preparation for block solver btRigidBody.

examples/BlockSolver/btBlockSolver.h

@@ -0,0 +1,29 @@
+#ifndef BT_BLOCK_SOLVER_H
+#define BT_BLOCK_SOLVER_H
+
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+
+class btBlockSolver : public btConstraintSolver
+{
+	struct btBlockSolverInternalData* m_data;
+
+public:
+	btBlockSolver();
+	virtual ~btBlockSolver();
+
+	//btRigidBody
+	virtual btScalar solveGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, class btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
+
+	//btMultibody
+	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);
+
+	///clear internal cached data and reset random seed
+	virtual void reset();
+
+	virtual btConstraintSolverType getSolverType() const
+	{
+		return BT_BLOCK_SOLVER;
+	}
+};
+
+#endif //BT_BLOCK_SOLVER_H