btAlignedObjectArray< btMultiBodyConstraint * > m_multiBodyConstraints
virtual void processConstraints(int islandId=-1)
int btGetMultiBodyConstraintIslandId(const btMultiBodyConstraint *lhs)
btMultiBodyConstraint ** m_multiBodySortedConstraints
bool operator()(const btMultiBodyConstraint *lhs, const btMultiBodyConstraint *rhs) const
void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver *solver)
virtual int getIslandIdB() const =0
MultiBodyInplaceSolverIslandCallback(btMultiBodyConstraintSolver *solver, btDispatcher *dispatcher)
virtual void setup(btContactSolverInfo *solverInfo, btTypedConstraint **sortedConstraints, int numConstraints, btMultiBodyConstraint **sortedMultiBodyConstraints, int numMultiBodyConstraints, btIDebugDraw *debugDrawer)
btAlignedObjectArray< btPersistentManifold * > m_manifolds
int btGetConstraintIslandId2(const btTypedConstraint *lhs)
btAlignedObjectArray< btCollisionObject * > m_softBodies
btAlignedObjectArray< btCollisionObject * > m_bodies
virtual int getIslandIdA() const =0
btAlignedObjectArray< btSolverAnalyticsData > m_islandAnalyticsData
btTypedConstraint ** m_sortedConstraints
virtual void processIsland(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifolds, int numManifolds, int islandId)
btAlignedObjectArray< btTypedConstraint * > m_constraints
MultiBodyInplaceSolverIslandCallback & operator=(const MultiBodyInplaceSolverIslandCallback &other)
btMultiBodyConstraintSolver * m_solver
virtual void solveMultiBodyGroup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifold, int numManifolds, btTypedConstraint **constraints, int numConstraints, btMultiBodyConstraint **multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo &info, btIDebugDraw *debugDrawer, btDispatcher *dispatcher)
btContactSolverInfo * m_solverInfo