/*
|
* Java port of Bullet (c) 2008 Martin Dvorak <jezek2@advel.cz>
|
*
|
* Bullet Continuous Collision Detection and Physics Library
|
* Copyright (c) 2003-2008 Erwin Coumans http://www.bulletphysics.com/
|
*
|
* 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.
|
*/
|
|
package com.bulletphysics.dynamics.constraintsolver;
|
|
import com.bulletphysics.collision.broadphase.Dispatcher;
|
import com.bulletphysics.collision.dispatch.CollisionObject;
|
import com.bulletphysics.collision.narrowphase.PersistentManifold;
|
import com.bulletphysics.linearmath.IDebugDraw;
|
import com.bulletphysics.util.ObjectArrayList;
|
|
/**
|
* Abstract class for constraint solvers.
|
*
|
* @author jezek2
|
*/
|
public abstract class ConstraintSolver implements java.io.Serializable {
|
|
//protected final BulletStack stack = BulletStack.get();
|
|
public void prepareSolve (int numBodies, int numManifolds) {}
|
|
/**
|
* Solve a group of constraints.
|
*/
|
public abstract float solveGroup(ObjectArrayList<CollisionObject> bodies, int numBodies, ObjectArrayList<PersistentManifold> manifold, int manifold_offset, int numManifolds, ObjectArrayList<TypedConstraint> constraints, int constraints_offset, int numConstraints, ContactSolverInfo info, IDebugDraw debugDrawer/*, btStackAlloc* stackAlloc*/, Dispatcher dispatcher);
|
|
public void allSolved(ContactSolverInfo info, IDebugDraw debugDrawer/*, btStackAlloc* stackAlloc*/) {}
|
|
/**
|
* Clear internal cached data and reset random seed.
|
*/
|
public abstract void reset();
|
|
}
|
