95 lines
3.5 KiB
C++
95 lines
3.5 KiB
C++
/*
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* Quickstep constraint solver re-distributed under the ZLib license with permission from Russell L. Smith
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* Original version is from Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.
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* All rights reserved. Email: russ@q12.org Web: www.q12.org
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Bullet Continuous Collision Detection and Physics Library
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Bullet is Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef ODE_CONSTRAINT_SOLVER_H
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#define ODE_CONSTRAINT_SOLVER_H
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#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "btOdeContactJoint.h"
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#include "btOdeTypedJoint.h"
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#include "btOdeSolverBody.h"
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#include "btSorLcp.h"
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class btRigidBody;
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struct btOdeSolverBody;
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class btOdeJoint;
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/// btOdeQuickstepConstraintSolver is one of the available solvers for Bullet dynamics framework
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/// It uses an adapted version quickstep solver from the Open Dynamics Engine project
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class btOdeQuickstepConstraintSolver : public btConstraintSolver
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{
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private:
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int m_CurBody;
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int m_CurJoint;
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int m_CurTypedJoint;
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btSorLcpSolver m_SorLcpSolver;
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btAlignedObjectArray<btOdeSolverBody*> m_odeBodies;
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btAlignedObjectArray<btOdeJoint*> m_joints;
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btAlignedObjectArray<btOdeSolverBody> m_SolverBodyArray;
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btAlignedObjectArray<btOdeContactJoint> m_JointArray;
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btAlignedObjectArray<btOdeTypedJoint> m_TypedJointArray;
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private:
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int ConvertBody(btRigidBody* body,btAlignedObjectArray< btOdeSolverBody*> &bodies,int& numBodies);
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void ConvertConstraint(btPersistentManifold* manifold,
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btAlignedObjectArray<btOdeJoint*> &joints,int& numJoints,
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const btAlignedObjectArray< btOdeSolverBody*> &bodies,
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int _bodyId0,int _bodyId1,btIDebugDraw* debugDrawer);
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void ConvertTypedConstraint(
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btTypedConstraint * constraint,
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btAlignedObjectArray<btOdeJoint*> &joints,int& numJoints,
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const btAlignedObjectArray< btOdeSolverBody*> &bodies,int _bodyId0,int _bodyId1,btIDebugDraw* debugDrawer);
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public:
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btOdeQuickstepConstraintSolver();
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virtual ~btOdeQuickstepConstraintSolver() {}
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virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* dispatcher);
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///clear internal cached data and reset random seed
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void reset()
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{
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m_SorLcpSolver.dRand2_seed = 0;
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}
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void setRandSeed(unsigned long seed)
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{
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m_SorLcpSolver.dRand2_seed = seed;
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}
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unsigned long getRandSeed() const
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{
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return m_SorLcpSolver.dRand2_seed;
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}
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};
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#endif //ODE_CONSTRAINT_SOLVER_H
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