1 files changed, 112 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSorLcp.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSorLcp.h
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index 00000000000..0d3583d33d9
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+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSorLcp.h
@@ -0,0 +1,112 @@
+/*
+ * Quickstep constraint solver re-distributed under the ZLib license with permission from Russell L. Smith
+ * Original version is from Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org
+ Bullet Continuous Collision Detection and Physics Library
+ Bullet is Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+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.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#define USE_SOR_SOLVER
+#ifdef USE_SOR_SOLVER
+
+#ifndef SOR_LCP_H
+#define SOR_LCP_H
+struct	btOdeSolverBody;
+class btOdeJoint;
+#include "LinearMath/btScalar.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btStackAlloc.h"
+
+struct btContactSolverInfo;
+
+
+//=============================================================================
+class btSorLcpSolver //Remotion: 11.10.2007
+{
+public:
+	btSorLcpSolver()
+	{
+		dRand2_seed = 0;
+	}
+
+	void SolveInternal1 (float global_cfm,
+		float global_erp,
+		const btAlignedObjectArray<btOdeSolverBody*> &body, int nb,
+		btAlignedObjectArray<btOdeJoint*> &joint, 
+		int nj, const btContactSolverInfo& solverInfo,
+		btStackAlloc* stackAlloc
+		);
+
+public: //data
+	unsigned long dRand2_seed;
+
+protected: //typedef
+	typedef const btScalar *dRealPtr;
+	typedef btScalar *dRealMutablePtr;
+
+protected: //members
+	//------------------------------------------------------------------------------
+	SIMD_FORCE_INLINE unsigned long dRand2()
+	{
+		dRand2_seed = (1664525L*dRand2_seed + 1013904223L) & 0xffffffff;
+		return dRand2_seed;
+	}
+	//------------------------------------------------------------------------------
+	SIMD_FORCE_INLINE int dRandInt2 (int n)
+	{
+		float a = float(n) / 4294967296.0f;
+		return (int) (float(dRand2()) * a);
+	}
+	//------------------------------------------------------------------------------
+	void SOR_LCP(int m, int nb, dRealMutablePtr J, int *jb, 
+		const btAlignedObjectArray<btOdeSolverBody*> &body,
+		dRealPtr invI, dRealMutablePtr lambda, dRealMutablePtr invMforce, dRealMutablePtr rhs,
+		dRealMutablePtr lo, dRealMutablePtr hi, dRealPtr cfm, int *findex,
+		int numiter,float overRelax,
+		btStackAlloc* stackAlloc
+		);
+};
+
+
+//=============================================================================
+class AutoBlockSa //Remotion: 10.10.2007
+{
+	btStackAlloc* stackAlloc;
+	btBlock*	  saBlock;
+public:
+	AutoBlockSa(btStackAlloc* stackAlloc_)
+	{
+		stackAlloc = stackAlloc_;
+		saBlock = stackAlloc->beginBlock();
+	}
+	~AutoBlockSa()
+	{
+		stackAlloc->endBlock(saBlock);
+	}
+	//operator btBlock* () { return saBlock; }
+};
+// //Usage
+//void function(btStackAlloc* stackAlloc)
+//{
+//	AutoBlockSa(stackAlloc);
+//   ...
+//	if(...) return;
+//	return;
+//}
+//------------------------------------------------------------------------------
+
+
+#endif //SOR_LCP_H
+
+#endif //USE_SOR_SOLVER
+