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btConstraintSolver.h
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00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
00004 
00005 This software is provided 'as-is', without any express or implied warranty.
00006 In no event will the authors be held liable for any damages arising from the use of this software.
00007 Permission is granted to anyone to use this software for any purpose, 
00008 including commercial applications, and to alter it and redistribute it freely, 
00009 subject to the following restrictions:
00010 
00011 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.
00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00013 3. This notice may not be removed or altered from any source distribution.
00014 */
00015 
00016 #ifndef CONSTRAINT_SOLVER_H
00017 #define CONSTRAINT_SOLVER_H
00018 
00019 #include "LinearMath/btScalar.h"
00020 
00021 class btPersistentManifold;
00022 class btRigidBody;
00023 class btCollisionObject;
00024 class btTypedConstraint;
00025 struct btContactSolverInfo;
00026 struct btBroadphaseProxy;
00027 class btIDebugDraw;
00028 class btStackAlloc;
00029 class  btDispatcher;
00031 class btConstraintSolver
00032 {
00033 
00034 public:
00035 
00036        virtual ~btConstraintSolver() {}
00037        
00038        virtual void prepareSolve (int numBodies, int numManifolds) {;}
00039 
00041        virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher) = 0;
00042 
00043        virtual void allSolved (const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc) {;}
00044 
00046        virtual       void   reset() = 0;
00047 };
00048 
00049 
00050 
00051 
00052 #endif //CONSTRAINT_SOLVER_H