9 KiB
C++
58 lines
2.9 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_NNCG_CONSTRAINT_SOLVER_H
|
|
#define BT_NNCG_CONSTRAINT_SOLVER_H
|
|
|
|
#include "btSequentialImpulseConstraintSolver.h"
|
|
|
|
ATTRIBUTE_ALIGNED16(class)
|
|
btNNCGConstraintSolver : public btSequentialImpulseConstraintSolver
|
|
{
|
|
protected:
|
|
btScalar m_deltafLengthSqrPrev;
|
|
|
|
btAlignedObjectArray<btScalar> m_pNC; // p for None Contact constraints
|
|
btAlignedObjectArray<btScalar> m_pC; // p for Contact constraints
|
|
btAlignedObjectArray<btScalar> m_pCF; // p for ContactFriction constraints
|
|
btAlignedObjectArray<btScalar> m_pCRF; // p for ContactRollingFriction constraints
|
|
|
|
//These are recalculated in every iterations. We just keep these to prevent reallocation in each iteration.
|
|
btAlignedObjectArray<btScalar> m_deltafNC; // deltaf for NoneContact constraints
|
|
btAlignedObjectArray<btScalar> m_deltafC; // deltaf for Contact constraints
|
|
btAlignedObjectArray<btScalar> m_deltafCF; // deltaf for ContactFriction constraints
|
|
btAlignedObjectArray<btScalar> m_deltafCRF; // deltaf for ContactRollingFriction constraints
|
|
|
|
protected:
|
|
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);
|
|
virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
|
|
|
|
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
|
|
|
|
public:
|
|
BT_DECLARE_ALIGNED_ALLOCATOR();
|
|
|
|
btNNCGConstraintSolver() : btSequentialImpulseConstraintSolver(), m_onlyForNoneContact(false) {}
|
|
|
|
virtual btConstraintSolverType getSolverType() const
|
|
{
|
|
return BT_NNCG_SOLVER;
|
|
}
|
|
|
|
bool m_onlyForNoneContact;
|
|
};
|
|
|
|
#endif //BT_NNCG_CONSTRAINT_SOLVER_H
|