#include <solver.h>
Inheritance diagram for ctArticulatedSolver:

Public Methods | |
| virtual ctVector3 | get_linear_a ()=0 |
| relative to it's body frame. | |
| virtual ctVector3 | get_angular_a ()=0 |
| virtual void | apply_impulse (ctVector3 impulse_point, ctVector3 impulse_vector)=0 |
| virtual void | get_impulse_m_and_I_inv (real *pm, ctMatrix3 *pI_inv, const ctVector3 &impulse_point, const ctVector3 &unit_length_impulse_vector)=0 |