From ba60a97dd6de1fe307abe89c14902e10b6f5fc88 Mon Sep 17 00:00:00 2001
From: "chappuis.daniel" <chappuis.daniel@92aac97c-a6ce-11dd-a772-7fcde58d38e6>
Date: Mon, 12 Apr 2010 22:33:27 +0000
Subject: [PATCH] git-svn-id:
 https://reactphysics3d.googlecode.com/svn/trunk@307
 92aac97c-a6ce-11dd-a772-7fcde58d38e6

---
 .../reactphysics3d/engine/ConstraintSolver.cpp   | 16 ++++++++++++++++
 sources/reactphysics3d/engine/ConstraintSolver.h |  3 +++
 2 files changed, 19 insertions(+)

diff --git a/sources/reactphysics3d/engine/ConstraintSolver.cpp b/sources/reactphysics3d/engine/ConstraintSolver.cpp
index 7bd824c7..0403d86c 100644
--- a/sources/reactphysics3d/engine/ConstraintSolver.cpp
+++ b/sources/reactphysics3d/engine/ConstraintSolver.cpp
@@ -162,6 +162,16 @@ void ConstraintSolver::freeMemory() {
     delete[] bodyMapping;
 }
 
+// Compute the vector b
+void ConstraintSolver::computeVectorB() {
+    // TODO : Implement this method ...
+}
+
+// Compute the matrix B_sp
+void ConstraintSolver::computeMatrixB_sp() {
+    // TODO : Implement this method ...
+}
+
 // Solve the current LCP problem
 void ConstraintSolver::solve(double dt) {
     // Allocate memory for the matrices
@@ -170,6 +180,12 @@ void ConstraintSolver::solve(double dt) {
     // Fill-in all the matrices needed to solve the LCP problem
     fillInMatrices();
 
+    // Compute the vector b
+    computeVectorB();
+
+    // Compute the matrix B
+    computeMatrixB_sp();
+
     // Solve the LCP problem (computation of lambda)
     lcpSolver.solve(A, b, lowLimits, highLimits, lambda);
 
diff --git a/sources/reactphysics3d/engine/ConstraintSolver.h b/sources/reactphysics3d/engine/ConstraintSolver.h
index 223bd08d..9d53c244 100644
--- a/sources/reactphysics3d/engine/ConstraintSolver.h
+++ b/sources/reactphysics3d/engine/ConstraintSolver.h
@@ -59,9 +59,12 @@ class ConstraintSolver {
         Matrix Minv_sp;                                                     // Sparse representation of the Matrix that contains information about mass and inertia of each body
         Vector V;                                                           // Vector that contains linear and angular velocities of each body
         Vector Fext;                                                        // Vector that contains external forces and torques of each body
+
         void allocate();                                                    // Allocate all the matrices needed to solve the LCP problem
         void fillInMatrices();                                              // Fill in all the matrices needed to solve the LCP problem
         void freeMemory();                                                  // Free the memory that was allocated in the allocate() method
+        void computeVectorB();                                              // Compute the vector b
+        void computeMatrixB_sp();                                           // Compute the matrix B_sp
 
     public:
         ConstraintSolver();                                                 // Constructor