00001 /* 00002 * Copyright (c) 2006-2010 Erin Catto http://www.gphysics.com 00003 * 00004 * This software is provided 'as-is', without any express or implied 00005 * warranty. In no event will the authors be held liable for any damages 00006 * arising from the use of this software. 00007 * Permission is granted to anyone to use this software for any purpose, 00008 * including commercial applications, and to alter it and redistribute it 00009 * freely, subject to the following restrictions: 00010 * 1. The origin of this software must not be misrepresented; you must not 00011 * claim that you wrote the original software. If you use this software 00012 * in a product, an acknowledgment in the product documentation would be 00013 * appreciated but is not required. 00014 * 2. Altered source versions must be plainly marked as such, and must not be 00015 * misrepresented as being the original software. 00016 * 3. This notice may not be removed or altered from any source distribution. 00017 */ 00018 00019 #ifndef B2_TOI_SOLVER_H 00020 #define B2_TOI_SOLVER_H 00021 00022 #include <Box2D/Common/b2Math.h> 00023 00024 class b2Contact; 00025 class b2Body; 00026 struct b2TOIConstraint; 00027 class b2StackAllocator; 00028 00031 class b2TOISolver 00032 { 00033 public: 00034 b2TOISolver(b2StackAllocator* allocator); 00035 ~b2TOISolver(); 00036 00037 void Initialize(b2Contact** contacts, int32 contactCount, b2Body* toiBody); 00038 void Clear(); 00039 00040 // Perform one solver iteration. Returns true if converged. 00041 bool Solve(float32 baumgarte); 00042 00043 private: 00044 00045 b2TOIConstraint* m_constraints; 00046 int32 m_count; 00047 b2Body* m_toiBody; 00048 b2StackAllocator* m_allocator; 00049 }; 00050 00051 #endif