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/* This file is part of StepCore library.
Copyright (C) 2007 Vladimir Kuznetsov <ks.vladimir@gmail.com>
StepCore library is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
StepCore library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with StepCore; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
/** \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);
};
} // namespace StepCore
#endif
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