6 files changed, 8 insertions, 6 deletions
diff --git a/samples/SampleBase/blast/BlastController.cpp b/samples/SampleBase/blast/BlastController.cpp
index 52536f5..c457092 100755
--- a/samples/SampleBase/blast/BlastController.cpp
+++ b/samples/SampleBase/blast/BlastController.cpp
@@ -129,7 +129,7 @@ void BlastController::onSampleStart()
 	m_replay = new BlastReplay();
 
 	m_taskManager =
-	    PxTaskManager::createTaskManager(NvBlastGetPxErrorCallback(), getPhysXController().getCPUDispatcher(), 0);
+	    PxTaskManager::createTaskManager(NvBlastGetPxErrorCallback(), getPhysXController().getCPUDispatcher());
 
 	TkGroupDesc gdesc;
 	gdesc.workerCount = m_taskManager->getCpuDispatcher()->getWorkerCount();
diff --git a/samples/SampleBase/physx/PhysXController.cpp b/samples/SampleBase/physx/PhysXController.cpp
index cc9ade0..1f91d1d 100755
--- a/samples/SampleBase/physx/PhysXController.cpp
+++ b/samples/SampleBase/physx/PhysXController.cpp
@@ -52,7 +52,6 @@
 #include "PxRigidDynamic.h"
 #include "PxRigidStatic.h"
 #include "PxMaterial.h"
-#include "PxFoundationVersion.h"
 #include "PxMath.h"
 
 #include <imgui.h>
@@ -110,7 +109,7 @@ void PhysXController::onTerminate()
 
 void PhysXController::initPhysX()
 {
-	m_foundation = PxCreateFoundation(PX_FOUNDATION_VERSION, NvBlastGetPxAllocatorCallback(), NvBlastGetPxErrorCallback());
+	m_foundation = PxCreateFoundation(PX_PHYSICS_VERSION, NvBlastGetPxAllocatorCallback(), NvBlastGetPxErrorCallback());
 
 	m_pvd = PxCreatePvd(*m_foundation);
 
@@ -139,11 +138,11 @@ void PhysXController::initPhysX()
 	sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
 	m_dispatcher = PxDefaultCpuDispatcherCreate(4);
 	sceneDesc.cpuDispatcher = m_dispatcher;
-	sceneDesc.gpuDispatcher = m_cudaContext != NULL ? m_cudaContext->getGpuDispatcher() : NULL;
+	sceneDesc.cudaContextManager = m_cudaContext;
 	sceneDesc.filterShader = m_filterShader;
 	sceneDesc.flags |= PxSceneFlag::eENABLE_STABILIZATION;
 	sceneDesc.flags |= PxSceneFlag::eENABLE_PCM;
-	if (sceneDesc.gpuDispatcher == nullptr)
+	if (sceneDesc.cudaContextManager == nullptr)
 	{
 		m_gpuPhysicsAvailable = false;
 		m_useGPUPhysics = false;
diff --git a/samples/SampleBase/renderer/RenderMaterial.cpp b/samples/SampleBase/renderer/RenderMaterial.cpp
index c49ee8e..baddcfb 100755
--- a/samples/SampleBase/renderer/RenderMaterial.cpp
+++ b/samples/SampleBase/renderer/RenderMaterial.cpp
@@ -28,6 +28,7 @@
 
 #include "RenderMaterial.h"
 #include <DirectXMath.h>
+#include "PxAssert.h"
 #include "ShaderUtils.h"
 #include "Renderer.h"
 
diff --git a/samples/SampleBase/renderer/Renderable.cpp b/samples/SampleBase/renderer/Renderable.cpp
index 40dd70e..903854d 100755
--- a/samples/SampleBase/renderer/Renderable.cpp
+++ b/samples/SampleBase/renderer/Renderable.cpp
@@ -27,6 +27,7 @@
 
 
 #include "Renderable.h"
+#include "PxAssert.h"
 #include "Renderer.h"
 #include "RenderUtils.h"
 
diff --git a/samples/SampleBase/renderer/Renderer.cpp b/samples/SampleBase/renderer/Renderer.cpp
index 8b15aff..221ed3e 100755
--- a/samples/SampleBase/renderer/Renderer.cpp
+++ b/samples/SampleBase/renderer/Renderer.cpp
@@ -30,7 +30,7 @@
 #include "RenderUtils.h"
 #include "UIHelpers.h"
 #include "SampleProfiler.h"
-
+#include "PxAssert.h"
 #include "PxRenderBuffer.h"
 
 #include <set>
diff --git a/samples/SampleBase/renderer/SkinnedRenderMesh.cpp b/samples/SampleBase/renderer/SkinnedRenderMesh.cpp
index db8d760..b8508e8 100755
--- a/samples/SampleBase/renderer/SkinnedRenderMesh.cpp
+++ b/samples/SampleBase/renderer/SkinnedRenderMesh.cpp
@@ -27,6 +27,7 @@
 
 
 #include "SkinnedRenderMesh.h"
+#include "PxAssert.h"
 #include "Renderer.h"
 
 SkinnedRenderMesh::SkinnedRenderMesh(const std::vector<const SimpleMesh*>& meshes)