16 #ifndef BT_CONSTRAINT_SOLVER_H
17 #define BT_CONSTRAINT_SOLVER_H
btConstraintSolverType
btConstraintSolver provides solver interface
@ BT_SEQUENTIAL_IMPULSE_SOLVER
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint ** constraints
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint int numConstraints
btSequentialImpulseConstraintSolverMt int numBodies
btSequentialImpulseConstraintSolverMt int btPersistentManifold int numManifolds
btTypedConstraint(btTypedConstraintType type, btRigidBody &rbA)
virtual btConstraintSolverType getSolverType() const =0
virtual void allSolved(const btContactSolverInfo &, class btIDebugDraw *)
virtual ~btConstraintSolver()
virtual void prepareSolve(int, int)
virtual btScalar solveGroup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifold, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &info, class btIDebugDraw *debugDrawer, btDispatcher *dispatcher)=0
solve a group of constraints
virtual void reset()=0
clear internal cached data and reset random seed
The StackAlloc class provides some fast stack-based memory allocator (LIFO last-in first-out)