16 #ifndef BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H 
   17 #define BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H 
   68                 static const int MAX_NUM_CONTACT_POINTS = 4;
 
   74                 bool contactHasRollingFriction[MAX_NUM_CONTACT_POINTS];
 
   84         void internalInitMultipleJoints(
btTypedConstraint * *constraints, 
int iBegin, 
int iEnd);
 
   96         static const int CACHE_LINE_SIZE = 64;
 
  106         char m_antiFalseSharingPadding[CACHE_LINE_SIZE];  
 
  110         virtual void randomizeConstraintOrdering(
int iteration, 
int numIterations);
 
  111         virtual btScalar resolveAllJointConstraints(
int iteration);
 
  112         virtual btScalar resolveAllContactConstraints();
 
  113         virtual btScalar resolveAllContactFrictionConstraints();
 
  114         virtual btScalar resolveAllContactConstraintsInterleaved();
 
  115         virtual btScalar resolveAllRollingFrictionConstraints();
 
  117         virtual void setupBatchedContactConstraints();
 
  118         virtual void setupBatchedJointConstraints();
 
  143         void internalSetupContactConstraints(
int iContactConstraint, 
const btContactSolverInfo& infoGlobal);
 
  145         void internalWriteBackContacts(
int iBegin, 
int iEnd, 
const btContactSolverInfo& infoGlobal);
 
  150 #endif  //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H