diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/MLCPSolvers/btMLCPSolver.h')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/MLCPSolvers/btMLCPSolver.h | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/extern/bullet2/src/BulletDynamics/MLCPSolvers/btMLCPSolver.h b/extern/bullet2/src/BulletDynamics/MLCPSolvers/btMLCPSolver.h index 31e8eb88ba5..43e85445bad 100644 --- a/extern/bullet2/src/BulletDynamics/MLCPSolvers/btMLCPSolver.h +++ b/extern/bullet2/src/BulletDynamics/MLCPSolvers/btMLCPSolver.h @@ -39,13 +39,15 @@ protected: btVectorXu m_xSplit2; btAlignedObjectArray<int> m_limitDependencies; - btConstraintArray m_allConstraintArray; + btAlignedObjectArray<btSolverConstraint*> m_allConstraintPtrArray; btMLCPSolverInterface* m_solver; int m_fallback; btScalar m_cfm; 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 void createMLCP(const btContactSolverInfo& infoGlobal); virtual void createMLCPFast(const btContactSolverInfo& infoGlobal); |