63 lines
3.0 KiB
C++
63 lines
3.0 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010-2013 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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// Libraries
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#include "ConstraintSolver.h"
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#include "Profiler.h"
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using namespace reactphysics3d;
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// Constructor
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ConstraintSolver::ConstraintSolver(std::set<Constraint*>& joints,
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std::vector<Vector3>& constrainedLinearVelocities,
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std::vector<Vector3>& constrainedAngularVelocities,
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const std::map<RigidBody*, uint>& mapBodyToVelocityIndex)
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: mJoints(joints), mConstrainedLinearVelocities(constrainedLinearVelocities),
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mConstrainedAngularVelocities(constrainedAngularVelocities),
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mMapBodyToConstrainedVelocityIndex(mapBodyToVelocityIndex) {
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}
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// Destructor
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ConstraintSolver::~ConstraintSolver() {
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}
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// Initialize the constraint solver
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void ConstraintSolver::initialize(decimal dt) {
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PROFILE("ConstraintSolver::initialize()");
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// Set the current time step
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mTimeStep = dt;
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}
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// Solve the constraints
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void ConstraintSolver::solve() {
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PROFILE("ConstraintSolver::solve()");
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}
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