Blast 1.1 release (windows / linux)

see docs/release_notes.txt for details

22 files changed, 835 insertions, 211 deletions

diff --git a/sdk/common/NvBlastArray.h b/sdk/common/NvBlastArray.h
new file mode 100644
index 0000000..48048d1
--- /dev/null
+++ b/sdk/common/NvBlastArray.h
@@ -0,0 +1,67 @@
+// 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) 2016-2017 NVIDIA Corporation. All rights reserved.
+
+
+#ifndef NVBLASTARRAY_H
+#define NVBLASTARRAY_H
+
+
+#include "NvBlastAllocator.h"
+#include "PsInlineArray.h"
+
+
+namespace Nv
+{
+namespace Blast
+{
+
+/**
+Wrapped PxShared Array that uses NvBlastGlobals AllocatorCalllback.
+*/
+template <class T>
+struct Array
+{
+	typedef physx::shdfnd::Array<T, Allocator> type;
+};
+
+
+/**
+Wrapped PxShared InlineArray that uses NvBlastGlobals AllocatorCalllback.
+
+InlineArraya is array that pre-allocates for N elements.
+*/
+template <class T, uint32_t N>
+struct InlineArray
+{
+	typedef physx::shdfnd::InlineArray<T, N, Allocator> type;
+};
+
+} // namespace Blast
+} // namespace Nv
+
+
+#endif // #ifndef NVBLASTARRAY_H
diff --git a/sdk/common/NvBlastAssert.cpp b/sdk/common/NvBlastAssert.cpp
index 7731a53..0f2b316 100644
--- a/sdk/common/NvBlastAssert.cpp
+++ b/sdk/common/NvBlastAssert.cpp
@@ -1,12 +1,29 @@
-/*
- * Copyright (c) 2016-2017, NVIDIA CORPORATION.  All rights reserved.
- *
- * NVIDIA CORPORATION and its licensors retain all intellectual property
- * and proprietary rights in and to this software, 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.
- */
+// 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) 2016-2017 NVIDIA Corporation. All rights reserved.
 
 
 #include "NvBlastAssert.h"
@@ -40,7 +57,7 @@ void NvBlastAssertHandler(const char* expr, const char* file, int line, bool& ig
 	if (ignore)
 		return;
 	__debugbreak();
-#elif (NV_WINDOWS_FAMILY && NV_CHECKED) || NV_CLANG
+#elif (NV_WINDOWS_FAMILY && NV_CHECKED)
 	__debugbreak();
 #else
 	abort();
diff --git a/sdk/common/NvBlastAssert.h b/sdk/common/NvBlastAssert.h
index b1b7ca5..f121acc 100644
--- a/sdk/common/NvBlastAssert.h
+++ b/sdk/common/NvBlastAssert.h
@@ -1,12 +1,30 @@
-/*
- * Copyright (c) 2016-2017, NVIDIA CORPORATION.  All rights reserved.
- *
- * NVIDIA CORPORATION and its licensors retain all intellectual property
- * and proprietary rights in and to this software, 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.
- */
+// 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) 2016-2017 NVIDIA Corporation. All rights reserved.
+
 
 #ifndef NVBLASTASSERT_H
 #define NVBLASTASSERT_H
@@ -17,7 +35,7 @@
 
 #if !NV_ENABLE_ASSERTS
 #define NVBLAST_ASSERT(exp) ((void)0)
-#define NVBLAST_ALWAYS_ASSERT_MESSAGE(exp) ((void)0)
+#define NVBLAST_ALWAYS_ASSERT_MESSAGE(message) ((void)0)
 #define NVBLAST_ASSERT_WITH_MESSAGE(condition, message) ((void)0)
 #else
 #if NV_VC
@@ -33,12 +51,12 @@
 	if (!(exp) && !_ignore) NvBlastAssertHandler(#exp, __FILE__, __LINE__, _ignore);                          \
 	NVBLAST_CODE_ANALYSIS_ASSUME(exp);                                                                        \
 } ((void)0)
-#define NVBLAST_ALWAYS_ASSERT_MESSAGE(exp)                                                                    \
+#define NVBLAST_ALWAYS_ASSERT_MESSAGE(message)                                                                    \
 {                                                                                                             \
 	static bool _ignore = false;                                                                              \
 	if(!_ignore)                                                                                              \
 	{                                                                                                         \
-		NvBlastAssertHandler(exp, __FILE__, __LINE__, _ignore);                                               \
+		NvBlastAssertHandler(message, __FILE__, __LINE__, _ignore);                                               \
 	}                                                                                                         \
 } ((void)0)
 #define NVBLAST_ASSERT_WITH_MESSAGE(exp, message)                                                             \
diff --git a/sdk/common/NvBlastAtomic.cpp b/sdk/common/NvBlastAtomic.cpp
index 6b9d94b..4a79fbf 100644
--- a/sdk/common/NvBlastAtomic.cpp
+++ b/sdk/common/NvBlastAtomic.cpp
@@ -1,12 +1,29 @@
-/*
- * Copyright (c) 2016-2017, NVIDIA CORPORATION.  All rights reserved.
- *
- * NVIDIA CORPORATION and its licensors retain all intellectual property
- * and proprietary rights in and to this software, 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.
- */
+// 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) 2016-2017 NVIDIA Corporation. All rights reserved.
 
 
 #include "NvBlastAtomic.h"
diff --git a/sdk/common/NvBlastAtomic.h b/sdk/common/NvBlastAtomic.h
index a3e6755..6eed1c0 100644
--- a/sdk/common/NvBlastAtomic.h
+++ b/sdk/common/NvBlastAtomic.h
@@ -1,12 +1,30 @@
-/*
- * Copyright (c) 2016-2017, NVIDIA CORPORATION.  All rights reserved.
- *
- * NVIDIA CORPORATION and its licensors retain all intellectual property
- * and proprietary rights in and to this software, 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.
- */
+// 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) 2016-2017 NVIDIA Corporation. All rights reserved.
+
 
 #ifndef NVBLASTATOMIC_H
 #define NVBLASTATOMIC_H
diff --git a/sdk/common/NvBlastDLink.h b/sdk/common/NvBlastDLink.h
index bfcee24..b7bfaaa 100644
--- a/sdk/common/NvBlastDLink.h
+++ b/sdk/common/NvBlastDLink.h
@@ -1,12 +1,30 @@
-/*
- * Copyright (c) 2016-2017, NVIDIA CORPORATION.  All rights reserved.
- *
- * NVIDIA CORPORATION and its licensors retain all intellectual property
- * and proprietary rights in and to this software, 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.
- */
+// 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) 2016-2017 NVIDIA Corporation. All rights reserved.
+
 
 #ifndef NVBLASTDLINK_H
 #define NVBLASTDLINK_H
diff --git a/sdk/common/NvBlastFixedArray.h b/sdk/common/NvBlastFixedArray.h
index 654158b..837b901 100644
--- a/sdk/common/NvBlastFixedArray.h
+++ b/sdk/common/NvBlastFixedArray.h
@@ -1,12 +1,30 @@
-/*
-* Copyright (c) 2016-2017, NVIDIA CORPORATION.  All rights reserved.
-*
-* NVIDIA CORPORATION and its licensors retain all intellectual property
-* and proprietary rights in and to this software, 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.
-*/
+// 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) 2016-2017 NVIDIA Corporation. All rights reserved.
+
 
 #ifndef NVBLASTFIXEDARRAY_H
 #define NVBLASTFIXEDARRAY_H
diff --git a/sdk/common/NvBlastFixedBitmap.h b/sdk/common/NvBlastFixedBitmap.h
index af835cf..b1743ed 100644
--- a/sdk/common/NvBlastFixedBitmap.h
+++ b/sdk/common/NvBlastFixedBitmap.h
@@ -1,12 +1,30 @@
-/*
-* Copyright (c) 2016-2017, NVIDIA CORPORATION.  All rights reserved.
-*
-* NVIDIA CORPORATION and its licensors retain all intellectual property
-* and proprietary rights in and to this software, 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.
-*/
+// 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) 2016-2017 NVIDIA Corporation. All rights reserved.
+
 
 #ifndef NVBLASTFIXEDBITMAP_H
 #define NVBLASTFIXEDBITMAP_H
diff --git a/sdk/common/NvBlastFixedBoolArray.h b/sdk/common/NvBlastFixedBoolArray.h
index 253bed6..deb9733 100644
--- a/sdk/common/NvBlastFixedBoolArray.h
+++ b/sdk/common/NvBlastFixedBoolArray.h
@@ -1,12 +1,30 @@
-/*
-* Copyright (c) 2016-2017, NVIDIA CORPORATION.  All rights reserved.
-*
-* NVIDIA CORPORATION and its licensors retain all intellectual property
-* and proprietary rights in and to this software, 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.
-*/
+// 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) 2016-2017 NVIDIA Corporation. All rights reserved.
+
 
 #ifndef NVBLASTFIXEDBOOLARRAY_H
 #define NVBLASTFIXEDBOOLARRAY_H
diff --git a/sdk/common/NvBlastFixedPriorityQueue.h b/sdk/common/NvBlastFixedPriorityQueue.h
index 5079edb..1855147 100644
--- a/sdk/common/NvBlastFixedPriorityQueue.h
+++ b/sdk/common/NvBlastFixedPriorityQueue.h
@@ -1,12 +1,30 @@
-/*
-* Copyright (c) 2016-2017, NVIDIA CORPORATION.  All rights reserved.
-*
-* NVIDIA CORPORATION and its licensors retain all intellectual property
-* and proprietary rights in and to this software, 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.
-*/
+// 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) 2016-2017 NVIDIA Corporation. All rights reserved.
+
 
 #ifndef NVBLASTFIXEDPRIORITYQUEUE_H
 #define NVBLASTFIXEDPRIORITYQUEUE_H
diff --git a/sdk/common/NvBlastGeometry.h b/sdk/common/NvBlastGeometry.h
index e83ff95..97220f5 100644
--- a/sdk/common/NvBlastGeometry.h
+++ b/sdk/common/NvBlastGeometry.h
@@ -1,12 +1,29 @@
-/*
-* Copyright (c) 2016-2017, NVIDIA CORPORATION.  All rights reserved.
-*
-* NVIDIA CORPORATION and its licensors retain all intellectual property
-* and proprietary rights in and to this software, 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.
-*/
+// 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) 2016-2017 NVIDIA Corporation. All rights reserved.
 
 
 #ifndef NVBLASTGEOMETRY_H
@@ -14,36 +31,98 @@
 
 #include "NvBlastTypes.h"
 #include "NvBlastMath.h"
+#include "NvBlastAssert.h"
 
-#include<limits>
+#include <limits>
 
 
 namespace Nv {
 namespace Blast{
 
-NV_FORCE_INLINE uint32_t findNodeByPositionLinked(const float point[4],
+
+/**
+Find the closest node to point in the graph. Uses primarily distance to chunk centroids.
+Bond normals are expected to be directed from the lower to higher node index.
+Cannot be used for graph actors with only the world chunk in the graph.
+
+\param[in]	point						the point to test against
+\param[in]	firstGraphNodeIndex			the entry point for familyGraphNodeIndexLinks
+\param[in]	familyGraphNodeIndexLinks	the list index links of the actor's graph
+\param[in]	adjacencyPartition			the actor's SupportGraph adjacency partition
+\param[in]	adjacentNodeIndices			the actor's SupportGraph adjacent node indices
+\param[in]	adjacentBondIndices			the actor's SupportGraph adjacent bond indices
+\param[in]	assetBonds					the actor's asset bonds
+\param[in]	bondHealths					the actor's bond healths
+\param[in]	assetChunks					the actor's asset chunks
+\param[in]	supportChunkHealths			the actor's graph chunks healths
+\param[in]	chunkIndices				maps node index to chunk index in SupportGraph
+
+\return		the index of the node closest to point
+*/
+NV_FORCE_INLINE	uint32_t findClosestNode(const float point[4], 
 	const uint32_t firstGraphNodeIndex, const uint32_t* familyGraphNodeIndexLinks,
 	const uint32_t* adjacencyPartition, const uint32_t* adjacentNodeIndices, const uint32_t* adjacentBondIndices,
-	const NvBlastBond* bonds, const float* bondHealths)
+	const NvBlastBond* assetBonds, const float* bondHealths,
+	const NvBlastChunk* assetChunks, const float* supportChunkHealths, const uint32_t* chunkIndices)
 {
+	// firstGraphNodeIndex could still be the world chunk, however
+	// there should be no way a single-node actor that is just the world chunk exists.
 	uint32_t nodeIndex = firstGraphNodeIndex;
+	// Since there should always be a regular chunk in the graph, it is possible to initialize closestNode
+	// as world chunk index but it would always evaluate to some meaningful node index eventually.
 	uint32_t closestNode = nodeIndex;
 	float minDist = std::numeric_limits<float>().max();
 
+	// find the closest healthy chunk in the graph by its centroid to point distance
 	while (!Nv::Blast::isInvalidIndex(nodeIndex))
 	{
+		if (supportChunkHealths[nodeIndex] > 0.0f)
+		{
+			uint32_t chunkIndex = chunkIndices[nodeIndex];
+			if (!isInvalidIndex(chunkIndex)) // Invalid if this is the world chunk
+			{
+				const NvBlastChunk& chunk = assetChunks[chunkIndex];
+				const float* centroid = chunk.centroid;
+
+				float d[3]; VecMath::sub(point, centroid, d);
+				float dist = VecMath::dot(d, d);
+
+				if (dist < minDist)
+				{
+					minDist = dist;
+					closestNode = nodeIndex;
+				}
+			}
+		}
+		nodeIndex = familyGraphNodeIndexLinks[nodeIndex];
+	}
+
+	// as long as the world chunk is not input as a single-node graph actor
+	NVBLAST_ASSERT(!isInvalidIndex(chunkIndices[closestNode]));
+
+	bool iterateOnBonds = true;
+	if (iterateOnBonds)
+	{
+		// improve geometric accuracy by looking on which side of the closest bond the point lies
+		// expects bond normals to point from the smaller to the larger node index
+
+		nodeIndex = closestNode;
+		minDist = std::numeric_limits<float>().max();
+
 		const uint32_t startIndex = adjacencyPartition[nodeIndex];
 		const uint32_t stopIndex = adjacencyPartition[nodeIndex + 1];
 
 		for (uint32_t adjacentIndex = startIndex; adjacentIndex < stopIndex; adjacentIndex++)
 		{
 			const uint32_t neighbourIndex = adjacentNodeIndices[adjacentIndex];
-			if (nodeIndex < neighbourIndex)
+			const uint32_t neighbourChunk = chunkIndices[neighbourIndex];
+			if (!isInvalidIndex(neighbourChunk)) // Invalid if neighbor is the world chunk
 			{
 				const uint32_t bondIndex = adjacentBondIndices[adjacentIndex];
-				if (bondHealths[bondIndex] > 0.0f)
+				// do not follow broken bonds, since it means that neighbor is not actually connected in the graph
+				if (bondHealths[bondIndex] > 0.0f && supportChunkHealths[neighbourIndex] > 0.0f)
 				{
-					const NvBlastBond& bond = bonds[bondIndex];
+					const NvBlastBond& bond = assetBonds[bondIndex];
 
 					const float* centroid = bond.centroid;
 					float d[3]; VecMath::sub(point, centroid, d);
@@ -53,39 +132,67 @@ NV_FORCE_INLINE uint32_t findNodeByPositionLinked(const float point[4],
 					{
 						minDist = dist;
 						float s = VecMath::dot(d, bond.normal);
-						closestNode = s < 0 ? nodeIndex : neighbourIndex;
+						if (nodeIndex < neighbourIndex)
+						{
+							closestNode = s < 0.0f ? nodeIndex : neighbourIndex;
+						}
+						else
+						{
+							closestNode = s < 0.0f ? neighbourIndex : nodeIndex;
+						}
 					}
 				}
 			}
 		}
-		nodeIndex = familyGraphNodeIndexLinks[nodeIndex];
 	}
 
 	return closestNode;
 }
 
 
-NV_FORCE_INLINE uint32_t findNodeByPosition(const float point[4],
-	const uint32_t graphNodesCount, const uint32_t* graphNodeIndices,
+/**
+Find the closest node to point in the graph. Uses primarily distance to bond centroids.
+Slower compared to chunk based lookup but may yield better accuracy in some cases.
+Bond normals are expected to be directed from the lower to higher node index.
+Cannot be used for graph actors with only the world chunk in the graph.
+
+\param[in]	point						the point to test against
+\param[in]	firstGraphNodeIndex			the entry point for familyGraphNodeIndexLinks
+\param[in]	familyGraphNodeIndexLinks	the list index links of the actor's graph
+\param[in]	adjacencyPartition			the actor's SupportGraph adjacency partition
+\param[in]	adjacentNodeIndices			the actor's SupportGraph adjacent node indices
+\param[in]	adjacentBondIndices			the actor's SupportGraph adjacent bond indices
+\param[in]	assetBonds					the actor's asset bonds
+\param[in]	bondHealths					the actor's bond healths
+\param[in]	chunkIndices				maps node index to chunk index in SupportGraph
+
+\return		the index of the node closest to point
+*/
+NV_FORCE_INLINE uint32_t findClosestNode(const float point[4],
+	const uint32_t firstGraphNodeIndex, const uint32_t* familyGraphNodeIndexLinks,
 	const uint32_t* adjacencyPartition, const uint32_t* adjacentNodeIndices, const uint32_t* adjacentBondIndices,
-	const NvBlastBond* bonds, const float* bondHealths)
+	const NvBlastBond* bonds, const float* bondHealths, const uint32_t* chunkIndices)
 {
-	uint32_t closestNode = graphNodesCount > 2 ? invalidIndex<uint32_t>() : graphNodeIndices[0];
+	// firstGraphNodeIndex could still be the world chunk, however
+	// there should be no way a single-node actor that is just the world chunk exists.
+	uint32_t nodeIndex = firstGraphNodeIndex;
+	// Since there should always be a regular chunk in the graph, it is possible to initialize closestNode
+	// as world chunk index but it would always evaluate to some meaningful node index eventually.
+	uint32_t closestNode = nodeIndex;
 	float minDist = std::numeric_limits<float>().max();
 
-	for (uint32_t i = 0; i < graphNodesCount; i++)
+	while (!Nv::Blast::isInvalidIndex(nodeIndex))
 	{
-		const uint32_t nodeIndex = graphNodeIndices[i];
 		const uint32_t startIndex = adjacencyPartition[nodeIndex];
 		const uint32_t stopIndex = adjacencyPartition[nodeIndex + 1];
 
 		for (uint32_t adjacentIndex = startIndex; adjacentIndex < stopIndex; adjacentIndex++)
 		{
-			const uint32_t bondIndex = adjacentBondIndices[adjacentIndex];
-			if (bondHealths[bondIndex] > 0.0f)
+			const uint32_t neighbourIndex = adjacentNodeIndices[adjacentIndex];
+			if (nodeIndex < neighbourIndex)
 			{
-				const uint32_t neighbourIndex = adjacentNodeIndices[adjacentIndex];
-				if (nodeIndex < neighbourIndex)
+				const uint32_t bondIndex = adjacentBondIndices[adjacentIndex];
+				if (bondHealths[bondIndex] > 0.0f)
 				{
 					const NvBlastBond& bond = bonds[bondIndex];
 
@@ -96,25 +203,33 @@ NV_FORCE_INLINE uint32_t findNodeByPosition(const float point[4],
 					if (dist < minDist)
 					{
 						minDist = dist;
-						float s = VecMath::dot(d, bond.normal);
-						closestNode = s < 0 ? nodeIndex : neighbourIndex;
+						// if any of the nodes is the world chunk, use the valid one instead
+						if (isInvalidIndex(chunkIndices[neighbourIndex]))
+						{
+							closestNode = nodeIndex;
+						}
+						else if (isInvalidIndex(chunkIndices[nodeIndex]))
+						{
+							closestNode = neighbourIndex;
+						}
+						else
+						{
+							float s = VecMath::dot(d, bond.normal);
+							closestNode = s < 0 ? nodeIndex : neighbourIndex;
+						}
 					}
 				}
 			}
 		}
+		nodeIndex = familyGraphNodeIndexLinks[nodeIndex];
 	}
+
+	// as long as the world chunk is not input as a single-node graph actor
+	NVBLAST_ASSERT(!isInvalidIndex(chunkIndices[closestNode]));
 	return closestNode;
 }
 
 
-NV_FORCE_INLINE uint32_t findNodeByPosition(const float point[4],
-	const uint32_t graphNodesCount, const uint32_t* graphNodeIndices,
-	const NvBlastSupportGraph& graph,
-	const NvBlastBond* bonds, const float* bondHealths)
-{
-	return findNodeByPosition(point, graphNodesCount, graphNodeIndices, graph.adjacencyPartition, graph.adjacentNodeIndices, graph.adjacentBondIndices, bonds, bondHealths);
-}
-
 } // namespace Blast
 } // namespace Nv
 
diff --git a/sdk/common/NvBlastHashMap.h b/sdk/common/NvBlastHashMap.h
new file mode 100644
index 0000000..ddfaa04
--- /dev/null
+++ b/sdk/common/NvBlastHashMap.h
@@ -0,0 +1,55 @@
+// 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) 2016-2017 NVIDIA Corporation. All rights reserved.
+
+
+#ifndef NVBLASTHASHMAP_H
+#define NVBLASTHASHMAP_H
+
+
+#include "NvBlastAllocator.h"
+#include "PsHashMap.h"
+
+
+namespace Nv
+{
+namespace Blast
+{
+
+/**
+Wrapped PxShared HashMap that uses NvBlastGlobals AllocatorCalllback.
+*/
+template <class Key, class Value, class HashFn = physx::shdfnd::Hash<Key>>
+struct HashMap
+{
+	typedef physx::shdfnd::HashMap<Key, Value, HashFn, Allocator> type;
+};
+
+} // namespace Blast
+} // namespace Nv
+
+
+#endif // #ifndef NVBLASTHASHMAP_H
diff --git a/sdk/common/NvBlastHashSet.h b/sdk/common/NvBlastHashSet.h
new file mode 100644
index 0000000..3f31462
--- /dev/null
+++ b/sdk/common/NvBlastHashSet.h
@@ -0,0 +1,54 @@
+// 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) 2016-2017 NVIDIA Corporation. All rights reserved.
+
+
+#ifndef NVBLASTHASHSET_H
+#define NVBLASTHASHSET_H
+
+
+#include "NvBlastAllocator.h"
+#include "PsHashSet.h"
+
+namespace Nv
+{
+namespace Blast
+{
+
+/**
+Wrapped PxShared HashSet that uses NvBlastGlobals AllocatorCalllback.
+*/
+template <class Key, class HashFn = physx::shdfnd::Hash<Key>>
+struct HashSet
+{
+	typedef physx::shdfnd::HashSet<Key, HashFn, Allocator> type;
+};
+
+} // namespace Blast
+} // namespace Nv
+
+
+#endif // #ifndef NVBLASTHASHSET_H
diff --git a/sdk/common/NvBlastIncludeWindows.h b/sdk/common/NvBlastIncludeWindows.h
index 9115fd4..86a5818 100644
--- a/sdk/common/NvBlastIncludeWindows.h
+++ b/sdk/common/NvBlastIncludeWindows.h
@@ -3,15 +3,28 @@
 //
 // Notice
 // NVIDIA Corporation and its licensors retain all intellectual property and
-/*
-* Copyright (c) 2016-2017, NVIDIA CORPORATION.  All rights reserved.
-*
-* NVIDIA CORPORATION and its licensors retain all intellectual property
-* and proprietary rights in and to this software, 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.
-*/
+// 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) 2016-2017 NVIDIA Corporation. All rights reserved.
+
 
 #ifndef NVBLASTINCLUDEWINDOWS_H
 #define NVBLASTINCLUDEWINDOWS_H
diff --git a/sdk/common/NvBlastIndexFns.h b/sdk/common/NvBlastIndexFns.h
index a800a73..b4154ad 100644
--- a/sdk/common/NvBlastIndexFns.h
+++ b/sdk/common/NvBlastIndexFns.h
@@ -1,12 +1,30 @@
-/*
- * Copyright (c) 2008-2017, NVIDIA CORPORATION.  All rights reserved.
- *
- * NVIDIA CORPORATION and its licensors retain all intellectual property
- * and proprietary rights in and to this software, 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.
- */
+// 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) 2008-2017 NVIDIA Corporation. All rights reserved.
+
 
 #ifndef NVBLASTINDEXFNS_H
 #define NVBLASTINDEXFNS_H
diff --git a/sdk/common/NvBlastIteratorBase.h b/sdk/common/NvBlastIteratorBase.h
index 9053f4b..2de8d09 100644
--- a/sdk/common/NvBlastIteratorBase.h
+++ b/sdk/common/NvBlastIteratorBase.h
@@ -1,12 +1,30 @@
-/*
- * Copyright (c) 2016-2017, NVIDIA CORPORATION.  All rights reserved.
- *
- * NVIDIA CORPORATION and its licensors retain all intellectual property
- * and proprietary rights in and to this software, 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.
- */
+// 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) 2016-2017 NVIDIA Corporation. All rights reserved.
+
 
 #ifndef NVBLASTITERATORBASE_H
 #define NVBLASTITERATORBASE_H
diff --git a/sdk/common/NvBlastMath.h b/sdk/common/NvBlastMath.h
index 0a29f14..4a4522e 100644
--- a/sdk/common/NvBlastMath.h
+++ b/sdk/common/NvBlastMath.h
@@ -1,12 +1,30 @@
-/*
- * Copyright (c) 2016-2017, NVIDIA CORPORATION.  All rights reserved.
- *
- * NVIDIA CORPORATION and its licensors retain all intellectual property
- * and proprietary rights in and to this software, 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.
- */
+// 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) 2016-2017 NVIDIA Corporation. All rights reserved.
+
 
 #ifndef NVBLASTMATH_H
 #define NVBLASTMATH_H
@@ -60,13 +78,25 @@ NV_INLINE float dot(const float a[3], const float b[3])
 	return r;
 }
 
+NV_INLINE float length(const float a[3])
+{
+	return sqrtf(dot(a, a));
+}
+
+NV_INLINE float dist(const float a[3], const float b[3])
+{
+	float v[3];
+	sub(a, b, v);
+	return length(v);
+}
+
 NV_INLINE float normal(const float a[3], float r[3])
 {
-	float length = sqrtf(dot(a, a));
+	float d = length(a);
 	for (int i = 0; i < 3; i++)
-		r[i] = a[i] / length;
+		r[i] = a[i] / d;
 
-	return length;
+	return d;
 }
 
 
diff --git a/sdk/common/NvBlastMemory.h b/sdk/common/NvBlastMemory.h
index 0fb6a06..e21854e 100644
--- a/sdk/common/NvBlastMemory.h
+++ b/sdk/common/NvBlastMemory.h
@@ -1,12 +1,30 @@
-/*
- * Copyright (c) 2016-2017, NVIDIA CORPORATION.  All rights reserved.
- *
- * NVIDIA CORPORATION and its licensors retain all intellectual property
- * and proprietary rights in and to this software, 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.
- */
+// 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) 2016-2017 NVIDIA Corporation. All rights reserved.
+
 
 #ifndef NVBLASTMEMORY_H
 #define NVBLASTMEMORY_H
@@ -104,7 +122,7 @@ align16(_lastOffset + _lastSize)
 #include <malloc.h>
 #define NvBlastAlloca(x) _alloca(x)
 #elif NV_LINUX || NV_ANDROID
-#include <malloc.h>
+#include <alloca.h>
 #define NvBlastAlloca(x) alloca(x)
 #elif NV_APPLE_FAMILY
 #include <alloca.h>
diff --git a/sdk/common/NvBlastPreprocessorInternal.h b/sdk/common/NvBlastPreprocessorInternal.h
index 2d3e185..c6ef511 100644
--- a/sdk/common/NvBlastPreprocessorInternal.h
+++ b/sdk/common/NvBlastPreprocessorInternal.h
@@ -1,12 +1,30 @@
-/*
-* Copyright (c) 2016-2017, NVIDIA CORPORATION.  All rights reserved.
-*
-* NVIDIA CORPORATION and its licensors retain all intellectual property
-* and proprietary rights in and to this software, 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.
-*/
+// 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) 2016-2017 NVIDIA Corporation. All rights reserved.
+
 
 #ifndef NVBLASTPREPROCESSORINTERNAL_H
 #define NVBLASTPREPROCESSORINTERNAL_H
@@ -15,12 +33,21 @@
 #include "NvPreprocessor.h"
 
 
+/**
+Macros for more convenient logging
+*/
+#define NVBLASTLL_LOG_ERROR(_logFn, _msg)		if (_logFn != nullptr) { _logFn(NvBlastMessage::Error, _msg, __FILE__, __LINE__); } ((void)0)
+#define NVBLASTLL_LOG_WARNING(_logFn, _msg)		if (_logFn != nullptr) { _logFn(NvBlastMessage::Warning, _msg, __FILE__, __LINE__); } ((void)0)
+#define NVBLASTLL_LOG_INFO(_logFn, _msg)		if (_logFn != nullptr) { _logFn(NvBlastMessage::Info, _msg, __FILE__, __LINE__); } ((void)0)
+#define NVBLASTLL_LOG_DEBUG(_logFn, _msg)		if (_logFn != nullptr) { _logFn(NvBlastMessage::Debug, _msg, __FILE__, __LINE__); } ((void)0)
+
+
 /** Blast will check function parameters for debug and checked builds. */
-#define NVBLAST_CHECK_PARAMS (NV_DEBUG || NV_CHECKED)
+#define NVBLASTLL_CHECK_PARAMS (NV_DEBUG || NV_CHECKED)
 
 
-#if NVBLAST_CHECK_PARAMS
-#define NVBLAST_CHECK(_expr, _logFn, _msg, _onFail)																		\
+#if NVBLASTLL_CHECK_PARAMS
+#define NVBLASTLL_CHECK(_expr, _logFn, _msg, _onFail)																		\
 	{																													\
 		if(!(_expr))																									\
 		{																												\
@@ -29,7 +56,7 @@
 		}																												\
 	}																													
 #else
-#define NVBLAST_CHECK(_expr, _logFn, _msg, _onFail) NV_UNUSED(_logFn)
+#define NVBLASTLL_CHECK(_expr, _logFn, _msg, _onFail) NV_UNUSED(_logFn)
 #endif
 
 
diff --git a/sdk/common/NvBlastTime.cpp b/sdk/common/NvBlastTime.cpp
index b16e573..035d45e 100644
--- a/sdk/common/NvBlastTime.cpp
+++ b/sdk/common/NvBlastTime.cpp
@@ -1,12 +1,30 @@
-/*
-* Copyright (c) 2016-2017, NVIDIA CORPORATION.  All rights reserved.
-*
-* NVIDIA CORPORATION and its licensors retain all intellectual property
-* and proprietary rights in and to this software, 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.
-*/
+// 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) 2016-2017 NVIDIA Corporation. All rights reserved.
+
 
 #include "NvBlastTime.h"
 #include "NvBlast.h"
diff --git a/sdk/common/NvBlastTime.h b/sdk/common/NvBlastTime.h
index 47af36b..3cac5f7 100644
--- a/sdk/common/NvBlastTime.h
+++ b/sdk/common/NvBlastTime.h
@@ -3,15 +3,28 @@
 //
 // Notice
 // NVIDIA Corporation and its licensors retain all intellectual property and
-/*
-* Copyright (c) 2016-2017, NVIDIA CORPORATION.  All rights reserved.
-*
-* NVIDIA CORPORATION and its licensors retain all intellectual property
-* and proprietary rights in and to this software, 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.
-*/
+// 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) 2016-2017 NVIDIA Corporation. All rights reserved.
+
 
 #ifndef NVBLASTTIME_H
 #define NVBLASTTIME_H
diff --git a/sdk/common/NvBlastTimers.cpp b/sdk/common/NvBlastTimers.cpp
index ec93134..4527e1f 100644
--- a/sdk/common/NvBlastTimers.cpp
+++ b/sdk/common/NvBlastTimers.cpp
@@ -1,12 +1,30 @@
-/*
-* Copyright (c) 2016-2017, NVIDIA CORPORATION.  All rights reserved.
-*
-* NVIDIA CORPORATION and its licensors retain all intellectual property
-* and proprietary rights in and to this software, 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.
-*/
+// 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) 2016-2017 NVIDIA Corporation. All rights reserved.
+
 
 #include "NvBlast.h"
 #include "NvBlastTime.h"