btSequentialImpulseConstraintSolver

type btSequentialImpulseConstraintSolver = class(btConstraintSolver)

protected

  ms_bodies: btCollisionObjectArray;

  ms_numBodies: LongInt;

  ms_manifoldPtr: btManifoldArray;

  ms_startManifold: LongInt;

  ms_numManifolds: LongInt;

  ms_constraints: btTypedConstraintArray;

  ms_numConstraints: LongInt;

  ms_startConstraint: LongInt;

  ms_info: btContactSolverInfo;

  ms_debugDrawer: btIDebugDraw;

  ms_stackAlloc: btStackAllocator;

  ms_disp: btDispatcher;

  m_btSeed2: Cardinal;

  m_tmpSolverContactConstraintPool: btConstraintArray;

  m_tmpSolverNonContactConstraintPool: btConstraintArray;

  m_tmpSolverContactFrictionConstraintPool: btConstraintArray;

  m_orderTmpConstraintPool: btFOSAlignedIntegers;

  m_orderFrictionConstraintPool: btFOSAlignedIntegers;

  m_tmpConstraintSizesPool: btTC_ConstraintInfo1Array;

  procedure setupFrictionConstraint();

  function addFrictionConstraint();

  procedure setupContactConstraint();

  procedure setFrictionConstraintImpulse();

  function restitutionCurve();

  procedure convertContact();

  procedure resolveSplitPenetrationSIMD();

  procedure resolveSplitPenetrationImpulseCacheFriendly();

  procedure resolveSingleConstraintRowGeneric();

  procedure resolveSingleConstraintRowGenericSIMD();

  procedure resolveSingleConstraintRowLowerLimit();

  procedure resolveSingleConstraintRowLowerLimitSIMD();

  class function getFixedBody;

  procedure solveGroupCacheFriendlySplitImpulseIterations;

  procedure solveGroupCacheFriendlyFinish;

  procedure solveSingleIteration();

  procedure solveGroupCacheFriendlySetup;

  procedure solveGroupCacheFriendlyIterations;

public

  constructor create;

  destructor destroy; override;

  function solveGroup(); override;

  procedure reset; override;

  function btRand2;

  function btRandInt2();

  procedure setRandSeed();

  function getRandSeed;

end;

btSequentialImpulseConstraintSolver

btConstraintSolver

TObject