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/*
* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#ifndef ODE_CONSTRAINT_SOLVER_H
#define ODE_CONSTRAINT_SOLVER_H
#include "ConstraintSolver.h"
class RigidBody;
class BU_Joint;
/// OdeConstraintSolver is one of the available solvers for Bullet dynamics framework
/// It uses the the unmodified version of quickstep solver from the open dynamics project
class OdeConstraintSolver : public ConstraintSolver
{
private:
int m_CurBody;
int m_CurJoint;
float m_cfm;
float m_erp;
int ConvertBody(RigidBody* body,RigidBody** bodies,int& numBodies);
void ConvertConstraint(PersistentManifold* manifold,BU_Joint** joints,int& numJoints,
RigidBody** bodies,int _bodyId0,int _bodyId1,IDebugDraw* debugDrawer);
public:
OdeConstraintSolver();
virtual ~OdeConstraintSolver() {}
virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info,IDebugDraw* debugDrawer = 0);
///setConstraintForceMixing, the cfm adds some positive value to the main diagonal
///This can improve convergence (make matrix positive semidefinite), but it can make the simulation look more 'springy'
void setConstraintForceMixing(float cfm) {
m_cfm = cfm;
}
///setErrorReductionParamter sets the maximum amount of error reduction
///which limits energy addition during penetration depth recovery
void setErrorReductionParamter(float erp)
{
m_erp = erp;
}
};
#endif //ODE_CONSTRAINT_SOLVER_H
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