60 lines
2.1 KiB
C++
60 lines
2.1 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_CONSTRAINT_SOLVER_H
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#define BT_CONSTRAINT_SOLVER_H
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#include "LinearMath/btScalar.h"
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class btPersistentManifold;
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class btRigidBody;
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class btCollisionObject;
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class btTypedConstraint;
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struct btContactSolverInfo;
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struct btBroadphaseProxy;
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class btIDebugDraw;
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class btStackAlloc;
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class btDispatcher;
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/// btConstraintSolver provides solver interface
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enum btConstraintSolverType
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{
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BT_SEQUENTIAL_IMPULSE_SOLVER = 1,
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BT_MLCP_SOLVER = 2,
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BT_NNCG_SOLVER = 4,
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BT_MULTIBODY_SOLVER = 8,
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BT_BLOCK_SOLVER = 16,
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};
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class btConstraintSolver
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{
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public:
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virtual ~btConstraintSolver() {}
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virtual void prepareSolve(int /* numBodies */, int /* numManifolds */) { ; }
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///solve a group of constraints
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virtual btScalar solveGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, class btIDebugDraw* debugDrawer, btDispatcher* dispatcher) = 0;
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virtual void allSolved(const btContactSolverInfo& /* info */, class btIDebugDraw* /* debugDrawer */) { ; }
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///clear internal cached data and reset random seed
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virtual void reset() = 0;
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virtual btConstraintSolverType getSolverType() const = 0;
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};
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#endif //BT_CONSTRAINT_SOLVER_H
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