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