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diff --git a/PhysX_3.4/Source/SimulationController/include/ScIterators.h b/PhysX_3.4/Source/SimulationController/include/ScIterators.h
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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 PX_PHYSICS_SCP_ITERATOR
+#define PX_PHYSICS_SCP_ITERATOR
+
+#include "foundation/PxVec3.h"
+#include "PxContact.h"
+
+namespace physx
+{
+
+class PxShape;
+class PxRigidBody;
+class PxsContactManagerOutputIterator;
+
+namespace Sq
+{
+	typedef size_t PrunerData;
+}
+
+namespace Sc
+{
+	class ShapeSim;
+	class Interaction;
+
+	
+	struct SqBoundsSync
+	{
+		virtual void sync(const PxU32* sqRefs, const PxU32* indices, const PxBounds3* bounds, PxU32 count) = 0;
+
+		virtual ~SqBoundsSync() {}
+	};
+
+	struct SqRefFinder
+	{
+		virtual PxU32 find(const PxRigidBody * body, const PxShape* shape) = 0;
+
+		virtual ~SqRefFinder() {}
+	};
+
+
+	struct Contact
+	{
+		Contact() 
+			: normal(0.0f)
+			, point(0.0f)
+			, separation(0.0f)
+			, normalForce(0.0f)
+		{}
+
+		PxVec3 normal;
+		PxVec3 point;
+		PxShape* shape0;
+		PxShape* shape1;
+		PxReal separation;
+		PxReal normalForce;
+		PxU32 faceIndex0;  // these are the external indices
+		PxU32 faceIndex1;
+		bool normalForceAvailable;
+	};
+
+	class ContactIterator
+	{
+		public:		
+
+			class Pair
+			{
+			public:
+				Pair() : mIter(NULL, NULL, NULL, 0, 0) {}
+				Pair(const void*& contactPatches, const void*& contactPoints, const PxU32 /*contactDataSize*/, const PxReal*& forces, PxU32 numContacts, PxU32 numPatches, ShapeSim& shape0, ShapeSim& shape1);
+				Contact* getNextContact();
+
+			private:
+				PxU32						mIndex;
+				PxU32						mNumContacts;
+				PxContactStreamIterator		mIter;
+				const PxReal*				mForces;
+				Contact						mCurrentContact;
+				ShapeSim*					mShape0;
+				ShapeSim*					mShape1;
+			};
+
+			ContactIterator() {}
+			explicit ContactIterator(Interaction** first, Interaction** last, PxsContactManagerOutputIterator& outputs): mCurrent(first), mLast(last), mOffset(0), mOutputs(&outputs) {}
+			Pair* getNextPair();
+
+		private:
+			Interaction**					mCurrent;
+			Interaction**					mLast;
+			Pair							mCurrentPair;
+			PxU32							mOffset;
+			PxsContactManagerOutputIterator* mOutputs;
+
+	private:
+	};
+
+}  // namespace Sc
+
+}
+
+#endif