com.bulletphysics.dynamics.constraintsolver.ConstraintSolver Maven / Gradle / Ivy

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/*
 * Java port of Bullet (c) 2008 Martin Dvorak 
 *
 * 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 {
	
	//protected final BulletStack stack = BulletStack.get();

	public void prepareSolve (int numBodies, int numManifolds) {}

	/**
	 * Solve a group of constraints.
	 */
	public abstract float solveGroup(ObjectArrayList bodies, int numBodies, ObjectArrayList manifold, int manifold_offset, int numManifolds, ObjectArrayList 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();
	
}