diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h | 33 |
1 files changed, 0 insertions, 33 deletions
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h deleted file mode 100644 index 6b0465b88d..0000000000 --- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h +++ /dev/null @@ -1,33 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -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. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ -///original version written by Erwin Coumans, October 2013 - -#ifndef BT_MLCP_SOLVER_INTERFACE_H -#define BT_MLCP_SOLVER_INTERFACE_H - -#include "LinearMath/btMatrixX.h" - -class btMLCPSolverInterface -{ -public: - virtual ~btMLCPSolverInterface() - { - } - - //return true is it solves the problem successfully - virtual bool solveMLCP(const btMatrixXu& A, const btVectorXu& b, btVectorXu& x, const btVectorXu& lo, const btVectorXu& hi, const btAlignedObjectArray<int>& limitDependency, int numIterations, bool useSparsity = true) = 0; -}; - -#endif //BT_MLCP_SOLVER_INTERFACE_H |