Initial 1.1.0 binary release

46 files changed, 6785 insertions, 0 deletions

diff --git a/extensions/compiler/makeandroid/Makefile b/extensions/compiler/makeandroid/Makefile
new file mode 100644
index 0000000..e03f411
--- /dev/null
+++ b/extensions/compiler/makeandroid/Makefile
@@ -0,0 +1,202 @@
+#!/usr/bin/make
+# Makefile generated by XPJ for android
+
+DEPSDIR = .deps
+NDKROOT = "$(NDK_ROOT)"/"$(NDK_VERSION)"
+NDK_BIN_DIR = "$(NDK_ROOT)"/"$(NDK_VERSION)"/toolchains/"$(NDK_TOOLCHAIN)"/prebuilt/"linux-x86_64"/bin
+NDK_PREFIX = arm-linux-androideabi-
+JAVA_HOME  = ./../xpj/"$(JAVA_HOME)"
+ANT_TOOL = ./../xpj/"$(ANT_HOME}"/bin/ant
+#default defines
+OBJS_DIR  = build
+RMDIR     = rm -fr
+ECHO      = echo
+CCLD      =  $(NDK_BIN_DIR)/$(NDK_PREFIX)g++
+CXX       =  $(NDK_BIN_DIR)/$(NDK_PREFIX)g++
+CC        =  $(NDK_BIN_DIR)/$(NDK_PREFIX)gcc
+RANLIB    = $(NDK_BIN_DIR)/$(NDK_PREFIX)ranlib
+AR		 = $(NDK_BIN_DIR)/$(NDK_PREFIX)ar
+STRIP     = $(NDK_BIN_DIR)/$(NDK_PREFIX)strip
+OBJDUMP   = $(NDK_BIN_DIR)/$(NDK_PREFIX)objdump
+OBJCOPY   = $(NDK_BIN_DIR)/$(NDK_PREFIX)objcopy
+-include Makedefs.ANDROID.mk
+
+all: debug release 
+
+debug: build_flexExtCUDA_debug 
+
+release: build_flexExtCUDA_release 
+
+clean: clean_flexExtCUDA_release clean_flexExtCUDA_debug 
+	rm -rf $(DEPSDIR)
+
+
+clean_release: clean_flexExtCUDA_release 
+	rm -rf $(DEPSDIR)
+
+
+clean_debug: clean_flexExtCUDA_debug 
+	rm -rf $(DEPSDIR)
+
+
+include Makefile.flexExtCUDA.mk
+
+
+# Disable implicit rules to speedup build
+.SUFFIXES:
+SUFFIXES :=
+%.out:
+%.a:
+%.ln:
+%.o:
+%: %.o
+%.c:
+%: %.c
+%.ln: %.c
+%.o: %.c
+%.cc:
+%: %.cc
+%.o: %.cc
+%.C:
+%: %.C
+%.o: %.C
+%.cpp:
+%: %.cpp
+%.o: %.cpp
+%.p:
+%: %.p
+%.o: %.p
+%.f:
+%:
+ %.f%.o: %.f
+%.F:
+%: %.F
+%.o: %.F
+%.f: %.F
+%.r:
+%: %.r
+%.o: %.r
+%.f: %.r
+%.y:
+%.ln: %.y
+%.c: %.y
+%.l:
+%.ln: %.l
+%.c: %.l
+%.r: %.l
+%.s:
+%: %.s
+%.o: %.s
+%.S:
+%: %.S
+%.o: %.S
+%.s: %.S
+%.mod:
+%: %.mod
+%.o: %.mod
+%.sym:
+%.def:
+%.sym: %.def
+%.h:
+%.info:
+%.dvi:
+%.tex:
+%.dvi: %.tex
+%.texinfo:
+%.info: %.texinfo
+%.dvi: %.texinfo
+%.texi:
+%.info: %.texi
+%.dvi: %.texi
+%.txinfo:
+%.info: %.txinfo
+%.dvi: %.txinfo
+%.w:
+%.c: %.w
+%.tex: %.w
+%.ch:
+%.web:
+%.p: %.web
+%.tex: %.web
+%.sh:
+%: %.sh
+%.elc:
+%.el:
+(%): %
+%.out: %
+%.c: %.w %.ch
+%.tex: %.w %.ch
+%: %,v
+%: RCS/%,v
+%: RCS/%
+%: s.%
+%: SCCS/s.%
+.web.p:
+.l.r:
+.dvi:
+.F.o:
+.l:
+.y.ln:
+.o:
+.y:
+.def.sym:
+.p.o:
+.p:
+.txinfo.dvi:
+.a:
+.l.ln:
+.w.c:
+.texi.dvi:
+.sh:
+.cc:
+.cc.o:
+.def:
+.c.o:
+.r.o:
+.r:
+.info:
+.elc:
+.l.c:
+.out:
+.C:
+.r.f:
+.S:
+.texinfo.info:
+.c:
+.w.tex:
+.c.ln:
+.s.o:
+.s:
+.texinfo.dvi:
+.el:
+.texinfo:
+.y.c:
+.web.tex:
+.texi.info:
+.DEFAULT:
+.h:
+.tex.dvi:
+.cpp.o:
+.cpp:
+.C.o:
+.ln:
+.texi:
+.txinfo:
+.tex:
+.txinfo.info:
+.ch:
+.S.s:
+.mod:
+.mod.o:
+.F.f:
+.w:
+.S.o:
+.F:
+.web:
+.sym:
+.f:
+.f.o:
+export VERBOSE
+ifndef VERBOSE
+.SILENT:
+endif
diff --git a/extensions/compiler/makeandroid/Makefile.flexCUDA.mk b/extensions/compiler/makeandroid/Makefile.flexCUDA.mk
new file mode 100644
index 0000000..2f9e44a
--- /dev/null
+++ b/extensions/compiler/makeandroid/Makefile.flexCUDA.mk
@@ -0,0 +1,225 @@
+# Makefile generated by XPJ for android
+-include Makefile.custom
+ProjectName = flexCUDA
+flexCUDA_cppfiles   += ./../../../src/cuda/util.cpp
+flexCUDA_cuda_src_cuda_bvh_cu   += ./../../../src/cuda/bvh.cu
+flexCUDA_cuda_src_cuda_flex_cu   += ./../../../src/cuda/flex.cu
+flexCUDA_cuda_src_cuda_sort_cu   += ./../../../src/cuda/sort.cu
+
+flexCUDA_cpp_release_dep    = $(addprefix $(DEPSDIR)/flexCUDA/release/, $(subst ./, , $(subst ../, , $(patsubst %.cpp, %.cpp.P, $(flexCUDA_cppfiles)))))
+flexCUDA_cc_release_dep    = $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(patsubst %.cc, %.cc.release.P, $(flexCUDA_ccfiles)))))
+flexCUDA_c_release_dep      = $(addprefix $(DEPSDIR)/flexCUDA/release/, $(subst ./, , $(subst ../, , $(patsubst %.c, %.c.P, $(flexCUDA_cfiles)))))
+flexCUDA_release_dep      = $(flexCUDA_cpp_release_dep) $(flexCUDA_cc_release_dep) $(flexCUDA_c_release_dep)
+-include $(flexCUDA_release_dep)
+flexCUDA_cpp_debug_dep    = $(addprefix $(DEPSDIR)/flexCUDA/debug/, $(subst ./, , $(subst ../, , $(patsubst %.cpp, %.cpp.P, $(flexCUDA_cppfiles)))))
+flexCUDA_cc_debug_dep    = $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(patsubst %.cc, %.cc.debug.P, $(flexCUDA_ccfiles)))))
+flexCUDA_c_debug_dep      = $(addprefix $(DEPSDIR)/flexCUDA/debug/, $(subst ./, , $(subst ../, , $(patsubst %.c, %.c.P, $(flexCUDA_cfiles)))))
+flexCUDA_debug_dep      = $(flexCUDA_cpp_debug_dep) $(flexCUDA_cc_debug_dep) $(flexCUDA_c_debug_dep)
+-include $(flexCUDA_debug_dep)
+flexCUDA_release_hpaths    := 
+flexCUDA_release_hpaths    += ./../../..
+flexCUDA_release_hpaths    += ./../../../../../../external/android-ndk/android-ndk-r10e-linux/platforms/android-15/arch-arm/usr/include
+flexCUDA_release_hpaths    += ./../../../../../../external/android-ndk/android-ndk-r10e-linux/sources/cxx-stl/stlport/stlport
+flexCUDA_release_hpaths    += ./../../../../../../external/CUDA/cuda-6.0-linux/targets/armv7-linux-androideabi/include
+flexCUDA_release_lpaths    := 
+flexCUDA_release_lpaths    += ./../../../../../../external/CUDA/cuda-6.0-linux/targets/armv7-linux-androideabi/lib
+flexCUDA_release_lpaths    += ./../../../lib/android
+flexCUDA_release_lpaths    += ./../../../../../../external/android-ndk/android-ndk-r10e-linux/sources/cxx-stl/stlport/libs/armeabi-v7a
+flexCUDA_release_defines   := $(flexCUDA_custom_defines)
+flexCUDA_release_defines   += android
+flexCUDA_release_defines   += ANDROID=1
+flexCUDA_release_defines   += ANDROID_PLAT=1
+flexCUDA_release_defines   += DISABLE_IMPORTGL
+flexCUDA_release_libraries := 
+flexCUDA_release_common_cflags	:= $(flexCUDA_custom_cflags)
+flexCUDA_release_common_cflags    += -MMD
+flexCUDA_release_common_cflags    += $(addprefix -D, $(flexCUDA_release_defines))
+flexCUDA_release_common_cflags    += $(addprefix -I, $(flexCUDA_release_hpaths))
+flexCUDA_release_cflags	:= $(flexCUDA_release_common_cflags)
+flexCUDA_release_cflags  += -Wall -std=c++11 -fpermissive -fno-strict-aliasing -fno-rtti -fno-exceptions
+flexCUDA_release_cflags  += -O3 -ffast-math
+flexCUDA_release_cppflags	:= $(flexCUDA_release_common_cflags)
+flexCUDA_release_cppflags  += -Wall -std=c++11 -fpermissive -fno-strict-aliasing -fno-rtti -fno-exceptions
+flexCUDA_release_cppflags  += -O3 -ffast-math
+flexCUDA_release_lflags    := $(flexCUDA_custom_lflags)
+flexCUDA_release_lflags    += $(addprefix -L, $(flexCUDA_release_lpaths))
+flexCUDA_release_lflags    += -Wl,--start-group $(addprefix -l, $(flexCUDA_release_libraries)) -Wl,--end-group
+flexCUDA_release_objsdir  = $(OBJS_DIR)/flexCUDA_release
+flexCUDA_release_cpp_o    = $(addprefix $(flexCUDA_release_objsdir)/, $(subst ./, , $(subst ../, , $(patsubst %.cpp, %.cpp.o, $(flexCUDA_cppfiles)))))
+flexCUDA_release_cc_o    = $(addprefix $(flexCUDA_release_objsdir)/, $(subst ./, , $(subst ../, , $(patsubst %.cc, %.cc.o, $(flexCUDA_ccfiles)))))
+flexCUDA_release_c_o      = $(addprefix $(flexCUDA_release_objsdir)/, $(subst ./, , $(subst ../, , $(patsubst %.c, %.c.o, $(flexCUDA_cfiles)))))
+flexCUDA_release_cuda_src_cuda_bvh_cu_o += $(OBJS_DIR)/flexCUDA_release/cuda/src/cudabvh.o
+flexCUDA_release_cuda_src_cuda_flex_cu_o += $(OBJS_DIR)/flexCUDA_release/cuda/src/cudaflex.o
+flexCUDA_release_cuda_src_cuda_sort_cu_o += $(OBJS_DIR)/flexCUDA_release/cuda/src/cudasort.o
+flexCUDA_release_obj      = $(flexCUDA_release_cpp_o) $(flexCUDA_release_cc_o) $(flexCUDA_release_c_o) $(flexCUDA_release_cuda_src_cuda_bvh_cu_o) $(flexCUDA_release_cuda_src_cuda_flex_cu_o) $(flexCUDA_release_cuda_src_cuda_sort_cu_o)
+flexCUDA_release_bin      := ./../../../lib/android/libNvFlexReleaseCUDA_armv7l.a
+
+clean_flexCUDA_release: 
+	@$(ECHO) clean flexCUDA release
+	@$(RMDIR) $(flexCUDA_release_objsdir)
+	@$(RMDIR) $(flexCUDA_release_bin)
+	@$(RMDIR) $(DEPSDIR)/flexCUDA/release
+
+build_flexCUDA_release: postbuild_flexCUDA_release
+postbuild_flexCUDA_release: mainbuild_flexCUDA_release
+mainbuild_flexCUDA_release: prebuild_flexCUDA_release $(flexCUDA_release_bin)
+prebuild_flexCUDA_release:
+
+$(flexCUDA_release_bin): $(flexCUDA_release_obj) 
+	mkdir -p `dirname ./../../../lib/android/libNvFlexReleaseCUDA_armv7l.a`
+	@$(AR) rcs $(flexCUDA_release_bin) $(flexCUDA_release_obj)
+	$(ECHO) building $@ complete!
+
+$(flexCUDA_release_cuda_src_cuda_bvh_cu_o): $(flexCUDA_cuda_src_cuda_bvh_cu) 
+	@mkdir -p `dirname $(OBJS_DIR)/flexCUDA_release/cuda/src/cudabvh.o`
+	$(ECHO) "../../../../../../external/CUDA/cuda-6.0-linux/bin/nvcc" -ccbin /home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/toolchains/arm-linux-androideabi-4.8/prebuilt/linux-x86_64/bin/arm-linux-androideabi-g++ -target-cpu-arch=ARM -m32 -arch=sm_32 -O3 -Xptxas -dlcm=ca -target-os-variant=Android -I"../../../../../../external/CUDA/cuda-6.0-linux/targets/armv7-linux-androideabi/include" -I"../../.." -I"/home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/sources/cxx-stl/stlport/stlport" -I"/home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/platforms/android-15/arch-arm/usr/include"  --compile "../../../src/cuda/bvh.cu" -o "$(OBJS_DIR)/flexCUDA_release/cuda/src/cudabvh.o"
+	"../../../../../../external/CUDA/cuda-6.0-linux/bin/nvcc" -ccbin /home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/toolchains/arm-linux-androideabi-4.8/prebuilt/linux-x86_64/bin/arm-linux-androideabi-g++ -target-cpu-arch=ARM -m32 -arch=sm_32 -O3 -Xptxas -dlcm=ca -target-os-variant=Android -I"../../../../../../external/CUDA/cuda-6.0-linux/targets/armv7-linux-androideabi/include" -I"../../.." -I"/home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/sources/cxx-stl/stlport/stlport" -I"/home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/platforms/android-15/arch-arm/usr/include"  --compile "../../../src/cuda/bvh.cu" -o "$(OBJS_DIR)/flexCUDA_release/cuda/src/cudabvh.o"
+
+$(flexCUDA_release_cuda_src_cuda_flex_cu_o): $(flexCUDA_cuda_src_cuda_flex_cu) 
+	@mkdir -p `dirname $(OBJS_DIR)/flexCUDA_release/cuda/src/cudaflex.o`
+	$(ECHO) "../../../../../../external/CUDA/cuda-6.0-linux/bin/nvcc" -ccbin /home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/toolchains/arm-linux-androideabi-4.8/prebuilt/linux-x86_64/bin/arm-linux-androideabi-g++ -target-cpu-arch=ARM -m32 -arch=sm_32 -O3 -Xptxas -dlcm=ca -target-os-variant=Android -I"../../../../../../external/CUDA/cuda-6.0-linux/targets/armv7-linux-androideabi/include" -I"../../.." -I"/home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/sources/cxx-stl/stlport/stlport" -I"/home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/platforms/android-15/arch-arm/usr/include"  --compile "../../../src/cuda/flex.cu" -o "$(OBJS_DIR)/flexCUDA_release/cuda/src/cudaflex.o"
+	"../../../../../../external/CUDA/cuda-6.0-linux/bin/nvcc" -ccbin /home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/toolchains/arm-linux-androideabi-4.8/prebuilt/linux-x86_64/bin/arm-linux-androideabi-g++ -target-cpu-arch=ARM -m32 -arch=sm_32 -O3 -Xptxas -dlcm=ca -target-os-variant=Android -I"../../../../../../external/CUDA/cuda-6.0-linux/targets/armv7-linux-androideabi/include" -I"../../.." -I"/home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/sources/cxx-stl/stlport/stlport" -I"/home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/platforms/android-15/arch-arm/usr/include"  --compile "../../../src/cuda/flex.cu" -o "$(OBJS_DIR)/flexCUDA_release/cuda/src/cudaflex.o"
+
+$(flexCUDA_release_cuda_src_cuda_sort_cu_o): $(flexCUDA_cuda_src_cuda_sort_cu) 
+	@mkdir -p `dirname $(OBJS_DIR)/flexCUDA_release/cuda/src/cudasort.o`
+	$(ECHO) "../../../../../../external/CUDA/cuda-6.0-linux/bin/nvcc" -ccbin /home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/toolchains/arm-linux-androideabi-4.8/prebuilt/linux-x86_64/bin/arm-linux-androideabi-g++ -target-cpu-arch=ARM -m32 -arch=sm_32 -O3 -Xptxas -dlcm=ca -target-os-variant=Android -I"../../../../../../external/CUDA/cuda-6.0-linux/targets/armv7-linux-androideabi/include" -I"../../.." -I"/home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/sources/cxx-stl/stlport/stlport" -I"/home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/platforms/android-15/arch-arm/usr/include"  --compile "../../../src/cuda/sort.cu" -o "$(OBJS_DIR)/flexCUDA_release/cuda/src/cudasort.o"
+	"../../../../../../external/CUDA/cuda-6.0-linux/bin/nvcc" -ccbin /home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/toolchains/arm-linux-androideabi-4.8/prebuilt/linux-x86_64/bin/arm-linux-androideabi-g++ -target-cpu-arch=ARM -m32 -arch=sm_32 -O3 -Xptxas -dlcm=ca -target-os-variant=Android -I"../../../../../../external/CUDA/cuda-6.0-linux/targets/armv7-linux-androideabi/include" -I"../../.." -I"/home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/sources/cxx-stl/stlport/stlport" -I"/home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/platforms/android-15/arch-arm/usr/include"  --compile "../../../src/cuda/sort.cu" -o "$(OBJS_DIR)/flexCUDA_release/cuda/src/cudasort.o"
+
+flexCUDA_release_DEPDIR = $(dir $(@))/$(*F)
+$(flexCUDA_release_cpp_o): $(flexCUDA_release_objsdir)/%.o:
+	$(ECHO) flexCUDA: compiling release $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_cppfiles))...
+	mkdir -p $(dir $(@))
+	$(CXX) $(flexCUDA_release_cppflags) -c $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_cppfiles)) -o $@
+	@mkdir -p $(dir $(addprefix $(DEPSDIR)/flexCUDA/release/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_cppfiles))))))
+	cp $(flexCUDA_release_DEPDIR).d $(addprefix $(DEPSDIR)/flexCUDA/release/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_cppfiles))))).P; \
+	  sed -e 's/#.*//' -e 's/^[^:]*: *//' -e 's/ *\\$$//' \
+		-e '/^$$/ d' -e 's/$$/ :/' < $(flexCUDA_release_DEPDIR).d >> $(addprefix $(DEPSDIR)/flexCUDA/release/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_cppfiles))))).P; \
+	  rm -f $(flexCUDA_release_DEPDIR).d
+
+$(flexCUDA_release_cc_o): $(flexCUDA_release_objsdir)/%.o:
+	$(ECHO) flexCUDA: compiling release $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_ccfiles))...
+	mkdir -p $(dir $(@))
+	$(CXX) $(flexCUDA_release_cppflags) -c $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_ccfiles)) -o $@
+	mkdir -p $(dir $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_ccfiles))))))
+	cp $(flexCUDA_release_DEPDIR).d $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_ccfiles))))).release.P; \
+	  sed -e 's/#.*//' -e 's/^[^:]*: *//' -e 's/ *\\$$//' \
+		-e '/^$$/ d' -e 's/$$/ :/' < $(flexCUDA_release_DEPDIR).d >> $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_ccfiles))))).release.P; \
+	  rm -f $(flexCUDA_release_DEPDIR).d
+
+$(flexCUDA_release_c_o): $(flexCUDA_release_objsdir)/%.o:
+	$(ECHO) flexCUDA: compiling release $(filter %$(strip $(subst .c.o,.c, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_cfiles))...
+	mkdir -p $(dir $(@))
+	$(CC) $(flexCUDA_release_cflags) -c $(filter %$(strip $(subst .c.o,.c, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_cfiles)) -o $@ 
+	@mkdir -p $(dir $(addprefix $(DEPSDIR)/flexCUDA/release/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .c.o,.c, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_cfiles))))))
+	cp $(flexCUDA_release_DEPDIR).d $(addprefix $(DEPSDIR)/flexCUDA/release/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .c.o,.c, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_cfiles))))).P; \
+	  sed -e 's/#.*//' -e 's/^[^:]*: *//' -e 's/ *\\$$//' \
+		-e '/^$$/ d' -e 's/$$/ :/' < $(flexCUDA_release_DEPDIR).d >> $(addprefix $(DEPSDIR)/flexCUDA/release/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .c.o,.c, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_cfiles))))).P; \
+	  rm -f $(flexCUDA_release_DEPDIR).d
+
+flexCUDA_debug_hpaths    := 
+flexCUDA_debug_hpaths    += ./../../..
+flexCUDA_debug_hpaths    += ./../../../../../../external/android-ndk/android-ndk-r10e-linux/platforms/android-15/arch-arm/usr/include
+flexCUDA_debug_hpaths    += ./../../../../../../external/android-ndk/android-ndk-r10e-linux/sources/cxx-stl/stlport/stlport
+flexCUDA_debug_hpaths    += ./../../../../../../external/CUDA/cuda-6.0-linux/targets/armv7-linux-androideabi/include
+flexCUDA_debug_lpaths    := 
+flexCUDA_debug_lpaths    += ./../../../../../../external/CUDA/cuda-6.0-linux/targets/armv7-linux-androideabi/lib
+flexCUDA_debug_lpaths    += ./../../../lib/android
+flexCUDA_debug_lpaths    += ./../../../../../../external/android-ndk/android-ndk-r10e-linux/sources/cxx-stl/stlport/libs/armeabi-v7a
+flexCUDA_debug_defines   := $(flexCUDA_custom_defines)
+flexCUDA_debug_defines   += android
+flexCUDA_debug_defines   += ANDROID=1
+flexCUDA_debug_defines   += ANDROID_PLAT=1
+flexCUDA_debug_defines   += DISABLE_IMPORTGL
+flexCUDA_debug_libraries := 
+flexCUDA_debug_common_cflags	:= $(flexCUDA_custom_cflags)
+flexCUDA_debug_common_cflags    += -MMD
+flexCUDA_debug_common_cflags    += $(addprefix -D, $(flexCUDA_debug_defines))
+flexCUDA_debug_common_cflags    += $(addprefix -I, $(flexCUDA_debug_hpaths))
+flexCUDA_debug_cflags	:= $(flexCUDA_debug_common_cflags)
+flexCUDA_debug_cflags  += -Wall -std=c++11 -fpermissive -fno-strict-aliasing -fno-rtti -fno-exceptions
+flexCUDA_debug_cflags  += -g -O0
+flexCUDA_debug_cppflags	:= $(flexCUDA_debug_common_cflags)
+flexCUDA_debug_cppflags  += -Wall -std=c++11 -fpermissive -fno-strict-aliasing -fno-rtti -fno-exceptions
+flexCUDA_debug_cppflags  += -g -O0
+flexCUDA_debug_lflags    := $(flexCUDA_custom_lflags)
+flexCUDA_debug_lflags    += $(addprefix -L, $(flexCUDA_debug_lpaths))
+flexCUDA_debug_lflags    += -Wl,--start-group $(addprefix -l, $(flexCUDA_debug_libraries)) -Wl,--end-group
+flexCUDA_debug_objsdir  = $(OBJS_DIR)/flexCUDA_debug
+flexCUDA_debug_cpp_o    = $(addprefix $(flexCUDA_debug_objsdir)/, $(subst ./, , $(subst ../, , $(patsubst %.cpp, %.cpp.o, $(flexCUDA_cppfiles)))))
+flexCUDA_debug_cc_o    = $(addprefix $(flexCUDA_debug_objsdir)/, $(subst ./, , $(subst ../, , $(patsubst %.cc, %.cc.o, $(flexCUDA_ccfiles)))))
+flexCUDA_debug_c_o      = $(addprefix $(flexCUDA_debug_objsdir)/, $(subst ./, , $(subst ../, , $(patsubst %.c, %.c.o, $(flexCUDA_cfiles)))))
+flexCUDA_debug_cuda_src_cuda_bvh_cu_o += $(OBJS_DIR)/flexCUDA_debug/cuda/src/cudabvh.o
+flexCUDA_debug_cuda_src_cuda_flex_cu_o += $(OBJS_DIR)/flexCUDA_debug/cuda/src/cudaflex.o
+flexCUDA_debug_cuda_src_cuda_sort_cu_o += $(OBJS_DIR)/flexCUDA_debug/cuda/src/cudasort.o
+flexCUDA_debug_obj      = $(flexCUDA_debug_cpp_o) $(flexCUDA_debug_cc_o) $(flexCUDA_debug_c_o) $(flexCUDA_debug_cuda_src_cuda_bvh_cu_o) $(flexCUDA_debug_cuda_src_cuda_flex_cu_o) $(flexCUDA_debug_cuda_src_cuda_sort_cu_o)
+flexCUDA_debug_bin      := ./../../../lib/android/libNvFlexDebugCUDA_armv7l.a
+
+clean_flexCUDA_debug: 
+	@$(ECHO) clean flexCUDA debug
+	@$(RMDIR) $(flexCUDA_debug_objsdir)
+	@$(RMDIR) $(flexCUDA_debug_bin)
+	@$(RMDIR) $(DEPSDIR)/flexCUDA/debug
+
+build_flexCUDA_debug: postbuild_flexCUDA_debug
+postbuild_flexCUDA_debug: mainbuild_flexCUDA_debug
+mainbuild_flexCUDA_debug: prebuild_flexCUDA_debug $(flexCUDA_debug_bin)
+prebuild_flexCUDA_debug:
+
+$(flexCUDA_debug_bin): $(flexCUDA_debug_obj) 
+	mkdir -p `dirname ./../../../lib/android/libNvFlexDebugCUDA_armv7l.a`
+	@$(AR) rcs $(flexCUDA_debug_bin) $(flexCUDA_debug_obj)
+	$(ECHO) building $@ complete!
+
+$(flexCUDA_debug_cuda_src_cuda_bvh_cu_o): $(flexCUDA_cuda_src_cuda_bvh_cu) 
+	@mkdir -p `dirname $(OBJS_DIR)/flexCUDA_debug/cuda/src/cudabvh.o`
+	$(ECHO) "../../../../../../external/CUDA/cuda-6.0-linux/bin/nvcc" -ccbin /home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/toolchains/arm-linux-androideabi-4.8/prebuilt/linux-x86_64/bin/arm-linux-androideabi-g++ -target-cpu-arch=ARM -m32 -arch=sm_32 -O3 -Xptxas -dlcm=ca -target-os-variant=Android -I"../../../../../../external/CUDA/cuda-6.0-linux/targets/armv7-linux-androideabi/include" -I"../../.." -I"/home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/sources/cxx-stl/stlport/stlport" -I"/home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/platforms/android-15/arch-arm/usr/include"  --compile "../../../src/cuda/bvh.cu" -o "$(OBJS_DIR)/flexCUDA_debug/cuda/src/cudabvh.o"
+	"../../../../../../external/CUDA/cuda-6.0-linux/bin/nvcc" -ccbin /home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/toolchains/arm-linux-androideabi-4.8/prebuilt/linux-x86_64/bin/arm-linux-androideabi-g++ -target-cpu-arch=ARM -m32 -arch=sm_32 -O3 -Xptxas -dlcm=ca -target-os-variant=Android -I"../../../../../../external/CUDA/cuda-6.0-linux/targets/armv7-linux-androideabi/include" -I"../../.." -I"/home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/sources/cxx-stl/stlport/stlport" -I"/home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/platforms/android-15/arch-arm/usr/include"  --compile "../../../src/cuda/bvh.cu" -o "$(OBJS_DIR)/flexCUDA_debug/cuda/src/cudabvh.o"
+
+$(flexCUDA_debug_cuda_src_cuda_flex_cu_o): $(flexCUDA_cuda_src_cuda_flex_cu) 
+	@mkdir -p `dirname $(OBJS_DIR)/flexCUDA_debug/cuda/src/cudaflex.o`
+	$(ECHO) "../../../../../../external/CUDA/cuda-6.0-linux/bin/nvcc" -ccbin /home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/toolchains/arm-linux-androideabi-4.8/prebuilt/linux-x86_64/bin/arm-linux-androideabi-g++ -target-cpu-arch=ARM -m32 -arch=sm_32 -O3 -Xptxas -dlcm=ca -target-os-variant=Android -I"../../../../../../external/CUDA/cuda-6.0-linux/targets/armv7-linux-androideabi/include" -I"../../.." -I"/home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/sources/cxx-stl/stlport/stlport" -I"/home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/platforms/android-15/arch-arm/usr/include"  --compile "../../../src/cuda/flex.cu" -o "$(OBJS_DIR)/flexCUDA_debug/cuda/src/cudaflex.o"
+	"../../../../../../external/CUDA/cuda-6.0-linux/bin/nvcc" -ccbin /home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/toolchains/arm-linux-androideabi-4.8/prebuilt/linux-x86_64/bin/arm-linux-androideabi-g++ -target-cpu-arch=ARM -m32 -arch=sm_32 -O3 -Xptxas -dlcm=ca -target-os-variant=Android -I"../../../../../../external/CUDA/cuda-6.0-linux/targets/armv7-linux-androideabi/include" -I"../../.." -I"/home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/sources/cxx-stl/stlport/stlport" -I"/home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/platforms/android-15/arch-arm/usr/include"  --compile "../../../src/cuda/flex.cu" -o "$(OBJS_DIR)/flexCUDA_debug/cuda/src/cudaflex.o"
+
+$(flexCUDA_debug_cuda_src_cuda_sort_cu_o): $(flexCUDA_cuda_src_cuda_sort_cu) 
+	@mkdir -p `dirname $(OBJS_DIR)/flexCUDA_debug/cuda/src/cudasort.o`
+	$(ECHO) "../../../../../../external/CUDA/cuda-6.0-linux/bin/nvcc" -ccbin /home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/toolchains/arm-linux-androideabi-4.8/prebuilt/linux-x86_64/bin/arm-linux-androideabi-g++ -target-cpu-arch=ARM -m32 -arch=sm_32 -O3 -Xptxas -dlcm=ca -target-os-variant=Android -I"../../../../../../external/CUDA/cuda-6.0-linux/targets/armv7-linux-androideabi/include" -I"../../.." -I"/home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/sources/cxx-stl/stlport/stlport" -I"/home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/platforms/android-15/arch-arm/usr/include"  --compile "../../../src/cuda/sort.cu" -o "$(OBJS_DIR)/flexCUDA_debug/cuda/src/cudasort.o"
+	"../../../../../../external/CUDA/cuda-6.0-linux/bin/nvcc" -ccbin /home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/toolchains/arm-linux-androideabi-4.8/prebuilt/linux-x86_64/bin/arm-linux-androideabi-g++ -target-cpu-arch=ARM -m32 -arch=sm_32 -O3 -Xptxas -dlcm=ca -target-os-variant=Android -I"../../../../../../external/CUDA/cuda-6.0-linux/targets/armv7-linux-androideabi/include" -I"../../.." -I"/home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/sources/cxx-stl/stlport/stlport" -I"/home/mmacklin/swhost/devrel/libdev/flex/dev/main/../../../external/android-ndk/android-ndk-r10e-linux/platforms/android-15/arch-arm/usr/include"  --compile "../../../src/cuda/sort.cu" -o "$(OBJS_DIR)/flexCUDA_debug/cuda/src/cudasort.o"
+
+flexCUDA_debug_DEPDIR = $(dir $(@))/$(*F)
+$(flexCUDA_debug_cpp_o): $(flexCUDA_debug_objsdir)/%.o:
+	$(ECHO) flexCUDA: compiling debug $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_cppfiles))...
+	mkdir -p $(dir $(@))
+	$(CXX) $(flexCUDA_debug_cppflags) -c $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_cppfiles)) -o $@
+	@mkdir -p $(dir $(addprefix $(DEPSDIR)/flexCUDA/debug/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_cppfiles))))))
+	cp $(flexCUDA_debug_DEPDIR).d $(addprefix $(DEPSDIR)/flexCUDA/debug/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_cppfiles))))).P; \
+	  sed -e 's/#.*//' -e 's/^[^:]*: *//' -e 's/ *\\$$//' \
+		-e '/^$$/ d' -e 's/$$/ :/' < $(flexCUDA_debug_DEPDIR).d >> $(addprefix $(DEPSDIR)/flexCUDA/debug/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_cppfiles))))).P; \
+	  rm -f $(flexCUDA_debug_DEPDIR).d
+
+$(flexCUDA_debug_cc_o): $(flexCUDA_debug_objsdir)/%.o:
+	$(ECHO) flexCUDA: compiling debug $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_ccfiles))...
+	mkdir -p $(dir $(@))
+	$(CXX) $(flexCUDA_debug_cppflags) -c $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_ccfiles)) -o $@
+	mkdir -p $(dir $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_ccfiles))))))
+	cp $(flexCUDA_debug_DEPDIR).d $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_ccfiles))))).debug.P; \
+	  sed -e 's/#.*//' -e 's/^[^:]*: *//' -e 's/ *\\$$//' \
+		-e '/^$$/ d' -e 's/$$/ :/' < $(flexCUDA_debug_DEPDIR).d >> $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_ccfiles))))).debug.P; \
+	  rm -f $(flexCUDA_debug_DEPDIR).d
+
+$(flexCUDA_debug_c_o): $(flexCUDA_debug_objsdir)/%.o:
+	$(ECHO) flexCUDA: compiling debug $(filter %$(strip $(subst .c.o,.c, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_cfiles))...
+	mkdir -p $(dir $(@))
+	$(CC) $(flexCUDA_debug_cflags) -c $(filter %$(strip $(subst .c.o,.c, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_cfiles)) -o $@ 
+	@mkdir -p $(dir $(addprefix $(DEPSDIR)/flexCUDA/debug/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .c.o,.c, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_cfiles))))))
+	cp $(flexCUDA_debug_DEPDIR).d $(addprefix $(DEPSDIR)/flexCUDA/debug/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .c.o,.c, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_cfiles))))).P; \
+	  sed -e 's/#.*//' -e 's/^[^:]*: *//' -e 's/ *\\$$//' \
+		-e '/^$$/ d' -e 's/$$/ :/' < $(flexCUDA_debug_DEPDIR).d >> $(addprefix $(DEPSDIR)/flexCUDA/debug/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .c.o,.c, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_cfiles))))).P; \
+	  rm -f $(flexCUDA_debug_DEPDIR).d
+
+clean_flexCUDA:  clean_flexCUDA_release clean_flexCUDA_debug
+	rm -rf $(DEPSDIR)
+
+export VERBOSE
+ifndef VERBOSE
+.SILENT:
+endif
diff --git a/extensions/compiler/makeandroid/Makefile.flexExtCUDA.mk b/extensions/compiler/makeandroid/Makefile.flexExtCUDA.mk
new file mode 100644
index 0000000..f8bf780
--- /dev/null
+++ b/extensions/compiler/makeandroid/Makefile.flexExtCUDA.mk
@@ -0,0 +1,205 @@
+# Makefile generated by XPJ for android
+-include Makefile.custom
+ProjectName = flexExtCUDA
+flexExtCUDA_cppfiles   += ./../../flexExtCloth.cpp
+flexExtCUDA_cppfiles   += ./../../flexExtContainer.cpp
+flexExtCUDA_cppfiles   += ./../../flexExtMovingFrame.cpp
+flexExtCUDA_cppfiles   += ./../../flexExtRigid.cpp
+flexExtCUDA_cppfiles   += ./../../flexExtSoft.cpp
+flexExtCUDA_cuda_cuda_flexExt_cu   += ./../../cuda/flexExt.cu
+flexExtCUDA_cppfiles   += ./../../../core/sdf.cpp
+flexExtCUDA_cppfiles   += ./../../../core/voxelize.cpp
+flexExtCUDA_cppfiles   += ./../../../core/maths.cpp
+flexExtCUDA_cppfiles   += ./../../../core/aabbtree.cpp
+
+flexExtCUDA_cpp_release_dep    = $(addprefix $(DEPSDIR)/flexExtCUDA/release/, $(subst ./, , $(subst ../, , $(patsubst %.cpp, %.cpp.P, $(flexExtCUDA_cppfiles)))))
+flexExtCUDA_cc_release_dep    = $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(patsubst %.cc, %.cc.release.P, $(flexExtCUDA_ccfiles)))))
+flexExtCUDA_c_release_dep      = $(addprefix $(DEPSDIR)/flexExtCUDA/release/, $(subst ./, , $(subst ../, , $(patsubst %.c, %.c.P, $(flexExtCUDA_cfiles)))))
+flexExtCUDA_release_dep      = $(flexExtCUDA_cpp_release_dep) $(flexExtCUDA_cc_release_dep) $(flexExtCUDA_c_release_dep)
+-include $(flexExtCUDA_release_dep)
+flexExtCUDA_cpp_debug_dep    = $(addprefix $(DEPSDIR)/flexExtCUDA/debug/, $(subst ./, , $(subst ../, , $(patsubst %.cpp, %.cpp.P, $(flexExtCUDA_cppfiles)))))
+flexExtCUDA_cc_debug_dep    = $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(patsubst %.cc, %.cc.debug.P, $(flexExtCUDA_ccfiles)))))
+flexExtCUDA_c_debug_dep      = $(addprefix $(DEPSDIR)/flexExtCUDA/debug/, $(subst ./, , $(subst ../, , $(patsubst %.c, %.c.P, $(flexExtCUDA_cfiles)))))
+flexExtCUDA_debug_dep      = $(flexExtCUDA_cpp_debug_dep) $(flexExtCUDA_cc_debug_dep) $(flexExtCUDA_c_debug_dep)
+-include $(flexExtCUDA_debug_dep)
+flexExtCUDA_release_hpaths    := 
+flexExtCUDA_release_hpaths    += ./../../..
+flexExtCUDA_release_hpaths    += $(NDK_ROOT)/$(NDK_VERSION)/platforms/android-15/arch-arm/usr/include
+flexExtCUDA_release_hpaths    += $(NDK_ROOT)/$(NDK_VERSION)/sources/cxx-stl/stlport/stlport
+flexExtCUDA_release_hpaths    += $(CUDA_PATH)/targets/armv7-linux-androideabi/include
+flexExtCUDA_release_lpaths    := 
+flexExtCUDA_release_lpaths    += $(CUDA_PATH)/targets/armv7-linux-androideabi/lib
+flexExtCUDA_release_lpaths    += ./../../../lib/android
+flexExtCUDA_release_lpaths    += $(NDK_ROOT)/$(NDK_VERSION)/sources/cxx-stl/stlport/libs/armeabi-v7a
+flexExtCUDA_release_defines   := $(flexExtCUDA_custom_defines)
+flexExtCUDA_release_defines   += android
+flexExtCUDA_release_defines   += ANDROID=1
+flexExtCUDA_release_defines   += ANDROID_PLAT=1
+flexExtCUDA_release_defines   += DISABLE_IMPORTGL
+flexExtCUDA_release_libraries := 
+flexExtCUDA_release_libraries += ./../../../lib/android/libNvFlexRelease_armv7l.a
+flexExtCUDA_release_common_cflags	:= $(flexExtCUDA_custom_cflags)
+flexExtCUDA_release_common_cflags    += -MMD
+flexExtCUDA_release_common_cflags    += $(addprefix -D, $(flexExtCUDA_release_defines))
+flexExtCUDA_release_common_cflags    += $(addprefix -I, $(flexExtCUDA_release_hpaths))
+flexExtCUDA_release_common_cflags  += -Wall -std=c++11 -fpermissive -fno-strict-aliasing -fno-rtti -fno-exceptions
+flexExtCUDA_release_common_cflags  += -O3 -ffast-math
+flexExtCUDA_release_cflags	:= $(flexExtCUDA_release_common_cflags)
+flexExtCUDA_release_cppflags	:= $(flexExtCUDA_release_common_cflags)
+flexExtCUDA_release_lflags    := $(flexExtCUDA_custom_lflags)
+flexExtCUDA_release_lflags    += $(addprefix -L, $(flexExtCUDA_release_lpaths))
+flexExtCUDA_release_lflags    += -Wl,--start-group $(addprefix -l, $(flexExtCUDA_release_libraries)) -Wl,--end-group
+flexExtCUDA_release_objsdir  = $(OBJS_DIR)/flexExtCUDA_release
+flexExtCUDA_release_cpp_o    = $(addprefix $(flexExtCUDA_release_objsdir)/, $(subst ./, , $(subst ../, , $(patsubst %.cpp, %.cpp.o, $(flexExtCUDA_cppfiles)))))
+flexExtCUDA_release_cc_o    = $(addprefix $(flexExtCUDA_release_objsdir)/, $(subst ./, , $(subst ../, , $(patsubst %.cc, %.cc.o, $(flexExtCUDA_ccfiles)))))
+flexExtCUDA_release_c_o      = $(addprefix $(flexExtCUDA_release_objsdir)/, $(subst ./, , $(subst ../, , $(patsubst %.c, %.c.o, $(flexExtCUDA_cfiles)))))
+flexExtCUDA_release_cuda_cuda_flexExt_cu_o += $(OBJS_DIR)/flexExtCUDA_release/cuda/cudaflexExt.o
+flexExtCUDA_release_obj      = $(flexExtCUDA_release_cpp_o) $(flexExtCUDA_release_cc_o) $(flexExtCUDA_release_c_o) $(flexExtCUDA_release_cuda_cuda_flexExt_cu_o)
+flexExtCUDA_release_bin      := ./../../../lib/android/libflexExt_cuda_release_armv7l.a
+
+clean_flexExtCUDA_release: 
+	@$(ECHO) clean flexExtCUDA release
+	@$(RMDIR) $(flexExtCUDA_release_objsdir)
+	@$(RMDIR) $(flexExtCUDA_release_bin)
+	@$(RMDIR) $(DEPSDIR)/flexExtCUDA/release
+
+build_flexExtCUDA_release: postbuild_flexExtCUDA_release
+postbuild_flexExtCUDA_release: mainbuild_flexExtCUDA_release
+mainbuild_flexExtCUDA_release: prebuild_flexExtCUDA_release $(flexExtCUDA_release_bin)
+prebuild_flexExtCUDA_release:
+
+$(flexExtCUDA_release_bin): $(flexExtCUDA_release_obj) 
+	mkdir -p `dirname ./../../../lib/android/libflexExt_cuda_release_armv7l.a`
+	@$(AR) rcs $(flexExtCUDA_release_bin) $(flexExtCUDA_release_obj)
+	$(ECHO) building $@ complete!
+
+$(flexExtCUDA_release_cuda_cuda_flexExt_cu_o): $(flexExtCUDA_cuda_cuda_flexExt_cu) 
+	@mkdir -p `dirname $(OBJS_DIR)/flexExtCUDA_release/cuda/cudaflexExt.o`
+	$(ECHO) "$(CUDA_PATH)/bin/nvcc" -ccbin $(NDK_ROOT)/$(NDK_VERSION)/toolchains/arm-linux-androideabi-4.8/prebuilt/linux-x86_64/bin/arm-linux-androideabi-g++ -target-cpu-arch=ARM -m32 -arch=sm_32 -O3 -Xptxas -dlcm=ca -target-os-variant=Android -I"$(CUDA_PATH)/targets/armv7-linux-androideabi/include" -I"../../.." -I"$(NDK_ROOT)/$(NDK_VERSION)/sources/cxx-stl/stlport/stlport" -I"$(NDK_ROOT)/$(NDK_VERSION)/platforms/android-15/arch-arm/usr/include"  --compile "./../../cuda/flexExt.cu" -o "$(OBJS_DIR)/flexExtCUDA_release/cuda/cudaflexExt.o"
+	"$(CUDA_PATH)/bin/nvcc" -ccbin $(NDK_ROOT)/$(NDK_VERSION)/toolchains/arm-linux-androideabi-4.8/prebuilt/linux-x86_64/bin/arm-linux-androideabi-g++ -target-cpu-arch=ARM -m32 -arch=sm_32 -O3 -Xptxas -dlcm=ca -target-os-variant=Android -I"$(CUDA_PATH)/targets/armv7-linux-androideabi/include" -I"../../.." -I"$(NDK_ROOT)/$(NDK_VERSION)/sources/cxx-stl/stlport/stlport" -I"$(NDK_ROOT)/$(NDK_VERSION)/platforms/android-15/arch-arm/usr/include"  --compile "./../../cuda/flexExt.cu" -o "$(OBJS_DIR)/flexExtCUDA_release/cuda/cudaflexExt.o"
+
+flexExtCUDA_release_DEPDIR = $(dir $(@))/$(*F)
+$(flexExtCUDA_release_cpp_o): $(flexExtCUDA_release_objsdir)/%.o:
+	$(ECHO) flexExtCUDA: compiling release $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_cppfiles))...
+	mkdir -p $(dir $(@))
+	$(CXX) $(flexExtCUDA_release_cppflags) -c $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_cppfiles)) -o $@
+	@mkdir -p $(dir $(addprefix $(DEPSDIR)/flexExtCUDA/release/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_cppfiles))))))
+	cp $(flexExtCUDA_release_DEPDIR).d $(addprefix $(DEPSDIR)/flexExtCUDA/release/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_cppfiles))))).P; \
+	  sed -e 's/#.*//' -e 's/^[^:]*: *//' -e 's/ *\\$$//' \
+		-e '/^$$/ d' -e 's/$$/ :/' < $(flexExtCUDA_release_DEPDIR).d >> $(addprefix $(DEPSDIR)/flexExtCUDA/release/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_cppfiles))))).P; \
+	  rm -f $(flexExtCUDA_release_DEPDIR).d
+
+$(flexExtCUDA_release_cc_o): $(flexExtCUDA_release_objsdir)/%.o:
+	$(ECHO) flexExtCUDA: compiling release $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_ccfiles))...
+	mkdir -p $(dir $(@))
+	$(CXX) $(flexExtCUDA_release_cppflags) -c $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_ccfiles)) -o $@
+	mkdir -p $(dir $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_ccfiles))))))
+	cp $(flexExtCUDA_release_DEPDIR).d $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_ccfiles))))).release.P; \
+	  sed -e 's/#.*//' -e 's/^[^:]*: *//' -e 's/ *\\$$//' \
+		-e '/^$$/ d' -e 's/$$/ :/' < $(flexExtCUDA_release_DEPDIR).d >> $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_ccfiles))))).release.P; \
+	  rm -f $(flexExtCUDA_release_DEPDIR).d
+
+$(flexExtCUDA_release_c_o): $(flexExtCUDA_release_objsdir)/%.o:
+	$(ECHO) flexExtCUDA: compiling release $(filter %$(strip $(subst .c.o,.c, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_cfiles))...
+	mkdir -p $(dir $(@))
+	$(CC) $(flexExtCUDA_release_cflags) -c $(filter %$(strip $(subst .c.o,.c, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_cfiles)) -o $@ 
+	@mkdir -p $(dir $(addprefix $(DEPSDIR)/flexExtCUDA/release/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .c.o,.c, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_cfiles))))))
+	cp $(flexExtCUDA_release_DEPDIR).d $(addprefix $(DEPSDIR)/flexExtCUDA/release/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .c.o,.c, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_cfiles))))).P; \
+	  sed -e 's/#.*//' -e 's/^[^:]*: *//' -e 's/ *\\$$//' \
+		-e '/^$$/ d' -e 's/$$/ :/' < $(flexExtCUDA_release_DEPDIR).d >> $(addprefix $(DEPSDIR)/flexExtCUDA/release/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .c.o,.c, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_cfiles))))).P; \
+	  rm -f $(flexExtCUDA_release_DEPDIR).d
+
+flexExtCUDA_debug_hpaths    := 
+flexExtCUDA_debug_hpaths    += ./../../..
+flexExtCUDA_debug_hpaths    += $(NDK_ROOT)/$(NDK_VERSION)/platforms/android-15/arch-arm/usr/include
+flexExtCUDA_debug_hpaths    += $(NDK_ROOT)/$(NDK_VERSION)/sources/cxx-stl/stlport/stlport
+flexExtCUDA_debug_hpaths    += $(CUDA_PATH)/targets/armv7-linux-androideabi/include
+flexExtCUDA_debug_lpaths    := 
+flexExtCUDA_debug_lpaths    += $(CUDA_PATH)/targets/armv7-linux-androideabi/lib
+flexExtCUDA_debug_lpaths    += ./../../../lib/android
+flexExtCUDA_debug_lpaths    += $(NDK_ROOT)/$(NDK_VERSION)/sources/cxx-stl/stlport/libs/armeabi-v7a
+flexExtCUDA_debug_defines   := $(flexExtCUDA_custom_defines)
+flexExtCUDA_debug_defines   += android
+flexExtCUDA_debug_defines   += ANDROID=1
+flexExtCUDA_debug_defines   += ANDROID_PLAT=1
+flexExtCUDA_debug_defines   += DISABLE_IMPORTGL
+flexExtCUDA_debug_libraries := 
+flexExtCUDA_debug_libraries += ./../../../lib/android/libNvFlexDebug_armv7l.a
+flexExtCUDA_debug_common_cflags	:= $(flexExtCUDA_custom_cflags)
+flexExtCUDA_debug_common_cflags    += -MMD
+flexExtCUDA_debug_common_cflags    += $(addprefix -D, $(flexExtCUDA_debug_defines))
+flexExtCUDA_debug_common_cflags    += $(addprefix -I, $(flexExtCUDA_debug_hpaths))
+flexExtCUDA_debug_common_cflags  += -Wall -std=c++11 -fpermissive -fno-strict-aliasing -fno-rtti -fno-exceptions
+flexExtCUDA_debug_common_cflags  += -g -O0
+flexExtCUDA_debug_cflags	:= $(flexExtCUDA_debug_common_cflags)
+flexExtCUDA_debug_cppflags	:= $(flexExtCUDA_debug_common_cflags)
+flexExtCUDA_debug_lflags    := $(flexExtCUDA_custom_lflags)
+flexExtCUDA_debug_lflags    += $(addprefix -L, $(flexExtCUDA_debug_lpaths))
+flexExtCUDA_debug_lflags    += -Wl,--start-group $(addprefix -l, $(flexExtCUDA_debug_libraries)) -Wl,--end-group
+flexExtCUDA_debug_objsdir  = $(OBJS_DIR)/flexExtCUDA_debug
+flexExtCUDA_debug_cpp_o    = $(addprefix $(flexExtCUDA_debug_objsdir)/, $(subst ./, , $(subst ../, , $(patsubst %.cpp, %.cpp.o, $(flexExtCUDA_cppfiles)))))
+flexExtCUDA_debug_cc_o    = $(addprefix $(flexExtCUDA_debug_objsdir)/, $(subst ./, , $(subst ../, , $(patsubst %.cc, %.cc.o, $(flexExtCUDA_ccfiles)))))
+flexExtCUDA_debug_c_o      = $(addprefix $(flexExtCUDA_debug_objsdir)/, $(subst ./, , $(subst ../, , $(patsubst %.c, %.c.o, $(flexExtCUDA_cfiles)))))
+flexExtCUDA_debug_cuda_cuda_flexExt_cu_o += $(OBJS_DIR)/flexExtCUDA_debug/cuda/cudaflexExt.o
+flexExtCUDA_debug_obj      = $(flexExtCUDA_debug_cpp_o) $(flexExtCUDA_debug_cc_o) $(flexExtCUDA_debug_c_o) $(flexExtCUDA_debug_cuda_cuda_flexExt_cu_o)
+flexExtCUDA_debug_bin      := ./../../../lib/android/libflexExt_cuda_debug_armv7l.a
+
+clean_flexExtCUDA_debug: 
+	@$(ECHO) clean flexExtCUDA debug
+	@$(RMDIR) $(flexExtCUDA_debug_objsdir)
+	@$(RMDIR) $(flexExtCUDA_debug_bin)
+	@$(RMDIR) $(DEPSDIR)/flexExtCUDA/debug
+
+build_flexExtCUDA_debug: postbuild_flexExtCUDA_debug
+postbuild_flexExtCUDA_debug: mainbuild_flexExtCUDA_debug
+mainbuild_flexExtCUDA_debug: prebuild_flexExtCUDA_debug $(flexExtCUDA_debug_bin)
+prebuild_flexExtCUDA_debug:
+
+$(flexExtCUDA_debug_bin): $(flexExtCUDA_debug_obj) 
+	mkdir -p `dirname ./../../../lib/android/libflexExt_cuda_debug_armv7l.a`
+	@$(AR) rcs $(flexExtCUDA_debug_bin) $(flexExtCUDA_debug_obj)
+	$(ECHO) building $@ complete!
+
+$(flexExtCUDA_debug_cuda_cuda_flexExt_cu_o): $(flexExtCUDA_cuda_cuda_flexExt_cu) 
+	@mkdir -p `dirname $(OBJS_DIR)/flexExtCUDA_debug/cuda/cudaflexExt.o`
+	$(ECHO) "$(CUDA_PATH)/bin/nvcc" -ccbin $(NDK_ROOT)/$(NDK_VERSION)/toolchains/arm-linux-androideabi-4.8/prebuilt/linux-x86_64/bin/arm-linux-androideabi-g++ -target-cpu-arch=ARM -m32 -arch=sm_32 -O3 -Xptxas -dlcm=ca -target-os-variant=Android -I"$(CUDA_PATH)/targets/armv7-linux-androideabi/include" -I"../../.." -I"$(NDK_ROOT)/$(NDK_VERSION)/sources/cxx-stl/stlport/stlport" -I"$(NDK_ROOT)/$(NDK_VERSION)/platforms/android-15/arch-arm/usr/include"  --compile "./../../cuda/flexExt.cu" -o "$(OBJS_DIR)/flexExtCUDA_debug/cuda/cudaflexExt.o"
+	"$(CUDA_PATH)/bin/nvcc" -ccbin $(NDK_ROOT)/$(NDK_VERSION)/toolchains/arm-linux-androideabi-4.8/prebuilt/linux-x86_64/bin/arm-linux-androideabi-g++ -target-cpu-arch=ARM -m32 -arch=sm_32 -O3 -Xptxas -dlcm=ca -target-os-variant=Android -I"$(CUDA_PATH)/targets/armv7-linux-androideabi/include" -I"../../.." -I"$(NDK_ROOT)/$(NDK_VERSION)/sources/cxx-stl/stlport/stlport" -I"$(NDK_ROOT)/$(NDK_VERSION)/platforms/android-15/arch-arm/usr/include"  --compile "./../../cuda/flexExt.cu" -o "$(OBJS_DIR)/flexExtCUDA_debug/cuda/cudaflexExt.o"
+
+flexExtCUDA_debug_DEPDIR = $(dir $(@))/$(*F)
+$(flexExtCUDA_debug_cpp_o): $(flexExtCUDA_debug_objsdir)/%.o:
+	$(ECHO) flexExtCUDA: compiling debug $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_cppfiles))...
+	mkdir -p $(dir $(@))
+	$(CXX) $(flexExtCUDA_debug_cppflags) -c $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_cppfiles)) -o $@
+	@mkdir -p $(dir $(addprefix $(DEPSDIR)/flexExtCUDA/debug/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_cppfiles))))))
+	cp $(flexExtCUDA_debug_DEPDIR).d $(addprefix $(DEPSDIR)/flexExtCUDA/debug/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_cppfiles))))).P; \
+	  sed -e 's/#.*//' -e 's/^[^:]*: *//' -e 's/ *\\$$//' \
+		-e '/^$$/ d' -e 's/$$/ :/' < $(flexExtCUDA_debug_DEPDIR).d >> $(addprefix $(DEPSDIR)/flexExtCUDA/debug/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_cppfiles))))).P; \
+	  rm -f $(flexExtCUDA_debug_DEPDIR).d
+
+$(flexExtCUDA_debug_cc_o): $(flexExtCUDA_debug_objsdir)/%.o:
+	$(ECHO) flexExtCUDA: compiling debug $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_ccfiles))...
+	mkdir -p $(dir $(@))
+	$(CXX) $(flexExtCUDA_debug_cppflags) -c $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_ccfiles)) -o $@
+	mkdir -p $(dir $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_ccfiles))))))
+	cp $(flexExtCUDA_debug_DEPDIR).d $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_ccfiles))))).debug.P; \
+	  sed -e 's/#.*//' -e 's/^[^:]*: *//' -e 's/ *\\$$//' \
+		-e '/^$$/ d' -e 's/$$/ :/' < $(flexExtCUDA_debug_DEPDIR).d >> $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_ccfiles))))).debug.P; \
+	  rm -f $(flexExtCUDA_debug_DEPDIR).d
+
+$(flexExtCUDA_debug_c_o): $(flexExtCUDA_debug_objsdir)/%.o:
+	$(ECHO) flexExtCUDA: compiling debug $(filter %$(strip $(subst .c.o,.c, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_cfiles))...
+	mkdir -p $(dir $(@))
+	$(CC) $(flexExtCUDA_debug_cflags) -c $(filter %$(strip $(subst .c.o,.c, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_cfiles)) -o $@ 
+	@mkdir -p $(dir $(addprefix $(DEPSDIR)/flexExtCUDA/debug/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .c.o,.c, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_cfiles))))))
+	cp $(flexExtCUDA_debug_DEPDIR).d $(addprefix $(DEPSDIR)/flexExtCUDA/debug/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .c.o,.c, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_cfiles))))).P; \
+	  sed -e 's/#.*//' -e 's/^[^:]*: *//' -e 's/ *\\$$//' \
+		-e '/^$$/ d' -e 's/$$/ :/' < $(flexExtCUDA_debug_DEPDIR).d >> $(addprefix $(DEPSDIR)/flexExtCUDA/debug/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .c.o,.c, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_cfiles))))).P; \
+	  rm -f $(flexExtCUDA_debug_DEPDIR).d
+
+clean_flexExtCUDA:  clean_flexExtCUDA_release clean_flexExtCUDA_debug
+	rm -rf $(DEPSDIR)
+
+export VERBOSE
+ifndef VERBOSE
+.SILENT:
+endif
diff --git a/extensions/compiler/makelinux64/Makefile b/extensions/compiler/makelinux64/Makefile
new file mode 100644
index 0000000..798e4b1
--- /dev/null
+++ b/extensions/compiler/makelinux64/Makefile
@@ -0,0 +1,197 @@
+#!/usr/bin/make
+# Makefile generated by XPJ for linux64
+
+DEPSDIR = .deps
+#default defines
+OBJS_DIR  = build
+RMDIR     = rm -fr
+ECHO      = echo
+CCLD      =  g++
+CXX       =  g++
+CC        =  gcc
+RANLIB    = ranlib
+AR		 = ar
+STRIP     = strip
+OBJDUMP   = objdump
+OBJCOPY   = objcopy
+-include Makedefs.linux64.mk
+
+all: debug release 
+
+debug: build_flexExtCUDA_debug 
+
+release: build_flexExtCUDA_release 
+
+clean: clean_flexExtCUDA_release clean_flexExtCUDA_debug 
+	rm -rf $(DEPSDIR)
+
+
+clean_release: clean_flexExtCUDA_release 
+	rm -rf $(DEPSDIR)
+
+
+clean_debug: clean_flexExtCUDA_debug 
+	rm -rf $(DEPSDIR)
+
+
+include Makefile.flexExtCUDA.mk
+
+
+# Disable implicit rules to speedup build
+.SUFFIXES:
+SUFFIXES :=
+%.out:
+%.a:
+%.ln:
+%.o:
+%: %.o
+%.c:
+%: %.c
+%.ln: %.c
+%.o: %.c
+%.cc:
+%: %.cc
+%.o: %.cc
+%.C:
+%: %.C
+%.o: %.C
+%.cpp:
+%: %.cpp
+%.o: %.cpp
+%.p:
+%: %.p
+%.o: %.p
+%.f:
+%:
+ %.f%.o: %.f
+%.F:
+%: %.F
+%.o: %.F
+%.f: %.F
+%.r:
+%: %.r
+%.o: %.r
+%.f: %.r
+%.y:
+%.ln: %.y
+%.c: %.y
+%.l:
+%.ln: %.l
+%.c: %.l
+%.r: %.l
+%.s:
+%: %.s
+%.o: %.s
+%.S:
+%: %.S
+%.o: %.S
+%.s: %.S
+%.mod:
+%: %.mod
+%.o: %.mod
+%.sym:
+%.def:
+%.sym: %.def
+%.h:
+%.info:
+%.dvi:
+%.tex:
+%.dvi: %.tex
+%.texinfo:
+%.info: %.texinfo
+%.dvi: %.texinfo
+%.texi:
+%.info: %.texi
+%.dvi: %.texi
+%.txinfo:
+%.info: %.txinfo
+%.dvi: %.txinfo
+%.w:
+%.c: %.w
+%.tex: %.w
+%.ch:
+%.web:
+%.p: %.web
+%.tex: %.web
+%.sh:
+%: %.sh
+%.elc:
+%.el:
+(%): %
+%.out: %
+%.c: %.w %.ch
+%.tex: %.w %.ch
+%: %,v
+%: RCS/%,v
+%: RCS/%
+%: s.%
+%: SCCS/s.%
+.web.p:
+.l.r:
+.dvi:
+.F.o:
+.l:
+.y.ln:
+.o:
+.y:
+.def.sym:
+.p.o:
+.p:
+.txinfo.dvi:
+.a:
+.l.ln:
+.w.c:
+.texi.dvi:
+.sh:
+.cc:
+.cc.o:
+.def:
+.c.o:
+.r.o:
+.r:
+.info:
+.elc:
+.l.c:
+.out:
+.C:
+.r.f:
+.S:
+.texinfo.info:
+.c:
+.w.tex:
+.c.ln:
+.s.o:
+.s:
+.texinfo.dvi:
+.el:
+.texinfo:
+.y.c:
+.web.tex:
+.texi.info:
+.DEFAULT:
+.h:
+.tex.dvi:
+.cpp.o:
+.cpp:
+.C.o:
+.ln:
+.texi:
+.txinfo:
+.tex:
+.txinfo.info:
+.ch:
+.S.s:
+.mod:
+.mod.o:
+.F.f:
+.w:
+.S.o:
+.F:
+.web:
+.sym:
+.f:
+.f.o:
+export VERBOSE
+ifndef VERBOSE
+.SILENT:
+endif
diff --git a/extensions/compiler/makelinux64/Makefile.flexCUDA.mk b/extensions/compiler/makelinux64/Makefile.flexCUDA.mk
new file mode 100644
index 0000000..3d3b9cd
--- /dev/null
+++ b/extensions/compiler/makelinux64/Makefile.flexCUDA.mk
@@ -0,0 +1,217 @@
+# Makefile generated by XPJ for linux64
+-include Makefile.custom
+ProjectName = flexCUDA
+flexCUDA_cppfiles   += ./../../../src/cuda/util.cpp
+flexCUDA_cuda_src_cuda_bvh_cu   += ./../../../src/cuda/bvh.cu
+flexCUDA_cuda_src_cuda_flex_cu   += ./../../../src/cuda/flex.cu
+flexCUDA_cuda_src_cuda_sort_cu   += ./../../../src/cuda/sort.cu
+
+flexCUDA_cpp_release_dep    = $(addprefix $(DEPSDIR)/flexCUDA/release/, $(subst ./, , $(subst ../, , $(patsubst %.cpp, %.cpp.P, $(flexCUDA_cppfiles)))))
+flexCUDA_cc_release_dep    = $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(patsubst %.cc, %.cc.release.P, $(flexCUDA_ccfiles)))))
+flexCUDA_c_release_dep      = $(addprefix $(DEPSDIR)/flexCUDA/release/, $(subst ./, , $(subst ../, , $(patsubst %.c, %.c.P, $(flexCUDA_cfiles)))))
+flexCUDA_release_dep      = $(flexCUDA_cpp_release_dep) $(flexCUDA_cc_release_dep) $(flexCUDA_c_release_dep)
+-include $(flexCUDA_release_dep)
+flexCUDA_cpp_debug_dep    = $(addprefix $(DEPSDIR)/flexCUDA/debug/, $(subst ./, , $(subst ../, , $(patsubst %.cpp, %.cpp.P, $(flexCUDA_cppfiles)))))
+flexCUDA_cc_debug_dep    = $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(patsubst %.cc, %.cc.debug.P, $(flexCUDA_ccfiles)))))
+flexCUDA_c_debug_dep      = $(addprefix $(DEPSDIR)/flexCUDA/debug/, $(subst ./, , $(subst ../, , $(patsubst %.c, %.c.P, $(flexCUDA_cfiles)))))
+flexCUDA_debug_dep      = $(flexCUDA_cpp_debug_dep) $(flexCUDA_cc_debug_dep) $(flexCUDA_c_debug_dep)
+-include $(flexCUDA_debug_dep)
+flexCUDA_release_hpaths    := 
+flexCUDA_release_hpaths    += ./../../../../../../external/CUDA/8.0.44-linux/include
+flexCUDA_release_hpaths    += ./../../../../../../external/CUDA/8.0.44-linux/extras/cupti/include
+flexCUDA_release_hpaths    += ./../../..
+flexCUDA_release_lpaths    := 
+flexCUDA_release_lpaths    += ./../../../../../../external/CUDA/8.0.44-linux/lib64
+flexCUDA_release_defines   := $(flexCUDA_custom_defines)
+flexCUDA_release_libraries := 
+flexCUDA_release_libraries += ./../../../lib/linux64/NvFlexDevice_x64.a
+flexCUDA_release_common_cflags	:= $(flexCUDA_custom_cflags)
+flexCUDA_release_common_cflags    += -MMD
+flexCUDA_release_common_cflags    += $(addprefix -D, $(flexCUDA_release_defines))
+flexCUDA_release_common_cflags    += $(addprefix -I, $(flexCUDA_release_hpaths))
+flexCUDA_release_common_cflags  += -m64
+flexCUDA_release_cflags	:= $(flexCUDA_release_common_cflags)
+flexCUDA_release_cflags  += -Wall -std=c++0x -fPIC -fpermissive -fno-strict-aliasing
+flexCUDA_release_cflags  += -O3 -ffast-math -DNDEBUG
+flexCUDA_release_cppflags	:= $(flexCUDA_release_common_cflags)
+flexCUDA_release_cppflags  += -Wall -std=c++0x -fPIC -fpermissive -fno-strict-aliasing
+flexCUDA_release_cppflags  += -O3 -ffast-math -DNDEBUG
+flexCUDA_release_lflags    := $(flexCUDA_custom_lflags)
+flexCUDA_release_lflags    += $(addprefix -L, $(flexCUDA_release_lpaths))
+flexCUDA_release_lflags    += -Wl,--start-group $(addprefix -l, $(flexCUDA_release_libraries)) -Wl,--end-group
+flexCUDA_release_lflags  += -m64
+flexCUDA_release_objsdir  = $(OBJS_DIR)/flexCUDA_release
+flexCUDA_release_cpp_o    = $(addprefix $(flexCUDA_release_objsdir)/, $(subst ./, , $(subst ../, , $(patsubst %.cpp, %.cpp.o, $(flexCUDA_cppfiles)))))
+flexCUDA_release_cc_o    = $(addprefix $(flexCUDA_release_objsdir)/, $(subst ./, , $(subst ../, , $(patsubst %.cc, %.cc.o, $(flexCUDA_ccfiles)))))
+flexCUDA_release_c_o      = $(addprefix $(flexCUDA_release_objsdir)/, $(subst ./, , $(subst ../, , $(patsubst %.c, %.c.o, $(flexCUDA_cfiles)))))
+flexCUDA_release_cuda_src_cuda_bvh_cu_o += $(OBJS_DIR)/flexCUDA_release/cuda/src/cudabvh.o
+flexCUDA_release_cuda_src_cuda_flex_cu_o += $(OBJS_DIR)/flexCUDA_release/cuda/src/cudaflex.o
+flexCUDA_release_cuda_src_cuda_sort_cu_o += $(OBJS_DIR)/flexCUDA_release/cuda/src/cudasort.o
+flexCUDA_release_obj      = $(flexCUDA_release_cpp_o) $(flexCUDA_release_cc_o) $(flexCUDA_release_c_o) $(flexCUDA_release_cuda_src_cuda_bvh_cu_o) $(flexCUDA_release_cuda_src_cuda_flex_cu_o) $(flexCUDA_release_cuda_src_cuda_sort_cu_o)
+flexCUDA_release_bin      := ./../../../lib/linux64/NvFlexReleaseCUDA_x64.a
+
+clean_flexCUDA_release: 
+	@$(ECHO) clean flexCUDA release
+	@$(RMDIR) $(flexCUDA_release_objsdir)
+	@$(RMDIR) $(flexCUDA_release_bin)
+	@$(RMDIR) $(DEPSDIR)/flexCUDA/release
+
+build_flexCUDA_release: postbuild_flexCUDA_release
+postbuild_flexCUDA_release: mainbuild_flexCUDA_release
+mainbuild_flexCUDA_release: prebuild_flexCUDA_release $(flexCUDA_release_bin)
+prebuild_flexCUDA_release:
+
+$(flexCUDA_release_bin): $(flexCUDA_release_obj) 
+	mkdir -p `dirname ./../../../lib/linux64/NvFlexReleaseCUDA_x64.a`
+	@$(AR) rcs $(flexCUDA_release_bin) $(flexCUDA_release_obj)
+	$(ECHO) building $@ complete!
+
+$(flexCUDA_release_cuda_src_cuda_bvh_cu_o): $(flexCUDA_cuda_src_cuda_bvh_cu) 
+	@mkdir -p `dirname $(OBJS_DIR)/flexCUDA_release/cuda/src/cudabvh.o`
+	$(ECHO) ../../../../../../external/CUDA/8.0.44-linux/bin/nvcc -O3 -g -arch=sm_30 -m64 -Xcompiler -fPIC -D_FORCE_INLINES  -I../../.. -I../../../external -I../../../../../../external/CUDA/8.0.44-linux/include -I../../../external/cub-1.3.2  --compile "../../../src/cuda/bvh.cu" -o "$(OBJS_DIR)/flexCUDA_release/cuda/src/cudabvh.o"
+	../../../../../../external/CUDA/8.0.44-linux/bin/nvcc -O3 -g -arch=sm_30 -m64 -Xcompiler -fPIC -D_FORCE_INLINES  -I../../.. -I../../../external -I../../../../../../external/CUDA/8.0.44-linux/include -I../../../external/cub-1.3.2  --compile "../../../src/cuda/bvh.cu" -o "$(OBJS_DIR)/flexCUDA_release/cuda/src/cudabvh.o"
+
+$(flexCUDA_release_cuda_src_cuda_flex_cu_o): $(flexCUDA_cuda_src_cuda_flex_cu) 
+	@mkdir -p `dirname $(OBJS_DIR)/flexCUDA_release/cuda/src/cudaflex.o`
+	$(ECHO) ../../../../../../external/CUDA/8.0.44-linux/bin/nvcc -O3 -g -arch=sm_30 -m64 -Xcompiler -fPIC -D_FORCE_INLINES  -I../../.. -I../../../external -I../../../../../../external/CUDA/8.0.44-linux/include -I../../../external/cub-1.3.2  --compile "../../../src/cuda/flex.cu" -o "$(OBJS_DIR)/flexCUDA_release/cuda/src/cudaflex.o"
+	../../../../../../external/CUDA/8.0.44-linux/bin/nvcc -O3 -g -arch=sm_30 -m64 -Xcompiler -fPIC -D_FORCE_INLINES  -I../../.. -I../../../external -I../../../../../../external/CUDA/8.0.44-linux/include -I../../../external/cub-1.3.2  --compile "../../../src/cuda/flex.cu" -o "$(OBJS_DIR)/flexCUDA_release/cuda/src/cudaflex.o"
+
+$(flexCUDA_release_cuda_src_cuda_sort_cu_o): $(flexCUDA_cuda_src_cuda_sort_cu) 
+	@mkdir -p `dirname $(OBJS_DIR)/flexCUDA_release/cuda/src/cudasort.o`
+	$(ECHO) ../../../../../../external/CUDA/8.0.44-linux/bin/nvcc -O3 -g -arch=sm_30 -m64 -Xcompiler -fPIC -D_FORCE_INLINES  -I../../.. -I../../../external -I../../../../../../external/CUDA/8.0.44-linux/include -I../../../external/cub-1.3.2  --compile "../../../src/cuda/sort.cu" -o "$(OBJS_DIR)/flexCUDA_release/cuda/src/cudasort.o"
+	../../../../../../external/CUDA/8.0.44-linux/bin/nvcc -O3 -g -arch=sm_30 -m64 -Xcompiler -fPIC -D_FORCE_INLINES  -I../../.. -I../../../external -I../../../../../../external/CUDA/8.0.44-linux/include -I../../../external/cub-1.3.2  --compile "../../../src/cuda/sort.cu" -o "$(OBJS_DIR)/flexCUDA_release/cuda/src/cudasort.o"
+
+flexCUDA_release_DEPDIR = $(dir $(@))/$(*F)
+$(flexCUDA_release_cpp_o): $(flexCUDA_release_objsdir)/%.o:
+	$(ECHO) flexCUDA: compiling release $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_cppfiles))...
+	mkdir -p $(dir $(@))
+	$(CXX) $(flexCUDA_release_cppflags) -c $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_cppfiles)) -o $@
+	@mkdir -p $(dir $(addprefix $(DEPSDIR)/flexCUDA/release/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_cppfiles))))))
+	cp $(flexCUDA_release_DEPDIR).d $(addprefix $(DEPSDIR)/flexCUDA/release/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_cppfiles))))).P; \
+	  sed -e 's/#.*//' -e 's/^[^:]*: *//' -e 's/ *\\$$//' \
+		-e '/^$$/ d' -e 's/$$/ :/' < $(flexCUDA_release_DEPDIR).d >> $(addprefix $(DEPSDIR)/flexCUDA/release/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_cppfiles))))).P; \
+	  rm -f $(flexCUDA_release_DEPDIR).d
+
+$(flexCUDA_release_cc_o): $(flexCUDA_release_objsdir)/%.o:
+	$(ECHO) flexCUDA: compiling release $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_ccfiles))...
+	mkdir -p $(dir $(@))
+	$(CXX) $(flexCUDA_release_cppflags) -c $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_ccfiles)) -o $@
+	mkdir -p $(dir $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_ccfiles))))))
+	cp $(flexCUDA_release_DEPDIR).d $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_ccfiles))))).release.P; \
+	  sed -e 's/#.*//' -e 's/^[^:]*: *//' -e 's/ *\\$$//' \
+		-e '/^$$/ d' -e 's/$$/ :/' < $(flexCUDA_release_DEPDIR).d >> $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_ccfiles))))).release.P; \
+	  rm -f $(flexCUDA_release_DEPDIR).d
+
+$(flexCUDA_release_c_o): $(flexCUDA_release_objsdir)/%.o:
+	$(ECHO) flexCUDA: compiling release $(filter %$(strip $(subst .c.o,.c, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_cfiles))...
+	mkdir -p $(dir $(@))
+	$(CC) $(flexCUDA_release_cflags) -c $(filter %$(strip $(subst .c.o,.c, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_cfiles)) -o $@ 
+	@mkdir -p $(dir $(addprefix $(DEPSDIR)/flexCUDA/release/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .c.o,.c, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_cfiles))))))
+	cp $(flexCUDA_release_DEPDIR).d $(addprefix $(DEPSDIR)/flexCUDA/release/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .c.o,.c, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_cfiles))))).P; \
+	  sed -e 's/#.*//' -e 's/^[^:]*: *//' -e 's/ *\\$$//' \
+		-e '/^$$/ d' -e 's/$$/ :/' < $(flexCUDA_release_DEPDIR).d >> $(addprefix $(DEPSDIR)/flexCUDA/release/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .c.o,.c, $(subst $(flexCUDA_release_objsdir),, $@))), $(flexCUDA_cfiles))))).P; \
+	  rm -f $(flexCUDA_release_DEPDIR).d
+
+flexCUDA_debug_hpaths    := 
+flexCUDA_debug_hpaths    += ./../../../../../../external/CUDA/8.0.44-linux/include
+flexCUDA_debug_hpaths    += ./../../../../../../external/CUDA/8.0.44-linux/extras/cupti/include
+flexCUDA_debug_hpaths    += ./../../..
+flexCUDA_debug_lpaths    := 
+flexCUDA_debug_lpaths    += ./../../../../../../external/CUDA/8.0.44-linux/lib64
+flexCUDA_debug_defines   := $(flexCUDA_custom_defines)
+flexCUDA_debug_libraries := 
+flexCUDA_debug_libraries += ./../../../lib/linux64/NvFlexDevice_x64.a
+flexCUDA_debug_common_cflags	:= $(flexCUDA_custom_cflags)
+flexCUDA_debug_common_cflags    += -MMD
+flexCUDA_debug_common_cflags    += $(addprefix -D, $(flexCUDA_debug_defines))
+flexCUDA_debug_common_cflags    += $(addprefix -I, $(flexCUDA_debug_hpaths))
+flexCUDA_debug_common_cflags  += -m64
+flexCUDA_debug_cflags	:= $(flexCUDA_debug_common_cflags)
+flexCUDA_debug_cflags  += -Wall -std=c++0x -fPIC -fpermissive -fno-strict-aliasing
+flexCUDA_debug_cflags  += -g -O0
+flexCUDA_debug_cppflags	:= $(flexCUDA_debug_common_cflags)
+flexCUDA_debug_cppflags  += -Wall -std=c++0x -fPIC -fpermissive -fno-strict-aliasing
+flexCUDA_debug_cppflags  += -g -O0
+flexCUDA_debug_lflags    := $(flexCUDA_custom_lflags)
+flexCUDA_debug_lflags    += $(addprefix -L, $(flexCUDA_debug_lpaths))
+flexCUDA_debug_lflags    += -Wl,--start-group $(addprefix -l, $(flexCUDA_debug_libraries)) -Wl,--end-group
+flexCUDA_debug_lflags  += -m64
+flexCUDA_debug_objsdir  = $(OBJS_DIR)/flexCUDA_debug
+flexCUDA_debug_cpp_o    = $(addprefix $(flexCUDA_debug_objsdir)/, $(subst ./, , $(subst ../, , $(patsubst %.cpp, %.cpp.o, $(flexCUDA_cppfiles)))))
+flexCUDA_debug_cc_o    = $(addprefix $(flexCUDA_debug_objsdir)/, $(subst ./, , $(subst ../, , $(patsubst %.cc, %.cc.o, $(flexCUDA_ccfiles)))))
+flexCUDA_debug_c_o      = $(addprefix $(flexCUDA_debug_objsdir)/, $(subst ./, , $(subst ../, , $(patsubst %.c, %.c.o, $(flexCUDA_cfiles)))))
+flexCUDA_debug_cuda_src_cuda_bvh_cu_o += $(OBJS_DIR)/flexCUDA_debug/cuda/src/cudabvh.o
+flexCUDA_debug_cuda_src_cuda_flex_cu_o += $(OBJS_DIR)/flexCUDA_debug/cuda/src/cudaflex.o
+flexCUDA_debug_cuda_src_cuda_sort_cu_o += $(OBJS_DIR)/flexCUDA_debug/cuda/src/cudasort.o
+flexCUDA_debug_obj      = $(flexCUDA_debug_cpp_o) $(flexCUDA_debug_cc_o) $(flexCUDA_debug_c_o) $(flexCUDA_debug_cuda_src_cuda_bvh_cu_o) $(flexCUDA_debug_cuda_src_cuda_flex_cu_o) $(flexCUDA_debug_cuda_src_cuda_sort_cu_o)
+flexCUDA_debug_bin      := ./../../../lib/linux64/NvFlexDebugCUDA_x64.a
+
+clean_flexCUDA_debug: 
+	@$(ECHO) clean flexCUDA debug
+	@$(RMDIR) $(flexCUDA_debug_objsdir)
+	@$(RMDIR) $(flexCUDA_debug_bin)
+	@$(RMDIR) $(DEPSDIR)/flexCUDA/debug
+
+build_flexCUDA_debug: postbuild_flexCUDA_debug
+postbuild_flexCUDA_debug: mainbuild_flexCUDA_debug
+mainbuild_flexCUDA_debug: prebuild_flexCUDA_debug $(flexCUDA_debug_bin)
+prebuild_flexCUDA_debug:
+
+$(flexCUDA_debug_bin): $(flexCUDA_debug_obj) 
+	mkdir -p `dirname ./../../../lib/linux64/NvFlexDebugCUDA_x64.a`
+	@$(AR) rcs $(flexCUDA_debug_bin) $(flexCUDA_debug_obj)
+	$(ECHO) building $@ complete!
+
+$(flexCUDA_debug_cuda_src_cuda_bvh_cu_o): $(flexCUDA_cuda_src_cuda_bvh_cu) 
+	@mkdir -p `dirname $(OBJS_DIR)/flexCUDA_debug/cuda/src/cudabvh.o`
+	$(ECHO) ../../../../../../external/CUDA/8.0.44-linux/bin/nvcc -O3 -g -arch=sm_30 -m64 -Xcompiler -fPIC -D_FORCE_INLINES  -I../../.. -I../../../external -I../../../../../../external/CUDA/8.0.44-linux/include -I../../../external/cub-1.3.2  --compile "../../../src/cuda/bvh.cu" -o "$(OBJS_DIR)/flexCUDA_debug/cuda/src/cudabvh.o"
+	../../../../../../external/CUDA/8.0.44-linux/bin/nvcc -O3 -g -arch=sm_30 -m64 -Xcompiler -fPIC -D_FORCE_INLINES  -I../../.. -I../../../external -I../../../../../../external/CUDA/8.0.44-linux/include -I../../../external/cub-1.3.2  --compile "../../../src/cuda/bvh.cu" -o "$(OBJS_DIR)/flexCUDA_debug/cuda/src/cudabvh.o"
+
+$(flexCUDA_debug_cuda_src_cuda_flex_cu_o): $(flexCUDA_cuda_src_cuda_flex_cu) 
+	@mkdir -p `dirname $(OBJS_DIR)/flexCUDA_debug/cuda/src/cudaflex.o`
+	$(ECHO) ../../../../../../external/CUDA/8.0.44-linux/bin/nvcc -O3 -g -arch=sm_30 -m64 -Xcompiler -fPIC -D_FORCE_INLINES  -I../../.. -I../../../external -I../../../../../../external/CUDA/8.0.44-linux/include -I../../../external/cub-1.3.2  --compile "../../../src/cuda/flex.cu" -o "$(OBJS_DIR)/flexCUDA_debug/cuda/src/cudaflex.o"
+	../../../../../../external/CUDA/8.0.44-linux/bin/nvcc -O3 -g -arch=sm_30 -m64 -Xcompiler -fPIC -D_FORCE_INLINES  -I../../.. -I../../../external -I../../../../../../external/CUDA/8.0.44-linux/include -I../../../external/cub-1.3.2  --compile "../../../src/cuda/flex.cu" -o "$(OBJS_DIR)/flexCUDA_debug/cuda/src/cudaflex.o"
+
+$(flexCUDA_debug_cuda_src_cuda_sort_cu_o): $(flexCUDA_cuda_src_cuda_sort_cu) 
+	@mkdir -p `dirname $(OBJS_DIR)/flexCUDA_debug/cuda/src/cudasort.o`
+	$(ECHO) ../../../../../../external/CUDA/8.0.44-linux/bin/nvcc -O3 -g -arch=sm_30 -m64 -Xcompiler -fPIC -D_FORCE_INLINES  -I../../.. -I../../../external -I../../../../../../external/CUDA/8.0.44-linux/include -I../../../external/cub-1.3.2  --compile "../../../src/cuda/sort.cu" -o "$(OBJS_DIR)/flexCUDA_debug/cuda/src/cudasort.o"
+	../../../../../../external/CUDA/8.0.44-linux/bin/nvcc -O3 -g -arch=sm_30 -m64 -Xcompiler -fPIC -D_FORCE_INLINES  -I../../.. -I../../../external -I../../../../../../external/CUDA/8.0.44-linux/include -I../../../external/cub-1.3.2  --compile "../../../src/cuda/sort.cu" -o "$(OBJS_DIR)/flexCUDA_debug/cuda/src/cudasort.o"
+
+flexCUDA_debug_DEPDIR = $(dir $(@))/$(*F)
+$(flexCUDA_debug_cpp_o): $(flexCUDA_debug_objsdir)/%.o:
+	$(ECHO) flexCUDA: compiling debug $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_cppfiles))...
+	mkdir -p $(dir $(@))
+	$(CXX) $(flexCUDA_debug_cppflags) -c $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_cppfiles)) -o $@
+	@mkdir -p $(dir $(addprefix $(DEPSDIR)/flexCUDA/debug/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_cppfiles))))))
+	cp $(flexCUDA_debug_DEPDIR).d $(addprefix $(DEPSDIR)/flexCUDA/debug/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_cppfiles))))).P; \
+	  sed -e 's/#.*//' -e 's/^[^:]*: *//' -e 's/ *\\$$//' \
+		-e '/^$$/ d' -e 's/$$/ :/' < $(flexCUDA_debug_DEPDIR).d >> $(addprefix $(DEPSDIR)/flexCUDA/debug/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_cppfiles))))).P; \
+	  rm -f $(flexCUDA_debug_DEPDIR).d
+
+$(flexCUDA_debug_cc_o): $(flexCUDA_debug_objsdir)/%.o:
+	$(ECHO) flexCUDA: compiling debug $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_ccfiles))...
+	mkdir -p $(dir $(@))
+	$(CXX) $(flexCUDA_debug_cppflags) -c $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_ccfiles)) -o $@
+	mkdir -p $(dir $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_ccfiles))))))
+	cp $(flexCUDA_debug_DEPDIR).d $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_ccfiles))))).debug.P; \
+	  sed -e 's/#.*//' -e 's/^[^:]*: *//' -e 's/ *\\$$//' \
+		-e '/^$$/ d' -e 's/$$/ :/' < $(flexCUDA_debug_DEPDIR).d >> $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_ccfiles))))).debug.P; \
+	  rm -f $(flexCUDA_debug_DEPDIR).d
+
+$(flexCUDA_debug_c_o): $(flexCUDA_debug_objsdir)/%.o:
+	$(ECHO) flexCUDA: compiling debug $(filter %$(strip $(subst .c.o,.c, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_cfiles))...
+	mkdir -p $(dir $(@))
+	$(CC) $(flexCUDA_debug_cflags) -c $(filter %$(strip $(subst .c.o,.c, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_cfiles)) -o $@ 
+	@mkdir -p $(dir $(addprefix $(DEPSDIR)/flexCUDA/debug/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .c.o,.c, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_cfiles))))))
+	cp $(flexCUDA_debug_DEPDIR).d $(addprefix $(DEPSDIR)/flexCUDA/debug/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .c.o,.c, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_cfiles))))).P; \
+	  sed -e 's/#.*//' -e 's/^[^:]*: *//' -e 's/ *\\$$//' \
+		-e '/^$$/ d' -e 's/$$/ :/' < $(flexCUDA_debug_DEPDIR).d >> $(addprefix $(DEPSDIR)/flexCUDA/debug/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .c.o,.c, $(subst $(flexCUDA_debug_objsdir),, $@))), $(flexCUDA_cfiles))))).P; \
+	  rm -f $(flexCUDA_debug_DEPDIR).d
+
+clean_flexCUDA:  clean_flexCUDA_release clean_flexCUDA_debug
+	rm -rf $(DEPSDIR)
+
+export VERBOSE
+ifndef VERBOSE
+.SILENT:
+endif
diff --git a/extensions/compiler/makelinux64/Makefile.flexExtCUDA.mk b/extensions/compiler/makelinux64/Makefile.flexExtCUDA.mk
new file mode 100644
index 0000000..cf13501
--- /dev/null
+++ b/extensions/compiler/makelinux64/Makefile.flexExtCUDA.mk
@@ -0,0 +1,197 @@
+# Makefile generated by XPJ for linux64
+-include Makefile.custom
+ProjectName = flexExtCUDA
+flexExtCUDA_cppfiles   += ./../../flexExtCloth.cpp
+flexExtCUDA_cppfiles   += ./../../flexExtContainer.cpp
+flexExtCUDA_cppfiles   += ./../../flexExtMovingFrame.cpp
+flexExtCUDA_cppfiles   += ./../../flexExtRigid.cpp
+flexExtCUDA_cppfiles   += ./../../flexExtSoft.cpp
+flexExtCUDA_cuda_cuda_flexExt_cu   += ./../../cuda/flexExt.cu
+flexExtCUDA_cppfiles   += ./../../../core/sdf.cpp
+flexExtCUDA_cppfiles   += ./../../../core/voxelize.cpp
+flexExtCUDA_cppfiles   += ./../../../core/maths.cpp
+flexExtCUDA_cppfiles   += ./../../../core/aabbtree.cpp
+
+flexExtCUDA_cpp_release_dep    = $(addprefix $(DEPSDIR)/flexExtCUDA/release/, $(subst ./, , $(subst ../, , $(patsubst %.cpp, %.cpp.P, $(flexExtCUDA_cppfiles)))))
+flexExtCUDA_cc_release_dep    = $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(patsubst %.cc, %.cc.release.P, $(flexExtCUDA_ccfiles)))))
+flexExtCUDA_c_release_dep      = $(addprefix $(DEPSDIR)/flexExtCUDA/release/, $(subst ./, , $(subst ../, , $(patsubst %.c, %.c.P, $(flexExtCUDA_cfiles)))))
+flexExtCUDA_release_dep      = $(flexExtCUDA_cpp_release_dep) $(flexExtCUDA_cc_release_dep) $(flexExtCUDA_c_release_dep)
+-include $(flexExtCUDA_release_dep)
+flexExtCUDA_cpp_debug_dep    = $(addprefix $(DEPSDIR)/flexExtCUDA/debug/, $(subst ./, , $(subst ../, , $(patsubst %.cpp, %.cpp.P, $(flexExtCUDA_cppfiles)))))
+flexExtCUDA_cc_debug_dep    = $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(patsubst %.cc, %.cc.debug.P, $(flexExtCUDA_ccfiles)))))
+flexExtCUDA_c_debug_dep      = $(addprefix $(DEPSDIR)/flexExtCUDA/debug/, $(subst ./, , $(subst ../, , $(patsubst %.c, %.c.P, $(flexExtCUDA_cfiles)))))
+flexExtCUDA_debug_dep      = $(flexExtCUDA_cpp_debug_dep) $(flexExtCUDA_cc_debug_dep) $(flexExtCUDA_c_debug_dep)
+-include $(flexExtCUDA_debug_dep)
+flexExtCUDA_release_hpaths    := 
+flexExtCUDA_release_hpaths    += $(CUDA_PATH)/include
+flexExtCUDA_release_hpaths    += $(CUDA_PATH)/extras/cupti/include
+flexExtCUDA_release_hpaths    += ./../../..
+flexExtCUDA_release_hpaths    += ./../../../external/freeglut/include
+flexExtCUDA_release_lpaths    := 
+flexExtCUDA_release_lpaths    += $(CUDA_PATH)/lib64
+flexExtCUDA_release_defines   := $(flexExtCUDA_custom_defines)
+flexExtCUDA_release_libraries := 
+flexExtCUDA_release_libraries += ./../../../lib/linux64/NvFlexReleaseCUDA_x64.a
+flexExtCUDA_release_common_cflags	:= $(flexExtCUDA_custom_cflags)
+flexExtCUDA_release_common_cflags    += -MMD
+flexExtCUDA_release_common_cflags    += $(addprefix -D, $(flexExtCUDA_release_defines))
+flexExtCUDA_release_common_cflags    += $(addprefix -I, $(flexExtCUDA_release_hpaths))
+flexExtCUDA_release_common_cflags  += -m64
+flexExtCUDA_release_common_cflags  += -Wall -std=c++0x -fPIC -fpermissive -fno-strict-aliasing
+flexExtCUDA_release_common_cflags  += -O3 -ffast-math -DNDEBUG
+flexExtCUDA_release_cflags	:= $(flexExtCUDA_release_common_cflags)
+flexExtCUDA_release_cppflags	:= $(flexExtCUDA_release_common_cflags)
+flexExtCUDA_release_lflags    := $(flexExtCUDA_custom_lflags)
+flexExtCUDA_release_lflags    += $(addprefix -L, $(flexExtCUDA_release_lpaths))
+flexExtCUDA_release_lflags    += -Wl,--start-group $(addprefix -l, $(flexExtCUDA_release_libraries)) -Wl,--end-group
+flexExtCUDA_release_lflags  += -m64
+flexExtCUDA_release_objsdir  = $(OBJS_DIR)/flexExtCUDA_release
+flexExtCUDA_release_cpp_o    = $(addprefix $(flexExtCUDA_release_objsdir)/, $(subst ./, , $(subst ../, , $(patsubst %.cpp, %.cpp.o, $(flexExtCUDA_cppfiles)))))
+flexExtCUDA_release_cc_o    = $(addprefix $(flexExtCUDA_release_objsdir)/, $(subst ./, , $(subst ../, , $(patsubst %.cc, %.cc.o, $(flexExtCUDA_ccfiles)))))
+flexExtCUDA_release_c_o      = $(addprefix $(flexExtCUDA_release_objsdir)/, $(subst ./, , $(subst ../, , $(patsubst %.c, %.c.o, $(flexExtCUDA_cfiles)))))
+flexExtCUDA_release_cuda_cuda_flexExt_cu_o += $(OBJS_DIR)/flexExtCUDA_release/cuda/cudaflexExt.o
+flexExtCUDA_release_obj      = $(flexExtCUDA_release_cpp_o) $(flexExtCUDA_release_cc_o) $(flexExtCUDA_release_c_o) $(flexExtCUDA_release_cuda_cuda_flexExt_cu_o)
+flexExtCUDA_release_bin      := ./../../../lib/linux64/NvFlexExtReleaseCUDA_x64.a
+
+clean_flexExtCUDA_release: 
+	@$(ECHO) clean flexExtCUDA release
+	@$(RMDIR) $(flexExtCUDA_release_objsdir)
+	@$(RMDIR) $(flexExtCUDA_release_bin)
+	@$(RMDIR) $(DEPSDIR)/flexExtCUDA/release
+
+build_flexExtCUDA_release: postbuild_flexExtCUDA_release
+postbuild_flexExtCUDA_release: mainbuild_flexExtCUDA_release
+mainbuild_flexExtCUDA_release: prebuild_flexExtCUDA_release $(flexExtCUDA_release_bin)
+prebuild_flexExtCUDA_release:
+
+$(flexExtCUDA_release_bin): $(flexExtCUDA_release_obj) 
+	mkdir -p `dirname ./../../../lib/linux64/NvFlexExtReleaseCUDA_x64.a`
+	@$(AR) rcs $(flexExtCUDA_release_bin) $(flexExtCUDA_release_obj)
+	$(ECHO) building $@ complete!
+
+$(flexExtCUDA_release_cuda_cuda_flexExt_cu_o): $(flexExtCUDA_cuda_cuda_flexExt_cu) 
+	@mkdir -p `dirname $(OBJS_DIR)/flexExtCUDA_release/cuda/cudaflexExt.o`
+	$(ECHO) $(CUDA_PATH)/bin/nvcc -O3 -g -arch=sm_30 -m64 -Xcompiler -fPIC -D_FORCE_INLINES  -I../../.. -I../../../external -I$(CUDA_PATH)/include -I../../../external/cub-1.3.2  --compile "./../../cuda/flexExt.cu" -o "$(OBJS_DIR)/flexExtCUDA_release/cuda/cudaflexExt.o"
+	$(CUDA_PATH)/bin/nvcc -O3 -g -arch=sm_30 -m64 -Xcompiler -fPIC -D_FORCE_INLINES  -I../../.. -I../../../external -I$(CUDA_PATH)/include -I../../../external/cub-1.3.2  --compile "./../../cuda/flexExt.cu" -o "$(OBJS_DIR)/flexExtCUDA_release/cuda/cudaflexExt.o"
+
+flexExtCUDA_release_DEPDIR = $(dir $(@))/$(*F)
+$(flexExtCUDA_release_cpp_o): $(flexExtCUDA_release_objsdir)/%.o:
+	$(ECHO) flexExtCUDA: compiling release $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_cppfiles))...
+	mkdir -p $(dir $(@))
+	$(CXX) $(flexExtCUDA_release_cppflags) -c $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_cppfiles)) -o $@
+	@mkdir -p $(dir $(addprefix $(DEPSDIR)/flexExtCUDA/release/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_cppfiles))))))
+	cp $(flexExtCUDA_release_DEPDIR).d $(addprefix $(DEPSDIR)/flexExtCUDA/release/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_cppfiles))))).P; \
+	  sed -e 's/#.*//' -e 's/^[^:]*: *//' -e 's/ *\\$$//' \
+		-e '/^$$/ d' -e 's/$$/ :/' < $(flexExtCUDA_release_DEPDIR).d >> $(addprefix $(DEPSDIR)/flexExtCUDA/release/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_cppfiles))))).P; \
+	  rm -f $(flexExtCUDA_release_DEPDIR).d
+
+$(flexExtCUDA_release_cc_o): $(flexExtCUDA_release_objsdir)/%.o:
+	$(ECHO) flexExtCUDA: compiling release $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_ccfiles))...
+	mkdir -p $(dir $(@))
+	$(CXX) $(flexExtCUDA_release_cppflags) -c $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_ccfiles)) -o $@
+	mkdir -p $(dir $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_ccfiles))))))
+	cp $(flexExtCUDA_release_DEPDIR).d $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_ccfiles))))).release.P; \
+	  sed -e 's/#.*//' -e 's/^[^:]*: *//' -e 's/ *\\$$//' \
+		-e '/^$$/ d' -e 's/$$/ :/' < $(flexExtCUDA_release_DEPDIR).d >> $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_ccfiles))))).release.P; \
+	  rm -f $(flexExtCUDA_release_DEPDIR).d
+
+$(flexExtCUDA_release_c_o): $(flexExtCUDA_release_objsdir)/%.o:
+	$(ECHO) flexExtCUDA: compiling release $(filter %$(strip $(subst .c.o,.c, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_cfiles))...
+	mkdir -p $(dir $(@))
+	$(CC) $(flexExtCUDA_release_cflags) -c $(filter %$(strip $(subst .c.o,.c, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_cfiles)) -o $@ 
+	@mkdir -p $(dir $(addprefix $(DEPSDIR)/flexExtCUDA/release/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .c.o,.c, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_cfiles))))))
+	cp $(flexExtCUDA_release_DEPDIR).d $(addprefix $(DEPSDIR)/flexExtCUDA/release/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .c.o,.c, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_cfiles))))).P; \
+	  sed -e 's/#.*//' -e 's/^[^:]*: *//' -e 's/ *\\$$//' \
+		-e '/^$$/ d' -e 's/$$/ :/' < $(flexExtCUDA_release_DEPDIR).d >> $(addprefix $(DEPSDIR)/flexExtCUDA/release/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .c.o,.c, $(subst $(flexExtCUDA_release_objsdir),, $@))), $(flexExtCUDA_cfiles))))).P; \
+	  rm -f $(flexExtCUDA_release_DEPDIR).d
+
+flexExtCUDA_debug_hpaths    := 
+flexExtCUDA_debug_hpaths    += $(CUDA_PATH)/include
+flexExtCUDA_debug_hpaths    += $(CUDA_PATH)/extras/cupti/include
+flexExtCUDA_debug_hpaths    += ./../../..
+flexExtCUDA_debug_hpaths    += ./../../../external/freeglut/include
+flexExtCUDA_debug_lpaths    := 
+flexExtCUDA_debug_lpaths    += $(CUDA_PATH)/lib64
+flexExtCUDA_debug_defines   := $(flexExtCUDA_custom_defines)
+flexExtCUDA_debug_libraries := 
+flexExtCUDA_debug_libraries += ./../../../lib/linux64/NvFlexDebugCUDA_x64.a
+flexExtCUDA_debug_common_cflags	:= $(flexExtCUDA_custom_cflags)
+flexExtCUDA_debug_common_cflags    += -MMD
+flexExtCUDA_debug_common_cflags    += $(addprefix -D, $(flexExtCUDA_debug_defines))
+flexExtCUDA_debug_common_cflags    += $(addprefix -I, $(flexExtCUDA_debug_hpaths))
+flexExtCUDA_debug_common_cflags  += -m64
+flexExtCUDA_debug_common_cflags  += -Wall -std=c++0x -fPIC -fpermissive -fno-strict-aliasing
+flexExtCUDA_debug_common_cflags  += -g -O0
+flexExtCUDA_debug_cflags	:= $(flexExtCUDA_debug_common_cflags)
+flexExtCUDA_debug_cppflags	:= $(flexExtCUDA_debug_common_cflags)
+flexExtCUDA_debug_lflags    := $(flexExtCUDA_custom_lflags)
+flexExtCUDA_debug_lflags    += $(addprefix -L, $(flexExtCUDA_debug_lpaths))
+flexExtCUDA_debug_lflags    += -Wl,--start-group $(addprefix -l, $(flexExtCUDA_debug_libraries)) -Wl,--end-group
+flexExtCUDA_debug_lflags  += -m64
+flexExtCUDA_debug_objsdir  = $(OBJS_DIR)/flexExtCUDA_debug
+flexExtCUDA_debug_cpp_o    = $(addprefix $(flexExtCUDA_debug_objsdir)/, $(subst ./, , $(subst ../, , $(patsubst %.cpp, %.cpp.o, $(flexExtCUDA_cppfiles)))))
+flexExtCUDA_debug_cc_o    = $(addprefix $(flexExtCUDA_debug_objsdir)/, $(subst ./, , $(subst ../, , $(patsubst %.cc, %.cc.o, $(flexExtCUDA_ccfiles)))))
+flexExtCUDA_debug_c_o      = $(addprefix $(flexExtCUDA_debug_objsdir)/, $(subst ./, , $(subst ../, , $(patsubst %.c, %.c.o, $(flexExtCUDA_cfiles)))))
+flexExtCUDA_debug_cuda_cuda_flexExt_cu_o += $(OBJS_DIR)/flexExtCUDA_debug/cuda/cudaflexExt.o
+flexExtCUDA_debug_obj      = $(flexExtCUDA_debug_cpp_o) $(flexExtCUDA_debug_cc_o) $(flexExtCUDA_debug_c_o) $(flexExtCUDA_debug_cuda_cuda_flexExt_cu_o)
+flexExtCUDA_debug_bin      := ./../../../lib/linux64/NvFlexExtDebugCUDA_x64.a
+
+clean_flexExtCUDA_debug: 
+	@$(ECHO) clean flexExtCUDA debug
+	@$(RMDIR) $(flexExtCUDA_debug_objsdir)
+	@$(RMDIR) $(flexExtCUDA_debug_bin)
+	@$(RMDIR) $(DEPSDIR)/flexExtCUDA/debug
+
+build_flexExtCUDA_debug: postbuild_flexExtCUDA_debug
+postbuild_flexExtCUDA_debug: mainbuild_flexExtCUDA_debug
+mainbuild_flexExtCUDA_debug: prebuild_flexExtCUDA_debug $(flexExtCUDA_debug_bin)
+prebuild_flexExtCUDA_debug:
+
+$(flexExtCUDA_debug_bin): $(flexExtCUDA_debug_obj) 
+	mkdir -p `dirname ./../../../lib/linux64/NvFlexExtDebugCUDA_x64.a`
+	@$(AR) rcs $(flexExtCUDA_debug_bin) $(flexExtCUDA_debug_obj)
+	$(ECHO) building $@ complete!
+
+$(flexExtCUDA_debug_cuda_cuda_flexExt_cu_o): $(flexExtCUDA_cuda_cuda_flexExt_cu) 
+	@mkdir -p `dirname $(OBJS_DIR)/flexExtCUDA_debug/cuda/cudaflexExt.o`
+	$(ECHO) $(CUDA_PATH)/bin/nvcc -O3 -g -arch=sm_30 -m64 -Xcompiler -fPIC -D_FORCE_INLINES  -I../../.. -I../../../external -I$(CUDA_PATH)/include -I../../../external/cub-1.3.2  --compile "./../../cuda/flexExt.cu" -o "$(OBJS_DIR)/flexExtCUDA_debug/cuda/cudaflexExt.o"
+	$(CUDA_PATH)/bin/nvcc -O3 -g -arch=sm_30 -m64 -Xcompiler -fPIC -D_FORCE_INLINES  -I../../.. -I../../../external -I$(CUDA_PATH)/include -I../../../external/cub-1.3.2  --compile "./../../cuda/flexExt.cu" -o "$(OBJS_DIR)/flexExtCUDA_debug/cuda/cudaflexExt.o"
+
+flexExtCUDA_debug_DEPDIR = $(dir $(@))/$(*F)
+$(flexExtCUDA_debug_cpp_o): $(flexExtCUDA_debug_objsdir)/%.o:
+	$(ECHO) flexExtCUDA: compiling debug $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_cppfiles))...
+	mkdir -p $(dir $(@))
+	$(CXX) $(flexExtCUDA_debug_cppflags) -c $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_cppfiles)) -o $@
+	@mkdir -p $(dir $(addprefix $(DEPSDIR)/flexExtCUDA/debug/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_cppfiles))))))
+	cp $(flexExtCUDA_debug_DEPDIR).d $(addprefix $(DEPSDIR)/flexExtCUDA/debug/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_cppfiles))))).P; \
+	  sed -e 's/#.*//' -e 's/^[^:]*: *//' -e 's/ *\\$$//' \
+		-e '/^$$/ d' -e 's/$$/ :/' < $(flexExtCUDA_debug_DEPDIR).d >> $(addprefix $(DEPSDIR)/flexExtCUDA/debug/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cpp.o,.cpp, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_cppfiles))))).P; \
+	  rm -f $(flexExtCUDA_debug_DEPDIR).d
+
+$(flexExtCUDA_debug_cc_o): $(flexExtCUDA_debug_objsdir)/%.o:
+	$(ECHO) flexExtCUDA: compiling debug $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_ccfiles))...
+	mkdir -p $(dir $(@))
+	$(CXX) $(flexExtCUDA_debug_cppflags) -c $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_ccfiles)) -o $@
+	mkdir -p $(dir $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_ccfiles))))))
+	cp $(flexExtCUDA_debug_DEPDIR).d $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_ccfiles))))).debug.P; \
+	  sed -e 's/#.*//' -e 's/^[^:]*: *//' -e 's/ *\\$$//' \
+		-e '/^$$/ d' -e 's/$$/ :/' < $(flexExtCUDA_debug_DEPDIR).d >> $(addprefix $(DEPSDIR)/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .cc.o,.cc, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_ccfiles))))).debug.P; \
+	  rm -f $(flexExtCUDA_debug_DEPDIR).d
+
+$(flexExtCUDA_debug_c_o): $(flexExtCUDA_debug_objsdir)/%.o:
+	$(ECHO) flexExtCUDA: compiling debug $(filter %$(strip $(subst .c.o,.c, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_cfiles))...
+	mkdir -p $(dir $(@))
+	$(CC) $(flexExtCUDA_debug_cflags) -c $(filter %$(strip $(subst .c.o,.c, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_cfiles)) -o $@ 
+	@mkdir -p $(dir $(addprefix $(DEPSDIR)/flexExtCUDA/debug/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .c.o,.c, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_cfiles))))))
+	cp $(flexExtCUDA_debug_DEPDIR).d $(addprefix $(DEPSDIR)/flexExtCUDA/debug/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .c.o,.c, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_cfiles))))).P; \
+	  sed -e 's/#.*//' -e 's/^[^:]*: *//' -e 's/ *\\$$//' \
+		-e '/^$$/ d' -e 's/$$/ :/' < $(flexExtCUDA_debug_DEPDIR).d >> $(addprefix $(DEPSDIR)/flexExtCUDA/debug/, $(subst ./, , $(subst ../, , $(filter %$(strip $(subst .c.o,.c, $(subst $(flexExtCUDA_debug_objsdir),, $@))), $(flexExtCUDA_cfiles))))).P; \
+	  rm -f $(flexExtCUDA_debug_DEPDIR).d
+
+clean_flexExtCUDA:  clean_flexExtCUDA_release clean_flexExtCUDA_debug
+	rm -rf $(DEPSDIR)
+
+export VERBOSE
+ifndef VERBOSE
+.SILENT:
+endif
diff --git a/extensions/compiler/vc12win32/flexExtCUDA.sln b/extensions/compiler/vc12win32/flexExtCUDA.sln
new file mode 100644
index 0000000..010e75d
--- /dev/null
+++ b/extensions/compiler/vc12win32/flexExtCUDA.sln
@@ -0,0 +1,24 @@
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 2013
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "flexExtCUDA", "./flexExtCUDA.vcxproj", "{FD4C9C06-7BEC-CDF8-C631-CD32A428A280}"
+	ProjectSection(ProjectDependencies) = postProject
+	EndProjectSection
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		debug|Win32 = debug|Win32
+		release|Win32 = release|Win32
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{FD4C9C06-7BEC-CDF8-C631-CD32A428A280}.debug|Win32.ActiveCfg = debug|Win32
+		{FD4C9C06-7BEC-CDF8-C631-CD32A428A280}.debug|Win32.Build.0 = debug|Win32
+		{FD4C9C06-7BEC-CDF8-C631-CD32A428A280}.release|Win32.ActiveCfg = release|Win32
+		{FD4C9C06-7BEC-CDF8-C631-CD32A428A280}.release|Win32.Build.0 = release|Win32
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+	EndGlobalSection
+	GlobalSection(ExtensibilityAddins) = postSolution
+	EndGlobalSection
+	GlobalSection(NestedProjects) = preSolution
+	EndGlobalSection
+EndGlobal
diff --git a/extensions/compiler/vc12win32/flexExtCUDA.vcxproj b/extensions/compiler/vc12win32/flexExtCUDA.vcxproj
new file mode 100644
index 0000000..43efc87
--- /dev/null
+++ b/extensions/compiler/vc12win32/flexExtCUDA.vcxproj
@@ -0,0 +1,150 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" ToolsVersion="12.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+	<ItemGroup Label="ProjectConfigurations">
+		<ProjectConfiguration Include="debug|Win32">
+			<Configuration>debug</Configuration>
+			<Platform>Win32</Platform>
+		</ProjectConfiguration>
+		<ProjectConfiguration Include="release|Win32">
+			<Configuration>release</Configuration>
+			<Platform>Win32</Platform>
+		</ProjectConfiguration>
+	</ItemGroup>
+	<PropertyGroup Label="Globals">
+		<ProjectGuid>{FD4C9C06-7BEC-CDF8-C631-CD32A428A280}</ProjectGuid>
+		<RootNamespace>flexExtCUDA</RootNamespace>
+	</PropertyGroup>
+	<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='debug|Win32'" Label="Configuration">
+		<ConfigurationType>DynamicLibrary</ConfigurationType>
+		<PlatformToolset>v120</PlatformToolset>
+	</PropertyGroup>
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='release|Win32'" Label="Configuration">
+		<ConfigurationType>DynamicLibrary</ConfigurationType>
+		<PlatformToolset>v120</PlatformToolset>
+		<WholeProgramOptimization>true</WholeProgramOptimization>
+	</PropertyGroup>
+	<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+	<ImportGroup Label="ExtensionSettings">
+	</ImportGroup>
+	<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">
+		<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+	</ImportGroup>
+	<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='release|Win32'">
+		<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+	</ImportGroup>
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">
+		<OutDir>./../../../bin/win32\</OutDir>
+		<IntDir>./build/win32/debug\</IntDir>
+		<TargetExt>.dll</TargetExt>
+		<TargetName>NvFlexExtDebugCUDA_x86</TargetName>
+		<CodeAnalysisRuleSet>AllRules.ruleset</CodeAnalysisRuleSet>
+		<CodeAnalysisRules />
+		<CodeAnalysisRuleAssemblies />
+		<SkipCopyingSymbolsToOutputDirectory>true</SkipCopyingSymbolsToOutputDirectory>
+	</PropertyGroup>
+	<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">
+		<ClCompile>
+			<FloatingPointModel>Precise</FloatingPointModel>
+			<AdditionalOptions> /d2Zi+</AdditionalOptions>
+			<Optimization>Disabled</Optimization>
+			<AdditionalIncludeDirectories>$(CUDA_PATH)/include;$(CUDA_PATH)/extras/cupti/include;./../../../../..;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+			<PreprocessorDefinitions>_CONSOLE;WIN32;_DEBUG;_ITERATOR_DEBUG_LEVEL=0;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+			<WarningLevel>Level3</WarningLevel>
+			<RuntimeLibrary>MultiThreadedDebug</RuntimeLibrary>
+			<PrecompiledHeader>NotUsing</PrecompiledHeader>
+			<PrecompiledHeaderFile></PrecompiledHeaderFile>
+		</ClCompile>
+		<Link>
+			<AdditionalDependencies>cudart.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;./../../../lib/win32/NvFlexDebugCUDA_x86.lib;%(AdditionalDependencies)</AdditionalDependencies>
+			<OutputFile>$(OutDir)NvFlexExtDebugCUDA_x86.dll</OutputFile>
+			<AdditionalLibraryDirectories>$(CUDA_PATH)/lib/win32;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+			<ProgramDatabaseFile>$(OutDir)/NvFlexExtDebugCUDA_x86.dll.pdb</ProgramDatabaseFile>
+			<SubSystem>Console</SubSystem>
+			<ImportLibrary>./../../../lib/win32/NvFlexExtDebugCUDA_x86.lib</ImportLibrary>
+			<GenerateDebugInformation>true</GenerateDebugInformation>
+			<TargetMachine>MachineX86</TargetMachine>
+		</Link>
+		<ResourceCompile>
+		</ResourceCompile>
+		<ProjectReference>
+		</ProjectReference>
+	</ItemDefinitionGroup>
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='release|Win32'">
+		<OutDir>./../../../bin/win32\</OutDir>
+		<IntDir>./build/win32/release\</IntDir>
+		<TargetExt>.dll</TargetExt>
+		<TargetName>NvFlexExtReleaseCUDA_x86</TargetName>
+		<CodeAnalysisRuleSet>AllRules.ruleset</CodeAnalysisRuleSet>
+		<CodeAnalysisRules />
+		<CodeAnalysisRuleAssemblies />
+		<SkipCopyingSymbolsToOutputDirectory>true</SkipCopyingSymbolsToOutputDirectory>
+	</PropertyGroup>
+	<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='release|Win32'">
+		<ClCompile>
+			<EnableEnhancedInstructionSet>StreamingSIMDExtensions2</EnableEnhancedInstructionSet>
+			<IntrinsicFunctions>true</IntrinsicFunctions>
+			<FunctionLevelLinking>true</FunctionLevelLinking>
+			<BufferSecurityCheck>false</BufferSecurityCheck>
+			<FloatingPointModel>Fast</FloatingPointModel>
+			<AdditionalOptions> /d2Zi+</AdditionalOptions>
+			<Optimization>Full</Optimization>
+			<AdditionalIncludeDirectories>$(CUDA_PATH)/include;$(CUDA_PATH)/extras/cupti/include;./../../../../..;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+			<PreprocessorDefinitions>_CONSOLE;WIN32;NDEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+			<WarningLevel>Level3</WarningLevel>
+			<RuntimeLibrary>MultiThreaded</RuntimeLibrary>
+			<PrecompiledHeader>NotUsing</PrecompiledHeader>
+			<PrecompiledHeaderFile></PrecompiledHeaderFile>
+		</ClCompile>
+		<Link>
+			<AdditionalDependencies>cudart.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;./../../../lib/win32/NvFlexReleaseCUDA_x86.lib;%(AdditionalDependencies)</AdditionalDependencies>
+			<OutputFile>$(OutDir)NvFlexExtReleaseCUDA_x86.dll</OutputFile>
+			<AdditionalLibraryDirectories>$(CUDA_PATH)/lib/win32;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+			<ProgramDatabaseFile>$(OutDir)/NvFlexExtReleaseCUDA_x86.dll.pdb</ProgramDatabaseFile>
+			<SubSystem>Console</SubSystem>
+			<ImportLibrary>./../../../lib/win32/NvFlexExtReleaseCUDA_x86.lib</ImportLibrary>
+			<GenerateDebugInformation>true</GenerateDebugInformation>
+			<TargetMachine>MachineX86</TargetMachine>
+		</Link>
+		<ResourceCompile>
+		</ResourceCompile>
+		<ProjectReference>
+		</ProjectReference>
+	</ItemDefinitionGroup>
+	<ItemGroup>
+		<ClCompile Include="..\..\flexExtCloth.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtContainer.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtMovingFrame.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtRigid.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtSoft.cpp">
+		</ClCompile>
+	</ItemGroup>
+	<ItemGroup>
+		<CustomBuild Include="..\..\cuda\flexExt.cu">
+			<FileType Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">cuda</FileType>
+			<Command Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">"$(CUDA_PATH)\bin\nvcc.exe" -g -G --compiler-bindir="$(VCInstallDir)bin" --compiler-options=/MTd,/Zi -I"..\..\.." -D_ITERATOR_DEBUG_LEVEL=0 -DCUDA -m32 -arch=sm_30 -prec-div=false -prec-sqrt=false -ftz=true -use_fast_math -c ..\..\cuda\flexExt.cu -o ./Win32/flexExtCUDA/debug/cuda/flexExt.obj</Command>
+			<Message Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">Building %(Identity)</Message>
+			<Outputs Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">./Win32/flexExtCUDA/debug/cuda/flexExt.obj;</Outputs>
+			<FileType Condition="'$(Configuration)|$(Platform)'=='release|Win32'">cuda</FileType>
+			<Command Condition="'$(Configuration)|$(Platform)'=='release|Win32'">"$(CUDA_PATH)\bin\nvcc.exe" -O3 --compiler-bindir="$(VCInstallDir)bin"  --compiler-options=/MT,/Zi -I"..\..\.." -D_ITERATOR_DEBUG_LEVEL=0 -DNDEBUG -DCUDA -m32 -arch=sm_30 -prec-div=false -prec-sqrt=false -ftz=true -use_fast_math -c ..\..\cuda\flexExt.cu -o ./Win32/flexExtCUDA/release/cuda/flexExt.obj</Command>
+			<Message Condition="'$(Configuration)|$(Platform)'=='release|Win32'">Building %(Identity)</Message>
+			<Outputs Condition="'$(Configuration)|$(Platform)'=='release|Win32'">./Win32/flexExtCUDA/release/cuda/flexExt.obj;</Outputs>
+		</CustomBuild>
+	</ItemGroup>
+	<ItemGroup>
+		<ClCompile Include="..\..\..\core\sdf.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\..\core\voxelize.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\..\core\maths.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\..\core\aabbtree.cpp">
+		</ClCompile>
+	</ItemGroup>
+	<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+	<ImportGroup Label="ExtensionTargets"></ImportGroup>
+</Project>
diff --git a/extensions/compiler/vc12win32/flexExtCUDA.vcxproj.filters b/extensions/compiler/vc12win32/flexExtCUDA.vcxproj.filters
new file mode 100644
index 0000000..5c88696
--- /dev/null
+++ b/extensions/compiler/vc12win32/flexExtCUDA.vcxproj.filters
@@ -0,0 +1,51 @@
+<?xml version="1.0" encoding="utf-8"?>


+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">


+	<ItemGroup>


+		<Filter Include="src">


+		</Filter>


+	</ItemGroup>


+	<ItemGroup>


+		<ClCompile Include="..\..\flexExtCloth.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtContainer.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtMovingFrame.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtRigid.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtSoft.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+	</ItemGroup>


+	<ItemGroup>


+		<Filter Include="cuda">


+		</Filter>


+	</ItemGroup>


+	<ItemGroup>


+		<CustomBuild Include="..\..\cuda\flexExt.cu">


+			<Filter>cuda</Filter>


+		</CustomBuild>


+	</ItemGroup>


+	<ItemGroup>


+		<Filter Include="core">


+		</Filter>


+	</ItemGroup>


+	<ItemGroup>


+		<ClCompile Include="..\..\..\core\sdf.cpp">


+			<Filter>core</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\..\core\voxelize.cpp">


+			<Filter>core</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\..\core\maths.cpp">


+			<Filter>core</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\..\core\aabbtree.cpp">


+			<Filter>core</Filter>


+		</ClCompile>


+	</ItemGroup>


+</Project>
\ No newline at end of file
diff --git a/extensions/compiler/vc12win32/flexExtD3D.sln b/extensions/compiler/vc12win32/flexExtD3D.sln
new file mode 100644
index 0000000..147f309
--- /dev/null
+++ b/extensions/compiler/vc12win32/flexExtD3D.sln
@@ -0,0 +1,24 @@
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 2013
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "flexExtD3D", "./flexExtD3D.vcxproj", "{9B42889D-2F0D-0378-E87E-82C8D918DB4D}"
+	ProjectSection(ProjectDependencies) = postProject
+	EndProjectSection
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		debug|Win32 = debug|Win32
+		release|Win32 = release|Win32
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{9B42889D-2F0D-0378-E87E-82C8D918DB4D}.debug|Win32.ActiveCfg = debug|Win32
+		{9B42889D-2F0D-0378-E87E-82C8D918DB4D}.debug|Win32.Build.0 = debug|Win32
+		{9B42889D-2F0D-0378-E87E-82C8D918DB4D}.release|Win32.ActiveCfg = release|Win32
+		{9B42889D-2F0D-0378-E87E-82C8D918DB4D}.release|Win32.Build.0 = release|Win32
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+	EndGlobalSection
+	GlobalSection(ExtensibilityAddins) = postSolution
+	EndGlobalSection
+	GlobalSection(NestedProjects) = preSolution
+	EndGlobalSection
+EndGlobal
diff --git a/extensions/compiler/vc12win32/flexExtD3D.vcxproj b/extensions/compiler/vc12win32/flexExtD3D.vcxproj
new file mode 100644
index 0000000..db0828b
--- /dev/null
+++ b/extensions/compiler/vc12win32/flexExtD3D.vcxproj
@@ -0,0 +1,167 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" ToolsVersion="12.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+	<ItemGroup Label="ProjectConfigurations">
+		<ProjectConfiguration Include="debug|Win32">
+			<Configuration>debug</Configuration>
+			<Platform>Win32</Platform>
+		</ProjectConfiguration>
+		<ProjectConfiguration Include="release|Win32">
+			<Configuration>release</Configuration>
+			<Platform>Win32</Platform>
+		</ProjectConfiguration>
+	</ItemGroup>
+	<PropertyGroup Label="Globals">
+		<ProjectGuid>{9B42889D-2F0D-0378-E87E-82C8D918DB4D}</ProjectGuid>
+		<RootNamespace>flexExtD3D</RootNamespace>
+	</PropertyGroup>
+	<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='debug|Win32'" Label="Configuration">
+		<ConfigurationType>DynamicLibrary</ConfigurationType>
+		<PlatformToolset>v120</PlatformToolset>
+	</PropertyGroup>
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='release|Win32'" Label="Configuration">
+		<ConfigurationType>DynamicLibrary</ConfigurationType>
+		<PlatformToolset>v120</PlatformToolset>
+		<WholeProgramOptimization>true</WholeProgramOptimization>
+	</PropertyGroup>
+	<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+	<ImportGroup Label="ExtensionSettings">
+	</ImportGroup>
+	<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">
+		<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+	</ImportGroup>
+	<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='release|Win32'">
+		<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+	</ImportGroup>
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">
+		<OutDir>./../../../bin/win32\</OutDir>
+		<IntDir>./build/win32/DX/debug\</IntDir>
+		<TargetExt>.dll</TargetExt>
+		<TargetName>NvFlexExtDebugD3D_x86</TargetName>
+		<CodeAnalysisRuleSet>AllRules.ruleset</CodeAnalysisRuleSet>
+		<CodeAnalysisRules />
+		<CodeAnalysisRuleAssemblies />
+		<SkipCopyingSymbolsToOutputDirectory>true</SkipCopyingSymbolsToOutputDirectory>
+	</PropertyGroup>
+	<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">
+		<ClCompile>
+			<FloatingPointModel>Precise</FloatingPointModel>
+			<AdditionalOptions> /d2Zi+</AdditionalOptions>
+			<Optimization>Disabled</Optimization>
+			<AdditionalIncludeDirectories>./../../../../..;./../../..;./../../../external/D3D11/include;./../../../external/D3D12/include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+			<PreprocessorDefinitions>_CONSOLE;WIN32;_DEBUG;_ITERATOR_DEBUG_LEVEL=0;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+			<WarningLevel>Level3</WarningLevel>
+			<RuntimeLibrary>MultiThreadedDebug</RuntimeLibrary>
+			<PrecompiledHeader>NotUsing</PrecompiledHeader>
+			<PrecompiledHeaderFile></PrecompiledHeaderFile>
+		</ClCompile>
+		<Link>
+			<AdditionalOptions>/DELAYLOAD:d3d11.dll /DELAYLOAD:d3d12.dll</AdditionalOptions>
+			<AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;delayimp.lib;./../../../lib/win32/NvFlexDebugD3D_x86.lib;%(AdditionalDependencies)</AdditionalDependencies>
+			<OutputFile>$(OutDir)NvFlexExtDebugD3D_x86.dll</OutputFile>
+			<AdditionalLibraryDirectories>./../../../external/D3D11/libs/x86;./../../../external/D3D12/libs/x86;./../../../lib/win32;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+			<ProgramDatabaseFile>$(OutDir)/NvFlexExtDebugD3D_x86.dll.pdb</ProgramDatabaseFile>
+			<SubSystem>Console</SubSystem>
+			<ImportLibrary>./../../../lib/win32/NvFlexExtDebugD3D_x86.lib</ImportLibrary>
+			<GenerateDebugInformation>true</GenerateDebugInformation>
+			<TargetMachine>MachineX86</TargetMachine>
+		</Link>
+		<ResourceCompile>
+		</ResourceCompile>
+		<ProjectReference>
+		</ProjectReference>
+	</ItemDefinitionGroup>
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='release|Win32'">
+		<OutDir>./../../../bin/win32\</OutDir>
+		<IntDir>./build/win32/DX/release\</IntDir>
+		<TargetExt>.dll</TargetExt>
+		<TargetName>NvFlexExtReleaseD3D_x86</TargetName>
+		<CodeAnalysisRuleSet>AllRules.ruleset</CodeAnalysisRuleSet>
+		<CodeAnalysisRules />
+		<CodeAnalysisRuleAssemblies />
+		<SkipCopyingSymbolsToOutputDirectory>true</SkipCopyingSymbolsToOutputDirectory>
+	</PropertyGroup>
+	<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='release|Win32'">
+		<ClCompile>
+			<IntrinsicFunctions>true</IntrinsicFunctions>
+			<FunctionLevelLinking>true</FunctionLevelLinking>
+			<BufferSecurityCheck>false</BufferSecurityCheck>
+			<FloatingPointModel>Fast</FloatingPointModel>
+			<AdditionalOptions> /d2Zi+</AdditionalOptions>
+			<Optimization>Full</Optimization>
+			<AdditionalIncludeDirectories>./../../../../..;./../../..;./../../../external/D3D11/include;./../../../external/D3D12/include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+			<PreprocessorDefinitions>_CONSOLE;WIN32;NDEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+			<WarningLevel>Level3</WarningLevel>
+			<RuntimeLibrary>MultiThreaded</RuntimeLibrary>
+			<PrecompiledHeader>NotUsing</PrecompiledHeader>
+			<PrecompiledHeaderFile></PrecompiledHeaderFile>
+		</ClCompile>
+		<Link>
+			<AdditionalOptions>/DELAYLOAD:d3d11.dll /DELAYLOAD:d3d12.dll</AdditionalOptions>
+			<AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;delayimp.lib;./../../../lib/win32/NvFlexReleaseD3D_x86.lib;%(AdditionalDependencies)</AdditionalDependencies>
+			<OutputFile>$(OutDir)NvFlexExtReleaseD3D_x86.dll</OutputFile>
+			<AdditionalLibraryDirectories>./../../../external/D3D11/libs/x86;./../../../external/D3D12/libs/x86;./../../../lib/win32;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+			<ProgramDatabaseFile>$(OutDir)/NvFlexExtReleaseD3D_x86.dll.pdb</ProgramDatabaseFile>
+			<SubSystem>Console</SubSystem>
+			<ImportLibrary>./../../../lib/win32/NvFlexExtReleaseD3D_x86.lib</ImportLibrary>
+			<GenerateDebugInformation>true</GenerateDebugInformation>
+			<TargetMachine>MachineX86</TargetMachine>
+		</Link>
+		<ResourceCompile>
+		</ResourceCompile>
+		<ProjectReference>
+		</ProjectReference>
+	</ItemDefinitionGroup>
+	<ItemGroup>
+		<ClCompile Include="..\..\..\core\sdf.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\..\core\voxelize.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\..\core\maths.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\..\core\aabbtree.cpp">
+		</ClCompile>
+	</ItemGroup>
+	<ItemGroup>
+		<ClCompile Include="..\..\dx\flexExt.cpp">
+		</ClCompile>
+		<None Include="..\..\dx\flexExt.hlsl">
+		</None>
+		<ClInclude Include="..\..\dx\flexExt_dx_common.h">
+		</ClInclude>
+		<ClCompile Include="..\..\flexExtCloth.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtRigid.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtSoft.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtMovingFrame.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtContainer.cpp">
+		</ClCompile>
+	</ItemGroup>
+	<ItemGroup>
+		<FxCompile Include="./../../dx/shaders/flexExt.UpdateForceFields.hlsl">
+			<ShaderType Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">Compute</ShaderType>
+			<ShaderModel Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">5.0</ShaderModel>
+			<EnableDebuggingInformation Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">false</EnableDebuggingInformation>
+			<DisableOptimizations Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">false</DisableOptimizations>
+			<EntryPointName Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">UpdateForceFields::execute</EntryPointName>
+			<TreatWarningAsError Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">false</TreatWarningAsError>
+			<VariableName Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">g_flexExt_UpdateForceFields</VariableName>
+			<HeaderFileOutput Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">../../../extensions/dx/shaders/%(Filename).h</HeaderFileOutput>
+			<ObjectFileOutput Condition="'$(Configuration)|$(Platform)'=='debug|Win32'"> </ObjectFileOutput>
+			<ShaderType Condition="'$(Configuration)|$(Platform)'=='release|Win32'">Compute</ShaderType>
+			<ShaderModel Condition="'$(Configuration)|$(Platform)'=='release|Win32'">5.0</ShaderModel>
+			<EnableDebuggingInformation Condition="'$(Configuration)|$(Platform)'=='release|Win32'">false</EnableDebuggingInformation>
+			<DisableOptimizations Condition="'$(Configuration)|$(Platform)'=='release|Win32'">false</DisableOptimizations>
+			<EntryPointName Condition="'$(Configuration)|$(Platform)'=='release|Win32'">UpdateForceFields::execute</EntryPointName>
+			<TreatWarningAsError Condition="'$(Configuration)|$(Platform)'=='release|Win32'">false</TreatWarningAsError>
+			<VariableName Condition="'$(Configuration)|$(Platform)'=='release|Win32'">g_flexExt_UpdateForceFields</VariableName>
+			<HeaderFileOutput Condition="'$(Configuration)|$(Platform)'=='release|Win32'">../../../extensions/dx/shaders/%(Filename).h</HeaderFileOutput>
+			<ObjectFileOutput Condition="'$(Configuration)|$(Platform)'=='release|Win32'"> </ObjectFileOutput>
+		</FxCompile>
+	</ItemGroup>
+	<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+	<ImportGroup Label="ExtensionTargets"></ImportGroup>
+</Project>
diff --git a/extensions/compiler/vc12win32/flexExtD3D.vcxproj.filters b/extensions/compiler/vc12win32/flexExtD3D.vcxproj.filters
new file mode 100644
index 0000000..dd65ee0
--- /dev/null
+++ b/extensions/compiler/vc12win32/flexExtD3D.vcxproj.filters
@@ -0,0 +1,57 @@
+<?xml version="1.0" encoding="utf-8"?>


+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">


+	<ItemGroup>


+		<Filter Include="Core">


+		</Filter>


+	</ItemGroup>


+	<ItemGroup>


+		<ClCompile Include="..\..\..\core\sdf.cpp">


+			<Filter>Core</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\..\core\voxelize.cpp">


+			<Filter>Core</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\..\core\maths.cpp">


+			<Filter>Core</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\..\core\aabbtree.cpp">


+			<Filter>Core</Filter>


+		</ClCompile>


+	</ItemGroup>


+	<ItemGroup>


+		<Filter Include="src">


+		</Filter>


+	</ItemGroup>


+	<ItemGroup>


+		<ClCompile Include="..\..\dx\flexExt.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<None Include="..\..\dx\flexExt.hlsl">


+			<Filter>src</Filter>


+		</None>


+		<ClInclude Include="..\..\dx\flexExt_dx_common.h">


+			<Filter>src</Filter>


+		</ClInclude>


+		<ClCompile Include="..\..\flexExtCloth.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtRigid.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtSoft.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtMovingFrame.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtContainer.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+	</ItemGroup>


+	<ItemGroup><Filter Include="Shader Files"></Filter></ItemGroup>

+	<ItemGroup>

+		<FxCompile Include="./../../dx/shaders/flexExt.UpdateForceFields.hlsl">

+			<Filter>Shader Files</Filter>

+		</FxCompile>

+	</ItemGroup>

+</Project>
\ No newline at end of file
diff --git a/extensions/compiler/vc12win32/vc120.pdb b/extensions/compiler/vc12win32/vc120.pdb
new file mode 100644
index 0000000..893ff50
--- /dev/null
+++ b/extensions/compiler/vc12win32/vc120.pdb
diff --git a/extensions/compiler/vc12win64/flexExtCUDA.sln b/extensions/compiler/vc12win64/flexExtCUDA.sln
new file mode 100644
index 0000000..45b39d9
--- /dev/null
+++ b/extensions/compiler/vc12win64/flexExtCUDA.sln
@@ -0,0 +1,24 @@
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 2013
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "flexExtCUDA", "./flexExtCUDA.vcxproj", "{FD4C9C06-7BEC-CDF8-C631-CD32A428A280}"
+	ProjectSection(ProjectDependencies) = postProject
+	EndProjectSection
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		debug|x64 = debug|x64
+		release|x64 = release|x64
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{FD4C9C06-7BEC-CDF8-C631-CD32A428A280}.debug|x64.ActiveCfg = debug|x64
+		{FD4C9C06-7BEC-CDF8-C631-CD32A428A280}.debug|x64.Build.0 = debug|x64
+		{FD4C9C06-7BEC-CDF8-C631-CD32A428A280}.release|x64.ActiveCfg = release|x64
+		{FD4C9C06-7BEC-CDF8-C631-CD32A428A280}.release|x64.Build.0 = release|x64
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+	EndGlobalSection
+	GlobalSection(ExtensibilityAddins) = postSolution
+	EndGlobalSection
+	GlobalSection(NestedProjects) = preSolution
+	EndGlobalSection
+EndGlobal
diff --git a/extensions/compiler/vc12win64/flexExtCUDA.vcxproj b/extensions/compiler/vc12win64/flexExtCUDA.vcxproj
new file mode 100644
index 0000000..630fc57
--- /dev/null
+++ b/extensions/compiler/vc12win64/flexExtCUDA.vcxproj
@@ -0,0 +1,150 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" ToolsVersion="12.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+	<ItemGroup Label="ProjectConfigurations">
+		<ProjectConfiguration Include="debug|x64">
+			<Configuration>debug</Configuration>
+			<Platform>x64</Platform>
+		</ProjectConfiguration>
+		<ProjectConfiguration Include="release|x64">
+			<Configuration>release</Configuration>
+			<Platform>x64</Platform>
+		</ProjectConfiguration>
+	</ItemGroup>
+	<PropertyGroup Label="Globals">
+		<ProjectGuid>{FD4C9C06-7BEC-CDF8-C631-CD32A428A280}</ProjectGuid>
+		<RootNamespace>flexExtCUDA</RootNamespace>
+	</PropertyGroup>
+	<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='debug|x64'" Label="Configuration">
+		<ConfigurationType>DynamicLibrary</ConfigurationType>
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+			<ImportLibrary>./../../../lib/win64/NvFlexExtDebugCUDA_x64.lib</ImportLibrary>
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+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='release|x64'">
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+	<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='release|x64'">
+		<ClCompile>
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+			<FloatingPointModel>Fast</FloatingPointModel>
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+			<WarningLevel>Level3</WarningLevel>
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+			<PrecompiledHeader>NotUsing</PrecompiledHeader>
+			<PrecompiledHeaderFile></PrecompiledHeaderFile>
+		</ClCompile>
+		<Link>
+			<AdditionalDependencies>cudart.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;./../../../lib/win64/NvFlexReleaseCUDA_x64.lib;%(AdditionalDependencies)</AdditionalDependencies>
+			<OutputFile>$(OutDir)NvFlexExtReleaseCUDA_x64.dll</OutputFile>
+			<AdditionalLibraryDirectories>$(CUDA_PATH)/lib/x64;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+			<ProgramDatabaseFile>$(OutDir)/NvFlexExtReleaseCUDA_x64.dll.pdb</ProgramDatabaseFile>
+			<SubSystem>Console</SubSystem>
+			<ImportLibrary>./../../../lib/win64/NvFlexExtReleaseCUDA_x64.lib</ImportLibrary>
+			<GenerateDebugInformation>true</GenerateDebugInformation>
+			<TargetMachine>MachineX64</TargetMachine>
+		</Link>
+		<ResourceCompile>
+		</ResourceCompile>
+		<ProjectReference>
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+	</ItemDefinitionGroup>
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+		</ClCompile>
+		<ClCompile Include="..\..\flexExtContainer.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtMovingFrame.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtRigid.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtSoft.cpp">
+		</ClCompile>
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+	<ItemGroup>
+		<CustomBuild Include="..\..\cuda\flexExt.cu">
+			<FileType Condition="'$(Configuration)|$(Platform)'=='debug|x64'">cuda</FileType>
+			<Command Condition="'$(Configuration)|$(Platform)'=='debug|x64'">"$(CUDA_PATH)\bin\nvcc.exe" -g -G --compiler-bindir="$(VCInstallDir)bin" --compiler-options=/MTd,/Zi -I"..\..\.." -D_ITERATOR_DEBUG_LEVEL=0 -DCUDA -arch=sm_30 -prec-div=false -prec-sqrt=false -ftz=true -use_fast_math -c ..\..\cuda\flexExt.cu -o ./x64/flexExtCUDA/debug/cuda/flexExt.obj</Command>
+			<Message Condition="'$(Configuration)|$(Platform)'=='debug|x64'">Building %(Identity)</Message>
+			<Outputs Condition="'$(Configuration)|$(Platform)'=='debug|x64'">./x64/flexExtCUDA/debug/cuda/flexExt.obj;</Outputs>
+			<FileType Condition="'$(Configuration)|$(Platform)'=='release|x64'">cuda</FileType>
+			<Command Condition="'$(Configuration)|$(Platform)'=='release|x64'">"$(CUDA_PATH)\bin\nvcc.exe" -O3 --compiler-bindir="$(VCInstallDir)bin"  --compiler-options=/MT,/Zi -I"..\..\.." -D_ITERATOR_DEBUG_LEVEL=0 -DNDEBUG -DCUDA -arch=sm_30 -prec-div=false -prec-sqrt=false -ftz=true -use_fast_math -c ..\..\cuda\flexExt.cu -o ./x64/flexExtCUDA/release/cuda/flexExt.obj</Command>
+			<Message Condition="'$(Configuration)|$(Platform)'=='release|x64'">Building %(Identity)</Message>
+			<Outputs Condition="'$(Configuration)|$(Platform)'=='release|x64'">./x64/flexExtCUDA/release/cuda/flexExt.obj;</Outputs>
+		</CustomBuild>
+	</ItemGroup>
+	<ItemGroup>
+		<ClCompile Include="..\..\..\core\sdf.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\..\core\voxelize.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\..\core\maths.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\..\core\aabbtree.cpp">
+		</ClCompile>
+	</ItemGroup>
+	<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
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diff --git a/extensions/compiler/vc12win64/flexExtCUDA.vcxproj.filters b/extensions/compiler/vc12win64/flexExtCUDA.vcxproj.filters
new file mode 100644
index 0000000..5c88696
--- /dev/null
+++ b/extensions/compiler/vc12win64/flexExtCUDA.vcxproj.filters
@@ -0,0 +1,51 @@
+<?xml version="1.0" encoding="utf-8"?>


+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">


+	<ItemGroup>


+		<Filter Include="src">


+		</Filter>


+	</ItemGroup>


+	<ItemGroup>


+		<ClCompile Include="..\..\flexExtCloth.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtContainer.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtMovingFrame.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtRigid.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtSoft.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+	</ItemGroup>


+	<ItemGroup>


+		<Filter Include="cuda">


+		</Filter>


+	</ItemGroup>


+	<ItemGroup>


+		<CustomBuild Include="..\..\cuda\flexExt.cu">


+			<Filter>cuda</Filter>


+		</CustomBuild>


+	</ItemGroup>


+	<ItemGroup>


+		<Filter Include="core">


+		</Filter>


+	</ItemGroup>


+	<ItemGroup>


+		<ClCompile Include="..\..\..\core\sdf.cpp">


+			<Filter>core</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\..\core\voxelize.cpp">


+			<Filter>core</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\..\core\maths.cpp">


+			<Filter>core</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\..\core\aabbtree.cpp">


+			<Filter>core</Filter>


+		</ClCompile>


+	</ItemGroup>


+</Project>
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diff --git a/extensions/compiler/vc12win64/flexExtD3D.sln b/extensions/compiler/vc12win64/flexExtD3D.sln
new file mode 100644
index 0000000..de6ba35
--- /dev/null
+++ b/extensions/compiler/vc12win64/flexExtD3D.sln
@@ -0,0 +1,24 @@
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 2013
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "flexExtD3D", "./flexExtD3D.vcxproj", "{9B42889D-2F0D-0378-E87E-82C8D918DB4D}"
+	ProjectSection(ProjectDependencies) = postProject
+	EndProjectSection
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		debug|x64 = debug|x64
+		release|x64 = release|x64
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{9B42889D-2F0D-0378-E87E-82C8D918DB4D}.debug|x64.ActiveCfg = debug|x64
+		{9B42889D-2F0D-0378-E87E-82C8D918DB4D}.debug|x64.Build.0 = debug|x64
+		{9B42889D-2F0D-0378-E87E-82C8D918DB4D}.release|x64.ActiveCfg = release|x64
+		{9B42889D-2F0D-0378-E87E-82C8D918DB4D}.release|x64.Build.0 = release|x64
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+	EndGlobalSection
+	GlobalSection(ExtensibilityAddins) = postSolution
+	EndGlobalSection
+	GlobalSection(NestedProjects) = preSolution
+	EndGlobalSection
+EndGlobal
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new file mode 100644
index 0000000..8379d5a
--- /dev/null
+++ b/extensions/compiler/vc12win64/flexExtD3D.vcxproj
@@ -0,0 +1,167 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" ToolsVersion="12.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+	<ItemGroup Label="ProjectConfigurations">
+		<ProjectConfiguration Include="debug|x64">
+			<Configuration>debug</Configuration>
+			<Platform>x64</Platform>
+		</ProjectConfiguration>
+		<ProjectConfiguration Include="release|x64">
+			<Configuration>release</Configuration>
+			<Platform>x64</Platform>
+		</ProjectConfiguration>
+	</ItemGroup>
+	<PropertyGroup Label="Globals">
+		<ProjectGuid>{9B42889D-2F0D-0378-E87E-82C8D918DB4D}</ProjectGuid>
+		<RootNamespace>flexExtD3D</RootNamespace>
+	</PropertyGroup>
+	<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='debug|x64'" Label="Configuration">
+		<ConfigurationType>DynamicLibrary</ConfigurationType>
+		<PlatformToolset>v120</PlatformToolset>
+	</PropertyGroup>
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='release|x64'" Label="Configuration">
+		<ConfigurationType>DynamicLibrary</ConfigurationType>
+		<PlatformToolset>v120</PlatformToolset>
+		<WholeProgramOptimization>true</WholeProgramOptimization>
+	</PropertyGroup>
+	<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+	<ImportGroup Label="ExtensionSettings">
+	</ImportGroup>
+	<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='debug|x64'">
+		<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+	</ImportGroup>
+	<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='release|x64'">
+		<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+	</ImportGroup>
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='debug|x64'">
+		<OutDir>./../../../bin/win64\</OutDir>
+		<IntDir>./build/win64/DX/debug\</IntDir>
+		<TargetExt>.dll</TargetExt>
+		<TargetName>NvFlexExtDebugD3D_x64</TargetName>
+		<CodeAnalysisRuleSet>AllRules.ruleset</CodeAnalysisRuleSet>
+		<CodeAnalysisRules />
+		<CodeAnalysisRuleAssemblies />
+		<SkipCopyingSymbolsToOutputDirectory>true</SkipCopyingSymbolsToOutputDirectory>
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+	<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='debug|x64'">
+		<ClCompile>
+			<FloatingPointModel>Precise</FloatingPointModel>
+			<AdditionalOptions> /d2Zi+</AdditionalOptions>
+			<Optimization>Disabled</Optimization>
+			<AdditionalIncludeDirectories>./../../../../..;./../../..;./../../../external/D3D11/include;./../../../external/D3D12/include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+			<PreprocessorDefinitions>_CONSOLE;WIN32;_DEBUG;_ITERATOR_DEBUG_LEVEL=0;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+			<WarningLevel>Level3</WarningLevel>
+			<RuntimeLibrary>MultiThreadedDebug</RuntimeLibrary>
+			<PrecompiledHeader>NotUsing</PrecompiledHeader>
+			<PrecompiledHeaderFile></PrecompiledHeaderFile>
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+		<Link>
+			<AdditionalOptions>/DELAYLOAD:d3d11.dll /DELAYLOAD:d3d12.dll</AdditionalOptions>
+			<AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;delayimp.lib;./../../../lib/win64/NvFlexDebugD3D_x64.lib;%(AdditionalDependencies)</AdditionalDependencies>
+			<OutputFile>$(OutDir)NvFlexExtDebugD3D_x64.dll</OutputFile>
+			<AdditionalLibraryDirectories>./../../../external/D3D11/libs/x64;./../../../external/D3D12/libs/x64;./../../../lib/win64;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+			<ProgramDatabaseFile>$(OutDir)/NvFlexExtDebugD3D_x64.dll.pdb</ProgramDatabaseFile>
+			<SubSystem>Console</SubSystem>
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+			<GenerateDebugInformation>true</GenerateDebugInformation>
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+		<ProjectReference>
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+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='release|x64'">
+		<OutDir>./../../../bin/win64\</OutDir>
+		<IntDir>./build/win64/DX/release\</IntDir>
+		<TargetExt>.dll</TargetExt>
+		<TargetName>NvFlexExtReleaseD3D_x64</TargetName>
+		<CodeAnalysisRuleSet>AllRules.ruleset</CodeAnalysisRuleSet>
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+		<SkipCopyingSymbolsToOutputDirectory>true</SkipCopyingSymbolsToOutputDirectory>
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+			<FunctionLevelLinking>true</FunctionLevelLinking>
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+			<FloatingPointModel>Fast</FloatingPointModel>
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+			<AdditionalIncludeDirectories>./../../../../..;./../../..;./../../../external/D3D11/include;./../../../external/D3D12/include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+			<PreprocessorDefinitions>_CONSOLE;WIN32;NDEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+			<WarningLevel>Level3</WarningLevel>
+			<RuntimeLibrary>MultiThreaded</RuntimeLibrary>
+			<PrecompiledHeader>NotUsing</PrecompiledHeader>
+			<PrecompiledHeaderFile></PrecompiledHeaderFile>
+		</ClCompile>
+		<Link>
+			<AdditionalOptions>/DELAYLOAD:d3d11.dll /DELAYLOAD:d3d12.dll</AdditionalOptions>
+			<AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;delayimp.lib;./../../../lib/win64/NvFlexReleaseD3D_x64.lib;%(AdditionalDependencies)</AdditionalDependencies>
+			<OutputFile>$(OutDir)NvFlexExtReleaseD3D_x64.dll</OutputFile>
+			<AdditionalLibraryDirectories>./../../../external/D3D11/libs/x64;./../../../external/D3D12/libs/x64;./../../../lib/win64;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+			<ProgramDatabaseFile>$(OutDir)/NvFlexExtReleaseD3D_x64.dll.pdb</ProgramDatabaseFile>
+			<SubSystem>Console</SubSystem>
+			<ImportLibrary>./../../../lib/win64/NvFlexExtReleaseD3D_x64.lib</ImportLibrary>
+			<GenerateDebugInformation>true</GenerateDebugInformation>
+			<TargetMachine>MachineX64</TargetMachine>
+		</Link>
+		<ResourceCompile>
+		</ResourceCompile>
+		<ProjectReference>
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+	</ItemDefinitionGroup>
+	<ItemGroup>
+		<ClCompile Include="..\..\..\core\sdf.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\..\core\voxelize.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\..\core\maths.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\..\core\aabbtree.cpp">
+		</ClCompile>
+	</ItemGroup>
+	<ItemGroup>
+		<ClCompile Include="..\..\dx\flexExt.cpp">
+		</ClCompile>
+		<None Include="..\..\dx\flexExt.hlsl">
+		</None>
+		<ClInclude Include="..\..\dx\flexExt_dx_common.h">
+		</ClInclude>
+		<ClCompile Include="..\..\flexExtCloth.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtRigid.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtSoft.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtMovingFrame.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtContainer.cpp">
+		</ClCompile>
+	</ItemGroup>
+	<ItemGroup>
+		<FxCompile Include="./../../dx/shaders/flexExt.UpdateForceFields.hlsl">
+			<ShaderType Condition="'$(Configuration)|$(Platform)'=='debug|x64'">Compute</ShaderType>
+			<ShaderModel Condition="'$(Configuration)|$(Platform)'=='debug|x64'">5.0</ShaderModel>
+			<EnableDebuggingInformation Condition="'$(Configuration)|$(Platform)'=='debug|x64'">false</EnableDebuggingInformation>
+			<DisableOptimizations Condition="'$(Configuration)|$(Platform)'=='debug|x64'">false</DisableOptimizations>
+			<EntryPointName Condition="'$(Configuration)|$(Platform)'=='debug|x64'">UpdateForceFields::execute</EntryPointName>
+			<TreatWarningAsError Condition="'$(Configuration)|$(Platform)'=='debug|x64'">false</TreatWarningAsError>
+			<VariableName Condition="'$(Configuration)|$(Platform)'=='debug|x64'">g_flexExt_UpdateForceFields</VariableName>
+			<HeaderFileOutput Condition="'$(Configuration)|$(Platform)'=='debug|x64'">../../../extensions/dx/shaders/%(Filename).h</HeaderFileOutput>
+			<ObjectFileOutput Condition="'$(Configuration)|$(Platform)'=='debug|x64'"> </ObjectFileOutput>
+			<ShaderType Condition="'$(Configuration)|$(Platform)'=='release|x64'">Compute</ShaderType>
+			<ShaderModel Condition="'$(Configuration)|$(Platform)'=='release|x64'">5.0</ShaderModel>
+			<EnableDebuggingInformation Condition="'$(Configuration)|$(Platform)'=='release|x64'">false</EnableDebuggingInformation>
+			<DisableOptimizations Condition="'$(Configuration)|$(Platform)'=='release|x64'">false</DisableOptimizations>
+			<EntryPointName Condition="'$(Configuration)|$(Platform)'=='release|x64'">UpdateForceFields::execute</EntryPointName>
+			<TreatWarningAsError Condition="'$(Configuration)|$(Platform)'=='release|x64'">false</TreatWarningAsError>
+			<VariableName Condition="'$(Configuration)|$(Platform)'=='release|x64'">g_flexExt_UpdateForceFields</VariableName>
+			<HeaderFileOutput Condition="'$(Configuration)|$(Platform)'=='release|x64'">../../../extensions/dx/shaders/%(Filename).h</HeaderFileOutput>
+			<ObjectFileOutput Condition="'$(Configuration)|$(Platform)'=='release|x64'"> </ObjectFileOutput>
+		</FxCompile>
+	</ItemGroup>
+	<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+	<ImportGroup Label="ExtensionTargets"></ImportGroup>
+</Project>
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new file mode 100644
index 0000000..dd65ee0
--- /dev/null
+++ b/extensions/compiler/vc12win64/flexExtD3D.vcxproj.filters
@@ -0,0 +1,57 @@
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+		</Filter>


+	</ItemGroup>


+	<ItemGroup>


+		<ClCompile Include="..\..\..\core\sdf.cpp">


+			<Filter>Core</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\..\core\voxelize.cpp">


+			<Filter>Core</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\..\core\maths.cpp">


+			<Filter>Core</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\..\core\aabbtree.cpp">


+			<Filter>Core</Filter>


+		</ClCompile>


+	</ItemGroup>


+	<ItemGroup>


+		<Filter Include="src">


+		</Filter>


+	</ItemGroup>


+	<ItemGroup>


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+			<Filter>src</Filter>


+		</ClCompile>


+		<None Include="..\..\dx\flexExt.hlsl">


+			<Filter>src</Filter>


+		</None>


+		<ClInclude Include="..\..\dx\flexExt_dx_common.h">


+			<Filter>src</Filter>


+		</ClInclude>


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+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtRigid.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtSoft.cpp">


+			<Filter>src</Filter>


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+		<ClCompile Include="..\..\flexExtMovingFrame.cpp">


+			<Filter>src</Filter>


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+		<ClCompile Include="..\..\flexExtContainer.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+	</ItemGroup>


+	<ItemGroup><Filter Include="Shader Files"></Filter></ItemGroup>

+	<ItemGroup>

+		<FxCompile Include="./../../dx/shaders/flexExt.UpdateForceFields.hlsl">

+			<Filter>Shader Files</Filter>

+		</FxCompile>

+	</ItemGroup>

+</Project>
\ No newline at end of file
diff --git a/extensions/compiler/vc12win64/vc120.pdb b/extensions/compiler/vc12win64/vc120.pdb
new file mode 100644
index 0000000..4b0714b
--- /dev/null
+++ b/extensions/compiler/vc12win64/vc120.pdb
diff --git a/extensions/compiler/vc14win32/flexExtCUDA.sln b/extensions/compiler/vc14win32/flexExtCUDA.sln
new file mode 100644
index 0000000..b9eb62d
--- /dev/null
+++ b/extensions/compiler/vc14win32/flexExtCUDA.sln
@@ -0,0 +1,24 @@
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 14
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "flexExtCUDA", "./flexExtCUDA.vcxproj", "{FD4C9C06-7BEC-CDF8-C631-CD32A428A280}"
+	ProjectSection(ProjectDependencies) = postProject
+	EndProjectSection
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		debug|Win32 = debug|Win32
+		release|Win32 = release|Win32
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{FD4C9C06-7BEC-CDF8-C631-CD32A428A280}.debug|Win32.ActiveCfg = debug|Win32
+		{FD4C9C06-7BEC-CDF8-C631-CD32A428A280}.debug|Win32.Build.0 = debug|Win32
+		{FD4C9C06-7BEC-CDF8-C631-CD32A428A280}.release|Win32.ActiveCfg = release|Win32
+		{FD4C9C06-7BEC-CDF8-C631-CD32A428A280}.release|Win32.Build.0 = release|Win32
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+	EndGlobalSection
+	GlobalSection(ExtensibilityAddins) = postSolution
+	EndGlobalSection
+	GlobalSection(NestedProjects) = preSolution
+	EndGlobalSection
+EndGlobal
diff --git a/extensions/compiler/vc14win32/flexExtCUDA.vcxproj b/extensions/compiler/vc14win32/flexExtCUDA.vcxproj
new file mode 100644
index 0000000..871676c
--- /dev/null
+++ b/extensions/compiler/vc14win32/flexExtCUDA.vcxproj
@@ -0,0 +1,150 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" ToolsVersion="14.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+	<ItemGroup Label="ProjectConfigurations">
+		<ProjectConfiguration Include="debug|Win32">
+			<Configuration>debug</Configuration>
+			<Platform>Win32</Platform>
+		</ProjectConfiguration>
+		<ProjectConfiguration Include="release|Win32">
+			<Configuration>release</Configuration>
+			<Platform>Win32</Platform>
+		</ProjectConfiguration>
+	</ItemGroup>
+	<PropertyGroup Label="Globals">
+		<ProjectGuid>{FD4C9C06-7BEC-CDF8-C631-CD32A428A280}</ProjectGuid>
+		<RootNamespace>flexExtCUDA</RootNamespace>
+	</PropertyGroup>
+	<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='debug|Win32'" Label="Configuration">
+		<ConfigurationType>DynamicLibrary</ConfigurationType>
+		<PlatformToolset>v140</PlatformToolset>
+	</PropertyGroup>
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='release|Win32'" Label="Configuration">
+		<ConfigurationType>DynamicLibrary</ConfigurationType>
+		<PlatformToolset>v140</PlatformToolset>
+		<WholeProgramOptimization>true</WholeProgramOptimization>
+	</PropertyGroup>
+	<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+	<ImportGroup Label="ExtensionSettings">
+	</ImportGroup>
+	<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">
+		<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+	</ImportGroup>
+	<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='release|Win32'">
+		<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+	</ImportGroup>
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">
+		<OutDir>./../../../bin/win32\</OutDir>
+		<IntDir>./build/win32/debug\</IntDir>
+		<TargetExt>.dll</TargetExt>
+		<TargetName>NvFlexExtDebugCUDA_x86</TargetName>
+		<CodeAnalysisRuleSet>AllRules.ruleset</CodeAnalysisRuleSet>
+		<CodeAnalysisRules />
+		<CodeAnalysisRuleAssemblies />
+		<SkipCopyingSymbolsToOutputDirectory>true</SkipCopyingSymbolsToOutputDirectory>
+	</PropertyGroup>
+	<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">
+		<ClCompile>
+			<FloatingPointModel>Precise</FloatingPointModel>
+			<AdditionalOptions> /d2Zi+</AdditionalOptions>
+			<Optimization>Disabled</Optimization>
+			<AdditionalIncludeDirectories>$(CUDA_PATH)/include;$(CUDA_PATH)/extras/cupti/include;./../../../../..;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+			<PreprocessorDefinitions>_CONSOLE;WIN32;_DEBUG;_ITERATOR_DEBUG_LEVEL=0;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+			<WarningLevel>Level3</WarningLevel>
+			<RuntimeLibrary>MultiThreadedDebug</RuntimeLibrary>
+			<PrecompiledHeader>NotUsing</PrecompiledHeader>
+			<PrecompiledHeaderFile></PrecompiledHeaderFile>
+		</ClCompile>
+		<Link>
+			<AdditionalDependencies>cudart.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;./../../../lib/win32/NvFlexDebugCUDA_x86.lib;%(AdditionalDependencies)</AdditionalDependencies>
+			<OutputFile>$(OutDir)NvFlexExtDebugCUDA_x86.dll</OutputFile>
+			<AdditionalLibraryDirectories>$(CUDA_PATH)/lib/win32;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+			<ProgramDatabaseFile>$(OutDir)/NvFlexExtDebugCUDA_x86.dll.pdb</ProgramDatabaseFile>
+			<SubSystem>Console</SubSystem>
+			<ImportLibrary>./../../../lib/win32/NvFlexExtDebugCUDA_x86.lib</ImportLibrary>
+			<GenerateDebugInformation>true</GenerateDebugInformation>
+			<TargetMachine>MachineX86</TargetMachine>
+		</Link>
+		<ResourceCompile>
+		</ResourceCompile>
+		<ProjectReference>
+		</ProjectReference>
+	</ItemDefinitionGroup>
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='release|Win32'">
+		<OutDir>./../../../bin/win32\</OutDir>
+		<IntDir>./build/win32/release\</IntDir>
+		<TargetExt>.dll</TargetExt>
+		<TargetName>NvFlexExtReleaseCUDA_x86</TargetName>
+		<CodeAnalysisRuleSet>AllRules.ruleset</CodeAnalysisRuleSet>
+		<CodeAnalysisRules />
+		<CodeAnalysisRuleAssemblies />
+		<SkipCopyingSymbolsToOutputDirectory>true</SkipCopyingSymbolsToOutputDirectory>
+	</PropertyGroup>
+	<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='release|Win32'">
+		<ClCompile>
+			<EnableEnhancedInstructionSet>StreamingSIMDExtensions2</EnableEnhancedInstructionSet>
+			<IntrinsicFunctions>true</IntrinsicFunctions>
+			<FunctionLevelLinking>true</FunctionLevelLinking>
+			<BufferSecurityCheck>false</BufferSecurityCheck>
+			<FloatingPointModel>Fast</FloatingPointModel>
+			<AdditionalOptions> /d2Zi+</AdditionalOptions>
+			<Optimization>Full</Optimization>
+			<AdditionalIncludeDirectories>$(CUDA_PATH)/include;$(CUDA_PATH)/extras/cupti/include;./../../../../..;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+			<PreprocessorDefinitions>_CONSOLE;WIN32;NDEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+			<WarningLevel>Level3</WarningLevel>
+			<RuntimeLibrary>MultiThreaded</RuntimeLibrary>
+			<PrecompiledHeader>NotUsing</PrecompiledHeader>
+			<PrecompiledHeaderFile></PrecompiledHeaderFile>
+		</ClCompile>
+		<Link>
+			<AdditionalDependencies>cudart.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;./../../../lib/win32/NvFlexReleaseCUDA_x86.lib;%(AdditionalDependencies)</AdditionalDependencies>
+			<OutputFile>$(OutDir)NvFlexExtReleaseCUDA_x86.dll</OutputFile>
+			<AdditionalLibraryDirectories>$(CUDA_PATH)/lib/win32;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+			<ProgramDatabaseFile>$(OutDir)/NvFlexExtReleaseCUDA_x86.dll.pdb</ProgramDatabaseFile>
+			<SubSystem>Console</SubSystem>
+			<ImportLibrary>./../../../lib/win32/NvFlexExtReleaseCUDA_x86.lib</ImportLibrary>
+			<GenerateDebugInformation>true</GenerateDebugInformation>
+			<TargetMachine>MachineX86</TargetMachine>
+		</Link>
+		<ResourceCompile>
+		</ResourceCompile>
+		<ProjectReference>
+		</ProjectReference>
+	</ItemDefinitionGroup>
+	<ItemGroup>
+		<ClCompile Include="..\..\flexExtCloth.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtContainer.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtMovingFrame.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtRigid.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtSoft.cpp">
+		</ClCompile>
+	</ItemGroup>
+	<ItemGroup>
+		<CustomBuild Include="..\..\cuda\flexExt.cu">
+			<FileType Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">cuda</FileType>
+			<Command Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">"$(CUDA_PATH)\bin\nvcc.exe" -g -G --compiler-bindir="$(VCInstallDir)bin" --compiler-options=/MTd,/Zi -I"..\..\.." -D_ITERATOR_DEBUG_LEVEL=0 -DCUDA -m32 -arch=sm_30 -prec-div=false -prec-sqrt=false -ftz=true -use_fast_math -c ..\..\cuda\flexExt.cu -o ./Win32/flexExtCUDA/debug/cuda/flexExt.obj</Command>
+			<Message Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">Building %(Identity)</Message>
+			<Outputs Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">./Win32/flexExtCUDA/debug/cuda/flexExt.obj;</Outputs>
+			<FileType Condition="'$(Configuration)|$(Platform)'=='release|Win32'">cuda</FileType>
+			<Command Condition="'$(Configuration)|$(Platform)'=='release|Win32'">"$(CUDA_PATH)\bin\nvcc.exe" -O3 --compiler-bindir="$(VCInstallDir)bin"  --compiler-options=/MT,/Zi -I"..\..\.." -D_ITERATOR_DEBUG_LEVEL=0 -DNDEBUG -DCUDA -m32 -arch=sm_30 -prec-div=false -prec-sqrt=false -ftz=true -use_fast_math -c ..\..\cuda\flexExt.cu -o ./Win32/flexExtCUDA/release/cuda/flexExt.obj</Command>
+			<Message Condition="'$(Configuration)|$(Platform)'=='release|Win32'">Building %(Identity)</Message>
+			<Outputs Condition="'$(Configuration)|$(Platform)'=='release|Win32'">./Win32/flexExtCUDA/release/cuda/flexExt.obj;</Outputs>
+		</CustomBuild>
+	</ItemGroup>
+	<ItemGroup>
+		<ClCompile Include="..\..\..\core\sdf.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\..\core\voxelize.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\..\core\maths.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\..\core\aabbtree.cpp">
+		</ClCompile>
+	</ItemGroup>
+	<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+	<ImportGroup Label="ExtensionTargets"></ImportGroup>
+</Project>
diff --git a/extensions/compiler/vc14win32/flexExtCUDA.vcxproj.filters b/extensions/compiler/vc14win32/flexExtCUDA.vcxproj.filters
new file mode 100644
index 0000000..5c88696
--- /dev/null
+++ b/extensions/compiler/vc14win32/flexExtCUDA.vcxproj.filters
@@ -0,0 +1,51 @@
+<?xml version="1.0" encoding="utf-8"?>


+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">


+	<ItemGroup>


+		<Filter Include="src">


+		</Filter>


+	</ItemGroup>


+	<ItemGroup>


+		<ClCompile Include="..\..\flexExtCloth.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtContainer.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtMovingFrame.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtRigid.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtSoft.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+	</ItemGroup>


+	<ItemGroup>


+		<Filter Include="cuda">


+		</Filter>


+	</ItemGroup>


+	<ItemGroup>


+		<CustomBuild Include="..\..\cuda\flexExt.cu">


+			<Filter>cuda</Filter>


+		</CustomBuild>


+	</ItemGroup>


+	<ItemGroup>


+		<Filter Include="core">


+		</Filter>


+	</ItemGroup>


+	<ItemGroup>


+		<ClCompile Include="..\..\..\core\sdf.cpp">


+			<Filter>core</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\..\core\voxelize.cpp">


+			<Filter>core</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\..\core\maths.cpp">


+			<Filter>core</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\..\core\aabbtree.cpp">


+			<Filter>core</Filter>


+		</ClCompile>


+	</ItemGroup>


+</Project>
\ No newline at end of file
diff --git a/extensions/compiler/vc14win32/flexExtD3D.sln b/extensions/compiler/vc14win32/flexExtD3D.sln
new file mode 100644
index 0000000..a0855f3
--- /dev/null
+++ b/extensions/compiler/vc14win32/flexExtD3D.sln
@@ -0,0 +1,24 @@
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 14
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "flexExtD3D", "./flexExtD3D.vcxproj", "{9B42889D-2F0D-0378-E87E-82C8D918DB4D}"
+	ProjectSection(ProjectDependencies) = postProject
+	EndProjectSection
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		debug|Win32 = debug|Win32
+		release|Win32 = release|Win32
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{9B42889D-2F0D-0378-E87E-82C8D918DB4D}.debug|Win32.ActiveCfg = debug|Win32
+		{9B42889D-2F0D-0378-E87E-82C8D918DB4D}.debug|Win32.Build.0 = debug|Win32
+		{9B42889D-2F0D-0378-E87E-82C8D918DB4D}.release|Win32.ActiveCfg = release|Win32
+		{9B42889D-2F0D-0378-E87E-82C8D918DB4D}.release|Win32.Build.0 = release|Win32
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+	EndGlobalSection
+	GlobalSection(ExtensibilityAddins) = postSolution
+	EndGlobalSection
+	GlobalSection(NestedProjects) = preSolution
+	EndGlobalSection
+EndGlobal
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new file mode 100644
index 0000000..ae0a1b2
--- /dev/null
+++ b/extensions/compiler/vc14win32/flexExtD3D.vcxproj
@@ -0,0 +1,167 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" ToolsVersion="14.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+	<ItemGroup Label="ProjectConfigurations">
+		<ProjectConfiguration Include="debug|Win32">
+			<Configuration>debug</Configuration>
+			<Platform>Win32</Platform>
+		</ProjectConfiguration>
+		<ProjectConfiguration Include="release|Win32">
+			<Configuration>release</Configuration>
+			<Platform>Win32</Platform>
+		</ProjectConfiguration>
+	</ItemGroup>
+	<PropertyGroup Label="Globals">
+		<ProjectGuid>{9B42889D-2F0D-0378-E87E-82C8D918DB4D}</ProjectGuid>
+		<RootNamespace>flexExtD3D</RootNamespace>
+	</PropertyGroup>
+	<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='debug|Win32'" Label="Configuration">
+		<ConfigurationType>DynamicLibrary</ConfigurationType>
+		<PlatformToolset>v140</PlatformToolset>
+	</PropertyGroup>
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='release|Win32'" Label="Configuration">
+		<ConfigurationType>DynamicLibrary</ConfigurationType>
+		<PlatformToolset>v140</PlatformToolset>
+		<WholeProgramOptimization>true</WholeProgramOptimization>
+	</PropertyGroup>
+	<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+	<ImportGroup Label="ExtensionSettings">
+	</ImportGroup>
+	<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">
+		<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+	</ImportGroup>
+	<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='release|Win32'">
+		<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+	</ImportGroup>
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">
+		<OutDir>./../../../bin/win32\</OutDir>
+		<IntDir>./build/win32/DX/debug\</IntDir>
+		<TargetExt>.dll</TargetExt>
+		<TargetName>NvFlexExtDebugD3D_x86</TargetName>
+		<CodeAnalysisRuleSet>AllRules.ruleset</CodeAnalysisRuleSet>
+		<CodeAnalysisRules />
+		<CodeAnalysisRuleAssemblies />
+		<SkipCopyingSymbolsToOutputDirectory>true</SkipCopyingSymbolsToOutputDirectory>
+	</PropertyGroup>
+	<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">
+		<ClCompile>
+			<FloatingPointModel>Precise</FloatingPointModel>
+			<AdditionalOptions> /d2Zi+</AdditionalOptions>
+			<Optimization>Disabled</Optimization>
+			<AdditionalIncludeDirectories>./../../../../..;./../../..;./../../../external/D3D11/include;./../../../external/D3D12/include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+			<PreprocessorDefinitions>_CONSOLE;WIN32;_DEBUG;_ITERATOR_DEBUG_LEVEL=0;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+			<WarningLevel>Level3</WarningLevel>
+			<RuntimeLibrary>MultiThreadedDebug</RuntimeLibrary>
+			<PrecompiledHeader>NotUsing</PrecompiledHeader>
+			<PrecompiledHeaderFile></PrecompiledHeaderFile>
+		</ClCompile>
+		<Link>
+			<AdditionalOptions>/DELAYLOAD:d3d11.dll /DELAYLOAD:d3d12.dll</AdditionalOptions>
+			<AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;delayimp.lib;./../../../lib/win32/NvFlexDebugD3D_x86.lib;%(AdditionalDependencies)</AdditionalDependencies>
+			<OutputFile>$(OutDir)NvFlexExtDebugD3D_x86.dll</OutputFile>
+			<AdditionalLibraryDirectories>./../../../external/D3D11/libs/x86;./../../../external/D3D12/libs/x86;./../../../lib/win32;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+			<ProgramDatabaseFile>$(OutDir)/NvFlexExtDebugD3D_x86.dll.pdb</ProgramDatabaseFile>
+			<SubSystem>Console</SubSystem>
+			<ImportLibrary>./../../../lib/win32/NvFlexExtDebugD3D_x86.lib</ImportLibrary>
+			<GenerateDebugInformation>true</GenerateDebugInformation>
+			<TargetMachine>MachineX86</TargetMachine>
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+		<ResourceCompile>
+		</ResourceCompile>
+		<ProjectReference>
+		</ProjectReference>
+	</ItemDefinitionGroup>
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='release|Win32'">
+		<OutDir>./../../../bin/win32\</OutDir>
+		<IntDir>./build/win32/DX/release\</IntDir>
+		<TargetExt>.dll</TargetExt>
+		<TargetName>NvFlexExtReleaseD3D_x86</TargetName>
+		<CodeAnalysisRuleSet>AllRules.ruleset</CodeAnalysisRuleSet>
+		<CodeAnalysisRules />
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+		<SkipCopyingSymbolsToOutputDirectory>true</SkipCopyingSymbolsToOutputDirectory>
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+	<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='release|Win32'">
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+			<FunctionLevelLinking>true</FunctionLevelLinking>
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+			<PrecompiledHeader>NotUsing</PrecompiledHeader>
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+		<Link>
+			<AdditionalOptions>/DELAYLOAD:d3d11.dll /DELAYLOAD:d3d12.dll</AdditionalOptions>
+			<AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;delayimp.lib;./../../../lib/win32/NvFlexReleaseD3D_x86.lib;%(AdditionalDependencies)</AdditionalDependencies>
+			<OutputFile>$(OutDir)NvFlexExtReleaseD3D_x86.dll</OutputFile>
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+			<ImportLibrary>./../../../lib/win32/NvFlexExtReleaseD3D_x86.lib</ImportLibrary>
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+		</ClCompile>
+		<ClCompile Include="..\..\..\core\aabbtree.cpp">
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+	</ItemGroup>
+	<ItemGroup>
+		<ClCompile Include="..\..\dx\flexExt.cpp">
+		</ClCompile>
+		<None Include="..\..\dx\flexExt.hlsl">
+		</None>
+		<ClInclude Include="..\..\dx\flexExt_dx_common.h">
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+		<ClCompile Include="..\..\flexExtCloth.cpp">
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+		<ClCompile Include="..\..\flexExtRigid.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtSoft.cpp">
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+		<ClCompile Include="..\..\flexExtMovingFrame.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtContainer.cpp">
+		</ClCompile>
+	</ItemGroup>
+	<ItemGroup>
+		<FxCompile Include="./../../dx/shaders/flexExt.UpdateForceFields.hlsl">
+			<ShaderType Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">Compute</ShaderType>
+			<ShaderModel Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">5.0</ShaderModel>
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+			<DisableOptimizations Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">false</DisableOptimizations>
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+			<TreatWarningAsError Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">false</TreatWarningAsError>
+			<VariableName Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">g_flexExt_UpdateForceFields</VariableName>
+			<HeaderFileOutput Condition="'$(Configuration)|$(Platform)'=='debug|Win32'">../../../extensions/dx/shaders/%(Filename).h</HeaderFileOutput>
+			<ObjectFileOutput Condition="'$(Configuration)|$(Platform)'=='debug|Win32'"> </ObjectFileOutput>
+			<ShaderType Condition="'$(Configuration)|$(Platform)'=='release|Win32'">Compute</ShaderType>
+			<ShaderModel Condition="'$(Configuration)|$(Platform)'=='release|Win32'">5.0</ShaderModel>
+			<EnableDebuggingInformation Condition="'$(Configuration)|$(Platform)'=='release|Win32'">false</EnableDebuggingInformation>
+			<DisableOptimizations Condition="'$(Configuration)|$(Platform)'=='release|Win32'">false</DisableOptimizations>
+			<EntryPointName Condition="'$(Configuration)|$(Platform)'=='release|Win32'">UpdateForceFields::execute</EntryPointName>
+			<TreatWarningAsError Condition="'$(Configuration)|$(Platform)'=='release|Win32'">false</TreatWarningAsError>
+			<VariableName Condition="'$(Configuration)|$(Platform)'=='release|Win32'">g_flexExt_UpdateForceFields</VariableName>
+			<HeaderFileOutput Condition="'$(Configuration)|$(Platform)'=='release|Win32'">../../../extensions/dx/shaders/%(Filename).h</HeaderFileOutput>
+			<ObjectFileOutput Condition="'$(Configuration)|$(Platform)'=='release|Win32'"> </ObjectFileOutput>
+		</FxCompile>
+	</ItemGroup>
+	<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+	<ImportGroup Label="ExtensionTargets"></ImportGroup>
+</Project>
diff --git a/extensions/compiler/vc14win32/flexExtD3D.vcxproj.filters b/extensions/compiler/vc14win32/flexExtD3D.vcxproj.filters
new file mode 100644
index 0000000..dd65ee0
--- /dev/null
+++ b/extensions/compiler/vc14win32/flexExtD3D.vcxproj.filters
@@ -0,0 +1,57 @@
+<?xml version="1.0" encoding="utf-8"?>


+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">


+	<ItemGroup>


+		<Filter Include="Core">


+		</Filter>


+	</ItemGroup>


+	<ItemGroup>


+		<ClCompile Include="..\..\..\core\sdf.cpp">


+			<Filter>Core</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\..\core\voxelize.cpp">


+			<Filter>Core</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\..\core\maths.cpp">


+			<Filter>Core</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\..\core\aabbtree.cpp">


+			<Filter>Core</Filter>


+		</ClCompile>


+	</ItemGroup>


+	<ItemGroup>


+		<Filter Include="src">


+		</Filter>


+	</ItemGroup>


+	<ItemGroup>


+		<ClCompile Include="..\..\dx\flexExt.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<None Include="..\..\dx\flexExt.hlsl">


+			<Filter>src</Filter>


+		</None>


+		<ClInclude Include="..\..\dx\flexExt_dx_common.h">


+			<Filter>src</Filter>


+		</ClInclude>


+		<ClCompile Include="..\..\flexExtCloth.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtRigid.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtSoft.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtMovingFrame.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtContainer.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+	</ItemGroup>


+	<ItemGroup><Filter Include="Shader Files"></Filter></ItemGroup>

+	<ItemGroup>

+		<FxCompile Include="./../../dx/shaders/flexExt.UpdateForceFields.hlsl">

+			<Filter>Shader Files</Filter>

+		</FxCompile>

+	</ItemGroup>

+</Project>
\ No newline at end of file
diff --git a/extensions/compiler/vc14win64/flexExtCUDA.sln b/extensions/compiler/vc14win64/flexExtCUDA.sln
new file mode 100644
index 0000000..6e0cf6d
--- /dev/null
+++ b/extensions/compiler/vc14win64/flexExtCUDA.sln
@@ -0,0 +1,24 @@
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 14
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "flexExtCUDA", "./flexExtCUDA.vcxproj", "{FD4C9C06-7BEC-CDF8-C631-CD32A428A280}"
+	ProjectSection(ProjectDependencies) = postProject
+	EndProjectSection
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		debug|x64 = debug|x64
+		release|x64 = release|x64
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{FD4C9C06-7BEC-CDF8-C631-CD32A428A280}.debug|x64.ActiveCfg = debug|x64
+		{FD4C9C06-7BEC-CDF8-C631-CD32A428A280}.debug|x64.Build.0 = debug|x64
+		{FD4C9C06-7BEC-CDF8-C631-CD32A428A280}.release|x64.ActiveCfg = release|x64
+		{FD4C9C06-7BEC-CDF8-C631-CD32A428A280}.release|x64.Build.0 = release|x64
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+	EndGlobalSection
+	GlobalSection(ExtensibilityAddins) = postSolution
+	EndGlobalSection
+	GlobalSection(NestedProjects) = preSolution
+	EndGlobalSection
+EndGlobal
diff --git a/extensions/compiler/vc14win64/flexExtCUDA.vcxproj b/extensions/compiler/vc14win64/flexExtCUDA.vcxproj
new file mode 100644
index 0000000..5fe44c7
--- /dev/null
+++ b/extensions/compiler/vc14win64/flexExtCUDA.vcxproj
@@ -0,0 +1,150 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" ToolsVersion="14.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+	<ItemGroup Label="ProjectConfigurations">
+		<ProjectConfiguration Include="debug|x64">
+			<Configuration>debug</Configuration>
+			<Platform>x64</Platform>
+		</ProjectConfiguration>
+		<ProjectConfiguration Include="release|x64">
+			<Configuration>release</Configuration>
+			<Platform>x64</Platform>
+		</ProjectConfiguration>
+	</ItemGroup>
+	<PropertyGroup Label="Globals">
+		<ProjectGuid>{FD4C9C06-7BEC-CDF8-C631-CD32A428A280}</ProjectGuid>
+		<RootNamespace>flexExtCUDA</RootNamespace>
+	</PropertyGroup>
+	<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='debug|x64'" Label="Configuration">
+		<ConfigurationType>DynamicLibrary</ConfigurationType>
+		<PlatformToolset>v140</PlatformToolset>
+	</PropertyGroup>
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='release|x64'" Label="Configuration">
+		<ConfigurationType>DynamicLibrary</ConfigurationType>
+		<PlatformToolset>v140</PlatformToolset>
+		<WholeProgramOptimization>true</WholeProgramOptimization>
+	</PropertyGroup>
+	<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+	<ImportGroup Label="ExtensionSettings">
+	</ImportGroup>
+	<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='debug|x64'">
+		<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+	</ImportGroup>
+	<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='release|x64'">
+		<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+	</ImportGroup>
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='debug|x64'">
+		<OutDir>./../../../bin/win64\</OutDir>
+		<IntDir>./build/win64/debug\</IntDir>
+		<TargetExt>.dll</TargetExt>
+		<TargetName>NvFlexExtDebugCUDA_x64</TargetName>
+		<CodeAnalysisRuleSet>AllRules.ruleset</CodeAnalysisRuleSet>
+		<CodeAnalysisRules />
+		<CodeAnalysisRuleAssemblies />
+		<SkipCopyingSymbolsToOutputDirectory>true</SkipCopyingSymbolsToOutputDirectory>
+	</PropertyGroup>
+	<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='debug|x64'">
+		<ClCompile>
+			<FloatingPointModel>Precise</FloatingPointModel>
+			<AdditionalOptions> /d2Zi+</AdditionalOptions>
+			<Optimization>Disabled</Optimization>
+			<AdditionalIncludeDirectories>$(CUDA_PATH)/include;$(CUDA_PATH)/extras/cupti/include;./../../../../..;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+			<PreprocessorDefinitions>_CONSOLE;WIN32;_DEBUG;_ITERATOR_DEBUG_LEVEL=0;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+			<WarningLevel>Level3</WarningLevel>
+			<RuntimeLibrary>MultiThreadedDebug</RuntimeLibrary>
+			<PrecompiledHeader>NotUsing</PrecompiledHeader>
+			<PrecompiledHeaderFile></PrecompiledHeaderFile>
+		</ClCompile>
+		<Link>
+			<AdditionalDependencies>cudart.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;./../../../lib/win64/NvFlexDebugCUDA_x64.lib;%(AdditionalDependencies)</AdditionalDependencies>
+			<OutputFile>$(OutDir)NvFlexExtDebugCUDA_x64.dll</OutputFile>
+			<AdditionalLibraryDirectories>$(CUDA_PATH)/lib/x64;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+			<ProgramDatabaseFile>$(OutDir)/NvFlexExtDebugCUDA_x64.dll.pdb</ProgramDatabaseFile>
+			<SubSystem>Console</SubSystem>
+			<ImportLibrary>./../../../lib/win64/NvFlexExtDebugCUDA_x64.lib</ImportLibrary>
+			<GenerateDebugInformation>true</GenerateDebugInformation>
+			<TargetMachine>MachineX64</TargetMachine>
+		</Link>
+		<ResourceCompile>
+		</ResourceCompile>
+		<ProjectReference>
+		</ProjectReference>
+	</ItemDefinitionGroup>
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='release|x64'">
+		<OutDir>./../../../bin/win64\</OutDir>
+		<IntDir>./build/win64/release\</IntDir>
+		<TargetExt>.dll</TargetExt>
+		<TargetName>NvFlexExtReleaseCUDA_x64</TargetName>
+		<CodeAnalysisRuleSet>AllRules.ruleset</CodeAnalysisRuleSet>
+		<CodeAnalysisRules />
+		<CodeAnalysisRuleAssemblies />
+		<SkipCopyingSymbolsToOutputDirectory>true</SkipCopyingSymbolsToOutputDirectory>
+	</PropertyGroup>
+	<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='release|x64'">
+		<ClCompile>
+			<EnableEnhancedInstructionSet>StreamingSIMDExtensions2</EnableEnhancedInstructionSet>
+			<IntrinsicFunctions>true</IntrinsicFunctions>
+			<FunctionLevelLinking>true</FunctionLevelLinking>
+			<BufferSecurityCheck>false</BufferSecurityCheck>
+			<FloatingPointModel>Fast</FloatingPointModel>
+			<AdditionalOptions> /d2Zi+</AdditionalOptions>
+			<Optimization>Full</Optimization>
+			<AdditionalIncludeDirectories>$(CUDA_PATH)/include;$(CUDA_PATH)/extras/cupti/include;./../../../../..;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+			<PreprocessorDefinitions>_CONSOLE;WIN32;NDEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+			<WarningLevel>Level3</WarningLevel>
+			<RuntimeLibrary>MultiThreaded</RuntimeLibrary>
+			<PrecompiledHeader>NotUsing</PrecompiledHeader>
+			<PrecompiledHeaderFile></PrecompiledHeaderFile>
+		</ClCompile>
+		<Link>
+			<AdditionalDependencies>cudart.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;./../../../lib/win64/NvFlexReleaseCUDA_x64.lib;%(AdditionalDependencies)</AdditionalDependencies>
+			<OutputFile>$(OutDir)NvFlexExtReleaseCUDA_x64.dll</OutputFile>
+			<AdditionalLibraryDirectories>$(CUDA_PATH)/lib/x64;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+			<ProgramDatabaseFile>$(OutDir)/NvFlexExtReleaseCUDA_x64.dll.pdb</ProgramDatabaseFile>
+			<SubSystem>Console</SubSystem>
+			<ImportLibrary>./../../../lib/win64/NvFlexExtReleaseCUDA_x64.lib</ImportLibrary>
+			<GenerateDebugInformation>true</GenerateDebugInformation>
+			<TargetMachine>MachineX64</TargetMachine>
+		</Link>
+		<ResourceCompile>
+		</ResourceCompile>
+		<ProjectReference>
+		</ProjectReference>
+	</ItemDefinitionGroup>
+	<ItemGroup>
+		<ClCompile Include="..\..\flexExtCloth.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtContainer.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtMovingFrame.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtRigid.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtSoft.cpp">
+		</ClCompile>
+	</ItemGroup>
+	<ItemGroup>
+		<CustomBuild Include="..\..\cuda\flexExt.cu">
+			<FileType Condition="'$(Configuration)|$(Platform)'=='debug|x64'">cuda</FileType>
+			<Command Condition="'$(Configuration)|$(Platform)'=='debug|x64'">"$(CUDA_PATH)\bin\nvcc.exe" -g -G --compiler-bindir="$(VCInstallDir)bin" --compiler-options=/MTd,/Zi -I"..\..\.." -D_ITERATOR_DEBUG_LEVEL=0 -DCUDA -arch=sm_30 -prec-div=false -prec-sqrt=false -ftz=true -use_fast_math -c ..\..\cuda\flexExt.cu -o ./x64/flexExtCUDA/debug/cuda/flexExt.obj</Command>
+			<Message Condition="'$(Configuration)|$(Platform)'=='debug|x64'">Building %(Identity)</Message>
+			<Outputs Condition="'$(Configuration)|$(Platform)'=='debug|x64'">./x64/flexExtCUDA/debug/cuda/flexExt.obj;</Outputs>
+			<FileType Condition="'$(Configuration)|$(Platform)'=='release|x64'">cuda</FileType>
+			<Command Condition="'$(Configuration)|$(Platform)'=='release|x64'">"$(CUDA_PATH)\bin\nvcc.exe" -O3 --compiler-bindir="$(VCInstallDir)bin"  --compiler-options=/MT,/Zi -I"..\..\.." -D_ITERATOR_DEBUG_LEVEL=0 -DNDEBUG -DCUDA -arch=sm_30 -prec-div=false -prec-sqrt=false -ftz=true -use_fast_math -c ..\..\cuda\flexExt.cu -o ./x64/flexExtCUDA/release/cuda/flexExt.obj</Command>
+			<Message Condition="'$(Configuration)|$(Platform)'=='release|x64'">Building %(Identity)</Message>
+			<Outputs Condition="'$(Configuration)|$(Platform)'=='release|x64'">./x64/flexExtCUDA/release/cuda/flexExt.obj;</Outputs>
+		</CustomBuild>
+	</ItemGroup>
+	<ItemGroup>
+		<ClCompile Include="..\..\..\core\sdf.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\..\core\voxelize.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\..\core\maths.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\..\core\aabbtree.cpp">
+		</ClCompile>
+	</ItemGroup>
+	<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+	<ImportGroup Label="ExtensionTargets"></ImportGroup>
+</Project>
diff --git a/extensions/compiler/vc14win64/flexExtCUDA.vcxproj.filters b/extensions/compiler/vc14win64/flexExtCUDA.vcxproj.filters
new file mode 100644
index 0000000..5c88696
--- /dev/null
+++ b/extensions/compiler/vc14win64/flexExtCUDA.vcxproj.filters
@@ -0,0 +1,51 @@
+<?xml version="1.0" encoding="utf-8"?>


+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">


+	<ItemGroup>


+		<Filter Include="src">


+		</Filter>


+	</ItemGroup>


+	<ItemGroup>


+		<ClCompile Include="..\..\flexExtCloth.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtContainer.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtMovingFrame.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtRigid.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtSoft.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+	</ItemGroup>


+	<ItemGroup>


+		<Filter Include="cuda">


+		</Filter>


+	</ItemGroup>


+	<ItemGroup>


+		<CustomBuild Include="..\..\cuda\flexExt.cu">


+			<Filter>cuda</Filter>


+		</CustomBuild>


+	</ItemGroup>


+	<ItemGroup>


+		<Filter Include="core">


+		</Filter>


+	</ItemGroup>


+	<ItemGroup>


+		<ClCompile Include="..\..\..\core\sdf.cpp">


+			<Filter>core</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\..\core\voxelize.cpp">


+			<Filter>core</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\..\core\maths.cpp">


+			<Filter>core</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\..\core\aabbtree.cpp">


+			<Filter>core</Filter>


+		</ClCompile>


+	</ItemGroup>


+</Project>
\ No newline at end of file
diff --git a/extensions/compiler/vc14win64/flexExtD3D.sln b/extensions/compiler/vc14win64/flexExtD3D.sln
new file mode 100644
index 0000000..3275e20
--- /dev/null
+++ b/extensions/compiler/vc14win64/flexExtD3D.sln
@@ -0,0 +1,24 @@
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 14
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "flexExtD3D", "./flexExtD3D.vcxproj", "{9B42889D-2F0D-0378-E87E-82C8D918DB4D}"
+	ProjectSection(ProjectDependencies) = postProject
+	EndProjectSection
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		debug|x64 = debug|x64
+		release|x64 = release|x64
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{9B42889D-2F0D-0378-E87E-82C8D918DB4D}.debug|x64.ActiveCfg = debug|x64
+		{9B42889D-2F0D-0378-E87E-82C8D918DB4D}.debug|x64.Build.0 = debug|x64
+		{9B42889D-2F0D-0378-E87E-82C8D918DB4D}.release|x64.ActiveCfg = release|x64
+		{9B42889D-2F0D-0378-E87E-82C8D918DB4D}.release|x64.Build.0 = release|x64
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+	EndGlobalSection
+	GlobalSection(ExtensibilityAddins) = postSolution
+	EndGlobalSection
+	GlobalSection(NestedProjects) = preSolution
+	EndGlobalSection
+EndGlobal
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new file mode 100644
index 0000000..d43e287
--- /dev/null
+++ b/extensions/compiler/vc14win64/flexExtD3D.vcxproj
@@ -0,0 +1,167 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" ToolsVersion="14.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+	<ItemGroup Label="ProjectConfigurations">
+		<ProjectConfiguration Include="debug|x64">
+			<Configuration>debug</Configuration>
+			<Platform>x64</Platform>
+		</ProjectConfiguration>
+		<ProjectConfiguration Include="release|x64">
+			<Configuration>release</Configuration>
+			<Platform>x64</Platform>
+		</ProjectConfiguration>
+	</ItemGroup>
+	<PropertyGroup Label="Globals">
+		<ProjectGuid>{9B42889D-2F0D-0378-E87E-82C8D918DB4D}</ProjectGuid>
+		<RootNamespace>flexExtD3D</RootNamespace>
+	</PropertyGroup>
+	<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='debug|x64'" Label="Configuration">
+		<ConfigurationType>DynamicLibrary</ConfigurationType>
+		<PlatformToolset>v140</PlatformToolset>
+	</PropertyGroup>
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='release|x64'" Label="Configuration">
+		<ConfigurationType>DynamicLibrary</ConfigurationType>
+		<PlatformToolset>v140</PlatformToolset>
+		<WholeProgramOptimization>true</WholeProgramOptimization>
+	</PropertyGroup>
+	<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+	<ImportGroup Label="ExtensionSettings">
+	</ImportGroup>
+	<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='debug|x64'">
+		<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+	</ImportGroup>
+	<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='release|x64'">
+		<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+	</ImportGroup>
+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='debug|x64'">
+		<OutDir>./../../../bin/win64\</OutDir>
+		<IntDir>./build/win64/DX/debug\</IntDir>
+		<TargetExt>.dll</TargetExt>
+		<TargetName>NvFlexExtDebugD3D_x64</TargetName>
+		<CodeAnalysisRuleSet>AllRules.ruleset</CodeAnalysisRuleSet>
+		<CodeAnalysisRules />
+		<CodeAnalysisRuleAssemblies />
+		<SkipCopyingSymbolsToOutputDirectory>true</SkipCopyingSymbolsToOutputDirectory>
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+	<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='debug|x64'">
+		<ClCompile>
+			<FloatingPointModel>Precise</FloatingPointModel>
+			<AdditionalOptions> /d2Zi+</AdditionalOptions>
+			<Optimization>Disabled</Optimization>
+			<AdditionalIncludeDirectories>./../../../../..;./../../..;./../../../external/D3D11/include;./../../../external/D3D12/include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+			<PreprocessorDefinitions>_CONSOLE;WIN32;_DEBUG;_ITERATOR_DEBUG_LEVEL=0;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+			<WarningLevel>Level3</WarningLevel>
+			<RuntimeLibrary>MultiThreadedDebug</RuntimeLibrary>
+			<PrecompiledHeader>NotUsing</PrecompiledHeader>
+			<PrecompiledHeaderFile></PrecompiledHeaderFile>
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+		<Link>
+			<AdditionalOptions>/DELAYLOAD:d3d11.dll /DELAYLOAD:d3d12.dll</AdditionalOptions>
+			<AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;delayimp.lib;./../../../lib/win64/NvFlexDebugD3D_x64.lib;%(AdditionalDependencies)</AdditionalDependencies>
+			<OutputFile>$(OutDir)NvFlexExtDebugD3D_x64.dll</OutputFile>
+			<AdditionalLibraryDirectories>./../../../external/D3D11/libs/x64;./../../../external/D3D12/libs/x64;./../../../lib/win64;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+			<ProgramDatabaseFile>$(OutDir)/NvFlexExtDebugD3D_x64.dll.pdb</ProgramDatabaseFile>
+			<SubSystem>Console</SubSystem>
+			<ImportLibrary>./../../../lib/win64/NvFlexExtDebugD3D_x64.lib</ImportLibrary>
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+		<ResourceCompile>
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+		<ProjectReference>
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+	<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='release|x64'">
+		<OutDir>./../../../bin/win64\</OutDir>
+		<IntDir>./build/win64/DX/release\</IntDir>
+		<TargetExt>.dll</TargetExt>
+		<TargetName>NvFlexExtReleaseD3D_x64</TargetName>
+		<CodeAnalysisRuleSet>AllRules.ruleset</CodeAnalysisRuleSet>
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+		<SkipCopyingSymbolsToOutputDirectory>true</SkipCopyingSymbolsToOutputDirectory>
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+			<Optimization>Full</Optimization>
+			<AdditionalIncludeDirectories>./../../../../..;./../../..;./../../../external/D3D11/include;./../../../external/D3D12/include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+			<PreprocessorDefinitions>_CONSOLE;WIN32;NDEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+			<WarningLevel>Level3</WarningLevel>
+			<RuntimeLibrary>MultiThreaded</RuntimeLibrary>
+			<PrecompiledHeader>NotUsing</PrecompiledHeader>
+			<PrecompiledHeaderFile></PrecompiledHeaderFile>
+		</ClCompile>
+		<Link>
+			<AdditionalOptions>/DELAYLOAD:d3d11.dll /DELAYLOAD:d3d12.dll</AdditionalOptions>
+			<AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;delayimp.lib;./../../../lib/win64/NvFlexReleaseD3D_x64.lib;%(AdditionalDependencies)</AdditionalDependencies>
+			<OutputFile>$(OutDir)NvFlexExtReleaseD3D_x64.dll</OutputFile>
+			<AdditionalLibraryDirectories>./../../../external/D3D11/libs/x64;./../../../external/D3D12/libs/x64;./../../../lib/win64;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+			<ProgramDatabaseFile>$(OutDir)/NvFlexExtReleaseD3D_x64.dll.pdb</ProgramDatabaseFile>
+			<SubSystem>Console</SubSystem>
+			<ImportLibrary>./../../../lib/win64/NvFlexExtReleaseD3D_x64.lib</ImportLibrary>
+			<GenerateDebugInformation>true</GenerateDebugInformation>
+			<TargetMachine>MachineX64</TargetMachine>
+		</Link>
+		<ResourceCompile>
+		</ResourceCompile>
+		<ProjectReference>
+		</ProjectReference>
+	</ItemDefinitionGroup>
+	<ItemGroup>
+		<ClCompile Include="..\..\..\core\sdf.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\..\core\voxelize.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\..\core\maths.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\..\core\aabbtree.cpp">
+		</ClCompile>
+	</ItemGroup>
+	<ItemGroup>
+		<ClCompile Include="..\..\dx\flexExt.cpp">
+		</ClCompile>
+		<None Include="..\..\dx\flexExt.hlsl">
+		</None>
+		<ClInclude Include="..\..\dx\flexExt_dx_common.h">
+		</ClInclude>
+		<ClCompile Include="..\..\flexExtCloth.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtRigid.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtSoft.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtMovingFrame.cpp">
+		</ClCompile>
+		<ClCompile Include="..\..\flexExtContainer.cpp">
+		</ClCompile>
+	</ItemGroup>
+	<ItemGroup>
+		<FxCompile Include="./../../dx/shaders/flexExt.UpdateForceFields.hlsl">
+			<ShaderType Condition="'$(Configuration)|$(Platform)'=='debug|x64'">Compute</ShaderType>
+			<ShaderModel Condition="'$(Configuration)|$(Platform)'=='debug|x64'">5.0</ShaderModel>
+			<EnableDebuggingInformation Condition="'$(Configuration)|$(Platform)'=='debug|x64'">false</EnableDebuggingInformation>
+			<DisableOptimizations Condition="'$(Configuration)|$(Platform)'=='debug|x64'">false</DisableOptimizations>
+			<EntryPointName Condition="'$(Configuration)|$(Platform)'=='debug|x64'">UpdateForceFields::execute</EntryPointName>
+			<TreatWarningAsError Condition="'$(Configuration)|$(Platform)'=='debug|x64'">false</TreatWarningAsError>
+			<VariableName Condition="'$(Configuration)|$(Platform)'=='debug|x64'">g_flexExt_UpdateForceFields</VariableName>
+			<HeaderFileOutput Condition="'$(Configuration)|$(Platform)'=='debug|x64'">../../../extensions/dx/shaders/%(Filename).h</HeaderFileOutput>
+			<ObjectFileOutput Condition="'$(Configuration)|$(Platform)'=='debug|x64'"> </ObjectFileOutput>
+			<ShaderType Condition="'$(Configuration)|$(Platform)'=='release|x64'">Compute</ShaderType>
+			<ShaderModel Condition="'$(Configuration)|$(Platform)'=='release|x64'">5.0</ShaderModel>
+			<EnableDebuggingInformation Condition="'$(Configuration)|$(Platform)'=='release|x64'">false</EnableDebuggingInformation>
+			<DisableOptimizations Condition="'$(Configuration)|$(Platform)'=='release|x64'">false</DisableOptimizations>
+			<EntryPointName Condition="'$(Configuration)|$(Platform)'=='release|x64'">UpdateForceFields::execute</EntryPointName>
+			<TreatWarningAsError Condition="'$(Configuration)|$(Platform)'=='release|x64'">false</TreatWarningAsError>
+			<VariableName Condition="'$(Configuration)|$(Platform)'=='release|x64'">g_flexExt_UpdateForceFields</VariableName>
+			<HeaderFileOutput Condition="'$(Configuration)|$(Platform)'=='release|x64'">../../../extensions/dx/shaders/%(Filename).h</HeaderFileOutput>
+			<ObjectFileOutput Condition="'$(Configuration)|$(Platform)'=='release|x64'"> </ObjectFileOutput>
+		</FxCompile>
+	</ItemGroup>
+	<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+	<ImportGroup Label="ExtensionTargets"></ImportGroup>
+</Project>
diff --git a/extensions/compiler/vc14win64/flexExtD3D.vcxproj.filters b/extensions/compiler/vc14win64/flexExtD3D.vcxproj.filters
new file mode 100644
index 0000000..dd65ee0
--- /dev/null
+++ b/extensions/compiler/vc14win64/flexExtD3D.vcxproj.filters
@@ -0,0 +1,57 @@
+<?xml version="1.0" encoding="utf-8"?>


+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">


+	<ItemGroup>


+		<Filter Include="Core">


+		</Filter>


+	</ItemGroup>


+	<ItemGroup>


+		<ClCompile Include="..\..\..\core\sdf.cpp">


+			<Filter>Core</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\..\core\voxelize.cpp">


+			<Filter>Core</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\..\core\maths.cpp">


+			<Filter>Core</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\..\core\aabbtree.cpp">


+			<Filter>Core</Filter>


+		</ClCompile>


+	</ItemGroup>


+	<ItemGroup>


+		<Filter Include="src">


+		</Filter>


+	</ItemGroup>


+	<ItemGroup>


+		<ClCompile Include="..\..\dx\flexExt.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<None Include="..\..\dx\flexExt.hlsl">


+			<Filter>src</Filter>


+		</None>


+		<ClInclude Include="..\..\dx\flexExt_dx_common.h">


+			<Filter>src</Filter>


+		</ClInclude>


+		<ClCompile Include="..\..\flexExtCloth.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtRigid.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtSoft.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtMovingFrame.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+		<ClCompile Include="..\..\flexExtContainer.cpp">


+			<Filter>src</Filter>


+		</ClCompile>


+	</ItemGroup>


+	<ItemGroup><Filter Include="Shader Files"></Filter></ItemGroup>

+	<ItemGroup>

+		<FxCompile Include="./../../dx/shaders/flexExt.UpdateForceFields.hlsl">

+			<Filter>Shader Files</Filter>

+		</FxCompile>

+	</ItemGroup>

+</Project>
\ No newline at end of file
diff --git a/extensions/compiler/vc14win64/vc140.pdb b/extensions/compiler/vc14win64/vc140.pdb
new file mode 100644
index 0000000..fe2e606
--- /dev/null
+++ b/extensions/compiler/vc14win64/vc140.pdb
diff --git a/extensions/compiler/xpj/flexExtCUDA.xpj b/extensions/compiler/xpj/flexExtCUDA.xpj
new file mode 100644
index 0000000..434b2fe
--- /dev/null
+++ b/extensions/compiler/xpj/flexExtCUDA.xpj
@@ -0,0 +1,239 @@
+<?xml version="1.0" encoding="utf-8" ?>
+
+<XPJ version="4">
+
+	<template filename="../../../common.xpjt"/>
+
+	<Project name="flexExtCUDA">
+
+		<!-- depends on flex solver project -->
+		<Conditional value="${config}" match="internal">
+			<Import file="../../../src/compiler/xpj/flexCUDA.xpj" />
+		</Conditional>
+
+		<Export platforms="Win32 Win64">../${xpj:TOOL}${xpj:PLATFORM}</Export>
+		<Export platform="android{x}" tool="make">../makeandroid</Export>
+		<Export platform="Linux64" tool="make">../makelinux64</Export>
+
+		<Target name="flexExtCUDA">
+
+			<Var name="ProjectRoot" value="../../.." />
+			
+			<!-- Windows -->
+
+			<Config name="default" type="dll" platforms="Win32 Win64">
+
+				<apply-template name="windows-common"/>				
+
+				<OutDir platform="Win32">../../../bin/win32/</OutDir>
+				<OutDir platform="Win64">../../../bin/win64/</OutDir>
+
+				<Preprocessor type="define">
+					_CONSOLE 
+					WIN32
+				</Preprocessor>
+
+				<WarningLevel>3</WarningLevel>
+				<GenerateDebugInformation>true</GenerateDebugInformation>
+				<CharacterSet>MultiByte</CharacterSet>
+				
+				<SearchPaths type="header">
+					..\..\..\..\..
+				</SearchPaths>
+
+				<Libraries>
+				cudart.lib kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib
+				</Libraries>
+				
+			</Config>
+
+			<Config name="debug" type="dll" platforms="Win32 Win64">
+
+				<apply-template name="windows-common"/>				
+
+				<OutFile platform="Win32">NvFlexExtDebugCUDA_x86.dll</OutFile>
+				<OutFile platform="Win64">NvFlexExtDebugCUDA_x64.dll</OutFile>
+
+				<IntDir>./build/${xpj:PLATFORM}/debug/</IntDir>
+
+				<Preprocessor type="define">
+					_DEBUG
+				</Preprocessor>
+				<Preprocessor type="define">
+					_ITERATOR_DEBUG_LEVEL=0
+				</Preprocessor>
+				<RuntimeLibrary>MTd</RuntimeLibrary>
+				<GenerateDebugInformation>true</GenerateDebugInformation>
+				<FloatingPointModel>Precise</FloatingPointModel>
+				<ExportLibrary platform="Win32">..\..\..\lib\win32\NvFlexExtDebugCUDA_x86.lib</ExportLibrary>
+				<ExportLibrary platform="Win64">..\..\..\lib\win64\NvFlexExtDebugCUDA_x64.lib</ExportLibrary>
+
+				<FileTemplate platform="Win32" name="cuda" command="&quot;${user:CUDA_PATH}\bin\nvcc.exe&quot; -g -G --compiler-bindir=&quot;$(VCInstallDir)bin&quot; --compiler-options=/MTd,/Zi -I&quot;..\..\..&quot; -D_ITERATOR_DEBUG_LEVEL=0 -DCUDA -m32 -arch=sm_30 -prec-div=false -prec-sqrt=false -ftz=true -use_fast_math -c %s -o %o" buildtype="CustomBuild" filetype="cuda" description="Building %(Identity)" />
+				<FileTemplate platform="Win64" name="cuda" command="&quot;${user:CUDA_PATH}\bin\nvcc.exe&quot; -g -G --compiler-bindir=&quot;$(VCInstallDir)bin&quot; --compiler-options=/MTd,/Zi -I&quot;..\..\..&quot; -D_ITERATOR_DEBUG_LEVEL=0 -DCUDA -arch=sm_30 -prec-div=false -prec-sqrt=false -ftz=true -use_fast_math -c %s -o %o" buildtype="CustomBuild" filetype="cuda" description="Building %(Identity)" />
+
+				<Libraries platforms="Win32">
+					${user:ProjectRoot}/lib/win32/NvFlexDebugCUDA_x86.lib
+				</Libraries>
+
+				<Libraries platforms="Win64">
+					${user:ProjectRoot}/lib/win64/NvFlexDebugCUDA_x64.lib
+				</Libraries>
+
+			</Config>
+
+			<Config name="release" type="dll" platforms="Win32 Win64">
+
+				<apply-template name="windows-common"/>				
+
+				<OutFile platform="Win32">NvFlexExtReleaseCUDA_x86.dll</OutFile>
+				<OutFile platform="Win64">NvFlexExtReleaseCUDA_x64.dll</OutFile>
+
+				<IntDir>./build/${xpj:PLATFORM}/release/</IntDir>
+
+				<Preprocessor type="define">
+					NDEBUG
+				</Preprocessor>
+				<RuntimeLibrary>MT</RuntimeLibrary>
+				<WholeProgramOptimization>1</WholeProgramOptimization>
+				<Optimization>3</Optimization>
+				<EnableIntrinsicFunctions>true</EnableIntrinsicFunctions>
+				<BufferSecurityCheck>false</BufferSecurityCheck>
+				<EnableFunctionLevelLinking>true</EnableFunctionLevelLinking>
+				<EnableEnhancedInstructionSet>2</EnableEnhancedInstructionSet>
+				<FloatingPointModel>Fast</FloatingPointModel>
+
+				<ExportLibrary platform="Win32">..\..\..\lib\win32\NvFlexExtReleaseCUDA_x86.lib</ExportLibrary>
+				<ExportLibrary platform="Win64">..\..\..\lib\win64\NvFlexExtReleaseCUDA_x64.lib</ExportLibrary>
+
+				<FileTemplate platform="Win32" name="cuda" command="&quot;${user:CUDA_PATH}\bin\nvcc.exe&quot; -O3 --compiler-bindir=&quot;$(VCInstallDir)bin&quot;  --compiler-options=/MT,/Zi -I&quot;..\..\..&quot; -D_ITERATOR_DEBUG_LEVEL=0 -DNDEBUG -DCUDA -m32 -arch=sm_30 -prec-div=false -prec-sqrt=false -ftz=true -use_fast_math -c %s -o %o" buildtype="CustomBuild" filetype="cuda" description="Building %(Identity)" />
+				<FileTemplate platform="Win64" name="cuda" command="&quot;${user:CUDA_PATH}\bin\nvcc.exe&quot; -O3 --compiler-bindir=&quot;$(VCInstallDir)bin&quot;  --compiler-options=/MT,/Zi -I&quot;..\..\..&quot; -D_ITERATOR_DEBUG_LEVEL=0 -DNDEBUG -DCUDA -arch=sm_30 -prec-div=false -prec-sqrt=false -ftz=true -use_fast_math -c %s -o %o" buildtype="CustomBuild" filetype="cuda" description="Building %(Identity)" />
+
+				<Libraries platforms="Win32">
+					${user:ProjectRoot}/lib/win32/NvFlexReleaseCUDA_x86.lib
+				</Libraries>
+
+				<Libraries platforms="Win64">
+					${user:ProjectRoot}/lib/win64/NvFlexReleaseCUDA_x64.lib
+				</Libraries>
+
+			</Config>
+
+			<!-- Android -->
+
+			<Config name="default" type="lib" platforms="android{x}">
+
+				<apply-template name="android-common"/>
+
+				<FileTemplate name="cuda" command='${user:NVCC} ${user:NVCCInclude} --compile "%s" -o "%o"' buildtype="CustomBuild" />
+
+				<OutDir platforms="android{x}" tool="make">${user:ProjectRoot}/lib/android</OutDir>
+
+				<Preprocessor type="define" platform="android{x}">
+					android 
+					ANDROID=1
+					ANDROID_PLAT=1
+					DISABLE_IMPORTGL
+				</Preprocessor>
+
+				<CFlags tool="make">
+					-Wall -std=c++11 -fpermissive -fno-strict-aliasing -fno-rtti -fno-exceptions
+				</CFlags>
+
+			</Config>
+
+			<Config name="release" type="lib" platforms="android{x}">
+				<cflags> -O3 -ffast-math </cflags>
+				<OutFile>libflexExt_cuda_release_armv7l.a</OutFile>
+
+				<Libraries>
+					${user:ProjectRoot}/lib/android/libNvFlexRelease_armv7l.a
+				</Libraries>
+
+			</Config>
+
+			<Config name="debug" type="lib" platforms="android{x}">
+				<cflags> -g -O0 </cflags>
+				<OutFile>libflexExt_cuda_debug_armv7l.a</OutFile>
+
+				<Libraries>
+					${user:ProjectRoot}/lib/android/libNvFlexDebug_armv7l.a
+				</Libraries>
+
+			</Config>
+
+
+			<!-- Linux -->
+			   
+			<Config name="default" type="lib" platforms="linux64">
+				
+				<apply-template name="linux-common"/>				
+
+				<Var name="Cub" value="${user:External}/cub-1.3.2"/>
+				<var name="GCC" value="g++"/>
+				<var name="NVCC" value='${user:CUDA_PATH}/bin/nvcc -O3 -g -arch=sm_30 -m64 -Xcompiler -fPIC -D_FORCE_INLINES'/>
+				<var name="NVCCInclude" value=' -I${user:ProjectRoot} -I${user:External} -I${user:CUDA_PATH}/include -I${user:Cub} '/>
+			
+				<FileTemplate name="cuda" command='${user:NVCC} ${user:NVCCInclude} --compile "%s" -o "%o"' buildtype="CustomBuild"/>
+
+				<OutDir platforms="linux64" tool="make">${user:ProjectRoot}/lib/linux64</OutDir>
+
+				<SearchPaths type="header" tool="make">
+					"${user:ProjectRoot}"
+					"${user:External}/freeglut/include"
+				</SearchPaths>
+
+				<CFlags tool="make">
+					-Wall -std=c++0x -fPIC -fpermissive -fno-strict-aliasing
+				</CFlags>
+			</Config>      
+
+			<Config name="release" type="lib" platforms="linux64">
+				<cflags> -O3 -ffast-math -DNDEBUG</cflags>
+		        <OutFile>NvFlexExtReleaseCUDA_x64.a</OutFile>
+					
+				<Libraries>
+					${user:ProjectRoot}/lib/linux64/NvFlexReleaseCUDA_x64.a
+				</Libraries>
+
+			</Config>
+			
+			<Config name="debug" type="lib" platforms="linux64">
+				<cflags> -g -O0  </cflags>
+		        <OutFile>NvFlexExtDebugCUDA_x64.a</OutFile>
+
+				<Libraries>
+					${user:ProjectRoot}/lib/linux64/NvFlexDebugCUDA_x64.a
+				</Libraries>
+			</Config>
+
+			<!-- Source -->
+			
+			<Files name="src" type="source" root="${user:ProjectRoot}/extensions">
+				*.cpp *.h
+			</Files>
+
+			<Files name="cuda" type="source" root="${user:ProjectRoot}/extensions/cuda" template="cuda">
+				*.cu
+			</Files>		
+			
+			<Files name="include" type="source" root="${user:ProjectRoot}/include">
+				flexExt.h
+			</Files>
+
+			<Files name="core" type="source" root="${user:ProjectRoot}/core">
+				sdf.cpp
+				voxelize.cpp
+				maths.cpp
+				aabbtree.cpp
+			</Files>
+
+			<Conditional value="${config}" match="internal">
+				<Dependencies>
+					flexCUDA
+				</Dependencies>
+			</Conditional>
+
+		</Target>
+	</Project>
+
+</XPJ>
\ No newline at end of file
diff --git a/extensions/compiler/xpj/flexExtD3D.xpj b/extensions/compiler/xpj/flexExtD3D.xpj
new file mode 100644
index 0000000..ff30566
--- /dev/null
+++ b/extensions/compiler/xpj/flexExtD3D.xpj
@@ -0,0 +1,177 @@
+<?xml version="1.0" encoding="utf-8" ?>
+
+<XPJ version="4">
+
+  <Project name="flexExtD3D">
+
+    <!-- depends on flex solver project -->
+    <Conditional value="${config}" match="internal">
+      <Import file="../../../src/compiler/xpj/flexD3D.xpj" />
+    </Conditional>
+
+    <Export platforms="Win32 Win64">../${xpj:TOOL}${xpj:PLATFORM}</Export>
+
+    <Target name="flexExtD3D">
+
+      <Var name="ProjectRoot" value="../../.." />
+
+      <!-- Windows -->
+
+      <Config name="default" type="dll" platforms="Win32 Win64">
+
+        <OutDir platform="Win32">../../../bin/win32/</OutDir>
+        <OutDir platform="Win64">../../../bin/win64/</OutDir>
+
+        <Preprocessor type="define">
+          _CONSOLE
+          WIN32
+        </Preprocessor>
+
+        <WarningLevel>3</WarningLevel>
+        <GenerateDebugInformation>true</GenerateDebugInformation>
+        <CharacterSet>MultiByte</CharacterSet>
+
+        <SearchPaths type="header">
+          ..\..\..\..\..
+        </SearchPaths>
+
+        <Libraries>
+          kernel32.lib
+          user32.lib
+          gdi32.lib
+          winspool.lib
+          comdlg32.lib
+          advapi32.lib
+          shell32.lib
+          ole32.lib
+          oleaut32.lib
+          uuid.lib
+          odbc32.lib
+          odbccp32.lib
+          delayimp.lib
+        </Libraries>
+
+      <LFlags>/DELAYLOAD:d3d11.dll /DELAYLOAD:d3d12.dll</LFlags>
+
+
+      </Config>
+
+      <Config name="debug" type="dll" platforms="Win32 Win64">
+
+        <OutFile platform="Win32">NvFlexExtDebugD3D_x86.dll</OutFile>
+        <OutFile platform="Win64">NvFlexExtDebugD3D_x64.dll</OutFile>
+
+        <IntDir>./build/${xpj:PLATFORM}/DX/debug/</IntDir>
+
+        <Preprocessor type="define">
+          _DEBUG
+        </Preprocessor>
+        <Preprocessor type="define">
+          _ITERATOR_DEBUG_LEVEL=0
+        </Preprocessor>
+        <RuntimeLibrary>MTd</RuntimeLibrary>
+        <GenerateDebugInformation>true</GenerateDebugInformation>
+        <FloatingPointModel>Precise</FloatingPointModel>
+        <ExportLibrary platform="Win32">..\..\..\lib\win32\NvFlexExtDebugD3D_x86.lib</ExportLibrary>
+        <ExportLibrary platform="Win64">..\..\..\lib\win64\NvFlexExtDebugD3D_x64.lib</ExportLibrary>
+
+        <Libraries platforms="Win32">
+          ${user:ProjectRoot}/lib/win32/NvFlexDebugD3D_x86.lib
+        </Libraries>
+
+        <Libraries platforms="Win64">
+          ${user:ProjectRoot}/lib/win64/NvFlexDebugD3D_x64.lib
+        </Libraries>
+
+      </Config>
+
+      <Config name="release" type="dll" platforms="Win32 Win64">
+
+        <OutFile platform="Win32">NvFlexExtReleaseD3D_x86.dll</OutFile>
+        <OutFile platform="Win64">NvFlexExtReleaseD3D_x64.dll</OutFile>
+
+        <IntDir>./build/${xpj:PLATFORM}/DX/release/</IntDir>
+
+        <Preprocessor type="define">
+          NDEBUG
+        </Preprocessor>
+        <RuntimeLibrary>MT</RuntimeLibrary>
+        <WholeProgramOptimization>1</WholeProgramOptimization>
+        <Optimization>3</Optimization>
+        <EnableIntrinsicFunctions>true</EnableIntrinsicFunctions>
+        <BufferSecurityCheck>false</BufferSecurityCheck>
+        <EnableFunctionLevelLinking>true</EnableFunctionLevelLinking>
+        <FloatingPointModel>Fast</FloatingPointModel>
+
+        <ExportLibrary platform="Win32">..\..\..\lib\win32\NvFlexExtReleaseD3D_x86.lib</ExportLibrary>
+        <ExportLibrary platform="Win64">..\..\..\lib\win64\NvFlexExtReleaseD3D_x64.lib</ExportLibrary>
+
+        <Libraries platforms="Win32">
+          ${user:ProjectRoot}/lib/win32/NvFlexReleaseD3D_x86.lib
+        </Libraries>
+
+        <Libraries platforms="Win64">
+          ${user:ProjectRoot}/lib/win64/NvFlexReleaseD3D_x64.lib
+        </Libraries>
+
+      </Config>
+
+
+      <SearchPaths type="header">
+        ..\..\..\
+        ..\..\..\external\D3D11\include
+        ..\..\..\external\D3D12\include
+      </SearchPaths>
+
+      <SearchPaths type="lib" platform="Win32">
+        ..\..\..\external\D3D11\libs\x86
+        ..\..\..\external\D3D12\libs\x86
+        ..\..\..\lib\win32
+      </SearchPaths>
+
+      <SearchPaths type="lib" platform="Win64">
+        ..\..\..\external\D3D11\libs\x64
+        ..\..\..\external\D3D12\libs\x64
+        ..\..\..\lib\win64
+      </SearchPaths>      
+      
+      <!-- Source -->
+
+      <Files name="Core" type="source" root="${user:ProjectRoot}/core">
+        sdf.cpp
+        voxelize.cpp
+        maths.cpp
+        aabbtree.cpp
+      </Files>
+
+      <Files name="src" type="source" root="${user:ProjectRoot}/extensions/dx">
+        flexExt.cpp
+        flexExt.hlsl
+        flexExt_dx_common.h
+      </Files>
+
+      <Files name="src" type="source" root="${user:ProjectRoot}/include">
+        flexExt.h
+      </Files>
+
+      <Files name="src" type="source" root="${user:ProjectRoot}/extensions">
+        flexExtCloth.cpp
+        flexExtRigid.cpp
+        flexExtSoft.cpp
+        flexExtMovingFrame.cpp
+        flexExtContainer.cpp
+      </Files>
+
+      <HLSL Configurations="release" DisableOptim="No" Debug="No" ShaderModel="5.0" Platforms="Win32 Win64" ObjectFileOutput=" " WarningAsErrors="false" OutputHeaderFileName="${user:ProjectRoot}/extensions/dx/shaders/%(Filename).h">
+        <File  ShaderType="Compute" EntryPoint="UpdateForceFields::execute" OutputHeaderVarName="g_flexExt_UpdateForceFields"> "${user:ProjectRoot}/extensions/dx/shaders/flexExt.UpdateForceFields.hlsl" </File>
+      </HLSL>
+
+    <Conditional value="${config}" match="internal">
+      <Dependencies>
+        flexD3D
+      </Dependencies>
+    </Conditional>
+
+    </Target>
+  </Project>
+</XPJ>
\ No newline at end of file
diff --git a/extensions/cuda/flexExt.cu b/extensions/cuda/flexExt.cu
new file mode 100644
index 0000000..9f454d4
--- /dev/null
+++ b/extensions/cuda/flexExt.cu
@@ -0,0 +1,198 @@
+// 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) 20132017 NVIDIA Corporation. All rights reserved.
+
+#include <cuda.h>
+#include <cuda_runtime_api.h>
+
+#include <vector>
+#include <limits>
+#include <algorithm>
+
+#include "../../core/core.h"
+#include "../../core/maths.h"
+
+#include "../../include/NvFlex.h"
+#include "../../include/NvFlexExt.h"
+
+#define CudaCheck(x) { cudaError_t err = x; if (err != cudaSuccess) { printf("Cuda error: %d in %s at %s:%d\n", err, #x, __FILE__, __LINE__); assert(0); } }
+
+static const int kNumThreadsPerBlock = 256;
+
+struct NvFlexExtForceFieldCallback
+{
+	NvFlexExtForceFieldCallback(NvFlexSolver* solver) : mSolver(solver)
+	{
+		// force fields
+		mForceFieldsCpu = NULL;
+		mForceFieldsGpu = NULL;
+		mMaxForceFields = 0;
+		mNumForceFields = 0;
+
+	}
+
+	~NvFlexExtForceFieldCallback()
+	{
+		// force fields
+		CudaCheck(cudaFreeHost(mForceFieldsCpu));
+		CudaCheck(cudaFree(mForceFieldsGpu));
+	}
+	
+	NvFlexExtForceField* mForceFieldsCpu;	// pinned host copy for async transfer
+	NvFlexExtForceField* mForceFieldsGpu; // device copy
+
+	int mMaxForceFields;
+	int mNumForceFields;
+
+	NvFlexSolver* mSolver;
+};
+
+NvFlexExtForceFieldCallback* NvFlexExtCreateForceFieldCallback(NvFlexSolver* solver)
+{
+	return new NvFlexExtForceFieldCallback(solver);	
+}
+
+void NvFlexExtDestroyForceFieldCallback(NvFlexExtForceFieldCallback* callback)
+{
+	delete callback;
+}
+
+
+__global__ void UpdateForceFields(int numParticles, const Vec4* __restrict__ positions, Vec4* __restrict__ velocities, const NvFlexExtForceField* __restrict__ forceFields, int numForceFields, float dt)
+{
+	const int i = blockIdx.x*blockDim.x + threadIdx.x;
+	
+	for (int f = 0; f < numForceFields; f++)
+	{
+		const NvFlexExtForceField& forceField = forceFields[f];
+
+		if (i < numParticles)
+		{
+			const int index = i;
+
+			Vec4 p = positions[index];
+			Vec3 v = Vec3(velocities[index]);
+
+			Vec3 localPos = Vec3(p.x, p.y, p.z) - Vec3(forceField.mPosition[0], forceField.mPosition[1], forceField.mPosition[2]);
+
+			float length = Length(localPos);
+			if (length >= forceField.mRadius)
+			{
+				continue;
+			}
+			
+			Vec3 fieldDir;
+			if (length > 0.0f)
+			{
+				fieldDir = localPos / length;
+			}
+			else
+			{
+				fieldDir = localPos;
+			}
+
+			// If using linear falloff, scale with distance.
+			float fieldStrength = forceField.mStrength;
+			if (forceField.mLinearFalloff)
+			{
+				fieldStrength *= (1.0f - (length / forceField.mRadius));
+			}
+
+			// Apply force
+			Vec3 force = localPos * fieldStrength;
+
+			float unitMultiplier;
+			if (forceField.mMode == eNvFlexExtModeForce)
+			{
+				unitMultiplier = dt * p.w; // time/mass
+			} 
+			else if (forceField.mMode == eNvFlexExtModeImpulse)
+			{
+				unitMultiplier = p.w; // 1/mass
+			}
+			else if (forceField.mMode == eNvFlexExtModeVelocityChange)
+			{
+				unitMultiplier = 1.0f;
+			}
+
+			Vec3 deltaVelocity = fieldDir * fieldStrength * unitMultiplier;
+			velocities[index] = Vec4(v + deltaVelocity, 0.0f);
+		}
+	}
+}
+
+void ApplyForceFieldsCallback(NvFlexSolverCallbackParams params)
+{
+	// callbacks always have the correct CUDA device set so we can safely launch kernels without acquiring
+
+	NvFlexExtForceFieldCallback* c = (NvFlexExtForceFieldCallback*)params.userData;
+
+	if (params.numActive && c->mNumForceFields)
+	{
+		const int kNumBlocks = (params.numActive+kNumThreadsPerBlock-1)/kNumThreadsPerBlock;
+
+		UpdateForceFields<<<kNumBlocks, kNumThreadsPerBlock>>>(
+			params.numActive,
+	   		(Vec4*)params.particles,
+	   		(Vec4*)params.velocities,
+			c->mForceFieldsGpu,
+			c->mNumForceFields,
+			params.dt);
+	}
+}
+
+void NvFlexExtSetForceFields(NvFlexExtForceFieldCallback* c, const NvFlexExtForceField* forceFields, int numForceFields)
+{
+	// re-alloc if necessary
+	if (numForceFields > c->mMaxForceFields)
+	{
+		CudaCheck(cudaFreeHost(c->mForceFieldsCpu));
+		CudaCheck(cudaMallocHost(&c->mForceFieldsCpu, sizeof(NvFlexExtForceField)*numForceFields));
+
+		CudaCheck(cudaFree(c->mForceFieldsGpu));
+		CudaCheck(cudaMalloc(&c->mForceFieldsGpu, sizeof(NvFlexExtForceField)*numForceFields));
+
+
+		c->mMaxForceFields = numForceFields;
+	}
+	c->mNumForceFields = numForceFields;
+
+	if (numForceFields > 0)
+	{
+		// copy to pinned host memory
+		memcpy(c->mForceFieldsCpu, forceFields, numForceFields*sizeof(NvFlexExtForceField));
+
+		cudaMemcpyKind kind = cudaMemcpyHostToDevice;
+		CudaCheck(cudaMemcpyAsync(c->mForceFieldsGpu, &c->mForceFieldsCpu[0], numForceFields*sizeof(NvFlexExtForceField), kind, 0));
+	}
+
+	NvFlexSolverCallback callback;
+	callback.function = ApplyForceFieldsCallback;
+	callback.userData = c;
+	
+	// register a callback to calculate the forces at the end of the time-step
+	NvFlexRegisterSolverCallback(c->mSolver, callback, eNvFlexStageUpdateEnd);
+}
diff --git a/extensions/dx/flexExt.cpp b/extensions/dx/flexExt.cpp
new file mode 100644
index 0000000..4dcc0e4
--- /dev/null
+++ b/extensions/dx/flexExt.cpp
@@ -0,0 +1,193 @@
+// 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) 2013-2017 NVIDIA Corporation. All rights reserved.
+
+#include "core/core.h"
+#include "core/maths.h"
+
+#include "include/NvFlex.h"
+#include "include/NvFlexExt.h"
+
+#include "src/dx/context/context.h"
+#include "src/dx/context/device.h"
+
+#include "flexExt_dx_common.h"
+
+#include "shaders\flexExt.UpdateForceFields.h"
+
+
+struct NvFlexExtForceFieldCallback
+{
+	NvFlexExtForceFieldCallback(NvFlexSolver* solver) : mSolver(solver)
+	{
+		// force fields
+		mMaxForceFields = 0;
+		mNumForceFields = 0;
+		
+		mForceFieldsGpu = NULL;
+
+		mDevice = NULL;
+		mContext = NULL;
+
+		NvFlexLibrary* lib = NvFlexGetSolverLibrary(solver);
+		NvFlexGetDeviceAndContext(lib, (void**)&mDevice, (void**)&mContext);
+
+		{
+			// force field shader
+			NvFlex::ComputeShaderDesc desc{};
+			desc.cs = (void*)g_flexExt_UpdateForceFields;
+			desc.cs_length = sizeof(g_flexExt_UpdateForceFields);
+			desc.label = L"NvFlexExtForceFieldCallback";
+			desc.NvAPI_Slot = 0;
+
+			mShaderUpdateForceFields = mContext->createComputeShader(&desc);
+		}
+
+		{
+			// constant buffer
+			NvFlex::ConstantBufferDesc desc;
+			desc.stride = sizeof(int);
+			desc.dim = 4;
+			desc.uploadAccess = true;
+			
+			mConstantBuffer = mContext->createConstantBuffer(&desc);
+		}
+	}
+
+	~NvFlexExtForceFieldCallback()
+	{
+		// force fields
+		delete mForceFieldsGpu;
+		delete mConstantBuffer;
+		delete mShaderUpdateForceFields;
+	}
+	
+	NvFlex::Buffer* mForceFieldsGpu;
+
+	// DX Specific
+	NvFlex::ComputeShader* mShaderUpdateForceFields;
+	NvFlex::ConstantBuffer* mConstantBuffer;
+
+	int mMaxForceFields;
+	int mNumForceFields;
+
+	// D3D device and context wrappers for the solver library
+	NvFlex::Device* mDevice;
+	NvFlex::Context* mContext;
+
+	NvFlexSolver* mSolver;
+
+};
+
+NvFlexExtForceFieldCallback* NvFlexExtCreateForceFieldCallback(NvFlexSolver* solver)
+{
+	return new NvFlexExtForceFieldCallback(solver);	
+}
+
+void NvFlexExtDestroyForceFieldCallback(NvFlexExtForceFieldCallback* callback)
+{
+	delete callback;
+}
+
+void ApplyForceFieldsCallback(NvFlexSolverCallbackParams params)
+{
+	// callbacks always have the correct CUDA device set so we can safely launch kernels without acquiring
+
+	NvFlexExtForceFieldCallback* c = (NvFlexExtForceFieldCallback*)params.userData;
+
+	if (params.numActive && c->mNumForceFields)
+	{
+		const unsigned int numThreadsPerBlock = 256;
+		const unsigned int kNumBlocks = (params.numActive + numThreadsPerBlock - 1) / numThreadsPerBlock;
+
+		NvFlex::Buffer* particles = (NvFlex::Buffer*)params.particles;
+		NvFlex::Buffer* velocities = (NvFlex::Buffer*)params.velocities;
+
+		// Init constant buffer
+		{
+			FlexExtConstParams constBuffer;
+
+			constBuffer.kNumParticles = params.numActive;
+			constBuffer.kNumForceFields = c->mNumForceFields;
+			constBuffer.kDt = params.dt;
+
+			memcpy(c->mContext->map(c->mConstantBuffer), &constBuffer, sizeof(FlexExtConstParams));
+			c->mContext->unmap(c->mConstantBuffer);
+		}
+
+		{
+			NvFlex::DispatchParams params = {};
+			params.shader = c->mShaderUpdateForceFields;
+			params.readWrite[0] = velocities->getResourceRW();
+			params.readOnly[0] = particles->getResource();
+			params.readOnly[1] = c->mForceFieldsGpu->getResource();
+			params.gridDim = { kNumBlocks , 1, 1 };
+			params.rootConstantBuffer = c->mConstantBuffer;
+
+			c->mContext->dispatch(&params);
+		}
+	}
+}
+
+void NvFlexExtSetForceFields(NvFlexExtForceFieldCallback* c, const NvFlexExtForceField* forceFields, int numForceFields)
+{
+	// re-alloc if necessary
+	if (numForceFields > c->mMaxForceFields)
+	{
+		delete c->mForceFieldsGpu;
+
+		NvFlex::BufferDesc desc {};
+		desc.dim = numForceFields;
+		desc.stride = sizeof(NvFlexExtForceField);
+		desc.bufferType = NvFlex::eBuffer | NvFlex::eUAV_SRV | NvFlex::eStructured | NvFlex::eStage; 
+		desc.format = NvFlexFormat::eNvFlexFormat_unknown;
+		desc.data = NULL;
+	
+		c->mForceFieldsGpu = c->mContext->createBuffer(&desc);
+
+		c->mMaxForceFields = numForceFields;
+	}
+	c->mNumForceFields = numForceFields;
+
+	if (numForceFields > 0)
+	{
+		// update staging buffer
+		void* dstPtr = c->mContext->mapUpload(c->mForceFieldsGpu);
+		memcpy(dstPtr, forceFields, numForceFields*sizeof(NvFlexExtForceField));
+		c->mContext->unmap(c->mForceFieldsGpu);
+
+		// upload to device buffer
+		c->mContext->upload(c->mForceFieldsGpu, 0, numForceFields*sizeof(NvFlexExtForceField));
+
+	}
+
+	NvFlexSolverCallback callback;
+	callback.function = ApplyForceFieldsCallback;
+	callback.userData = c;
+
+	// register a callback to calculate the forces at the end of the time-step
+	NvFlexRegisterSolverCallback(c->mSolver, callback, eNvFlexStageUpdateEnd);
+}
diff --git a/extensions/dx/flexExt.hlsl b/extensions/dx/flexExt.hlsl
new file mode 100644
index 0000000..ebcfcaf
--- /dev/null
+++ b/extensions/dx/flexExt.hlsl
@@ -0,0 +1,106 @@
+// 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) 2013-2017 NVIDIA Corporation. All rights reserved.
+
+#include "flexExt_dx_common.h"
+
+#define kNumThreadsPerBlock 256
+
+cbuffer consts : register(b0) { FlexExtConstParams gParams; };
+
+namespace UpdateForceFields
+{
+	StructuredBuffer<float4> positions : register(t0);
+	StructuredBuffer<FlexExtForceFieldD3D> forceFields : register(t1);
+
+	RWStructuredBuffer<float4> velocities : register(u0);
+
+	[numthreads(kNumThreadsPerBlock, 1, 1)] void execute(uint3 globalIdx : SV_DispatchThreadID)
+	{
+		const int i = globalIdx.x;
+		const int numParticles = gParams.kNumParticles;
+		const int numForceFields = gParams.kNumForceFields;
+		const float dt = gParams.kDt;
+		
+		for (int f = 0; f < numForceFields; f++)
+		{
+			const FlexExtForceFieldD3D forceField = forceFields[f];
+			
+			if (i < numParticles)
+			{
+				const int index = i;
+				
+				float4 p = positions[index];
+				float3 v = velocities[index].xyz;
+				
+				float3 localPos = float3(p.x, p.y, p.z) - float3(forceField.mPosition[0], forceField.mPosition[1], forceField.mPosition[2]);
+
+				float dist = length(localPos);
+				if (dist >= forceField.mRadius)
+				{
+					continue;
+				}
+
+				float3 fieldDir;
+				if (dist > 0.0f)
+				{
+					fieldDir = localPos / dist;
+				}
+				else
+				{
+					fieldDir = localPos;
+				}
+
+				// If using linear falloff, scale with distance.
+				float fieldStrength = forceField.mStrength;
+				if (forceField.mLinearFalloff)
+				{
+					fieldStrength *= (1.0f - (dist / forceField.mRadius));
+				}
+
+				// Apply force
+				float3 force = localPos * fieldStrength;
+
+				float unitMultiplier;
+				if (forceField.mMode == eNvFlexExtModeForce)
+				{
+					unitMultiplier = dt * p.w; // time/mass
+				}
+				else if (forceField.mMode == eNvFlexExtModeImpulse)
+				{
+					unitMultiplier = p.w; // 1/mass
+				}
+				else if (forceField.mMode == eNvFlexExtModeVelocityChange)
+				{
+					unitMultiplier = 1.0f;
+				}
+
+				float3 deltaVelocity = fieldDir * fieldStrength * unitMultiplier;
+				velocities[index] = float4(v + deltaVelocity, 0.0f);
+			}
+		}
+	}
+}
diff --git a/extensions/dx/flexExt_dx_common.h b/extensions/dx/flexExt_dx_common.h
new file mode 100644
index 0000000..55fd50c
--- /dev/null
+++ b/extensions/dx/flexExt_dx_common.h
@@ -0,0 +1,65 @@
+// 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) 2013-2017 NVIDIA Corporation. All rights reserved.
+
+#ifndef FLEXEXT_DX_COMMON_H
+#define FLEXEXT_DX_COMMON_H
+
+#ifdef WIN32
+#pragma pack(push)
+#pragma pack(16)
+#endif
+
+struct FlexExtConstParams
+{
+	int kNumParticles;
+	int kNumForceFields;
+	float kDt;
+	float _pad;
+};
+
+#ifdef WIN32
+#pragma pack(pop)
+#endif
+
+// enum FlexForceExtMode
+#define eNvFlexExtModeForce			0
+#define eNvFlexExtModeImpulse			1
+#define eNvFlexExtModeVelocityChange	2
+
+/**
+* Force field data, currently just supports radial fields
+*/
+struct FlexExtForceFieldD3D
+{
+	float mPosition[3];		//!< Center of force field
+	float mRadius;			//!< Radius of the force field
+	float mStrength;		//!< Strength of the force field
+	int mMode;				//!< Mode of field application
+	bool mLinearFalloff;	//!< Linear or no falloff 
+};
+
+#endif	// FLEXEXT_DX_COMMON_H
diff --git a/extensions/dx/shaders/flexExt.UpdateForceFields.h b/extensions/dx/shaders/flexExt.UpdateForceFields.h
new file mode 100644
index 0000000..859f621
--- /dev/null
+++ b/extensions/dx/shaders/flexExt.UpdateForceFields.h
@@ -0,0 +1,549 @@
+#if 0
+//
+// Generated by Microsoft (R) HLSL Shader Compiler 6.3.9600.16384
+//
+//
+// Buffer Definitions: 
+//
+// cbuffer consts
+// {
+//
+//   struct FlexExtConstParams
+//   {
+//       
+//       int kNumParticles;             // Offset:    0
+//       int kNumForceFields;           // Offset:    4
+//       float kDt;                     // Offset:    8
+//       float _pad;                    // Offset:   12
+//
+//   } gParams;                         // Offset:    0 Size:    16
+//
+// }
+//
+// Resource bind info for UpdateForceFields::positions
+// {
+//
+//   float4 $Element;                   // Offset:    0 Size:    16
+//
+// }
+//
+// Resource bind info for UpdateForceFields::forceFields
+// {
+//
+//   struct FlexExtForceFieldD3D
+//   {
+//       
+//       float mPosition[3];            // Offset:    0
+//       float mRadius;                 // Offset:   12
+//       float mStrength;               // Offset:   16
+//       int mMode;                     // Offset:   20
+//       bool mLinearFalloff;           // Offset:   24
+//
+//   } $Element;                        // Offset:    0 Size:    28
+//
+// }
+//
+// Resource bind info for UpdateForceFields::velocities
+// {
+//
+//   float4 $Element;                   // Offset:    0 Size:    16
+//
+// }
+//
+//
+// Resource Bindings:
+//
+// Name                                 Type  Format         Dim Slot Elements
+// ------------------------------ ---------- ------- ----------- ---- --------
+// UpdateForceFields::positions      texture  struct         r/o    0        1
+// UpdateForceFields::forceFields    texture  struct         r/o    1        1
+// UpdateForceFields::velocities         UAV  struct         r/w    0        1
+// consts                            cbuffer      NA          NA    0        1
+//
+//
+//
+// Input signature:
+//
+// Name                 Index   Mask Register SysValue  Format   Used
+// -------------------- ----- ------ -------- -------- ------- ------
+// no Input
+//
+// Output signature:
+//
+// Name                 Index   Mask Register SysValue  Format   Used
+// -------------------- ----- ------ -------- -------- ------- ------
+// no Output
+cs_5_0
+dcl_globalFlags refactoringAllowed
+dcl_constantbuffer cb0[1], immediateIndexed
+dcl_resource_structured t0, 16 
+dcl_resource_structured t1, 28 
+dcl_uav_structured u0, 16
+dcl_input vThreadID.x
+dcl_temps 7
+dcl_thread_group 256, 1, 1
+ilt r0.x, vThreadID.x, cb0[0].x
+ld_structured_indexable(structured_buffer, stride=16)(mixed,mixed,mixed,mixed) r1.xyzw, vThreadID.x, l(0), t0.xyzw
+mul r0.y, r1.w, cb0[0].z
+mov r2.w, l(0)
+mov r0.z, l(0)
+loop 
+  ige r0.w, r0.z, cb0[0].y
+  breakc_nz r0.w
+  if_nz r0.x
+    ld_structured_indexable(structured_buffer, stride=28)(mixed,mixed,mixed,mixed) r3.xyzw, r0.z, l(0), t1.xyzw
+    ld_structured_indexable(structured_buffer, stride=16)(mixed,mixed,mixed,mixed) r4.xyz, vThreadID.x, l(0), u0.xyzx
+    add r3.xyz, r1.xyzx, -r3.xyzx
+    dp3 r0.w, r3.xyzx, r3.xyzx
+    sqrt r0.w, r0.w
+    ge r4.w, r0.w, r3.w
+    if_nz r4.w
+      iadd r4.w, r0.z, l(1)
+      mov r0.z, r4.w
+      continue 
+    endif 
+    ld_structured_indexable(structured_buffer, stride=28)(mixed,mixed,mixed,mixed) r5.xyz, r0.z, l(16), t1.xyzx
+    lt r4.w, l(0.000000), r0.w
+    div r6.xyz, r3.xyzx, r0.wwww
+    movc r3.xyz, r4.wwww, r6.xyzx, r3.xyzx
+    div r0.w, r0.w, r3.w
+    add r0.w, -r0.w, l(1.000000)
+    mul r0.w, r0.w, r5.x
+    movc r0.w, r5.z, r0.w, r5.x
+    ieq r3.w, r5.y, l(1)
+    movc r3.w, r3.w, r1.w, l(1.000000)
+    movc r3.w, r5.y, r3.w, r0.y
+    mul r3.xyz, r0.wwww, r3.xyzx
+    mad r2.xyz, r3.xyzx, r3.wwww, r4.xyzx
+    store_structured u0.xyzw, vThreadID.x, l(0), r2.xyzw
+  endif 
+  iadd r0.z, r0.z, l(1)
+endloop 
+ret 
+// Approximately 38 instruction slots used
+#endif
+
+const BYTE g_flexExt_UpdateForceFields[] =
+{
+     68,  88,  66,  67,  17, 194, 
+     44, 187, 165, 224, 186,   5, 
+    255, 188, 158, 209,  34,  42, 
+      4,  69,   1,   0,   0,   0, 
+    220,   9,   0,   0,   5,   0, 
+      0,   0,  52,   0,   0,   0, 
+    240,   4,   0,   0,   0,   5, 
+      0,   0,  16,   5,   0,   0, 
+     64,   9,   0,   0,  82,  68, 
+     69,  70, 180,   4,   0,   0, 
+      4,   0,   0,   0,  32,   1, 
+      0,   0,   4,   0,   0,   0, 
+     60,   0,   0,   0,   0,   5, 
+     83,  67,   0,   1,   0,   0, 
+    128,   4,   0,   0,  82,  68, 
+     49,  49,  60,   0,   0,   0, 
+     24,   0,   0,   0,  32,   0, 
+      0,   0,  40,   0,   0,   0, 
+     36,   0,   0,   0,  12,   0, 
+      0,   0,   0,   0,   0,   0, 
+    188,   0,   0,   0,   5,   0, 
+      0,   0,   6,   0,   0,   0, 
+      1,   0,   0,   0,  16,   0, 
+      0,   0,   0,   0,   0,   0, 
+      1,   0,   0,   0,   1,   0, 
+      0,   0, 217,   0,   0,   0, 
+      5,   0,   0,   0,   6,   0, 
+      0,   0,   1,   0,   0,   0, 
+     28,   0,   0,   0,   1,   0, 
+      0,   0,   1,   0,   0,   0, 
+      1,   0,   0,   0, 248,   0, 
+      0,   0,   6,   0,   0,   0, 
+      6,   0,   0,   0,   1,   0, 
+      0,   0,  16,   0,   0,   0, 
+      0,   0,   0,   0,   1,   0, 
+      0,   0,   1,   0,   0,   0, 
+     22,   1,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      1,   0,   0,   0,   1,   0, 
+      0,   0,  85, 112, 100,  97, 
+    116, 101,  70, 111, 114,  99, 
+    101,  70, 105, 101, 108, 100, 
+    115,  58,  58, 112, 111, 115, 
+    105, 116, 105, 111, 110, 115, 
+      0,  85, 112, 100,  97, 116, 
+    101,  70, 111, 114,  99, 101, 
+     70, 105, 101, 108, 100, 115, 
+     58,  58, 102, 111, 114,  99, 
+    101,  70, 105, 101, 108, 100, 
+    115,   0,  85, 112, 100,  97, 
+    116, 101,  70, 111, 114,  99, 
+    101,  70, 105, 101, 108, 100, 
+    115,  58,  58, 118, 101, 108, 
+    111,  99, 105, 116, 105, 101, 
+    115,   0,  99, 111, 110, 115, 
+    116, 115,   0, 171, 171, 171, 
+     22,   1,   0,   0,   1,   0, 
+      0,   0, 128,   1,   0,   0, 
+     16,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+    188,   0,   0,   0,   1,   0, 
+      0,   0, 152,   2,   0,   0, 
+     16,   0,   0,   0,   0,   0, 
+      0,   0,   3,   0,   0,   0, 
+    217,   0,   0,   0,   1,   0, 
+      0,   0, 244,   2,   0,   0, 
+     28,   0,   0,   0,   0,   0, 
+      0,   0,   3,   0,   0,   0, 
+    248,   0,   0,   0,   1,   0, 
+      0,   0,  88,   4,   0,   0, 
+     16,   0,   0,   0,   0,   0, 
+      0,   0,   3,   0,   0,   0, 
+    168,   1,   0,   0,   0,   0, 
+      0,   0,  16,   0,   0,   0, 
+      2,   0,   0,   0, 116,   2, 
+      0,   0,   0,   0,   0,   0, 
+    255, 255, 255, 255,   0,   0, 
+      0,   0, 255, 255, 255, 255, 
+      0,   0,   0,   0, 103,  80, 
+     97, 114,  97, 109, 115,   0, 
+     70, 108, 101, 120,  69, 120, 
+    116,  67, 111, 110, 115, 116, 
+     80,  97, 114,  97, 109, 115, 
+      0, 107,  78, 117, 109,  80, 
+     97, 114, 116, 105,  99, 108, 
+    101, 115,   0, 105, 110, 116, 
+      0, 171, 171, 171,   0,   0, 
+      2,   0,   1,   0,   1,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+    209,   1,   0,   0, 107,  78, 
+    117, 109,  70, 111, 114,  99, 
+    101,  70, 105, 101, 108, 100, 
+    115,   0, 107,  68, 116,   0, 
+    102, 108, 111,  97, 116,   0, 
+    171, 171,   0,   0,   3,   0, 
+      1,   0,   1,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,  16,   2, 
+      0,   0,  95, 112,  97, 100, 
+      0, 171, 171, 171, 195,   1, 
+      0,   0, 216,   1,   0,   0, 
+      0,   0,   0,   0, 252,   1, 
+      0,   0, 216,   1,   0,   0, 
+      4,   0,   0,   0,  12,   2, 
+      0,   0,  24,   2,   0,   0, 
+      8,   0,   0,   0,  60,   2, 
+      0,   0,  24,   2,   0,   0, 
+     12,   0,   0,   0,   5,   0, 
+      0,   0,   1,   0,   4,   0, 
+      0,   0,   4,   0,  68,   2, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+    176,   1,   0,   0, 192,   2, 
+      0,   0,   0,   0,   0,   0, 
+     16,   0,   0,   0,   2,   0, 
+      0,   0, 208,   2,   0,   0, 
+      0,   0,   0,   0, 255, 255, 
+    255, 255,   0,   0,   0,   0, 
+    255, 255, 255, 255,   0,   0, 
+      0,   0,  36,  69, 108, 101, 
+    109, 101, 110, 116,   0, 102, 
+    108, 111,  97, 116,  52,   0, 
+      1,   0,   3,   0,   1,   0, 
+      4,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0, 201,   2,   0,   0, 
+    192,   2,   0,   0,   0,   0, 
+      0,   0,  28,   0,   0,   0, 
+      2,   0,   0,   0,  52,   4, 
+      0,   0,   0,   0,   0,   0, 
+    255, 255, 255, 255,   0,   0, 
+      0,   0, 255, 255, 255, 255, 
+      0,   0,   0,   0,  70, 108, 
+    101, 120,  69, 120, 116,  70, 
+    111, 114,  99, 101,  70, 105, 
+    101, 108, 100,  68,  51,  68, 
+      0, 109,  80, 111, 115, 105, 
+    116, 105, 111, 110,   0, 171, 
+      0,   0,   3,   0,   1,   0, 
+      1,   0,   3,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,  16,   2,   0,   0, 
+    109,  82,  97, 100, 105, 117, 
+    115,   0,   0,   0,   3,   0, 
+      1,   0,   1,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,  16,   2, 
+      0,   0, 109,  83, 116, 114, 
+    101, 110, 103, 116, 104,   0, 
+    109,  77, 111, 100, 101,   0, 
+      0,   0,   2,   0,   1,   0, 
+      1,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0, 209,   1,   0,   0, 
+    109,  76, 105, 110, 101,  97, 
+    114,  70,  97, 108, 108, 111, 
+    102, 102,   0,  98, 111, 111, 
+    108,   0,   0,   0,   1,   0, 
+      1,   0,   1,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0, 207,   3, 
+      0,   0,  49,   3,   0,   0, 
+     60,   3,   0,   0,   0,   0, 
+      0,   0,  96,   3,   0,   0, 
+    104,   3,   0,   0,  12,   0, 
+      0,   0, 140,   3,   0,   0, 
+    104,   3,   0,   0,  16,   0, 
+      0,   0, 150,   3,   0,   0, 
+    156,   3,   0,   0,  20,   0, 
+      0,   0, 192,   3,   0,   0, 
+    212,   3,   0,   0,  24,   0, 
+      0,   0,   5,   0,   0,   0, 
+      1,   0,   7,   0,   0,   0, 
+      5,   0, 248,   3,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,  28,   3, 
+      0,   0, 192,   2,   0,   0, 
+      0,   0,   0,   0,  16,   0, 
+      0,   0,   2,   0,   0,   0, 
+    208,   2,   0,   0,   0,   0, 
+      0,   0, 255, 255, 255, 255, 
+      0,   0,   0,   0, 255, 255, 
+    255, 255,   0,   0,   0,   0, 
+     77, 105,  99, 114, 111, 115, 
+    111, 102, 116,  32,  40,  82, 
+     41,  32,  72,  76,  83,  76, 
+     32,  83, 104,  97, 100, 101, 
+    114,  32,  67, 111, 109, 112, 
+    105, 108, 101, 114,  32,  54, 
+     46,  51,  46,  57,  54,  48, 
+     48,  46,  49,  54,  51,  56, 
+     52,   0, 171, 171,  73,  83, 
+     71,  78,   8,   0,   0,   0, 
+      0,   0,   0,   0,   8,   0, 
+      0,   0,  79,  83,  71,  78, 
+      8,   0,   0,   0,   0,   0, 
+      0,   0,   8,   0,   0,   0, 
+     83,  72,  69,  88,  40,   4, 
+      0,   0,  80,   0,   5,   0, 
+     10,   1,   0,   0, 106,   8, 
+      0,   1,  89,   0,   0,   4, 
+     70, 142,  32,   0,   0,   0, 
+      0,   0,   1,   0,   0,   0, 
+    162,   0,   0,   4,   0, 112, 
+     16,   0,   0,   0,   0,   0, 
+     16,   0,   0,   0, 162,   0, 
+      0,   4,   0, 112,  16,   0, 
+      1,   0,   0,   0,  28,   0, 
+      0,   0, 158,   0,   0,   4, 
+      0, 224,  17,   0,   0,   0, 
+      0,   0,  16,   0,   0,   0, 
+     95,   0,   0,   2,  18,   0, 
+      2,   0, 104,   0,   0,   2, 
+      7,   0,   0,   0, 155,   0, 
+      0,   4,   0,   1,   0,   0, 
+      1,   0,   0,   0,   1,   0, 
+      0,   0,  34,   0,   0,   7, 
+     18,   0,  16,   0,   0,   0, 
+      0,   0,  10,   0,   2,   0, 
+     10, 128,  32,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+    167,   0,   0, 138,   2, 131, 
+      0, 128, 131, 153,  25,   0, 
+    242,   0,  16,   0,   1,   0, 
+      0,   0,  10,   0,   2,   0, 
+      1,  64,   0,   0,   0,   0, 
+      0,   0,  70, 126,  16,   0, 
+      0,   0,   0,   0,  56,   0, 
+      0,   8,  34,   0,  16,   0, 
+      0,   0,   0,   0,  58,   0, 
+     16,   0,   1,   0,   0,   0, 
+     42, 128,  32,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+     54,   0,   0,   5, 130,   0, 
+     16,   0,   2,   0,   0,   0, 
+      1,  64,   0,   0,   0,   0, 
+      0,   0,  54,   0,   0,   5, 
+     66,   0,  16,   0,   0,   0, 
+      0,   0,   1,  64,   0,   0, 
+      0,   0,   0,   0,  48,   0, 
+      0,   1,  33,   0,   0,   8, 
+    130,   0,  16,   0,   0,   0, 
+      0,   0,  42,   0,  16,   0, 
+      0,   0,   0,   0,  26, 128, 
+     32,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   3,   0, 
+      4,   3,  58,   0,  16,   0, 
+      0,   0,   0,   0,  31,   0, 
+      4,   3,  10,   0,  16,   0, 
+      0,   0,   0,   0, 167,   0, 
+      0, 139,   2, 227,   0, 128, 
+    131, 153,  25,   0, 242,   0, 
+     16,   0,   3,   0,   0,   0, 
+     42,   0,  16,   0,   0,   0, 
+      0,   0,   1,  64,   0,   0, 
+      0,   0,   0,   0,  70, 126, 
+     16,   0,   1,   0,   0,   0, 
+    167,   0,   0, 138,   2, 131, 
+      0, 128, 131, 153,  25,   0, 
+    114,   0,  16,   0,   4,   0, 
+      0,   0,  10,   0,   2,   0, 
+      1,  64,   0,   0,   0,   0, 
+      0,   0,  70, 226,  17,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   8, 114,   0,  16,   0, 
+      3,   0,   0,   0,  70,   2, 
+     16,   0,   1,   0,   0,   0, 
+     70,   2,  16, 128,  65,   0, 
+      0,   0,   3,   0,   0,   0, 
+     16,   0,   0,   7, 130,   0, 
+     16,   0,   0,   0,   0,   0, 
+     70,   2,  16,   0,   3,   0, 
+      0,   0,  70,   2,  16,   0, 
+      3,   0,   0,   0,  75,   0, 
+      0,   5, 130,   0,  16,   0, 
+      0,   0,   0,   0,  58,   0, 
+     16,   0,   0,   0,   0,   0, 
+     29,   0,   0,   7, 130,   0, 
+     16,   0,   4,   0,   0,   0, 
+     58,   0,  16,   0,   0,   0, 
+      0,   0,  58,   0,  16,   0, 
+      3,   0,   0,   0,  31,   0, 
+      4,   3,  58,   0,  16,   0, 
+      4,   0,   0,   0,  30,   0, 
+      0,   7, 130,   0,  16,   0, 
+      4,   0,   0,   0,  42,   0, 
+     16,   0,   0,   0,   0,   0, 
+      1,  64,   0,   0,   1,   0, 
+      0,   0,  54,   0,   0,   5, 
+     66,   0,  16,   0,   0,   0, 
+      0,   0,  58,   0,  16,   0, 
+      4,   0,   0,   0,   7,   0, 
+      0,   1,  21,   0,   0,   1, 
+    167,   0,   0, 139,   2, 227, 
+      0, 128, 131, 153,  25,   0, 
+    114,   0,  16,   0,   5,   0, 
+      0,   0,  42,   0,  16,   0, 
+      0,   0,   0,   0,   1,  64, 
+      0,   0,  16,   0,   0,   0, 
+     70, 114,  16,   0,   1,   0, 
+      0,   0,  49,   0,   0,   7, 
+    130,   0,  16,   0,   4,   0, 
+      0,   0,   1,  64,   0,   0, 
+      0,   0,   0,   0,  58,   0, 
+     16,   0,   0,   0,   0,   0, 
+     14,   0,   0,   7, 114,   0, 
+     16,   0,   6,   0,   0,   0, 
+     70,   2,  16,   0,   3,   0, 
+      0,   0, 246,  15,  16,   0, 
+      0,   0,   0,   0,  55,   0, 
+      0,   9, 114,   0,  16,   0, 
+      3,   0,   0,   0, 246,  15, 
+     16,   0,   4,   0,   0,   0, 
+     70,   2,  16,   0,   6,   0, 
+      0,   0,  70,   2,  16,   0, 
+      3,   0,   0,   0,  14,   0, 
+      0,   7, 130,   0,  16,   0, 
+      0,   0,   0,   0,  58,   0, 
+     16,   0,   0,   0,   0,   0, 
+     58,   0,  16,   0,   3,   0, 
+      0,   0,   0,   0,   0,   8, 
+    130,   0,  16,   0,   0,   0, 
+      0,   0,  58,   0,  16, 128, 
+     65,   0,   0,   0,   0,   0, 
+      0,   0,   1,  64,   0,   0, 
+      0,   0, 128,  63,  56,   0, 
+      0,   7, 130,   0,  16,   0, 
+      0,   0,   0,   0,  58,   0, 
+     16,   0,   0,   0,   0,   0, 
+     10,   0,  16,   0,   5,   0, 
+      0,   0,  55,   0,   0,   9, 
+    130,   0,  16,   0,   0,   0, 
+      0,   0,  42,   0,  16,   0, 
+      5,   0,   0,   0,  58,   0, 
+     16,   0,   0,   0,   0,   0, 
+     10,   0,  16,   0,   5,   0, 
+      0,   0,  32,   0,   0,   7, 
+    130,   0,  16,   0,   3,   0, 
+      0,   0,  26,   0,  16,   0, 
+      5,   0,   0,   0,   1,  64, 
+      0,   0,   1,   0,   0,   0, 
+     55,   0,   0,   9, 130,   0, 
+     16,   0,   3,   0,   0,   0, 
+     58,   0,  16,   0,   3,   0, 
+      0,   0,  58,   0,  16,   0, 
+      1,   0,   0,   0,   1,  64, 
+      0,   0,   0,   0, 128,  63, 
+     55,   0,   0,   9, 130,   0, 
+     16,   0,   3,   0,   0,   0, 
+     26,   0,  16,   0,   5,   0, 
+      0,   0,  58,   0,  16,   0, 
+      3,   0,   0,   0,  26,   0, 
+     16,   0,   0,   0,   0,   0, 
+     56,   0,   0,   7, 114,   0, 
+     16,   0,   3,   0,   0,   0, 
+    246,  15,  16,   0,   0,   0, 
+      0,   0,  70,   2,  16,   0, 
+      3,   0,   0,   0,  50,   0, 
+      0,   9, 114,   0,  16,   0, 
+      2,   0,   0,   0,  70,   2, 
+     16,   0,   3,   0,   0,   0, 
+    246,  15,  16,   0,   3,   0, 
+      0,   0,  70,   2,  16,   0, 
+      4,   0,   0,   0, 168,   0, 
+      0,   8, 242, 224,  17,   0, 
+      0,   0,   0,   0,  10,   0, 
+      2,   0,   1,  64,   0,   0, 
+      0,   0,   0,   0,  70,  14, 
+     16,   0,   2,   0,   0,   0, 
+     21,   0,   0,   1,  30,   0, 
+      0,   7,  66,   0,  16,   0, 
+      0,   0,   0,   0,  42,   0, 
+     16,   0,   0,   0,   0,   0, 
+      1,  64,   0,   0,   1,   0, 
+      0,   0,  22,   0,   0,   1, 
+     62,   0,   0,   1,  83,  84, 
+     65,  84, 148,   0,   0,   0, 
+     38,   0,   0,   0,   7,   0, 
+      0,   0,   0,   0,   0,   0, 
+      1,   0,   0,   0,  12,   0, 
+      0,   0,   5,   0,   0,   0, 
+      0,   0,   0,   0,   2,   0, 
+      0,   0,   3,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      4,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   3,   0, 
+      0,   0,   4,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      0,   0,   0,   0,   0,   0, 
+      1,   0,   0,   0
+};
diff --git a/extensions/dx/shaders/flexExt.UpdateForceFields.hlsl b/extensions/dx/shaders/flexExt.UpdateForceFields.hlsl
new file mode 100644
index 0000000..b38c84e
--- /dev/null
+++ b/extensions/dx/shaders/flexExt.UpdateForceFields.hlsl
@@ -0,0 +1,28 @@
+// 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) 20132017 NVIDIA Corporation. All rights reserved.
+
+#include "../flexExt.hlsl"
diff --git a/extensions/flexExtCloth.cpp b/extensions/flexExtCloth.cpp
new file mode 100644
index 0000000..096299f
--- /dev/null
+++ b/extensions/flexExtCloth.cpp
@@ -0,0 +1,343 @@
+// 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) 2013-2017 NVIDIA Corporation. All rights reserved.
+
+#include "../include/NvFlexExt.h"
+
+#include "../core/cloth.h"
+
+namespace
+{
+	struct Key
+	{
+		Key(int i, float d) : index(i), depth(d) {}
+
+		int index;
+		float depth;
+		
+		bool operator < (const Key& rhs) const { return depth < rhs.depth; }
+	};
+}
+
+int NvFlexExtCreateWeldedMeshIndices(const float* vertices, int numVertices, int* uniqueIndices, int* originalToUniqueMap, float threshold)
+{
+	memset(originalToUniqueMap, -1, numVertices*sizeof(int));
+
+	const Vec3* positions = (const Vec3*)vertices;
+
+	// use a sweep and prune style search to accelerate neighbor finding
+	std::vector<Key> keys;
+	for (int i=0; i < numVertices; i++)
+		keys.push_back(Key(i, positions[i].z));
+
+	std::sort(keys.begin(), keys.end());
+
+	int uniqueCount = 0;
+
+	// sweep keys to find matching verts
+	for (int i=0; i < numVertices; ++i)
+	{
+		// we are a duplicate, skip
+		if (originalToUniqueMap[keys[i].index] != -1)
+			continue;
+
+		// scan forward until no vertex can be closer than threshold
+		for (int j=i+1; j < numVertices && (keys[j].depth-keys[i].depth) <= threshold; ++j)
+		{
+			float distance = Length(Vector3(positions[keys[i].index])-Vector3(positions[keys[j].index]));
+
+			if (distance <= threshold)
+				originalToUniqueMap[keys[j].index] = uniqueCount;
+		}
+
+		originalToUniqueMap[keys[i].index] = uniqueCount;
+
+		uniqueIndices[uniqueCount++] = keys[i].index;
+	}
+
+	return uniqueCount;
+}
+
+NvFlexExtAsset* NvFlexExtCreateClothFromMesh(const float* particles, int numVertices, const int* indices, int numTriangles, float stretchStiffness, float bendStiffness, float tetherStiffness, float tetherGive, float pressure)
+{
+	NvFlexExtAsset* asset = new NvFlexExtAsset();
+	memset(asset, 0, sizeof(*asset));
+
+	asset->particles = new float[numVertices*4];
+	memcpy(asset->particles, particles, numVertices*sizeof(float)*4);	
+
+	asset->triangleIndices = new int[numTriangles*3];
+	memcpy(asset->triangleIndices, indices, numTriangles*3*sizeof(int));
+
+	asset->numParticles = numVertices;
+	asset->maxParticles = numVertices;
+
+	asset->numTriangles = numTriangles;
+
+	// create cloth mesh
+	ClothMesh cloth((Vec4*)particles, numVertices, indices, numTriangles*3, stretchStiffness, bendStiffness, true);
+
+	if (cloth.mValid)
+	{
+		// create tethers
+		if (tetherStiffness > 0.0f)
+		{
+			std::vector<int> anchors;
+			anchors.reserve(numVertices);
+
+			// find anchors
+			for (int i=0; i < numVertices; ++i)
+			{
+				Vec4& particle = ((Vec4*)particles)[i];
+
+				if (particle.w == 0.0f)
+					anchors.push_back(i);
+			}
+
+			if (anchors.size())
+			{
+				// create tethers
+				for (int i=0; i < numVertices; ++i)
+				{
+					Vec4& particle = ((Vec4*)particles)[i];
+					if (particle.w == 0.0f)
+						continue;
+
+					float minSqrDist = FLT_MAX;
+					int minIndex = -1;
+
+					// find the closest attachment point
+					for (int a=0; a < int(anchors.size()); ++a)
+					{
+						Vec4& attachment = ((Vec4*)particles)[anchors[a]];
+
+						float distSqr = LengthSq(Vec3(particle)-Vec3(attachment));
+						if (distSqr < minSqrDist)
+						{
+							minSqrDist = distSqr;
+							minIndex = anchors[a];
+						}
+					}
+
+					// add a tether
+					if (minIndex != -1)
+					{						
+						cloth.mConstraintIndices.push_back(i);
+						cloth.mConstraintIndices.push_back(minIndex);
+						cloth.mConstraintRestLengths.push_back(sqrtf(minSqrDist)*(1.0f + tetherGive));						
+						
+						// negative stiffness indicates tether (unilateral constraint)
+						cloth.mConstraintCoefficients.push_back(-tetherStiffness);
+					}
+				}
+			}
+		}
+
+		const int numSprings = int(cloth.mConstraintCoefficients.size());
+
+		asset->springIndices = new int[numSprings*2];
+		asset->springCoefficients = new float[numSprings];
+		asset->springRestLengths = new float[numSprings];
+		asset->numSprings = numSprings;
+
+		for (int i=0; i < numSprings; ++i)
+		{
+			asset->springIndices[i*2+0] = cloth.mConstraintIndices[i*2+0];
+			asset->springIndices[i*2+1] = cloth.mConstraintIndices[i*2+1];			
+			asset->springRestLengths[i] = cloth.mConstraintRestLengths[i];
+			asset->springCoefficients[i] = cloth.mConstraintCoefficients[i];
+		}
+
+		if (pressure > 0.0f)
+		{
+			asset->inflatable = true;
+			asset->inflatableVolume = cloth.mRestVolume;
+			asset->inflatableStiffness = cloth.mConstraintScale;
+			asset->inflatablePressure = pressure;
+		}
+	}
+	else
+	{
+		NvFlexExtDestroyAsset(asset);
+		return NULL;
+	}
+
+	return asset;
+}
+
+struct FlexExtTearingClothAsset : public NvFlexExtAsset
+{
+	ClothMesh* mMesh;
+};
+
+NvFlexExtAsset* NvFlexExtCreateTearingClothFromMesh(const float* particles, int numParticles, int maxParticles, const int* indices, int numTriangles, float stretchStiffness, float bendStiffness, float pressure)
+{
+	FlexExtTearingClothAsset* asset = new FlexExtTearingClothAsset();
+	memset(asset, 0, sizeof(*asset));
+
+	asset->particles = new float[maxParticles*4];
+	memcpy(asset->particles, particles, numParticles*sizeof(float)*4);	
+
+	asset->triangleIndices = new int[numTriangles*3];
+	memcpy(asset->triangleIndices, indices, numTriangles*3*sizeof(int));
+
+	asset->numParticles = numParticles;
+	asset->maxParticles = maxParticles;
+
+	asset->numTriangles = numTriangles;
+	
+	// create and store cloth mesh
+	asset->mMesh = new ClothMesh((Vec4*)particles, numParticles, indices, numTriangles*3, stretchStiffness, bendStiffness, true);
+	
+	ClothMesh& cloth = *asset->mMesh;
+
+	if (cloth.mValid)
+	{
+		const int numSprings = int(cloth.mConstraintCoefficients.size());
+
+		// asset references cloth mesh memory directly
+		asset->springIndices = &cloth.mConstraintIndices[0];
+		asset->springCoefficients = &cloth.mConstraintCoefficients[0];
+		asset->springRestLengths = &cloth.mConstraintRestLengths[0];
+		asset->numSprings = numSprings;
+
+		if (pressure > 0.0f)
+		{
+			asset->inflatable = true;
+			asset->inflatableVolume = cloth.mRestVolume;
+			asset->inflatableStiffness = cloth.mConstraintScale;
+			asset->inflatablePressure = pressure;
+		}
+	}
+	else
+	{
+		NvFlexExtDestroyAsset(asset);
+		return NULL;
+	}
+
+	return asset;
+
+}
+
+void NvFlexExtDestroyTearingCloth(NvFlexExtAsset* asset)
+{
+	FlexExtTearingClothAsset* tearable = (FlexExtTearingClothAsset*)asset;
+
+	delete[] asset->particles;
+	delete[] asset->triangleIndices;
+
+	delete tearable->mMesh;
+	delete tearable;
+}
+
+void NvFlexExtTearClothMesh(NvFlexExtAsset* asset, float maxStrain, int maxSplits, NvFlexExtTearingParticleClone* particleCopies, int* numParticleCopies,  int maxCopies, NvFlexExtTearingMeshEdit* triangleEdits, int* numTriangleEdits, int maxEdits) 
+{
+	FlexExtTearingClothAsset* tearable = (FlexExtTearingClothAsset*)asset;
+	
+	std::vector<ClothMesh::TriangleUpdate> edits;
+	std::vector<ClothMesh::VertexCopy> copies;
+
+	int splits = 0;
+
+	maxCopies = Min(maxCopies, tearable->maxParticles-tearable->numParticles);
+
+	// iterate over all edges and tear if beyond maximum strain
+	for (int i=0; i < tearable->numSprings && int(copies.size()) < maxCopies && splits < maxSplits; ++i)
+	{
+		int a = tearable->springIndices[i*2+0];
+		int b = tearable->springIndices[i*2+1];
+
+		Vec3 p = Vec3(&tearable->particles[a*4]);
+		Vec3 q = Vec3(&tearable->particles[b*4]);
+
+		// check strain and break if greater than max threshold
+		if (Length(p-q) > tearable->springRestLengths[i]*maxStrain)
+		{
+			// skip fixed particles
+			if (Vec4(&tearable->particles[a*4]).w == 0.0f)
+				continue;
+
+			if (Vec4(&tearable->particles[b*4]).w == 0.0f)
+				continue;
+
+			// choose vertex of edge to split
+			const int splitIndex = Randf() > 0.5f ? a : b;
+			const Vec3 splitPlane = Normalize(p-q);	// todo: use plane perpendicular to normal and edge..
+
+			std::vector<int> adjacentTriangles;
+			std::vector<int> adjacentVertices;
+
+			const int newIndex = tearable->mMesh->SplitVertex((Vec4*)tearable->particles, splitIndex, splitPlane, adjacentTriangles, adjacentVertices, edits, copies, maxCopies-int(copies.size()));
+
+			if (newIndex != -1)
+			{
+				++splits;
+
+				// separate each adjacent vertex if it is now singular
+				for (int s=0; s < int(adjacentVertices.size()); ++s)
+				{
+					const int adjacentVertex = adjacentVertices[s];
+
+					tearable->mMesh->SeparateVertex(adjacentVertex, edits, copies, maxCopies-int(copies.size()));
+				}
+
+				// also test the new vertex which can become singular
+				tearable->mMesh->SeparateVertex(newIndex, edits, copies, maxCopies-int(copies.size()));
+			}
+		}
+	}
+
+	// update asset particle count
+	tearable->numParticles = tearable->mMesh->mNumVertices;
+
+	// output copies
+	for (int c=0; c < int(copies.size()); ++c)
+	{
+		NvFlexExtTearingParticleClone clone;
+		clone.srcIndex = copies[c].srcIndex;
+		clone.destIndex = copies[c].destIndex;
+
+		particleCopies[c] = clone;
+	}
+
+	// output mesh edits, note that some edits will not be reported if edit buffer is not big enough
+	const int numEdits = Min(int(edits.size()), maxEdits);
+
+	for (int u=0; u < numEdits; ++u)
+	{
+		NvFlexExtTearingMeshEdit update;
+		update.triIndex = edits[u].triangle;
+		update.newParticleIndex = edits[u].vertex;
+
+		tearable->triangleIndices[update.triIndex] = update.newParticleIndex;
+
+		triangleEdits[u] = update;
+	}
+
+
+	*numTriangleEdits = numEdits;
+	*numParticleCopies = int(copies.size());
+}
diff --git a/extensions/flexExtContainer.cpp b/extensions/flexExtContainer.cpp
new file mode 100644
index 0000000..92cb958
--- /dev/null
+++ b/extensions/flexExtContainer.cpp
@@ -0,0 +1,807 @@
+// 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) 2013-2017 NVIDIA Corporation. All rights reserved.
+
+#include <vector>
+#include <limits>
+#include <algorithm>
+
+#include "../core/core.h"
+#include "../core/maths.h"
+
+#include "../include/NvFlex.h"
+#include "../include/NvFlexExt.h"
+
+class Bitmap
+{
+public:
+
+	typedef unsigned int Word;
+
+	static const int kWordSize = sizeof(Word)*8;
+
+	Bitmap(int numBits) : mBits((numBits+kWordSize-1)/kWordSize)
+	{
+	}
+
+	inline void Set(int bit)
+	{
+		const int wordIndex = bit/kWordSize;
+		const int bitIndex = bit&(kWordSize-1);
+
+		const Word word = mBits[wordIndex];
+
+		mBits[wordIndex] = word|(1<<bitIndex);
+	}
+
+	inline void Reset(int bit)
+	{
+		const int wordIndex = bit/kWordSize;
+		const int bitIndex = bit&(kWordSize-1);
+
+		const Word word = mBits[wordIndex];
+
+		mBits[wordIndex] = word&~(1<<bitIndex);
+	}
+
+	inline bool IsSet(int bit)
+	{
+		const int wordIndex = bit/kWordSize;
+		const int bitIndex = bit&(kWordSize-1);
+
+		const Word word = mBits[wordIndex];
+
+		return (word & (1<<bitIndex)) != 0;
+	}
+
+private:
+
+	std::vector<Word> mBits;
+};
+
+
+struct NvFlexExtContainer
+{
+	int mMaxParticles;
+	
+	NvFlexSolver* mSolver;
+	NvFlexLibrary* mFlexLib;
+
+	// first n indices 
+	NvFlexVector<int> mActiveList;
+	
+	std::vector<int> mFreeList;
+	std::vector<NvFlexExtInstance*> mInstances;
+
+	// particles
+	NvFlexVector<Vec4> mParticles;
+	NvFlexVector<Vec4> mParticlesRest;
+	NvFlexVector<Vec3> mVelocities;
+	NvFlexVector<int> mPhases;
+	NvFlexVector<Vec4> mNormals;	
+
+	// shapes
+	NvFlexVector<int> mShapeOffsets;
+	NvFlexVector<int> mShapeIndices;
+	NvFlexVector<float> mShapeCoefficients;
+	NvFlexVector<Quat> mShapeRotations;
+	NvFlexVector<Vec3> mShapeTranslations;
+	NvFlexVector<Vec3> mShapeRestPositions;
+
+	// springs
+	NvFlexVector<int> mSpringIndices;
+	NvFlexVector<float> mSpringLengths;
+	NvFlexVector<float> mSpringCoefficients;
+
+	// cloth
+	NvFlexVector<int> mTriangleIndices;
+	NvFlexVector<Vec3> mTriangleNormals;	
+
+	NvFlexVector<int> mInflatableStarts;
+	NvFlexVector<int> mInflatableCounts;	
+	NvFlexVector<float> mInflatableRestVolumes;
+	NvFlexVector<float> mInflatableCoefficients;
+	NvFlexVector<float> mInflatableOverPressures;
+
+	// bounds (CPU), stored in a vector to ensure transfers can happen asynchronously
+	NvFlexVector<Vec3> mBoundsLower;
+	NvFlexVector<Vec3> mBoundsUpper;
+
+	// needs compact
+	bool mNeedsCompact;
+	// needs to update active list
+	bool mNeedsActiveListRebuild;
+
+	NvFlexExtContainer(NvFlexLibrary* l) :
+		mMaxParticles(0), mSolver(NULL), mFlexLib(l),
+		mActiveList(l),mParticles(l),mParticlesRest(l),mVelocities(l),
+		mPhases(l),mNormals(l),mShapeOffsets(l),mShapeIndices(l),
+		mShapeCoefficients(l),mShapeRotations(l),mShapeTranslations(l),
+		mShapeRestPositions(l),mSpringIndices(l),mSpringLengths(l),
+		mSpringCoefficients(l),mTriangleIndices(l),mTriangleNormals(l),
+		mInflatableStarts(l),mInflatableCounts(l),mInflatableRestVolumes(l),
+		mInflatableCoefficients(l),mInflatableOverPressures(l), mBoundsLower(l), mBoundsUpper(l),
+		mNeedsCompact(false), mNeedsActiveListRebuild(false)
+	{}
+};
+
+
+
+namespace
+{
+
+// compacts all constraints into linear arrays
+void CompactObjects(NvFlexExtContainer* c)
+{
+	int totalNumSprings = 0;
+	int totalNumTris = 0;
+	int totalNumShapes = 0;
+	int totalNumShapeIndices = 0;
+
+	// pre-calculate array sizes
+	for (size_t i = 0; i < c->mInstances.size(); ++i)
+	{
+		NvFlexExtInstance* inst = c->mInstances[i];
+
+		const NvFlexExtAsset* asset = inst->asset;
+
+		// index into the triangle array for this instance
+		inst->triangleIndex = totalNumTris;
+
+		totalNumSprings += asset->numSprings;
+		totalNumTris += asset->numTriangles;
+
+		totalNumShapeIndices += asset->numShapeIndices;
+		totalNumShapes += asset->numShapes;
+	}
+
+	//----------------------
+	// map buffers
+
+	// springs
+	c->mSpringIndices.map();
+	c->mSpringLengths.map();
+	c->mSpringCoefficients.map();
+
+	// cloth
+	c->mTriangleIndices.map();
+	c->mTriangleNormals.map();
+
+	// inflatables
+	c->mInflatableStarts.map();
+	c->mInflatableCounts.map();
+	c->mInflatableRestVolumes.map();
+	c->mInflatableCoefficients.map();
+	c->mInflatableOverPressures.map();
+
+	// shapes
+	c->mShapeIndices.map();
+	c->mShapeRestPositions.map();
+	c->mShapeOffsets.map();
+	c->mShapeCoefficients.map();
+
+	c->mShapeTranslations.map();
+	c->mShapeRotations.map();
+
+	//----------------------
+	// resize buffers
+
+	// springs
+	c->mSpringIndices.resize(totalNumSprings * 2);
+	c->mSpringLengths.resize(totalNumSprings);
+	c->mSpringCoefficients.resize(totalNumSprings);
+
+	// cloth
+	c->mTriangleIndices.resize(totalNumTris * 3);
+	c->mTriangleNormals.resize(totalNumTris);
+
+	// inflatables
+	c->mInflatableStarts.resize(0);
+	c->mInflatableCounts.resize(0);
+	c->mInflatableRestVolumes.resize(0);
+	c->mInflatableCoefficients.resize(0);
+	c->mInflatableOverPressures.resize(0);
+
+	// shapes
+	c->mShapeIndices.resize(totalNumShapeIndices);
+	c->mShapeRestPositions.resize(totalNumShapeIndices);
+	c->mShapeOffsets.resize(1 + totalNumShapes);
+	c->mShapeCoefficients.resize(totalNumShapes);
+
+	c->mShapeTranslations.resize(totalNumShapes);
+	c->mShapeRotations.resize(totalNumShapes);
+
+	int* __restrict dstSpringIndices = (totalNumSprings) ? &c->mSpringIndices[0] : NULL;
+	float* __restrict dstSpringLengths = (totalNumSprings) ? &c->mSpringLengths[0] : NULL;
+	float* __restrict dstSpringCoefficients = (totalNumSprings) ? &c->mSpringCoefficients[0] : NULL;
+
+	int* __restrict dstTriangleIndices = (totalNumTris) ? &c->mTriangleIndices[0] : NULL;
+
+	int* __restrict dstShapeIndices = (totalNumShapeIndices) ? &c->mShapeIndices[0] : NULL;
+	Vec3* __restrict dstShapeRestPositions = (totalNumShapeIndices) ? &c->mShapeRestPositions[0] : NULL;
+	int* __restrict dstShapeOffsets = (totalNumShapes) ? &c->mShapeOffsets[0] : NULL;
+	float* __restrict dstShapeCoefficients = (totalNumShapes) ? &c->mShapeCoefficients[0] : NULL;
+	Vec3* __restrict dstShapeTranslations = (totalNumShapes) ? &c->mShapeTranslations[0] : NULL;
+	Quat* __restrict dstShapeRotations = (totalNumShapes) ? &c->mShapeRotations[0] : NULL;
+
+	// push leading zero if necessary
+	if (totalNumShapes != 0)
+	{
+		*dstShapeOffsets = 0;
+		++dstShapeOffsets;
+	}
+
+	int shapeIndexOffset = 0;
+	int shapeIndex = 0;
+
+	// go through each instance and update springs, shapes, etc
+	for (size_t i = 0; i < c->mInstances.size(); ++i)
+	{
+		NvFlexExtInstance* inst = c->mInstances[i];
+
+		const NvFlexExtAsset* asset = inst->asset;
+
+		// map indices from the asset to the instance
+		const int* __restrict remap = &inst->particleIndices[0];
+
+		// flatten spring data
+		int numSprings = asset->numSprings;
+		const int numSpringIndices = asset->numSprings * 2;
+		const int* __restrict srcSpringIndices = asset->springIndices;
+
+		for (int i = 0; i < numSpringIndices; ++i)
+		{
+			*dstSpringIndices = remap[*srcSpringIndices];
+
+			++dstSpringIndices;
+			++srcSpringIndices;
+		}
+
+		memcpy(dstSpringLengths, asset->springRestLengths, numSprings*sizeof(float));
+		memcpy(dstSpringCoefficients, asset->springCoefficients, numSprings*sizeof(float));
+
+		dstSpringLengths += numSprings;
+		dstSpringCoefficients += numSprings;
+
+		// shapes
+		if (asset->numShapes)
+		{
+			const int indexOffset = shapeIndexOffset;
+
+			// store start index into shape array
+			inst->shapeIndex = shapeIndex;
+
+			int shapeStart = 0;
+
+			for (int s=0; s < asset->numShapes; ++s)
+			{
+				dstShapeOffsets[shapeIndex] = asset->shapeOffsets[s] + indexOffset;
+				dstShapeCoefficients[shapeIndex]  = asset->shapeCoefficients[s];
+				dstShapeTranslations[shapeIndex]  = Vec3(&inst->shapeTranslations[s*3]);
+				dstShapeRotations[shapeIndex]  = Quat(&inst->shapeRotations[s*4]);
+
+				++shapeIndex;
+
+				const int shapeEnd = asset->shapeOffsets[s];
+
+				for (int i=shapeStart; i < shapeEnd; ++i)
+				{
+					const int firstParticle = asset->shapeIndices[0];
+					const int currentParticle = asset->shapeIndices[i];
+
+					// remap indices and create local space positions for each shape
+					// To make this calculation more robust, subtract the position of the first particle from both, the positions of the current
+					// particle and the shapeCenter. Without this one would subtract two very similar floating point values, which can lead to ghost forces.
+					dstShapeRestPositions[shapeIndexOffset] = (Vec3(&asset->particles[currentParticle*4]) - Vec3(&asset->particles[firstParticle]))
+						- (Vec3(&asset->shapeCenters[s*3]) - Vec3(&asset->particles[firstParticle]));
+
+					dstShapeIndices[shapeIndexOffset] = remap[asset->shapeIndices[i]];
+
+					++shapeIndexOffset;
+				}
+
+				shapeStart = shapeEnd;
+			}		
+		}
+
+		if (asset->numTriangles)
+		{
+			// triangles
+			const int numTriIndices = asset->numTriangles * 3;
+			const int* __restrict srcTriIndices = asset->triangleIndices;
+
+			for (int i = 0; i < numTriIndices; ++i)
+			{
+				*dstTriangleIndices = remap[*srcTriIndices];
+
+				++dstTriangleIndices;
+				++srcTriIndices;
+			}
+
+			if (asset->inflatable)
+			{
+				c->mInflatableStarts.push_back(inst->triangleIndex);
+				c->mInflatableCounts.push_back(asset->numTriangles);
+				c->mInflatableRestVolumes.push_back(asset->inflatableVolume);
+				c->mInflatableCoefficients.push_back(asset->inflatableStiffness);
+				c->mInflatableOverPressures.push_back(asset->inflatablePressure);
+			}
+		}
+	}
+
+
+	//----------------------
+	// unmap buffers
+
+	// springs
+	c->mSpringIndices.unmap();
+	c->mSpringLengths.unmap();
+	c->mSpringCoefficients.unmap();
+
+	// cloth
+	c->mTriangleIndices.unmap();
+	c->mTriangleNormals.unmap();
+
+	// inflatables
+	c->mInflatableStarts.unmap();
+	c->mInflatableCounts.unmap();
+	c->mInflatableRestVolumes.unmap();
+	c->mInflatableCoefficients.unmap();
+	c->mInflatableOverPressures.unmap();
+
+	// shapes
+	c->mShapeIndices.unmap();
+	c->mShapeRestPositions.unmap();
+	c->mShapeOffsets.unmap();
+	c->mShapeCoefficients.unmap();
+
+	c->mShapeTranslations.unmap();
+	c->mShapeRotations.unmap();
+
+	// ----------------------
+	// Flex update
+
+	// springs
+	if (c->mSpringLengths.size())
+		NvFlexSetSprings(c->mSolver, c->mSpringIndices.buffer, c->mSpringLengths.buffer, c->mSpringCoefficients.buffer, int(c->mSpringLengths.size()));
+	else
+		NvFlexSetSprings(c->mSolver, NULL, NULL, NULL, 0);
+
+	// shapes
+	if (c->mShapeCoefficients.size())
+	{
+		NvFlexSetRigids(c->mSolver, c->mShapeOffsets.buffer, c->mShapeIndices.buffer, c->mShapeRestPositions.buffer, NULL, c->mShapeCoefficients.buffer, c->mShapeRotations.buffer, c->mShapeTranslations.buffer, int(c->mShapeCoefficients.size()), c->mShapeIndices.size());
+	}
+	else
+	{
+		c->mShapeRotations.resize(0);
+		c->mShapeTranslations.resize(0);
+
+		NvFlexSetRigids(c->mSolver, NULL, NULL, NULL, NULL, NULL, NULL, NULL, 0, 0);		
+	}
+
+	// triangles
+	if (c->mTriangleIndices.size())
+		NvFlexSetDynamicTriangles(c->mSolver, c->mTriangleIndices.buffer, NULL, int(c->mTriangleIndices.size()/3));
+	else
+		NvFlexSetDynamicTriangles(c->mSolver, NULL, NULL, 0);
+
+	// inflatables
+	if (c->mInflatableCounts.size())
+		NvFlexSetInflatables(c->mSolver, c->mInflatableStarts.buffer, c->mInflatableCounts.buffer, c->mInflatableRestVolumes.buffer, c->mInflatableOverPressures.buffer, c->mInflatableCoefficients.buffer, int(c->mInflatableCounts.size()));
+	else
+		NvFlexSetInflatables(c->mSolver, NULL, NULL, NULL, NULL, NULL, 0);
+
+	c->mNeedsCompact = false;
+
+}
+
+} // anonymous namespace
+
+
+NvFlexExtContainer* NvFlexExtCreateContainer(NvFlexLibrary* flexLib, NvFlexSolver* solver, int maxParticles)
+{
+	NvFlexExtContainer* c = new NvFlexExtContainer(flexLib);
+
+	c->mSolver = solver;
+	c->mFlexLib = flexLib;
+	c->mMaxParticles = maxParticles;
+
+	// initialize free list
+	c->mFreeList.resize(maxParticles);
+	for (int i=0; i < maxParticles; ++i)
+		c->mFreeList[i] = i;
+
+	c->mActiveList.init(maxParticles);
+	c->mParticles.init(maxParticles);
+	c->mParticlesRest.init(maxParticles);
+	c->mVelocities.init(maxParticles);
+	c->mPhases.init(maxParticles);
+	c->mNormals.init(maxParticles);
+
+
+	// ensure we have the corerct CUDA context set
+	NvFlexAcquireContext(flexLib);
+
+	c->mBoundsLower.init(1);
+	c->mBoundsUpper.init(1);
+
+	NvFlexRestoreContext(flexLib);
+
+	c->mNeedsCompact = false;
+
+	return c;
+}
+
+void NvFlexExtDestroyContainer(NvFlexExtContainer* c)
+{
+	// ensure we have the corerct CUDA context set
+	NvFlexLibrary* lib = c->mFlexLib;
+
+	NvFlexAcquireContext(lib);
+
+	delete c;
+
+	NvFlexRestoreContext(lib);
+
+}
+
+int NvFlexExtAllocParticles(NvFlexExtContainer* c, int n, int* indices)
+{
+	const int numToAlloc = Min(int(c->mFreeList.size()), n);
+	const int start = int(c->mFreeList.size())-numToAlloc;
+
+	if (numToAlloc)
+	{
+		memcpy(indices, &c->mFreeList[start], numToAlloc*sizeof(int));
+		c->mFreeList.resize(start);
+	}
+
+	c->mNeedsActiveListRebuild = true;
+
+	return numToAlloc;
+}
+
+void NvFlexExtFreeParticles(NvFlexExtContainer* c, int n, const int* indices)
+{
+#if _DEBUG
+	for (int i=0; i < n; ++i)
+	{
+		// check valid values
+		assert(indices[i] >= 0 && indices[i] < int(c->mFreeList.capacity()));
+
+		// check for double delete
+		assert(std::find(c->mFreeList.begin(), c->mFreeList.end(), indices[i]) == c->mFreeList.end());
+	}
+#endif
+
+	c->mFreeList.insert(c->mFreeList.end(), indices, indices+n);
+
+	c->mNeedsActiveListRebuild = true;
+}
+
+int NvFlexExtGetActiveList(NvFlexExtContainer* c, int* indices)
+{
+	int count = 0;
+
+	Bitmap inactive(c->mMaxParticles);
+
+	// create bitmap
+	for (size_t i=0; i < c->mFreeList.size(); ++i)
+	{
+		// if this fires then somehow a duplicate has ended up in the free list (double delete)
+		assert(!inactive.IsSet(c->mFreeList[i]));
+
+		inactive.Set(c->mFreeList[i]);
+	}
+
+	// iterate bitmap to find active elements
+	for (int i=0; i < c->mMaxParticles; ++i)
+		if (inactive.IsSet(i) == false)
+			indices[count++] = i;
+
+	return count;
+}
+
+NvFlexExtParticleData NvFlexExtMapParticleData(NvFlexExtContainer* c)
+{
+	NvFlexExtParticleData data;
+
+	c->mParticles.map();
+	c->mParticlesRest.map();
+	c->mVelocities.map();
+	c->mPhases.map();
+	c->mNormals.map();
+
+	c->mBoundsLower.map();
+	c->mBoundsUpper.map();
+
+	if (c->mParticles.size())
+		data.particles = (float*)&c->mParticles[0];
+
+	if (c->mParticlesRest.size())
+		data.restParticles = (float*)&c->mParticlesRest[0];
+
+	if (c->mVelocities.size())
+		data.velocities = (float*)&c->mVelocities[0];
+
+	if (c->mPhases.size())
+		data.phases = (int*)&c->mPhases[0];
+
+	if (c->mNormals.size())
+		data.normals = (float*)&c->mNormals[0];
+
+	data.lower = c->mBoundsLower[0];
+	data.upper = c->mBoundsUpper[0];
+
+	return data;
+}
+
+void NvFlexExtUnmapParticleData(NvFlexExtContainer*c)
+{
+	c->mParticles.unmap();
+	c->mParticlesRest.unmap();
+	c->mVelocities.unmap();
+	c->mPhases.unmap();
+	c->mNormals.unmap();
+
+	c->mBoundsLower.unmap();
+	c->mBoundsUpper.unmap();
+}
+
+NvFlexExtTriangleData NvFlexExtMapTriangleData(NvFlexExtContainer* c)
+{
+	NvFlexExtTriangleData data;
+
+	c->mTriangleIndices.map();
+	c->mTriangleNormals.map();
+	
+	if (c->mTriangleIndices.size())
+		data.indices = &c->mTriangleIndices[0];
+	
+	if (c->mTriangleNormals.size())
+		data.normals = (float*)&c->mTriangleNormals[0];
+
+	return data;
+}
+
+void NvFlexExtUnmapTriangleData(NvFlexExtContainer* c)
+{	
+	c->mTriangleIndices.unmap();
+	c->mTriangleNormals.unmap();
+}
+
+NvFlexExtShapeData NvFlexExtMapShapeData(NvFlexExtContainer* c)
+{
+	NvFlexExtShapeData data;
+
+	c->mShapeRotations.map();
+	c->mShapeTranslations.map();
+
+	if (c->mShapeRotations.size())
+		data.rotations = (float*)&c->mShapeRotations[0];
+
+	if (c->mShapeTranslations.size())
+		data.positions = (float*)&c->mShapeTranslations[0];
+
+	return data;
+}
+
+void NvFlexExtUnmapShapeData(NvFlexExtContainer* c)
+{
+	c->mShapeRotations.unmap();
+	c->mShapeTranslations.unmap();
+}
+
+
+NvFlexExtInstance* NvFlexExtCreateInstance(NvFlexExtContainer* c, NvFlexExtParticleData* particleData, const NvFlexExtAsset* asset, const float* transform, float vx, float vy, float vz, int phase, float invMassScale)
+{	
+	const int numParticles = asset->numParticles;
+
+	// check if asset will fit
+	if (int(c->mFreeList.size()) < numParticles)
+		return NULL;
+
+	NvFlexExtInstance* inst = new NvFlexExtInstance();
+
+	inst->asset = asset;
+	inst->triangleIndex = -1;
+	inst->shapeIndex = -1;
+	inst->inflatableIndex = -1;
+	inst->userData = NULL;
+	inst->numParticles = numParticles;
+	
+	assert(inst->numParticles <= asset->maxParticles);
+
+	// allocate particles for instance
+	inst->particleIndices = new int[asset->maxParticles];
+	int n = NvFlexExtAllocParticles(c, numParticles, &inst->particleIndices[0]);
+	assert(n == numParticles);
+	(void)n;
+
+	c->mInstances.push_back(inst);
+
+	const Matrix44 xform(transform);
+
+	for (int i=0; i < numParticles; ++i)
+	{
+		const int index = inst->particleIndices[i];
+
+		// add transformed particles to the locked particle data
+		((Vec4*)(particleData->particles))[index] = xform*Vec4(Vec3(&asset->particles[i*4]), 1.0f);
+		((Vec4*)(particleData->particles))[index].w = asset->particles[i*4+3]*invMassScale;
+		((Vec4*)(particleData->restParticles))[index] = Vec4(&asset->particles[i*4]);
+
+		((Vec3*)(particleData->velocities))[index] = Vec3(vx, vy, vz);
+		((int*)(particleData->phases))[index] = phase;
+		((Vec4*)(particleData->normals))[index] = Vec4(0.0f);
+	}
+
+	const int numShapes = asset->numShapes;
+
+	// allocate memory for shape transforms
+	Vec3* shapeTranslations = new Vec3[numShapes];
+	Quat* shapeRotations = new Quat[numShapes];
+
+	Quat rotation = Quat(Matrix33(xform.GetAxis(0), xform.GetAxis(1), xform.GetAxis(2)));
+
+	for (int i=0; i < numShapes; ++i)
+	{
+		shapeTranslations[i] = Vec3(xform*Vec4(asset->shapeCenters[i*3+0], asset->shapeCenters[i*3+1], asset->shapeCenters[i*3+2], 1.0));
+		shapeRotations[i] = rotation;
+	}
+
+	inst->shapeTranslations = (float*)shapeTranslations;
+	inst->shapeRotations = (float*)shapeRotations;
+
+	// mark container as dirty
+	c->mNeedsCompact = true;
+	c->mNeedsActiveListRebuild = true;
+
+	return inst;
+}
+
+void NvFlexExtDestroyInstance(NvFlexExtContainer* c, const NvFlexExtInstance* inst)
+{
+	NvFlexExtFreeParticles(c, inst->numParticles, &inst->particleIndices[0]);
+	delete[] inst->particleIndices;
+
+	delete[] inst->shapeRotations;
+	delete[] inst->shapeTranslations;
+
+	// TODO: O(N) remove
+	std::vector<NvFlexExtInstance*>::iterator iter = std::find(c->mInstances.begin(), c->mInstances.end(), inst);
+	assert(iter != c->mInstances.end());
+	c->mInstances.erase(iter);
+
+	c->mNeedsCompact = true;
+	c->mNeedsActiveListRebuild = true;
+
+	delete inst;
+}
+
+void NvFlexExtTickContainer(NvFlexExtContainer* c, float dt, int substeps, bool enableTiming)
+{
+	// update the device
+	NvFlexExtPushToDevice(c);
+
+	// update solver
+	NvFlexUpdateSolver(c->mSolver, dt, substeps, enableTiming);
+
+	// update host
+	NvFlexExtPullFromDevice(c);
+}
+
+void NvFlexExtNotifyAssetChanged(NvFlexExtContainer* c, const NvFlexExtAsset* asset)
+{
+	c->mNeedsCompact = true;
+}
+
+void NvFlexExtPushToDevice(NvFlexExtContainer* c)
+{
+	if (c->mNeedsActiveListRebuild)
+	{
+		// update active list
+		c->mActiveList.map();
+		int n = NvFlexExtGetActiveList(c, &c->mActiveList[0]);		
+		c->mActiveList.unmap();
+
+		NvFlexSetActive(c->mSolver, c->mActiveList.buffer, n);
+
+		c->mNeedsActiveListRebuild = false;
+	}
+
+	// push any changes to solver
+	NvFlexSetParticles(c->mSolver, c->mParticles.buffer, int(c->mParticles.size()));
+	NvFlexSetRestParticles(c->mSolver, c->mParticlesRest.buffer, int(c->mParticlesRest.size()));
+
+	NvFlexSetVelocities(c->mSolver, c->mVelocities.buffer, int(c->mVelocities.size()));
+	NvFlexSetPhases(c->mSolver, c->mPhases.buffer, int(c->mPhases.size()));
+	NvFlexSetNormals(c->mSolver, c->mNormals.buffer, int(c->mNormals.size()));
+	
+	if (c->mNeedsCompact)
+		CompactObjects(c);
+}
+
+void NvFlexExtPullFromDevice(NvFlexExtContainer* c)
+{
+	
+	// read back particle data
+	NvFlexGetParticles(c->mSolver, c->mParticles.buffer, int(c->mParticles.size()));
+	NvFlexGetVelocities(c->mSolver, c->mVelocities.buffer, int(c->mVelocities.size()));
+	NvFlexGetPhases(c->mSolver, c->mPhases.buffer, int(c->mPhases.size()));
+	NvFlexGetNormals(c->mSolver, c->mNormals.buffer, int(c->mNormals.size()));
+	NvFlexGetBounds(c->mSolver, c->mBoundsLower.buffer, c->mBoundsUpper.buffer);
+
+	// read back shape transforms
+	if (c->mShapeCoefficients.size())
+		NvFlexGetRigidTransforms(c->mSolver, c->mShapeRotations.buffer, c->mShapeTranslations.buffer);
+		
+}
+
+void NvFlexExtUpdateInstances(NvFlexExtContainer* c)
+{
+	c->mShapeTranslations.map();
+	c->mShapeRotations.map();
+
+	for (int i=0; i < int(c->mInstances.size()); ++i)
+	{
+		NvFlexExtInstance* inst = c->mInstances[i];
+
+		// copy data back to per-instance memory from the container's memory
+		const int numShapes = inst->asset->numShapes;
+		const int shapeStart = inst->shapeIndex;
+
+		if (shapeStart == -1)
+			continue;
+
+		for (int s=0; s < numShapes; ++s)
+		{
+			((Vec3*)inst->shapeTranslations)[s] = c->mShapeTranslations[shapeStart + s];
+			((Quat*)inst->shapeRotations)[s] = c->mShapeRotations[shapeStart + s];
+		}		
+	}
+
+	c->mShapeTranslations.unmap();
+	c->mShapeRotations.unmap();
+}
+
+void NvFlexExtDestroyAsset(NvFlexExtAsset* asset)
+{
+	delete[] asset->particles;
+	delete[] asset->springIndices;
+	delete[] asset->springCoefficients;
+	delete[] asset->springRestLengths;
+	delete[] asset->triangleIndices;
+	delete[] asset->shapeIndices;
+	delete[] asset->shapeOffsets;
+	delete[] asset->shapeCenters;
+	delete[] asset->shapeCoefficients;	
+
+	delete asset;
+}
+
+
diff --git a/extensions/flexExtMovingFrame.cpp b/extensions/flexExtMovingFrame.cpp
new file mode 100644
index 0000000..623450e
--- /dev/null
+++ b/extensions/flexExtMovingFrame.cpp
@@ -0,0 +1,127 @@
+#include "../include/NvFlexExt.h"
+
+#include "../core/maths.h"
+
+namespace 
+{
+
+// internal version of the public NvFlexExtMovingFrame type
+// this must be a byte exact copy of of NvFlexExtMovingFrame
+// we just separate the internal types to avoid exposing 
+// our math types on the API
+
+struct MovingFrame
+{
+	Vec3 position;	
+	Quat rotation;
+
+	Vec3 velocity;
+	Vec3 omega;
+
+	Vec3 acceleration;
+	Vec3 tau;
+
+	Matrix44 delta;
+
+	MovingFrame(Vec3 worldTranslation, Quat worldRotation)
+	{
+		position = worldTranslation;
+		rotation = worldRotation;
+		delta = Matrix44::kIdentity;
+	}
+	
+	// update the frame, returns a matrix representing the delta transform that 
+	// can be applied to particles to teleport them to the frame's new location
+	void Move(Vec3 newPosition, Quat newRotation, float dt)
+	{
+		const float invDt = 1.0f/dt;
+
+		// calculate new velocity
+		Vec3 newVelocity = (newPosition-position)*invDt;
+		Vec3 newOmega = 2.0f*Vec3(Quat(newRotation-rotation)*Inverse(rotation)*invDt);
+
+		// calculate new acceleration
+		Vec3 newAcceleration = (newVelocity-velocity)*invDt;
+		Vec3 newTau = (newOmega-omega)*invDt;
+
+		// calculate delta transform
+		Matrix44 LocalFromOld = AffineInverse(TranslationMatrix(Point3(position))*RotationMatrix(rotation));
+		Matrix44 NewFromLocal = TranslationMatrix(Point3(newPosition))*RotationMatrix(newRotation);
+		
+		// update delta transform
+		delta = NewFromLocal*LocalFromOld;
+
+		// position
+		position = newPosition;
+		rotation = newRotation;
+
+		// update velocity
+		velocity = newVelocity;
+		omega = newOmega;
+
+		acceleration = newAcceleration;
+		tau = newTau;
+	}
+
+	inline Vec3 GetLinearForce() const
+	{
+		return -acceleration;
+	}
+
+	inline Vec3 GetAngularForce(Vec3 p) const
+	{
+		Vec3 d = p-position;
+
+		// forces due to rotation
+		Vec3 centrifugalForce = -Cross(omega, Cross(omega, d));
+		Vec3 eulerForce = -Cross(tau, d);
+
+		return centrifugalForce + eulerForce;
+	}
+
+};
+
+static_assert(sizeof(NvFlexExtMovingFrame) == sizeof(MovingFrame), "Size mismatch for NvFlexExtMovingFrame");
+
+} // anonymous namespace
+
+void NvFlexExtMovingFrameInit(NvFlexExtMovingFrame* frame, const float* worldTranslation, const float* worldRotation)
+{
+	((MovingFrame&)(*frame)) = MovingFrame(Vec3(worldTranslation), Quat(worldRotation));
+}
+
+void NvFlexExtMovingFrameUpdate(NvFlexExtMovingFrame* frame, const float* worldTranslation, const float* worldRotation, float dt)
+{
+	((MovingFrame&)(*frame)).Move(Vec3(worldTranslation), Quat(worldRotation), dt);
+}
+
+void NvFlexExtMovingFrameApply(NvFlexExtMovingFrame* frame, float* positions, float* velocities, int numParticles, float linearScale, float angularScale, float dt)
+{
+	const MovingFrame& f = (MovingFrame&)(*frame);
+
+	// linear force constant for all particles
+	Vec3 linearForce = f.GetLinearForce()*linearScale;
+
+	for (int i=0; i < numParticles; ++i)
+	{
+		Vec3 particlePos = Vec3(&positions[i*4]);
+		Vec3 particleVel = Vec3(&velocities[i*3]);
+
+		// angular force depends on particles position
+		Vec3 angularForce = f.GetAngularForce(particlePos)*angularScale;
+
+		// transform particle to frame's new location
+		particlePos = Vec3(f.delta*Vec4(particlePos, 1.0f));
+		particleVel += (linearForce + angularForce)*dt;
+
+		// update positions
+		positions[i*4+0] = particlePos.x;
+		positions[i*4+1] = particlePos.y;
+		positions[i*4+2] = particlePos.z;
+
+		velocities[i*3+0] = particleVel.x;
+		velocities[i*3+1] = particleVel.y;
+		velocities[i*3+2] = particleVel.z;
+		
+	}
+}
diff --git a/extensions/flexExtRigid.cpp b/extensions/flexExtRigid.cpp
new file mode 100644
index 0000000..9c37c28
--- /dev/null
+++ b/extensions/flexExtRigid.cpp
@@ -0,0 +1,195 @@
+// 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) 20132017 NVIDIA Corporation. All rights reserved.
+
+#include "../include/NvFlexExt.h"
+
+#include "../core/maths.h"
+#include "../core/voxelize.h"
+#include "../core/sdf.h"
+
+#include <vector>
+
+namespace
+{
+
+float SampleSDF(const float* sdf, int dim, int x, int y, int z)
+{
+	assert(x < dim && x >= 0);
+	assert(y < dim && y >= 0);
+	assert(z < dim && z >= 0);
+
+	return sdf[z*dim*dim + y*dim + x];
+}
+
+// return normal of signed distance field
+Vec3 SampleSDFGrad(const float* sdf, int dim, int x, int y, int z)
+{
+	int x0 = std::max(x-1, 0);
+	int x1 = std::min(x+1, dim-1);
+
+	int y0 = std::max(y-1, 0);
+	int y1 = std::min(y+1, dim-1);
+
+	int z0 = std::max(z-1, 0);
+	int z1 = std::min(z+1, dim-1);
+
+	float dx = (SampleSDF(sdf, dim, x1, y, z) - SampleSDF(sdf, dim, x0, y, z))*(dim*0.5f);
+	float dy = (SampleSDF(sdf, dim, x, y1, z) - SampleSDF(sdf, dim, x, y0, z))*(dim*0.5f);
+	float dz = (SampleSDF(sdf, dim, x, y, z1) - SampleSDF(sdf, dim, x, y, z0))*(dim*0.5f);
+
+	return Vec3(dx, dy, dz);
+}
+
+} // anonymous namespace
+
+NvFlexExtAsset* NvFlexExtCreateRigidFromMesh(const float* vertices, int numVertices, const int* indices, int numTriangleIndices, float spacing, float expand)
+{
+	std::vector<Vec4> particles;
+	std::vector<Vec4> normals;
+	std::vector<int> phases;
+
+	const Vec3* positions = (Vec3*)vertices;
+
+	Vec3 meshLower(FLT_MAX), meshUpper(-FLT_MAX);
+	for (int i=0; i < numVertices; ++i)
+	{
+		meshLower = Min(meshLower, positions[i]);
+		meshUpper = Max(meshUpper, positions[i]);
+	}
+
+	Vec3 edges = meshUpper-meshLower;
+	float maxEdge = std::max(std::max(edges.x, edges.y), edges.z);
+
+	// tweak spacing to avoid edge cases for particles laying on the boundary
+	// just covers the case where an edge is a whole multiple of the spacing.
+	float spacingEps = spacing*(1.0f - 1e-4f);
+
+	// make sure to have at least one particle in each dimension
+	int dx, dy, dz;
+	dx = spacing > edges.x ? 1 : int(edges.x/spacingEps);
+	dy = spacing > edges.y ? 1 : int(edges.y/spacingEps);
+	dz = spacing > edges.z ? 1 : int(edges.z/spacingEps);
+
+	int maxDim = std::max(std::max(dx, dy), dz);
+
+	// expand border by two voxels to ensure adequate sampling at edges
+	meshLower -= 2.0f*Vec3(spacing);
+	meshUpper += 2.0f*Vec3(spacing);
+	maxDim += 4;
+
+	// we shift the voxelization bounds so that the voxel centers
+	// lie symmetrically to the center of the object. this reduces the 
+	// chance of missing features, and also better aligns the particles
+	// with the mesh
+	Vec3 meshOffset;
+	meshOffset.x = 0.5f * (spacing - (edges.x - (dx-1)*spacing));
+	meshOffset.y = 0.5f * (spacing - (edges.y - (dy-1)*spacing));
+	meshOffset.z = 0.5f * (spacing - (edges.z - (dz-1)*spacing));
+	meshLower -= meshOffset;
+
+	// don't allow samplings with > 64 per-side	
+	if (maxDim > 64)
+		return NULL;
+
+	std::vector<uint32_t> voxels(maxDim*maxDim*maxDim);
+
+	Voxelize(vertices, numVertices, indices, numTriangleIndices, maxDim, maxDim, maxDim, &voxels[0], meshLower, meshLower + Vec3(maxDim*spacing));
+
+	std::vector<float> sdf(maxDim*maxDim*maxDim);
+	MakeSDF(&voxels[0], maxDim, maxDim, maxDim, &sdf[0]);
+
+	Vec3 center;
+
+	for (int x=0; x < maxDim; ++x)
+	{
+		for (int y=0; y < maxDim; ++y)
+		{
+			for (int z=0; z < maxDim; ++z)
+			{
+				const int index = z*maxDim*maxDim + y*maxDim + x;
+
+				// if voxel is marked as occupied the add a particle
+				if (voxels[index])
+				{
+					Vec3 position = meshLower + spacing*Vec3(float(x) + 0.5f, float(y) + 0.5f, float(z) + 0.5f);
+
+					// normalize the sdf value and transform to world scale
+					Vec3 n = SafeNormalize(SampleSDFGrad(&sdf[0], maxDim, x, y, z));
+					float d = sdf[index]*maxEdge;
+
+					// move particles inside or outside shape
+					position += n*expand;
+
+					normals.push_back(Vec4(n, d));
+					particles.push_back(Vec4(position.x, position.y, position.z, 1.0f));						
+					phases.push_back(0);
+
+					center += position;
+				}
+			}
+		}
+	}
+
+	NvFlexExtAsset* asset = new NvFlexExtAsset();
+	memset(asset, 0, sizeof(*asset));
+
+	if (particles.size())
+	{
+		const int numParticles = int(particles.size());
+
+		asset->numParticles = numParticles;
+		asset->maxParticles = numParticles;
+
+		asset->particles = new float[numParticles*4];
+		memcpy(asset->particles, &particles[0], sizeof(Vec4)*numParticles);
+
+		// store center of mass
+		center /= float(numParticles);
+
+		asset->numShapes = 1;
+		asset->numShapeIndices = numParticles;
+		
+		// for rigids we just reference all particles in the shape
+		asset->shapeIndices = new int[numParticles];
+
+		for (int i = 0; i < numParticles; ++i)
+			asset->shapeIndices[i] = i;
+
+		asset->shapeCenters = new float[4];
+		asset->shapeCenters[0] = center.x;
+		asset->shapeCenters[1] = center.y;
+		asset->shapeCenters[2] = center.z;
+
+		asset->shapeCoefficients = new float[1];
+		asset->shapeCoefficients[0] = 1.0f;
+
+		asset->shapeOffsets = new int[1];
+		asset->shapeOffsets[0] = numParticles;
+	}
+
+	return asset;
+}
diff --git a/extensions/flexExtSoft.cpp b/extensions/flexExtSoft.cpp
new file mode 100644
index 0000000..53537c4
--- /dev/null
+++ b/extensions/flexExtSoft.cpp
@@ -0,0 +1,623 @@
+// 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) 20132017 NVIDIA Corporation. All rights reserved.
+
+#include "../include/NvFlexExt.h"
+
+#include "../core/core.h"
+#include "../core/maths.h"
+#include "../core/voxelize.h"
+
+#include <vector>
+#include <algorithm>
+
+using namespace std;
+
+// Soft body support functions
+
+namespace
+{
+
+Vec3 CalculateMean(const Vec3* particles, const int* indices, int numIndices)
+{
+	Vec3 sum;
+
+	for (int i = 0; i < numIndices; ++i)
+		sum += Vec3(particles[indices[i]]);
+
+	if (numIndices)
+		return sum / float(numIndices);
+	else
+		return sum;
+}
+
+float CalculateRadius(const Vec3* particles, Vec3 center, const int* indices, int numIndices)
+{
+	float radiusSq = 0.0f;
+
+	for (int i = 0; i < numIndices; ++i)
+	{
+		float dSq = LengthSq(Vec3(particles[indices[i]]) - center);
+		if (dSq > radiusSq)
+			radiusSq = dSq;
+	}
+
+	return sqrtf(radiusSq);
+}
+
+struct Cluster
+{
+	Vec3 mean;
+	float radius;
+
+	// indices of particles belonging to this cluster
+	std::vector<int> indices;
+};
+
+struct Seed
+{
+	int index;
+	float priority;
+
+	bool operator < (const Seed& rhs) const
+	{
+		return priority < rhs.priority;
+	}
+};
+
+// basic SAP based acceleration structure for point cloud queries
+struct SweepAndPrune
+{
+	struct Entry
+	{
+		Entry(Vec3 p, int i) : point(p), index(i) {}
+
+		Vec3 point;
+		int index;
+	};
+
+	SweepAndPrune(const Vec3* points, int n)
+	{
+		entries.reserve(n);		
+		for (int i=0; i < n; ++i)
+			entries.push_back(Entry(points[i], i));
+
+		struct SortOnAxis
+		{
+			int axis;
+
+			SortOnAxis(int axis) : axis(axis) {}
+
+			bool operator()(const Entry& lhs, const Entry& rhs) const			
+			{
+				return lhs.point[axis] < rhs.point[axis];
+			}
+		};
+
+		// calculate particle bounds and longest axis
+		Vec3 lower(FLT_MAX), upper(-FLT_MAX);
+		for (int i=0; i < n; ++i)
+		{
+			lower = Min(points[i], lower);
+			upper = Max(points[i], upper);
+		}
+
+		Vec3 edges = upper-lower;
+		
+		if (edges.x > edges.y && edges.x > edges.z)
+			longestAxis = 0;
+		else if (edges.y > edges.z)
+			longestAxis = 1;
+		else
+			longestAxis = 2;
+		
+		std::sort(entries.begin(), entries.end(), SortOnAxis(longestAxis));
+	}
+
+	void QuerySphere(Vec3 center, float radius, std::vector<int>& indices)
+	{
+		// find start point in the array
+		int low = 0;
+		int high = int(entries.size());
+		
+		// the point we are trying to find
+		float queryLower = center[longestAxis] - radius;
+		float queryUpper = center[longestAxis] + radius;
+
+		// binary search to find the start point in the sorted entries array
+		while (low < high)
+		{
+			const int mid = (high+low)/2;
+
+			if (queryLower > entries[mid].point[longestAxis])
+				low = mid+1;
+			else
+				high = mid;
+		}
+
+		// scan forward over potential overlaps
+		float radiusSq = radius*radius;
+
+		for (int i=low; i < int(entries.size()); ++i)
+		{
+			Vec3 p = entries[i].point;
+
+			if (LengthSq(p-center) < radiusSq)
+			{
+				indices.push_back(entries[i].index);
+			}					
+			else if (entries[i].point[longestAxis] > queryUpper)
+			{
+				// early out if ther are no more possible candidates
+				break;
+			}
+		}
+	}
+	
+	int longestAxis;	// [0,2] -> x,y,z
+
+	std::vector<Entry> entries;
+};
+
+int CreateClusters(Vec3* particles, const float* priority, int numParticles, std::vector<int>& outClusterOffsets, std::vector<int>& outClusterIndices, std::vector<Vec3>& outClusterPositions, float radius, float smoothing = 0.0f)
+{
+	std::vector<Seed> seeds;
+	std::vector<Cluster> clusters;
+
+	// flags a particle as belonging to at least one cluster
+	std::vector<bool> used(numParticles, false);
+
+	// initialize seeds
+	for (int i = 0; i < numParticles; ++i)
+	{
+		Seed s;
+		s.index = i;
+		s.priority = priority[i];
+
+		seeds.push_back(s);
+	}
+
+	// sort seeds on priority
+	std::stable_sort(seeds.begin(), seeds.end());
+
+	SweepAndPrune sap(particles, numParticles);
+
+	while (seeds.size())
+	{
+		// pick highest unused particle from the seeds list
+		Seed seed = seeds.back();
+		seeds.pop_back();
+
+		if (!used[seed.index])
+		{
+			Cluster c;
+
+			sap.QuerySphere(Vec3(particles[seed.index]), radius, c.indices);
+			
+			// mark overlapping particles as used so they are removed from the list of potential cluster seeds
+			for (int i=0; i < int(c.indices.size()); ++i)
+				used[c.indices[i]] = true;
+
+			c.mean = CalculateMean(particles, &c.indices[0], int(c.indices.size()));
+
+			clusters.push_back(c);
+		}
+	}
+
+	if (smoothing > 0.0f)
+	{
+		for (int i = 0; i < int(clusters.size()); ++i)
+		{
+			Cluster& c = clusters[i];
+
+			// clear cluster indices
+			c.indices.resize(0);
+
+			// calculate cluster particles using cluster mean and smoothing radius
+			sap.QuerySphere(c.mean, smoothing, c.indices);
+
+			c.mean = CalculateMean(particles, &c.indices[0], int(c.indices.size()));
+		}
+	}
+
+	// write out cluster indices
+	int count = 0;
+
+	for (int c = 0; c < int(clusters.size()); ++c)
+	{
+		const Cluster& cluster = clusters[c];
+
+		const int clusterSize = int(cluster.indices.size());
+
+		// skip empty clusters
+		if (clusterSize)
+		{
+			// write cluster indices
+			for (int i = 0; i < clusterSize; ++i)
+				outClusterIndices.push_back(cluster.indices[i]);
+
+			// write cluster offset
+			outClusterOffsets.push_back(int(outClusterIndices.size()));
+
+			// write center
+			outClusterPositions.push_back(cluster.mean);
+
+			++count;
+		}
+	}
+
+	return count;
+}
+
+// creates distance constraints between particles within some radius
+int CreateLinks(const Vec3* particles, int numParticles, std::vector<int>& outSpringIndices, std::vector<float>& outSpringLengths, std::vector<float>& outSpringStiffness, float radius, float stiffness = 1.0f)
+{
+	int count = 0;
+
+	std::vector<int> neighbors;
+	SweepAndPrune sap(particles, numParticles);
+
+	for (int i = 0; i < numParticles; ++i)
+	{
+		neighbors.resize(0);
+
+		sap.QuerySphere(Vec3(particles[i]), radius, neighbors);
+
+		for (int j = 0; j < int(neighbors.size()); ++j)
+		{
+			const int nj = neighbors[j];
+
+			if (nj != i)
+			{
+				outSpringIndices.push_back(i);
+				outSpringIndices.push_back(nj);
+				outSpringLengths.push_back(Length(Vec3(particles[i]) - Vec3(particles[nj])));
+				outSpringStiffness.push_back(stiffness);
+
+				++count;
+			}
+		}
+	}
+
+	return count;
+}
+
+void CreateSkinning(const Vec3* vertices, int numVertices, const Vec3* clusters, int numClusters, float* outWeights, int* outIndices, float falloff, float maxdist)
+{
+	const int maxBones = 4;
+
+	SweepAndPrune sap(clusters, numClusters);
+
+	std::vector<int> influences;
+
+	// for each vertex, find the closest n clusters
+	for (int i = 0; i < numVertices; ++i)
+	{
+		int indices[4] = { -1, -1, -1, -1 };
+		float distances[4] = { FLT_MAX, FLT_MAX, FLT_MAX, FLT_MAX };
+		float weights[maxBones];
+
+		influences.resize(0);
+		sap.QuerySphere(vertices[i], maxdist, influences);
+
+		for (int c = 0; c < int(influences.size()); ++c)			
+		{
+			float dSq = LengthSq(vertices[i] - clusters[influences[c]]);
+
+			// insertion sort
+			int w = 0;
+			for (; w < maxBones; ++w)
+				if (dSq < distances[w])
+					break;
+
+			if (w < maxBones)
+			{
+				// shuffle down
+				for (int s = maxBones - 1; s > w; --s)
+				{
+					indices[s] = indices[s - 1];
+					distances[s] = distances[s - 1];
+				}
+
+				distances[w] = dSq;
+				indices[w] = influences[c];
+			}
+		}
+
+		// weight particles according to distance
+		float wSum = 0.0f;
+
+		for (int w = 0; w < maxBones; ++w)
+		{
+			if (distances[w] > Sqr(maxdist))
+			{
+				// clamp bones over a given distance to zero
+				weights[w] = 0.0f;
+			}
+			else
+			{
+				// weight falls off inversely with distance
+				weights[w] = 1.0f / (powf(distances[w], falloff) + 0.0001f);
+			}
+
+			wSum += weights[w];
+		}
+
+		if (wSum == 0.0f)
+		{
+			// if all weights are zero then just 
+			// rigidly skin to the closest bone
+			weights[0] = 1.0f;
+		}
+		else
+		{
+			// normalize weights
+			for (int w = 0; w < maxBones; ++w)
+			{
+				weights[w] = weights[w] / wSum;
+			}
+		}
+
+		// output
+		for (int j = 0; j < maxBones; ++j)
+		{
+			outWeights[i*maxBones + j] = weights[j];
+			outIndices[i*maxBones + j] = indices[j];
+		}
+	}
+}
+
+// creates mesh interior and surface sample points and clusters them into particles
+void SampleMesh(const Vec3* vertices, int numVertices, const int* indices, int numIndices, float radius, float volumeSampling, float surfaceSampling, std::vector<Vec3>& outPositions)
+{
+	Vec3 meshLower(FLT_MAX);
+	Vec3 meshUpper(-FLT_MAX);
+
+	for (int i = 0; i < numVertices; ++i)
+	{
+		meshLower = Min(meshLower, vertices[i]);
+		meshUpper = Max(meshUpper, vertices[i]);
+	}
+
+	std::vector<Vec3> samples;
+
+	if (volumeSampling > 0.0f)
+	{
+		// recompute expanded edges
+		Vec3 edges = meshUpper - meshLower;
+
+		// use a higher resolution voxelization as a basis for the particle decomposition
+		float spacing = radius / volumeSampling;
+
+		// tweak spacing to avoid edge cases for particles laying on the boundary
+		// just covers the case where an edge is a whole multiple of the spacing.
+		float spacingEps = spacing*(1.0f - 1e-4f);
+
+		// make sure to have at least one particle in each dimension
+		int dx, dy, dz;
+		dx = spacing > edges.x ? 1 : int(edges.x / spacingEps);
+		dy = spacing > edges.y ? 1 : int(edges.y / spacingEps);
+		dz = spacing > edges.z ? 1 : int(edges.z / spacingEps);
+
+		int maxDim = max(max(dx, dy), dz);
+
+		// expand border by two voxels to ensure adequate sampling at edges
+		meshLower -= 2.0f*Vec3(spacing);
+		meshUpper += 2.0f*Vec3(spacing);
+		maxDim += 4;
+
+		vector<uint32_t> voxels(maxDim*maxDim*maxDim);
+
+		// we shift the voxelization bounds so that the voxel centers
+		// lie symmetrically to the center of the object. this reduces the 
+		// chance of missing features, and also better aligns the particles
+		// with the mesh
+		Vec3 meshOffset;
+		meshOffset.x = 0.5f * (spacing - (edges.x - (dx - 1)*spacing));
+		meshOffset.y = 0.5f * (spacing - (edges.y - (dy - 1)*spacing));
+		meshOffset.z = 0.5f * (spacing - (edges.z - (dz - 1)*spacing));
+		meshLower -= meshOffset;
+
+		Voxelize((const float*)vertices, numVertices, indices, numIndices, maxDim, maxDim, maxDim, &voxels[0], meshLower, meshLower + Vec3(maxDim*spacing));
+
+		// sample interior
+		for (int x = 0; x < maxDim; ++x)
+		{
+			for (int y = 0; y < maxDim; ++y)
+			{
+				for (int z = 0; z < maxDim; ++z)
+				{
+					const int index = z*maxDim*maxDim + y*maxDim + x;
+
+					// if voxel is marked as occupied the add a particle
+					if (voxels[index])
+					{
+						Vec3 position = meshLower + spacing*Vec3(float(x) + 0.5f, float(y) + 0.5f, float(z) + 0.5f);
+
+						// normalize the sdf value and transform to world scale
+						samples.push_back(position);
+					}
+				}
+			}
+		}
+	}
+
+	if (surfaceSampling > 0.0f)
+	{
+		// sample vertices
+		for (int i = 0; i < numVertices; ++i)
+			samples.push_back(vertices[i]);
+
+		// random surface sampling (non-uniform)
+		const int numSamples = int(50000 * surfaceSampling);
+		const int numTriangles = numIndices/3;
+
+		RandInit();
+
+		for (int i = 0; i < numSamples; ++i)
+		{
+			int t = Rand() % numTriangles;
+			float u = Randf();
+			float v = Randf()*(1.0f - u);
+			float w = 1.0f - u - v;
+
+			int a = indices[t*3 + 0];
+			int b = indices[t*3 + 1];
+			int c = indices[t*3 + 2];
+
+			Vec3 p = vertices[a] * u + vertices[b] * v + vertices[c] * w;
+
+			samples.push_back(p);
+		}
+	}
+
+	std::vector<int> clusterIndices;
+	std::vector<int> clusterOffsets;
+	std::vector<Vec3> clusterPositions;
+	std::vector<float> priority(samples.size());
+
+	// cluster mesh sample points into actual particles
+	CreateClusters(&samples[0], &priority[0], int(samples.size()), clusterOffsets, clusterIndices, outPositions, radius);
+}
+
+} // anonymous namespace
+
+// API methods
+
+NvFlexExtAsset* NvFlexExtCreateSoftFromMesh(const float* vertices, int numVertices, const int* indices, int numIndices, float particleSpacing, float volumeSampling, float surfaceSampling, float clusterSpacing, float clusterRadius, float clusterStiffness, float linkRadius, float linkStiffness, float globalStiffness)
+{
+	// construct asset definition
+	NvFlexExtAsset* asset = new NvFlexExtAsset();
+
+	// create particle sampling
+	std::vector<Vec3> samples;
+	SampleMesh((Vec3*)vertices, numVertices, indices, numIndices, particleSpacing, volumeSampling, surfaceSampling, samples);
+
+	const int numParticles = int(samples.size());	
+
+	std::vector<int> clusterIndices;
+	std::vector<int> clusterOffsets;
+	std::vector<Vec3> clusterPositions;
+	std::vector<float> clusterCoefficients;
+
+	// priority (not currently used)
+	std::vector<float> priority(numParticles);
+	for (int i = 0; i < int(priority.size()); ++i)
+		priority[i] = 0.0f;
+
+	// cluster particles into shape matching groups
+	int numClusters = CreateClusters(&samples[0], &priority[0], int(samples.size()), clusterOffsets, clusterIndices, clusterPositions, clusterSpacing, clusterRadius);
+	
+	// assign all clusters the same stiffness 
+	clusterCoefficients.resize(numClusters, clusterStiffness);
+
+	// create links between clusters 
+	if (linkRadius > 0.0f)
+	{		
+		std::vector<int> springIndices;
+		std::vector<float> springLengths;
+		std::vector<float> springStiffness;
+
+		// create links between particles
+		int numLinks = CreateLinks(&samples[0], int(samples.size()), springIndices, springLengths, springStiffness, linkRadius, linkStiffness);
+
+		// assign links
+		if (numLinks)
+		{			
+			asset->springIndices = new int[numLinks * 2];
+			memcpy(asset->springIndices, &springIndices[0], sizeof(int)*springIndices.size());
+
+			asset->springCoefficients = new float[numLinks];
+			memcpy(asset->springCoefficients, &springStiffness[0], sizeof(float)*numLinks);
+
+			asset->springRestLengths = new float[numLinks];
+			memcpy(asset->springRestLengths, &springLengths[0], sizeof(float)*numLinks);
+
+			asset->numSprings = numLinks;
+		}
+	}
+
+	// add an additional global cluster with stiffness = globalStiffness
+	if (globalStiffness > 0.0f)
+	{
+		numClusters += 1;
+		clusterCoefficients.push_back(globalStiffness);
+
+		for (int i = 0; i < numParticles; ++i)
+		{
+			clusterIndices.push_back(i);
+		}
+
+		clusterOffsets.push_back((int)clusterIndices.size());
+
+		// the mean of the global cluster is the mean of all particles
+		Vec3 globalMeanPosition(0.0f);
+
+		for (int i = 0; i < numParticles; ++i)
+		{
+			globalMeanPosition += samples[i];
+		}
+		globalMeanPosition /= float(numParticles);
+
+		clusterPositions.push_back(globalMeanPosition);
+	}
+
+	// assign particles
+	asset->particles = new float[numParticles * 4];
+	asset->numParticles = numParticles;
+	asset->maxParticles = numParticles;
+
+	for (int i = 0; i < numParticles; ++i)
+	{
+		asset->particles[i*4+0] = samples[i].x;
+		asset->particles[i*4+1] = samples[i].y;
+		asset->particles[i*4+2] = samples[i].z;
+		asset->particles[i*4+3] = 1.0f;
+	}
+
+	// assign shapes
+	asset->shapeIndices = new int[clusterIndices.size()];
+	memcpy(asset->shapeIndices, &clusterIndices[0], sizeof(int)*clusterIndices.size());
+
+	asset->shapeOffsets = new int[numClusters];
+	memcpy(asset->shapeOffsets, &clusterOffsets[0], sizeof(int)*numClusters);
+
+	asset->shapeCenters = new float[numClusters*3];
+	memcpy(asset->shapeCenters, &clusterPositions[0], sizeof(float)*numClusters*3);
+
+	asset->shapeCoefficients = new float[numClusters];
+	memcpy(asset->shapeCoefficients, &clusterCoefficients[0], sizeof(float)*numClusters);
+
+	asset->numShapeIndices = int(clusterIndices.size());
+	asset->numShapes = numClusters;
+
+	return asset;
+}
+
+void NvFlexExtCreateSoftMeshSkinning(const float* vertices, int numVertices, const float* bones, int numBones, float falloff, float maxDistance, float* skinningWeights, int* skinningIndices)
+{
+	CreateSkinning((Vec3*)vertices, numVertices, (Vec3*)bones, numBones, skinningWeights, skinningIndices, falloff, maxDistance);
+}