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