forked from bartvdbraak/blender
62 lines
1.8 KiB
C++
62 lines
1.8 KiB
C++
/*
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* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#ifndef ODE_CONSTRAINT_SOLVER_H
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#define ODE_CONSTRAINT_SOLVER_H
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#include "ConstraintSolver.h"
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class RigidBody;
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class BU_Joint;
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/// OdeConstraintSolver is one of the available solvers for Bullet dynamics framework
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/// It uses the the unmodified version of quickstep solver from the open dynamics project
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class OdeConstraintSolver : public ConstraintSolver
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{
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private:
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int m_CurBody;
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int m_CurJoint;
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float m_cfm;
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float m_erp;
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int ConvertBody(RigidBody* body,RigidBody** bodies,int& numBodies);
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void ConvertConstraint(PersistentManifold* manifold,BU_Joint** joints,int& numJoints,
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RigidBody** bodies,int _bodyId0,int _bodyId1,IDebugDraw* debugDrawer);
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public:
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OdeConstraintSolver();
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virtual ~OdeConstraintSolver() {}
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virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info,IDebugDraw* debugDrawer = 0);
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///setConstraintForceMixing, the cfm adds some positive value to the main diagonal
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///This can improve convergence (make matrix positive semidefinite), but it can make the simulation look more 'springy'
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void setConstraintForceMixing(float cfm) {
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m_cfm = cfm;
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}
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///setErrorReductionParamter sets the maximum amount of error reduction
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///which limits energy addition during penetration depth recovery
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void setErrorReductionParamter(float erp)
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{
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m_erp = erp;
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}
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};
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#endif //ODE_CONSTRAINT_SOLVER_H
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