public void Constructor(
ContactSolverInfo solverInfo,
IConstraintSolver solver,
IList<TypedConstraint> sortedConstraints,
int numConstraints,
IDebugDraw debugDrawer,
//btStackAlloc* stackAlloc,
IDispatcher dispatcher)
{
m_solverInfo = solverInfo;
m_solver = solver;
m_sortedConstraints = sortedConstraints;
m_numConstraints = numConstraints;
m_debugDrawer = debugDrawer;
//m_stackAlloc(stackAlloc),
m_dispatcher = dispatcher;
m_bodies.Clear();
m_manifolds.Clear();
m_constraints.Clear();
}
public virtual void allSolved(ContactSolverInfo info, IDebugDraw debugDrawer) { }
//solve a group of constraints public abstract float solveGroup(IList<CollisionObject> bodies, IList<PersistentManifold> manifold, IList<TypedConstraint> constraints, ContactSolverInfo info, IDebugDraw debugDrawer, IDispatcher dispatcher);