Bullet Collision Detection & Physics Library: btConstraintSolver.h Source File

Bullet Collision Detection & Physics Library

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
21 class btPersistentManifold;
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
32
33 enum btConstraintSolverType
34 {
35 BT_SEQUENTIAL_IMPULSE_SOLVER=1,
36 BT_MLCP_SOLVER=2,
37 BT_NNCG_SOLVER=4
38 };
39
40 class btConstraintSolver
41 {
42
43 public:
44
45 virtual ~btConstraintSolver() {}
46
47 virtual void prepareSolve (int /* numBodies */, int /* numManifolds */) {;}
48
50 virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer,btDispatcher* dispatcher) = 0;
51
52 virtual void allSolved (const btContactSolverInfo& /* info */,class btIDebugDraw* /* debugDrawer */) {;}
53
55 virtual void reset() = 0;
56
57 virtual btConstraintSolverType getSolverType() const=0;
58
59
60 };
61
62
63
64
65 #endif //BT_CONSTRAINT_SOLVER_H
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:54
btConstraintSolverType
btConstraintSolverType
btConstraintSolver provides solver interface
Definition: btConstraintSolver.h:33
btConstraintSolver::solveGroup
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
BT_SEQUENTIAL_IMPULSE_SOLVER
Definition: btConstraintSolver.h:35
btStackAlloc
The StackAlloc class provides some fast stack-based memory allocator (LIFO last-in first-out) ...
Definition: btStackAlloc.h:34
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:49
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
Definition: btIDebugDraw.h:29
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:62
btConstraintSolver::getSolverType
virtual btConstraintSolverType getSolverType() const =0
btBroadphaseProxy
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
Definition: btBroadphaseProxy.h:85
btContactSolverInfo
Definition: btContactSolverInfo.h:65
btConstraintSolver::allSolved
virtual void allSolved(const btContactSolverInfo &, class btIDebugDraw *)
Definition: btConstraintSolver.h:52
BT_MLCP_SOLVER
Definition: btConstraintSolver.h:36
btConstraintSolver::prepareSolve
virtual void prepareSolve(int, int)
Definition: btConstraintSolver.h:47
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition: btTypedConstraint.h:78
btConstraintSolver::reset
virtual void reset()=0
clear internal cached data and reset random seed
BT_NNCG_SOLVER
Definition: btConstraintSolver.h:37
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:69
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:279
btScalar.h
btConstraintSolver::~btConstraintSolver
virtual ~btConstraintSolver()
Definition: btConstraintSolver.h:45
btConstraintSolver
Definition: btConstraintSolver.h:40