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Diffstat (limited to 'thirdparty/bullet/src/BulletDynamics/MLCPSolvers/btMLCPSolver.h')
| -rw-r--r-- | thirdparty/bullet/src/BulletDynamics/MLCPSolvers/btMLCPSolver.h | 94 |
1 files changed, 0 insertions, 94 deletions
diff --git a/thirdparty/bullet/src/BulletDynamics/MLCPSolvers/btMLCPSolver.h b/thirdparty/bullet/src/BulletDynamics/MLCPSolvers/btMLCPSolver.h deleted file mode 100644 index 26b482ddc1..0000000000 --- a/thirdparty/bullet/src/BulletDynamics/MLCPSolvers/btMLCPSolver.h +++ /dev/null @@ -1,94 +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_H -#define BT_MLCP_SOLVER_H - -#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h" -#include "LinearMath/btMatrixX.h" -#include "BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h" - -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; - btVectorXu m_bSplit1; - btVectorXu m_xSplit2; - - btAlignedObjectArray<int> m_limitDependencies; - 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); - - - virtual void createMLCP(const btContactSolverInfo& infoGlobal); - virtual void createMLCPFast(const btContactSolverInfo& infoGlobal); - - //return true is it solves the problem successfully - virtual bool solveMLCP(const btContactSolverInfo& infoGlobal); - -public: - - btMLCPSolver( btMLCPSolverInterface* solver); - virtual ~btMLCPSolver(); - - void setMLCPSolver(btMLCPSolverInterface* solver) - { - m_solver = solver; - } - - int getNumFallbacks() const - { - return m_fallback; - } - void setNumFallbacks(int num) - { - m_fallback = num; - } - - virtual btConstraintSolverType getSolverType() const - { - return BT_MLCP_SOLVER; - } - -}; - - -#endif //BT_MLCP_SOLVER_H |