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added 'getConstraintSolver' and ability to 'reset' (set randseeds back to zero, and clear internal caches)

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This commit is contained in:
ejcoumans
2007-07-27 23:54:22 +00:00
parent a1fabc4b91
commit 0df4cedc3e
8 changed files with 31 additions and 0 deletions
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4
src/BulletDynamics/ConstraintSolver/btConstraintSolver.h
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@@ -35,8 +35,12 @@ public:
virtual ~btConstraintSolver() {}
///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) = 0;
///clear internal cached data and reset random seed
virtual void reset() = 0;
};

7
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -1156,3 +1156,10 @@ btScalar btSequentialImpulseConstraintSolver::solveFriction(btRigidBody* body0,b
}
return btScalar(0.);
}
void btSequentialImpulseConstraintSolver::reset()
{
m_btSeed2 = 0;
}

3
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
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@@ -74,6 +74,9 @@ public:
virtual btScalar solveGroupCacheFriendly(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
///clear internal cached data and reset random seed
virtual void reset();
btScalar solveCombinedContactFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);