diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h | 13 |
1 files changed, 10 insertions, 3 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h index 7e8458c2c7b..7a8e9c1953d 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h @@ -16,7 +16,7 @@ subject to the following restrictions: #ifndef CONSTRAINT_SOLVER_H #define CONSTRAINT_SOLVER_H -#include "../../LinearMath/btScalar.h" +#include "LinearMath/btScalar.h" class btPersistentManifold; class btRigidBody; @@ -26,7 +26,7 @@ struct btContactSolverInfo; struct btBroadphaseProxy; class btIDebugDraw; class btStackAlloc; - +class btDispatcher; /// btConstraintSolver provides solver interface class btConstraintSolver { @@ -35,8 +35,15 @@ public: virtual ~btConstraintSolver() {} - virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc) = 0; + 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 void allSolved (const btContactSolverInfo& /* info */,class btIDebugDraw* /* debugDrawer */, btStackAlloc* /* stackAlloc */) {;} + ///clear internal cached data and reset random seed + virtual void reset() = 0; }; |