diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h')
-rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h | 16 |
1 files changed, 14 insertions, 2 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h index 6f673102be2..1ba1cd1e839 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h @@ -28,6 +28,14 @@ class btIDebugDraw; class btStackAlloc; class btDispatcher; /// btConstraintSolver provides solver interface + + +enum btConstraintSolverType +{ + BT_SEQUENTIAL_IMPULSE_SOLVER=1, + BT_MLCP_SOLVER=2 +}; + class btConstraintSolver { @@ -38,12 +46,16 @@ public: virtual void prepareSolve (int /* numBodies */, int /* numManifolds */) {;} ///solve a group of constraints - virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher) = 0; + virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer,btDispatcher* dispatcher) = 0; - virtual void allSolved (const btContactSolverInfo& /* info */,class btIDebugDraw* /* debugDrawer */, btStackAlloc* /* stackAlloc */) {;} + virtual void allSolved (const btContactSolverInfo& /* info */,class btIDebugDraw* /* debugDrawer */) {;} ///clear internal cached data and reset random seed virtual void reset() = 0; + + virtual btConstraintSolverType getSolverType() const=0; + + }; |