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#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