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);