1 files changed, 85 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h
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+++ b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h
@@ -0,0 +1,85 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
+
+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.
+*/
+
+#ifndef BT_MULTIBODY_CONSTRAINT_SOLVER_H
+#define BT_MULTIBODY_CONSTRAINT_SOLVER_H
+
+#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
+#include "btMultiBodySolverConstraint.h"
+
+
+class btMultiBody;
+
+#include "btMultiBodyConstraint.h"
+
+
+
+ATTRIBUTE_ALIGNED16(class) btMultiBodyConstraintSolver : public btSequentialImpulseConstraintSolver
+{
+
+protected:
+
+	btMultiBodyConstraintArray			m_multiBodyNonContactConstraints;
+
+	btMultiBodyConstraintArray			m_multiBodyNormalContactConstraints;
+	btMultiBodyConstraintArray			m_multiBodyFrictionContactConstraints;
+
+	btMultiBodyJacobianData				m_data;
+	
+	//temp storage for multi body constraints for a specific island/group called by 'solveGroup'
+	btMultiBodyConstraint**					m_tmpMultiBodyConstraints;
+	int										m_tmpNumMultiBodyConstraints;
+
+	void resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c);
+	void resolveSingleConstraintRowGenericMultiBody(const btMultiBodySolverConstraint& c);
+
+	void convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal);
+	btMultiBodySolverConstraint&	addMultiBodyFrictionConstraint(const btVector3& normalAxis,btPersistentManifold* manifold,int frictionIndex,btManifoldPoint& cp,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0, btScalar cfmSlip=0);
+
+
+	void setupMultiBodyJointLimitConstraint(btMultiBodySolverConstraint& constraintRow, 
+																 btScalar* jacA,btScalar* jacB,
+																 btScalar penetration,btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff,
+																 const btContactSolverInfo& infoGlobal);
+
+	void setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint, 
+																 const btVector3& contactNormal,
+																 btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
+																 btScalar& relaxation,
+																 bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0);
+
+	void convertMultiBodyContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
+	virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
+//	virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
+
+	virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
+	void	applyDeltaVee(btScalar* deltaV, btScalar impulse, int velocityIndex, int ndof);
+
+public:
+
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	///this method should not be called, it was just used during porting/integration of Featherstone btMultiBody, providing backwards compatibility but no support for btMultiBodyConstraint (only contact constraints)
+	virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
+
+	virtual void solveMultiBodyGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
+};
+
+	
+	
+
+
+#endif //BT_MULTIBODY_CONSTRAINT_SOLVER_H
+