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BulletDynamics/ConstraintSolver/SimpleConstraintSolver.h

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+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef SIMPLE_CONSTRAINT_SOLVER_H
+#define SIMPLE_CONSTRAINT_SOLVER_H
+
+#include "ConstraintSolver.h"
+class IDebugDraw;
+
+/// SimpleConstraintSolver uses a Propagation Method and Sequentially applies impulses
+/// The approach is the 3D version of Erin Catto's GDC 2006 tutorial. See http://www.gphysics.com
+/// Although Sequential Impulse is more intuitive, it is mathematically equivalent to Projected Successive Overrelaxation (iterative LCP)
+/// 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);
+	float SolveFriction(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer);
+	
+
+public:
+
+	SimpleConstraintSolver();
+
+	virtual ~SimpleConstraintSolver() {}
+	
+	virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info, IDebugDraw* debugDrawer=0);
+
+};
+
+#endif //SIMPLE_CONSTRAINT_SOLVER_H
+