17 #ifndef BT_MLCP_SOLVER_H
18 #define BT_MLCP_SOLVER_H
btConstraintSolverType
btConstraintSolver provides solver interface
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 ** manifoldPtr
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint int numConstraints
btSequentialImpulseConstraintSolverMt int numBodies
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint int const btContactSolverInfo & infoGlobal
btSequentialImpulseConstraintSolverMt int btPersistentManifold int numManifolds
btSequentialImpulseConstraintSolver()
btTypedConstraint(btTypedConstraintType type, btRigidBody &rbA)
original version written by Erwin Coumans, October 2013
original version written by Erwin Coumans, October 2013
btMatrixXu m_scratchJTranspose
btAlignedObjectArray< int > m_limitDependencies
virtual void createMLCP(const btContactSolverInfo &infoGlobal)
virtual bool solveMLCP(const btContactSolverInfo &infoGlobal)
btVectorXu m_bSplit
when using 'split impulse' we solve two separate (M)LCPs
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
btAlignedObjectArray< int > m_scratchOfs
btMatrixXu m_scratchJInvM3
virtual void createMLCPFast(const btContactSolverInfo &infoGlobal)
virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
btMLCPSolver(btMLCPSolverInterface *solver)
original version written by Erwin Coumans, October 2013
int getNumFallbacks() const
btAlignedObjectArray< btSolverConstraint * > m_allConstraintPtrArray
btMLCPSolverInterface * m_solver
void setNumFallbacks(int num)
virtual btConstraintSolverType getSolverType() const
void setMLCPSolver(btMLCPSolverInterface *solver)