text: /*
  Physics Effects Copyright(C) 2010 Sony Computer Entertainment Inc.
  All rights reserved.
  
  Physics Effects is open software; you can redistribute it and/or
  modify it under the terms of the BSD License.
  
  Physics Effects is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  See the BSD License for more details.
  
  A copy of the BSD License is distributed with
  Physics Effects under the filename: physics_effects_license.txt
  */
  
  #ifndef _SCE_PFX_CONTACT_CONSTRAINT_H
  #define _SCE_PFX_CONTACT_CONSTRAINT_H
  
  #include "../rigidbody/pfx_rigid_state.h"
  #include "pfx_constraint_row.h"
  #include "pfx_solver_body.h"
  
  namespace sce {
  namespace PhysicsEffects {
  
  void pfxSetupContactConstraint(
  	PfxConstraintRow &constraintResponse,
  	PfxConstraintRow &constraintFriction1,
  	PfxConstraintRow &constraintFriction2,
  	PfxFloat penetrationDepth,
  	PfxFloat restitution,
  	PfxFloat friction,
  	const PfxVector3 &contactNormal,
  	const PfxVector3 &contactPointA,
  	const PfxVector3 &contactPointB,
  	const PfxRigidState &stateA,
  	const PfxRigidState &stateB,
  	PfxSolverBody &solverBodyA,
  	PfxSolverBody &solverBodyB,
  	PfxFloat separateBias,
  	PfxFloat timeStep
  	);
  
  void pfxSolveContactConstraint(
  	PfxConstraintRow &constraintResponse,
  	PfxConstraintRow &constraintFriction1,
  	PfxConstraintRow &constraintFriction2,
  	const PfxVector3 &contactPointA,
  	const PfxVector3 &contactPointB,
  	PfxSolverBody &solverBodyA,
  	PfxSolverBody &solverBodyB,
  	PfxFloat friction
  	);
  
  
  } //namespace PhysicsEffects
  } //namespace sce
  #endif // _SCE_PFX_CONTACT_CONSTRAINT_H
  