16#ifndef BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H
17#define BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H
61 virtual void solveDeformableBodyGroup(
btCollisionObject * *bodies,
int numBodies,
btCollisionObject** deformableBodies,
int numDeformableBodies,
btPersistentManifold** manifold,
int numManifolds,
btTypedConstraint** constraints,
int numConstraints,
btMultiBodyConstraint** multiBodyConstraints,
int numMultiBodyConstraints,
const btContactSolverInfo& info,
btIDebugDraw* debugDrawer,
btDispatcher* dispatcher);
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
#define ATTRIBUTE_ALIGNED16(a)
btCollisionObject can be used to manage collision detection objects.
void writeToSolverBody(btCollisionObject **bodies, int numBodies, const btContactSolverInfo &infoGlobal)
btDeformableBodySolver * m_deformableSolver
BT_DECLARE_ALIGNED_ALLOCATOR()
void pairDeformableAndSolverBody(btCollisionObject **bodies, int numBodies, int numDeformableBodies, const btContactSolverInfo &infoGlobal)
void setDeformableSolver(btDeformableBodySolver *deformableSolver)
virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject **bodies, int numBodies, btCollisionObject **deformableBodies, int numDeformableBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
virtual btScalar solveDeformableGroupIterations(btCollisionObject **bodies, int numBodies, btCollisionObject **deformableBodies, int numDeformableBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
void solverBodyWriteBack(const btContactSolverInfo &infoGlobal)
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
TypedConstraint is the baseclass for Bullet constraints and vehicles.