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/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#ifndef SIMPLE_CONSTRAINT_SOLVER_H
#define SIMPLE_CONSTRAINT_SOLVER_H
#include "ConstraintSolver.h"
class IDebugDraw;
/// SimpleConstraintSolver uses a Propagation Method
/// Applies impulses for combined restitution and penetration recovery and to simulate friction
class SimpleConstraintSolver : public ConstraintSolver
{
float Solve(PersistentManifold* manifold, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer);
public:
virtual ~SimpleConstraintSolver() {}
virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info, IDebugDraw* debugDrawer=0);
};
#endif //SIMPLE_CONSTRAINT_SOLVER_H
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