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+// This code contains NVIDIA Confidential Information and is disclosed to you
+// under a form of NVIDIA software license agreement provided separately to you.
+//
+// Notice
+// NVIDIA Corporation and its licensors retain all intellectual property and
+// proprietary rights in and to this software and related documentation and
+// any modifications thereto. Any use, reproduction, disclosure, or
+// distribution of this software and related documentation without an express
+// license agreement from NVIDIA Corporation is strictly prohibited.
+//
+// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
+// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
+// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
+// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+//
+// Information and code furnished is believed to be accurate and reliable.
+// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
+// information or for any infringement of patents or other rights of third parties that may
+// result from its use. No license is granted by implication or otherwise under any patent
+// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
+// This code supersedes and replaces all information previously supplied.
+// NVIDIA Corporation products are not authorized for use as critical
+// components in life support devices or systems without express written approval of
+// NVIDIA Corporation.
+//
+// Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+   
+
+#ifndef DY_SOLVERCONSTRAINTEXT_H
+#define DY_SOLVERCONSTRAINTEXT_H
+
+#include "DySolverExt.h"
+
+namespace physx
+{
+
+struct PxcNpWorkUnit;
+
+
+namespace Gu
+{
+	class ContactBuffer;
+	struct ContactPoint;
+}
+
+namespace Dy
+{
+	
+struct CorrelationBuffer;
+
+PxReal getImpulseResponse(const SolverExtBody& b0, const Cm::SpatialVector& impulse0, Cm::SpatialVector& deltaV0, PxReal dom0, PxReal angDom0,
+						  const SolverExtBody& b1, const Cm::SpatialVector& impulse1, Cm::SpatialVector& deltaV1, PxReal dom1, PxReal angDom1,
+						  bool allowSelfCollision = false);
+
+Cm::SpatialVector createImpulseResponseVector(const PxVec3& linear, const PxVec3& angular, const SolverExtBody& body);
+
+void setupFinalizeExtSolverContacts(
+							const Gu::ContactPoint* buffer,
+							const CorrelationBuffer& c,
+							const PxTransform& bodyFrame0,
+							const PxTransform& bodyFrame1,
+							PxU8* workspace,
+							const SolverExtBody& b0,
+							const SolverExtBody& b1,
+							const PxReal invDtF32,
+							PxReal bounceThresholdF32,
+							PxReal invMassScale0, PxReal invInertiaScale0, 
+							PxReal invMassScale1, PxReal invInertiaScale1,
+							PxReal restDistance, PxU8* frictionDataPtr,
+							PxReal ccdMaxContactDist);
+
+
+bool setupFinalizeExtSolverContactsCoulomb(
+							const Gu::ContactBuffer& buffer,
+							const CorrelationBuffer& c,
+							const PxTransform& bodyFrame0,
+							const PxTransform& bodyFrame1,
+							PxU8* workspace,
+							PxReal invDt,
+							PxReal bounceThreshold,
+							const SolverExtBody& b0,
+							const SolverExtBody& b1,
+							PxU32 frictionCountPerPoint,
+							PxReal invMassScale0, PxReal invInertiaScale0, 
+							PxReal invMassScale1, PxReal invInertiaScale1,
+							PxReal restDist,
+							PxReal ccdMaxContactDist);
+
+}
+
+}
+
+#endif //DY_SOLVERCONSTRAINTEXT_H