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# Box2D/Box2D/Dynamics/Contacts/b2TOISolver.h

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    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