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source: code/branches/kicklib/src/external/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h @ 8633

Last change on this file since 8633 was 5781, checked in by rgrieder, 15 years ago

Reverted trunk again. We might want to find a way to delete these revisions again (x3n's changes are still available as diff in the commit mails).

  • Property svn:eol-style set to native
File size: 2.0 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef CONSTRAINT_SOLVER_H
17#define CONSTRAINT_SOLVER_H
18
19#include "LinearMath/btScalar.h"
20
21class btPersistentManifold;
22class btRigidBody;
23class btCollisionObject;
24class btTypedConstraint;
25struct btContactSolverInfo;
26struct btBroadphaseProxy;
27class btIDebugDraw;
28class btStackAlloc;
29class   btDispatcher;
30/// btConstraintSolver provides solver interface
31class btConstraintSolver
32{
33
34public:
35
36        virtual ~btConstraintSolver() {}
37       
38        virtual void prepareSolve (int /* numBodies */, int /* numManifolds */) {;}
39
40        ///solve a group of constraints
41        virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher) = 0;
42
43        virtual void allSolved (const btContactSolverInfo& /* info */,class btIDebugDraw* /* debugDrawer */, btStackAlloc* /* stackAlloc */) {;}
44
45        ///clear internal cached data and reset random seed
46        virtual void    reset() = 0;
47};
48
49
50
51
52#endif //CONSTRAINT_SOLVER_H
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