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

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btConstraintSolver.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. 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
21class btPersistentManifold;
22class btRigidBody;
23class btCollisionObject;
24class btTypedConstraint;
25struct btContactSolverInfo;
26struct btBroadphaseProxy;
27class btIDebugDraw;
28class btStackAlloc;
29class btDispatcher;
31
32 enum btConstraintSolverType
33{
34 BT_SEQUENTIAL_IMPULSE_SOLVER = 1,
35 BT_MLCP_SOLVER = 2,
36 BT_NNCG_SOLVER = 4,
37 BT_MULTIBODY_SOLVER = 8,
38 BT_BLOCK_SOLVER = 16,
39};
40
41 class btConstraintSolver
42{
43public:
44 virtual ~btConstraintSolver() {}
45
46 virtual void prepareSolve(int /* numBodies */, int /* numManifolds */) { ; }
47
49 virtual btScalar solveGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, class btIDebugDraw* debugDrawer, btDispatcher* dispatcher) = 0;
50
51 virtual void allSolved(const btContactSolverInfo& /* info */, class btIDebugDraw* /* debugDrawer */) { ; }
52
54 virtual void reset() = 0;
55
56 virtual btConstraintSolverType getSolverType() const = 0;
57};
58
59#endif //BT_CONSTRAINT_SOLVER_H
btConstraintSolverType
btConstraintSolverType
btConstraintSolver provides solver interface
Definition: btConstraintSolver.h:33
BT_MULTIBODY_SOLVER
@ BT_MULTIBODY_SOLVER
Definition: btConstraintSolver.h:37
BT_MLCP_SOLVER
@ BT_MLCP_SOLVER
Definition: btConstraintSolver.h:35
BT_SEQUENTIAL_IMPULSE_SOLVER
@ BT_SEQUENTIAL_IMPULSE_SOLVER
Definition: btConstraintSolver.h:34
BT_NNCG_SOLVER
@ BT_NNCG_SOLVER
Definition: btConstraintSolver.h:36
BT_BLOCK_SOLVER
@ BT_BLOCK_SOLVER
Definition: btConstraintSolver.h:38
btScalar.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:51
btConstraintSolver
Definition: btConstraintSolver.h:42
btConstraintSolver::getSolverType
virtual btConstraintSolverType getSolverType() const =0
btConstraintSolver::allSolved
virtual void allSolved(const btContactSolverInfo &, class btIDebugDraw *)
Definition: btConstraintSolver.h:51
btConstraintSolver::~btConstraintSolver
virtual ~btConstraintSolver()
Definition: btConstraintSolver.h:44
btConstraintSolver::prepareSolve
virtual void prepareSolve(int, int)
Definition: btConstraintSolver.h:46
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
btConstraintSolver::reset
virtual void reset()=0
clear internal cached data and reset random seed
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:77
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:27
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:65
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:60
btStackAlloc
The StackAlloc class provides some fast stack-based memory allocator (LIFO last-in first-out)
Definition: btStackAlloc.h:35
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition: btTypedConstraint.h:76
btBroadphaseProxy
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
Definition: btBroadphaseProxy.h:86
btContactSolverInfo
Definition: btContactSolverInfo.h:76