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 * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
 * Permission to use, copy, modify, distribute and sell this software
 * and its documentation for any purpose is hereby granted without fee,
 * provided that the above copyright notice appear in all copies.
 * Erwin Coumans makes no representations about the suitability 
 * of this software for any purpose.  
 * It is provided "as is" without express or implied warranty.

#include "ConstraintSolver.h"
class IDebugDraw;

/// SimpleConstraintSolver uses a Propagation Method
/// Applies impulses for combined restitution and penetration recovery and to simulate friction
00019 class SimpleConstraintSolver : public ConstraintSolver
      float Solve(PersistentManifold* manifold, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer);


      virtual ~SimpleConstraintSolver() {}
      virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info, IDebugDraw* debugDrawer=0);



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