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#ifndef DY_SOLVERCONSTRAINTTYPES_H
#define DY_SOLVERCONSTRAINTTYPES_H

#include "foundation/PxSimpleTypes.h"
#include "PxvConfig.h"

namespace physx
{

enum SolverConstraintType
{
	DY_SC_TYPE_NONE = 0,
	DY_SC_TYPE_RB_CONTACT,		// RB-only contact
	DY_SC_TYPE_RB_1D,			// RB-only 1D constraint
	DY_SC_TYPE_EXT_CONTACT,	// contact involving articulations
	DY_SC_TYPE_EXT_1D,			// 1D constraint involving articulations
	DY_SC_TYPE_STATIC_CONTACT,	// RB-only contact where body b is static
	DY_SC_TYPE_NOFRICTION_RB_CONTACT, //RB-only contact with no friction patch
	DY_SC_TYPE_BLOCK_RB_CONTACT,
	DY_SC_TYPE_BLOCK_STATIC_RB_CONTACT,
	DY_SC_TYPE_BLOCK_1D,
	DY_SC_TYPE_FRICTION,
	DY_SC_TYPE_STATIC_FRICTION,
	DY_SC_TYPE_EXT_FRICTION,
	DY_SC_TYPE_BLOCK_FRICTION,
	DY_SC_TYPE_BLOCK_STATIC_FRICTION,
	DY_SC_CONSTRAINT_TYPE_COUNT //Count of the number of different constraint types in the solver
};

enum SolverConstraintFlags
{
	DY_SC_FLAG_OUTPUT_FORCE		= (1<<1),
	DY_SC_FLAG_KEEP_BIAS		= (1<<2),
	DY_SC_FLAG_ROT_EQ			= (1<<3),
	DY_SC_FLAG_ORTHO_TARGET		= (1<<4),
	DY_SC_FLAG_SPRING			= (1<<5),
	DY_SC_FLAG_INEQUALITY		= (1<<6)
};

}

#endif //DY_SOLVERCONSTRAINTTYPES_H