diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.h | 40 |
1 files changed, 17 insertions, 23 deletions
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.h b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.h index 26b482ddc1..510ae59e58 100644 --- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.h +++ b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.h @@ -23,15 +23,13 @@ subject to the following restrictions: class btMLCPSolver : public btSequentialImpulseConstraintSolver { - protected: - btMatrixXu m_A; btVectorXu m_b; btVectorXu m_x; btVectorXu m_lo; btVectorXu m_hi; - + ///when using 'split impulse' we solve two separate (M)LCPs btVectorXu m_bSplit; btVectorXu m_xSplit; @@ -39,24 +37,23 @@ protected: btVectorXu m_xSplit2; btAlignedObjectArray<int> m_limitDependencies; - btAlignedObjectArray<btSolverConstraint*> m_allConstraintPtrArray; + btAlignedObjectArray<btSolverConstraint*> m_allConstraintPtrArray; btMLCPSolverInterface* m_solver; int m_fallback; - /// The following scratch variables are not stateful -- contents are cleared prior to each use. - /// They are only cached here to avoid extra memory allocations and deallocations and to ensure - /// that multiple instances of the solver can be run in parallel. - btMatrixXu m_scratchJ3; - btMatrixXu m_scratchJInvM3; - btAlignedObjectArray<int> m_scratchOfs; - btMatrixXu m_scratchMInv; - btMatrixXu m_scratchJ; - btMatrixXu m_scratchJTranspose; - btMatrixXu m_scratchTmp; - - virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); - virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); + /// The following scratch variables are not stateful -- contents are cleared prior to each use. + /// They are only cached here to avoid extra memory allocations and deallocations and to ensure + /// that multiple instances of the solver can be run in parallel. + btMatrixXu m_scratchJ3; + btMatrixXu m_scratchJInvM3; + btAlignedObjectArray<int> m_scratchOfs; + btMatrixXu m_scratchMInv; + btMatrixXu m_scratchJ; + btMatrixXu m_scratchJTranspose; + btMatrixXu m_scratchTmp; + virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); + virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); virtual void createMLCP(const btContactSolverInfo& infoGlobal); virtual void createMLCPFast(const btContactSolverInfo& infoGlobal); @@ -65,8 +62,7 @@ protected: virtual bool solveMLCP(const btContactSolverInfo& infoGlobal); public: - - btMLCPSolver( btMLCPSolverInterface* solver); + btMLCPSolver(btMLCPSolverInterface* solver); virtual ~btMLCPSolver(); void setMLCPSolver(btMLCPSolverInterface* solver) @@ -83,12 +79,10 @@ public: m_fallback = num; } - virtual btConstraintSolverType getSolverType() const + virtual btConstraintSolverType getSolverType() const { return BT_MLCP_SOLVER; } - }; - -#endif //BT_MLCP_SOLVER_H +#endif //BT_MLCP_SOLVER_H |