text: /*
  * Copyright (c) 2016-2016 Irlan Robson http://www.irlan.net
  *
  * 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 B3_JOINT_SOLVER_H
  #define B3_JOINT_SOLVER_H
  
  #include <bounce/dynamics/time_step.h>
  
  class b3Joint;
  
  // A 1x12 Jacobian row.
  struct b3Jacobian
  {
  	b3Vec3 linearA;
  	b3Vec3 angularA;
  	b3Vec3 linearB;
  	b3Vec3 angularB;
  };
  
  struct b3JointSolverDef 
  {
  	float32 dt;
  	u32 count;
  	b3Joint** joints;
  	b3Position* positions;
  	b3Velocity* velocities;
  };
  
  class b3JointSolver 
  {
  public :
  	b3JointSolver(const b3JointSolverDef* def);
  
  	void InitializeConstraints();
  	void WarmStart();
  	void SolveVelocityConstraints();	
  	bool SolvePositionConstraints();
  private :
  	b3SolverData m_solverData;
  	b3Joint** m_joints;
  	u32 m_count;
  };
  
  #endif
  