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Diffstat (limited to 'thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h')
| -rw-r--r-- | thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h | 64 |
1 files changed, 0 insertions, 64 deletions
diff --git a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h b/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h deleted file mode 100644 index a300929cd5..0000000000 --- a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h +++ /dev/null @@ -1,64 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -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. -*/ - -#ifndef BT_NNCG_CONSTRAINT_SOLVER_H -#define BT_NNCG_CONSTRAINT_SOLVER_H - -#include "btSequentialImpulseConstraintSolver.h" - -ATTRIBUTE_ALIGNED16(class) btNNCGConstraintSolver : public btSequentialImpulseConstraintSolver -{ -protected: - - btScalar m_deltafLengthSqrPrev; - - btAlignedObjectArray<btScalar> m_pNC; // p for None Contact constraints - btAlignedObjectArray<btScalar> m_pC; // p for Contact constraints - btAlignedObjectArray<btScalar> m_pCF; // p for ContactFriction constraints - btAlignedObjectArray<btScalar> m_pCRF; // p for ContactRollingFriction constraints - - //These are recalculated in every iterations. We just keep these to prevent reallocation in each iteration. - btAlignedObjectArray<btScalar> m_deltafNC; // deltaf for NoneContact constraints - btAlignedObjectArray<btScalar> m_deltafC; // deltaf for Contact constraints - btAlignedObjectArray<btScalar> m_deltafCF; // deltaf for ContactFriction constraints - btAlignedObjectArray<btScalar> m_deltafCRF; // deltaf for ContactRollingFriction constraints - - -protected: - - virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal); - virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); - - virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); - -public: - - BT_DECLARE_ALIGNED_ALLOCATOR(); - - btNNCGConstraintSolver() : btSequentialImpulseConstraintSolver(), m_onlyForNoneContact(false) {} - - virtual btConstraintSolverType getSolverType() const - { - return BT_NNCG_SOLVER; - } - - bool m_onlyForNoneContact; -}; - - - - -#endif //BT_NNCG_CONSTRAINT_SOLVER_H - |