Add PhysicsEffects to Extras. The build is only tested on Windows and Android.

The Android/NEON optimized version of Physics Effects is thanks to Graham Rhodes and Anthony Hamilton, See Issue 587

Extras/PhysicsEffects/include/physics_effects/base_level/solver/pfx_constraint_pair.h

@@ -0,0 +1,39 @@
+/*
+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_CONSTRAINT_PAIR_H
+#define _SCE_PFX_CONSTRAINT_PAIR_H
+
+#include "../sort/pfx_sort_data.h"
+#include "../broadphase/pfx_broadphase_pair.h"
+
+namespace sce {
+namespace PhysicsEffects {
+
+typedef PfxSortData16 PfxConstraintPair;
+
+//J	PfxBroadphasePairと共通
+//E Same as PfxBroadphasePair
+
+SCE_PFX_FORCE_INLINE void pfxSetConstraintId(PfxConstraintPair &pair,PfxUInt32 i)	{pair.set32(2,i);}
+SCE_PFX_FORCE_INLINE void pfxSetNumConstraints(PfxConstraintPair &pair,PfxUInt8 n)	{pair.set8(7,n);}
+
+SCE_PFX_FORCE_INLINE PfxUInt32 pfxGetConstraintId(const PfxConstraintPair &pair)	{return pair.get32(2);}
+SCE_PFX_FORCE_INLINE PfxUInt8  pfxGetNumConstraints(const PfxConstraintPair &pair)	{return pair.get8(7);}
+
+} //namespace PhysicsEffects
+} //namespace sce
+#endif // _SCE_PFX_CONSTRAINT_PAIR_H

Extras/PhysicsEffects/include/physics_effects/base_level/solver/pfx_constraint_row.h

@@ -0,0 +1,40 @@
+/*
+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_CONSTRAINT_ROW_H
+#define _SCE_PFX_CONSTRAINT_ROW_H
+
+#include "../base/pfx_vec_utils.h"
+
+namespace sce {
+namespace PhysicsEffects {
+
+
+#include "../base/pfx_common.h"
+
+//E Don't change following order of parameters
+struct SCE_PFX_ALIGNED(16) PfxConstraintRow {
+	PfxFloat m_normal[3];
+	PfxFloat m_rhs;
+	PfxFloat m_jacDiagInv;
+	PfxFloat m_lowerLimit;
+	PfxFloat m_upperLimit;
+	PfxFloat m_accumImpulse;
+};
+
+} //namespace PhysicsEffects
+} //namespace sce
+#endif // _SCE_PFX_CONSTRAINT_ROW_H

Extras/PhysicsEffects/include/physics_effects/base_level/solver/pfx_contact_constraint.h

@@ -0,0 +1,59 @@
+/*
+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

Extras/PhysicsEffects/include/physics_effects/base_level/solver/pfx_integrate.h

@@ -0,0 +1,121 @@
+/*
+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_INTEGRATE_H_
+#define _SCE_PFX_INTEGRATE_H_
+
+#include "../base/pfx_common.h"
+#include "../rigidbody/pfx_rigid_body.h"
+#include "../rigidbody/pfx_rigid_state.h"
+
+namespace sce {
+namespace PhysicsEffects {
+
+template <typename T>
+static SCE_PFX_FORCE_INLINE T pfxRungeKutta(const T &deriv,PfxFloat dt)
+{
+	T	k0, k1, k2, k3;
+	k0 = deriv * dt;
+	k1 = (deriv + k0 * 0.5f) * dt;
+	k2 = (deriv + k1 * 0.5f) * dt;
+	k3 = (deriv + k2) * dt;
+	return (k0 + k1*2.0f + k2*2.0f + k3) / 6.0f;
+}
+
+#define SCE_PFX_MOTION_MASK_INTEGRATE ((1<<kPfxMotionTypeFixed)|(1<<kPfxMotionTypeTrigger))
+
+static SCE_PFX_FORCE_INLINE
+void pfxIntegrate(
+	PfxRigidState &state,
+	const PfxRigidBody &body,
+	PfxFloat timeStep
+	)
+{
+	(void) body;
+	if(((1<<state.getMotionMask())&SCE_PFX_MOTION_MASK_INTEGRATE) || state.isAsleep()) return;
+
+	PfxVector3 position = state.getPosition();
+	PfxQuat    orientation = state.getOrientation();
+	PfxVector3 linearVelocity = state.getLinearVelocity();
+	PfxVector3 angularVelocity = state.getAngularVelocity();
+
+	PfxVector3 dx = linearVelocity;
+	PfxQuat    dq = PfxQuat(angularVelocity,0) * orientation * 0.5f;
+
+#ifdef SCE_PFX_ODE_EULER
+	position += dx * timeStep;
+	orientation += dq * timeStep;
+	orientation = normalize(orientation);
+#else
+	position += pfxRungeKutta(dx,timeStep);
+	orientation += pfxRungeKutta(dq,timeStep);
+	orientation = normalize(orientation);
+#endif
+
+	state.setPosition(position);
+	state.setOrientation(orientation);
+}
+
+#define SCE_PFX_MOTION_MASK_APPLYFORCE ((1<<kPfxMotionTypeFixed)|(1<<kPfxMotionTypeTrigger)|(1<<kPfxMotionTypeKeyframe))
+
+static SCE_PFX_FORCE_INLINE
+void pfxApplyExternalForce(
+	PfxRigidState &state,
+	const PfxRigidBody &body,
+	const PfxVector3 &extForce,
+	const PfxVector3 &extTorque,
+	PfxFloat timeStep
+	)
+{
+	if(((1<<state.getMotionType())&SCE_PFX_MOTION_MASK_APPLYFORCE) || state.isAsleep()) return;
+	
+	PfxVector3 angularVelocity = state.getAngularVelocity();
+	PfxMatrix3 m(state.getOrientation());
+	PfxMatrix3 worldInertia = m * body.getInertia() * transpose(m);
+	PfxMatrix3 worldInertiaInv = m * body.getInertiaInv() * transpose(m);
+	PfxVector3 dv = extForce * body.getMassInv();
+	PfxVector3 dw = worldInertiaInv * (cross(worldInertia * angularVelocity, angularVelocity) + extTorque);
+	
+	PfxVector3 nv = state.getLinearVelocity();
+	PfxVector3 nw = state.getAngularVelocity();
+
+#ifdef SCE_PFX_ODE_EULER
+	nv += dv * timeStep;
+	nw += dw * timeStep;
+#else
+	nv += pfxRungeKutta(dv,timeStep);
+	nw += pfxRungeKutta(dw,timeStep);
+#endif
+
+	nv *= state.getLinearDamping();
+	nw *= state.getAngularDamping();
+
+	if(length(nv) > state.getMaxLinearVelocity())
+	{
+		nv = normalize( nv ) * state.getMaxLinearVelocity();
+	}
+	if(length(nw) > state.getMaxAngularVelocity())
+	{
+		nw = normalize( nw ) * state.getMaxAngularVelocity();
+	}
+
+	state.setLinearVelocity(nv);
+	state.setAngularVelocity(nw);
+}
+} //namespace PhysicsEffects
+} //namespace sce
+
+#endif /* _SCE_PFX_INTEGRATE_H_ */

Extras/PhysicsEffects/include/physics_effects/base_level/solver/pfx_joint.h

@@ -0,0 +1,90 @@
+/*
+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_JOINT_H
+#define _SCE_PFX_JOINT_H
+
+#include "../rigidbody/pfx_rigid_state.h"
+#include "pfx_joint_constraint.h"
+#include "pfx_constraint_pair.h"
+
+namespace sce {
+namespace PhysicsEffects {
+
+// Joint Type
+enum ePfxJointType {
+	kPfxJointBall = 0,
+	kPfxJointSwingtwist,
+	kPfxJointHinge,
+	kPfxJointSlider,
+	kPfxJointFix,
+	kPfxJointUniversal,
+	kPfxJointAnimation,
+	kPfxJointReserved0,
+	kPfxJointReserved1,
+	kPfxJointReserved2,
+	kPfxJointUser0,
+	kPfxJointUser1,
+	kPfxJointUser2,
+	kPfxJointUser3,
+	kPfxJointUser4,
+	kPfxJointCount // = 15
+};
+
+// Joint Structure
+struct SCE_PFX_ALIGNED(128) PfxJoint {
+	PfxUInt8 m_active;
+	PfxUInt8 m_numConstraints;
+	PfxUInt8 m_type;
+	SCE_PFX_PADDING(1,1)
+	PfxUInt16 m_rigidBodyIdA;
+	PfxUInt16 m_rigidBodyIdB;
+	SCE_PFX_PADDING(2,8)
+	PfxJointConstraint m_constraints[6];
+	void *m_userData;
+	SCE_PFX_PADDING(3,12)
+	PfxVector3 m_param[4]; // Used by some joints for specific features
+	PfxVector3 m_anchorA;
+	PfxVector3 m_anchorB;
+	PfxMatrix3 m_frameA;
+	PfxMatrix3 m_frameB;
+	SCE_PFX_PADDING(4,32)
+};
+
+SCE_PFX_FORCE_INLINE 
+void pfxUpdateJointPairs(
+	PfxConstraintPair &pair,
+	PfxUInt32 jointId,
+	const PfxJoint &joint,
+	const PfxRigidState &stateA,
+	const PfxRigidState &stateB
+	)
+{
+	SCE_PFX_ALWAYS_ASSERT(stateA.getRigidBodyId()==joint.m_rigidBodyIdA);
+	SCE_PFX_ALWAYS_ASSERT(stateB.getRigidBodyId()==joint.m_rigidBodyIdB);
+	pfxSetObjectIdA(pair,stateA.getRigidBodyId());
+	pfxSetObjectIdB(pair,stateB.getRigidBodyId());
+	pfxSetMotionMaskA(pair,stateA.getMotionMask());
+	pfxSetMotionMaskB(pair,stateB.getMotionMask());
+	pfxSetConstraintId(pair,jointId);
+	pfxSetNumConstraints(pair,joint.m_numConstraints);
+	pfxSetActive(pair,joint.m_active>0);
+}
+} //namespace PhysicsEffects
+} //namespace sce
+
+
+#endif // _PFX_JOINT_H

Extras/PhysicsEffects/include/physics_effects/base_level/solver/pfx_joint_ball.h

@@ -0,0 +1,62 @@
+/*
+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_JOINT_BALL_H
+#define _SCE_PFX_JOINT_BALL_H
+
+#include "pfx_joint.h"
+#include "pfx_solver_body.h"
+
+namespace sce {
+namespace PhysicsEffects {
+
+struct PfxBallJointInitParam {
+	PfxVector3 anchorPoint;
+	
+	PfxBallJointInitParam()
+	{
+		anchorPoint = PfxVector3(0.0f);
+	}
+};
+
+PfxInt32 pfxInitializeBallJoint(
+	PfxJoint &joint,
+	const PfxRigidState &stateA,
+	const PfxRigidState &stateB,
+	const PfxBallJointInitParam &param);
+
+void pfxSetupBallJoint(
+	PfxJoint &joint,
+	const PfxRigidState &stateA,
+	const PfxRigidState &stateB,
+	PfxSolverBody &solverBodyA,
+	PfxSolverBody &solverBodyB,
+	PfxFloat timeStep);
+
+void pfxWarmStartBallJoint(
+	PfxJoint &joint,
+	PfxSolverBody &solverBodyA,
+	PfxSolverBody &solverBodyB);
+
+void pfxSolveBallJoint(
+	PfxJoint &joint,
+	PfxSolverBody &solverBodyA,
+	PfxSolverBody &solverBodyB);
+
+} //namespace PhysicsEffects
+} //namespace sce
+
+#endif // _SCE_PFX_JOINT_BALL_H

Extras/PhysicsEffects/include/physics_effects/base_level/solver/pfx_joint_constraint.h

@@ -0,0 +1,67 @@
+/*
+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_JOINT_CONSTRAINT_H
+#define _SCE_PFX_JOINT_CONSTRAINT_H
+
+#include "../base/pfx_common.h"
+#include "../base/pfx_vec_utils.h"
+#include "pfx_constraint_row.h"
+
+namespace sce {
+namespace PhysicsEffects {
+
+// Lock type
+#define SCE_PFX_JOINT_LOCK_FREE		0
+#define SCE_PFX_JOINT_LOCK_LIMIT	1
+#define SCE_PFX_JOINT_LOCK_FIX		2
+
+// Slop
+#define SCE_PFX_JOINT_LINEAR_SLOP	0.01f
+#define SCE_PFX_JOINT_ANGULAR_SLOP	0.01f
+
+///////////////////////////////////////////////////////////////////////////////// Joint Constraint
+
+struct PfxJointConstraint {
+	PfxInt8 m_lock;
+	PfxInt8 m_warmStarting;
+	SCE_PFX_PADDING(1,2)
+	PfxFloat m_movableLowerLimit;
+	PfxFloat m_movableUpperLimit;
+	PfxFloat m_bias;
+	PfxFloat m_weight;
+	PfxFloat m_damping;
+	PfxFloat m_maxImpulse;
+	SCE_PFX_PADDING(2,4)
+	PfxConstraintRow m_constraintRow;
+	
+	void reset()
+	{
+		m_lock = SCE_PFX_JOINT_LOCK_FIX;
+		m_warmStarting = 0;
+		m_movableLowerLimit = 0.0f;
+		m_movableUpperLimit = 0.0f;
+		m_bias = 0.2f;
+		m_weight = 1.0f;
+		m_damping = 0.0f;
+		m_maxImpulse = SCE_PFX_FLT_MAX;
+		memset(&m_constraintRow,0,sizeof(PfxConstraintRow));
+	}
+};
+} //namespace PhysicsEffects
+} //namespace sce
+
+#endif // _SCE_PFX_JOINT_CONSTRAINT_H

Extras/PhysicsEffects/include/physics_effects/base_level/solver/pfx_joint_fix.h

@@ -0,0 +1,49 @@
+/*
+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_JOINT_FIX_H
+#define _SCE_PFX_JOINT_FIX_H
+
+#include "pfx_joint.h"
+#include "pfx_solver_body.h"
+
+namespace sce {
+namespace PhysicsEffects {
+
+struct PfxFixJointInitParam {
+	PfxVector3 anchorPoint;
+	
+	PfxFixJointInitParam()
+	{
+		anchorPoint = PfxVector3(0.0f);
+	}
+};
+
+PfxInt32 pfxInitializeFixJoint(
+	PfxJoint &joint,
+	const PfxRigidState &stateA,
+	const PfxRigidState &stateB,
+	const PfxFixJointInitParam &param);
+
+// pfxSetupFixJoint = pfxSetupSwingTwistJoint
+
+// pfxWarmStartFixJoint = pfxWarmStartSwingTwistJoint
+
+// pfxSolveFixJoint = pfxSolveSwingTwistJoint
+} //namespace PhysicsEffects
+} //namespace sce
+
+#endif // _SCE_PFX_JOINT_FIX_H

Extras/PhysicsEffects/include/physics_effects/base_level/solver/pfx_joint_hinge.h

@@ -0,0 +1,56 @@
+/*
+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_JOINT_HINGE_H_
+#define _SCE_PFX_JOINT_HINGE_H_
+
+#include "pfx_joint.h"
+#include "pfx_solver_body.h"
+
+namespace sce {
+namespace PhysicsEffects {
+
+struct PfxHingeJointInitParam {
+	PfxVector3 anchorPoint;
+	PfxVector3 axis;
+	PfxFloat lowerAngle;
+	PfxFloat upperAngle;
+	SCE_PFX_PADDING(1,8)
+	
+	PfxHingeJointInitParam()
+	{
+		anchorPoint = PfxVector3(0.0f);
+		axis = PfxVector3(1.0f,0.0f,0.0f);
+		lowerAngle = 0.0f;
+		upperAngle = 0.0f;
+	}
+};
+
+PfxInt32 pfxInitializeHingeJoint(
+	PfxJoint &joint,
+	const PfxRigidState &stateA,
+	const PfxRigidState &stateB,
+	const PfxHingeJointInitParam &param);
+
+// pfxSetupHingeJoint = pfxSetupSwingTwistJoint
+
+// pfxWarmStartHingeJoint = pfxWarmStartSwingTwistJoint
+
+// pfxSolveHingeJoint = pfxSolveSwingTwistJoint
+
+} //namespace PhysicsEffects
+} //namespace sce
+#endif // _SCE_PFX_JOINT_HINGE_H

Extras/PhysicsEffects/include/physics_effects/base_level/solver/pfx_joint_slider.h

@@ -0,0 +1,57 @@
+/*
+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_JOINT_SLIDER_H
+#define _SCE_PFX_JOINT_SLIDER_H
+
+#include "pfx_joint.h"
+#include "pfx_solver_body.h"
+
+namespace sce {
+namespace PhysicsEffects {
+
+struct PfxSliderJointInitParam {
+	PfxVector3 anchorPoint;
+	PfxVector3 direction;
+	PfxFloat lowerDistance;
+	PfxFloat upperDistance;
+	SCE_PFX_PADDING(1,8)
+	
+	PfxSliderJointInitParam()
+	{
+		anchorPoint = PfxVector3(0.0f);
+		direction = PfxVector3(1.0f,0.0f,0.0f);
+		lowerDistance = 0.0f;
+		upperDistance = 0.0f;
+	}
+};
+
+PfxInt32 pfxInitializeSliderJoint(
+	PfxJoint &joint,
+	const PfxRigidState &stateA,
+	const PfxRigidState &stateB,
+	const PfxSliderJointInitParam &param);
+
+// pfxSetupSliderJoint = pfxSetupSwingTwistJoint
+
+// pfxWarmStartSliderJoint = pfxWarmStartSwingTwistJoint
+
+// pfxSolveSliderJoint = pfxSolveSwingTwistJoint
+
+} //namespace PhysicsEffects
+} //namespace sce
+
+#endif // _SCE_PFX_JOINT_SLIDER_H

Extras/PhysicsEffects/include/physics_effects/base_level/solver/pfx_joint_swing_twist.h

@@ -0,0 +1,70 @@
+/*
+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_JOINT_SWING_TWIST_H
+#define _SCE_PFX_JOINT_SWING_TWIST_H
+
+#include "pfx_joint.h"
+#include "pfx_solver_body.h"
+namespace sce {
+namespace PhysicsEffects {
+
+struct PfxSwingTwistJointInitParam {
+	PfxVector3 anchorPoint;
+	PfxVector3 twistAxis;
+	PfxFloat twistLowerAngle;
+	PfxFloat twistUpperAngle;
+	PfxFloat swingLowerAngle;
+	PfxFloat swingUpperAngle;
+	
+	PfxSwingTwistJointInitParam()
+	{
+		anchorPoint = PfxVector3(0.0f);
+		twistAxis = PfxVector3(1.0f,0.0f,0.0f);
+		twistLowerAngle = -0.26f;
+		twistUpperAngle =  0.26f;
+		swingLowerAngle = 0.0f;
+		swingUpperAngle = 0.7f;
+	}
+};
+
+PfxInt32 pfxInitializeSwingTwistJoint(
+	PfxJoint &joint,
+	const PfxRigidState &stateA,
+	const PfxRigidState &stateB,
+	const PfxSwingTwistJointInitParam &param);
+
+void pfxSetupSwingTwistJoint(
+	PfxJoint &joint,
+	const PfxRigidState &stateA,
+	const PfxRigidState &stateB,
+	PfxSolverBody &solverBodyA,
+	PfxSolverBody &solverBodyB,
+	PfxFloat timeStep);
+
+void pfxWarmStartSwingTwistJoint(
+	PfxJoint &joint,
+	PfxSolverBody &solverBodyA,
+	PfxSolverBody &solverBodyB);
+
+void pfxSolveSwingTwistJoint(
+	PfxJoint &joint,
+	PfxSolverBody &solverBodyA,
+	PfxSolverBody &solverBodyB);
+
+} //namespace PhysicsEffects
+} //namespace sce
+#endif // _SCE_PFX_JOINT_SWING_TWIST_H

Extras/PhysicsEffects/include/physics_effects/base_level/solver/pfx_joint_universal.h

@@ -0,0 +1,65 @@
+/*
+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_JOINT_UNIVERSAL_H
+#define _SCE_PFX_JOINT_UNIVERSAL_H
+
+#include "pfx_joint.h"
+#include "pfx_solver_body.h"
+
+namespace sce {
+namespace PhysicsEffects {
+
+struct PfxUniversalJointInitParam {
+	PfxVector3 anchorPoint;
+	PfxVector3 axis;
+	PfxFloat swing1LowerAngle;
+	PfxFloat swing1UpperAngle;
+	PfxFloat swing2LowerAngle;
+	PfxFloat swing2UpperAngle;
+	
+	PfxUniversalJointInitParam()
+	{
+		anchorPoint = PfxVector3(0.0f);
+		axis = PfxVector3(1.0f,0.0f,0.0f);
+		swing1LowerAngle = -0.7f;
+		swing1UpperAngle =  0.7f;
+		swing2LowerAngle = -0.7f;
+		swing2UpperAngle =  0.7f;
+	}
+};
+
+PfxInt32 pfxInitializeUniversalJoint(
+	PfxJoint &joint,
+	const PfxRigidState &stateA,
+	const PfxRigidState &stateB,
+	const PfxUniversalJointInitParam &param);
+
+void pfxSetupUniversalJoint(
+	PfxJoint &joint,
+	const PfxRigidState &stateA,
+	const PfxRigidState &stateB,
+	PfxSolverBody &solverBodyA,
+	PfxSolverBody &solverBodyB,
+	PfxFloat timeStep);
+
+// pfxWarmStartUniversalJoint = pfxWarmStartSwingTwistJoint
+
+// pfxSolveUniversalJoint = pfxSolveSwingTwistJoint
+
+} //namespace PhysicsEffects
+} //namespace sce
+#endif // _SCE_PFX_JOINT_UNIVERSAL_H

Extras/PhysicsEffects/include/physics_effects/base_level/solver/pfx_solver_body.h

@@ -0,0 +1,37 @@
+/*
+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_SOLVER_BODY_H
+#define _SCE_PFX_SOLVER_BODY_H
+
+#include "../base/pfx_common.h"
+
+namespace sce {
+namespace PhysicsEffects {
+
+struct SCE_PFX_ALIGNED(128) PfxSolverBody {
+	PfxVector3 m_deltaLinearVelocity;
+	PfxVector3 m_deltaAngularVelocity;
+	PfxQuat    m_orientation;
+	PfxMatrix3 m_inertiaInv;
+	PfxFloat   m_massInv;
+	PfxUInt32  m_motionType;
+	SCE_PFX_PADDING(1,24)
+};
+
+} //namespace PhysicsEffects
+} //namespace sce
+#endif // _SCE_PFX_SOLVER_BODY_H