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/*
SPDX-FileCopyrightText: 2007 Vladimir Kuznetsov <ks.vladimir@gmail.com>
SPDX-License-Identifier: GPL-2.0-or-later
*/
/** \file constraintsolver.h
* \brief ConstraintSolver interface
*/
#ifndef STEPCORE_CONSTRAINTSOLVER_H
#define STEPCORE_CONSTRAINTSOLVER_H
#include "object.h"
#include "world.h"
#include "vector.h"
#include "types.h"
#include "solver.h"
namespace StepCore
{
/** \ingroup contacts
* \brief Constraint solver interface
*
* Provides generic interface for constraint solvers.
*/
class ConstraintSolver: public Object
{
STEPCORE_OBJECT(ConstraintSolver)
public:
virtual int solve(ConstraintsInfo* info) = 0;
public:
enum {
InternalError = Solver::ConstraintError
};
};
class CGConstraintSolver: public ConstraintSolver
{
STEPCORE_OBJECT(CGConstraintSolver)
public:
int solve(ConstraintsInfo* info) override;
};
} // namespace StepCore
#endif
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