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diff --git a/PhysX_3.4/Source/SimulationController/src/ScConstraintProjectionTree.h b/PhysX_3.4/Source/SimulationController/src/ScConstraintProjectionTree.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_CONSTRAINT_PROJECTION_TREE
+#define PX_PHYSICS_SCP_CONSTRAINT_PROJECTION_TREE
+
+#include "PsArray.h"
+#include "PsUserAllocated.h"
+#include "CmPhysXCommon.h"
+
+namespace physx
+{
+namespace Sc
+{
+	struct ConstraintGroupNode;
+	class ConstraintSim;
+	class BodySim;
+	class BodyRank;
+
+	class ConstraintProjectionTree
+	{
+		/**
+		 This class serves both the static administration of an articulation and the actual articulation itself.
+		 An Articulation object holds several articulation root nodes which make up a simulation island that
+		 is further connected with lagrange joints.
+		*/
+		public:
+			ConstraintProjectionTree() {}
+			~ConstraintProjectionTree() {}
+
+			static	void		buildProjectionTrees(ConstraintGroupNode& root);	
+			static	void		purgeProjectionTrees(ConstraintGroupNode& root);
+
+			static void			projectPose(ConstraintGroupNode& root, Ps::Array<BodySim*>& projectedBodies);
+
+		private:
+			static	PxU32					projectionTreeBuildStep(ConstraintGroupNode& node, ConstraintSim* cToParent, ConstraintGroupNode** nodeStack);
+
+			static	void					getConstraintStatus(const ConstraintSim& c, const BodySim* b, BodySim*& otherBody, PxU32& projectToBody, PxU32& projectToOtherBody);
+			static	void					rankConstraint(ConstraintSim&, BodyRank&, PxU32& dominanceTracking, PxU32& constraintsToProjectCount);
+			static	void					projectPoseForTree(ConstraintGroupNode& node, Ps::Array<BodySim*>& projectedBodies);
+	};
+
+} // namespace Sc
+
+}
+
+#endif