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

src/BulletDynamics/ConstraintSolver/btConstraintSolver.h

@@ -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;
+
 };
 
 

src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp

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

src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h

@@ -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);
 
 

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -940,6 +940,12 @@ void	btDiscreteDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
 	m_constraintSolver = solver;
 }
 
+btConstraintSolver* btDiscreteDynamicsWorld::getConstraintSolver()
+{
+	return m_constraintSolver;
+}
+
+
 int		btDiscreteDynamicsWorld::getNumConstraints() const
 {
 	return int(m_constraints.size());

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h

@@ -139,6 +139,8 @@ public:
 	void	debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
 
 	virtual void	setConstraintSolver(btConstraintSolver* solver);
+
+	virtual btConstraintSolver* getConstraintSolver();
 	
 	virtual	int		getNumConstraints() const;
 

src/BulletDynamics/Dynamics/btDynamicsWorld.h

@@ -65,6 +65,8 @@ class btDynamicsWorld : public btCollisionWorld
 		virtual void	removeRigidBody(btRigidBody* body) = 0;
 
 		virtual void	setConstraintSolver(btConstraintSolver* solver) = 0;
+
+		virtual btConstraintSolver* getConstraintSolver() = 0;
 		
 		virtual	int		getNumConstraints() const {	return 0;		}
 		

src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp

@@ -209,3 +209,8 @@ void	btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
 	m_ownsConstraintSolver = false;
 	m_constraintSolver = solver;
 }
+
+btConstraintSolver* btSimpleDynamicsWorld::getConstraintSolver()
+{
+	return m_constraintSolver;
+}

src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h

@@ -77,6 +77,8 @@ public:
 
 	virtual void	setConstraintSolver(btConstraintSolver* solver);
 
+	virtual btConstraintSolver* getConstraintSolver();
+
 };
 
 #endif //BT_SIMPLE_DYNAMICS_WORLD_H