NvCloth 1.1.3 Release. (23014067)v1.1.3

135 files changed, 2682 insertions, 1020 deletions

diff --git a/Externals/CMakeModules/NvidiaBuildOptions.cmake b/Externals/CMakeModules/NvidiaBuildOptions.cmake
new file mode 100644
index 0000000..e5d89af
--- /dev/null
+++ b/Externals/CMakeModules/NvidiaBuildOptions.cmake
@@ -0,0 +1,180 @@
+# Define the options up front
+
+OPTION(APPEND_CONFIG_NAME "Append config (DEBUG, CHECKED, PROFILE or '' for release) to outputted binaries." OFF)
+OPTION(USE_GAMEWORKS_OUTPUT_DIRS "Use new GameWorks folder structure for binary output." ON)
+OPTION(USE_STATIC_WINCRT "Use the statically linked windows CRT" OFF)
+OPTION(USE_DEBUG_WINCRT "Use the debug version of the CRT" OFF)
+OPTION(GENERATE_STATIC_LIBRARIES "Generate static libraries" OFF)
+
+INCLUDE(SetOutputPaths)
+
+	# Set the WINCRT_DEBUG and WINCRT_NDEBUG variables for use in project compile settings
+	# Really only relevant to windows
+
+	SET(DISABLE_ITERATOR_DEBUGGING "/D \"_HAS_ITERATOR_DEBUGGING=0\" /D \"_ITERATOR_DEBUG_LEVEL=0\"")
+	SET(DISABLE_ITERATOR_DEBUGGING_CUDA "-D_HAS_ITERATOR_DEBUGGING=0 -D_ITERATOR_DEBUG_LEVEL=0")
+	SET(CRT_DEBUG_FLAG "/D \"_DEBUG\"")
+	SET(CRT_NDEBUG_FLAG "/D \"NDEBUG\"")
+
+	# Need a different format for CUDA
+   	SET(CUDA_DEBUG_FLAG "-DNDEBUG ${DISABLE_ITERATOR_DEBUGGING_CUDA}")
+   	SET(CUDA_NDEBUG_FLAG "-DNDEBUG")
+   	
+	SET(CUDA_CRT_COMPILE_OPTIONS_NDEBUG "")
+	SET(CUDA_CRT_COMPILE_OPTIONS_DEBUG "")
+
+
+	IF(USE_STATIC_WINCRT)
+	    SET(WINCRT_NDEBUG "/MT ${DISABLE_ITERATOR_DEBUGGING} ${CRT_NDEBUG_FLAG}" CACHE INTERNAL "Windows CRT build setting")
+		SET(CUDA_CRT_COMPILE_OPTIONS_NDEBUG "/MT")
+
+	    IF (USE_DEBUG_WINCRT)
+		   	SET(CUDA_DEBUG_FLAG "-D_DEBUG")
+	    	SET(WINCRT_DEBUG "/MTd ${CRT_DEBUG_FLAG}" CACHE INTERNAL "Windows CRT build setting")
+			SET(CUDA_CRT_COMPILE_OPTIONS_DEBUG "/MTd")
+	    ELSE()
+	    	SET(WINCRT_DEBUG "/MT ${DISABLE_ITERATOR_DEBUGGING} ${CRT_NDEBUG_FLAG}" CACHE INTERNAL "Windows CRT build setting")
+			SET(CUDA_CRT_COMPILE_OPTIONS_DEBUG "/MT")
+	    ENDIF()
+	ELSE()
+	    SET(WINCRT_NDEBUG "/MD ${DISABLE_ITERATOR_DEBUGGING} ${CRT_NDEBUG_FLAG}")
+		SET(CUDA_CRT_COMPILE_OPTIONS_NDEBUG "/MD")
+
+	    IF(USE_DEBUG_WINCRT)
+		   	SET(CUDA_DEBUG_FLAG "-D_DEBUG")
+	    	SET(WINCRT_DEBUG "/MDd ${CRT_DEBUG_FLAG}" CACHE INTERNAL "Windows CRT build setting")
+			SET(CUDA_CRT_COMPILE_OPTIONS_DEBUG "/MDd")
+	    ELSE()
+	    	SET(WINCRT_DEBUG "/MD ${DISABLE_ITERATOR_DEBUGGING} ${CRT_NDEBUG_FLAG}" CACHE INTERNAL "Windows CRT build setting")
+			SET(CUDA_CRT_COMPILE_OPTIONS_DEBUG "/MD")
+	    ENDIF()
+	ENDIF()
+
+
+IF(USE_GAMEWORKS_OUTPUT_DIRS)
+
+	# New bitness suffix
+	IF(CMAKE_SIZEOF_VOID_P EQUAL 8)
+		SET(LIBPATH_SUFFIX "64")
+		# Set default exe suffix. Unset on platforms that don't need it. Include underscore since it's optional
+		SET(EXE_SUFFIX "_64")
+	ELSE()
+		SET(LIBPATH_SUFFIX "32")
+		# Set default exe suffix. Unset on platforms that don't need it. Include underscore since it's optional
+		SET(EXE_SUFFIX "_32")
+	ENDIF()				
+	
+	IF (NOT DEFINED PX_OUTPUT_LIB_DIR)
+		MESSAGE(FATAL_ERROR "When using the GameWorks output structure you must specify PX_OUTPUT_LIB_DIR as the base")
+	ENDIF()
+	
+	IF (NOT DEFINED PX_OUTPUT_BIN_DIR)
+		MESSAGE(FATAL_ERROR "When using the GameWorks output structure you must specify PX_OUTPUT_BIN_DIR as the base")
+	ENDIF()
+
+
+	INCLUDE(GetCompilerAndPlatform)
+	# Get the compiler and platform string into COMPILER_AND_PLATFORM
+	GetCompilerAndPlatform(COMPILER_AND_PLATFORM)
+	
+	GetStaticCRTString(CRT_STRING)
+
+	IF(NOT CRT_STRING) # Non windows returns empty string
+		IF (NOT DEFINED PX_OUTPUT_ARCH)  # platforms with fixed arch like ps4 dont need to have arch defined
+			# Set the path the DLLs and static libs go to
+			SET(PX_ROOT_LIB_DIR "bin/${COMPILER_AND_PLATFORM}" CACHE INTERNAL "Relative root of the lib output directory")
+			SET(PX_ROOT_EXE_DIR "bin/${COMPILER_AND_PLATFORM}" CACHE INTERNAL "Relative root dir of the exe output directory")
+
+			# If there's no arch, then no bitness either.
+
+			SET(EXE_SUFFIX "")
+		ELSE()
+			# Set the path the DLLs and static libs go to
+			SET(PX_ROOT_LIB_DIR "bin/${COMPILER_AND_PLATFORM}/${PX_OUTPUT_ARCH}" CACHE INTERNAL "Relative root of the lib output directory")
+			SET(PX_ROOT_EXE_DIR "bin/${COMPILER_AND_PLATFORM}/${PX_OUTPUT_ARCH}" CACHE INTERNAL "Relative root dir of the exe output directory")		
+		ENDIF()
+	ELSE()
+		# Set the path the DLLs and static libs go to
+		SET(PX_ROOT_LIB_DIR "bin/${COMPILER_AND_PLATFORM}/${PX_OUTPUT_ARCH}/${CRT_STRING}" CACHE INTERNAL "Relative root of the lib output directory")
+		SET(PX_ROOT_EXE_DIR "bin/${COMPILER_AND_PLATFORM}/${PX_OUTPUT_ARCH}/${CRT_STRING}" CACHE INTERNAL "Relative root dir of the exe output directory")
+	ENDIF()
+
+	# Override our normal PX_ROOT_LIB_DIR for Android
+	IF(TARGET_BUILD_PLATFORM STREQUAL "Android")
+		SET(PX_ROOT_LIB_DIR "bin/${COMPILER_AND_PLATFORM}/${ANDROID_ABI}/${CM_ANDROID_FP}" CACHE INTERNAL "Relative root of the lib output directory")
+	ENDIF()
+
+	SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG   "${PX_OUTPUT_LIB_DIR}/${PX_ROOT_LIB_DIR}/debug"   )
+	SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY_PROFILE "${PX_OUTPUT_LIB_DIR}/${PX_ROOT_LIB_DIR}/profile" )
+	SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY_CHECKED "${PX_OUTPUT_LIB_DIR}/${PX_ROOT_LIB_DIR}/checked" )
+	SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE "${PX_OUTPUT_LIB_DIR}/${PX_ROOT_LIB_DIR}/release" )
+
+	SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY_DEBUG   "${PX_OUTPUT_LIB_DIR}/${PX_ROOT_LIB_DIR}/debug"   )
+	SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY_PROFILE "${PX_OUTPUT_LIB_DIR}/${PX_ROOT_LIB_DIR}/profile" )
+	SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY_CHECKED "${PX_OUTPUT_LIB_DIR}/${PX_ROOT_LIB_DIR}/checked" )
+	SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY_RELEASE "${PX_OUTPUT_LIB_DIR}/${PX_ROOT_LIB_DIR}/release" )
+
+	# Set the RUNTIME output directories - this is executables, etc.
+	# Override our normal PX_ROOT_EXE_DIR for Android
+	IF(TARGET_BUILD_PLATFORM STREQUAL "Android")
+		SET(PX_ROOT_EXE_DIR "bin/${COMPILER_AND_PLATFORM}/${ANDROID_ABI}/${CM_ANDROID_FP}" CACHE INTERNAL "Relative root dir of the exe output directory")
+	ENDIF()	
+
+	# RFC 108, we're doing EXEs as the special case since there will be presumable be less of those.
+	SET(PX_EXE_OUTPUT_DIRECTORY_DEBUG 		"${PX_OUTPUT_BIN_DIR}/${PX_ROOT_EXE_DIR}/debug"	  CACHE INTERNAL "Directory to put debug exes in")
+	SET(PX_EXE_OUTPUT_DIRECTORY_PROFILE  	"${PX_OUTPUT_BIN_DIR}/${PX_ROOT_EXE_DIR}/profile" CACHE INTERNAL "Directory to put profile exes in")
+	SET(PX_EXE_OUTPUT_DIRECTORY_CHECKED 	"${PX_OUTPUT_BIN_DIR}/${PX_ROOT_EXE_DIR}/checked" CACHE INTERNAL "Directory to put checked exes in")
+	SET(PX_EXE_OUTPUT_DIRECTORY_RELEASE  	"${PX_OUTPUT_BIN_DIR}/${PX_ROOT_EXE_DIR}/release" CACHE INTERNAL "Directory to put release exes in")
+
+	SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG 	${CMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG}			)
+	SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY_PROFILE  ${CMAKE_ARCHIVE_OUTPUT_DIRECTORY_PROFILE}		)
+	SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY_CHECKED 	${CMAKE_ARCHIVE_OUTPUT_DIRECTORY_CHECKED}  		)
+	SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE  ${CMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE}		)
+
+
+ELSE()
+	# old bitness suffix
+	IF(CMAKE_SIZEOF_VOID_P EQUAL 8)
+		SET(LIBPATH_SUFFIX "x64")
+	ELSE()
+		SET(LIBPATH_SUFFIX "x86")
+	ENDIF()				
+
+
+	IF(DEFINED PX_OUTPUT_EXE_DIR)
+		SetExeOutputPath(${PX_OUTPUT_EXE_DIR})
+	ENDIF()
+	IF(DEFINED PX_OUTPUT_DLL_DIR)
+		SetDllOutputPath(${PX_OUTPUT_DLL_DIR})
+	ENDIF()
+	IF(DEFINED PX_OUTPUT_LIB_DIR)
+		SetLibOutputPath(${PX_OUTPUT_LIB_DIR})
+	ENDIF()
+	# All EXE/DLL/LIB output will be overwritten if PX_OUTPUT_ALL_DIR is defined
+	IF(DEFINED PX_OUTPUT_ALL_DIR)
+		SetSingleOutputPath(${PX_OUTPUT_ALL_DIR})
+	ENDIF()
+ENDIF()
+
+IF(APPEND_CONFIG_NAME)
+	SET(CMAKE_DEBUG_POSTFIX   "DEBUG_${LIBPATH_SUFFIX}")
+	SET(CMAKE_PROFILE_POSTFIX "PROFILE_${LIBPATH_SUFFIX}")
+	SET(CMAKE_CHECKED_POSTFIX "CHECKED_${LIBPATH_SUFFIX}")
+	SET(CMAKE_RELEASE_POSTFIX "_${LIBPATH_SUFFIX}")
+ELSE()
+	IF (DEFINED PX_OUTPUT_ARCH)  # platforms with fixed arch like ps4 dont need to have arch defined, then dont add bitness
+		SET(CMAKE_DEBUG_POSTFIX "_${LIBPATH_SUFFIX}")
+		SET(CMAKE_PROFILE_POSTFIX "_${LIBPATH_SUFFIX}")
+		SET(CMAKE_CHECKED_POSTFIX "_${LIBPATH_SUFFIX}")
+		SET(CMAKE_RELEASE_POSTFIX "_${LIBPATH_SUFFIX}")
+	ENDIF()
+ENDIF()
+
+# Can no longer just use LIBPATH_SUFFIX since it depends on build type
+IF(CMAKE_CL_64)
+	SET(RESOURCE_LIBPATH_SUFFIX "x64")
+ELSE(CMAKE_CL_64)
+	SET(RESOURCE_LIBPATH_SUFFIX "x86")
+ENDIF(CMAKE_CL_64)				
+
+
diff --git a/Externals/CMakeModules/ios/ios.toolchain.cmake b/Externals/CMakeModules/ios/ios.toolchain.cmake
new file mode 100644
index 0000000..1f6ed45
--- /dev/null
+++ b/Externals/CMakeModules/ios/ios.toolchain.cmake
@@ -0,0 +1,334 @@
+# This file is part of the ios-cmake project. It was retrieved from
+# https://github.com/cristeab/ios-cmake.git, which is a fork of
+# https://code.google.com/p/ios-cmake/. Which in turn is based off of
+# the Platform/Darwin.cmake and Platform/UnixPaths.cmake files which
+# are included with CMake 2.8.4
+#
+# The ios-cmake project is licensed under the new BSD license.
+#
+# Copyright (c) 2014, Bogdan Cristea and LTE Engineering Software,
+# Kitware, Inc., Insight Software Consortium.  All rights reserved.
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+# 1. Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright
+# notice, this list of conditions and the following disclaimer in the
+# documentation and/or other materials provided with the distribution.
+#
+# 3. Neither the name of the copyright holder nor the names of its
+# contributors may be used to endorse or promote products derived from
+# this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# This file is based off of the Platform/Darwin.cmake and
+# Platform/UnixPaths.cmake files which are included with CMake 2.8.4
+# It has been altered for iOS development.
+#
+# Updated by Alex Stewart ([email protected]).
+# The following variables control the behaviour of this toolchain:
+#
+# IOS_PLATFORM: OS (default) or SIMULATOR or SIMULATOR64
+#    OS = Build for iPhoneOS.
+#    SIMULATOR = Build for x86 i386 iPhone Simulator.
+#    SIMULATOR64 = Build for x86 x86_64 iPhone Simulator.
+# CMAKE_OSX_SYSROOT: Path to the iOS SDK to use.  By default this is
+#    automatically determined from IOS_PLATFORM and xcodebuild, but
+#    can also be manually specified (although this should not be required).
+# CMAKE_IOS_DEVELOPER_ROOT: Path to the Developer directory for the iOS platform
+#    being compiled for.  By default this is automatically determined from
+#    CMAKE_OSX_SYSROOT, but can also be manually specified (although this should
+#    not be required).
+# ENABLE_BITCODE: (true|false) Enables or disables bitcode support. Default true
+#
+# This toolchain defines the following variables for use externally:
+#
+# XCODE_VERSION: Version number (not including Build version) of Xcode detected.
+# IOS_SDK_VERSION: Version of iOS SDK being used.
+# CMAKE_OSX_ARCHITECTURES: Architectures being compiled for (generated from
+#    IOS_PLATFORM).
+#
+# This toolchain defines the following macros for use externally:
+#
+# set_xcode_property (TARGET XCODE_PROPERTY XCODE_VALUE XCODE_VARIANT)
+#   A convenience macro for setting xcode specific properties on targets.
+#   Available variants are: All, Release, RelWithDebInfo, Debug, MinSizeRel
+#   example: set_xcode_property (myioslib IPHONEOS_DEPLOYMENT_TARGET "3.1" "all").
+#
+# find_host_package (PROGRAM ARGS)
+#   A macro used to find executable programs on the host system, not within the
+#   iOS environment.  Thanks to the android-cmake project for providing the
+#   command.
+
+# Fix for PThread library not in path
+set(CMAKE_THREAD_LIBS_INIT "-lpthread")
+set(CMAKE_HAVE_THREADS_LIBRARY 1)
+set(CMAKE_USE_WIN32_THREADS_INIT 0)
+set(CMAKE_USE_PTHREADS_INIT 1)
+
+# Get the Xcode version being used.
+execute_process(COMMAND xcodebuild -version
+  OUTPUT_VARIABLE XCODE_VERSION
+  ERROR_QUIET
+  OUTPUT_STRIP_TRAILING_WHITESPACE)
+string(REGEX MATCH "Xcode [0-9\\.]+" XCODE_VERSION "${XCODE_VERSION}")
+string(REGEX REPLACE "Xcode ([0-9\\.]+)" "\\1" XCODE_VERSION "${XCODE_VERSION}")
+message(STATUS "Building with Xcode version: ${XCODE_VERSION}")
+# Default to building for iPhoneOS if not specified otherwise, and we cannot
+# determine the platform from the CMAKE_OSX_ARCHITECTURES variable.  The use
+# of CMAKE_OSX_ARCHITECTURES is such that try_compile() projects can correctly
+# determine the value of IOS_PLATFORM from the root project, as
+# CMAKE_OSX_ARCHITECTURES is propagated to them by CMake.
+if (NOT DEFINED IOS_PLATFORM)
+  if (CMAKE_OSX_ARCHITECTURES)
+    if (CMAKE_OSX_ARCHITECTURES MATCHES ".*arm.*")
+      set(IOS_PLATFORM "OS")
+    elseif (CMAKE_OSX_ARCHITECTURES MATCHES "i386")
+      set(IOS_PLATFORM "SIMULATOR")
+    elseif (CMAKE_OSX_ARCHITECTURES MATCHES "x86_64")
+      set(IOS_PLATFORM "SIMULATOR64")
+    endif()
+  endif()
+  if (NOT IOS_PLATFORM)
+    set(IOS_PLATFORM "OS")
+  endif()
+endif()
+set(IOS_PLATFORM ${IOS_PLATFORM} CACHE STRING
+  "Type of iOS platform for which to build.")
+# Determine the platform name and architectures for use in xcodebuild commands
+# from the specified IOS_PLATFORM name.
+if (IOS_PLATFORM STREQUAL "OS")
+  set(XCODE_IOS_PLATFORM iphoneos)
+  set(IOS_ARCH armv7 armv7s arm64)
+elseif (IOS_PLATFORM STREQUAL "SIMULATOR")
+  set(XCODE_IOS_PLATFORM iphonesimulator)
+  set(IOS_ARCH i386)
+elseif(IOS_PLATFORM STREQUAL "SIMULATOR64")
+  set(XCODE_IOS_PLATFORM iphonesimulator)
+  set(IOS_ARCH x86_64)
+else()
+  message(FATAL_ERROR "Invalid IOS_PLATFORM: ${IOS_PLATFORM}")
+endif()
+message(STATUS "Configuring iOS build for platform: ${IOS_PLATFORM}, "
+  "architecture(s): ${IOS_ARCH}")
+# If user did not specify the SDK root to use, then query xcodebuild for it.
+if (NOT CMAKE_OSX_SYSROOT)
+  execute_process(COMMAND xcodebuild -version -sdk ${XCODE_IOS_PLATFORM} Path
+    OUTPUT_VARIABLE CMAKE_OSX_SYSROOT
+    ERROR_QUIET
+    OUTPUT_STRIP_TRAILING_WHITESPACE)
+  message(STATUS "Using SDK: ${CMAKE_OSX_SYSROOT} for platform: ${IOS_PLATFORM}")
+endif()
+if (NOT EXISTS ${CMAKE_OSX_SYSROOT})
+  message(FATAL_ERROR "Invalid CMAKE_OSX_SYSROOT: ${CMAKE_OSX_SYSROOT} "
+    "does not exist.")
+endif()
+# Specify minimum version of deployment target.
+if (NOT DEFINED IOS_DEPLOYMENT_TARGET)
+  # Unless specified, SDK version 8.0 is used by default as minimum target version.
+  set(IOS_DEPLOYMENT_TARGET "8.0"
+      CACHE STRING "Minimum iOS version to build for." )
+  message(STATUS "Using the default min-version since IOS_DEPLOYMENT_TARGET not provided!")
+endif()
+# Use bitcode or not
+if (NOT DEFINED ENABLE_BITCODE)
+  # Unless specified, enable bitcode support by default
+  set(ENABLE_BITCODE FALSE CACHE BOOL "Wheter or not to enable bitcode")
+  message(STATUS "Disabling bitcode support by default. ENABLE_BITCODE not provided!")
+endif()
+# Get the SDK version information.
+execute_process(COMMAND xcodebuild -sdk ${CMAKE_OSX_SYSROOT} -version SDKVersion
+  OUTPUT_VARIABLE IOS_SDK_VERSION
+  ERROR_QUIET
+  OUTPUT_STRIP_TRAILING_WHITESPACE)
+# Find the Developer root for the specific iOS platform being compiled for
+# from CMAKE_OSX_SYSROOT.  Should be ../../ from SDK specified in
+# CMAKE_OSX_SYSROOT.  There does not appear to be a direct way to obtain
+# this information from xcrun or xcodebuild.
+if (NOT CMAKE_IOS_DEVELOPER_ROOT)
+  get_filename_component(IOS_PLATFORM_SDK_DIR ${CMAKE_OSX_SYSROOT} PATH)
+  get_filename_component(CMAKE_IOS_DEVELOPER_ROOT ${IOS_PLATFORM_SDK_DIR} PATH)
+endif()
+if (NOT EXISTS ${CMAKE_IOS_DEVELOPER_ROOT})
+  message(FATAL_ERROR "Invalid CMAKE_IOS_DEVELOPER_ROOT: "
+    "${CMAKE_IOS_DEVELOPER_ROOT} does not exist.")
+endif()
+message("CMAKE_IOS_DEVELOPER_ROOT: ${CMAKE_IOS_DEVELOPER_ROOT}")
+# Find the C & C++ compilers for the specified SDK.
+if (NOT CMAKE_C_COMPILER)
+  execute_process(COMMAND xcrun -sdk ${CMAKE_OSX_SYSROOT} -find clang
+    OUTPUT_VARIABLE CMAKE_C_COMPILER
+    ERROR_QUIET
+    OUTPUT_STRIP_TRAILING_WHITESPACE)
+  message(STATUS "Using C compiler: ${CMAKE_C_COMPILER}")
+endif()
+if (NOT CMAKE_CXX_COMPILER)
+  execute_process(COMMAND xcrun -sdk ${CMAKE_OSX_SYSROOT} -find clang++
+    OUTPUT_VARIABLE CMAKE_CXX_COMPILER
+    ERROR_QUIET
+    OUTPUT_STRIP_TRAILING_WHITESPACE)
+  message(STATUS "Using CXX compiler: ${CMAKE_CXX_COMPILER}")
+endif()
+# Find (Apple's) libtool.
+execute_process(COMMAND xcrun -sdk ${CMAKE_OSX_SYSROOT} -find libtool
+  OUTPUT_VARIABLE IOS_LIBTOOL
+  ERROR_QUIET
+  OUTPUT_STRIP_TRAILING_WHITESPACE)
+message(STATUS "Using libtool: ${IOS_LIBTOOL}")
+# Configure libtool to be used instead of ar + ranlib to build static libraries.
+# This is required on Xcode 7+, but should also work on previous versions of
+# Xcode.
+set(CMAKE_C_CREATE_STATIC_LIBRARY
+  "${IOS_LIBTOOL} -static -o <TARGET> <LINK_FLAGS> <OBJECTS> ")
+set(CMAKE_CXX_CREATE_STATIC_LIBRARY
+  "${IOS_LIBTOOL} -static -o <TARGET> <LINK_FLAGS> <OBJECTS> ")
+# Get the version of Darwin (OS X) of the host.
+execute_process(COMMAND uname -r
+  OUTPUT_VARIABLE CMAKE_HOST_SYSTEM_VERSION
+  ERROR_QUIET
+  OUTPUT_STRIP_TRAILING_WHITESPACE)
+# Standard settings.
+set(CMAKE_SYSTEM_NAME Darwin CACHE INTERNAL "")
+set(CMAKE_SYSTEM_VERSION ${IOS_SDK_VERSION} CACHE INTERNAL "")
+set(UNIX TRUE CACHE BOOL "")
+set(APPLE TRUE CACHE BOOL "")
+set(IOS TRUE CACHE BOOL "")
+set(CMAKE_AR ar CACHE FILEPATH "" FORCE)
+set(CMAKE_RANLIB ranlib CACHE FILEPATH "" FORCE)
+# Force unset of OS X-specific deployment target (otherwise autopopulated),
+# required as of cmake 2.8.10.
+set(CMAKE_OSX_DEPLOYMENT_TARGET "" CACHE STRING
+  "Must be empty for iOS builds." FORCE)
+# Set the architectures for which to build.
+set(CMAKE_OSX_ARCHITECTURES ${IOS_ARCH} CACHE STRING "Build architecture for iOS")
+# Skip the platform compiler checks for cross compiling.
+set(CMAKE_CXX_COMPILER_FORCED TRUE)
+set(CMAKE_CXX_COMPILER_WORKS TRUE)
+set(CMAKE_C_COMPILER_FORCED TRUE)
+set(CMAKE_C_COMPILER_WORKS TRUE)
+# All iOS/Darwin specific settings - some may be redundant.
+set(CMAKE_SHARED_LIBRARY_PREFIX "lib")
+set(CMAKE_SHARED_LIBRARY_SUFFIX ".dylib")
+set(CMAKE_SHARED_MODULE_PREFIX "lib")
+set(CMAKE_SHARED_MODULE_SUFFIX ".so")
+set(CMAKE_MODULE_EXISTS 1)
+set(CMAKE_DL_LIBS "")
+set(CMAKE_C_OSX_COMPATIBILITY_VERSION_FLAG "-compatibility_version ")
+set(CMAKE_C_OSX_CURRENT_VERSION_FLAG "-current_version ")
+set(CMAKE_CXX_OSX_COMPATIBILITY_VERSION_FLAG "${CMAKE_C_OSX_COMPATIBILITY_VERSION_FLAG}")
+set(CMAKE_CXX_OSX_CURRENT_VERSION_FLAG "${CMAKE_C_OSX_CURRENT_VERSION_FLAG}")
+message(STATUS "Building for minimum iOS version: ${IOS_DEPLOYMENT_TARGET}"
+               " (SDK version: ${IOS_SDK_VERSION})")
+# Note that only Xcode 7+ supports the newer more specific:
+# -m${XCODE_IOS_PLATFORM}-version-min flags, older versions of Xcode use:
+# -m(ios/ios-simulator)-version-min instead.
+if (IOS_PLATFORM STREQUAL "OS")
+  if (XCODE_VERSION VERSION_LESS 7.0)
+    set(XCODE_IOS_PLATFORM_VERSION_FLAGS
+      "-mios-version-min=${IOS_DEPLOYMENT_TARGET}")
+  else()
+    # Xcode 7.0+ uses flags we can build directly from XCODE_IOS_PLATFORM.
+    set(XCODE_IOS_PLATFORM_VERSION_FLAGS
+      "-m${XCODE_IOS_PLATFORM}-version-min=${IOS_DEPLOYMENT_TARGET}")
+  endif()
+else()
+  # SIMULATOR or SIMULATOR64 both use -mios-simulator-version-min.
+  set(XCODE_IOS_PLATFORM_VERSION_FLAGS
+    "-mios-simulator-version-min=${IOS_DEPLOYMENT_TARGET}")
+endif()
+message(STATUS "Version flags set to: ${XCODE_IOS_PLATFORM_VERSION_FLAGS}")
+
+if (ENABLE_BITCODE)
+  set(BITCODE "-fembed-bitcode")
+  message(STATUS "Enabling bitcode support.")
+else()
+  set(BITCODE "")
+  message(STATUS "Disabling bitcode support.")
+endif()
+
+set(CMAKE_C_FLAGS
+"${XCODE_IOS_PLATFORM_VERSION_FLAGS} ${BITCODE} -fobjc-abi-version=2 -fobjc-arc ${CMAKE_C_FLAGS}")
+# Hidden visibilty is required for C++ on iOS.
+set(CMAKE_CXX_FLAGS
+  "${XCODE_IOS_PLATFORM_VERSION_FLAGS} ${BITCODE} ${CMAKE_CXX_FLAGS}")
+set(CMAKE_CXX_FLAGS_RELEASE "${BITCODE} ${CMAKE_CXX_FLAGS_RELEASE}")
+set(CMAKE_C_LINK_FLAGS "${XCODE_IOS_PLATFORM_VERSION_FLAGS} -Wl,-search_paths_first ${CMAKE_C_LINK_FLAGS}")
+set(CMAKE_CXX_LINK_FLAGS "${XCODE_IOS_PLATFORM_VERSION_FLAGS}  -Wl,-search_paths_first ${CMAKE_CXX_LINK_FLAGS}")
+# In order to ensure that the updated compiler flags are used in try_compile()
+# tests, we have to forcibly set them in the CMake cache, not merely set them
+# in the local scope.
+list(APPEND VARS_TO_FORCE_IN_CACHE
+  CMAKE_C_FLAGS
+  CMAKE_CXX_FLAGS
+  CMAKE_CXX_RELEASE
+  CMAKE_C_LINK_FLAGS
+  CMAKE_CXX_LINK_FLAGS)
+foreach(VAR_TO_FORCE ${VARS_TO_FORCE_IN_CACHE})
+  set(${VAR_TO_FORCE} "${${VAR_TO_FORCE}}" CACHE STRING "" FORCE)
+endforeach()
+set(CMAKE_PLATFORM_HAS_INSTALLNAME 1)
+set(CMAKE_SHARED_LIBRARY_CREATE_C_FLAGS "-dynamiclib -headerpad_max_install_names")
+set(CMAKE_SHARED_MODULE_CREATE_C_FLAGS "-bundle -headerpad_max_install_names")
+set(CMAKE_SHARED_MODULE_LOADER_C_FLAG "-Wl,-bundle_loader,")
+set(CMAKE_SHARED_MODULE_LOADER_CXX_FLAG "-Wl,-bundle_loader,")
+set(CMAKE_FIND_LIBRARY_SUFFIXES ".dylib" ".so" ".a")
+# Hack: if a new cmake (which uses CMAKE_INSTALL_NAME_TOOL) runs on an old
+# build tree (where install_name_tool was hardcoded) and where
+# CMAKE_INSTALL_NAME_TOOL isn't in the cache and still cmake didn't fail in
+# CMakeFindBinUtils.cmake (because it isn't rerun) hardcode
+# CMAKE_INSTALL_NAME_TOOL here to install_name_tool, so it behaves as it did
+# before, Alex.
+if (NOT DEFINED CMAKE_INSTALL_NAME_TOOL)
+  find_program(CMAKE_INSTALL_NAME_TOOL install_name_tool)
+endif (NOT DEFINED CMAKE_INSTALL_NAME_TOOL)
+# Set the find root to the iOS developer roots and to user defined paths.
+set(CMAKE_FIND_ROOT_PATH ${CMAKE_IOS_DEVELOPER_ROOT} ${CMAKE_OSX_SYSROOT}
+  ${CMAKE_PREFIX_PATH} CACHE string  "iOS find search path root" FORCE)
+# Default to searching for frameworks first.
+set(CMAKE_FIND_FRAMEWORK FIRST)
+# Set up the default search directories for frameworks.
+set(CMAKE_SYSTEM_FRAMEWORK_PATH
+  ${CMAKE_OSX_SYSROOT}/System/Library/Frameworks
+  ${CMAKE_OSX_SYSROOT}/System/Library/PrivateFrameworks
+  ${CMAKE_OSX_SYSROOT}/Developer/Library/Frameworks)
+# Only search the specified iOS SDK, not the remainder of the host filesystem.
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+# This little macro lets you set any XCode specific property.
+macro(set_xcode_property TARGET XCODE_PROPERTY XCODE_VALUE XCODE_RELVERSION)
+  set(XCODE_RELVERSION_I "${XCODE_RELVERSION}")
+  if (XCODE_RELVERSION_I STREQUAL "All")
+    set_property(TARGET ${TARGET} PROPERTY
+    XCODE_ATTRIBUTE_${XCODE_PROPERTY} "${XCODE_VALUE}")
+  else()
+    set_property(TARGET ${TARGET} PROPERTY
+    XCODE_ATTRIBUTE_${XCODE_PROPERTY}[variant=${XCODE_RELVERSION_I}] "${XCODE_VALUE}")
+  endif()
+endmacro(set_xcode_property)
+# This macro lets you find executable programs on the host system.
+macro(find_host_package)
+  set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+  set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY NEVER)
+  set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE NEVER)
+  set(IOS FALSE)
+  find_package(${ARGN})
+  set(IOS TRUE)
+  set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM ONLY)
+  set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+  set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+endmacro(find_host_package)
diff --git a/NvCloth/CmakeGenerateAndroid.bat b/NvCloth/CmakeGenerateAndroid.bat
new file mode 100644
index 0000000..00a0307
--- /dev/null
+++ b/NvCloth/CmakeGenerateAndroid.bat
@@ -0,0 +1,120 @@
+@echo off
+set EXIT_CODE=0
+
+REM Make sure the various variables that we need are set
+
+CD /D %~dp0
+REM echo "Note: You need to run this with admin rights for the first time to set GW_DEPS_ROOT globally."
+call "./scripts/locate_gw_root.bat" GW_DEPS_ROOT_F
+@echo on
+set GW_DEPS_ROOT=%GW_DEPS_ROOT_F%
+echo GW_DEPS_ROOT = %GW_DEPS_ROOT%
+call "./scripts/locate_cmake.bat" CMAKE_PATH_F
+echo CMAKE_PATH_F = %CMAKE_PATH_F%
+
+SET PATH=%PATH%;%CMAKE_PATH_F%
+
+@echo off
+
+IF EXIST %~dp0..\Externals\CMakeModules (
+	set GW_DEPS_ROOT=%~dp0..\
+)
+
+IF NOT DEFINED GW_DEPS_ROOT GOTO GW_DEPS_ROOT_UNDEFINED
+
+set PX_OUTPUT_ROOT=%~dp0
+
+REM Generate projects here
+
+:: 1. Use system NDK
+IF %ANDROID_NDK_ROOT%. EQU . (
+	echo The ANDROID_NDK_ROOT environment variable is not set. Please set it to point to NDK root folder
+	set EXIT_CODE=1
+	GOTO :End
+)
+set "NDK=%ANDROID_NDK_ROOT:\=/%"
+set "NDK_MAKE=%NDK%/prebuilt/windows-x86_64/bin/make.exe"
+:: 2. Use NDK from physx externals
+REM set "PHYSX_ROOT=%GW_DEPS_ROOT:\=/%sw/physx"
+REM set "NDK=%PHYSX_ROOT%/externals/android-ndk/r13b-win32"
+REM set "NDK_MAKE=%NDK%/prebuilt/windows/bin/make.exe"
+::
+
+:: IF [%1] == [] 
+set CONFIG_NAME=%1
+IF %CONFIG_NAME%. EQU debug. (
+	GOTO :Build
+)
+IF %CONFIG_NAME%. EQU profile. (
+	GOTO :Build
+)
+IF %CONFIG_NAME%. EQU checked. (
+	GOTO :Build
+)
+IF %CONFIG_NAME%. EQU release. (
+	GOTO :Build
+)
+echo "Usage CmakeGenerateAndroid.bat <build_configuration:debug|profile|checked|release>"
+set EXIT_CODE=1
+GOTO :End
+
+:Build
+set ANDROID_API=21
+REM set ANDROID_ABI="armeabi-v7a with NEON"
+REM set ANDROID_ABI="armeabi-v7a"
+set ANDROID_ABI="arm64-v8a"
+set ANDROID_DIR_NAME=android-%ANDROID_ABI%-%CONFIG_NAME%-cmake
+
+rmdir /s /q compiler\%ANDROID_DIR_NAME%\
+mkdir compiler\%ANDROID_DIR_NAME%\
+pushd compiler\%ANDROID_DIR_NAME%\
+
+REM https://cmake.org/cmake/help/v3.7/manual/cmake-toolchains.7.html#cross-compiling-for-android-with-nvidia-nsight-tegra-visual-studio-edition
+REM https://developer.android.com/ndk/guides/cmake.html
+
+REM REM Common cmd line params
+set CMAKE_COMMON_PARAMS=-DANDROID_NDK=%NDK% -DANDROID_ABI=%ANDROID_ABI% -DGW_DEPS_ROOT=%GW_DEPS_ROOT% -DPX_OUTPUT_DLL_DIR=%PX_OUTPUT_ROOT%\Bin\%ANDROID_DIR_NAME% -DPX_OUTPUT_LIB_DIR=%PX_OUTPUT_ROOT%\Lib\%ANDROID_DIR_NAME% -DPX_OUTPUT_EXE_DIR=%PX_OUTPUT_ROOT%\Bin\%ANDROID_DIR_NAME%
+
+REM Compiler dependent cmd line params
+set CMAKE_COMPILER_PARAMS=-G "MinGW Makefiles" -DCMAKE_MAKE_PROGRAM=%NDK_MAKE% -DCMAKE_BUILD_TYPE=%CONFIG_NAME% -DCMAKE_ANDROID_ARCH_ABI=%ANDROID_ABI%
+REM set CMAKE_COMPILER_PARAMS=-G "Visual Studio 14 2015" -DCMAKE_ANDROID_ARCH=%ANDROID_ABI%
+
+REM Toolchain dependent cmd line params
+REM set CMAKE_TOOLCHAIN_PARAMS=-DCMAKE_TOOLCHAIN_FILE=C:\Users\lpanov\projects\nvidia\NvCloth\Externals\CMakeModules\Android\android.toolchain.cmake -DANDROID_NATIVE_API_LEVEL=android-%ANDROID_API% -DANDROID_ABI=%ANDROID_ABI% -DANDROID_STL="gnustl_static" -DTARGET_BUILD_PLATFORM=android
+set CMAKE_TOOLCHAIN_PARAMS=-DCMAKE_SYSTEM_NAME=Android -DCMAKE_ANDROID_API_MIN=%ANDROID_API% -DCMAKE_ANDROID_API=%ANDROID_API%
+
+cmake ..\cmake\android %CMAKE_COMPILER_PARAMS%  %CMAKE_TOOLCHAIN_PARAMS%  %CMAKE_COMMON_PARAMS%
+IF %ERRORLEVEL% NEQ 0 (
+	set EXIT_CODE=%ERRORLEVEL%
+	GOTO :End
+)
+
+REM reference cmd line
+REM cmake ..\cmake\android -G "MinGW Makefiles" -DANDROID_NDK=%NDK% -DCMAKE_MAKE_PROGRAM=%NDK_MAKE% -DTARGET_BUILD_PLATFORM=android -DCMAKE_BUILD_TYPE=%CONFIG_NAME% -DCMAKE_SYSTEM_NAME=Android -DCMAKE_ANDROID_API_MIN=%ANDROID_API% -DCMAKE_ANDROID_API=%ANDROID_API% -DCMAKE_ANDROID_ARCH=%ANDROID_ABI% -DCMAKE_ANDROID_ARCH_ABI=%ANDROID_ABI% -DANDROID_ABI=%ANDROID_ABI% -DCMAKE_ANDROID_GUI=FALSE -DPX_GENERATE_GPU_PROJECTS=0 -DPX_OUTPUT_DLL_DIR=%PX_OUTPUT_ROOT%\Bin\%ANDROID_DIR_NAME%-cmake -DPX_OUTPUT_LIB_DIR=%PX_OUTPUT_ROOT%\Lib\%ANDROID_DIR_NAME%-cmake -DPX_OUTPUT_EXE_DIR=%PX_OUTPUT_ROOT%\Bin\%ANDROID_DIR_NAME%-cmake
+
+REM To build the project, go to compiler/%ANDROID_DIR_NAME% and run
+REM %ANDROID_NDK_ROOT%\prebuilt\windows-x86_64\bin\make.exe 
+
+popd
+
+
+GOTO :End
+
+:GW_DEPS_ROOT_UNDEFINED
+ECHO GW_DEPS_ROOT has to be defined, pointing to the root of the dependency tree.
+PAUSE
+GOTO END
+
+:BOOST_ROOT_UNDEFINED
+ECHO BOOST_ROOT has to be defined, pointing to the root of your local Boost install.
+PAUSE
+GOTO END
+
+:End
+IF /I "%EXIT_CODE%" NEQ "0" (
+   echo The error code is %EXIT_CODE%
+   exit /b %EXIT_CODE%
+)
+
+echo Configuration succeeded!
+exit /b 0
\ No newline at end of file
diff --git a/NvCloth/CmakeGenerateProjects.bat b/NvCloth/CmakeGenerateProjects.bat
index 36bddde..469e0f3 100644
--- a/NvCloth/CmakeGenerateProjects.bat
+++ b/NvCloth/CmakeGenerateProjects.bat
@@ -1,16 +1,16 @@
 @echo off
+REM Usage: CmakeGenerateProjects.bat <0|1:use_cuda (default is 1)> <0|1:use_dx11 (default is 1)>
+set EXIT_CODE=0
 
+REM Make sure the various variables that we need are set
 CD /D %~dp0
 echo "Note: You need to run this with admin rights for the first time to set GW_DEPS_ROOT globally."
 call "./scripts/locate_gw_root.bat" GW_DEPS_ROOT_F
-@echo on
+REM single " is not a mistake
 setx GW_DEPS_ROOT "%GW_DEPS_ROOT_F%
+REM this one is for local use
+set GW_DEPS_ROOT=%GW_DEPS_ROOT_F%
 echo GW_DEPS_ROOT = %GW_DEPS_ROOT%
-call "./scripts/locate_cmake.bat" CMAKE_PATH_F
-echo CMAKE_PATH_F = %CMAKE_PATH_F%
-
-
-SET PATH=%PATH%;"%CMAKE_PATH_F%"
 
 REM Make sure the various variables that we need are set
 
@@ -21,65 +21,84 @@ IF EXIST %~dp0..\Externals\CMakeModules (
 	set GW_DEPS_ROOT=%~dp0..\
 )
 
-IF NOT DEFINED GW_DEPS_ROOT GOTO GW_DEPS_ROOT_UNDEFINED
+IF NOT DEFINED GW_DEPS_ROOT goto GW_DEPS_ROOT_UNDEFINED
 
 set PX_OUTPUT_ROOT=%~dp0
 
-REM Generate projects here
-REM you can disable cuda/dx11 support by adding -DNV_CLOTH_ENABLE_CUDA=0 / -DNV_CLOTH_ENABLE_DX11=0
+REM handle optional command line arguments
+set USE_CUDA=1
+set USE_DX11=1
+IF %1. NEQ . (set USE_CUDA=%1)
+IF %2. NEQ . (set USE_DX11=%2)
+
+REM Install cmake using packman
+set PACKMAN=call scripts/packman/packman.cmd
+%PACKMAN% pull -p windows "scripts/packman/packages/cmake.packman.xml"
+IF %ERRORLEVEL% NEQ 0 (
+    set EXIT_CODE=%ERRORLEVEL%
+    goto End
+)
+set CMAKE=%PM_PACKAGES_ROOT%/cmake-x64/3.7.0/bin/cmake.exe
 
-rmdir /s /q compiler\vc11win32-cmake\
-mkdir compiler\vc11win32-cmake\
-pushd compiler\vc11win32-cmake\
-cmake ..\cmake\windows -G "Visual Studio 11 2012" -AWin32 -DTARGET_BUILD_PLATFORM=windows -DPX_GENERATE_GPU_PROJECTS=1 -DCUDA_TOOLKIT_ROOT_DIR="%CUDA_PATH_%" -DSTATIC_WINCRT=1 -DPX_OUTPUT_DLL_DIR=%PX_OUTPUT_ROOT%\Bin\vc11win32-cmake -DPX_OUTPUT_LIB_DIR=%PX_OUTPUT_ROOT%\Lib\vc11win32-cmake -DPX_OUTPUT_EXE_DIR=%PX_OUTPUT_ROOT%\Bin\vc11win32-cmake
-popd
+REM Common for all generators
+set CMAKE_COMMON_PARAMS=-DTARGET_BUILD_PLATFORM=windows -DNV_CLOTH_ENABLE_DX11=%USE_DX11% -DNV_CLOTH_ENABLE_CUDA=%USE_CUDA% -DPX_GENERATE_GPU_PROJECTS=1 -DCUDA_TOOLKIT_ROOT_DIR="%CUDA_PATH_%" -DWIN8SDK_PATH="%WIN8SDK_PATH%" -DSTATIC_WINCRT=1
 
-rmdir /s /q compiler\vc11win64-cmake\
-mkdir compiler\vc11win64-cmake\
-pushd compiler\vc11win64-cmake\
-cmake ..\cmake\windows -G "Visual Studio 11 2012" -Ax64 -DTARGET_BUILD_PLATFORM=windows -DPX_GENERATE_GPU_PROJECTS=1 -DCUDA_TOOLKIT_ROOT_DIR="%CUDA_PATH_%" -DSTATIC_WINCRT=1 -DPX_OUTPUT_DLL_DIR=%PX_OUTPUT_ROOT%\Bin\vc11win64-cmake -DPX_OUTPUT_LIB_DIR=%PX_OUTPUT_ROOT%\Lib\vc11win64-cmake -DPX_OUTPUT_EXE_DIR=%PX_OUTPUT_ROOT%\Bin\vc11win64-cmake
-popd
+REM Generate projects here
+
+REM vc11 isn't officially supported
+REM rmdir /s /q compiler\vc11win32-cmake\
+REM mkdir compiler\vc11win32-cmake\
+REM pushd compiler\vc11win32-cmake\
+REM %CMAKE% ..\cmake\windows -G "Visual Studio 11 2012" -AWin32 %CMAKE_COMMON_PARAMS% -DPX_OUTPUT_DLL_DIR=%PX_OUTPUT_ROOT%\bin\vc11win32-cmake -DPX_OUTPUT_LIB_DIR=%PX_OUTPUT_ROOT%\lib\vc11win32-cmake -DPX_OUTPUT_EXE_DIR=%PX_OUTPUT_ROOT%\bin\vc11win32-cmake
+REM popd
 
+REM rmdir /s /q compiler\vc11win64-cmake\
+REM mkdir compiler\vc11win64-cmake\
+REM pushd compiler\vc11win64-cmake\
+REM %CMAKE% ..\cmake\windows -G "Visual Studio 11 2012" -Ax64 %CMAKE_COMMON_PARAMS% -DPX_OUTPUT_DLL_DIR=%PX_OUTPUT_ROOT%\bin\vc11win64-cmake -DPX_OUTPUT_LIB_DIR=%PX_OUTPUT_ROOT%\lib\vc11win64-cmake -DPX_OUTPUT_EXE_DIR=%PX_OUTPUT_ROOT%\bin\vc11win64-cmake
+REM popd
 
 rmdir /s /q compiler\vc12win32-cmake\
 mkdir compiler\vc12win32-cmake\
 pushd compiler\vc12win32-cmake\
-cmake ..\cmake\windows -G "Visual Studio 12 2013" -AWin32 -DTARGET_BUILD_PLATFORM=windows -DPX_GENERATE_GPU_PROJECTS=1 -DCUDA_TOOLKIT_ROOT_DIR="%CUDA_PATH_%" -DSTATIC_WINCRT=1 -DPX_OUTPUT_DLL_DIR=%PX_OUTPUT_ROOT%\Bin\vc12win32-cmake -DPX_OUTPUT_LIB_DIR=%PX_OUTPUT_ROOT%\Lib\vc12win32-cmake -DPX_OUTPUT_EXE_DIR=%PX_OUTPUT_ROOT%\Bin\vc12win32-cmake
+%CMAKE% ..\cmake\windows -G "Visual Studio 12 2013" -AWin32 %CMAKE_COMMON_PARAMS% -DPX_OUTPUT_DLL_DIR=%PX_OUTPUT_ROOT%\bin\vc12win32-cmake -DPX_OUTPUT_LIB_DIR=%PX_OUTPUT_ROOT%\lib\vc12win32-cmake -DPX_OUTPUT_EXE_DIR=%PX_OUTPUT_ROOT%\bin\vc12win32-cmake
 popd
 
 rmdir /s /q compiler\vc12win64-cmake\
 mkdir compiler\vc12win64-cmake\
 pushd compiler\vc12win64-cmake\
-cmake ..\cmake\windows -G "Visual Studio 12 2013" -Ax64 -DTARGET_BUILD_PLATFORM=windows -DPX_GENERATE_GPU_PROJECTS=1 -DCUDA_TOOLKIT_ROOT_DIR="%CUDA_PATH_%" -DSTATIC_WINCRT=1 -DPX_OUTPUT_DLL_DIR=%PX_OUTPUT_ROOT%\Bin\vc12win64-cmake -DPX_OUTPUT_LIB_DIR=%PX_OUTPUT_ROOT%\Lib\vc12win64-cmake -DPX_OUTPUT_EXE_DIR=%PX_OUTPUT_ROOT%\Bin\vc12win64-cmake
+%CMAKE% ..\cmake\windows -G "Visual Studio 12 2013" -Ax64 %CMAKE_COMMON_PARAMS% -DPX_OUTPUT_DLL_DIR=%PX_OUTPUT_ROOT%\bin\vc12win64-cmake -DPX_OUTPUT_LIB_DIR=%PX_OUTPUT_ROOT%\lib\vc12win64-cmake -DPX_OUTPUT_EXE_DIR=%PX_OUTPUT_ROOT%\bin\vc12win64-cmake
 popd
 
 rmdir /s /q compiler\vc14win32-cmake\
 mkdir compiler\vc14win32-cmake\
 pushd compiler\vc14win32-cmake\
-cmake ..\cmake\windows -G "Visual Studio 14 2015" -AWin32 -DTARGET_BUILD_PLATFORM=windows -DPX_GENERATE_GPU_PROJECTS=1 -DCUDA_TOOLKIT_ROOT_DIR="%CUDA_PATH_%" -DSTATIC_WINCRT=1 -DPX_OUTPUT_DLL_DIR=%PX_OUTPUT_ROOT%\Bin\vc14win32-cmake -DPX_OUTPUT_LIB_DIR=%PX_OUTPUT_ROOT%\Lib\vc14win32-cmake -DPX_OUTPUT_EXE_DIR=%PX_OUTPUT_ROOT%\Bin\vc14win32-cmake
+%CMAKE% ..\cmake\windows -G "Visual Studio 14 2015" -AWin32 %CMAKE_COMMON_PARAMS% -DPX_OUTPUT_DLL_DIR=%PX_OUTPUT_ROOT%\bin\vc14win32-cmake -DPX_OUTPUT_LIB_DIR=%PX_OUTPUT_ROOT%\lib\vc14win32-cmake -DPX_OUTPUT_EXE_DIR=%PX_OUTPUT_ROOT%\bin\vc14win32-cmake
 popd
 
 rmdir /s /q compiler\vc14win64-cmake\
 mkdir compiler\vc14win64-cmake\
 pushd compiler\vc14win64-cmake\
-cmake ..\cmake\windows -G "Visual Studio 14 2015" -Ax64 -DTARGET_BUILD_PLATFORM=windows -DPX_GENERATE_GPU_PROJECTS=1 -DCUDA_TOOLKIT_ROOT_DIR="%CUDA_PATH_%" -DSTATIC_WINCRT=1 -DPX_OUTPUT_DLL_DIR=%PX_OUTPUT_ROOT%\Bin\vc14win64-cmake -DPX_OUTPUT_LIB_DIR=%PX_OUTPUT_ROOT%\Lib\vc14win64-cmake -DPX_OUTPUT_EXE_DIR=%PX_OUTPUT_ROOT%\Bin\vc14win64-cmake
+%CMAKE% ..\cmake\windows -G "Visual Studio 14 2015" -Ax64 %CMAKE_COMMON_PARAMS% -DPX_OUTPUT_DLL_DIR=%PX_OUTPUT_ROOT%\bin\vc14win64-cmake -DPX_OUTPUT_LIB_DIR=%PX_OUTPUT_ROOT%\lib\vc14win64-cmake -DPX_OUTPUT_EXE_DIR=%PX_OUTPUT_ROOT%\bin\vc14win64-cmake
 popd
 
+goto End
 
-GOTO :End
 
 :GW_DEPS_ROOT_UNDEFINED
-ECHO GW_DEPS_ROOT has to be defined, pointing to the root of the dependency tree.
-PAUSE
-GOTO END
-
-:BOOST_ROOT_UNDEFINED
-ECHO BOOST_ROOT has to be defined, pointing to the root of your local Boost install.
-PAUSE
-GOTO END
+echo GW_DEPS_ROOT has to be defined, pointing to the root of the dependency tree.
+set EXIT_CODE=1
+pause
+goto End
 
 :CUDA_ROOT_UNDEFINED
-ECHO CUDA_BIN_PATH has to be defined, pointing to the bin folder of your local CUDA install.
-PAUSE
+echo CUDA_BIN_PATH has to be defined, pointing to the bin folder of your local CUDA install.
+set EXIT_CODE=1
+pause
+goto End
 
 :End
+if /I "%EXIT_CODE%" EQU "1" (
+   echo CmakeGenerateProjects.bat: the error code is %EXIT_CODE%
+)
+exit /b 0
diff --git a/NvCloth/GenerateProjectsLinux.sh b/NvCloth/GenerateProjectsLinux.sh
index b56176b..c660b15 100644
--- a/NvCloth/GenerateProjectsLinux.sh
+++ b/NvCloth/GenerateProjectsLinux.sh
@@ -1,4 +1,4 @@
-#!/bin/sh +x
+#!/usr/bin/env bash
 
 # Make sure the various variables that we need are set
 
@@ -14,28 +14,56 @@ fi
 export PX_OUTPUT_ROOT="$PWD"
 
 
+# Check for the right g++ version (we need at least 4.7 for c++11)
+cur_ver="$(g++ -dumpversion)"
+req_ver="4.7"
+if [ "$(printf "$req_ver\n$cur_ver" | sort -V | head -n1)" == "$cur_ver" ] && [ "$cur_ver" != "$req_ver" ]; then
+        echo "g++ version $cur_ver < $req_ver"
+        if [ -f /usr/bin/g++-4.7 ]; then
+            echo "Forcing cmake to use g++ 4.7"
+            export CC=/usr/bin/gcc-4.7
+            export CXX=/usr/bin/g++-4.7
+        else
+            echo "Unable to find any compatible g++ version. Exiting now"
+            exit 1
+        fi
+ else
+        echo "g++ version $cur_ver >= $req_ver"
+ fi
+
+
+# Install cmake using packman
+export PACKMAN="scripts/packman/packman.sh"
+source $PACKMAN pull -p linux "scripts/packman/packages/cmake.packman.xml" || exit 1
+export CMAKE="$PM_PACKAGES_ROOT/cmake-linux-x86_64/3.7.2/bin/cmake"
+
+
+# You can enable/disable cuda support here
+export USE_CUDA=0
+
+
 # Generate projects here
 
 rm -r -f compiler/linux64-debug-cmake/
 mkdir compiler/linux64-debug-cmake/
 cd compiler/linux64-debug-cmake/
-cmake ../cmake/linux -G "Unix Makefiles" -DTARGET_BUILD_PLATFORM=linux -DCMAKE_BUILD_TYPE=debug -DPX_GENERATE_GPU_PROJECTS=0 -DPX_OUTPUT_DLL_DIR=$PX_OUTPUT_ROOT/bin/linux64-cmake -DPX_OUTPUT_LIB_DIR=$PX_OUTPUT_ROOT/lib/linux64-cmake -DPX_OUTPUT_EXE_DIR=$PX_OUTPUT_ROOT/bin/linux64-cmake
+$CMAKE ../cmake/linux -G "Unix Makefiles" -DTARGET_BUILD_PLATFORM=linux -DCMAKE_BUILD_TYPE=debug -DNV_CLOTH_ENABLE_CUDA=$USE_CUDA -DPX_GENERATE_GPU_PROJECTS=0 -DPX_OUTPUT_DLL_DIR=$PX_OUTPUT_ROOT/bin/linux64-cmake -DPX_OUTPUT_LIB_DIR=$PX_OUTPUT_ROOT/lib/linux64-cmake -DPX_OUTPUT_EXE_DIR=$PX_OUTPUT_ROOT/bin/linux64-cmake || exit 1
 cd ../../
 
 rm -r -f compiler/linux64-checked-cmake/
 mkdir compiler/linux64-checked-cmake/
 cd compiler/linux64-checked-cmake/
-cmake ../cmake/linux -G "Unix Makefiles" -DTARGET_BUILD_PLATFORM=linux -DCMAKE_BUILD_TYPE=checked -DPX_GENERATE_GPU_PROJECTS=0 -DPX_OUTPUT_DLL_DIR=$PX_OUTPUT_ROOT/bin/linux64-cmake -DPX_OUTPUT_LIB_DIR=$PX_OUTPUT_ROOT/lib/linux64-cmake -DPX_OUTPUT_EXE_DIR=$PX_OUTPUT_ROOT/bin/linux64-cmake
+$CMAKE ../cmake/linux -G "Unix Makefiles" -DTARGET_BUILD_PLATFORM=linux -DCMAKE_BUILD_TYPE=checked -DNV_CLOTH_ENABLE_CUDA=$USE_CUDA -DPX_GENERATE_GPU_PROJECTS=0 -DPX_OUTPUT_DLL_DIR=$PX_OUTPUT_ROOT/bin/linux64-cmake -DPX_OUTPUT_LIB_DIR=$PX_OUTPUT_ROOT/lib/linux64-cmake -DPX_OUTPUT_EXE_DIR=$PX_OUTPUT_ROOT/bin/linux64-cmake || exit 1
 cd ../../
 
 rm -r -f compiler/linux64-profile-cmake/
 mkdir compiler/linux64-profile-cmake/
 cd compiler/linux64-profile-cmake/
-cmake ../cmake/linux -G "Unix Makefiles" -DTARGET_BUILD_PLATFORM=linux -DCMAKE_BUILD_TYPE=profile -DPX_GENERATE_GPU_PROJECTS=0 -DPX_OUTPUT_DLL_DIR=$PX_OUTPUT_ROOT/bin/linux64-cmake -DPX_OUTPUT_LIB_DIR=$PX_OUTPUT_ROOT/lib/linux64-cmake -DPX_OUTPUT_EXE_DIR=$PX_OUTPUT_ROOT/bin/linux64-cmake
+$CMAKE ../cmake/linux -G "Unix Makefiles" -DTARGET_BUILD_PLATFORM=linux -DCMAKE_BUILD_TYPE=profile -DNV_CLOTH_ENABLE_CUDA=$USE_CUDA -DPX_GENERATE_GPU_PROJECTS=0 -DPX_OUTPUT_DLL_DIR=$PX_OUTPUT_ROOT/bin/linux64-cmake -DPX_OUTPUT_LIB_DIR=$PX_OUTPUT_ROOT/lib/linux64-cmake -DPX_OUTPUT_EXE_DIR=$PX_OUTPUT_ROOT/bin/linux64-cmake || exit 1
 cd ../../
 
 rm -r -f compiler/linux64-release-cmake/
 mkdir compiler/linux64-release-cmake/
 cd compiler/linux64-release-cmake/
-cmake ../cmake/linux -G "Unix Makefiles" -DTARGET_BUILD_PLATFORM=linux -DCMAKE_BUILD_TYPE=release -DPX_GENERATE_GPU_PROJECTS=0 -DPX_OUTPUT_DLL_DIR=$PX_OUTPUT_ROOT/bin/linux64-cmake -DPX_OUTPUT_LIB_DIR=$PX_OUTPUT_ROOT/lib/linux64-cmake -DPX_OUTPUT_EXE_DIR=$PX_OUTPUT_ROOT/bin/linux64-cmake
-cd ../../
\ No newline at end of file
+$CMAKE ../cmake/linux -G "Unix Makefiles" -DTARGET_BUILD_PLATFORM=linux -DCMAKE_BUILD_TYPE=release -DNV_CLOTH_ENABLE_CUDA=$USE_CUDA -DPX_GENERATE_GPU_PROJECTS=0 -DPX_OUTPUT_DLL_DIR=$PX_OUTPUT_ROOT/bin/linux64-cmake -DPX_OUTPUT_LIB_DIR=$PX_OUTPUT_ROOT/lib/linux64-cmake -DPX_OUTPUT_EXE_DIR=$PX_OUTPUT_ROOT/bin/linux64-cmake || exit 1
+cd ../../
diff --git a/NvCloth/GenerateProjectsOsx.sh b/NvCloth/GenerateProjectsOsx.sh
index 576ad2c..ea53921 100644
--- a/NvCloth/GenerateProjectsOsx.sh
+++ b/NvCloth/GenerateProjectsOsx.sh
@@ -2,10 +2,10 @@
 
 # Make sure the various variables that we need are set
 
-export GW_DEPS_ROOT="$PWD""/../../../../../"
+export GW_DEPS_ROOT="$PWD""/../../../../"
 
 if [ -e $PWD"/../Externals/CMakeModules" ]; then
-	export GW_DEPS_ROOT="$PWD""/../"
+	export GW_DEPS_ROOT="$PWD""/../../"
 fi
 
 [ -z "$GW_DEPS_ROOT" ] && echo "GW_DEPS_ROOT not defined." && exit 1;
@@ -14,19 +14,28 @@ fi
 export PX_OUTPUT_ROOT="$PWD"
 
 
+
+# Install cmake using packman
+export PACKMAN="./scripts/packman/packman.sh"
+source $PACKMAN pull -p mac "./scripts/packman/packages/cmake.packman.xml" || exit 1
+export CMAKE="$PM_PACKAGES_ROOT/cmake-mac-x86_64/3.7.2/bin/cmake"
+
+
+# Cuda isn't supported on mac yet
+export USE_CUDA=0
+
+
 # Generate projects here
 
 rm -r -f compiler/osx32-cmake/
 mkdir compiler/osx32-cmake/
 cd compiler/osx32-cmake/
-cmake ../cmake/mac -G Xcode -DTARGET_BUILD_PLATFORM=mac -DPX_32BIT=1 -DPX_OUTPUT_LIB_DIR=$PX_OUTPUT_ROOT/Lib/osx32-cmake 
+$CMAKE ../cmake/mac -G Xcode -DTARGET_BUILD_PLATFORM=mac -DCMAKE_OSX_ARCHITECTURES=i386 -DPX_32BIT=1 -DNV_CLOTH_ENABLE_CUDA=$USE_CUDA -DUSE_CUDA=$USE_CUDA -DPX_GENERATE_GPU_PROJECTS=0 -DPX_OUTPUT_DLL_DIR=$PX_OUTPUT_ROOT/bin/osx32-cmake -DPX_OUTPUT_LIB_DIR=$PX_OUTPUT_ROOT/lib/osx32-cmake -DPX_OUTPUT_EXE_DIR=$PX_OUTPUT_ROOT/bin/osx32-cmake || exit 1
 cd ../../
 
 rm -r -f compiler/osx64-cmake/
 mkdir compiler/osx64-cmake/
 cd compiler/osx64-cmake/
-cmake ../cmake/mac -G Xcode -DTARGET_BUILD_PLATFORM=mac -DPX_OUTPUT_LIB_DIR=$PX_OUTPUT_ROOT/Lib/osx64-cmake 
+$CMAKE ../cmake/mac -G Xcode -DTARGET_BUILD_PLATFORM=mac -DNV_CLOTH_ENABLE_CUDA=$USE_CUDA -DUSE_CUDA=$USE_CUDA -DPX_GENERATE_GPU_PROJECTS=0 -DPX_OUTPUT_DLL_DIR=$PX_OUTPUT_ROOT/bin/osx64-cmake -DPX_OUTPUT_LIB_DIR=$PX_OUTPUT_ROOT/lib/osx64-cmake -DPX_OUTPUT_EXE_DIR=$PX_OUTPUT_ROOT/bin/osx64-cmake || exit 1 
 cd ../../
 
-
-
diff --git a/NvCloth/ReleaseNotes.txt b/NvCloth/ReleaseNotes.txt
index d8ef679..3a398d6 100644
--- a/NvCloth/ReleaseNotes.txt
+++ b/NvCloth/ReleaseNotes.txt
@@ -1,57 +1,101 @@
 NvCloth Release notes.
 
-[1.1.2]
+***************************
+Release Notes 
+***************************
+
+1.1.3
+===========================================================================================
 Supported platforms:
+
 * Windows (CPU, CUDA, DX11)
 * Mac (beta, tested on Sierra)
 * Linux (beta, tested on Ubuntu 16.04.1 LTS x64)
 * PlayStation 4 (beta) with PS4 SDK 4.5
 * Xbox one (CPU, DX11, beta)
+* Android (arm64-v8a, API >= 21), tested on Shield TV
+
 Note: beta platforms are not yet optimized.
 
 Supported compilers (via cmake 3.7)
+
 * Windows: Visual Studio 12, 14 (2013, 2015)
-* Linux: gcc (only x64)
+* Linux: gcc 5.4 (only x64)
 * Mac: xcode 
 * PlayStation 4: Visual studio 14 (2015)
 * Xbox one: Visual studio 14 (2015)
+* Android: NDK r12b and above
+
 
 Fixed:
-Dynamic allocations at runtime removed from MovingAverage.
-Possible error when starting samples due to gpu incompatible with dx debug mode.
-Cuda crash on older hardware.
+
+- Incorrect assertion in ClothImpl::setFluidDensity.
+- Make the simulation with MultithreadedSolverHelper work when no cloth present in the solver.
+- Correct number of simulation chunks calculation for DX11/CUDA solvers when no cloths were added to the solver.
+- Cuda wind simulation crashed on older hardware.
+- Internal simd library now lives inside the nv::cloth namespace to avoid issues when statically linked with PhysX.
+
 
 New:
-Added cmake flags to disable dx11 and/or cuda support.
+
+- Introduce addCloths() method for all the solvers, which allows to perform a fast batch addition of multiple cloths.
+- Cuda support on linux (experimental)
+- Android support
+
 
 Known issues:
-DirectX 11 solver has issues with ccd sphere/capsule collision.
+- DirectX 11 solver has issues with ccd sphere/capsule collision.
 
 
-[1.1.1]
+1.1.2
+===========================================================================================
 Fixed:
-Air drag/lift did react to flow speed only linearly, model was changed to be more physically correct.
-Fixed issue where scaling units would result in different air drag/lift behavior (by adding fluid density parameter).
-Fixed "unused typedef `__t100`" warning in xcode.
+
+- Dynamic allocations at runtime removed from MovingAverage.
+- Possible error when starting samples due to gpu incompatible with dx debug mode.
+
+
+New:
+
+- Added cmake flags to disable dx11 and/or cuda support.
+
 
 Known issues:
-DirectX 11 solver has issues with ccd sphere/capsule collision.
+- DirectX 11 solver has issues with ccd sphere/capsule collision.
+
 
-[1.1.0]
+1.1.1
+===========================================================================================
 Fixed:
-DirectX 11 solver now supports triangle collision shapes and air drag/lift.
-Fixed bug where changing friction on cloth already in simulation would cause assert or crash.
-Optimization flag now working on PS4 release build.
 
-New:
-Solver::getNumCloths and Solver::getClothList interface.
-Improved samples (new scenes and debug visualization)
+- Air drag/lift did react to flow speed only linearly, model was changed to be more physically correct.
+- Fixed issue where scaling units would result in different air drag/lift behavior (by adding fluid density parameter).
+- Fixed "unused typedef `__t100`" warning in xcode.
 
 
 Known issues:
-DirectX 11 solver has issues with ccd sphere/capsule collision.
+- DirectX 11 solver has issues with ccd sphere/capsule collision.
+
+
+1.1.0
+===========================================================================================
+Fixed:
+
+- DirectX 11 solver now supports triangle collision shapes and air drag/lift.
+- Fixed bug where changing friction on cloth already in simulation would cause assert or crash.
+- Optimization flag now working on PS4 release build.
+
+
+New:
+
+- Solver::getNumCloths and Solver::getClothList interface.
+- Improved samples (new scenes and debug visualization)
+
 
-[1.0.0]
 Known issues:
-DirectX 11 solver doesn�t support triangle collision shapes and air drag/lift
+- DirectX 11 solver has issues with ccd sphere/capsule collision.
 
+1.0.0
+===========================================================================================
+Known issues:
+- DirectX 11 solver doesn't support triangle collision shapes and air drag/lift
diff --git a/NvCloth/clean.bat b/NvCloth/clean.bat
index 7afce3a..a66d0a9 100644
--- a/NvCloth/clean.bat
+++ b/NvCloth/clean.bat
@@ -34,4 +34,13 @@ for /d %%G in (".\samples\compiler\vc*") do (
 rd %%G /s /q
 )
 
+for /d %%G in (".\compiler\android-*") do (
+rd %%G /s /q
+)
+
+for /d %%G in (".\test\compiler\android-*") do (
+rd %%G /s /q
+)
+
+
 pause
diff --git a/NvCloth/compiler/cmake/Linux/NvCloth.cmake b/NvCloth/compiler/cmake/Linux/NvCloth.cmake
index 19038c6..323efd5 100644
--- a/NvCloth/compiler/cmake/Linux/NvCloth.cmake
+++ b/NvCloth/compiler/cmake/Linux/NvCloth.cmake
@@ -7,11 +7,26 @@ MESSAGE("[NvCloth]cmake/linux/NvCloth.cmake")
 SET(GW_DEPS_ROOT $ENV{GW_DEPS_ROOT})
 FIND_PACKAGE(PxShared REQUIRED)
 
+IF(NOT DEFINED NV_CLOTH_ENABLE_CUDA)
+MESSAGE("NV_CLOTH_ENABLE_CUDA is not defined, setting to 0")
+SET(NV_CLOTH_ENABLE_CUDA 0)
+ENDIF()
+IF(NOT DEFINED NV_CLOTH_ENABLE_DX11)
+SET(NV_CLOTH_ENABLE_DX11 0)
+ENDIF()
+
+MESSAGE("NV_CLOTH_ENABLE_CUDA = " ${NV_CLOTH_ENABLE_CUDA})
+
+IF(${NV_CLOTH_ENABLE_CUDA})
+FIND_PACKAGE(CUDA 8 REQUIRED)
+MESSAGE("Found CUDA:" ${CUDA_INCLUDE_DIRS})
+ENDIF()
 
 #FIND_PACKAGE(nvToolsExt REQUIRED)
 
 SET(NVCLOTH_PLATFORM_INCLUDES
 	${NVTOOLSEXT_INCLUDE_DIRS}
+	PRIVATE ${CUDA_INCLUDE_DIRS}
 )
 
 SET(NVCLOTH_PLATFORM_SOURCE_FILES
@@ -20,12 +35,71 @@ SET(NVCLOTH_PLATFORM_SOURCE_FILES
 	#${PROJECT_ROOT_DIR}/src/neon/NeonSolverKernel.cpp
 	#${PROJECT_ROOT_DIR}/src/neon/SwCollisionHelpers.h
 )
+IF(${NV_CLOTH_ENABLE_CUDA})
+LIST(APPEND NVCLOTH_PLATFORM_SOURCE_FILES
+	${PROJECT_ROOT_DIR}/src/cuda/CuCheckSuccess.h
+	${PROJECT_ROOT_DIR}/src/cuda/CuCloth.cpp
+	${PROJECT_ROOT_DIR}/src/cuda/CuCloth.h
+	${PROJECT_ROOT_DIR}/src/cuda/CuClothClone.cpp
+	${PROJECT_ROOT_DIR}/src/cuda/CuClothData.cpp
+	${PROJECT_ROOT_DIR}/src/cuda/CuClothData.h
+	${PROJECT_ROOT_DIR}/src/cuda/CuCollision.h
+	${PROJECT_ROOT_DIR}/src/cuda/CuContextLock.cpp
+	${PROJECT_ROOT_DIR}/src/cuda/CuContextLock.h
+	${PROJECT_ROOT_DIR}/src/cuda/CuDevicePointer.h
+	${PROJECT_ROOT_DIR}/src/cuda/CuDeviceVector.h
+	${PROJECT_ROOT_DIR}/src/cuda/CuFabric.cpp
+	${PROJECT_ROOT_DIR}/src/cuda/CuFabric.h
+	${PROJECT_ROOT_DIR}/src/cuda/CuFactory.cpp
+	${PROJECT_ROOT_DIR}/src/cuda/CuFactory.h
+	${PROJECT_ROOT_DIR}/src/cuda/CuPhaseConfig.h
+	${PROJECT_ROOT_DIR}/src/cuda/CuPinnedAllocator.h
+	${PROJECT_ROOT_DIR}/src/cuda/CuSelfCollision.h
+	${PROJECT_ROOT_DIR}/src/cuda/CuSolver.cpp
+	${PROJECT_ROOT_DIR}/src/cuda/CuSolver.h
+	${PROJECT_ROOT_DIR}/src/cuda/CuSolverKernel.h
+	${PROJECT_ROOT_DIR}/src/cuda/CuSolverKernelBlob.h
+)
+ENDIF()
+
+
+IF(${NV_CLOTH_ENABLE_CUDA})
+set(
+	CUDA_NVCC_FLAGS
+	${CUDA_NVCC_FLAGS};
+
+	# Options are documented on http://docs.nvidia.com/cuda/cuda-compiler-driver-nvcc/index.html#command-option-types-and-notation
+	# Important: to be able to debug CUDA kernel (correct stepping and workable warp watches),
+	# you should add the -G (short for --device-debug) option to the line below.
+	# Don't forget to remove it afterwards, since the code execution will be very slow with this flag.
+	-use_fast_math -ftz=true -prec-div=false -prec-sqrt=false -lineinfo -gencode arch=compute_20,code=sm_20 -gencode arch=compute_30,code=sm_30 -gencode arch=compute_35,code=sm_35 -gencode arch=compute_50,code=sm_50 -gencode arch=compute_50,code=compute_50 -D_USE_MATH_DEFINES -DNDEBUG -DPX_PROFILE=1
+)
+SET(NVCLOTH_CUDA_FILES
+	${PROJECT_ROOT_DIR}/src/cuda/CuSolverKernel.cu
+)
+set(CUDA_BLOB "${PROJECT_ROOT_DIR}/src/cuda/CuSolverKernelBlob.h")
+cuda_include_directories(
+	${PXSHARED_ROOT_DIR}/include
+	${PXSHARED_ROOT_DIR}/src/foundation/include
+	${PROJECT_ROOT_DIR}/include/NvCloth
+)
+cuda_compile_fatbin(CUDA_FATBIN ${NVCLOTH_CUDA_FILES})
+SET(NVCLOTH_PLATFORM_SOURCE_FILES ${NVCLOTH_PLATFORM_SOURCE_FILES} ${CUDA_BLOB} ${NVCLOTH_CUDA_FILES})
+add_custom_command(
+	OUTPUT ${CUDA_BLOB}
+COMMAND ${CUDA_TOOLKIT_ROOT_DIR}/bin/bin2c --name kCuSolverKernel ${CUDA_FATBIN} > ${CUDA_BLOB}
+	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+DEPENDS ${CUDA_FATBIN}
+	VERBATIM
+)
+ENDIF()
+
+
 
 # Use generator expressions to set config specific preprocessor definitions
 SET(NVCLOTH_COMPILE_DEFS
 	NV_CLOTH_IMPORT=PX_DLL_EXPORT
 	NV_CLOTH_ENABLE_DX11=0
-	NV_CLOTH_ENABLE_CUDA=0
 
 	# Common to all configurations
 	${PHYSX_LINUX_COMPILE_DEFS};PX_PHYSX_CORE_EXPORTS
@@ -35,6 +109,15 @@ SET(NVCLOTH_COMPILE_DEFS
 	$<$<CONFIG:profile>:${PHYSX_LINUX_PROFILE_COMPILE_DEFS};PX_PHYSX_DLL_NAME_POSTFIX=PROFILE;>
 	$<$<CONFIG:release>:${PHYSX_LINUX_RELEASE_COMPILE_DEFS};>
 )
+IF(${NV_CLOTH_ENABLE_CUDA})
+LIST(APPEND NVCLOTH_COMPILE_DEFS
+	NV_CLOTH_ENABLE_CUDA=1
+)
+ELSE()
+LIST(APPEND NVCLOTH_COMPILE_DEFS
+	NV_CLOTH_ENABLE_CUDA=0
+)
+ENDIF()
 
 SET(NVCLOTH_LIBTYPE SHARED)
 
@@ -46,6 +129,7 @@ INCLUDE(../common/NvCloth.cmake)
 # TARGET_LINK_LIBRARIES(NvCloth PUBLIC ${NVTOOLSEXT_LIBRARIES} LowLevel LowLevelAABB LowLevelCloth LowLevelDynamics LowLevelParticles PhysXCommon PhysXGpu PxFoundation PxPvdSDK PxTask SceneQuery SimulationController)
 
 TARGET_LINK_LIBRARIES(NvCloth PUBLIC PxFoundation)
+TARGET_LINK_LIBRARIES(NvCloth PUBLIC ${CUDA_CUDA_LIBRARY})
 
 SET_TARGET_PROPERTIES(NvCloth PROPERTIES 
 	LINK_FLAGS_DEBUG ""
diff --git a/NvCloth/compiler/cmake/android/CMakeLists.txt b/NvCloth/compiler/cmake/android/CMakeLists.txt
new file mode 100644
index 0000000..61a6892
--- /dev/null
+++ b/NvCloth/compiler/cmake/android/CMakeLists.txt
@@ -0,0 +1,62 @@
+cmake_minimum_required(VERSION 3.3)
+MESSAGE("[NvCloth]cmake/android/CMakeList.txt")
+include(../common/CMakeLists.txt)
+
+STRING(TOLOWER "${CMAKE_BUILD_TYPE}" CMAKE_BUILD_TYPE_LOWERCASE)
+
+IF(NOT DEFINED TARGET_BUILD_PLATFORM) # Not defined, default to android
+	SET(TARGET_BUILD_PLATFORM "android")
+ENDIF()
+
+SET(PLATFORM_LIST android)
+
+IF (NOT ${TARGET_BUILD_PLATFORM} IN_LIST PLATFORM_LIST)
+	MESSAGE(FATAL_ERROR "Invalid platform:" ${TARGET_BUILD_PLATFORM})
+ENDIF()
+
+if(${ANDROID_ABI} STREQUAL "armeabi-v7a")
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}  -std=c++11 -fno-rtti -fno-exceptions -ffunction-sections -fdata-sections -funwind-tables -fomit-frame-pointer -funswitch-loops -finline-limit=300 -fno-strict-aliasing -fstack-protector -Wno-invalid-offsetof ")
+elseif(${ANDROID_ABI} STREQUAL "armeabi-v7a with NEON")
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fno-rtti -ffast-math -fno-exceptions -ffunction-sections -funwind-tables -fomit-frame-pointer -funswitch-loops -finline-limit=300 -fno-strict-aliasing -fstack-protector -Wno-invalid-offsetof ")
+elseif(${ANDROID_ABI} STREQUAL "arm64-v8a")
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}  -std=c++11 -fno-rtti -fno-exceptions -ffunction-sections -fdata-sections -Wno-invalid-offsetof ")
+elseif(${ANDROID_ABI} STREQUAL "x86")
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}  -std=c++11 -fno-rtti -fno-exceptions -ffunction-sections -fdata-sections -Wno-invalid-offsetof -fpack-struct=8 -malign-double ")
+elseif(${ANDROID_ABI} STREQUAL "x86_64")
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}  -std=c++11 -fno-rtti -fno-exceptions -ffunction-sections -fdata-sections -Wno-invalid-offsetof -mstackrealign -msse3  ")
+endif()
+	
+SET(CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
+SET(CMAKE_CXX_FLAGS_CHECKED "-O3")
+SET(CMAKE_CXX_FLAGS_PROFILE "-O3")
+SET(CMAKE_CXX_FLAGS_RELEASE "-O3")
+
+# a version from pxshared
+#SET(NVCLOTH_ANDROID_COMPILE_DEFS _LIB;__STDC_LIMIT_MACROS;)
+# TODO: __ARM_NEON__;__arm64__ only on supporting archs
+SET(NVCLOTH_ANDROID_COMPILE_DEFS _LIB;__STDC_LIMIT_MACROS;_CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE;PX_NVCLOTH_STATIC_LIB;__ARM_NEON__;__arm64__)
+SET(NVCLOTH_ANDROID_DEBUG_COMPILE_DEFS _DEBUG;PX_DEBUG=1;PX_CHECKED=1)
+SET(NVCLOTH_ANDROID_CHECKED_COMPILE_DEFS NDEBUG;PX_CHECKED=1)
+SET(NVCLOTH_ANDROID_PROFILE_COMPILE_DEFS NDEBUG;PX_PROFILE=1)
+SET(NVCLOTH_ANDROID_RELEASE_COMPILE_DEFS NDEBUG)
+
+
+SET(PX_SELECT_COMPONENTS PxFoundation)
+FIND_PACKAGE(PxShared REQUIRED)
+
+################################################################################
+# TODO
+################################################################################
+# Include the PxShared-exports.cmake file that PxShared created. There's other ways to do this, but there's a bunch of issues with it in a CI environment
+#  such as - we don't want to be installing any built artifacts on this server, etc. So for now we hack it.
+
+# Add PxShared as a dependency so that we can use project references
+#ADD_SUBDIRECTORY(${PXSHARED_ROOT_DIR}/src/compiler/cmake/android "${CMAKE_CURRENT_BINARY_DIR}/pxshared_bin")
+################################################################################
+
+# Include all of the projects
+INCLUDE(NvCloth.cmake)
+
+TARGET_LINK_LIBRARIES(NvCloth PUBLIC PxFoundation)
+
+MESSAGE("[NvCloth]cmake/android/CMakeList.txt END")
\ No newline at end of file
diff --git a/NvCloth/compiler/cmake/android/NvCloth.cmake b/NvCloth/compiler/cmake/android/NvCloth.cmake
new file mode 100644
index 0000000..544a3b5
--- /dev/null
+++ b/NvCloth/compiler/cmake/android/NvCloth.cmake
@@ -0,0 +1,39 @@
+#
+# Build NvCloth
+#
+
+SET(GW_DEPS_ROOT $ENV{GW_DEPS_ROOT})
+
+SET(NVCLOTH_SOURCE_DIR ${PROJECT_SOURCE_DIR}/../../../)
+
+SET(NVCLOTH_PLATFORM_SOURCE_FILES
+	${PROJECT_ROOT_DIR}/src/neon/NeonCollision.cpp
+	${PROJECT_ROOT_DIR}/src/neon/NeonSelfCollision.cpp
+	${PROJECT_ROOT_DIR}/src/neon/NeonSolverKernel.cpp
+	${PROJECT_ROOT_DIR}/src/neon/SwCollisionHelpers.h
+)
+
+SET(NVCLOTH_PLATFORM_INCLUDES
+	${LL_SOURCE_DIR}/include/linux
+	${ANDROID_NDK}/sources/android/cpufeatures
+)
+
+# Use generator expressions to set config specific preprocessor definitions
+SET(NVCLOTH_COMPILE_DEFS 
+	${NVCLOTH_ANDROID_COMPILE_DEFS};
+	NvCloth_STATIC_LIB; # TODO: needed?
+	
+	NV_ANDROID
+	NV_SIMD_SCALAR=1 # always compile scalar paths on android, so we may use them as fallback 
+	NV_CLOTH_IMPORT=PX_DLL_EXPORT
+	NV_CLOTH_ENABLE_DX11=0
+	NV_CLOTH_ENABLE_CUDA=0
+
+	$<$<CONFIG:debug>:${NVCLOTH_ANDROID_DEBUG_COMPILE_DEFS};>
+	$<$<CONFIG:checked>:${NVCLOTH_ANDROID_CHECKED_COMPILE_DEFS};>
+	$<$<CONFIG:profile>:${NVCLOTH_ANDROID_PROFILE_COMPILE_DEFS};>
+	$<$<CONFIG:release>:${NVCLOTH_ANDROID_RELEASE_COMPILE_DEFS};>
+)
+
+# include common low level settings
+INCLUDE(../common/NvCloth.cmake)
diff --git a/NvCloth/compiler/cmake/windows/NvCloth.cmake b/NvCloth/compiler/cmake/windows/NvCloth.cmake
index a867a75..2a757f5 100644
--- a/NvCloth/compiler/cmake/windows/NvCloth.cmake
+++ b/NvCloth/compiler/cmake/windows/NvCloth.cmake
@@ -6,9 +6,11 @@ MESSAGE("[NvCloth]cmake/windows/NvCloth.cmake")
 
 IF(NOT DEFINED NV_CLOTH_ENABLE_CUDA)
 SET(NV_CLOTH_ENABLE_CUDA 1)
+MESSAGE("Setting NV_CLOTH_ENABLE_CUDA 1")
 ENDIF()
 IF(NOT DEFINED NV_CLOTH_ENABLE_DX11)
 SET(NV_CLOTH_ENABLE_DX11 1)
+MESSAGE("Setting NV_CLOTH_ENABLE_DX11 1")
 ENDIF()
 
 SET(GW_DEPS_ROOT $ENV{GW_DEPS_ROOT})
diff --git a/NvCloth/docs/documentation/Compiling/index.html b/NvCloth/docs/documentation/Compiling/index.html
new file mode 100644
index 0000000..90fe4a3
--- /dev/null
+++ b/NvCloth/docs/documentation/Compiling/index.html
@@ -0,0 +1,319 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN"
+  "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+
+
+<html xmlns="http://www.w3.org/1999/xhtml">
+  <head>
+    <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
+    <meta http-equiv="x-ua-compatible" content="IE=Edge"/>
+    
+    <title>Compiling &mdash; NvCloth 1.1.3 documentation</title>
+    
+    <link rel="stylesheet" href="../_static/default.css" type="text/css" />
+    <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
+    <link rel="stylesheet" href="../_static/breathe.css" type="text/css" />
+    <link rel="stylesheet" href="../_static/application.css" type="text/css" />
+    <link rel="stylesheet" href="../_static/styleguide.css" type="text/css" />
+    
+    <script type="text/javascript">
+      var DOCUMENTATION_OPTIONS = {
+        URL_ROOT:    '../',
+        VERSION:     '1.1.3',
+        COLLAPSE_INDEX: false,
+        FILE_SUFFIX: '.html',
+        HAS_SOURCE:  true
+      };
+    </script>
+    <script type="text/javascript" src="../_static/jquery.js"></script>
+    <script type="text/javascript" src="../_static/underscore.js"></script>
+    <script type="text/javascript" src="../_static/doctools.js"></script>
+    <script type="text/javascript" src="http://cdn.mathjax.org/mathjax/latest/MathJax.js?config=TeX-AMS-MML_HTMLorMML"></script>
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+    <script type="text/javascript" src="../_static/jquery.cookie.js"></script>
+    <script type="text/javascript" src="../_static/jquery.storageapi.js"></script>
+    <link rel="top" title="NvCloth 1.1.3 documentation" href="../index.html" />
+    <link rel="next" title="Modules" href="../Modules/Index.html" />
+    <link rel="prev" title="Release Notes" href="../ReleaseNotes/index.html" /> 
+  </head>
+  <body>
+<nav class="navbar navbar-inverse navbar-default">
+  <div class="row">
+      <div class="navbar-brand">
+             <img class="logo" src="../_static/developerzone_gameworks_logo.png" alt="Logo"/>
+      </div>
+<div id="searchbox" style="display: none; float:right; padding-top:4px; padding-right:4px">
+    <form class="search form-inline" action="../search.html" method="get">
+      <div class="form-group">
+      <input type="text" name="q" class="form-control" />
+      <input type="submit" value="Search" class="btn btn-primary" />
+      </div>
+      <input type="hidden" name="check_keywords" value="yes" />
+      <input type="hidden" name="area" value="default" />
+    </form>
+</div>
+<script type="text/javascript">$('#searchbox').show(0);</script>
+  </div>
+</nav>
+<div class="masthead">
+    <div class="row">
+      <ul class="breadcrumb">
+        <li><a href="../index.html">NvCloth 1.1.3 documentation</a></li> 
+      </ul>
+    </div>
+</div>
+<div class="row">
+  <div class="col-md-3 bs-sidenav" style="white-space: nowrap; overflow: auto;">
+<div class="bs-sidebar">
+  <div id="sidebar_toc">
+  <h4>Table Of Contents</h4>
+  <ul class="current">
+<li class="toctree-l1"><a class="reference internal" href="../ReleaseNotes/index.html">Release Notes</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#id1">1.1.3</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#id2">1.1.2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#id3">1.1.1</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#id4">1.1.0</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#id5">1.0.0</a></li>
+</ul>
+</li>
+<li class="toctree-l1 current"><a class="current reference internal" href="">Compiling</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="#windows">Windows</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#linux">Linux</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#mac">Mac</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#android">Android</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../Modules/Index.html">Modules</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../Modules/Index.html#nvcloth">NvCloth</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../Modules/Index.html#nvcloth-extensions">NvCloth extensions</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../UserGuide/Index.html">User Guide</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../UserGuide/Index.html#setup">Setup</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../UserGuide/Index.html#initializing-the-library">Initializing the Library</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../UserGuide/Index.html#factory">Factory</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../UserGuide/Index.html#fabric-cloth">Fabric &amp; Cloth</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../UserGuide/Index.html#fabric">Fabric</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../UserGuide/Index.html#cloth">Cloth</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../UserGuide/Index.html#solver">Solver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../UserGuide/Index.html#retrieving-simulation-data">Retrieving simulation data</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../UserGuide/Index.html#usage">Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../UserGuide/Index.html#common-cloth-properties">Common cloth properties</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../UserGuide/Index.html#tethers">Tethers</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../UserGuide/Index.html#collision-detection">Collision detection</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../UserGuide/Index.html#local-space-simulation">Local space simulation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../UserGuide/Index.html#drag-lift-and-wind">Drag lift and wind</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../CopyRight/Index.html">NVIDIA Copyright Notice</a></li>
+</ul>
+
+  </div>
+  <h4>Previous topic</h4>
+  <p class="topless"><a href="../ReleaseNotes/index.html"
+                        title="previous chapter">Release Notes</a></p>
+  <h4>Next topic</h4>
+  <p class="topless"><a href="../Modules/Index.html"
+                        title="next chapter">Modules</a></p>
+<div id="searchbox" style="display: none">
+  <h4>Quick search</h4>
+    <form class="search form-inline" action="../search.html" method="get">
+      <div class="form-group">
+      <input type="text" name="q" class="form-control" />
+      <input type="submit" value="Search" class="btn btn-primary" />
+      </div>
+      <input type="hidden" name="check_keywords" value="yes" />
+      <input type="hidden" name="area" value="default" />
+    </form>
+    <p class="searchtip" style="font-size: 90%">
+    Enter search terms or a module, class or function name.
+    </p>
+</div>
+<script type="text/javascript">$('#searchbox').show(0);</script>
+</div>
+  </div>
+    <div class="document col-md-8">
+          <div class="body">
+            
+  <div class="section" id="compiling">
+<h1>Compiling<a class="headerlink" href="#compiling" title="Permalink to this headline">¶</a></h1>
+<p>Cmake is automatically obtained using nvidia&#8217;s packman scripts for all platforms (except for Android).
+Internet connection is required for this.</p>
+<div class="section" id="windows">
+<h2>Windows<a class="headerlink" href="#windows" title="Permalink to this headline">¶</a></h2>
+<p>For windows: Download and install the following dependencies:</p>
+<ul class="simple">
+<li>Visual studio 12 or later (2013 or later)</li>
+<li>Windows 8.1 sdk <a class="reference external" href="https://developer.microsoft.com/en-us/windows/downloads/windows-8-1-sdk">https://developer.microsoft.com/en-us/windows/downloads/windows-8-1-sdk</a></li>
+<li>CUDA sdk <a class="reference external" href="https://developer.nvidia.com/cuda-downloads">https://developer.nvidia.com/cuda-downloads</a> (version 8 or later)</li>
+</ul>
+<p>Edit <tt class="code docutils literal"><span class="pre">scripts/locate_cuda.bat</span></tt> to point to the CUDA installation folder (that contains the bin, include and lib folder), edit <tt class="code docutils literal"><span class="pre">scripts/locate_win8sdk.bat</span></tt> to point to the windows SDK (<tt class="code docutils literal"><span class="pre">C:\Program</span> <span class="pre">Files</span> <span class="pre">(x86)\Windows</span> <span class="pre">Kits\8.1</span></tt> by default)</p>
+<p>Run <tt class="code docutils literal"><span class="pre">CmakeGenerateAll.bat</span></tt> to generate the visual studio solution files in <tt class="code docutils literal"><span class="pre">compiler/vcXXwinXX-cmake/</span></tt>.
+Run <tt class="code docutils literal"><span class="pre">samples/CmakeGenerateProjects.bat</span></tt> to generate the visual studio solution files in <tt class="code docutils literal"><span class="pre">samples/compiler/vcXXwinXX-cmake/</span></tt>.
+For example Visual Studio 2015 solution with 64-bit target processor will be placed to <tt class="code docutils literal"><span class="pre">compiler/vc14win64-cmake/</span></tt> folder.
+Then open <tt class="code docutils literal"><span class="pre">NvCloth.sln</span></tt>, choose the release/debug configuration and build the solution. The library binaries will be put to the <tt class="code docutils literal"><span class="pre">bin</span></tt> folder next to the <tt class="code docutils literal"><span class="pre">compiler</span></tt> folder.</p>
+<p>The above project generation script has optional command line arguments to control whether CUDA/DX11 solvers should be enabled:</p>
+<div class="highlight-python"><pre>CmakeGenerateProjects.bat &lt;0|1:use_cuda (default is 1)&gt; &lt;0|1:use_dx11 (default is 1)&gt;</pre>
+</div>
+<p>E.g.:</p>
+<div class="highlight-python"><pre>CmakeGenerateProjects.bat 1 0</pre>
+</div>
+<p>will include CUDA solver into the compilation but exclude the DX11 solver.</p>
+</div>
+<div class="section" id="linux">
+<h2>Linux<a class="headerlink" href="#linux" title="Permalink to this headline">¶</a></h2>
+<p>Run <tt class="code docutils literal"><span class="pre">GenerateProjectsLinux.sh</span></tt> to generate make files in <tt class="code docutils literal"><span class="pre">compiler/linux64-XXXXX-cmake/</span></tt></p>
+<p>Enable or disable CUDA support by simply changing the following line in the <tt class="code docutils literal"><span class="pre">BuildProjectsLinux.sh</span></tt> script included to the distribution:</p>
+<div class="highlight-python"><pre>export USE_CUDA=0 # 0 for disable 1 for enable</pre>
+</div>
+<p>Run <tt class="code docutils literal"><span class="pre">BuildProjectsLinux.sh</span></tt> script. It will generate various makefile-based projects in the <tt class="code docutils literal"><span class="pre">compiler</span></tt> folder.
+Choose the one you need, e.g.:</p>
+<div class="highlight-python"><pre>cd compiler/linux64-release-cmake</pre>
+</div>
+<p>then run the build process (using 5 compilation processes in parallel):</p>
+<div class="highlight-python"><div class="highlight"><pre><span class="n">make</span> <span class="o">--</span><span class="n">jobs</span><span class="o">=</span><span class="mi">5</span>
+</pre></div>
+</div>
+<p>The library binaries will be put to the <tt class="code docutils literal"><span class="pre">bin</span></tt> folder next to the <tt class="code docutils literal"><span class="pre">compiler</span></tt> folder.</p>
+<p><strong>Note:</strong> In case you run the Linux project generation scripts <tt class="code docutils literal"><span class="pre">GenerateProjectsLinux.sh</span></tt> and see an error like this:</p>
+<div class="highlight-python"><pre>env: bash\r: No such file or directory</pre>
+</div>
+<p>this command will help to fix the line endings:</p>
+<div class="highlight-python"><pre>sed $'s/\r$//' GenerateProjectsLinux.sh &gt; GenerateProjectsLinux.sh.fixed &amp;&amp; mv GenerateProjectsLinux.sh.fixed GenerateProjectsLinux.sh &amp;&amp; chmod +x GenerateProjectsLinux.sh</pre>
+</div>
+<p>or use your favorite text editor.</p>
+</div>
+<div class="section" id="mac">
+<h2>Mac<a class="headerlink" href="#mac" title="Permalink to this headline">¶</a></h2>
+<p>Running <tt class="code docutils literal"><span class="pre">BuildProjectsOsx.sh</span></tt> will generate various xcode-based projects in the <tt class="code docutils literal"><span class="pre">compiler</span></tt> folder.
+Choose the one you need, e.g. <tt class="code docutils literal"><span class="pre">cd</span> <span class="pre">compiler/osx64-cmake</span></tt>, open the project in XCode and build inside the IDE.</p>
+<p>The library binaries will be put to the <tt class="code docutils literal"><span class="pre">bin</span></tt> folder next to the <tt class="code docutils literal"><span class="pre">compiler</span></tt> folder.</p>
+<p><strong>Note:</strong> In case if you run the Mac project generation scripts GenerateProjectsOsx.sh and see an error like this:</p>
+<div class="highlight-python"><pre>env: bash\r: No such file or directory</pre>
+</div>
+<p>this command will help to fix the line endings:</p>
+<div class="highlight-python"><pre>sed $'s/\r$//' GenerateProjectsOsx.sh &gt; GenerateProjectsOsx.sh.fixed &amp;&amp; mv GenerateProjectsOsx.sh.fixed GenerateProjectsOsx.sh &amp;&amp; chmod +x GenerateProjectsOsx.sh</pre>
+</div>
+</div>
+<div class="section" id="android">
+<h2>Android<a class="headerlink" href="#android" title="Permalink to this headline">¶</a></h2>
+<p>Download and install CMake 3.7 from <a class="reference external" href="https://cmake.org/download/">https://cmake.org/download/</a>. Edit <tt class="code docutils literal"><span class="pre">scripts/locate_cmake.bat</span></tt> to point to the cmake executable.</p>
+<p>Download NDK from <a class="reference external" href="https://developer.android.com/ndk/downloads/index.html">https://developer.android.com/ndk/downloads/index.html</a> (tested versions are r15c, r13b, r12b). Set <tt class="code docutils literal"><span class="pre">ANDROID_NDK_ROOT</span></tt> environment variable to point to the root NDK folder.
+Run project generation script:</p>
+<div class="highlight-python"><pre>CmakeGenerateAndroid.bat release</pre>
+</div>
+<p>You need <tt class="code docutils literal"><span class="pre">cmake</span></tt> to be in your PATH.</p>
+<p>Go to <tt class="code docutils literal"><span class="pre">compiler\android-arm64-v8a-release-cmake</span></tt> folder and run:</p>
+<div class="highlight-python"><pre>cmake --build .  -- -j5</pre>
+</div>
+<p>The library binaries will be put to the <tt class="code docutils literal"><span class="pre">bin</span></tt> folder next to the <tt class="code docutils literal"><span class="pre">compiler</span></tt> folder.</p>
+<p><strong>Note:</strong> To be able to build the Android binaries using CMake you need to make sure a certain folders in your NDK point to needed binaries.
+Specifically, you need to create a symlink/copy/rename:</p>
+<div class="highlight-python"><pre>&lt;path_to_android_ndk&gt;/toolchains/aarch64-linux-android-4.9/prebuilt/windows</pre>
+</div>
+<p>to:</p>
+<div class="highlight-python"><pre>&lt;path_to_android_ndk&gt;/toolchains/aarch64-linux-android-4.9/prebuilt/windows-x86_64</pre>
+</div>
+<p>Newer NDK versions might not require doing that at all, but some versions do.</p>
+</div>
+</div>
+
+
+          </div>
+      <div class="clearer"></div>
+    </div>
+    <div class="col-md-1"></div>
+</div>
+<div class="masthead">
+    <div class="row">
+      <ul class="breadcrumb">
+        <li><a href="../index.html">NvCloth 1.1.3 documentation</a></li> 
+      </ul>
+    </div>
+</div>
+
+<footer>
+    <div class="footer-boilerplate">
+        <div class="row">
+            <div class="boilerplate">
+                Copyright &copy; 2014, NVIDIA Corporation &nbsp; | &nbsp; <a href="http://www.nvidia.com/object/about-nvidia.html" onclick="s_objectID=&quot;http://www.nvidia.com/object/about-nvidia.html_1&quot;;return this.s_oc?this.s_oc(e):true">About NVIDIA </a>&nbsp; | &nbsp; <a href="http://www.nvidia.com/object/legal_info.html" onclick="s_objectID=&quot;http://www.nvidia.com/object/legal_info.html_1&quot;;return this.s_oc?this.s_oc(e):true">Legal Information </a>&nbsp; | &nbsp; <a href="http://www.nvidia.com/object/privacy_policy.html" onclick="s_objectID=&quot;http://www.nvidia.com/object/privacy_policy.html_1&quot;;return this.s_oc?this.s_oc(e):true">Privacy Policy </a>
+            </div>
+        </div>
+    </div>
+</div>
+</footer>
+
+
+<script type="text/x-mathjax-config">
+  MathJax.Hub.Config({
+    extensions: ["tex2jax.js"],
+    jax: ["input/TeX", "output/HTML-CSS"],
+    tex2jax: {
+      processEscapes: true,
+      skipTags: ["script","noscript","style","textarea"]
+    },
+    "HTML-CSS": { availableFonts: ["TeX"] },
+    TeX: {
+        Macros: {
+          Lrg: ['\\displaystyle{#1}', 1, ""]
+        }
+      }
+  });
+</script>
+
+
+<script type="text/javascript" async
+  src="http://cdn.mathjax.org/mathjax/latest/MathJax.js?config=TeX-MML-AM_CHTML">
+</script>
+
+<script>
+var treestatename = 'GWDocsTreeState';
+var protocol = location.href.split('/')[0].toLowerCase();
+var storage;
+if (protocol.substring(0,4) == 'http') {
+  storage = $.cookieStorage;
+  storage.setPath('/');
+} else {
+  storage = $.localStorage;
+}
+
+if (storage.isEmpty(treestatename)) {
+  storage.set(treestatename, {});
+}
+
+var treestate = storage.get(treestatename);
+
+$.each($("#sidebar_toc ul li"), toc_walker);
+
+function toc_walker(key, value) {
+    var handleSpan = $("<span></span>")
+        .addClass("toc_handle").prependTo(value);
+    handleSpan.attr("id", $(value).closest("div").attr("id") + "." + key);
+
+    if($(value).has("ul li").size() > 0) {
+        var id = handleSpan.attr("id");
+        if (!(id in treestate)) {
+          treestate[id] = false;
+        }
+        handleSpan.addClass("toc_expanded").click(function() {
+            $(this).toggleClass("toc_expanded toc_collapsed").siblings("ul").toggle();
+            treestate[$(this).attr('id')] = $(this).hasClass('toc_expanded');
+            storage.set(treestatename, treestate);
+        });
+        if(!($(this).hasClass('current') || treestate[id])) {
+            handleSpan.click();
+        }
+        if($(this).hasClass('current')) {
+            treestate[handleSpan.attr('id')] = handleSpan.hasClass('toc_expanded');
+            storage.set(treestatename, treestate);
+        }
+    }
+}
+</script>
+  </body>
+</html>
\ No newline at end of file
diff --git a/NvCloth/docs/documentation/CopyRight/Index.html b/NvCloth/docs/documentation/CopyRight/Index.html
index a570acb..3aa2c88 100644
--- a/NvCloth/docs/documentation/CopyRight/Index.html
+++ b/NvCloth/docs/documentation/CopyRight/Index.html
@@ -7,7 +7,7 @@
     <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
     <meta http-equiv="x-ua-compatible" content="IE=Edge"/>
     
-    <title>NVIDIA Copyright Notice &mdash; NvCloth 1.0.0 documentation</title>
+    <title>NVIDIA Copyright Notice &mdash; NvCloth 1.1.3 documentation</title>
     
     <link rel="stylesheet" href="../_static/default.css" type="text/css" />
     <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
@@ -18,7 +18,7 @@
     <script type="text/javascript">
       var DOCUMENTATION_OPTIONS = {
         URL_ROOT:    '../',
-        VERSION:     '1.0.0',
+        VERSION:     '1.1.3',
         COLLAPSE_INDEX: false,
         FILE_SUFFIX: '.html',
         HAS_SOURCE:  true
@@ -31,7 +31,7 @@
     <script type="text/javascript" src="../_static/bootstrap.js"></script>
     <script type="text/javascript" src="../_static/jquery.cookie.js"></script>
     <script type="text/javascript" src="../_static/jquery.storageapi.js"></script>
-    <link rel="top" title="NvCloth 1.0.0 documentation" href="../index.html" />
+    <link rel="top" title="NvCloth 1.1.3 documentation" href="../index.html" />
     <link rel="prev" title="User Guide" href="../UserGuide/Index.html" /> 
   </head>
   <body>
@@ -56,7 +56,7 @@
 <div class="masthead">
     <div class="row">
       <ul class="breadcrumb">
-        <li><a href="../index.html">NvCloth 1.0.0 documentation</a></li> 
+        <li><a href="../index.html">NvCloth 1.1.3 documentation</a></li> 
       </ul>
     </div>
 </div>
@@ -67,11 +67,18 @@
   <h4>Table Of Contents</h4>
   <ul class="current">
 <li class="toctree-l1"><a class="reference internal" href="../ReleaseNotes/index.html">Release Notes</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#fixes">Fixes</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#new-features">New Features</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#supported-platforms">Supported Platforms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#supported-compilers">Supported Compilers</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#known-issues">Known Issues</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#id1">1.1.3</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#id2">1.1.2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#id3">1.1.1</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#id4">1.1.0</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#id5">1.0.0</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../Compiling/index.html">Compiling</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../Compiling/index.html#windows">Windows</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../Compiling/index.html#linux">Linux</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../Compiling/index.html#mac">Mac</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../Compiling/index.html#android">Android</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../Modules/Index.html">Modules</a><ul>
@@ -150,7 +157,7 @@ license agreement from NVIDIA CORPORATION is strictly prohibited.</p>
 <div class="masthead">
     <div class="row">
       <ul class="breadcrumb">
-        <li><a href="../index.html">NvCloth 1.0.0 documentation</a></li> 
+        <li><a href="../index.html">NvCloth 1.1.3 documentation</a></li> 
       </ul>
     </div>
 </div>
diff --git a/NvCloth/docs/documentation/Modules/Index.html b/NvCloth/docs/documentation/Modules/Index.html
index a959e4c..e65c6ff 100644
--- a/NvCloth/docs/documentation/Modules/Index.html
+++ b/NvCloth/docs/documentation/Modules/Index.html
@@ -7,7 +7,7 @@
     <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
     <meta http-equiv="x-ua-compatible" content="IE=Edge"/>
     
-    <title>Modules &mdash; NvCloth 1.0.0 documentation</title>
+    <title>Modules &mdash; NvCloth 1.1.3 documentation</title>
     
     <link rel="stylesheet" href="../_static/default.css" type="text/css" />
     <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
@@ -18,7 +18,7 @@
     <script type="text/javascript">
       var DOCUMENTATION_OPTIONS = {
         URL_ROOT:    '../',
-        VERSION:     '1.0.0',
+        VERSION:     '1.1.3',
         COLLAPSE_INDEX: false,
         FILE_SUFFIX: '.html',
         HAS_SOURCE:  true
@@ -31,9 +31,9 @@
     <script type="text/javascript" src="../_static/bootstrap.js"></script>
     <script type="text/javascript" src="../_static/jquery.cookie.js"></script>
     <script type="text/javascript" src="../_static/jquery.storageapi.js"></script>
-    <link rel="top" title="NvCloth 1.0.0 documentation" href="../index.html" />
+    <link rel="top" title="NvCloth 1.1.3 documentation" href="../index.html" />
     <link rel="next" title="User Guide" href="../UserGuide/Index.html" />
-    <link rel="prev" title="Release Notes" href="../ReleaseNotes/index.html" /> 
+    <link rel="prev" title="Compiling" href="../Compiling/index.html" /> 
   </head>
   <body>
 <nav class="navbar navbar-inverse navbar-default">
@@ -57,7 +57,7 @@
 <div class="masthead">
     <div class="row">
       <ul class="breadcrumb">
-        <li><a href="../index.html">NvCloth 1.0.0 documentation</a></li> 
+        <li><a href="../index.html">NvCloth 1.1.3 documentation</a></li> 
       </ul>
     </div>
 </div>
@@ -68,11 +68,18 @@
   <h4>Table Of Contents</h4>
   <ul class="current">
 <li class="toctree-l1"><a class="reference internal" href="../ReleaseNotes/index.html">Release Notes</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#fixes">Fixes</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#new-features">New Features</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#supported-platforms">Supported Platforms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#supported-compilers">Supported Compilers</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#known-issues">Known Issues</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#id1">1.1.3</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#id2">1.1.2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#id3">1.1.1</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#id4">1.1.0</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#id5">1.0.0</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../Compiling/index.html">Compiling</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../Compiling/index.html#windows">Windows</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../Compiling/index.html#linux">Linux</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../Compiling/index.html#mac">Mac</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../Compiling/index.html#android">Android</a></li>
 </ul>
 </li>
 <li class="toctree-l1 current"><a class="current reference internal" href="">Modules</a><ul>
@@ -108,8 +115,8 @@
 
   </div>
   <h4>Previous topic</h4>
-  <p class="topless"><a href="../ReleaseNotes/index.html"
-                        title="previous chapter">Release Notes</a></p>
+  <p class="topless"><a href="../Compiling/index.html"
+                        title="previous chapter">Compiling</a></p>
   <h4>Next topic</h4>
   <p class="topless"><a href="../UserGuide/Index.html"
                         title="next chapter">User Guide</a></p>
@@ -156,7 +163,7 @@ Users that want to use their own cooking or offline cooking can bypass these fun
 <div class="masthead">
     <div class="row">
       <ul class="breadcrumb">
-        <li><a href="../index.html">NvCloth 1.0.0 documentation</a></li> 
+        <li><a href="../index.html">NvCloth 1.1.3 documentation</a></li> 
       </ul>
     </div>
 </div>
diff --git a/NvCloth/docs/documentation/NvCloth.html b/NvCloth/docs/documentation/NvCloth.html
deleted file mode 100644
index 1c86187..0000000
--- a/NvCloth/docs/documentation/NvCloth.html
+++ /dev/null
@@ -1,140 +0,0 @@
-
-
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN"
-  "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
-
-<html xmlns="http://www.w3.org/1999/xhtml">
-  <head>
-    <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
-    
-    <title>NVIDIA(R) NvCloth Documentation &mdash; NVIDIA NvCloth Documentation</title>
-    <link rel="stylesheet" href="_static/nvidia.css" type="text/css" />
-    <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
-    <link rel="stylesheet" href="_static/custom.css" type="text/css" />
-    <script type="text/javascript">
-      var DOCUMENTATION_OPTIONS = {
-        URL_ROOT:    '',
-        VERSION:     '0.0',
-        COLLAPSE_INDEX: false,
-        FILE_SUFFIX: '.html',
-        HAS_SOURCE:  true
-      };
-    </script>
-    <script type="text/javascript" src="_static/jquery.js"></script>
-    <script type="text/javascript" src="_static/underscore.js"></script>
-    <script type="text/javascript" src="_static/doctools.js"></script>
-    <link rel="top" title="NVIDIA NvCloth Documentation" href="index.html" />
-    <link rel="next" title="Modules" href="Modules/Index.html" /> 
-  </head>
-  <body>
-    <div class="related">
-      <h3>Navigation</h3>
-      <ul>
-        <li class="right" style="margin-right: 10px">
-          <a href="Modules/Index.html" title="Modules"
-             accesskey="N">next</a></li>
-        <li><a href="#">NVIDIA NvCloth Documentation</a> &raquo;</li> 
-      </ul>
-    </div>  
-
-    <div class="document">
-      <div class="documentwrapper">
-        <div class="bodywrapper">
-          <div class="body">
-            
-  <div class="section" id="nvidia-r-nvcloth-documentation">
-<h1>NVIDIA(R) NvCloth Documentation<a class="headerlink" href="#nvidia-r-nvcloth-documentation" title="Permalink to this headline">¶</a></h1>
-<blockquote>
-<p>(NVIDIA(R) NvCloth)</p>
-<p>Contents:</p>
-<div class="toctree-wrapper compound">
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="Modules/Index.html">Modules</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="Modules/Index.html#nvcloth">NvCloth</a></li>
-<li class="toctree-l2"><a class="reference internal" href="Modules/Index.html#nvcloth-extensions">NvCloth extensions</a></li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="UsersGuide/Index.html">Users guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="UsersGuide/Index.html#setup">Setup</a></li>
-<li class="toctree-l2"><a class="reference internal" href="UsersGuide/Index.html#usage">Usage</a></li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="CopyRight/Index.html">NVIDIA Copyright Notice</a></li>
-</ul>
-</div>
-</blockquote>
-</div>
-
-
-          </div>
-        </div>
-      </div>
-      <div class="sphinxsidebar">
-        <div class="sphinxsidebarwrapper">
-  <h4>Next topic</h4>
-  <p class="topless"><a href="Modules/Index.html"
-                        title="next chapter">Modules</a></p>
-<div id="searchbox" style="display: none">
-  <h3>Quick search</h3>
-    <form class="search" action="search.html" method="get">
-      <input type="text" name="q" size="18" />
-      <input type="submit" value="Go" />
-      <input type="hidden" name="check_keywords" value="yes" />
-      <input type="hidden" name="area" value="default" />
-    </form>
-    <p class="searchtip" style="font-size: 90%">
-    Enter search terms or a module, class or function name.
-    </p>
-</div>
-<script type="text/javascript">$('#searchbox').show(0);</script>
-        </div>
-      </div>
-      <div class="clearer"></div>
-    </div>
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-      <h3>Navigation</h3>
-      <ul>
-        <li class="right" style="margin-right: 10px">
-          <a href="Modules/Index.html" title="Modules"
-             >next</a></li>
-        <li><a href="#">NVIDIA NvCloth Documentation</a> &raquo;</li> 
-      </ul>
-    </div>
-
- <script type="text/javascript">
-    $(document).ready(function() {
-        $(".toggle > *").hide();
-        $(".toggle .header").show();
-        $(".toggle .header").click(function() {
-            $(this).parent().children().not(".header").toggle(400);
-            $(this).parent().children(".header").toggleClass("open");
-        })
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-<script type="text/x-mathjax-config">
-  MathJax.Hub.Config({
-    extensions: ["tex2jax.js"],
-    jax: ["input/TeX", "output/HTML-CSS"],
-    tex2jax: {
-      processEscapes: true,
-      skipTags: ["script","noscript","style","textarea"]
-    },
-    "HTML-CSS": { availableFonts: ["TeX"] },
-    TeX: {
-        Macros: {
-          Lrg: ['\\displaystyle{#1}', 1, ""]
-        }
-      }
-  });
-</script>
-
-
-<script type="text/javascript" async
-  src="http://cdn.mathjax.org/mathjax/latest/MathJax.js?config=TeX-MML-AM_CHTML">
-</script>
-
-
-  </body>
-</html>
\ No newline at end of file
diff --git a/NvCloth/docs/documentation/ReleaseNotes/index.html b/NvCloth/docs/documentation/ReleaseNotes/index.html
index 214a7db..694273a 100644
--- a/NvCloth/docs/documentation/ReleaseNotes/index.html
+++ b/NvCloth/docs/documentation/ReleaseNotes/index.html
@@ -7,7 +7,7 @@
     <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
     <meta http-equiv="x-ua-compatible" content="IE=Edge"/>
     
-    <title>Release Notes &mdash; NvCloth 1.0.0 documentation</title>
+    <title>Release Notes &mdash; NvCloth 1.1.3 documentation</title>
     
     <link rel="stylesheet" href="../_static/default.css" type="text/css" />
     <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
@@ -18,7 +18,7 @@
     <script type="text/javascript">
       var DOCUMENTATION_OPTIONS = {
         URL_ROOT:    '../',
-        VERSION:     '1.0.0',
+        VERSION:     '1.1.3',
         COLLAPSE_INDEX: false,
         FILE_SUFFIX: '.html',
         HAS_SOURCE:  true
@@ -31,8 +31,8 @@
     <script type="text/javascript" src="../_static/bootstrap.js"></script>
     <script type="text/javascript" src="../_static/jquery.cookie.js"></script>
     <script type="text/javascript" src="../_static/jquery.storageapi.js"></script>
-    <link rel="top" title="NvCloth 1.0.0 documentation" href="../index.html" />
-    <link rel="next" title="Modules" href="../Modules/Index.html" />
+    <link rel="top" title="NvCloth 1.1.3 documentation" href="../index.html" />
+    <link rel="next" title="Compiling" href="../Compiling/index.html" />
     <link rel="prev" title="NvCloth" href="../index.html" /> 
   </head>
   <body>
@@ -57,7 +57,7 @@
 <div class="masthead">
     <div class="row">
       <ul class="breadcrumb">
-        <li><a href="../index.html">NvCloth 1.0.0 documentation</a></li> 
+        <li><a href="../index.html">NvCloth 1.1.3 documentation</a></li> 
       </ul>
     </div>
 </div>
@@ -68,11 +68,18 @@
   <h4>Table Of Contents</h4>
   <ul class="current">
 <li class="toctree-l1 current"><a class="current reference internal" href="">Release Notes</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="#fixes">Fixes</a></li>
-<li class="toctree-l2"><a class="reference internal" href="#new-features">New Features</a></li>
-<li class="toctree-l2"><a class="reference internal" href="#supported-platforms">Supported Platforms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="#supported-compilers">Supported Compilers</a></li>
-<li class="toctree-l2"><a class="reference internal" href="#known-issues">Known Issues</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#id1">1.1.3</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#id2">1.1.2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#id3">1.1.1</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#id4">1.1.0</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#id5">1.0.0</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../Compiling/index.html">Compiling</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../Compiling/index.html#windows">Windows</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../Compiling/index.html#linux">Linux</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../Compiling/index.html#mac">Mac</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../Compiling/index.html#android">Android</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../Modules/Index.html">Modules</a><ul>
@@ -111,8 +118,8 @@
   <p class="topless"><a href="../index.html"
                         title="previous chapter">NvCloth</a></p>
   <h4>Next topic</h4>
-  <p class="topless"><a href="../Modules/Index.html"
-                        title="next chapter">Modules</a></p>
+  <p class="topless"><a href="../Compiling/index.html"
+                        title="next chapter">Compiling</a></p>
 <div id="searchbox" style="display: none">
   <h4>Quick search</h4>
     <form class="search form-inline" action="../search.html" method="get">
@@ -135,88 +142,89 @@
             
   <div class="section" id="release-notes">
 <h1>Release Notes<a class="headerlink" href="#release-notes" title="Permalink to this headline">¶</a></h1>
-<div class="section" id="fixes">
-<h2>Fixes<a class="headerlink" href="#fixes" title="Permalink to this headline">¶</a></h2>
-<p><strong>1.1.2</strong></p>
-<ul class="simple">
-<li>Dynamic allocations at runtime removed from MovingAverage.</li>
-<li>Possible error when starting samples due to gpu incompatible with dx debug mode.</li>
-<li>Cuda crash on older hardware.</li>
-</ul>
-<p><strong>1.1.1</strong></p>
+<div class="section" id="id1">
+<h2>1.1.3<a class="headerlink" href="#id1" title="Permalink to this headline">¶</a></h2>
+<p>Supported platforms:</p>
 <ul class="simple">
-<li>Air drag/lift did react to flow speed only linearly, model was changed to be more physically correct.</li>
-<li>Fixed issue where scaling units would result in different air drag/lift behavior (by adding fluid density parameter).</li>
-<li>Fixed &#8220;unused typedef <cite>__t100</cite>&#8221; warning in xcode.</li>
+<li>Windows (CPU, CUDA, DX11)</li>
+<li>Mac (beta, tested on Sierra)</li>
+<li>Linux (beta, tested on Ubuntu 16.04.1 LTS x64)</li>
+<li>PlayStation 4 (beta) with PS4 SDK 4.5</li>
+<li>Xbox one (CPU, DX11, beta)</li>
+<li>Android (arm64-v8a, API &gt;= 21), tested on Shield TV</li>
 </ul>
-<p><strong>1.1.0</strong></p>
+<p>Note: beta platforms are not yet optimized.</p>
+<p>Supported compilers (via cmake 3.7)</p>
 <ul class="simple">
-<li>DirectX 11 solver now supports triangle collision shapes and air drag/lift.</li>
-<li>Fixed bug where changing friction on cloth already in simulation would cause assert or crash.</li>
-<li>Optimization flag now working on PS4 release build.</li>
+<li>Windows: Visual Studio 12, 14 (2013, 2015)</li>
+<li>Linux: gcc 5.4 (only x64)</li>
+<li>Mac: xcode</li>
+<li>PlayStation 4: Visual studio 14 (2015)</li>
+<li>Xbox one: Visual studio 14 (2015)</li>
+<li>Android: NDK r12b and above</li>
 </ul>
-</div>
-<div class="section" id="new-features">
-<h2>New Features<a class="headerlink" href="#new-features" title="Permalink to this headline">¶</a></h2>
-<p><strong>1.1.2</strong></p>
+<p>Fixed:</p>
 <ul class="simple">
-<li>Added cmake flags to disable dx11 and/or cuda support.</li>
+<li>Incorrect assertion in ClothImpl::setFluidDensity.</li>
+<li>Make the simulation with MultithreadedSolverHelper work when no cloth present in the solver.</li>
+<li>Correct number of simulation chunks calculation for DX11/CUDA solvers when no cloths were added to the solver.</li>
+<li>Cuda wind simulation crashed on older hardware.</li>
+<li>Internal simd library now lives inside the nv::cloth namespace to avoid issues when statically linked with PhysX.</li>
 </ul>
-<p><strong>1.1.0</strong></p>
+<p>New:</p>
 <ul class="simple">
-<li>Solver::getNumCloths and Solver::getClothList interface.</li>
-<li>Improved samples (new scenes and debug visualization)</li>
-</ul>
-<p><strong>1.0.0</strong></p>
-<ul class="simple">
-<li>Initial release of NvCloth</li>
-<li>Stiffness per constraint feature</li>
-<li>New wind (air drag/lift) implementation</li>
+<li>Introduce addCloths() method for all the solvers, which allows to perform a fast batch addition of multiple cloths.</li>
+<li>Cuda support on linux (experimental)</li>
+<li>Android support</li>
 </ul>
+<p>Known issues:
+- DirectX 11 solver has issues with ccd sphere/capsule collision.</p>
 </div>
-<div class="section" id="supported-platforms">
-<h2>Supported Platforms<a class="headerlink" href="#supported-platforms" title="Permalink to this headline">¶</a></h2>
-<p><strong>1.1.0</strong></p>
+<div class="section" id="id2">
+<h2>1.1.2<a class="headerlink" href="#id2" title="Permalink to this headline">¶</a></h2>
+<p>Fixed:</p>
 <ul class="simple">
-<li>Windows (CPU, CUDA, DX11, RenderCloth)</li>
-<li>Mac (beta, tested on Sierra, RenderCloth)</li>
-<li>Linux (beta, tested on Ubuntu 16.04.1 LTS x64)</li>
-<li>PlayStation 4 (beta) with PS4 4.5 SDK</li>
-<li>Xbox one (CPU, DX11, beta)</li>
+<li>Dynamic allocations at runtime removed from MovingAverage.</li>
+<li>Possible error when starting samples due to gpu incompatible with dx debug mode.</li>
 </ul>
-<p>Note: beta platforms are not yet optimized.</p>
-<p><strong>1.0.0</strong></p>
+<p>New:</p>
 <ul class="simple">
-<li>Windows (CPU, CUDA, DX11, RenderCloth)</li>
-<li>Mac (beta, tested on Sierra, RenderCloth)</li>
-<li>Linux (beta, tested on Ubuntu 16.04.1 LTS x64)</li>
-<li>PlayStation 4 (beta)</li>
-<li>Xbox one (CPU, DX11, beta)</li>
+<li>Added cmake flags to disable dx11 and/or cuda support.</li>
 </ul>
-<p>Note: beta platforms are not yet optimized.</p>
+<p>Known issues:
+- DirectX 11 solver has issues with ccd sphere/capsule collision.</p>
 </div>
-<div class="section" id="supported-compilers">
-<h2>Supported Compilers<a class="headerlink" href="#supported-compilers" title="Permalink to this headline">¶</a></h2>
-<p><strong>1.0.0</strong></p>
-<p>Using cmake 3.7</p>
+<div class="section" id="id3">
+<h2>1.1.1<a class="headerlink" href="#id3" title="Permalink to this headline">¶</a></h2>
+<p>Fixed:</p>
 <ul class="simple">
-<li>Windows: Visual Studio 12, 14 (2013, 2015)</li>
-<li>Linux: gcc (only x64)</li>
-<li>Mac: xcode</li>
-<li>PlayStation 4: Visual studio 14 (2015)</li>
-<li>Xbox one: Visual studio 14 (2015)</li>
+<li>Air drag/lift did react to flow speed only linearly, model was changed to be more physically correct.</li>
+<li>Fixed issue where scaling units would result in different air drag/lift behavior (by adding fluid density parameter).</li>
+<li>Fixed &#8220;unused typedef <cite>__t100</cite>&#8221; warning in xcode.</li>
 </ul>
+<p>Known issues:
+- DirectX 11 solver has issues with ccd sphere/capsule collision.</p>
 </div>
-<div class="section" id="known-issues">
-<h2>Known Issues<a class="headerlink" href="#known-issues" title="Permalink to this headline">¶</a></h2>
-<p><strong>1.1.0</strong></p>
+<div class="section" id="id4">
+<h2>1.1.0<a class="headerlink" href="#id4" title="Permalink to this headline">¶</a></h2>
+<p>Fixed:</p>
 <ul class="simple">
-<li>DirectX 11 solver has issues with ccd sphere/capsule collision.</li>
+<li>DirectX 11 solver now supports triangle collision shapes and air drag/lift.</li>
+<li>Fixed bug where changing friction on cloth already in simulation would cause assert or crash.</li>
+<li>Optimization flag now working on PS4 release build.</li>
 </ul>
-<p><strong>1.0.0</strong></p>
+<p>New:</p>
 <ul class="simple">
-<li>DirectX 11 solver doesn&#8217;t support triangle collision shapes and air drag/lift</li>
+<li>Solver::getNumCloths and Solver::getClothList interface.</li>
+<li>Improved samples (new scenes and debug visualization)</li>
 </ul>
+<p>Known issues:
+- DirectX 11 solver has issues with ccd sphere/capsule collision.</p>
+</div>
+<div class="section" id="id5">
+<h2>1.0.0<a class="headerlink" href="#id5" title="Permalink to this headline">¶</a></h2>
+<p>Known issues:
+- DirectX 11 solver doesn&#8217;t support triangle collision shapes and air drag/lift</p>
 </div>
 </div>
 
@@ -229,7 +237,7 @@
 <div class="masthead">
     <div class="row">
       <ul class="breadcrumb">
-        <li><a href="../index.html">NvCloth 1.0.0 documentation</a></li> 
+        <li><a href="../index.html">NvCloth 1.1.3 documentation</a></li> 
       </ul>
     </div>
 </div>
diff --git a/NvCloth/docs/documentation/UserGuide/Index.html b/NvCloth/docs/documentation/UserGuide/Index.html
index 0beb791..007e3b9 100644
--- a/NvCloth/docs/documentation/UserGuide/Index.html
+++ b/NvCloth/docs/documentation/UserGuide/Index.html
@@ -7,7 +7,7 @@
     <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
     <meta http-equiv="x-ua-compatible" content="IE=Edge"/>
     
-    <title>User Guide &mdash; NvCloth 1.0.0 documentation</title>
+    <title>User Guide &mdash; NvCloth 1.1.3 documentation</title>
     
     <link rel="stylesheet" href="../_static/default.css" type="text/css" />
     <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
@@ -18,7 +18,7 @@
     <script type="text/javascript">
       var DOCUMENTATION_OPTIONS = {
         URL_ROOT:    '../',
-        VERSION:     '1.0.0',
+        VERSION:     '1.1.3',
         COLLAPSE_INDEX: false,
         FILE_SUFFIX: '.html',
         HAS_SOURCE:  true
@@ -31,7 +31,7 @@
     <script type="text/javascript" src="../_static/bootstrap.js"></script>
     <script type="text/javascript" src="../_static/jquery.cookie.js"></script>
     <script type="text/javascript" src="../_static/jquery.storageapi.js"></script>
-    <link rel="top" title="NvCloth 1.0.0 documentation" href="../index.html" />
+    <link rel="top" title="NvCloth 1.1.3 documentation" href="../index.html" />
     <link rel="next" title="NVIDIA Copyright Notice" href="../CopyRight/Index.html" />
     <link rel="prev" title="Modules" href="../Modules/Index.html" /> 
   </head>
@@ -57,7 +57,7 @@
 <div class="masthead">
     <div class="row">
       <ul class="breadcrumb">
-        <li><a href="../index.html">NvCloth 1.0.0 documentation</a></li> 
+        <li><a href="../index.html">NvCloth 1.1.3 documentation</a></li> 
       </ul>
     </div>
 </div>
@@ -68,11 +68,18 @@
   <h4>Table Of Contents</h4>
   <ul class="current">
 <li class="toctree-l1"><a class="reference internal" href="../ReleaseNotes/index.html">Release Notes</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#fixes">Fixes</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#new-features">New Features</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#supported-platforms">Supported Platforms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#supported-compilers">Supported Compilers</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#known-issues">Known Issues</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#id1">1.1.3</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#id2">1.1.2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#id3">1.1.1</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#id4">1.1.0</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../ReleaseNotes/index.html#id5">1.0.0</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../Compiling/index.html">Compiling</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../Compiling/index.html#windows">Windows</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../Compiling/index.html#linux">Linux</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../Compiling/index.html#mac">Mac</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../Compiling/index.html#android">Android</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../Modules/Index.html">Modules</a><ul>
@@ -507,7 +514,7 @@ cloth-&gt;setLiftCoefficient(0.6f);</pre>
 <div class="masthead">
     <div class="row">
       <ul class="breadcrumb">
-        <li><a href="../index.html">NvCloth 1.0.0 documentation</a></li> 
+        <li><a href="../index.html">NvCloth 1.1.3 documentation</a></li> 
       </ul>
     </div>
 </div>
diff --git a/NvCloth/docs/documentation/genindex.html b/NvCloth/docs/documentation/genindex.html
index dacd262..5b5455f 100644
--- a/NvCloth/docs/documentation/genindex.html
+++ b/NvCloth/docs/documentation/genindex.html
@@ -8,7 +8,7 @@
     <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
     <meta http-equiv="x-ua-compatible" content="IE=Edge"/>
     
-    <title>Index &mdash; NvCloth 1.0.0 documentation</title>
+    <title>Index &mdash; NvCloth 1.1.3 documentation</title>
     
     <link rel="stylesheet" href="_static/default.css" type="text/css" />
     <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
@@ -19,7 +19,7 @@
     <script type="text/javascript">
       var DOCUMENTATION_OPTIONS = {
         URL_ROOT:    './',
-        VERSION:     '1.0.0',
+        VERSION:     '1.1.3',
         COLLAPSE_INDEX: false,
         FILE_SUFFIX: '.html',
         HAS_SOURCE:  true
@@ -32,7 +32,7 @@
     <script type="text/javascript" src="_static/bootstrap.js"></script>
     <script type="text/javascript" src="_static/jquery.cookie.js"></script>
     <script type="text/javascript" src="_static/jquery.storageapi.js"></script>
-    <link rel="top" title="NvCloth 1.0.0 documentation" href="index.html" /> 
+    <link rel="top" title="NvCloth 1.1.3 documentation" href="index.html" /> 
   </head>
   <body>
 <nav class="navbar navbar-inverse navbar-default">
@@ -56,7 +56,7 @@
 <div class="masthead">
     <div class="row">
       <ul class="breadcrumb">
-        <li><a href="index.html">NvCloth 1.0.0 documentation</a></li> 
+        <li><a href="index.html">NvCloth 1.1.3 documentation</a></li> 
       </ul>
     </div>
 </div>
@@ -67,11 +67,18 @@
   <h4>Table Of Contents</h4>
   <ul>
 <li class="toctree-l1"><a class="reference internal" href="ReleaseNotes/index.html">Release Notes</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#fixes">Fixes</a></li>
-<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#new-features">New Features</a></li>
-<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#supported-platforms">Supported Platforms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#supported-compilers">Supported Compilers</a></li>
-<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#known-issues">Known Issues</a></li>
+<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#id1">1.1.3</a></li>
+<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#id2">1.1.2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#id3">1.1.1</a></li>
+<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#id4">1.1.0</a></li>
+<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#id5">1.0.0</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="Compiling/index.html">Compiling</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="Compiling/index.html#windows">Windows</a></li>
+<li class="toctree-l2"><a class="reference internal" href="Compiling/index.html#linux">Linux</a></li>
+<li class="toctree-l2"><a class="reference internal" href="Compiling/index.html#mac">Mac</a></li>
+<li class="toctree-l2"><a class="reference internal" href="Compiling/index.html#android">Android</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="Modules/Index.html">Modules</a><ul>
@@ -145,7 +152,7 @@
 <div class="masthead">
     <div class="row">
       <ul class="breadcrumb">
-        <li><a href="index.html">NvCloth 1.0.0 documentation</a></li> 
+        <li><a href="index.html">NvCloth 1.1.3 documentation</a></li> 
       </ul>
     </div>
 </div>
diff --git a/NvCloth/docs/documentation/index.html b/NvCloth/docs/documentation/index.html
index fbaa4fe..d62e021 100644
--- a/NvCloth/docs/documentation/index.html
+++ b/NvCloth/docs/documentation/index.html
@@ -7,7 +7,7 @@
     <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
     <meta http-equiv="x-ua-compatible" content="IE=Edge"/>
     
-    <title>NvCloth &mdash; NvCloth 1.0.0 documentation</title>
+    <title>NvCloth &mdash; NvCloth 1.1.3 documentation</title>
     
     <link rel="stylesheet" href="_static/default.css" type="text/css" />
     <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
@@ -18,7 +18,7 @@
     <script type="text/javascript">
       var DOCUMENTATION_OPTIONS = {
         URL_ROOT:    './',
-        VERSION:     '1.0.0',
+        VERSION:     '1.1.3',
         COLLAPSE_INDEX: false,
         FILE_SUFFIX: '.html',
         HAS_SOURCE:  true
@@ -31,7 +31,7 @@
     <script type="text/javascript" src="_static/bootstrap.js"></script>
     <script type="text/javascript" src="_static/jquery.cookie.js"></script>
     <script type="text/javascript" src="_static/jquery.storageapi.js"></script>
-    <link rel="top" title="NvCloth 1.0.0 documentation" href="#" />
+    <link rel="top" title="NvCloth 1.1.3 documentation" href="#" />
     <link rel="next" title="Release Notes" href="ReleaseNotes/index.html" /> 
   </head>
   <body>
@@ -56,7 +56,7 @@
 <div class="masthead">
     <div class="row">
       <ul class="breadcrumb">
-        <li><a href="#">NvCloth 1.0.0 documentation</a></li> 
+        <li><a href="#">NvCloth 1.1.3 documentation</a></li> 
       </ul>
     </div>
 </div>
@@ -67,11 +67,18 @@
   <h4>Table Of Contents</h4>
   <ul>
 <li class="toctree-l1"><a class="reference internal" href="ReleaseNotes/index.html">Release Notes</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#fixes">Fixes</a></li>
-<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#new-features">New Features</a></li>
-<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#supported-platforms">Supported Platforms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#supported-compilers">Supported Compilers</a></li>
-<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#known-issues">Known Issues</a></li>
+<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#id1">1.1.3</a></li>
+<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#id2">1.1.2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#id3">1.1.1</a></li>
+<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#id4">1.1.0</a></li>
+<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#id5">1.0.0</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="Compiling/index.html">Compiling</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="Compiling/index.html#windows">Windows</a></li>
+<li class="toctree-l2"><a class="reference internal" href="Compiling/index.html#linux">Linux</a></li>
+<li class="toctree-l2"><a class="reference internal" href="Compiling/index.html#mac">Mac</a></li>
+<li class="toctree-l2"><a class="reference internal" href="Compiling/index.html#android">Android</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="Modules/Index.html">Modules</a><ul>
@@ -148,6 +155,7 @@
 <div class="toctree-wrapper compound">
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="ReleaseNotes/index.html">Release Notes</a></li>
+<li class="toctree-l1"><a class="reference internal" href="Compiling/index.html">Compiling</a></li>
 <li class="toctree-l1"><a class="reference internal" href="Modules/Index.html">Modules</a></li>
 <li class="toctree-l1"><a class="reference internal" href="UserGuide/Index.html">User Guide</a></li>
 <li class="toctree-l1"><a class="reference internal" href="CopyRight/Index.html">NVIDIA Copyright Notice</a></li>
@@ -165,7 +173,7 @@
 <div class="masthead">
     <div class="row">
       <ul class="breadcrumb">
-        <li><a href="#">NvCloth 1.0.0 documentation</a></li> 
+        <li><a href="#">NvCloth 1.1.3 documentation</a></li> 
       </ul>
     </div>
 </div>
diff --git a/NvCloth/docs/documentation/search.html b/NvCloth/docs/documentation/search.html
index 0cc48f4..27fab06 100644
--- a/NvCloth/docs/documentation/search.html
+++ b/NvCloth/docs/documentation/search.html
@@ -7,7 +7,7 @@
     <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
     <meta http-equiv="x-ua-compatible" content="IE=Edge"/>
     
-    <title>Search &mdash; NvCloth 1.0.0 documentation</title>
+    <title>Search &mdash; NvCloth 1.1.3 documentation</title>
     
     <link rel="stylesheet" href="_static/default.css" type="text/css" />
     <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
@@ -18,7 +18,7 @@
     <script type="text/javascript">
       var DOCUMENTATION_OPTIONS = {
         URL_ROOT:    './',
-        VERSION:     '1.0.0',
+        VERSION:     '1.1.3',
         COLLAPSE_INDEX: false,
         FILE_SUFFIX: '.html',
         HAS_SOURCE:  true
@@ -32,7 +32,7 @@
     <script type="text/javascript" src="_static/bootstrap.js"></script>
     <script type="text/javascript" src="_static/jquery.cookie.js"></script>
     <script type="text/javascript" src="_static/jquery.storageapi.js"></script>
-    <link rel="top" title="NvCloth 1.0.0 documentation" href="index.html" />
+    <link rel="top" title="NvCloth 1.1.3 documentation" href="index.html" />
   <script type="text/javascript">
     jQuery(function() { Search.loadIndex("searchindex.js"); });
   </script>
@@ -52,7 +52,7 @@
 <div class="masthead">
     <div class="row">
       <ul class="breadcrumb">
-        <li><a href="index.html">NvCloth 1.0.0 documentation</a></li> 
+        <li><a href="index.html">NvCloth 1.1.3 documentation</a></li> 
       </ul>
     </div>
 </div>
@@ -63,11 +63,18 @@
   <h4>Table Of Contents</h4>
   <ul>
 <li class="toctree-l1"><a class="reference internal" href="ReleaseNotes/index.html">Release Notes</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#fixes">Fixes</a></li>
-<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#new-features">New Features</a></li>
-<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#supported-platforms">Supported Platforms</a></li>
-<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#supported-compilers">Supported Compilers</a></li>
-<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#known-issues">Known Issues</a></li>
+<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#id1">1.1.3</a></li>
+<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#id2">1.1.2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#id3">1.1.1</a></li>
+<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#id4">1.1.0</a></li>
+<li class="toctree-l2"><a class="reference internal" href="ReleaseNotes/index.html#id5">1.0.0</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="Compiling/index.html">Compiling</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="Compiling/index.html#windows">Windows</a></li>
+<li class="toctree-l2"><a class="reference internal" href="Compiling/index.html#linux">Linux</a></li>
+<li class="toctree-l2"><a class="reference internal" href="Compiling/index.html#mac">Mac</a></li>
+<li class="toctree-l2"><a class="reference internal" href="Compiling/index.html#android">Android</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="Modules/Index.html">Modules</a><ul>
@@ -139,7 +146,7 @@
 <div class="masthead">
     <div class="row">
       <ul class="breadcrumb">
-        <li><a href="index.html">NvCloth 1.0.0 documentation</a></li> 
+        <li><a href="index.html">NvCloth 1.1.3 documentation</a></li> 
       </ul>
     </div>
 </div>
diff --git a/NvCloth/docs/documentation/searchindex.js b/NvCloth/docs/documentation/searchindex.js
index 0ac2dee..03c0429 100644
--- a/NvCloth/docs/documentation/searchindex.js
+++ b/NvCloth/docs/documentation/searchindex.js
@@ -1 +1 @@
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\ No newline at end of file
diff --git a/NvCloth/docs/doxy/files/_solver_8h-source.html b/NvCloth/docs/doxy/files/_solver_8h-source.html
index 5f9fd48..bb3acb1 100644
--- a/NvCloth/docs/doxy/files/_solver_8h-source.html
+++ b/NvCloth/docs/doxy/files/_solver_8h-source.html
@@ -65,59 +65,62 @@
 <a name="l00030"></a>00030 <span class="preprocessor">#pragma once</span>
 <a name="l00031"></a>00031 <span class="preprocessor"></span>
 <a name="l00032"></a>00032 <span class="preprocessor">#include "<a class="code" href="_allocator_8h.html" title="This file together with Callbacks.h define most memory management interfaces for...">NvCloth/Allocator.h</a>"</span>
-<a name="l00033"></a>00033 <span class="preprocessor">#include "PsArray.h"</span>
-<a name="l00034"></a>00034 
-<a name="l00035"></a>00035 <span class="keyword">namespace </span>nv
-<a name="l00036"></a>00036 {
-<a name="l00037"></a>00037 <span class="keyword">namespace </span>cloth
-<a name="l00038"></a>00038 {
-<a name="l00039"></a>00039 
-<a name="l00040"></a>00040 <span class="keyword">class </span>Cloth;
-<a name="l00041"></a>00041 
-<a name="l00042"></a>00042 <span class="comment">// called during inter-collision, user0 and user1 are the user data from each cloth</span>
-<a name="l00043"></a>00043 <span class="keyword">typedef</span> bool (*InterCollisionFilter)(<span class="keywordtype">void</span>* user0, <span class="keywordtype">void</span>* user1);
-<a name="l00044"></a>00044 
-<a name="l00046"></a><a class="code" href="classnv_1_1cloth_1_1_solver.html">00046</a> <span class="keyword">class </span><a class="code" href="classnv_1_1cloth_1_1_solver.html" title="base class for solvers">Solver</a> : <span class="keyword">public</span> UserAllocated
-<a name="l00047"></a>00047 {
-<a name="l00048"></a>00048   <span class="keyword">protected</span>:
-<a name="l00049"></a><a class="code" href="classnv_1_1cloth_1_1_solver.html#8955bbdbea66b33486f0588ab2f80c46">00049</a>     <a class="code" href="classnv_1_1cloth_1_1_solver.html#8955bbdbea66b33486f0588ab2f80c46">Solver</a>() {}
-<a name="l00050"></a>00050     <a class="code" href="classnv_1_1cloth_1_1_solver.html#8955bbdbea66b33486f0588ab2f80c46">Solver</a>(<span class="keyword">const</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html" title="base class for solvers">Solver</a>&amp;);
-<a name="l00051"></a>00051     <a class="code" href="classnv_1_1cloth_1_1_solver.html" title="base class for solvers">Solver</a>&amp; <a class="code" href="classnv_1_1cloth_1_1_solver.html#0bc438b310a4989a96c426c83a1e0beb">operator = </a>(<span class="keyword">const</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html" title="base class for solvers">Solver</a>&amp;);
-<a name="l00052"></a>00052 
-<a name="l00053"></a>00053   <span class="keyword">public</span>:
-<a name="l00054"></a><a class="code" href="classnv_1_1cloth_1_1_solver.html#4830e23f5fbaa9dfa7c8c0ce32fa85bd">00054</a>     <span class="keyword">virtual</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#4830e23f5fbaa9dfa7c8c0ce32fa85bd">~Solver</a>() {}
-<a name="l00055"></a>00055 
-<a name="l00057"></a>00057     <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#63e732712c5a43c44e6018cca6c1fb82" title="Adds cloth object.">addCloth</a>(<a class="code" href="classnv_1_1cloth_1_1_cloth.html">Cloth</a>* cloth) = 0;
-<a name="l00058"></a>00058 
-<a name="l00060"></a>00060     <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#1ed765a15ab2dabbb5186d14bc5f70b1" title="Removes cloth object.">removeCloth</a>(<a class="code" href="classnv_1_1cloth_1_1_cloth.html">Cloth</a>* cloth) = 0;
-<a name="l00061"></a>00061 
-<a name="l00063"></a>00063     <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#de377e651711ebbb9e70f928cbb682e2" title="Returns the numer of cloths added to the solver.">getNumCloths</a>() <span class="keyword">const</span> = 0;
-<a name="l00064"></a>00064 
-<a name="l00066"></a>00066     <span class="keyword">virtual</span> <a class="code" href="classnv_1_1cloth_1_1_cloth.html">Cloth</a> * <span class="keyword">const</span> * <a class="code" href="classnv_1_1cloth_1_1_solver.html#a3e121ffbccc07180e08a2387eb4f6ac" title="Returns the pointer to the first cloth added to the solver.">getClothList</a>() <span class="keyword">const</span> = 0;
-<a name="l00067"></a>00067 
-<a name="l00068"></a>00068     <span class="comment">// functions executing the simulation work.</span>
-<a name="l00074"></a>00074 <span class="comment"></span>    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#d2efbe447bf07138c615973c349ab839" title="Begins a simulation frame.">beginSimulation</a>(<span class="keywordtype">float</span> dt) = 0;
-<a name="l00075"></a>00075 
-<a name="l00081"></a>00081     <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#62d209d861c8f5aa0523536d851de093" title="Do the computationally heavy part of the simulation.">simulateChunk</a>(<span class="keywordtype">int</span> idx) = 0;
-<a name="l00082"></a>00082 
-<a name="l00086"></a>00086     <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#19d777a3882814910f8a024d92072d48" title="Finishes up the simulation.">endSimulation</a>() = 0;
-<a name="l00087"></a>00087 
-<a name="l00090"></a>00090     <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#54e393ba3b9fd5305385e2f57d3ca165" title="Returns the number of chunks that need to be simulated this frame.">getSimulationChunkCount</a>() <span class="keyword">const</span> = 0;
+<a name="l00033"></a>00033 <span class="preprocessor">#include "<a class="code" href="_range_8h.html">NvCloth/Range.h</a>"</span>
+<a name="l00034"></a>00034 <span class="preprocessor">#include "PsArray.h"</span>
+<a name="l00035"></a>00035 
+<a name="l00036"></a>00036 <span class="keyword">namespace </span>nv
+<a name="l00037"></a>00037 {
+<a name="l00038"></a>00038 <span class="keyword">namespace </span>cloth
+<a name="l00039"></a>00039 {
+<a name="l00040"></a>00040 
+<a name="l00041"></a>00041 <span class="keyword">class </span>Cloth;
+<a name="l00042"></a>00042 
+<a name="l00043"></a>00043 <span class="comment">// called during inter-collision, user0 and user1 are the user data from each cloth</span>
+<a name="l00044"></a>00044 <span class="keyword">typedef</span> bool (*InterCollisionFilter)(<span class="keywordtype">void</span>* user0, <span class="keywordtype">void</span>* user1);
+<a name="l00045"></a>00045 
+<a name="l00047"></a><a class="code" href="classnv_1_1cloth_1_1_solver.html">00047</a> <span class="keyword">class </span><a class="code" href="classnv_1_1cloth_1_1_solver.html" title="base class for solvers">Solver</a> : <span class="keyword">public</span> UserAllocated
+<a name="l00048"></a>00048 {
+<a name="l00049"></a>00049   <span class="keyword">protected</span>:
+<a name="l00050"></a><a class="code" href="classnv_1_1cloth_1_1_solver.html#8955bbdbea66b33486f0588ab2f80c46">00050</a>     <a class="code" href="classnv_1_1cloth_1_1_solver.html#8955bbdbea66b33486f0588ab2f80c46">Solver</a>() {}
+<a name="l00051"></a>00051     <a class="code" href="classnv_1_1cloth_1_1_solver.html#8955bbdbea66b33486f0588ab2f80c46">Solver</a>(<span class="keyword">const</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html" title="base class for solvers">Solver</a>&amp;);
+<a name="l00052"></a>00052     <a class="code" href="classnv_1_1cloth_1_1_solver.html" title="base class for solvers">Solver</a>&amp; <a class="code" href="classnv_1_1cloth_1_1_solver.html#0bc438b310a4989a96c426c83a1e0beb">operator = </a>(<span class="keyword">const</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html" title="base class for solvers">Solver</a>&amp;);
+<a name="l00053"></a>00053 
+<a name="l00054"></a>00054   <span class="keyword">public</span>:
+<a name="l00055"></a><a class="code" href="classnv_1_1cloth_1_1_solver.html#4830e23f5fbaa9dfa7c8c0ce32fa85bd">00055</a>     <span class="keyword">virtual</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#4830e23f5fbaa9dfa7c8c0ce32fa85bd">~Solver</a>() {}
+<a name="l00056"></a>00056 
+<a name="l00058"></a>00058     <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#63e732712c5a43c44e6018cca6c1fb82" title="Adds cloth object.">addCloth</a>(<a class="code" href="classnv_1_1cloth_1_1_cloth.html">Cloth</a>* cloth) = 0;
+<a name="l00059"></a>00059 
+<a name="l00061"></a>00061     <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#ea0f778230b2a0f211bdb5d36d3b54f3" title="Adds an array of cloth objects.">addCloths</a>(<a class="code" href="structnv_1_1cloth_1_1_range.html">Range&lt;Cloth*&gt;</a> cloths) = 0;
+<a name="l00062"></a>00062 
+<a name="l00064"></a>00064     <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#1ed765a15ab2dabbb5186d14bc5f70b1" title="Removes cloth object.">removeCloth</a>(<a class="code" href="classnv_1_1cloth_1_1_cloth.html">Cloth</a>* cloth) = 0;
+<a name="l00065"></a>00065 
+<a name="l00067"></a>00067     <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#de377e651711ebbb9e70f928cbb682e2" title="Returns the numer of cloths added to the solver.">getNumCloths</a>() <span class="keyword">const</span> = 0;
+<a name="l00068"></a>00068 
+<a name="l00070"></a>00070     <span class="keyword">virtual</span> <a class="code" href="classnv_1_1cloth_1_1_cloth.html">Cloth</a> * <span class="keyword">const</span> * <a class="code" href="classnv_1_1cloth_1_1_solver.html#a3e121ffbccc07180e08a2387eb4f6ac" title="Returns the pointer to the first cloth added to the solver.">getClothList</a>() <span class="keyword">const</span> = 0;
+<a name="l00071"></a>00071 
+<a name="l00072"></a>00072     <span class="comment">// functions executing the simulation work.</span>
+<a name="l00078"></a>00078 <span class="comment"></span>    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#d2efbe447bf07138c615973c349ab839" title="Begins a simulation frame.">beginSimulation</a>(<span class="keywordtype">float</span> dt) = 0;
+<a name="l00079"></a>00079 
+<a name="l00085"></a>00085     <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#62d209d861c8f5aa0523536d851de093" title="Do the computationally heavy part of the simulation.">simulateChunk</a>(<span class="keywordtype">int</span> idx) = 0;
+<a name="l00086"></a>00086 
+<a name="l00090"></a>00090     <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#19d777a3882814910f8a024d92072d48" title="Finishes up the simulation.">endSimulation</a>() = 0;
 <a name="l00091"></a>00091 
-<a name="l00092"></a>00092     <span class="comment">// inter-collision parameters</span>
-<a name="l00093"></a>00093     <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#5043adf6727bf66b966de6393e7d67d9">setInterCollisionDistance</a>(<span class="keywordtype">float</span> distance) = 0;
-<a name="l00094"></a>00094     <span class="keyword">virtual</span> <span class="keywordtype">float</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#6a72529d713f46dbd17a5b541aaec6df">getInterCollisionDistance</a>() <span class="keyword">const</span> = 0;
-<a name="l00095"></a>00095     <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#4f15accbaeff04edbebd31bf7dd9be3e">setInterCollisionStiffness</a>(<span class="keywordtype">float</span> stiffness) = 0;
-<a name="l00096"></a>00096     <span class="keyword">virtual</span> <span class="keywordtype">float</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#09e4be9b50229213a837d00a3f2f6a3f">getInterCollisionStiffness</a>() <span class="keyword">const</span> = 0;
-<a name="l00097"></a>00097     <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#3046ea1153c1f9decfc161155cc9810b">setInterCollisionNbIterations</a>(uint32_t nbIterations) = 0;
-<a name="l00098"></a>00098     <span class="keyword">virtual</span> uint32_t <a class="code" href="classnv_1_1cloth_1_1_solver.html#124dc836903890185934c6eaedec2079">getInterCollisionNbIterations</a>() <span class="keyword">const</span> = 0;
-<a name="l00099"></a>00099     <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#31b3d4d36f2025f10cb04a32e28fada4">setInterCollisionFilter</a>(InterCollisionFilter filter) = 0;
-<a name="l00100"></a>00100 
-<a name="l00102"></a>00102     <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#12a60f43b537d78499e30508bd9a6d3c" title="Returns true if an unrecoverable error has occurred.">hasError</a>() <span class="keyword">const</span> = 0;
-<a name="l00103"></a>00103 };
+<a name="l00094"></a>00094     <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#54e393ba3b9fd5305385e2f57d3ca165" title="Returns the number of chunks that need to be simulated this frame.">getSimulationChunkCount</a>() <span class="keyword">const</span> = 0;
+<a name="l00095"></a>00095 
+<a name="l00096"></a>00096     <span class="comment">// inter-collision parameters</span>
+<a name="l00097"></a>00097     <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#5043adf6727bf66b966de6393e7d67d9">setInterCollisionDistance</a>(<span class="keywordtype">float</span> distance) = 0;
+<a name="l00098"></a>00098     <span class="keyword">virtual</span> <span class="keywordtype">float</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#6a72529d713f46dbd17a5b541aaec6df">getInterCollisionDistance</a>() <span class="keyword">const</span> = 0;
+<a name="l00099"></a>00099     <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#4f15accbaeff04edbebd31bf7dd9be3e">setInterCollisionStiffness</a>(<span class="keywordtype">float</span> stiffness) = 0;
+<a name="l00100"></a>00100     <span class="keyword">virtual</span> <span class="keywordtype">float</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#09e4be9b50229213a837d00a3f2f6a3f">getInterCollisionStiffness</a>() <span class="keyword">const</span> = 0;
+<a name="l00101"></a>00101     <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#3046ea1153c1f9decfc161155cc9810b">setInterCollisionNbIterations</a>(uint32_t nbIterations) = 0;
+<a name="l00102"></a>00102     <span class="keyword">virtual</span> uint32_t <a class="code" href="classnv_1_1cloth_1_1_solver.html#124dc836903890185934c6eaedec2079">getInterCollisionNbIterations</a>() <span class="keyword">const</span> = 0;
+<a name="l00103"></a>00103     <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#31b3d4d36f2025f10cb04a32e28fada4">setInterCollisionFilter</a>(InterCollisionFilter filter) = 0;
 <a name="l00104"></a>00104 
-<a name="l00105"></a>00105 } <span class="comment">// namespace cloth</span>
-<a name="l00106"></a>00106 } <span class="comment">// namespace nv</span>
+<a name="l00106"></a>00106     <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classnv_1_1cloth_1_1_solver.html#12a60f43b537d78499e30508bd9a6d3c" title="Returns true if an unrecoverable error has occurred.">hasError</a>() <span class="keyword">const</span> = 0;
+<a name="l00107"></a>00107 };
+<a name="l00108"></a>00108 
+<a name="l00109"></a>00109 } <span class="comment">// namespace cloth</span>
+<a name="l00110"></a>00110 } <span class="comment">// namespace nv</span>
 </pre></div></div>
 <!-- start footer part -->
 <div class="footer">
diff --git a/NvCloth/docs/doxy/files/_solver_8h.html b/NvCloth/docs/doxy/files/_solver_8h.html
index a42d87e..2fb9e31 100644
--- a/NvCloth/docs/doxy/files/_solver_8h.html
+++ b/NvCloth/docs/doxy/files/_solver_8h.html
@@ -36,6 +36,7 @@
 </div>
 <div class="contents">
 <h1>Solver.h File Reference</h1><code>#include &quot;<a class="el" href="_allocator_8h-source.html">NvCloth/Allocator.h</a>&quot;</code><br>
+<code>#include &quot;<a class="el" href="_range_8h-source.html">NvCloth/Range.h</a>&quot;</code><br>
 <code>#include &quot;PsArray.h&quot;</code><br>
 
 <p>
diff --git a/NvCloth/docs/doxy/files/classnv_1_1cloth_1_1_cloth.html b/NvCloth/docs/doxy/files/classnv_1_1cloth_1_1_cloth.html
index 0e30c3f..87245b7 100644
--- a/NvCloth/docs/doxy/files/classnv_1_1cloth_1_1_cloth.html
+++ b/NvCloth/docs/doxy/files/classnv_1_1cloth_1_1_cloth.html
@@ -2626,7 +2626,7 @@ This applies a force to make the cloth behave as if it was moved through space.
 <p>
 Set triangles for collision. 
 <p>
-Each triangle in the list is defined by of 3 vertices. The values currently in range [first, last[ will be replaced with the content of convexMasks. 
+Each triangle in the list is defined by of 3 vertices. The values currently in range [first, last[ will be replaced with the content of triangles. 
 </div>
 </div><p>
 <a class="anchor" name="e7c0b099e90d409a65ee14d6f77e57c5"></a><!-- doxytag: member="nv::cloth::Cloth::setUserData" ref="e7c0b099e90d409a65ee14d6f77e57c5" args="(void *)=0" -->
diff --git a/NvCloth/docs/doxy/files/classnv_1_1cloth_1_1_solver-members.html b/NvCloth/docs/doxy/files/classnv_1_1cloth_1_1_solver-members.html
index ae29791..4bd802e 100644
--- a/NvCloth/docs/doxy/files/classnv_1_1cloth_1_1_solver-members.html
+++ b/NvCloth/docs/doxy/files/classnv_1_1cloth_1_1_solver-members.html
@@ -40,6 +40,7 @@
 <div class="contents">
 <h1>nv::cloth::Solver Member List</h1>This is the complete list of members for <a class="el" href="classnv_1_1cloth_1_1_solver.html">nv::cloth::Solver</a>, including all inherited members.<p><table>
   <tr class="memlist"><td><a class="el" href="classnv_1_1cloth_1_1_solver.html#63e732712c5a43c44e6018cca6c1fb82">addCloth</a>(Cloth *cloth)=0</td><td><a class="el" href="classnv_1_1cloth_1_1_solver.html">nv::cloth::Solver</a></td><td><code> [pure virtual]</code></td></tr>
+  <tr class="memlist"><td><a class="el" href="classnv_1_1cloth_1_1_solver.html#ea0f778230b2a0f211bdb5d36d3b54f3">addCloths</a>(Range&lt; Cloth * &gt; cloths)=0</td><td><a class="el" href="classnv_1_1cloth_1_1_solver.html">nv::cloth::Solver</a></td><td><code> [pure virtual]</code></td></tr>
   <tr class="memlist"><td><a class="el" href="classnv_1_1cloth_1_1_solver.html#d2efbe447bf07138c615973c349ab839">beginSimulation</a>(float dt)=0</td><td><a class="el" href="classnv_1_1cloth_1_1_solver.html">nv::cloth::Solver</a></td><td><code> [pure virtual]</code></td></tr>
   <tr class="memlist"><td><a class="el" href="classnv_1_1cloth_1_1_solver.html#19d777a3882814910f8a024d92072d48">endSimulation</a>()=0</td><td><a class="el" href="classnv_1_1cloth_1_1_solver.html">nv::cloth::Solver</a></td><td><code> [pure virtual]</code></td></tr>
   <tr class="memlist"><td><a class="el" href="classnv_1_1cloth_1_1_solver.html#a3e121ffbccc07180e08a2387eb4f6ac">getClothList</a>() const =0</td><td><a class="el" href="classnv_1_1cloth_1_1_solver.html">nv::cloth::Solver</a></td><td><code> [pure virtual]</code></td></tr>
diff --git a/NvCloth/docs/doxy/files/classnv_1_1cloth_1_1_solver.html b/NvCloth/docs/doxy/files/classnv_1_1cloth_1_1_solver.html
index b2262bf..245cda9 100644
--- a/NvCloth/docs/doxy/files/classnv_1_1cloth_1_1_solver.html
+++ b/NvCloth/docs/doxy/files/classnv_1_1cloth_1_1_solver.html
@@ -53,6 +53,9 @@
 <tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnv_1_1cloth_1_1_solver.html#63e732712c5a43c44e6018cca6c1fb82">addCloth</a> (<a class="el" href="classnv_1_1cloth_1_1_cloth.html">Cloth</a> *cloth)=0</td></tr>
 
 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Adds cloth object.  <a href="#63e732712c5a43c44e6018cca6c1fb82"></a><br></td></tr>
+<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnv_1_1cloth_1_1_solver.html#ea0f778230b2a0f211bdb5d36d3b54f3">addCloths</a> (<a class="el" href="structnv_1_1cloth_1_1_range.html">Range</a>&lt; <a class="el" href="classnv_1_1cloth_1_1_cloth.html">Cloth</a> * &gt; cloths)=0</td></tr>
+
+<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Adds an array of cloth objects.  <a href="#ea0f778230b2a0f211bdb5d36d3b54f3"></a><br></td></tr>
 <tr><td class="memItemLeft" nowrap align="right" valign="top">virtual bool&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classnv_1_1cloth_1_1_solver.html#d2efbe447bf07138c615973c349ab839">beginSimulation</a> (float dt)=0</td></tr>
 
 <tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Begins a simulation frame.  <a href="#d2efbe447bf07138c615973c349ab839"></a><br></td></tr>
@@ -184,6 +187,28 @@ Adds cloth object.
 
 </div>
 </div><p>
+<a class="anchor" name="ea0f778230b2a0f211bdb5d36d3b54f3"></a><!-- doxytag: member="nv::cloth::Solver::addCloths" ref="ea0f778230b2a0f211bdb5d36d3b54f3" args="(Range&lt; Cloth * &gt; cloths)=0" -->
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void nv::cloth::Solver::addCloths           </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structnv_1_1cloth_1_1_range.html">Range</a>&lt; <a class="el" href="classnv_1_1cloth_1_1_cloth.html">Cloth</a> * &gt;&nbsp;</td>
+          <td class="paramname"> <em>cloths</em>          </td>
+          <td>&nbsp;)&nbsp;</td>
+          <td><code> [pure virtual]</code></td>
+        </tr>
+      </table>
+</div>
+<div class="memdoc">
+
+<p>
+Adds an array of cloth objects. 
+<p>
+
+</div>
+</div><p>
 <a class="anchor" name="d2efbe447bf07138c615973c349ab839"></a><!-- doxytag: member="nv::cloth::Solver::beginSimulation" ref="d2efbe447bf07138c615973c349ab839" args="(float dt)=0" -->
 <div class="memitem">
 <div class="memproto">
diff --git a/NvCloth/docs/doxy/files/functions.html b/NvCloth/docs/doxy/files/functions.html
index 9bae6da..7c5ccc7 100644
--- a/NvCloth/docs/doxy/files/functions.html
+++ b/NvCloth/docs/doxy/files/functions.html
@@ -80,6 +80,8 @@ Here is a list of all class members with links to the classes they belong to:
 : <a class="el" href="classnv_1_1cloth_1_1_dx_context_manager_callback.html#4d8cafe2879665280b8e9e8daa18e95f">nv::cloth::DxContextManagerCallback</a>
 <li>addCloth()
 : <a class="el" href="classnv_1_1cloth_1_1_solver.html#63e732712c5a43c44e6018cca6c1fb82">nv::cloth::Solver</a>
+<li>addCloths()
+: <a class="el" href="classnv_1_1cloth_1_1_solver.html#ea0f778230b2a0f211bdb5d36d3b54f3">nv::cloth::Solver</a>
 <li>at()
 : <a class="el" href="structnv_1_1cloth_1_1_strided_data.html#127ee8d050b77cd58ccece6eb3495ccb">nv::cloth::StridedData</a>
 </ul>
diff --git a/NvCloth/docs/doxy/files/functions_func.html b/NvCloth/docs/doxy/files/functions_func.html
index c30ffb0..764eea6 100644
--- a/NvCloth/docs/doxy/files/functions_func.html
+++ b/NvCloth/docs/doxy/files/functions_func.html
@@ -80,6 +80,8 @@
 : <a class="el" href="classnv_1_1cloth_1_1_dx_context_manager_callback.html#4d8cafe2879665280b8e9e8daa18e95f">nv::cloth::DxContextManagerCallback</a>
 <li>addCloth()
 : <a class="el" href="classnv_1_1cloth_1_1_solver.html#63e732712c5a43c44e6018cca6c1fb82">nv::cloth::Solver</a>
+<li>addCloths()
+: <a class="el" href="classnv_1_1cloth_1_1_solver.html#ea0f778230b2a0f211bdb5d36d3b54f3">nv::cloth::Solver</a>
 <li>at()
 : <a class="el" href="structnv_1_1cloth_1_1_strided_data.html#127ee8d050b77cd58ccece6eb3495ccb">nv::cloth::StridedData</a>
 </ul>
diff --git a/NvCloth/include/NvCloth/Cloth.h b/NvCloth/include/NvCloth/Cloth.h
index ac957f7..6b745f5 100644
--- a/NvCloth/include/NvCloth/Cloth.h
+++ b/NvCloth/include/NvCloth/Cloth.h
@@ -279,7 +279,7 @@ class Cloth : public UserAllocated
 
 	/** \brief Set triangles for collision.
 		Each triangle in the list is defined by of 3 vertices.
-		The values currently in range [first, last[ will be replaced with the content of convexMasks.
+		The values currently in range [first, last[ will be replaced with the content of triangles.
 		*/
 	virtual void setTriangles(Range<const physx::PxVec3> triangles, uint32_t first, uint32_t last) = 0;
 	virtual void setTriangles(Range<const physx::PxVec3> triangles, Range<const physx::PxVec3>, uint32_t first) = 0;
diff --git a/NvCloth/include/NvCloth/Solver.h b/NvCloth/include/NvCloth/Solver.h
index d2eb955..a293524 100644
--- a/NvCloth/include/NvCloth/Solver.h
+++ b/NvCloth/include/NvCloth/Solver.h
@@ -30,6 +30,7 @@
 #pragma once
 
 #include "NvCloth/Allocator.h"
+#include "NvCloth/Range.h"
 #include "PsArray.h"
 
 namespace nv
@@ -56,6 +57,9 @@ class Solver : public UserAllocated
 	/// Adds cloth object.
 	virtual void addCloth(Cloth* cloth) = 0;
 
+	/// Adds an array of cloth objects.
+	virtual void addCloths(Range<Cloth*> cloths) = 0;
+
 	/// Removes cloth object.
 	virtual void removeCloth(Cloth* cloth) = 0;
 
diff --git a/NvCloth/samples/SampleBase/scene/Scene.cpp b/NvCloth/samples/SampleBase/scene/Scene.cpp
index 6296a05..00e23ae 100644
--- a/NvCloth/samples/SampleBase/scene/Scene.cpp
+++ b/NvCloth/samples/SampleBase/scene/Scene.cpp
@@ -451,6 +451,24 @@ void Scene::addClothToSolver(ClothActor* clothActor, nv::cloth::Solver* solver)
 	mClothSolverMap[clothActor] = solver;
 }
 
+void Scene::addClothsToSolver(nv::cloth::Range<ClothActor*> clothActors, nv::cloth::Solver* solver)
+{
+	// A temporary vector of Cloth*, to construct a Range from and pass to solver
+	std::vector<nv::cloth::Cloth*> cloths;
+
+	for (uint32_t i = 0; i < clothActors.size(); ++i)
+	{
+		auto* clothActor = clothActors[i];
+		assert(mClothSolverMap.find(clothActor) == mClothSolverMap.end());
+		mClothSolverMap[clothActor] = solver;
+
+		cloths.push_back(clothActor->mCloth);
+	}
+
+	auto clothsRange = nv::cloth::Range<nv::cloth::Cloth*>(&cloths.front(), &cloths.back() + 1);
+	solver->addCloths(clothsRange);
+}
+
 void Scene::trackRenderable(Renderable* renderable)
 {
 	trackT(mRenderableList, renderable);
diff --git a/NvCloth/samples/SampleBase/scene/Scene.h b/NvCloth/samples/SampleBase/scene/Scene.h
index 1c14fbd..4ef2bed 100644
--- a/NvCloth/samples/SampleBase/scene/Scene.h
+++ b/NvCloth/samples/SampleBase/scene/Scene.h
@@ -75,7 +75,9 @@ protected:
 	void trackFabric(nv::cloth::Fabric* fabric);
 	void untrackFabric(nv::cloth::Fabric* fabric);
 
-	void addClothToSolver(ClothActor* clothActor, nv::cloth::Solver* solver); //Helps to detach cloths from solver at AutoDeinit.
+	//Help to detach cloths from solver at AutoDeinit.
+	void addClothToSolver(ClothActor* clothActor, nv::cloth::Solver* solver); 
+	void addClothsToSolver(nv::cloth::Range<ClothActor*> clothActors, nv::cloth::Solver* solver); 
 
 	void trackRenderable(Renderable* renderMesh);
 	void untrackRenderable(Renderable* renderMesh);
diff --git a/NvCloth/samples/SampleBase/scene/scenes/CCDScene.cpp b/NvCloth/samples/SampleBase/scene/scenes/CCDScene.cpp
index 2d0eaa8..4d3bb84 100644
--- a/NvCloth/samples/SampleBase/scene/scenes/CCDScene.cpp
+++ b/NvCloth/samples/SampleBase/scene/scenes/CCDScene.cpp
@@ -9,7 +9,7 @@
 */
 
 #include "CCDScene.h"
-#include "Scene/SceneController.h"
+#include "scene/SceneController.h"
 #include <NvClothExt/ClothFabricCooker.h>
 #include "ClothMeshGenerator.h"
 #include <NvCloth/Fabric.h>
diff --git a/NvCloth/samples/SampleBase/scene/scenes/CapsuleScene.cpp b/NvCloth/samples/SampleBase/scene/scenes/CapsuleScene.cpp
index e16899c..981e699 100644
--- a/NvCloth/samples/SampleBase/scene/scenes/CapsuleScene.cpp
+++ b/NvCloth/samples/SampleBase/scene/scenes/CapsuleScene.cpp
@@ -9,7 +9,7 @@
 */
 
 #include "CapsuleScene.h"
-#include "Scene/SceneController.h"
+#include "scene/SceneController.h"
 #include <NvClothExt/ClothFabricCooker.h>
 #include "ClothMeshGenerator.h"
 #include <NvCloth/Fabric.h>
diff --git a/NvCloth/samples/SampleBase/scene/scenes/ConvexCollisionScene.cpp b/NvCloth/samples/SampleBase/scene/scenes/ConvexCollisionScene.cpp
index 28df734..bbafbff 100644
--- a/NvCloth/samples/SampleBase/scene/scenes/ConvexCollisionScene.cpp
+++ b/NvCloth/samples/SampleBase/scene/scenes/ConvexCollisionScene.cpp
@@ -9,7 +9,7 @@
 */
 
 #include "ConvexCollisionScene.h"
-#include "Scene/SceneController.h"
+#include "scene/SceneController.h"
 #include <NvClothExt/ClothFabricCooker.h>
 #include "ClothMeshGenerator.h"
 #include <NvCloth/Fabric.h>
diff --git a/NvCloth/samples/SampleBase/scene/scenes/DistanceConstraintScene.cpp b/NvCloth/samples/SampleBase/scene/scenes/DistanceConstraintScene.cpp
index eaac8e1..8be7184 100644
--- a/NvCloth/samples/SampleBase/scene/scenes/DistanceConstraintScene.cpp
+++ b/NvCloth/samples/SampleBase/scene/scenes/DistanceConstraintScene.cpp
@@ -9,7 +9,7 @@
 */
 
 #include "DistanceConstraintScene.h"
-#include "Scene/SceneController.h"
+#include "scene/SceneController.h"
 #include <NvClothExt/ClothFabricCooker.h>
 #include "ClothMeshGenerator.h"
 #include <NvCloth/Fabric.h>
diff --git a/NvCloth/samples/SampleBase/scene/scenes/FrictionScene.cpp b/NvCloth/samples/SampleBase/scene/scenes/FrictionScene.cpp
index 3848c6f..f2f5063 100644
--- a/NvCloth/samples/SampleBase/scene/scenes/FrictionScene.cpp
+++ b/NvCloth/samples/SampleBase/scene/scenes/FrictionScene.cpp
@@ -9,7 +9,7 @@
 */
 
 #include "FrictionScene.h"
-#include "Scene/SceneController.h"
+#include "scene/SceneController.h"
 #include <NvClothExt/ClothFabricCooker.h>
 #include "ClothMeshGenerator.h"
 #include <NvCloth/Fabric.h>
diff --git a/NvCloth/samples/SampleBase/scene/scenes/GeodesicScene.cpp b/NvCloth/samples/SampleBase/scene/scenes/GeodesicScene.cpp
index 3216dca..bdf14c8 100644
--- a/NvCloth/samples/SampleBase/scene/scenes/GeodesicScene.cpp
+++ b/NvCloth/samples/SampleBase/scene/scenes/GeodesicScene.cpp
@@ -9,7 +9,7 @@
 */
 
 #include "GeodesicScene.h"
-#include "Scene/SceneController.h"
+#include "scene/SceneController.h"
 #include <NvClothExt/ClothFabricCooker.h>
 #include "ClothMeshGenerator.h"
 #include <NvCloth/Fabric.h>
diff --git a/NvCloth/samples/SampleBase/scene/scenes/InterCollisionScene.cpp b/NvCloth/samples/SampleBase/scene/scenes/InterCollisionScene.cpp
index b75facd..0dd1aa7 100644
--- a/NvCloth/samples/SampleBase/scene/scenes/InterCollisionScene.cpp
+++ b/NvCloth/samples/SampleBase/scene/scenes/InterCollisionScene.cpp
@@ -9,7 +9,7 @@
 */
 
 #include "InterCollisionScene.h"
-#include "Scene/SceneController.h"
+#include "scene/SceneController.h"
 #include <NvClothExt/ClothFabricCooker.h>
 #include "ClothMeshGenerator.h"
 #include <NvCloth/Fabric.h>
diff --git a/NvCloth/samples/SampleBase/scene/scenes/LocalGlobalScene.cpp b/NvCloth/samples/SampleBase/scene/scenes/LocalGlobalScene.cpp
index 57cd1a2..6583476 100644
--- a/NvCloth/samples/SampleBase/scene/scenes/LocalGlobalScene.cpp
+++ b/NvCloth/samples/SampleBase/scene/scenes/LocalGlobalScene.cpp
@@ -9,7 +9,7 @@
 */
 
 #include "LocalGlobalScene.h"
-#include "Scene/SceneController.h"
+#include "scene/SceneController.h"
 #include <NvClothExt/ClothFabricCooker.h>
 #include "ClothMeshGenerator.h"
 #include <NvCloth/Fabric.h>
diff --git a/NvCloth/samples/SampleBase/scene/scenes/MultiSolverScene.cpp b/NvCloth/samples/SampleBase/scene/scenes/MultiSolverScene.cpp
index d708069..a82325f 100644
--- a/NvCloth/samples/SampleBase/scene/scenes/MultiSolverScene.cpp
+++ b/NvCloth/samples/SampleBase/scene/scenes/MultiSolverScene.cpp
@@ -9,7 +9,7 @@
 */
 
 #include "MultiSolverScene.h"
-#include "Scene/SceneController.h"
+#include "scene/SceneController.h"
 #include <NvClothExt/ClothFabricCooker.h>
 #include "ClothMeshGenerator.h"
 #include <NvCloth/Fabric.h>
diff --git a/NvCloth/samples/SampleBase/scene/scenes/PlaneCollisionScene.cpp b/NvCloth/samples/SampleBase/scene/scenes/PlaneCollisionScene.cpp
index fcf4060..8a677f1 100644
--- a/NvCloth/samples/SampleBase/scene/scenes/PlaneCollisionScene.cpp
+++ b/NvCloth/samples/SampleBase/scene/scenes/PlaneCollisionScene.cpp
@@ -9,7 +9,7 @@
 */
 
 #include "PlaneCollisionScene.h"
-#include "Scene/SceneController.h"
+#include "scene/SceneController.h"
 #include <NvClothExt/ClothFabricCooker.h>
 #include "ClothMeshGenerator.h"
 #include <NvCloth/Fabric.h>
diff --git a/NvCloth/samples/SampleBase/scene/scenes/ScaledScene.cpp b/NvCloth/samples/SampleBase/scene/scenes/ScaledScene.cpp
index f2a5b82..a9059b8 100644
--- a/NvCloth/samples/SampleBase/scene/scenes/ScaledScene.cpp
+++ b/NvCloth/samples/SampleBase/scene/scenes/ScaledScene.cpp
@@ -9,7 +9,7 @@
 */
 
 #include "ScaledScene.h"
-#include "Scene/SceneController.h"
+#include "scene/SceneController.h"
 #include <NvClothExt/ClothFabricCooker.h>
 #include "ClothMeshGenerator.h"
 #include <NvCloth/Fabric.h>
diff --git a/NvCloth/samples/SampleBase/scene/scenes/SelfCollisionScene.cpp b/NvCloth/samples/SampleBase/scene/scenes/SelfCollisionScene.cpp
index 6a407ea..89fed39 100644
--- a/NvCloth/samples/SampleBase/scene/scenes/SelfCollisionScene.cpp
+++ b/NvCloth/samples/SampleBase/scene/scenes/SelfCollisionScene.cpp
@@ -9,7 +9,7 @@
 */
 
 #include "SelfCollisionScene.h"
-#include "Scene/SceneController.h"
+#include "scene/SceneController.h"
 #include <NvClothExt/ClothFabricCooker.h>
 #include "ClothMeshGenerator.h"
 #include <NvCloth/Fabric.h>
diff --git a/NvCloth/samples/SampleBase/scene/scenes/SimpleScene.cpp b/NvCloth/samples/SampleBase/scene/scenes/SimpleScene.cpp
index b52e2c6..e774665 100644
--- a/NvCloth/samples/SampleBase/scene/scenes/SimpleScene.cpp
+++ b/NvCloth/samples/SampleBase/scene/scenes/SimpleScene.cpp
@@ -9,7 +9,7 @@
 */
 
 #include "SimpleScene.h"
-#include "Scene/SceneController.h"
+#include "scene/SceneController.h"
 #include <NvClothExt/ClothFabricCooker.h>
 #include "ClothMeshGenerator.h"
 #include <NvCloth/Fabric.h>
@@ -76,6 +76,7 @@ void SimpleScene::onInitialize()
 	mClothActor->mCloth->setPhaseConfig(nv::cloth::Range<nv::cloth::PhaseConfig>(&phases.front(), &phases.back()));
 	mClothActor->mCloth->setDragCoefficient(0.1f);
 	mClothActor->mCloth->setDragCoefficient(0.1f);
+	//mClothActor->mCloth->setSelfCollisionDistance(0.1f);
 
 	mSolver = getSceneController()->getFactory()->createSolver();
 	trackSolver(mSolver);
diff --git a/NvCloth/samples/SampleBase/scene/scenes/SphereScene.cpp b/NvCloth/samples/SampleBase/scene/scenes/SphereScene.cpp
index d963011..2e6912e 100644
--- a/NvCloth/samples/SampleBase/scene/scenes/SphereScene.cpp
+++ b/NvCloth/samples/SampleBase/scene/scenes/SphereScene.cpp
@@ -9,7 +9,7 @@
 */
 
 #include "SphereScene.h"
-#include "Scene/SceneController.h"
+#include "scene/SceneController.h"
 #include <NvClothExt/ClothFabricCooker.h>
 #include "ClothMeshGenerator.h"
 #include <NvCloth/Fabric.h>
diff --git a/NvCloth/samples/SampleBase/scene/scenes/StiffnessPerConstraintScene.cpp b/NvCloth/samples/SampleBase/scene/scenes/StiffnessPerConstraintScene.cpp
index 4ed9daf..e92c1dc 100644
--- a/NvCloth/samples/SampleBase/scene/scenes/StiffnessPerConstraintScene.cpp
+++ b/NvCloth/samples/SampleBase/scene/scenes/StiffnessPerConstraintScene.cpp
@@ -9,7 +9,7 @@
 */
 
 #include "StiffnessPerConstraintScene.h"
-#include "Scene/SceneController.h"
+#include "scene/SceneController.h"
 #include <NvClothExt/ClothFabricCooker.h>
 #include "ClothMeshGenerator.h"
 #include <NvCloth/Fabric.h>
diff --git a/NvCloth/samples/SampleBase/scene/scenes/TetherScene.cpp b/NvCloth/samples/SampleBase/scene/scenes/TetherScene.cpp
index ecd0850..d437af3 100644
--- a/NvCloth/samples/SampleBase/scene/scenes/TetherScene.cpp
+++ b/NvCloth/samples/SampleBase/scene/scenes/TetherScene.cpp
@@ -9,7 +9,7 @@
 */
 
 #include "TetherScene.h"
-#include "Scene/SceneController.h"
+#include "scene/SceneController.h"
 #include <NvClothExt/ClothFabricCooker.h>
 #include "ClothMeshGenerator.h"
 #include <NvCloth/Fabric.h>
diff --git a/NvCloth/samples/SampleBase/scene/scenes/TriangleScene.cpp b/NvCloth/samples/SampleBase/scene/scenes/TriangleScene.cpp
index 1822bb9..10d185d 100644
--- a/NvCloth/samples/SampleBase/scene/scenes/TriangleScene.cpp
+++ b/NvCloth/samples/SampleBase/scene/scenes/TriangleScene.cpp
@@ -9,7 +9,7 @@
 */
 
 #include "TriangleScene.h"
-#include "Scene/SceneController.h"
+#include "scene/SceneController.h"
 #include <NvClothExt/ClothFabricCooker.h>
 #include "ClothMeshGenerator.h"
 #include <NvCloth/Fabric.h>
diff --git a/NvCloth/samples/SampleBase/scene/scenes/WindScene.cpp b/NvCloth/samples/SampleBase/scene/scenes/WindScene.cpp
index d84fb87..8866473 100644
--- a/NvCloth/samples/SampleBase/scene/scenes/WindScene.cpp
+++ b/NvCloth/samples/SampleBase/scene/scenes/WindScene.cpp
@@ -9,7 +9,7 @@
 */
 
 #include "WindScene.h"
-#include "Scene/SceneController.h"
+#include "scene/SceneController.h"
 #include <NvClothExt/ClothFabricCooker.h>
 #include "ClothMeshGenerator.h"
 #include <NvCloth/Fabric.h>
diff --git a/NvCloth/samples/SampleBase/ui/CommonUIController.cpp b/NvCloth/samples/SampleBase/ui/CommonUIController.cpp
index 63284a2..492e3e9 100644
--- a/NvCloth/samples/SampleBase/ui/CommonUIController.cpp
+++ b/NvCloth/samples/SampleBase/ui/CommonUIController.cpp
@@ -188,6 +188,8 @@ void CommonUIController::drawUI()
 				drawCodeProfiler(&s_showProfilerWindow);
 			}
 #endif
+
+			getSceneController().drawStatsUI();
 		}
 
 		///////////////////////////////////////////////////////////////////////////////////////////
diff --git a/NvCloth/samples/SampleBase/utils/ClothMeshGenerator.cpp b/NvCloth/samples/SampleBase/utils/ClothMeshGenerator.cpp
index 49f9ada..495ba15 100644
--- a/NvCloth/samples/SampleBase/utils/ClothMeshGenerator.cpp
+++ b/NvCloth/samples/SampleBase/utils/ClothMeshGenerator.cpp
@@ -72,6 +72,7 @@ GeneratePlaneCloth(x,y,2,2) generates:
 					pos =	physx::PxVec3(((float)x / (float)segmentsX) * width,
 							((float)(y&2) / (float)segmentsY) * height,
 							((float)((y+1)&~1) / (float)segmentsY) * height);
+					break;
 				default:
 					pos =	physx::PxVec3(((float)x / (float)segmentsX) * width,
 							0.f,
diff --git a/NvCloth/samples/SampleBase/utils/ClothMeshGenerator.h b/NvCloth/samples/SampleBase/utils/ClothMeshGenerator.h
index d6cf0fd..1db4115 100644
--- a/NvCloth/samples/SampleBase/utils/ClothMeshGenerator.h
+++ b/NvCloth/samples/SampleBase/utils/ClothMeshGenerator.h
@@ -25,7 +25,7 @@ struct ClothMeshData
 			a(_a), b(_b), c(_c){}
 		uint32_t a, b, c;
 
-		Triangle operator+(uint32_t offset)const { return Triangle(a + offset, b + offset, c + offset); };
+		Triangle operator+(uint32_t offset)const { return Triangle(a + offset, b + offset, c + offset); }
 	};
 	struct Quad
 	{
@@ -34,7 +34,7 @@ struct ClothMeshData
 			a(_a), b(_b), c(_c), d(_d){}
 		uint32_t a, b, c, d;
 
-		Quad operator+(uint32_t offset)const { return Quad(a + offset, b + offset, c + offset, d + offset); };
+		Quad operator+(uint32_t offset)const { return Quad(a + offset, b + offset, c + offset, d + offset); }
 	};
 	std::vector<physx::PxVec3>	mVertices;
 	std::vector<physx::PxVec2>	mUvs;
diff --git a/NvCloth/samples/SampleBase/utils/JobManager.cpp b/NvCloth/samples/SampleBase/utils/JobManager.cpp
index 093db60..2a18d1c 100644
--- a/NvCloth/samples/SampleBase/utils/JobManager.cpp
+++ b/NvCloth/samples/SampleBase/utils/JobManager.cpp
@@ -124,13 +124,16 @@ void MultithreadedSolverHelper::StartSimulation(float dt)
 		for (int j = 0; j < mSolver->getSimulationChunkCount(); j++)
 			mSimulationChunkJobs[j].Reset();
 	}
+
 	mStartSimulationJob.Reset();
 	mEndSimulationJob.Reset(mSolver->getSimulationChunkCount());
 	mStartSimulationJob.RemoveReference();
-	
 }
 
 void MultithreadedSolverHelper::WaitForSimulation()
 {
+	if (mSolver->getSimulationChunkCount() == 0)
+		return;
+
 	mEndSimulationJob.Wait();
 }
\ No newline at end of file
diff --git a/NvCloth/samples/SampleBase/utils/MeshGenerator.cpp b/NvCloth/samples/SampleBase/utils/MeshGenerator.cpp
index 857daed..5541cc3 100644
--- a/NvCloth/samples/SampleBase/utils/MeshGenerator.cpp
+++ b/NvCloth/samples/SampleBase/utils/MeshGenerator.cpp
@@ -348,6 +348,20 @@ Mesh generateIcosahedron(float radius, int subdivisions)
 	return mesh;
 }
 
+namespace
+{
+	physx::PxVec3 IntersectSpheres(float* circleRadius, physx::PxVec3 aCenter, float aRadius, physx::PxVec3 bCenter, float bRadius)
+	{
+		//Intersect spheres in 2d (http://paulbourke.net/geometry/circlesphere/ Intersection of two circles)
+		float d = (aCenter - bCenter).magnitude();
+		float a = (aRadius*aRadius - bRadius*bRadius + d*d) / (2.0f*d);
+		float h = sqrtf(aRadius*aRadius - a*a);
+		physx::PxVec3 P3 = aCenter + a * (bCenter - aCenter) / d;
+		if(circleRadius) *circleRadius = h;
+		return P3;
+	}
+};
+
 Mesh generateCone(physx::PxVec4 a, physx::PxVec4 b, int segments, float grow, bool correctCone)
 {
 	Mesh mesh;
@@ -365,41 +379,64 @@ Mesh generateCone(physx::PxVec4 a, physx::PxVec4 b, int segments, float grow, bo
 	basis[2].normalize();
 	computeBasis(basis[2], &basis[0], &basis[1]);
 
-	physx::PxVec3 pa = aCenter + aRadius*basis[0];
-	physx::PxVec3 pb = bCenter + bRadius*basis[0];
-	physx::PxVec3 dir = pb - pa;
-
-	physx::PxVec3 n = basis[2].cross(dir);
-	physx::PxVec3 n2 = dir.cross(n);
-	physx::PxVec3 focusPoint = aCenter + ((pa - aCenter).dot(n2)) / basis[2].dot(n2) * basis[2];
-
 	if(correctCone)
 	{
+		//make the cone connect seamlessly to the spheres
+		{
+			//http://jwilson.coe.uga.edu/emt669/Student.Folders/Kertscher.Jeff/Essay.3/Tangents.html
+
+			//sphere a with smaller radius
+			float cRadius = aRadius - bRadius;
+			physx::PxVec3 cCenter = aCenter;
+
+			//sphere in between the a and b
+			physx::PxVec3 dCenter = (aCenter+bCenter)*0.5f;
+			float dRadius = (aCenter - bCenter).magnitude()*0.5f;
+
+			//intersection between c and d to get tangent point
+			float iRadius;
+			physx::PxVec3 iCenter = IntersectSpheres(&iRadius, dCenter, dRadius, cCenter, cRadius);
+			physx::PxVec3 iPoint = iCenter + basis[0] * iRadius; //tangent point on c
+			physx::PxVec3 offset = (iPoint - aCenter).getNormalized(); //offset direction
+
+			physx::PxVec3 aPoint = aCenter + offset*aRadius;
+			aCenter = (aPoint - aCenter).dot(basis[2])*basis[2] + aCenter;
+			aRadius = (aPoint - aCenter).magnitude();
+			physx::PxVec3 bPoint = bCenter + offset*bRadius;
+			bCenter = (bPoint - aCenter).dot(basis[2])*basis[2] + aCenter;
+			bRadius = (bPoint - bCenter).magnitude();
+
+
+		}
+
+		//old code, probably wrong
+		/*
+		physx::PxVec3 pa = aCenter + aRadius*basis[0];
+		physx::PxVec3 pb = bCenter + bRadius*basis[0];
+		physx::PxVec3 dir = pb - pa;
+
+		//construct plane containing pa and pb, with normal perpendicular to basis[0]
+		physx::PxVec3 n = basis[2].cross(dir);
+		physx::PxVec3 n2 = dir.cross(n);
+
+		//line plane intersection
+		physx::PxVec3 focusPoint = aCenter + ((pa - aCenter).dot(n2)) / basis[2].dot(n2) * basis[2];
+
 		{
 			float focusDistance = (focusPoint - aCenter).magnitude();
+			//make circle with center in mid point between focusPoint and aCenter
 			physx::PxVec3 cCenter = (focusPoint + aCenter)*0.5f;
 			float cRadius = focusDistance*0.5f;
-			float d = (aCenter - cCenter).magnitude();
-			float a = (aRadius*aRadius - cRadius*cRadius + d*d) / (2.0f*d);
-			float h = sqrtf(aRadius*aRadius - a*a);
-			physx::PxVec3 P3 = aCenter + a * (cCenter - aCenter) / d;
 
-			aCenter = P3;
-			aRadius = h;
+			aCenter = IntersectSpheres(&aRadius, aCenter, aRadius, cCenter, cRadius);
 		}
 
 		{
 			float focusDistance = (focusPoint - bCenter).magnitude();
 			physx::PxVec3 cCenter = (focusPoint + bCenter)*0.5f;
 			float cRadius = focusDistance*0.5f;
-			float d = (bCenter - cCenter).magnitude();
-			float a = (bRadius*bRadius - cRadius*cRadius + d*d) / (2.0f*d);
-			float h = sqrtf(bRadius*bRadius - a*a);
-			physx::PxVec3 P3 = bCenter + a * (cCenter - bCenter) / d;
-
-			bCenter = P3;
-			bRadius = h;
-		}
+			bCenter = IntersectSpheres(&bRadius, bCenter, bRadius, cCenter, cRadius);
+		}*/
 	}
 
 
diff --git a/NvCloth/scripts/packman/config.packman.xml b/NvCloth/scripts/packman/config.packman.xml
new file mode 100644
index 0000000..6099556
--- /dev/null
+++ b/NvCloth/scripts/packman/config.packman.xml
@@ -0,0 +1,9 @@
+<config remotes="gtl">
+	<remote name="s3" type="s3" packageLocation="packman">
+			<credentials id="AKIAJHPSPBMWMTZS6TJA" key="vK3d0lHiQjEW9krFfvKA4OLpuHGxi2L4/Q4r4IuT"
+						 errorUrl="https://gtl-gitlab.nvidia.com/halldor/packman/wikis/how-to-configure-s3-full-access"/>
+	</remote>
+	<remote name="gtl" type="gtl">
+			<credentials id="svcgtlautomate" key="QHV0ME1AdDNHVEwkY3IxcHQk"/>
+	</remote>
+</config>
diff --git a/NvCloth/scripts/packman/packages/cmake.packman.xml b/NvCloth/scripts/packman/packages/cmake.packman.xml
new file mode 100644
index 0000000..4115184
--- /dev/null
+++ b/NvCloth/scripts/packman/packages/cmake.packman.xml
@@ -0,0 +1,7 @@
+<project toolsVersion="3.1" remotes="s3">
+	<dependency name="cmake">
+		<package name="cmake-x64" version="3.7.0" platforms="windows"/>
+		<package name="cmake-linux-x86_64" version="3.7.2" platforms="linux"/>
+		<package name="cmake-mac-x86_64" version="3.7.2" platforms="mac"/>
+	</dependency>
+</project>
diff --git a/NvCloth/scripts/packman/packman.cmd b/NvCloth/scripts/packman/packman.cmd
new file mode 100644
index 0000000..03e2cf8
--- /dev/null
+++ b/NvCloth/scripts/packman/packman.cmd
@@ -0,0 +1,41 @@
+:: Reset errorlevel status so we are not inheriting this state from the calling process:
+@call :RESET_ERROR
+:: You can remove the call below if you do your own manual configuration of the dev machines
+@call "%~dp0\win-bootstrap\configure.bat"
+@if errorlevel 1 exit /b 1
+:: Everything below is mandatory
+@if not defined PM_PYTHON goto :PYTHON_ENV_ERROR
+@if not defined PM_MODULE goto :MODULE_ENV_ERROR
+
+:: Generate temporary path for variable file
+:TEMP_VAR_PATH_LOOP
+@set "PM_VAR_PATH=%tmp%\tmp.%RANDOM%.pmvars"
+@if exist "%PM_VAR_PATH%" goto :TEMP_VAR_PATH_LOOP
+
+@"%PM_PYTHON%" "%PM_MODULE%" %* --var-path="%PM_VAR_PATH%"
+@if errorlevel 1 goto :eof
+
+:: Marshall environment variables into the current environment if they have been generated and remove temporary file
+@if exist "%PM_VAR_PATH%" (
+	@for /F "usebackq tokens=*" %%A in ("%PM_VAR_PATH%") do @set "%%A"
+	@if errorlevel 1 goto :VAR_ERROR
+	@del /F "%PM_VAR_PATH%"
+)
+@set PM_VAR_PATH=
+@goto :eof
+
+:: Subroutines below
+:PYTHON_ENV_ERROR
+@echo User environment variable PM_PYTHON is not set! Please configure machine for packman or call configure.bat.
+@exit /b 1
+
+:MODULE_ENV_ERROR
+@echo User environment variable PM_MODULE is not set! Please configure machine for packman or call configure.bat.
+@exit /b 1
+
+:VAR_ERROR
+@echo Error while processing and setting environment variables!
+@exit /b 1
+
+:RESET_ERROR
+@exit /b 0
\ No newline at end of file
diff --git a/NvCloth/scripts/packman/packman.sh b/NvCloth/scripts/packman/packman.sh
new file mode 100644
index 0000000..3fbd753
--- /dev/null
+++ b/NvCloth/scripts/packman/packman.sh
@@ -0,0 +1,97 @@
+#!/bin/bash
+
+PM_PACKMAN_VERSION=5.0-rc2
+
+# Specify where packman command exists
+export PM_INSTALL_PATH=$(dirname ${BASH_SOURCE})
+
+# The packages root may already be configured by the user
+if [ -z "$PM_PACKAGES_ROOT" ]; then
+    # Set variable permanently using .profile for this user
+    echo "export PM_PACKAGES_ROOT=\$HOME/packman-repo" >> ~/.profile
+    # Set variable temporarily in this process so that the following execution will work 
+	export PM_PACKAGES_ROOT="${HOME}/packman-repo"
+fi
+
+# Ensure the packages root path exists:
+if [ ! -d "$PM_PACKAGES_ROOT" ]; then
+	echo "Creating packman packages repository at $PM_PACKAGES_ROOT"
+	mkdir -p "$PM_PACKAGES_ROOT"
+fi
+
+# The packman module may be externally configured
+if [ -z "$PM_MODULE_EXT" ]; then
+	PM_MODULE_DIR="$PM_PACKAGES_ROOT/packman-common/$PM_PACKMAN_VERSION"
+	export PM_MODULE="$PM_MODULE_DIR/packman.py"
+else
+	export PM_MODULE="$PM_MODULE_EXT"
+fi
+
+fetch_file_from_s3() 
+{
+	SOURCE=$1
+	SOURCE_URL=http://packman.s3.amazonaws.com/$SOURCE
+	TARGET=$2
+	echo "Fetching $SOURCE from S3 ..."
+	if command -v wget >/dev/null 2>&1; then
+		wget --quiet -O$TARGET $SOURCE_URL
+	else
+		curl -o $TARGET $SOURCE_URL -s -S
+	fi		
+}
+
+# Ensure the packman package exists:
+if [ ! -f "$PM_MODULE" ]; then
+	PM_MODULE_PACKAGE="packman-common@$PM_PACKMAN_VERSION.zip"
+	TARGET="/tmp/$PM_MODULE_PACKAGE"
+	# We always fetch packman from S3:
+	fetch_file_from_s3 $PM_MODULE_PACKAGE $TARGET
+	if [ "$?" -eq "0" ]; then
+		echo "Unpacking ..."
+		mkdir -p "$PM_MODULE_DIR"
+		unzip -q $TARGET -d "$PM_MODULE_DIR"
+		rm $TARGET
+	else
+		echo "Failure while fetching packman module from S3!"
+		exit 1
+	fi
+fi
+
+# For now assume python is installed on the box and we just need to find it
+if command -v python2 >/dev/null 2>&1; then
+	export PM_PYTHON=python2
+else
+	export PM_PYTHON=python
+fi
+
+# Ensure 7za package exists:
+PM_7za_VERSION=16.02
+export PM_7za_PATH="$PM_PACKAGES_ROOT/7za/$PM_7za_VERSION"
+if [ ! -f "$PM_7za_PATH" ]; then
+    $PM_PYTHON "$PM_MODULE" install 7za $PM_7za_VERSION -r packman:s3
+    if [ "$?" -ne 0 ]; then
+        echo "Failure while installing required 7za package"
+        exit 1
+    fi
+fi
+
+# Generate temporary file name for environment variables:
+PM_VAR_PATH=`mktemp -u -t tmp.XXXXX.$$.pmvars`
+
+$PM_PYTHON "$PM_MODULE" $* --var-path="$PM_VAR_PATH"
+exit_code=$?
+# Export the variables if the file was used and remove the file:
+if [ -f "$PM_VAR_PATH" ]; then
+	while read -r line
+	do
+        if [ ${#line} -gt 0 ]; then
+    		export "$line"
+        fi
+	done < "$PM_VAR_PATH"
+    rm -f "$PM_VAR_PATH"
+fi
+
+# Return the exit code from python
+if [ "$exit_code" != 0 ]; then
+    exit "$exit_code"
+fi
diff --git a/NvCloth/scripts/packman/packman_config.txt b/NvCloth/scripts/packman/packman_config.txt
new file mode 100644
index 0000000..a0a912b
--- /dev/null
+++ b/NvCloth/scripts/packman/packman_config.txt
@@ -0,0 +1,5 @@
+PM_PACKAGES_SOURCE=gtl
+PM_GTL_USER=svcgtlautomate
+PM_GTL_KEY=QHV0ME1AdDNHVEwkY3IxcHQk
+PM_S3_READ_KEY_ID=AKIAJHPSPBMWMTZS6TJA
+PM_S3_READ_SECRET_KEY=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
diff --git a/NvCloth/scripts/packman/test_packman.cmd b/NvCloth/scripts/packman/test_packman.cmd
new file mode 100644
index 0000000..f3982fd
--- /dev/null
+++ b/NvCloth/scripts/packman/test_packman.cmd
@@ -0,0 +1,6 @@
+:: Use our local packman module for testing
+@set PM_MODULE_EXT=%~dp0\..\common\packman.py
+@call "%~dp0packman.cmd" %*
+:: Clean out so this setting doesn't leak into the current console
+@set PM_MODULE_EXT=
+@if errorlevel 1 exit /b 1
diff --git a/NvCloth/scripts/packman/test_packman.sh b/NvCloth/scripts/packman/test_packman.sh
new file mode 100644
index 0000000..246c7e0
--- /dev/null
+++ b/NvCloth/scripts/packman/test_packman.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+
+export PM_MODULE_EXT="$(dirname ${BASH_SOURCE})/../common/packman.py"
+
+source "$(dirname ${BASH_SOURCE})/packman.sh" $*
+
+unset PM_MODULE_EXT
+
diff --git a/NvCloth/scripts/packman/test_postscript.bat b/NvCloth/scripts/packman/test_postscript.bat
new file mode 100644
index 0000000..26793b7
--- /dev/null
+++ b/NvCloth/scripts/packman/test_postscript.bat
@@ -0,0 +1,2 @@
+@echo %PM_CMakeModules_PATH%
+@echo %PM_PATHS%
\ No newline at end of file
diff --git a/NvCloth/scripts/packman/win-bootstrap/configure.bat b/NvCloth/scripts/packman/win-bootstrap/configure.bat
new file mode 100644
index 0000000..0528b09
--- /dev/null
+++ b/NvCloth/scripts/packman/win-bootstrap/configure.bat
@@ -0,0 +1,112 @@
+@set PM_PACKMAN_VERSION=5.0-rc2
+
+:: Specify where packman command is rooted
+@set PM_INSTALL_PATH=%~dp0..
+
+:: The external root may already be configured and we should do minimal work in that case
+@if defined PM_PACKAGES_ROOT goto ENSURE_DIR
+
+:: If the folder isn't set we assume that the best place for it is on the drive that we are currently
+:: running from
+@set PM_DRIVE=%CD:~0,2%
+
+@set PM_PACKAGES_ROOT=%PM_DRIVE%\packman-repo
+
+:: We use *setx* here so that the variable is persisted in the user environment
+@echo Setting user environment variable PM_PACKAGES_ROOT to %PM_PACKAGES_ROOT%
+@setx PM_PACKAGES_ROOT %PM_PACKAGES_ROOT%
+@if errorlevel 1 goto ERROR
+
+:: The above doesn't work properly from a build step in VisualStudio because a separate process is
+:: spawned for it so it will be lost for subsequent compilation steps - VisualStudio must
+:: be launched from a new process. We catch this odd-ball case here:
+@if defined PM_DISABLE_VS_WARNING goto ENSURE_DIR
+@if not defined VSLANG goto ENSURE_DIR
+@echo The above is a once-per-computer operation. Unfortunately VisualStudio cannot pick up environment change
+@echo unless *VisualStudio is RELAUNCHED*.
+@echo If you are launching VisualStudio from command line or command line utility make sure
+@echo you have a fresh launch environment (relaunch the command line or utility).
+@echo If you are using 'linkPath' and referring to packages via local folder links you can safely ignore this warning.
+@echo You can disable this warning by setting the environment variable PM_DISABLE_VS_WARNING.
+@echo.
+
+:: Check for the directory that we need. Note that mkdir will create any directories
+:: that may be needed in the path 
+:ENSURE_DIR
+@if not exist "%PM_PACKAGES_ROOT%" (
+	@echo Creating directory %PM_PACKAGES_ROOT%
+	@mkdir "%PM_PACKAGES_ROOT%"
+	@if errorlevel 1 goto ERROR_MKDIR_PACKAGES_ROOT
+)
+
+:: The Python interpreter may already be externally configured
+@if defined PM_PYTHON_EXT (
+	@set PM_PYTHON=%PM_PYTHON_EXT%
+	@goto PACKMAN
+)
+
+@set PM_PYTHON_DIR=%PM_PACKAGES_ROOT%\python\2.7.6-windows-x86
+@set PM_PYTHON=%PM_PYTHON_DIR%\python.exe
+
+@if exist "%PM_PYTHON%" goto PACKMAN
+
+@set [email protected]
+@for /f "delims=" %%a in ('powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0\generate_temp_file_name.ps1"') do @set TEMP_FILE_NAME=%%a
+@set TARGET=%TEMP_FILE_NAME%.exe
+@call "%~dp0fetch_file_from_s3.cmd" %PM_PYTHON_PACKAGE% "%TARGET%"
+@if errorlevel 1 goto ERROR
+
+@echo Unpacking ...
+@"%TARGET%" -o"%PM_PYTHON_DIR%" -y 1> nul
+@if errorlevel 1 goto ERROR
+
+@del "%TARGET%"
+
+:PACKMAN
+:: The packman module may already be externally configured
+@if defined PM_MODULE_EXT (
+	@set PM_MODULE=%PM_MODULE_EXT%
+	@goto ENSURE_7za
+)
+
+@set PM_MODULE_DIR=%PM_PACKAGES_ROOT%\packman-common\%PM_PACKMAN_VERSION%
+@set PM_MODULE=%PM_MODULE_DIR%\packman.py
+
+@if exist "%PM_MODULE%" goto ENSURE_7ZA
+
+@set PM_MODULE_PACKAGE=packman-common@%PM_PACKMAN_VERSION%.zip
+@for /f "delims=" %%a in ('powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0\generate_temp_file_name.ps1"') do @set TEMP_FILE_NAME=%%a
+@set TARGET=%TEMP_FILE_NAME%
+@call "%~dp0fetch_file_from_s3.cmd" %PM_MODULE_PACKAGE% "%TARGET%"
+@if errorlevel 1 goto ERROR
+
+@echo Unpacking ...
+@"%PM_PYTHON%" "%~dp0\install_package.py" "%TARGET%" "%PM_MODULE_DIR%"
+@if errorlevel 1 goto ERROR
+
+@del "%TARGET%"
+
+:ENSURE_7ZA
+@set PM_7Za_VERSION=16.02
+@set PM_7Za_PATH=%PM_PACKAGES_ROOT%\7za\%PM_7ZA_VERSION%
+@if exist "%PM_7Za_PATH%" goto END
+
+@"%PM_PYTHON%" "%PM_MODULE%" install 7za %PM_7za_VERSION% -r packman:s3
+@if errorlevel 1 goto ERROR
+
+@goto END
+
+:ERROR_MKDIR_PACKAGES_ROOT
+@echo Failed to automatically create packman packages repo at %PM_PACKAGES_ROOT%.
+@echo Please set a location explicitly that packman has permission to write to, by issuing:
+@echo.
+@echo    setx PM_PACKAGES_ROOT {path-you-choose-for-storing-packman-packages-locally}
+@echo.
+@echo Then launch a new command console for the changes to take effect and run packman command again.
+@exit /B 1
+
+:ERROR
+@echo !!! Failure while configuring local machine :( !!!
+@exit /B 1
+
+:END
diff --git a/NvCloth/scripts/packman/win-bootstrap/fetch_file_from_s3.cmd b/NvCloth/scripts/packman/win-bootstrap/fetch_file_from_s3.cmd
new file mode 100644
index 0000000..63766c1
--- /dev/null
+++ b/NvCloth/scripts/packman/win-bootstrap/fetch_file_from_s3.cmd
@@ -0,0 +1,22 @@
+:: You need to specify <package-name> <target-path> as input to this command
+@setlocal
+@set PACKAGE_NAME=%1
+@set TARGET_PATH=%2
+
+@echo Fetching %PACKAGE_NAME% from s3 ...
+
+@powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0fetch_file_from_s3.ps1" -sourceName %PACKAGE_NAME% ^
+    -output %TARGET_PATH%
+:: A bug in powershell prevents the errorlevel code from being set when using the -File execution option
+:: We must therefore do our own failure analysis, basically make sure the file exists and is larger than 0 bytes:
+@if not exist %TARGET_PATH% goto ERROR_DOWNLOAD_FAILED
+@if %~z2==0 goto ERROR_DOWNLOAD_FAILED
+
+@endlocal
+@exit /b 0
+
+:ERROR_DOWNLOAD_FAILED
+@echo Failed to download file from %1
+@echo Most likely because endpoint cannot be reached (VPN connection down?)
+@endlocal
+@exit /b 1
\ No newline at end of file
diff --git a/NvCloth/scripts/packman/win-bootstrap/fetch_file_from_s3.ps1 b/NvCloth/scripts/packman/win-bootstrap/fetch_file_from_s3.ps1
new file mode 100644
index 0000000..fc588d9
--- /dev/null
+++ b/NvCloth/scripts/packman/win-bootstrap/fetch_file_from_s3.ps1
@@ -0,0 +1,60 @@
+param(
+[Parameter(Mandatory=$true)][string]$sourceName=$null,
+[string]$output="out.exe"
+)
+$source = "http://packman.s3.amazonaws.com/" + $sourceName
+$filename = $output
+
+$triesLeft = 3
+
+do
+{
+    $triesLeft -= 1
+    $req = [System.Net.httpwebrequest]::Create($source)
+    $req.cookiecontainer = New-Object System.net.CookieContainer
+
+    try
+    {
+        Write-Host "Connecting to S3 ..."
+        $res = $req.GetResponse()
+        if($res.StatusCode -eq "OK") {
+          Write-Host "Downloading ..."
+          [int]$goal = $res.ContentLength
+          $reader = $res.GetResponseStream()
+          $writer = new-object System.IO.FileStream $fileName, "Create"
+          [byte[]]$buffer = new-object byte[] 4096
+          [int]$total = [int]$count = 0
+          do
+          {
+            $count = $reader.Read($buffer, 0, $buffer.Length);
+            $writer.Write($buffer, 0, $count);
+            $total += $count
+            if($goal -gt 0) {
+                Write-Progress "Downloading $url" "Saving $total of $goal" -id 0 -percentComplete (($total/$goal)*100)
+            } else {
+                Write-Progress "Downloading $url" "Saving $total bytes..." -id 0
+            }
+          } while ($count -gt 0)
+         
+          $triesLeft = 0
+        }
+    }
+    catch
+    {
+        Write-Host "Error connecting to S3!"
+        Write-Host $_.Exception|format-list -force
+    }
+    finally
+    {
+        if ($reader)
+        {
+            $reader.Close()
+        }
+        if ($writer)
+        {
+            $writer.Flush()
+            $writer.Close()
+        }
+    }
+} while ($triesLeft -gt 0)
+
diff --git a/NvCloth/scripts/packman/win-bootstrap/fetch_file_from_url.ps1 b/NvCloth/scripts/packman/win-bootstrap/fetch_file_from_url.ps1
new file mode 100644
index 0000000..5b566f1
--- /dev/null
+++ b/NvCloth/scripts/packman/win-bootstrap/fetch_file_from_url.ps1
@@ -0,0 +1,37 @@
+param(
+[Parameter(Mandatory=$true)][string]$sourceUrl=$null,
+[Parameter(Mandatory=$true)][string]$output=$null
+)
+$source = $sourceUrl
+$filename = $output
+
+$req = [System.Net.httpwebrequest]::Create($source)
+$req.cookiecontainer = New-Object System.net.CookieContainer
+
+Write-Host "Connecting to $source ..."
+$res = $req.GetResponse()
+
+if($res.StatusCode -eq "OK") {
+  Write-Host "Downloading ..."
+  [int]$goal = $res.ContentLength
+  $reader = $res.GetResponseStream()
+  $writer = new-object System.IO.FileStream $fileName, "Create"
+  [byte[]]$buffer = new-object byte[] 4096
+  [int]$total = [int]$count = 0
+  do
+  {
+    $count = $reader.Read($buffer, 0, $buffer.Length);
+    $writer.Write($buffer, 0, $count);
+    $total += $count
+    if($goal -gt 0) {
+        Write-Progress "Downloading $url" "Saving $total of $goal" -id 0 -percentComplete (($total/$goal)*100)
+    } else {
+        Write-Progress "Downloading $url" "Saving $total bytes..." -id 0
+    }
+  } while ($count -gt 0)
+ 
+  $reader.Close()
+  $writer.Flush()
+  $writer.Close()
+}
+
diff --git a/NvCloth/scripts/packman/win-bootstrap/generate_temp_file_name.ps1 b/NvCloth/scripts/packman/win-bootstrap/generate_temp_file_name.ps1
new file mode 100644
index 0000000..cefbda4
--- /dev/null
+++ b/NvCloth/scripts/packman/win-bootstrap/generate_temp_file_name.ps1
@@ -0,0 +1,2 @@
+$out = [System.IO.Path]::GetTempFileName()
+Write-Host $out
\ No newline at end of file
diff --git a/NvCloth/scripts/packman/win-bootstrap/install_package.py b/NvCloth/scripts/packman/win-bootstrap/install_package.py
new file mode 100644
index 0000000..730962a
--- /dev/null
+++ b/NvCloth/scripts/packman/win-bootstrap/install_package.py
@@ -0,0 +1,39 @@
+import logging
+import zipfile
+import tempfile
+import sys
+import shutil
+
+__author__ = 'hfannar'
+logging.basicConfig(level=logging.WARNING, format="%(message)s")
+logger = logging.getLogger('install_package')
+
+
+class TemporaryDirectory:
+    def __init__(self):
+        self.path = None
+
+    def __enter__(self):
+        self.path = tempfile.mkdtemp()
+        return self.path
+
+    def __exit__(self, type, value, traceback ):
+        # Remove temporary data created
+        shutil.rmtree(self.path)
+
+
+def install_package(package_src_path, package_dst_path):
+    with zipfile.ZipFile(package_src_path, allowZip64=True) as zip_file, TemporaryDirectory() as temp_dir:
+        zip_file.extractall(temp_dir)
+        # Recursively copy (temp_dir will be automatically cleaned up on exit)
+        try:
+            # Recursive copy is needed because both package name and version folder could be missing in
+            # target directory:
+            shutil.copytree(temp_dir, package_dst_path)
+        except OSError, exc:
+            logger.warning("Directory %s already present, packaged installation aborted" % package_dst_path)
+        else:
+            logger.info("Package successfully installed to %s" % package_dst_path)
+
+
+install_package(sys.argv[1], sys.argv[2])
\ No newline at end of file
diff --git a/NvCloth/src/BoundingBox.h b/NvCloth/src/BoundingBox.h
index 74bc0ff..ea84d52 100644
--- a/NvCloth/src/BoundingBox.h
+++ b/NvCloth/src/BoundingBox.h
@@ -37,26 +37,26 @@ namespace nv
 namespace cloth
 {
 
-template <typename Simd4f>
+template <typename T4f>
 struct BoundingBox
 {
-	Simd4f mLower;
-	Simd4f mUpper;
+	T4f mLower;
+	T4f mUpper;
 };
 
-template <typename Simd4f>
-inline BoundingBox<Simd4f> loadBounds(const float* ptr)
+template <typename T4f>
+inline BoundingBox<T4f> loadBounds(const float* ptr)
 {
-	BoundingBox<Simd4f> result;
+	BoundingBox<T4f> result;
 	result.mLower = load(ptr);
 	result.mUpper = load(ptr + 3);
 	return result;
 }
 
-template <typename Simd4f>
-inline BoundingBox<Simd4f> emptyBounds()
+template <typename T4f>
+inline BoundingBox<T4f> emptyBounds()
 {
-	BoundingBox<Simd4f> result;
+	BoundingBox<T4f> result;
 
 	result.mLower = gSimd4fFloatMax;
 	result.mUpper = -result.mLower;
@@ -64,10 +64,10 @@ inline BoundingBox<Simd4f> emptyBounds()
 	return result;
 }
 
-template <typename Simd4f>
-inline BoundingBox<Simd4f> expandBounds(const BoundingBox<Simd4f>& bounds, const Simd4f* pIt, const Simd4f* pEnd)
+template <typename T4f>
+inline BoundingBox<T4f> expandBounds(const BoundingBox<T4f>& bounds, const T4f* pIt, const T4f* pEnd)
 {
-	BoundingBox<Simd4f> result = bounds;
+	BoundingBox<T4f> result = bounds;
 	for (; pIt != pEnd; ++pIt)
 	{
 		result.mLower = min(result.mLower, *pIt);
@@ -76,26 +76,26 @@ inline BoundingBox<Simd4f> expandBounds(const BoundingBox<Simd4f>& bounds, const
 	return result;
 }
 
-template <typename Simd4f>
-inline BoundingBox<Simd4f> expandBounds(const BoundingBox<Simd4f>& a, const BoundingBox<Simd4f>& b)
+template <typename T4f>
+inline BoundingBox<T4f> expandBounds(const BoundingBox<T4f>& a, const BoundingBox<T4f>& b)
 {
-	BoundingBox<Simd4f> result;
+	BoundingBox<T4f> result;
 	result.mLower = min(a.mLower, b.mLower);
 	result.mUpper = max(a.mUpper, b.mUpper);
 	return result;
 }
 
-template <typename Simd4f>
-inline BoundingBox<Simd4f> intersectBounds(const BoundingBox<Simd4f>& a, const BoundingBox<Simd4f>& b)
+template <typename T4f>
+inline BoundingBox<T4f> intersectBounds(const BoundingBox<T4f>& a, const BoundingBox<T4f>& b)
 {
-	BoundingBox<Simd4f> result;
+	BoundingBox<T4f> result;
 	result.mLower = max(a.mLower, b.mLower);
 	result.mUpper = min(a.mUpper, b.mUpper);
 	return result;
 }
 
-template <typename Simd4f>
-inline bool isEmptyBounds(const BoundingBox<Simd4f>& a)
+template <typename T4f>
+inline bool isEmptyBounds(const BoundingBox<T4f>& a)
 {
 	return anyGreater(a.mLower, a.mUpper) != 0;
 }
diff --git a/NvCloth/src/ClothClone.h b/NvCloth/src/ClothClone.h
index 386fee6..7145da5 100644
--- a/NvCloth/src/ClothClone.h
+++ b/NvCloth/src/ClothClone.h
@@ -29,12 +29,12 @@
 
 #pragma once
 
-#include "../SwFactory.h"
-#include "../SwFabric.h"
-#include "../SwCloth.h"
+#include "SwFactory.h"
+#include "SwFabric.h"
+#include "SwCloth.h"
 
-#include "../ClothImpl.h"
-#include "../ClothBase.h"
+#include "ClothImpl.h"
+#include "ClothBase.h"
 #include "NvCloth/Allocator.h"
 
 namespace nv
diff --git a/NvCloth/src/ClothImpl.h b/NvCloth/src/ClothImpl.h
index 4d7b28d..24f7732 100644
--- a/NvCloth/src/ClothImpl.h
+++ b/NvCloth/src/ClothImpl.h
@@ -1220,7 +1220,7 @@ inline float ClothImpl<T>::getLiftCoefficient() const
 template <typename T>
 inline void ClothImpl<T>::setFluidDensity(float fluidDensity)
 {
-	NV_CLOTH_ASSERT(fluidDensity < 0.f);
+	NV_CLOTH_ASSERT(fluidDensity > 0.f);
 	if (fluidDensity == mFluidDensity)
 		return;
 
diff --git a/NvCloth/src/IterationState.h b/NvCloth/src/IterationState.h
index 224e87e..e18b636 100644
--- a/NvCloth/src/IterationState.h
+++ b/NvCloth/src/IterationState.h
@@ -72,21 +72,21 @@ inline physx::PxQuat exp(const physx::PxVec3& v)
 	return physx::PxQuat(v.x * scale, v.y * scale, v.z * scale, physx::PxCos(theta));
 }
 
-template <typename Simd4f, uint32_t N>
-inline void assign(Simd4f (&columns)[N], const physx::PxMat44& matrix)
+template <typename T4f, uint32_t N>
+inline void assign(T4f (&columns)[N], const physx::PxMat44& matrix)
 {
 	for (uint32_t i = 0; i < N; ++i)
 		columns[i] = load(nv::cloth::array(matrix[i]));
 }
 
-template <typename Simd4f>
-inline Simd4f transform(const Simd4f (&columns)[3], const Simd4f& vec)
+template <typename T4f>
+inline T4f transform(const T4f (&columns)[3], const T4f& vec)
 {
 	return splat<0>(vec) * columns[0] + splat<1>(vec) * columns[1] + splat<2>(vec) * columns[2];
 }
 
-template <typename Simd4f>
-inline Simd4f transform(const Simd4f (&columns)[3], const Simd4f& translate, const Simd4f& vec)
+template <typename T4f>
+inline T4f transform(const T4f (&columns)[3], const T4f& translate, const T4f& vec)
 {
 	return translate + splat<0>(vec) * columns[0] + splat<1>(vec) * columns[1] + splat<2>(vec) * columns[2];
 }
@@ -99,17 +99,17 @@ struct IterationStateFactory
 	template <typename MyCloth>
 	IterationStateFactory(MyCloth& cloth, float frameDt);
 
-	template <typename Simd4f, typename MyCloth>
-	IterationState<Simd4f> create(MyCloth const& cloth) const;
+	template <typename T4f, typename MyCloth>
+	IterationState<T4f> create(MyCloth const& cloth) const;
 
-	template <typename Simd4f>
-	static Simd4f lengthSqr(Simd4f const& v)
+	template <typename T4f>
+	static T4f lengthSqr(T4f const& v)
 	{
 		return dot3(v, v);
 	}
 
-	template <typename Simd4f>
-	static physx::PxVec3 castToPxVec3(const Simd4f& v)
+	template <typename T4f>
+	static physx::PxVec3 castToPxVec3(const T4f& v)
 	{
 		return *reinterpret_cast<const physx::PxVec3*>(reinterpret_cast<const char*>(&v));
 	}
@@ -123,7 +123,7 @@ struct IterationStateFactory
 };
 
 /* solver iterations helper functor */
-template <typename Simd4f>
+template <typename T4f>
 struct IterationState
 {
 	// call after each iteration
@@ -133,15 +133,15 @@ struct IterationState
 	inline float getPreviousAlpha() const;
 
   public:
-	Simd4f mRotationMatrix[3]; // should rename to 'mRotation'
+	T4f mRotationMatrix[3]; // should rename to 'mRotation'
 
-	Simd4f mCurBias;  // in local space
-	Simd4f mPrevBias; // in local space
-	Simd4f mWind;     // delta position per iteration (wind velocity * mIterDt)
+	T4f mCurBias;  // in local space
+	T4f mPrevBias; // in local space
+	T4f mWind;     // delta position per iteration (wind velocity * mIterDt)
 
-	Simd4f mPrevMatrix[3];
-	Simd4f mCurMatrix[3];
-	Simd4f mDampScaleUpdate;
+	T4f mPrevMatrix[3];
+	T4f mCurMatrix[3];
+	T4f mDampScaleUpdate;
 
 	// iteration counter
 	uint32_t mRemainingIterations;
@@ -157,14 +157,14 @@ struct IterationState
 
 } // namespace cloth
 
-template <typename Simd4f>
-inline float cloth::IterationState<Simd4f>::getCurrentAlpha() const
+template <typename T4f>
+inline float cloth::IterationState<T4f>::getCurrentAlpha() const
 {
 	return getPreviousAlpha() + mInvNumIterations;
 }
 
-template <typename Simd4f>
-inline float cloth::IterationState<Simd4f>::getPreviousAlpha() const
+template <typename T4f>
+inline float cloth::IterationState<T4f>::getPreviousAlpha() const
 {
 	return 1.0f - mRemainingIterations * mInvNumIterations;
 }
@@ -232,36 +232,36 @@ If you change anything in this function, make sure that ClothCustomFloating and
 ClothInertia haven't regressed for any choice of solver frequency.
 */
 
-template <typename Simd4f, typename MyCloth>
-cloth::IterationState<Simd4f> cloth::IterationStateFactory::create(MyCloth const& cloth) const
+template <typename T4f, typename MyCloth>
+cloth::IterationState<T4f> cloth::IterationStateFactory::create(MyCloth const& cloth) const
 {
-	IterationState<Simd4f> result;
+	IterationState<T4f> result;
 
 	result.mRemainingIterations = static_cast<uint32_t>(mNumIterations);
 	result.mInvNumIterations = mInvNumIterations;
 	result.mIterDt = mIterDt;
 
-	Simd4f curLinearVelocity = load(array(cloth.mLinearVelocity));
-	Simd4f prevLinearVelocity = load(array(mPrevLinearVelocity));
+	T4f curLinearVelocity = load(array(cloth.mLinearVelocity));
+	T4f prevLinearVelocity = load(array(mPrevLinearVelocity));
 
-	Simd4f iterDt = simd4f(mIterDt);
-	Simd4f dampExponent = simd4f(cloth.mStiffnessFrequency) * iterDt;
+	T4f iterDt = simd4f(mIterDt);
+	T4f dampExponent = simd4f(cloth.mStiffnessFrequency) * iterDt;
 
-	Simd4f translation = iterDt * curLinearVelocity;
+	T4f translation = iterDt * curLinearVelocity;
 
 	// gravity delta per iteration
-	Simd4f gravity = load(array(cloth.mGravity)) * static_cast<Simd4f>(simd4f(sqr(mIterDtAverage)));
+	T4f gravity = load(array(cloth.mGravity)) * static_cast<T4f>(simd4f(sqr(mIterDtAverage)));
 
 	// scale of local particle velocity per iteration
-	Simd4f dampScale = exp2(load(array(cloth.mLogDamping)) * dampExponent);
+	T4f dampScale = exp2(load(array(cloth.mLogDamping)) * dampExponent);
 	// adjust for the change in time step during the first iteration
-	Simd4f firstDampScale = dampScale * simd4f(mIterDtRatio);
+	T4f firstDampScale = dampScale * simd4f(mIterDtRatio);
 
 	// portion of negative frame velocity to transfer to particle
-	Simd4f linearDrag = (gSimd4fOne - exp2(load(array(cloth.mLinearLogDrag)) * dampExponent)) * translation;
+	T4f linearDrag = (gSimd4fOne - exp2(load(array(cloth.mLinearLogDrag)) * dampExponent)) * translation;
 
 	// portion of frame acceleration to transfer to particle
-	Simd4f linearInertia = load(array(cloth.mLinearInertia)) * iterDt * (prevLinearVelocity - curLinearVelocity);
+	T4f linearInertia = load(array(cloth.mLinearInertia)) * iterDt * (prevLinearVelocity - curLinearVelocity);
 
 	// for inertia, we want to violate newton physics to
 	// match velocity and position as given by the user, which means:
@@ -271,13 +271,13 @@ cloth::IterationState<Simd4f> cloth::IterationStateFactory::create(MyCloth const
 	// specifically, the portion is alpha=(n+1)/2n and 1-alpha.
 
 	float linearAlpha = (mNumIterations + 1) * 0.5f * mInvNumIterations;
-	Simd4f curLinearInertia = linearInertia * simd4f(linearAlpha);
+	T4f curLinearInertia = linearInertia * simd4f(linearAlpha);
 
 	// rotate to local space (use mRotationMatrix temporarily to hold matrix)
 	physx::PxMat44 invRotation = physx::PxMat44(mCurrentRotation.getConjugate());
 	assign(result.mRotationMatrix, invRotation);
 
-	Simd4f maskXYZ = simd4f(simd4i(~0, ~0, ~0, 0));
+	T4f maskXYZ = simd4f(simd4i(~0, ~0, ~0, 0));
 
 	// Previously, we split the bias between previous and current position to
 	// get correct disretized position and velocity. However, this made a
@@ -286,23 +286,23 @@ cloth::IterationState<Simd4f> cloth::IterationStateFactory::create(MyCloth const
 	// timesteps. Instead, we now apply the entire bias to current position
 	// and accept a less noticeable error for a free falling cloth.
 
-	Simd4f bias = gravity - linearDrag;
+	T4f bias = gravity - linearDrag;
 	result.mCurBias = transform(result.mRotationMatrix, curLinearInertia + bias) & maskXYZ;
 	result.mPrevBias = transform(result.mRotationMatrix, linearInertia - curLinearInertia) & maskXYZ;
 
-	Simd4f wind = load(array(cloth.mWind)) * iterDt; // multiply with delta time here already so we don't have to do it inside the solver
+	T4f wind = load(array(cloth.mWind)) * iterDt; // multiply with delta time here already so we don't have to do it inside the solver
 	result.mWind = transform(result.mRotationMatrix, translation - wind) & maskXYZ;
 
 	result.mIsTurning = mPrevAngularVelocity.magnitudeSquared() + cloth.mAngularVelocity.magnitudeSquared() > 0.0f;
 
 	if (result.mIsTurning)
 	{
-		Simd4f curAngularVelocity = load(array(invRotation.rotate(cloth.mAngularVelocity)));
-		Simd4f prevAngularVelocity = load(array(invRotation.rotate(mPrevAngularVelocity)));
+		T4f curAngularVelocity = load(array(invRotation.rotate(cloth.mAngularVelocity)));
+		T4f prevAngularVelocity = load(array(invRotation.rotate(mPrevAngularVelocity)));
 
 		// rotation for one iteration in local space
-		Simd4f curInvAngle = -iterDt * curAngularVelocity;
-		Simd4f prevInvAngle = -iterDt * prevAngularVelocity;
+		T4f curInvAngle = -iterDt * curAngularVelocity;
+		T4f prevInvAngle = -iterDt * prevAngularVelocity;
 
 		physx::PxQuat curInvRotation = exp(castToPxVec3(curInvAngle));
 		physx::PxQuat prevInvRotation = exp(castToPxVec3(prevInvAngle));
@@ -312,17 +312,17 @@ cloth::IterationState<Simd4f> cloth::IterationStateFactory::create(MyCloth const
 
 		assign(result.mRotationMatrix, curMatrix);
 
-		Simd4f angularDrag = gSimd4fOne - exp2(load(array(cloth.mAngularLogDrag)) * dampExponent);
-		Simd4f centrifugalInertia = load(array(cloth.mCentrifugalInertia));
-		Simd4f angularInertia = load(array(cloth.mAngularInertia));
-		Simd4f angularAcceleration = curAngularVelocity - prevAngularVelocity;
+		T4f angularDrag = gSimd4fOne - exp2(load(array(cloth.mAngularLogDrag)) * dampExponent);
+		T4f centrifugalInertia = load(array(cloth.mCentrifugalInertia));
+		T4f angularInertia = load(array(cloth.mAngularInertia));
+		T4f angularAcceleration = curAngularVelocity - prevAngularVelocity;
 
-		Simd4f epsilon = simd4f(sqrtf(FLT_MIN)); // requirement: sqr(epsilon) > 0
-		Simd4f velocityLengthSqr = lengthSqr(curAngularVelocity) + epsilon;
-		Simd4f dragLengthSqr = lengthSqr(Simd4f(curAngularVelocity * angularDrag)) + epsilon;
-		Simd4f centrifugalLengthSqr = lengthSqr(Simd4f(curAngularVelocity * centrifugalInertia)) + epsilon;
-		Simd4f accelerationLengthSqr = lengthSqr(angularAcceleration) + epsilon;
-		Simd4f inertiaLengthSqr = lengthSqr(Simd4f(angularAcceleration * angularInertia)) + epsilon;
+		T4f epsilon = simd4f(sqrtf(FLT_MIN)); // requirement: sqr(epsilon) > 0
+		T4f velocityLengthSqr = lengthSqr(curAngularVelocity) + epsilon;
+		T4f dragLengthSqr = lengthSqr(T4f(curAngularVelocity * angularDrag)) + epsilon;
+		T4f centrifugalLengthSqr = lengthSqr(T4f(curAngularVelocity * centrifugalInertia)) + epsilon;
+		T4f accelerationLengthSqr = lengthSqr(angularAcceleration) + epsilon;
+		T4f inertiaLengthSqr = lengthSqr(T4f(angularAcceleration * angularInertia)) + epsilon;
 
 		float dragScale = array(rsqrt(velocityLengthSqr * dragLengthSqr) * dragLengthSqr)[0];
 		float inertiaScale =
@@ -337,11 +337,11 @@ cloth::IterationState<Simd4f> cloth::IterationStateFactory::create(MyCloth const
 		    inertiaScale;
 
 		// slightly better in ClothCustomFloating than curInvAngle alone
-		Simd4f centrifugalVelocity = (prevInvAngle + curInvAngle) * simd4f(0.5f);
-		const Simd4f data = lengthSqr(centrifugalVelocity);
+		T4f centrifugalVelocity = (prevInvAngle + curInvAngle) * simd4f(0.5f);
+		const T4f data = lengthSqr(centrifugalVelocity);
 		float centrifugalSqrLength = array(data)[0] * centrifugalScale;
 
-		Simd4f coriolisVelocity = centrifugalVelocity * simd4f(centrifugalScale);
+		T4f coriolisVelocity = centrifugalVelocity * simd4f(centrifugalScale);
 		physx::PxMat33 coriolisMatrix = physx::shdfnd::star(castToPxVec3(coriolisVelocity));
 
 		const float* dampScalePtr = array(firstDampScale);
@@ -369,7 +369,7 @@ cloth::IterationState<Simd4f> cloth::IterationStateFactory::create(MyCloth const
 	}
 	else
 	{
-		Simd4f minusOne = -static_cast<Simd4f>(gSimd4fOne);
+		T4f minusOne = -static_cast<T4f>(gSimd4fOne);
 		result.mRotationMatrix[0] = minusOne;
 		result.mPrevMatrix[0] = select(maskXYZ, firstDampScale, minusOne);
 	}
@@ -380,8 +380,8 @@ cloth::IterationState<Simd4f> cloth::IterationStateFactory::create(MyCloth const
 	return result;
 }
 
-template <typename Simd4f>
-void cloth::IterationState<Simd4f>::update()
+template <typename T4f>
+void cloth::IterationState<T4f>::update()
 {
 	if (mIsTurning)
 	{
diff --git a/NvCloth/src/NvSimd/NvSimdTypes.h b/NvCloth/src/NvSimd/NvSimdTypes.h
index 0625332..dd94b40 100644
--- a/NvCloth/src/NvSimd/NvSimdTypes.h
+++ b/NvCloth/src/NvSimd/NvSimdTypes.h
@@ -104,7 +104,7 @@ void foo(const float* ptr)
 #define NV_SIMD_INLINE_ASSEMBLER 1
 #endif
 
-/*! \def NV_SIMD_USE_NAMESPACE
+/*! \def NV_CLOTH_NO_SIMD_NAMESPACE
 * \brief Set to 1 to define the SIMD library types and functions inside the nvidia::simd namespace.
 * By default, the types and functions defined in this header live in the global namespace.
 * This is because MSVC (prior to version 12, Visual Studio 2013) does an inferior job at optimizing
@@ -116,11 +116,11 @@ void foo(const float* ptr)
 * __m128i are wrapped into structs. Arguments need to be passed by reference in this mode.
 * \see NV_SIMD_VECTORCALL, Simd4fArg */
 
-#if defined NV_SIMD_USE_NAMESPACE&& NV_SIMD_USE_NAMESPACE
+#ifndef NV_CLOTH_NO_SIMD_NAMESPACE
 #define NV_SIMD_NAMESPACE_BEGIN                                                                                        \
 	namespace nv                                                                                                       \
 	{                                                                                                                  \
-	namespace simd                                                                                                     \
+	namespace cloth                                                                                                     \
 	{
 #define NV_SIMD_NAMESPACE_END                                                                                          \
 	}                                                                                                                  \
diff --git a/NvCloth/src/PointInterpolator.h b/NvCloth/src/PointInterpolator.h
index b9db131..75e1dcf 100644
--- a/NvCloth/src/PointInterpolator.h
+++ b/NvCloth/src/PointInterpolator.h
@@ -37,7 +37,7 @@ namespace cloth
 {
 
 // acts as a poor mans random access iterator
-template <typename Simd4f, typename BaseIterator>
+template <typename T4f, typename BaseIterator>
 class LerpIterator
 {
 
@@ -50,12 +50,12 @@ class LerpIterator
 	}
 
 	// return the interpolated point at a given index
-	inline Simd4f operator[](size_t index) const
+	inline T4f operator[](size_t index) const
 	{
 		return mStart[index] + (mTarget[index] - mStart[index]) * mAlpha;
 	}
 
-	inline Simd4f operator*() const
+	inline T4f operator*() const
 	{
 		return (*this)[0];
 	}
@@ -70,13 +70,13 @@ class LerpIterator
 
   private:
 	// interpolation parameter
-	const Simd4f mAlpha;
+	const T4f mAlpha;
 
 	BaseIterator mStart;
 	BaseIterator mTarget;
 };
 
-template <typename Simd4f, size_t Stride>
+template <typename T4f, size_t Stride>
 class UnalignedIterator
 {
 
@@ -87,12 +87,12 @@ class UnalignedIterator
 	{
 	}
 
-	inline Simd4f operator[](size_t index) const
+	inline T4f operator[](size_t index) const
 	{
 		return load(mPointer + index * Stride);
 	}
 
-	inline Simd4f operator*() const
+	inline T4f operator*() const
 	{
 		return (*this)[0];
 	}
@@ -109,15 +109,15 @@ class UnalignedIterator
 };
 
 // acts as an iterator but returns a constant
-template <typename Simd4f>
+template <typename T4f>
 class ConstantIterator
 {
   public:
-	ConstantIterator(const Simd4f& value) : mValue(value)
+	ConstantIterator(const T4f& value) : mValue(value)
 	{
 	}
 
-	inline Simd4f operator*() const
+	inline T4f operator*() const
 	{
 		return mValue;
 	}
@@ -129,20 +129,20 @@ class ConstantIterator
 
   private:
 	ConstantIterator& operator = (const ConstantIterator&);
-	const Simd4f mValue;
+	const T4f mValue;
 };
 
 // wraps an iterator with constant scale and bias
-template <typename Simd4f, typename BaseIterator>
+template <typename T4f, typename BaseIterator>
 class ScaleBiasIterator
 {
   public:
-	ScaleBiasIterator(BaseIterator base, const Simd4f& scale, const Simd4f& bias)
+	ScaleBiasIterator(BaseIterator base, const T4f& scale, const T4f& bias)
 	: mScale(scale), mBias(bias), mBaseIterator(base)
 	{
 	}
 
-	inline Simd4f operator*() const
+	inline T4f operator*() const
 	{
 		return (*mBaseIterator) * mScale + mBias;
 	}
@@ -156,8 +156,8 @@ class ScaleBiasIterator
   private:
 	ScaleBiasIterator& operator = (const ScaleBiasIterator&);
 
-	const Simd4f mScale;
-	const Simd4f mBias;
+	const T4f mScale;
+	const T4f mBias;
 
 	BaseIterator mBaseIterator;
 };
diff --git a/NvCloth/src/SwCollision.cpp b/NvCloth/src/SwCollision.cpp
index 89df8a5..0aa196d 100644
--- a/NvCloth/src/SwCollision.cpp
+++ b/NvCloth/src/SwCollision.cpp
@@ -40,6 +40,7 @@
 
 using namespace nv;
 using namespace physx;
+using namespace cloth;
 
 // the particle trajectory needs to penetrate more than 0.2 * radius to trigger continuous collision
 template <typename T4f>
@@ -160,31 +161,41 @@ void generateCones(cloth::ConeData* dst, const cloth::SphereData* sourceSpheres,
 	cloth::ConeData* cIt = dst;
 	for (const cloth::IndexPair* iIt = capsuleIndices, *iEnd = iIt + numCones; iIt != iEnd; ++iIt, ++cIt)
 	{
+		// w element contains sphere radii
 		PxVec4 first = reinterpret_cast<const PxVec4&>(sourceSpheres[iIt->first]);
 		PxVec4 second = reinterpret_cast<const PxVec4&>(sourceSpheres[iIt->second]);
 
 		PxVec4 center = (second + first) * 0.5f;
-		PxVec4 axis = (second - first) * 0.5f;
+		PxVec4 axis = (second - first) * 0.5f; //half axis
+		//axiw.w = half of radii difference
 
-		float sqrAxisLength = axis.x * axis.x + axis.y * axis.y + axis.z * axis.z;
-		float sqrConeLength = sqrAxisLength - cloth::sqr(axis.w);
+		// |Axis|^2
+		float sqrAxisHalfLength = axis.x * axis.x + axis.y * axis.y + axis.z * axis.z;
 
-		float invAxisLength = 1 / sqrtf(sqrAxisLength);
-		float invConeLength = 1 / sqrtf(sqrConeLength);
+		// http://jwilson.coe.uga.edu/emt669/Student.Folders/Kertscher.Jeff/Essay.3/Tangents.html
+		// |Axis|^2 = |Cone|^2 + (sphere2Radius-sphere1Radius)^2
+		float sqrConeHalfLength = sqrAxisHalfLength - cloth::sqr(axis.w);
 
-		if (sqrConeLength <= 0.0f)
-			invAxisLength = invConeLength = 0.0f;
+		float invAxisHalfLength = 1 / sqrtf(sqrAxisHalfLength);
+		float invConeHalfLength = 1 / sqrtf(sqrConeHalfLength);
 
-		float axisLength = sqrAxisLength * invAxisLength;
-		float slope = axis.w * invConeLength;
+		if (sqrConeHalfLength <= 0.0f)
+			invAxisHalfLength = invConeHalfLength = 0.0f;
+
+		float axisHalfLength = sqrAxisHalfLength * invAxisHalfLength;
+		float slope = axis.w * invConeHalfLength;
 
 		cIt->center = PxVec3(center.x, center.y, center.z );
-		cIt->radius = (axis.w + first.w) * invConeLength * axisLength;
-		cIt->axis = PxVec3(axis.x, axis.y, axis.z) * invAxisLength;
+		cIt->radius = (axis.w + first.w) * invConeHalfLength * axisHalfLength; //cone radius in the center
+		cIt->axis = PxVec3(axis.x, axis.y, axis.z) * invAxisHalfLength;
 		cIt->slope = slope;
 
-		cIt->sqrCosine = 1.0f - cloth::sqr(axis.w * invAxisLength);
-		cIt->halfLength = axisLength;
+		// cos()^2 = 1.0 - (radius difference / axis length)^2
+		// cos()^2 = 1.0 - (opposite/hypotenuse)^2
+		// cos()^2 = 1.0 - sin(angle between c2c1 and  c2t1)^2
+		// cos()^2 = 1.0 - sin(angle between axis and  c2t1)^2
+		cIt->sqrCosine = 1.0f - cloth::sqr(axis.w * invAxisHalfLength);
+		cIt->halfLength = axisHalfLength;
 
 		uint32_t firstMask = 0x1u << iIt->first;
 		cIt->firstMask = firstMask;
@@ -407,12 +418,14 @@ void cloth::SwCollision<T4f>::buildSphereAcceleration(const SphereData* sIt)
 {
 	static const int maxIndex = sGridSize - 1;
 
+	uint32_t mask = 0x1; //single bit mask for current sphere
 	const SphereData* sEnd = sIt + mClothData.mNumSpheres;
-	for (uint32_t mask = 0x1; sIt != sEnd; ++sIt, mask <<= 1)
+	for (; sIt != sEnd; ++sIt, mask <<= 1)
 	{
 		T4f sphere = loadAligned(array(sIt->center));
 		T4f radius = splat<3>(sphere);
 
+		//calculate the first and last cell index, for each axis, that contains the sphere
 		T4i first = intFloor(max((sphere - radius) * mGridScale + mGridBias, gSimd4fZero));
 		T4i last = intFloor(min((sphere + radius) * mGridScale + mGridBias, sGridLength));
 
@@ -422,11 +435,14 @@ void cloth::SwCollision<T4f>::buildSphereAcceleration(const SphereData* sIt)
 		uint32_t* firstIt = reinterpret_cast<uint32_t*>(mSphereGrid);
 		uint32_t* lastIt = firstIt + 3 * sGridSize;
 
+		//loop through the 3 axes 
 		for (uint32_t i = 0; i < 3; ++i, firstIt += sGridSize, lastIt += sGridSize)
 		{
+			//mark the sphere and everything to the right
 			for (int j = firstIdx[i]; j <= maxIndex; ++j)
 				firstIt[j] |= mask;
 
+			//mark the sphere and everything to the left
 			for (int j = lastIdx[i]; j >= 0; --j)
 				lastIt[j] |= mask;
 		}
@@ -469,17 +485,23 @@ void cloth::SwCollision<T4f>::mergeAcceleration(uint32_t* firstIt)
 template <typename T4f>
 bool cloth::SwCollision<T4f>::buildAcceleration()
 {
-	// determine sphere bbox
+	// determine single bounding box around all spheres
 	BoundingBox<T4f> sphereBounds =
 	    expandBounds(emptyBounds<T4f>(), mCurData.mSpheres, mCurData.mSpheres + mClothData.mNumSpheres);
+
+	// determine single bounding box around all particles
 	BoundingBox<T4f> particleBounds = loadBounds<T4f>(mClothData.mCurBounds);
+
 	if (mClothData.mEnableContinuousCollision)
 	{
+		// extend bounds to include movement from previous frame
 		sphereBounds = expandBounds(sphereBounds, mPrevData.mSpheres, mPrevData.mSpheres + mClothData.mNumSpheres);
 		particleBounds = expandBounds(particleBounds, loadBounds<T4f>(mClothData.mPrevBounds));
 	}
 
 	BoundingBox<T4f> bounds = intersectBounds(sphereBounds, particleBounds);
+
+	// no collision checks needed if the intersection between particle bounds and sphere bounds is empty
 	T4f edgeLength = (bounds.mUpper - bounds.mLower) & ~static_cast<T4f>(sMaskW);
 	if (!allGreaterEqual(edgeLength, gSimd4fZero))
 		return false;
@@ -490,6 +512,7 @@ bool cloth::SwCollision<T4f>::buildAcceleration()
 	const T4f expandedEdgeLength = max(expandedUpper - expandedLower, gSimd4fEpsilon);
 
 	// make grid minimal thickness and strict upper bound of spheres
+	// grid maps bounds to 0-7 space (sGridLength =~= 8)
 	mGridScale = sGridLength * recip<1>(expandedEdgeLength);
 	mGridBias = -expandedLower * mGridScale;
 	array(mGridBias)[3] = 1.0f; // needed for collideVirtualParticles()
@@ -655,8 +678,8 @@ struct cloth::SwCollision<T4f>::ImpulseAccumulator
 		mNumCollisions = mNumCollisions + (gSimd4fOne & mask);
 	}
 
-	T4f mDeltaX, mDeltaY, mDeltaZ;
-	T4f mVelX, mVelY, mVelZ;
+	T4f mDeltaX, mDeltaY, mDeltaZ; //depenetration delta
+	T4f mVelX, mVelY, mVelZ; //frame offset of the collision shape (velocity * dt)
 	T4f mNumCollisions;
 };
 
@@ -684,12 +707,15 @@ FORCE_INLINE void cloth::SwCollision<T4f>::collideSpheres(const T4i& sphereMask,
 
 		T4f sqrDistance = gSimd4fEpsilon + deltaX * deltaX + deltaY * deltaY + deltaZ * deltaZ;
 		T4f negativeScale = gSimd4fOne - rsqrt(sqrDistance) * splat<3>(sphere);
+		// negativeScale = 1 - radius/|position-sphere|
 
 		T4f contactMask;
 		if (!anyGreater(gSimd4fZero, negativeScale, contactMask))
 			continue;
 
 		accum.subtract(deltaX, deltaY, deltaZ, negativeScale, contactMask);
+		// -= delta * negativeScale
+		//  = delta - delta * radius/|position-sphere|
 
 		if (frictionEnabled)
 		{
@@ -730,10 +756,13 @@ cloth::SwCollision<T4f>::collideCones(const T4f* __restrict positions, ImpulseAc
 
 		T4f center = loadAligned(centerPtr, offset);
 
+		// offset from center of cone to particle
+		// delta = pos - center
 		T4f deltaX = positions[0] - splat<0>(center);
 		T4f deltaY = positions[1] - splat<1>(center);
 		T4f deltaZ = positions[2] - splat<2>(center);
 
+		//axis of the cone
 		T4f axis = loadAligned(axisPtr, offset);
 
 		T4f axisX = splat<0>(axis);
@@ -741,12 +770,16 @@ cloth::SwCollision<T4f>::collideCones(const T4f* __restrict positions, ImpulseAc
 		T4f axisZ = splat<2>(axis);
 		T4f slope = splat<3>(axis);
 
+		// project delta onto axis
 		T4f dot = deltaX * axisX + deltaY * axisY + deltaZ * axisZ;
+		// interpolate radius
 		T4f radius = dot * slope + splat<3>(center);
 
 		// set radius to zero if cone is culled
 		radius = max(radius, gSimd4fZero) & ~culled;
 
+		// distance to axis
+		// sqrDistance = |delta|^2 - |dot|^2
 		T4f sqrDistance = deltaX * deltaX + deltaY * deltaY + deltaZ * deltaZ - dot * dot;
 
 		T4i auxiliary = loadAligned(auxiliaryPtr, offset);
@@ -765,6 +798,8 @@ cloth::SwCollision<T4f>::collideCones(const T4f* __restrict positions, ImpulseAc
 		sqrDistance = max(sqrDistance, gSimd4fEpsilon);
 
 		T4f invDistance = rsqrt(sqrDistance);
+
+		//offset base to take slope in to account
 		T4f base = dot + slope * sqrDistance * invDistance;
 
 		// force left/rightMask to false if not inside cone
@@ -780,6 +815,7 @@ cloth::SwCollision<T4f>::collideCones(const T4f* __restrict positions, ImpulseAc
 		shapeMask.mSpheres = shapeMask.mSpheres & ~(firstMask & ~leftMask);
 		shapeMask.mSpheres = shapeMask.mSpheres & ~(secondMask & ~rightMask);
 
+		//contact normal direction
 		deltaX = deltaX - base * axisX;
 		deltaY = deltaY - base * axisY;
 		deltaZ = deltaZ - base * axisZ;
@@ -1173,7 +1209,9 @@ PX_INLINE void calculateFrictionImpulse(const T4f& deltaX, const T4f& deltaY, co
 	T4f ny = deltaY * rcpDelta;
 	T4f nz = deltaZ * rcpDelta;
 
-	// calculate relative velocity scaled by number of collisions
+	// calculate relative velocity
+	// velXYZ is scaled by one over the number of collisions since all collisions accumulate into 
+	//  that variable during collision detection
 	T4f rvx = curPos[0] - prevPos[0] - velX * scale;
 	T4f rvy = curPos[1] - prevPos[1] - velY * scale;
 	T4f rvz = curPos[2] - prevPos[2] - velZ * scale;
@@ -1186,7 +1224,7 @@ PX_INLINE void calculateFrictionImpulse(const T4f& deltaX, const T4f& deltaY, co
 	T4f rvty = rvy - rvn * ny;
 	T4f rvtz = rvz - rvn * nz;
 
-	// calculate magnitude of vt
+	// calculate magnitude of relative tangential velocity
 	T4f rcpVt = rsqrt(rvtx * rvtx + rvty * rvty + rvtz * rvtz + gSimd4fEpsilon);
 
 	// magnitude of friction impulse (cannot be greater than -vt)
@@ -1206,7 +1244,7 @@ void cloth::SwCollision<T4f>::collideParticles()
 	const T4f massScale = simd4f(mClothData.mCollisionMassScale);
 
 	const bool frictionEnabled = mClothData.mFrictionScale > 0.0f;
-	const T4f frictionScale = simd4f(mClothData.mFrictionScale);
+	const T4f frictionScale = simd4f(mClothData.mFrictionScale); //[arameter set by user
 
 	T4f curPos[4];
 	T4f prevPos[4];
@@ -1214,16 +1252,20 @@ void cloth::SwCollision<T4f>::collideParticles()
 	float* __restrict prevIt = mClothData.mPrevParticles;
 	float* __restrict pIt = mClothData.mCurParticles;
 	float* __restrict pEnd = pIt + mClothData.mNumParticles * 4;
+	//loop over particles 4 at a time
 	for (; pIt < pEnd; pIt += 16, prevIt += 16)
 	{
 		curPos[0] = loadAligned(pIt, 0);
 		curPos[1] = loadAligned(pIt, 16);
 		curPos[2] = loadAligned(pIt, 32);
 		curPos[3] = loadAligned(pIt, 48);
-		transpose(curPos[0], curPos[1], curPos[2], curPos[3]);
+		transpose(curPos[0], curPos[1], curPos[2], curPos[3]); //group values by axis in simd structure
 
 		ImpulseAccumulator accum;
+
+		//first collide cones
 		T4i sphereMask = collideCones(curPos, accum);
+		//pass on hit mask to ignore sphere parts that are inside the cones
 		collideSpheres(sphereMask, curPos, accum);
 
 		T4f mask;
@@ -1267,6 +1309,7 @@ void cloth::SwCollision<T4f>::collideParticles()
 			curPos[3] = select(mask, curPos[3] * scale, curPos[3]);
 		}
 
+		//apply average de-penetration delta
 		curPos[0] = curPos[0] + accum.mDeltaX * invNumCollisions;
 		curPos[1] = curPos[1] + accum.mDeltaY * invNumCollisions;
 		curPos[2] = curPos[2] + accum.mDeltaZ * invNumCollisions;
diff --git a/NvCloth/src/SwInterCollision.cpp b/NvCloth/src/SwInterCollision.cpp
index b9b494f..50be414 100644
--- a/NvCloth/src/SwInterCollision.cpp
+++ b/NvCloth/src/SwInterCollision.cpp
@@ -39,6 +39,7 @@
 
 using namespace nv;
 using namespace physx;
+using namespace cloth;
 
 namespace
 {
diff --git a/NvCloth/src/SwSelfCollision.cpp b/NvCloth/src/SwSelfCollision.cpp
index 095943d..ec5a166 100644
--- a/NvCloth/src/SwSelfCollision.cpp
+++ b/NvCloth/src/SwSelfCollision.cpp
@@ -37,23 +37,24 @@
 #endif
 
 using namespace nv;
+using namespace cloth;
 
 namespace
 {
 
-const Simd4fTupleFactory sMaskXYZ = simd4f(simd4i(~0, ~0, ~0, 0));
-
 // returns sorted indices, output needs to be at least 2*(last - first) + 1024
 void radixSort(const uint32_t* first, const uint32_t* last, uint16_t* out)
 {
+	// this sort uses a radix (bin) size of 256, requiring 4 bins to sort the 32 bit keys
 	uint16_t n = uint16_t(last - first);
 
 	uint16_t* buffer = out + 2 * n;
 	uint16_t* __restrict histograms[] = { buffer, buffer + 256, buffer + 512, buffer + 768 };
 
+	//zero the buffer memory used for the 4 buckets
 	memset(buffer, 0, 1024 * sizeof(uint16_t));
 
-	// build 3 histograms in one pass
+	// build 4 histograms in one pass
 	for (const uint32_t* __restrict it = first; it != last; ++it)
 	{
 		uint32_t key = *it;
@@ -64,7 +65,7 @@ void radixSort(const uint32_t* first, const uint32_t* last, uint16_t* out)
 	}
 
 	// convert histograms to offset tables in-place
-	uint16_t sums[4] = {};
+	uint16_t sums[4] = {0, 0, 0, 0};
 	for (uint32_t i = 0; i < 256; ++i)
 	{
 		uint16_t temp0 = uint16_t(histograms[0][i] + sums[0]);
@@ -133,6 +134,7 @@ bool isSelfCollisionEnabled(const cloth::SwCloth& cloth)
 	return std::min(cloth.mSelfCollisionDistance, -cloth.mSelfCollisionLogStiffness) > 0.0f;
 }
 
+// align x to a 2 byte boundary
 inline uint32_t align2(uint32_t x)
 {
 	return (x + 1) & ~1;
@@ -146,7 +148,7 @@ cloth::SwSelfCollision<T4f>::SwSelfCollision(cloth::SwClothData& clothData, clot
 {
 	mCollisionDistance = simd4f(mClothData.mSelfCollisionDistance);
 	mCollisionSquareDistance = mCollisionDistance * mCollisionDistance;
-	mStiffness = sMaskXYZ & static_cast<T4f>(simd4f(mClothData.mSelfCollisionStiffness));
+	mStiffness = gSimd4fMaskXYZ & static_cast<T4f>(simd4f(mClothData.mSelfCollisionStiffness));
 }
 
 template <typename T4f>
@@ -170,11 +172,12 @@ void cloth::SwSelfCollision<T4f>::operator()()
 	uint32_t hashAxis0 = (sweepAxis + 1) % 3;
 	uint32_t hashAxis1 = (sweepAxis + 2) % 3;
 
-	// reserve 0, 127, and 65535 for sentinel
+	// reserve 0, 255, and 65535 for sentinel
 	T4f cellSize = max(mCollisionDistance, simd4f(1.0f / 253) * edgeLength);
 	array(cellSize)[sweepAxis] = array(edgeLength)[sweepAxis] / 65533;
 
 	T4f one = gSimd4fOne;
+	// +1 for sentinel 0 offset
 	T4f gridSize = simd4f(254.0f);
 	array(gridSize)[sweepAxis] = 65534.0f;
 
@@ -194,6 +197,7 @@ void cloth::SwSelfCollision<T4f>::operator()()
 	// create keys
 	for (uint32_t i = 0; i < numIndices; ++i)
 	{
+		// use all particles when no self collision indices are set
 		uint32_t index = indices ? indices[i] : i;
 
 		// grid coordinate
@@ -207,28 +211,32 @@ void cloth::SwSelfCollision<T4f>::operator()()
 		keys[i] = uint32_t(ptr[sweepAxis] | (ptr[hashAxis0] << 16) | (ptr[hashAxis1] << 24));
 	}
 
-	// compute sorted keys indices
+	// compute sorted key indices
 	radixSort(keys, keys + numIndices, sortedIndices);
 
 	// snoop histogram: offset of first index with 8 msb > 1 (0 is sentinel)
-	uint16_t firstColumnSize = sortedIndices[2 * numIndices + 769];
+	// sortedIndices[2 * numIndices + 768 + 1] is actually histograms[3]+1 from radixSort
+	uint16_t firstColumnSize = sortedIndices[2 * numIndices + 768 + 1];
 
-	// sort keys
+	// sort keys using the sortedIndices
 	for (uint32_t i = 0; i < numIndices; ++i)
 		sortedKeys[i] = keys[sortedIndices[i]];
 	sortedKeys[numIndices] = uint32_t(-1); // sentinel
 
+	// do user provided index array indirection here if we have one
+	//  so we don't need to keep branching for this condition later
 	if (indices)
 	{
 		// sort indices (into no-longer-needed keys array)
-		const uint16_t* __restrict permutation = sortedIndices;
+		// the keys array is no longer used so we can reuse it to store indices[sortedIndices[i]]
+		const uint16_t* __restrict oldSortedIndices = sortedIndices;
 		sortedIndices = reinterpret_cast<uint16_t*>(keys);
 		for (uint32_t i = 0; i < numIndices; ++i)
-			sortedIndices[i] = uint16_t(indices[permutation[i]]);
+			sortedIndices[i] = uint16_t(indices[oldSortedIndices[i]]);
 	}
 
 	// calculate the number of buckets we need to search forward
-	const Simd4i data = intFloor(gridScale * mCollisionDistance);
+	const Simd4i data = intFloor(gridScale * mCollisionDistance); //equal to or larger than floor(mCollisionDistance)
 	uint32_t collisionDistance = 2 + static_cast<uint32_t>(array(data)[sweepAxis]);
 
 	// collide particles
@@ -310,7 +318,7 @@ void cloth::SwSelfCollision<T4f>::collideParticles(T4f& pos0, T4f& pos1, const T
 
 	T4f ratio = mCollisionDistance * rsqrt(distSqr);
 	T4f scale = mStiffness * recip(gSimd4fEpsilon + w0 + w1);
-	T4f delta = (scale * (diff - diff * ratio)) & sMaskXYZ;
+	T4f delta = (scale * (diff - diff * ratio)) & gSimd4fMaskXYZ;
 
 	pos0 = pos0 + delta * w0;
 	pos1 = pos1 - delta * w1;
@@ -325,42 +333,71 @@ template <bool useRestParticles>
 void cloth::SwSelfCollision<T4f>::collideParticles(const uint32_t* keys, uint16_t firstColumnSize,
                                                       const uint16_t* indices, uint32_t collisionDistance)
 {
+	//keys is an array of bucket keys for the particles
+	//indices is an array of particle indices
+	//collisionDistance is the number of buckets along the sweep axis we need to search after the current one
+
 	T4f* __restrict particles = reinterpret_cast<T4f*>(mClothData.mCurParticles);
 	T4f* __restrict restParticles =
 	    useRestParticles ? reinterpret_cast<T4f*>(mClothData.mRestPositions) : particles;
 
-	const uint32_t bucketMask = uint16_t(-1);
+	//16 lsb's are for the bucket
+	const uint32_t bucketMask = 0x0000ffff;
 
+	// offsets for cells (not along the sweep axis)
+	//										[1]		[3]-[1]			[3]		  [1]+[3]
 	const uint32_t keyOffsets[] = { 0, 0x00010000, 0x00ff0000, 0x01000000, 0x01010000 };
 
 	const uint32_t* __restrict kFirst[5];
 	const uint32_t* __restrict kLast[5];
 
+	/*
+	We use 5 first/last pairs to search the following cells
+	=====================
+	|   |   |   |   |   |
+	=====================
+	|   |   | 0 | 1 |   |
+	=====================
+	|   | 2 | 3 | 4 |   |
+	=====================
+	|   |   |   |   |   |
+	=====================
+	With 0 as the origin.
+	This way collisions won't be double reported.
+	*/
+
 	{
 		// optimization: scan forward iterator starting points once instead of 9 times
 		const uint32_t* __restrict kIt = keys;
 
 		uint32_t key = *kIt;
+		//clamp first/lastKey to bucket
 		uint32_t firstKey = key - std::min(collisionDistance, key & bucketMask);
 		uint32_t lastKey = std::min(key + collisionDistance, key | bucketMask);
 
+		//sweep 0
 		kFirst[0] = kIt;
+		//find next key in keys that is past lastKey
 		while (*kIt < lastKey)
 			++kIt;
 		kLast[0] = kIt;
 
+		//sweep 1...4
 		for (uint32_t k = 1; k < 5; ++k)
 		{
+			// scan forward start point
 			for (uint32_t n = firstKey + keyOffsets[k]; *kIt < n;)
 				++kIt;
 			kFirst[k] = kIt;
 
+			// scan forward end point
 			for (uint32_t n = lastKey + keyOffsets[k]; *kIt < n;)
 				++kIt;
 			kLast[k] = kIt;
 
-			// jump forward once to second column
-			kIt = keys + firstColumnSize;
+			// jump forward once to second column to go from cell offset 1 to 2 quickly
+			if(firstColumnSize)
+				kIt = keys + firstColumnSize;
 			firstColumnSize = 0;
 		}
 	}
@@ -371,7 +408,8 @@ void cloth::SwSelfCollision<T4f>::collideParticles(const uint32_t* keys, uint16_
 	const uint16_t* __restrict jIt;
 	const uint16_t* __restrict jEnd;
 
-	for (; iIt != iEnd; ++iIt, ++kFirst[0])
+	//loop through all indices
+	for (; iIt < iEnd; ++iIt, ++kFirst[0])
 	{
 		NV_CLOTH_ASSERT(*iIt < mClothData.mNumParticles);
 
@@ -390,8 +428,8 @@ void cloth::SwSelfCollision<T4f>::collideParticles(const uint32_t* keys, uint16_
 			++kLast[0];
 
 		// process potential colliders of same cell
-		jEnd = indices + (kLast[0] - keys);
-		for (jIt = iIt + 1; jIt != jEnd; ++jIt)
+		jEnd = indices + (kLast[0] - keys); //calculate index from key pointer
+		for (jIt = iIt + 1; jIt < jEnd; ++jIt)
 			collideParticles<useRestParticles>(particle, particles[*jIt], restParticle, restParticles[*jIt]);
 
 		// process neighbor cells
@@ -407,7 +445,7 @@ void cloth::SwSelfCollision<T4f>::collideParticles(const uint32_t* keys, uint16_
 
 			// process potential colliders
 			jEnd = indices + (kLast[k] - keys);
-			for (jIt = indices + (kFirst[k] - keys); jIt != jEnd; ++jIt)
+			for (jIt = indices + (kFirst[k] - keys); jIt < jEnd; ++jIt)
 				collideParticles<useRestParticles>(particle, particles[*jIt], restParticle, restParticles[*jIt]);
 		}
 
diff --git a/NvCloth/src/SwSolver.cpp b/NvCloth/src/SwSolver.cpp
index c7437e1..f0f9152 100644
--- a/NvCloth/src/SwSolver.cpp
+++ b/NvCloth/src/SwSolver.cpp
@@ -50,7 +50,7 @@ bool neonSolverKernel(SwCloth const&, SwClothData&, SwKernelAllocator&, Iteratio
 }
 
 using namespace nv;
-
+using namespace cloth;
 #if NV_SIMD_SIMD
 typedef Simd4f Simd4fType;
 #else
@@ -93,12 +93,17 @@ void sortTasks(shdfnd::Array<T, cloth::NonTrackingAllocator>& tasks)
 
 void cloth::SwSolver::addCloth(Cloth* cloth)
 {
-	SwCloth& swCloth = *static_cast<SwCloth*>(cloth);
-
-	mSimulatedCloths.pushBack(SimulatedCloth(swCloth, this));
+	addClothAppend(cloth);
 	sortTasks(mSimulatedCloths);
+}
 
-	mCloths.pushBack(&swCloth);
+void cloth::SwSolver::addCloths(Range<Cloth*> cloths)
+{
+	for (uint32_t i = 0; i < cloths.size(); ++i)
+	{
+		addClothAppend(*(cloths.begin() + i));
+	}
+	sortTasks(mSimulatedCloths);
 }
 
 void cloth::SwSolver::removeCloth(Cloth* cloth)
@@ -221,6 +226,16 @@ void cloth::SwSolver::interCollision()
 	collider();
 }
 
+void cloth::SwSolver::addClothAppend(Cloth* cloth)
+{
+	SwCloth& swCloth = *static_cast<SwCloth*>(cloth);
+	NV_CLOTH_ASSERT(mCloths.find(&swCloth) == mCloths.end());
+
+	mSimulatedCloths.pushBack(SimulatedCloth(swCloth, this));
+
+	mCloths.pushBack(&swCloth);
+}
+
 void cloth::SwSolver::beginFrame() const
 {
 	mSimulateProfileEventData = NV_CLOTH_PROFILE_START_CROSSTHREAD("cloth::SwSolver::simulate", 0);
@@ -287,9 +302,14 @@ void cloth::SwSolver::SimulatedCloth::Simulate()
 
 	// construct kernel functor and execute
 #if NV_ANDROID
-	// if (!neonSolverKernel(cloth, data, allocator, factory))
-#endif
+	if (!neonSolverKernel(*mCloth, data, allocator, factory))
+	{
+		//NV_CLOTH_LOG_WARNING("No NEON CPU support detected. Falling back to scalar types.");
+		SwSolverKernel<Scalar4f>(*mCloth, data, allocator, factory)();
+	}
+#else
 	SwSolverKernel<Simd4fType>(*mCloth, data, allocator, factory)();
+#endif
 
 	data.reconcile(*mCloth); // update cloth
 }
diff --git a/NvCloth/src/SwSolver.h b/NvCloth/src/SwSolver.h
index c7b177b..ad58a7c 100644
--- a/NvCloth/src/SwSolver.h
+++ b/NvCloth/src/SwSolver.h
@@ -64,6 +64,7 @@ class SwSolver : public Solver
 	virtual ~SwSolver();
 
 	virtual void addCloth(Cloth*) override;
+	virtual void addCloths(Range<Cloth*> cloths) override;
 	virtual void removeCloth(Cloth*) override;
 	virtual int getNumCloths() const override;
 	virtual Cloth * const * getClothList() const override;
@@ -112,6 +113,10 @@ class SwSolver : public Solver
 	}
 
   private:
+	// add cloth helper functions
+	void addClothAppend(Cloth* cloth);
+
+	// simulate helper functions
 	void beginFrame() const;
 	void endFrame() const;
 
diff --git a/NvCloth/src/SwSolverKernel.cpp b/NvCloth/src/SwSolverKernel.cpp
index eec7956..2181b1e 100644
--- a/NvCloth/src/SwSolverKernel.cpp
+++ b/NvCloth/src/SwSolverKernel.cpp
@@ -103,6 +103,7 @@ const uint32_t sAvxSupport = getAvxSupport(); // 0: no AVX, 1: AVX, 2: AVX+FMA
 #endif
 
 using namespace nv;
+using namespace cloth;
 
 namespace
 {
@@ -209,11 +210,14 @@ void constrainMotion(T4f* __restrict curIt, const T4f* __restrict curEnd, const
 		T4f isPositive;
 		if (anyGreater(slack, gSimd4fZero, isPositive))
 		{
-			// set invMass to zero if radius is zero
+			// set invMass to zero if radius is zero (xyz will be unchanged)
+			// curPos.w = radius > 0 ? curPos.w : 0
+			// the first three components are compared against -FLT_MAX which is always true
 			curPos0 = curPos0 & (splat<0>(radius) > sMinusFloatMaxXYZ);
 			curPos1 = curPos1 & (splat<1>(radius) > sMinusFloatMaxXYZ);
 			curPos2 = curPos2 & (splat<2>(radius) > sMinusFloatMaxXYZ);
 			curPos3 = curPos3 & ((radius) > sMinusFloatMaxXYZ);
+			// we don't have to splat the last one as the 4th element is already in the right place
 
 			slack = slack * stiffness & isPositive;
 
@@ -367,7 +371,7 @@ void solveConstraints(float* __restrict posIt, const float* __restrict rIt, cons
 	}
 }
 
-#if PX_WINDOWS_FAMILY
+#if PX_WINDOWS_FAMILY && NV_SIMD_SSE2
 #include "sse2/SwSolveConstraints.h"
 #endif
 
diff --git a/NvCloth/src/cuda/CuCloth.cpp b/NvCloth/src/cuda/CuCloth.cpp
index 3e6175b..4131b04 100644
--- a/NvCloth/src/cuda/CuCloth.cpp
+++ b/NvCloth/src/cuda/CuCloth.cpp
@@ -423,7 +423,7 @@ void CuCloth::clearParticleAccelerations()
 {
 	CuContextLock contextLock(mFactory);
 	CuDeviceVector<PxVec4>(mFactory.mContext).swap(mParticleAccelerations);
-	CuHostVector<PxVec4, CU_MEMHOSTALLOC_DEVICEMAP>::Type().swap(mParticleAccelerationsHostCopy);
+	CuHostVector<PxVec4, CU_MEMHOSTALLOC_DEVICEMAP>::Type(mFactory.mContext).swap(mParticleAccelerationsHostCopy);
 	wakeUp();
 }
 
diff --git a/NvCloth/src/cuda/CuClothData.h b/NvCloth/src/cuda/CuClothData.h
index dd836fd..5f2d7c6 100644
--- a/NvCloth/src/cuda/CuClothData.h
+++ b/NvCloth/src/cuda/CuClothData.h
@@ -32,7 +32,7 @@
 #include <foundation/Px.h>
 
 #ifndef __CUDACC__
-#include "simd.h"
+#include "Simd.h"
 #endif
 
 namespace nv
diff --git a/NvCloth/src/cuda/CuFabric.cpp b/NvCloth/src/cuda/CuFabric.cpp
index 9bc20db..957f912 100644
--- a/NvCloth/src/cuda/CuFabric.cpp
+++ b/NvCloth/src/cuda/CuFabric.cpp
@@ -31,6 +31,7 @@
 #include "CuContextLock.h"
 #include "CuFactory.h"
 #include <PsUtilities.h>
+#include <limits.h>
 
 using namespace physx;
 
diff --git a/NvCloth/src/cuda/CuPinnedAllocator.h b/NvCloth/src/cuda/CuPinnedAllocator.h
index 8b1787b..9939324 100644
--- a/NvCloth/src/cuda/CuPinnedAllocator.h
+++ b/NvCloth/src/cuda/CuPinnedAllocator.h
@@ -29,6 +29,8 @@
 
 #pragma once
 
+#include <utility>
+
 #include "CuCheckSuccess.h"
 #include "NvCloth/Allocator.h"
 
@@ -102,7 +104,7 @@ public:
 
 	void destroy(T* ptr)
 	{
-		core::unused(ptr);
+		PX_UNUSED(ptr);
 		ptr->~T();
 	}
 
@@ -122,13 +124,13 @@ bool operator!=(const CuHostAllocator<T1, Flag1>&, const CuHostAllocator<T2, Fla
 	return false;
 }
 
-//Use CuHostVectorImpl instead of physx::shdfnd::Array<T, typename CuHostAllocator<T, Flags>> 
+//Use CuHostVectorImpl instead of physx::shdfnd::Array<T, CuHostAllocator<T, Flags>> 
 //This entire class is just to make sure that the mDevicePtr from the CuHostAllocator is properly swapped together with mData
 template <typename T, unsigned Flags = 0>
-class CuHostVectorImpl : public physx::shdfnd::Array<T, typename CuHostAllocator<T, Flags>>
+class CuHostVectorImpl : public physx::shdfnd::Array<T, CuHostAllocator<T, Flags>>
 {
-	typedef physx::shdfnd::Array<T, typename CuHostAllocator<T, Flags>> Super;
-	typedef typename CuHostAllocator<T, Flags> Alloc;
+	typedef physx::shdfnd::Array<T, CuHostAllocator<T, Flags>> Super;
+	typedef CuHostAllocator<T, Flags> Alloc;
 public:
 	explicit CuHostVectorImpl(const physx::PxEMPTY v):Super(v){}
 	PX_INLINE explicit CuHostVectorImpl(const Alloc& alloc = Alloc()):Super(alloc){}
@@ -142,10 +144,10 @@ public:
 
 	PX_INLINE explicit CuHostVectorImpl(const T* first, const T* last, const Alloc& alloc = Alloc()):Super(first,last,alloc){}
 
-	void swap(physx::shdfnd::Array<T, typename CuHostAllocator<T, Flags>>& other)
+	void swap(CuHostVectorImpl<T, Flags>& other)
 	{
-		PX_ASSERT(mContext == other.mContext);
-		physx::shdfnd::swap(mDevicePtr, other.mDevicePtr);
+		NV_CLOTH_ASSERT(this->mContext == other.mContext);
+		physx::shdfnd::swap(this->mDevicePtr, other.mDevicePtr);
 		Super::swap(other);
 	}
 };
diff --git a/NvCloth/src/cuda/CuSolver.cpp b/NvCloth/src/cuda/CuSolver.cpp
index f0e328f..7ef1d32 100644
--- a/NvCloth/src/cuda/CuSolver.cpp
+++ b/NvCloth/src/cuda/CuSolver.cpp
@@ -302,6 +302,28 @@ cloth::CuSolver::~CuSolver()
 	mFactory.mSolverCount--;
 }
 
+void cloth::CuSolver::addClothAppend(Cloth* cloth)
+{
+	CuCloth& cuCloth = *static_cast<CuCloth*>(cloth);
+
+	NV_CLOTH_ASSERT(mCloths.find(&cuCloth) == mCloths.end());
+
+	mCloths.pushBack(&cuCloth);
+	// trigger update of mClothData array
+	cuCloth.notifyChanged();
+}
+
+void cloth::CuSolver::addClothUpdateData()
+{
+	CuContextLock contextLock(mFactory);
+
+	// resize containers and update kernel data
+	mClothDataHostCopy.resize(mCloths.size());
+	mClothData.resize(mCloths.size());
+	mFrameData.resize(mCloths.size());
+	updateKernelData();
+}
+
 void cloth::CuSolver::updateKernelData()
 {
 	mKernelDataHost.mClothIndex = mClothIndex.get();
@@ -326,24 +348,17 @@ struct ClothSimCostGreater
 
 void cloth::CuSolver::addCloth(Cloth* cloth)
 {
-	CuCloth& cuCloth = *static_cast<CuCloth*>(cloth);
-
-	NV_CLOTH_ASSERT(mCloths.find(&cuCloth) == mCloths.end());
-
-	mCloths.pushBack(&cuCloth);
-	// trigger update of mClothData array
-	cuCloth.notifyChanged();
-
-	// sort cloth instances by size
-	shdfnd::sort(mCloths.begin(), mCloths.size(), ClothSimCostGreater(), NonTrackingAllocator());
-
-	CuContextLock contextLock(mFactory);
+	addClothAppend(cloth);
+	addClothUpdateData();
+}
 
-	// resize containers and update kernel data
-	mClothDataHostCopy.resize(mCloths.size());
-	mClothData.resize(mCloths.size());
-	mFrameData.resize(mCloths.size());
-	updateKernelData();
+void cloth::CuSolver::addCloths(Range<Cloth*> cloths)
+{
+	for (uint32_t i = 0; i < cloths.size(); ++i)
+	{
+		addClothAppend(*(cloths.begin() + i));
+	}
+	addClothUpdateData();
 }
 
 void cloth::CuSolver::removeCloth(Cloth* cloth)
@@ -401,7 +416,8 @@ void cloth::CuSolver::endSimulation()
 
 int cloth::CuSolver::getSimulationChunkCount() const
 {
-	return 1;
+	// 0 chunks when no cloth present in the solver, 1 otherwise
+	return getNumCloths() != 0;
 }
 
 void cloth::CuSolver::beginFrame()
diff --git a/NvCloth/src/cuda/CuSolver.h b/NvCloth/src/cuda/CuSolver.h
index 0406e00..b4c6d6b 100644
--- a/NvCloth/src/cuda/CuSolver.h
+++ b/NvCloth/src/cuda/CuSolver.h
@@ -58,6 +58,7 @@ public:
 	~CuSolver();
 
 	virtual void addCloth(Cloth*) override;
+	virtual void addCloths(Range<Cloth*> cloths) override;
 	virtual void removeCloth(Cloth*) override;
 	virtual int getNumCloths() const override;
 	virtual Cloth * const * getClothList() const override;
@@ -103,6 +104,10 @@ public:
 	}
 
   private:
+	// add cloth helper functions
+	void addClothAppend(Cloth* cloth);
+	void addClothUpdateData();
+
 	void updateKernelData(); // context needs to be acquired
 
 	// simulate helper functions
diff --git a/NvCloth/src/dx/DxBatchedVector.h b/NvCloth/src/dx/DxBatchedVector.h
index 2c5e313..76b9b22 100644
--- a/NvCloth/src/dx/DxBatchedVector.h
+++ b/NvCloth/src/dx/DxBatchedVector.h
@@ -297,7 +297,7 @@ class DxBatchedVector
 
 	void swap(DxBatchedVector<T>& other)
 	{
-		PX_ASSERT(&mStorage == &other.mStorage);
+		NV_CLOTH_ASSERT(&mStorage == &other.mStorage);
 		physx::shdfnd::swap(mOffset, other.mOffset);
 		physx::shdfnd::swap(mSize, other.mSize);
 		physx::shdfnd::swap(mCapacity, other.mCapacity);
diff --git a/NvCloth/src/dx/DxClothData.h b/NvCloth/src/dx/DxClothData.h
index f91d37d..4da9be2 100644
--- a/NvCloth/src/dx/DxClothData.h
+++ b/NvCloth/src/dx/DxClothData.h
@@ -31,7 +31,7 @@
 #pragma once
 
 #include <foundation/Px.h>
-#include "simd.h"
+#include "Simd.h"
 
 namespace nv
 {
diff --git a/NvCloth/src/dx/DxFactory.cpp b/NvCloth/src/dx/DxFactory.cpp
index fbf0c51..91f5125 100644
--- a/NvCloth/src/dx/DxFactory.cpp
+++ b/NvCloth/src/dx/DxFactory.cpp
@@ -251,15 +251,15 @@ void cloth::DxFactory::extractFabricData(const Fabric& fabric, Range<uint32_t> p
 	void cloth::DxFactory::extractCollisionData(const Cloth& cloth, Range<PxVec4> spheres, Range<uint32_t> capsules,
 		Range<PxVec4> planes, Range<uint32_t> convexes, Range<PxVec3> triangles) const
 	{
-		PX_ASSERT(&cloth.getFactory() == this);
+		NV_CLOTH_ASSERT(&cloth.getFactory() == this);
 
 		const DxCloth& dxCloth = static_cast<const DxCloth&>(cloth);
 
-		PX_ASSERT(spheres.empty() || spheres.size() == dxCloth.mStartCollisionSpheres.size());
-		PX_ASSERT(capsules.empty() || capsules.size() == dxCloth.mCapsuleIndices.size() * 2);
-		PX_ASSERT(planes.empty() || planes.size() == dxCloth.mStartCollisionPlanes.size());
-		PX_ASSERT(convexes.empty() || convexes.size() == dxCloth.mConvexMasks.size());
-		PX_ASSERT(triangles.empty() || triangles.size() == dxCloth.mStartCollisionTriangles.size());
+		NV_CLOTH_ASSERT(spheres.empty() || spheres.size() == dxCloth.mStartCollisionSpheres.size());
+		NV_CLOTH_ASSERT(capsules.empty() || capsules.size() == dxCloth.mCapsuleIndices.size() * 2);
+		NV_CLOTH_ASSERT(planes.empty() || planes.size() == dxCloth.mStartCollisionPlanes.size());
+		NV_CLOTH_ASSERT(convexes.empty() || convexes.size() == dxCloth.mConvexMasks.size());
+		NV_CLOTH_ASSERT(triangles.empty() || triangles.size() == dxCloth.mStartCollisionTriangles.size());
 
 		// collision spheres are in pinned memory, so memcpy directly
 		if (!dxCloth.mStartCollisionSpheres.empty() && !spheres.empty())
@@ -296,13 +296,13 @@ void cloth::DxFactory::extractFabricData(const Fabric& fabric, Range<uint32_t> p
 
 	void cloth::DxFactory::extractMotionConstraints(const Cloth& cloth, Range<PxVec4> destConstraints) const
 	{
-		PX_ASSERT(&cloth.getFactory() == this);
+		NV_CLOTH_ASSERT(&cloth.getFactory() == this);
 
 		const DxCloth& dxCloth = static_cast<const DxCloth&>(cloth);
 
 		if (dxCloth.mMotionConstraints.mHostCopy.size())
 		{
-			PX_ASSERT(destConstraints.size() == dxCloth.mMotionConstraints.mHostCopy.size());
+			NV_CLOTH_ASSERT(destConstraints.size() == dxCloth.mMotionConstraints.mHostCopy.size());
 
 			memcpy(destConstraints.begin(), dxCloth.mMotionConstraints.mHostCopy.begin(),
 				sizeof(PxVec4) * dxCloth.mMotionConstraints.mHostCopy.size());
@@ -315,20 +315,20 @@ void cloth::DxFactory::extractFabricData(const Fabric& fabric, Range<uint32_t> p
 				? dxCloth.mMotionConstraints.mTarget
 				: dxCloth.mMotionConstraints.mStart;
 
-			PX_ASSERT(destConstraints.size() == srcConstraints.size());
+			NV_CLOTH_ASSERT(destConstraints.size() == srcConstraints.size());
 			copyToHost(destConstraints.begin(), srcConstraints.buffer(), 0, destConstraints.size() * sizeof(PxVec4));
 		}
 	}
 
 	void cloth::DxFactory::extractSeparationConstraints(const Cloth& cloth, Range<PxVec4> destConstraints) const
 	{
-		PX_ASSERT(&cloth.getFactory() == this);
+		NV_CLOTH_ASSERT(&cloth.getFactory() == this);
 
 		const DxCloth& dxCloth = static_cast<const DxCloth&>(cloth);
 
 		if (dxCloth.mSeparationConstraints.mHostCopy.size())
 		{
-			PX_ASSERT(destConstraints.size() == dxCloth.mSeparationConstraints.mHostCopy.size());
+			NV_CLOTH_ASSERT(destConstraints.size() == dxCloth.mSeparationConstraints.mHostCopy.size());
 
 			memcpy(destConstraints.begin(), dxCloth.mSeparationConstraints.mHostCopy.begin(),
 				sizeof(PxVec4) * dxCloth.mSeparationConstraints.mHostCopy.size());
@@ -341,7 +341,7 @@ void cloth::DxFactory::extractFabricData(const Fabric& fabric, Range<uint32_t> p
 				? dxCloth.mSeparationConstraints.mTarget
 				: dxCloth.mSeparationConstraints.mStart;
 
-			PX_ASSERT(destConstraints.size() == srcConstraints.size());
+			NV_CLOTH_ASSERT(destConstraints.size() == srcConstraints.size());
 
 			copyToHost(destConstraints.begin(), srcConstraints.buffer(), 0, destConstraints.size() * sizeof(PxVec4));
 		}
@@ -350,12 +350,12 @@ void cloth::DxFactory::extractFabricData(const Fabric& fabric, Range<uint32_t> p
 	void cloth::DxFactory::extractParticleAccelerations(const Cloth& cloth, Range<PxVec4> destAccelerations) const
 	{
 		/*
-		PX_ASSERT(&cloth.getFactory() == this);
+		NV_CLOTH_ASSERT(&cloth.getFactory() == this);
 		const DxCloth& dxCloth = static_cast<const DxClothImpl&>(cloth).mCloth;
 
 		if (dxCloth.mParticleAccelerationsHostCopy.size())
 		{
-			PX_ASSERT(dxCloth.mParticleAccelerationsHostCopy.size());
+			NV_CLOTH_ASSERT(dxCloth.mParticleAccelerationsHostCopy.size());
 
 			memcpy(destAccelerations.begin(), dxCloth.mParticleAccelerationsHostCopy.begin(),
 				sizeof(PxVec4) * dxCloth.mParticleAccelerationsHostCopy.size());
@@ -366,20 +366,20 @@ void cloth::DxFactory::extractFabricData(const Fabric& fabric, Range<uint32_t> p
 
 			DxBatchedVector<PxVec4> const& srcAccelerations = dxCloth.mParticleAccelerations;
 
-			PX_ASSERT(destAccelerations.size() == srcAccelerations.size());
+			NV_CLOTH_ASSERT(destAccelerations.size() == srcAccelerations.size());
 
 			copyToHost(destAccelerations.begin(), srcAccelerations.buffer(), 0, destAccelerations.size() * sizeof(PxVec4));
 		}
 		*/
 		PX_UNUSED(&cloth);
 		PX_UNUSED(&destAccelerations);
-		PX_ASSERT(0);
+		NV_CLOTH_ASSERT(0);
 	}
 
 	void cloth::DxFactory::extractVirtualParticles(const Cloth& cloth, Range<uint32_t[4]> destIndices,
 		Range<PxVec3> destWeights) const
 	{
-		PX_ASSERT(&cloth.getFactory() == this);
+		NV_CLOTH_ASSERT(&cloth.getFactory() == this);
 
 		DxContextLock contextLock(*this);
 
@@ -400,7 +400,7 @@ void cloth::DxFactory::extractFabricData(const Fabric& fabric, Range<uint32_t> p
 			for (; srcIt != srcEnd; ++srcIt, ++destIt)
 				*destIt = reinterpret_cast<const PxVec3&>(*srcIt);
 
-			PX_ASSERT(destIt <= destWeights.end());
+			NV_CLOTH_ASSERT(destIt <= destWeights.end());
 		}
 
 		if (destIndices.size() > 0)
@@ -418,14 +418,14 @@ void cloth::DxFactory::extractFabricData(const Fabric& fabric, Range<uint32_t> p
 			for (; srcIt != srcEnd; ++srcIt, ++destIt)
 				*destIt = Vec4u(*srcIt);
 
-			PX_ASSERT(&array(*destIt) <= destIndices.end());
+			NV_CLOTH_ASSERT(&array(*destIt) <= destIndices.end());
 		}
 	}
 
 	void cloth::DxFactory::extractSelfCollisionIndices(const Cloth& cloth, Range<uint32_t> destIndices) const
 	{
 		const DxCloth& dxCloth = static_cast<const DxCloth&>(cloth);
-		PX_ASSERT(destIndices.size() == dxCloth.mSelfCollisionIndices.size());
+		NV_CLOTH_ASSERT(destIndices.size() == dxCloth.mSelfCollisionIndices.size());
 		intrinsics::memCopy(destIndices.begin(), dxCloth.mSelfCollisionIndicesHost.begin(),
 			destIndices.size() * sizeof(uint32_t));
 	}
@@ -433,7 +433,7 @@ void cloth::DxFactory::extractFabricData(const Fabric& fabric, Range<uint32_t> p
 	void cloth::DxFactory::extractRestPositions(const Cloth& cloth, Range<PxVec4> destRestPositions) const
 	{
 		const DxCloth& dxCloth = static_cast<const DxCloth&>(cloth);
-		PX_ASSERT(destRestPositions.size() == dxCloth.mRestPositions.size());
+		NV_CLOTH_ASSERT(destRestPositions.size() == dxCloth.mRestPositions.size());
 		intrinsics::memCopy(destRestPositions.begin(), DxCloth::MappedVec4fVectorType(const_cast<DxCloth&>(dxCloth).mRestPositions).begin(),
 			destRestPositions.size() * sizeof(PxVec4));
 	}
diff --git a/NvCloth/src/dx/DxSolver.cpp b/NvCloth/src/dx/DxSolver.cpp
index ab030d5..66a8d8f 100644
--- a/NvCloth/src/dx/DxSolver.cpp
+++ b/NvCloth/src/dx/DxSolver.cpp
@@ -113,26 +113,9 @@ struct ClothSimCostGreater
 
 void cloth::DxSolver::addCloth(Cloth* cloth)
 {
-	DxCloth& dxCloth = static_cast<DxCloth&>(*cloth);
-
-	NV_CLOTH_ASSERT(mCloths.find(&dxCloth) == mCloths.end());
-
-	mCloths.pushBack(&dxCloth);
-	// trigger update of mClothData array
-	dxCloth.notifyChanged();
-
-	// sort cloth instances by size
-	shdfnd::sort(mCloths.begin(), mCloths.size(), ClothSimCostGreater(), NonTrackingAllocator());
-
-	DxContextLock contextLock(mFactory);
-
-	// resize containers and update kernel data
-	mClothDataHostCopy.resize(mCloths.size());
-	mClothData.resize(mCloths.size());
-	mFrameDataHostCopy.resize(mCloths.size());
-
-	// lazy compilation of compute shader
-	mComputeError |= mFactory.mSolverKernelComputeShader == nullptr;
+	addClothAppend(cloth);
+	addClothUpdateData();
+	
 #if 0
 	if (!mSortComputeShader && !mComputeError)
 	{
@@ -197,7 +180,7 @@ void cloth::DxSolver::addCloth(Cloth* cloth)
 				{
 					uint32_t key = sortElems[i] & ~0xffff;
 					uint32_t keyRef = _SortElemsRef[i] & ~0xffff;
-					PX_ASSERT(key == keyRef);
+					NV_CLOTH_ASSERT(key == keyRef);
 				}
 				_SortElemsHostCopy.unmap();
 			}
@@ -208,6 +191,15 @@ void cloth::DxSolver::addCloth(Cloth* cloth)
 #endif
 }
 
+void cloth::DxSolver::addCloths(Range<Cloth*> cloths)
+{
+	for (uint32_t i = 0; i < cloths.size(); ++i)
+	{
+		addClothAppend(*(cloths.begin() + i));
+	}
+	addClothUpdateData();
+}
+
 void cloth::DxSolver::removeCloth(Cloth* cloth)
 {
 	DxCloth& dxCloth = static_cast<DxCloth&>(*cloth);
@@ -232,10 +224,9 @@ int cloth::DxSolver::getNumCloths() const
 }
 cloth::Cloth * const * cloth::DxSolver::getClothList() const
 {
-	if(getNumCloths())
+	if (getNumCloths() != 0)
 		return reinterpret_cast<Cloth* const*>(&mCloths[0]);
-	else
-		return nullptr;
+	return nullptr;
 }
 
 bool cloth::DxSolver::beginSimulation(float dt)
@@ -260,7 +251,34 @@ void cloth::DxSolver::endSimulation()
 }
 int cloth::DxSolver::getSimulationChunkCount() const
 {
-	return 1;
+	// 0 chunks when no cloth present in the solver, 1 otherwise
+	return getNumCloths() != 0;
+}
+
+void cloth::DxSolver::addClothAppend(Cloth* cloth)
+{
+	DxCloth& dxCloth = static_cast<DxCloth&>(*cloth);
+	NV_CLOTH_ASSERT(mCloths.find(&dxCloth) == mCloths.end());
+
+	mCloths.pushBack(&dxCloth);
+	// trigger update of mClothData array
+	dxCloth.notifyChanged();
+}
+
+void cloth::DxSolver::addClothUpdateData()
+{
+	// sort cloth instances by size
+	shdfnd::sort(mCloths.begin(), mCloths.size(), ClothSimCostGreater(), NonTrackingAllocator());
+
+	DxContextLock contextLock(mFactory);
+
+	// resize containers and update kernel data
+	mClothDataHostCopy.resize(mCloths.size());
+	mClothData.resize(mCloths.size());
+	mFrameDataHostCopy.resize(mCloths.size());
+
+	// lazy compilation of compute shader
+	mComputeError |= mFactory.mSolverKernelComputeShader == nullptr;
 }
 
 void cloth::DxSolver::beginFrame()
diff --git a/NvCloth/src/dx/DxSolver.h b/NvCloth/src/dx/DxSolver.h
index 09f523a..07d77dc 100644
--- a/NvCloth/src/dx/DxSolver.h
+++ b/NvCloth/src/dx/DxSolver.h
@@ -56,6 +56,7 @@ class DxSolver : private DxContextLock, public Solver
 	~DxSolver();
 
 	virtual void addCloth(Cloth*) override;
+	virtual void addCloths(Range<Cloth*> cloths) override;
 	virtual void removeCloth(Cloth*) override;
 	virtual int getNumCloths() const override;
 	virtual Cloth * const * getClothList() const override;
@@ -101,6 +102,10 @@ class DxSolver : private DxContextLock, public Solver
 	}
 
   private:
+	// add cloth helper functions
+	void addClothAppend(Cloth* cloth);
+	void addClothUpdateData();
+
 	// simulate helper functions
 	void beginFrame();
 	void executeKernel();
diff --git a/NvCloth/src/neon/NeonSolverKernel.cpp b/NvCloth/src/neon/NeonSolverKernel.cpp
index 4d6de68..3e16b6f 100644
--- a/NvCloth/src/neon/NeonSolverKernel.cpp
+++ b/NvCloth/src/neon/NeonSolverKernel.cpp
@@ -35,15 +35,19 @@
 
 #include <cpu-features.h>
 
-namespace physx
+namespace
+{
+	const bool sNeonSupport = ANDROID_CPU_ARM_FEATURE_NEON & android_getCpuFeatures();
+}
+
+namespace nv
 {
 namespace cloth
 {
 bool neonSolverKernel(SwCloth const& cloth, SwClothData& data, SwKernelAllocator& allocator,
-                      IterationStateFactory& factory, PxProfileZone* profileZone)
+                      IterationStateFactory& factory)
 {
-	return ANDROID_CPU_ARM_FEATURE_NEON & android_getCpuFeatures() &&
-	       (SwSolverKernel<Simd4f>(cloth, data, allocator, factory, profileZone)(), true);
+	return sNeonSupport && (SwSolverKernel<Simd4f>(cloth, data, allocator, factory)(), true);
 }
 }
 }
diff --git a/NvCloth/src/scalar/SwCollisionHelpers.h b/NvCloth/src/scalar/SwCollisionHelpers.h
index af21812..3ab756f 100644
--- a/NvCloth/src/scalar/SwCollisionHelpers.h
+++ b/NvCloth/src/scalar/SwCollisionHelpers.h
@@ -29,6 +29,8 @@
 
 #pragma once
 
+#include "PsMathUtils.h"
+
 namespace nv
 {
 namespace cloth
@@ -46,6 +48,7 @@ uint32_t findBitSet(uint32_t mask)
 
 inline Scalar4i intFloor(const Scalar4f& v)
 {
+	using physx::shdfnd::floor;
 	return Scalar4i(int(floor(v.f4[0])), int(floor(v.f4[1])), int(floor(v.f4[2])), int(floor(v.f4[3])));
 }
 
diff --git a/NvCloth/src/sse2/SwCollisionHelpers.h b/NvCloth/src/sse2/SwCollisionHelpers.h
index c80ba1d..b759868 100644
--- a/NvCloth/src/sse2/SwCollisionHelpers.h
+++ b/NvCloth/src/sse2/SwCollisionHelpers.h
@@ -63,12 +63,15 @@ Simd4i intFloor(const Simd4f& v)
 {
 	Simd4i i = _mm_cvttps_epi32(v);
 	return _mm_sub_epi32(i, _mm_srli_epi32(simd4i(v), 31));
+	//Simd4i i = truncate(v);
+	//return i - (simd4i(v) >> 31);
 }
 
 Simd4i horizontalOr(const Simd4i& mask)
 {
 	Simd4i tmp = mask | _mm_shuffle_epi32(mask, 0xb1); // w z y x -> z w x y
 	return tmp | _mm_shuffle_epi32(tmp, 0x4e);         // w z y x -> y x w z
+//	return splat<0>(mask) | splat<1>(mask) | splat<2>(mask) | splat<3>(mask);
 }
 
 Gather<Simd4i>::Gather(const Simd4i& index)
diff --git a/PxShared/include/foundation/PxFoundation.h b/PxShared/include/foundation/PxFoundation.h
index 8642c16..aae84a9 100644
--- a/PxShared/include/foundation/PxFoundation.h
+++ b/PxShared/include/foundation/PxFoundation.h
@@ -126,7 +126,18 @@ PxCreateFoundation(physx::PxU32 version, physx::PxAllocatorCallback& allocator,
 
 @see PxCreateFoundation()
 */
+#if PX_CLANG
+#if PX_LINUX
+	#pragma clang diagnostic push
+	#pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
+#endif // PX_LINUX
+#endif // PX_CLANG
 PX_C_EXPORT PX_FOUNDATION_API physx::PxFoundation& PX_CALL_CONV PxGetFoundation();
+#if PX_CLANG
+#if PX_LINUX
+	#pragma clang diagnostic pop
+#endif // PX_LINUX
+#endif // PX_CLANG
 
 namespace physx
 {
diff --git a/PxShared/include/foundation/PxMemory.h b/PxShared/include/foundation/PxMemory.h
index b0191e3..6a8a6ed 100644
--- a/PxShared/include/foundation/PxMemory.h
+++ b/PxShared/include/foundation/PxMemory.h
@@ -81,7 +81,7 @@ PX_FORCE_INLINE void* PxMemSet(void* dest, PxI32 c, PxU32 count)
 
 \return Pointer to destination memory block
 */
-PX_FORCE_INLINE void* PxMemCopy(void* PX_RESTRICT dest, const void* PX_RESTRICT src, PxU32 count)
+PX_FORCE_INLINE void* PxMemCopy(void* dest, const void* src, PxU32 count)
 {
 	return physx::intrinsics::memCopy(dest, src, count);
 }
diff --git a/PxShared/include/foundation/PxPreprocessor.h b/PxShared/include/foundation/PxPreprocessor.h
index 9b6e0f4..ddbf258 100644
--- a/PxShared/include/foundation/PxPreprocessor.h
+++ b/PxShared/include/foundation/PxPreprocessor.h
@@ -47,7 +47,9 @@ All definitions have a value of 1 or 0, use '#if' instead of '#ifdef'.
 Compiler defines, see http://sourceforge.net/p/predef/wiki/Compilers/
 */
 #if defined(_MSC_VER)
-#if _MSC_VER >= 1900
+#if _MSC_VER >= 1910
+#define PX_VC 15
+#elif _MSC_VER >= 1900
 #define PX_VC 14
 #elif _MSC_VER >= 1800
 #define PX_VC 12
@@ -488,7 +490,8 @@ struct PxPackValidation
 	long long a;
 };
 #endif
-#if !PX_APPLE_FAMILY && !PX_EMSCRIPTEN
+// clang (as of version 3.9) cannot align doubles on 8 byte boundary  when compiling for Intel 32 bit target
+#if !PX_APPLE_FAMILY && !PX_EMSCRIPTEN && !(PX_CLANG && PX_X86)
 PX_COMPILE_TIME_ASSERT(PX_OFFSET_OF(PxPackValidation, a) == 8);
 #endif
 
diff --git a/PxShared/include/foundation/PxSimpleTypes.h b/PxShared/include/foundation/PxSimpleTypes.h
index 6ecba13..655fbb3 100644
--- a/PxShared/include/foundation/PxSimpleTypes.h
+++ b/PxShared/include/foundation/PxSimpleTypes.h
@@ -56,7 +56,7 @@
 #if PX_VC // we could use inttypes.h starting with VC12
 #define PX_PRIu64 "I64u"
 #else
-#if !PX_PS4 && !PX_APPLE_FAMILY
+#if !PX_PS4 && !PX_APPLE_FAMILY && !PX_SWITCH
 #define __STDC_FORMAT_MACROS
 #endif
 #include <inttypes.h>
diff --git a/PxShared/include/foundation/unix/PxUnixIntrinsics.h b/PxShared/include/foundation/unix/PxUnixIntrinsics.h
index 351c83c..5f492bc 100644
--- a/PxShared/include/foundation/unix/PxUnixIntrinsics.h
+++ b/PxShared/include/foundation/unix/PxUnixIntrinsics.h
@@ -37,11 +37,12 @@
 #error "This file should only be included by Unix builds!!"
 #endif
 
-#if PX_LINUX && !defined(__CUDACC__)
-	// Linux and CUDA compilation does not work with std::isfnite, as it is not marked as CUDA callable	
-	#ifndef isfinite
-		#define isfinite	std::isfinite
-	#endif
+#if (PX_LINUX || PX_ANDROID) && !defined(__CUDACC__) && !PX_EMSCRIPTEN
+    // Linux/android and CUDA compilation does not work with std::isfnite, as it is not marked as CUDA callable
+    #include <cmath>
+    #ifndef isfinite
+        using std::isfinite;
+    #endif
 #endif
 
 #include <math.h>
@@ -125,7 +126,10 @@ PX_CUDA_CALLABLE PX_FORCE_INLINE float selectMax(float a, float b)
 //! \brief platform-specific finiteness check (not INF or NAN)
 PX_CUDA_CALLABLE PX_FORCE_INLINE bool isFinite(float a)
 {
-	return !!isfinite(a);
+	//std::isfinite not recommended as of Feb 2017, since it doesn't work with g++/clang's floating point optimization.
+    union localU { PxU32 i; float f; } floatUnion;
+    floatUnion.f = a;
+    return !((floatUnion.i & 0x7fffffff) >= 0x7f800000);
 }
 
 //! \brief platform-specific finiteness check (not INF or NAN)
@@ -153,7 +157,7 @@ PX_FORCE_INLINE void* memSet(void* dest, int32_t c, uint32_t count)
 /*!
 Copies \c count bytes from \c src to \c dst. User memMove if regions overlap.
 */
-PX_FORCE_INLINE void* memCopy(void* PX_RESTRICT dest, const void* PX_RESTRICT src, uint32_t count)
+PX_FORCE_INLINE void* memCopy(void* dest, const void* src, uint32_t count)
 {
 	return memcpy(dest, src, count);
 }
diff --git a/PxShared/include/foundation/windows/PxWindowsIntrinsics.h b/PxShared/include/foundation/windows/PxWindowsIntrinsics.h
index 766558e..3cc63b5 100644
--- a/PxShared/include/foundation/windows/PxWindowsIntrinsics.h
+++ b/PxShared/include/foundation/windows/PxWindowsIntrinsics.h
@@ -158,7 +158,7 @@ PX_FORCE_INLINE void* memSet(void* dest, int32_t c, uint32_t count)
 /*!
 Copies \c count bytes from \c src to \c dst. User memMove if regions overlap.
 */
-PX_FORCE_INLINE void* memCopy(void* PX_RESTRICT dest, const void* PX_RESTRICT src, uint32_t count)
+PX_FORCE_INLINE void* memCopy(void* dest, const void* src, uint32_t count)
 {
 	return memcpy(dest, src, count);
 }
diff --git a/PxShared/src/compiler/cmake/Android/CMakeLists.txt b/PxShared/src/compiler/cmake/Android/CMakeLists.txt
index 9aa00f9..08757c1 100644
--- a/PxShared/src/compiler/cmake/Android/CMakeLists.txt
+++ b/PxShared/src/compiler/cmake/Android/CMakeLists.txt
@@ -31,7 +31,7 @@ SET(CMAKE_CXX_FLAGS_CHECKED "-O3")
 SET(CMAKE_CXX_FLAGS_PROFILE "-O3")
 SET(CMAKE_CXX_FLAGS_RELEASE "-O3")
 
-SET(PXSHARED_ANDROID_COMPILE_DEFS _LIB;__STDC_LIMIT_MACROS;)
+SET(PXSHARED_ANDROID_COMPILE_DEFS ANDROID;_LIB;__STDC_LIMIT_MACROS;)
 SET(PXSHARED_ANDROID_DEBUG_COMPILE_DEFS _DEBUG;PX_DEBUG=1;PX_CHECKED=1)
 SET(PXSHARED_ANDROID_CHECKED_COMPILE_DEFS NDEBUG;PX_CHECKED=1)
 SET(PXSHARED_ANDROID_PROFILE_COMPILE_DEFS NDEBUG;PX_PROFILE=1)
diff --git a/PxShared/src/compiler/cmake/Android/PsFastXml.cmake b/PxShared/src/compiler/cmake/Android/PsFastXml.cmake
index 81d356e..f5dce60 100644
--- a/PxShared/src/compiler/cmake/Android/PsFastXml.cmake
+++ b/PxShared/src/compiler/cmake/Android/PsFastXml.cmake
@@ -10,28 +10,12 @@ SET(LL_SOURCE_DIR ${PXSHARED_SOURCE_DIR}/fastxml)
 SET(PSFASTXML_COMPILE_DEFS 
 	# Common to all configurations
 	${PXSHARED_ANDROID_COMPILE_DEFS};PX_FOUNDATION_DLL=0;PxShared_STATIC_LIB;
-)
-
-if(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "debug")
-	LIST(APPEND PSFASTXML_COMPILE_DEFS 
-		${PXSHARED_ANDROID_DEBUG_COMPILE_DEFS}
-	)
-elseif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "checked")
-	LIST(APPEND PSFASTXML_COMPILE_DEFS 
-		${PXSHARED_ANDROID_CHECKED_COMPILE_DEFS}
-	)
-elseif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "profile")
-	LIST(APPEND PSFASTXML_COMPILE_DEFS 
-		${PXSHARED_ANDROID_PROFILE_COMPILE_DEFS}
-	)
-elseif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL release)
-	LIST(APPEND PSFASTXML_COMPILE_DEFS 
-		${PXSHARED_ANDROID_RELEASE_COMPILE_DEFS}
-	)
-else(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "debug")
-	MESSAGE(FATAL_ERROR "Unknown configuration ${CMAKE_BUILD_TYPE}")
-endif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "debug")
 
+	$<$<CONFIG:debug>:${PXSHARED_ANDROID_DEBUG_COMPILE_DEFS};>
+	$<$<CONFIG:checked>:${PXSHARED_ANDROID_CHECKED_COMPILE_DEFS};>
+	$<$<CONFIG:profile>:${PXSHARED_ANDROID_PROFILE_COMPILE_DEFS};>
+	$<$<CONFIG:release>:${PXSHARED_ANDROID_RELEASE_COMPILE_DEFS};>
+)
 
 # include PsFastXml common
 INCLUDE(../common/PsFastXml.cmake)
diff --git a/PxShared/src/compiler/cmake/Android/PxFoundation.cmake b/PxShared/src/compiler/cmake/Android/PxFoundation.cmake
index c23a327..d069e41 100644
--- a/PxShared/src/compiler/cmake/Android/PxFoundation.cmake
+++ b/PxShared/src/compiler/cmake/Android/PxFoundation.cmake
@@ -30,28 +30,12 @@ SET(PXFOUNDATION_PLATFORM_INCLUDES
 SET(PXFOUNDATION_COMPILE_DEFS
 	# Common to all configurations
 	${PXSHARED_ANDROID_COMPILE_DEFS};PxShared_STATIC_LIB;
-)
-
-if(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "debug")
-	LIST(APPEND PXFOUNDATION_COMPILE_DEFS
-		${PXSHARED_ANDROID_DEBUG_COMPILE_DEFS}
-	)
-elseif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "checked")
-	LIST(APPEND PXFOUNDATION_COMPILE_DEFS
-		${PXSHARED_ANDROID_CHECKED_COMPILE_DEFS}
-	)
-elseif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "profile")
-	LIST(APPEND PXFOUNDATION_COMPILE_DEFS
-		${PXSHARED_ANDROID_PROFILE_COMPILE_DEFS}
-	)
-elseif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL release)
-	LIST(APPEND PXFOUNDATION_COMPILE_DEFS
-		${PXSHARED_ANDROID_RELEASE_COMPILE_DEFS}
-	)
-else(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "debug")
-	MESSAGE(FATAL_ERROR "Unknown configuration ${CMAKE_BUILD_TYPE}")
-endif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "debug")
 
+	$<$<CONFIG:debug>:${PXSHARED_ANDROID_DEBUG_COMPILE_DEFS};>
+	$<$<CONFIG:checked>:${PXSHARED_ANDROID_CHECKED_COMPILE_DEFS};>
+	$<$<CONFIG:profile>:${PXSHARED_ANDROID_PROFILE_COMPILE_DEFS};>
+	$<$<CONFIG:release>:${PXSHARED_ANDROID_RELEASE_COMPILE_DEFS};>
+)
 
 # include PxFoundation common
 INCLUDE(../common/PxFoundation.cmake)
diff --git a/PxShared/src/compiler/cmake/Android/PxPvdSDK.cmake b/PxShared/src/compiler/cmake/Android/PxPvdSDK.cmake
index f517efc..ea39cdb 100644
--- a/PxShared/src/compiler/cmake/Android/PxPvdSDK.cmake
+++ b/PxShared/src/compiler/cmake/Android/PxPvdSDK.cmake
@@ -12,27 +12,12 @@ SET(PXPVDSDK_LIBTYPE STATIC)
 SET(PXPVDSDK_COMPILE_DEFS 
 	# Common to all configurations
 	${PXSHARED_ANDROID_COMPILE_DEFS};PxShared_STATIC_LIB;
-)
 
-if(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "debug")
-	LIST(APPEND PXPVDSDK_COMPILE_DEFS 
-		${PXSHARED_ANDROID_DEBUG_COMPILE_DEFS}
-	)
-elseif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "checked")
-	LIST(APPEND PXPVDSDK_COMPILE_DEFS 
-		${PXSHARED_ANDROID_CHECKED_COMPILE_DEFS}
-	)
-elseif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "profile")
-	LIST(APPEND PXPVDSDK_COMPILE_DEFS 
-		${PXSHARED_ANDROID_PROFILE_COMPILE_DEFS}
-	)
-elseif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL release)
-	LIST(APPEND PXPVDSDK_COMPILE_DEFS 
-		${PXSHARED_ANDROID_RELEASE_COMPILE_DEFS}
-	)
-else(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "debug")
-	MESSAGE(FATAL_ERROR "Unknown configuration ${CMAKE_BUILD_TYPE}")
-endif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "debug")
+	$<$<CONFIG:debug>:${PXSHARED_ANDROID_DEBUG_COMPILE_DEFS};>
+	$<$<CONFIG:checked>:${PXSHARED_ANDROID_CHECKED_COMPILE_DEFS};>
+	$<$<CONFIG:profile>:${PXSHARED_ANDROID_PROFILE_COMPILE_DEFS};>
+	$<$<CONFIG:release>:${PXSHARED_ANDROID_RELEASE_COMPILE_DEFS};>
+)
 
 # include PxPvdSDK common
 INCLUDE(../common/PxPvdSDK.cmake)
diff --git a/PxShared/src/compiler/cmake/Android/PxTask.cmake b/PxShared/src/compiler/cmake/Android/PxTask.cmake
index e02aefd..eabe075 100644
--- a/PxShared/src/compiler/cmake/Android/PxTask.cmake
+++ b/PxShared/src/compiler/cmake/Android/PxTask.cmake
@@ -8,27 +8,12 @@ SET(LL_SOURCE_DIR ${PXSHARED_SOURCE_DIR}/task)
 
 SET(PXTASK_COMPILE_DEFS 
 	${PXSHARED_ANDROID_COMPILE_DEFS};PxShared_STATIC_LIB;
-)
 
-if(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "debug")
-	LIST(APPEND PXTASK_COMPILE_DEFS
-		${PXSHARED_ANDROID_DEBUG_COMPILE_DEFS}
-	)
-elseif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "checked")
-	LIST(APPEND PXTASK_COMPILE_DEFS
-		${PXSHARED_ANDROID_CHECKED_COMPILE_DEFS}
-	)
-elseif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "profile")
-	LIST(APPEND PXTASK_COMPILE_DEFS
-		${PXSHARED_ANDROID_PROFILE_COMPILE_DEFS}
-	)
-elseif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL release)
-	LIST(APPEND PXTASK_COMPILE_DEFS
-		${PXSHARED_ANDROID_RELEASE_COMPILE_DEFS}
-	)
-else(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "debug")
-	MESSAGE(FATAL_ERROR "Unknown configuration ${CMAKE_BUILD_TYPE}")
-endif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "debug")
+	$<$<CONFIG:debug>:${PXSHARED_ANDROID_DEBUG_COMPILE_DEFS};>
+	$<$<CONFIG:checked>:${PXSHARED_ANDROID_CHECKED_COMPILE_DEFS};>
+	$<$<CONFIG:profile>:${PXSHARED_ANDROID_PROFILE_COMPILE_DEFS};>
+	$<$<CONFIG:release>:${PXSHARED_ANDROID_RELEASE_COMPILE_DEFS};>
+)
 
 SET(PXTASK_LIBTYPE OBJECT)
 
diff --git a/PxShared/src/compiler/cmake/IOS/CMakeLists.txt b/PxShared/src/compiler/cmake/IOS/CMakeLists.txt
index 4e2f814..7b05731 100644
--- a/PxShared/src/compiler/cmake/IOS/CMakeLists.txt
+++ b/PxShared/src/compiler/cmake/IOS/CMakeLists.txt
@@ -13,7 +13,7 @@ IF (NOT ${TARGET_BUILD_PLATFORM} IN_LIST PLATFORM_LIST)
 	MESSAGE(FATAL_ERROR "Invalid platform:" ${TARGET_BUILD_PLATFORM})
 ENDIF()
 
-SET(CMAKE_CXX_FLAGS "-std=c++11 -fno-rtti -fno-exceptions -ffast-math -ffunction-sections -fdata-sections -Werror -ferror-limit=0 -Wall -Wextra -fstrict-aliasing -Wstrict-aliasing=2 -Weverything -Wno-documentation-deprecated-sync -Wno-documentation-unknown-command -Wno-float-equal -Wno-padded -Wno-weak-vtables -Wno-cast-align -Wno-conversion -Wno-missing-noreturn -Wno-missing-variable-declarations -Wno-shift-sign-overflow -Wno-covered-switch-default -Wno-exit-time-destructors -Wno-global-constructors -Wno-missing-prototypes -Wno-unreachable-code -Wno-unused-macros -Wno-unused-member-function -Wno-used-but-marked-unused -Wno-weak-template-vtables -Wno-deprecated -Wno-non-virtual-dtor -Wno-invalid-noreturn -Wno-return-type-c-linkage -Wno-reserved-id-macro -Wno-c++98-compat-pedantic -Wno-unused-local-typedef -Wno-old-style-cast -Wno-newline-eof -Wno-unused-private-field -Wno-undefined-reinterpret-cast -Wno-invalid-offsetof -gdwarf-2")
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fno-rtti -fno-exceptions -ffunction-sections -fdata-sections -Werror -ferror-limit=0 -Wall -Wextra -fstrict-aliasing -Wstrict-aliasing=2 -Weverything -Wno-documentation-deprecated-sync -Wno-documentation-unknown-command -Wno-float-equal -Wno-padded -Wno-weak-vtables -Wno-cast-align -Wno-conversion -Wno-missing-noreturn -Wno-missing-variable-declarations -Wno-shift-sign-overflow -Wno-covered-switch-default -Wno-exit-time-destructors -Wno-global-constructors -Wno-missing-prototypes -Wno-unreachable-code -Wno-unused-macros -Wno-unused-member-function -Wno-used-but-marked-unused -Wno-weak-template-vtables -Wno-deprecated -Wno-non-virtual-dtor -Wno-invalid-noreturn -Wno-return-type-c-linkage -Wno-reserved-id-macro -Wno-c++98-compat-pedantic -Wno-unused-local-typedef -Wno-old-style-cast -Wno-newline-eof -Wno-unused-private-field -Wno-undefined-reinterpret-cast -Wno-invalid-offsetof -gdwarf-2")
 
 SET(CMAKE_SHARED_LINKER_FLAGS "")
 
@@ -22,43 +22,6 @@ SET(CMAKE_CXX_FLAGS_CHECKED "-O3 -g")
 SET(CMAKE_CXX_FLAGS_PROFILE "-O3 -g")
 SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -g")
 
-SET(CMAKE_OSX_DEPLOYMENT_TARGET "")
-
-SET(CMAKE_OSX_ARCHITECTURES "armv7 armv7s arm64")
-
-SET(IOS_PLATFORM_LOCATION "iPhoneOS.platform")
-
-# Setup iOS developer location unless specified manually with CMAKE_IOS_DEVELOPER_ROOT
-EXEC_PROGRAM(/usr/bin/xcode-select ARGS -print-path OUTPUT_VARIABLE CMAKE_XCODE_DEVELOPER_DIR)
-SET(XCODE_ROOT "${CMAKE_XCODE_DEVELOPER_DIR}/Platforms/${IOS_PLATFORM_LOCATION}/Developer")
-IF(NOT DEFINED CMAKE_IOS_DEVELOPER_ROOT)
-	IF(EXISTS ${XCODE_ROOT})
-		SET(CMAKE_IOS_DEVELOPER_ROOT ${XCODE_ROOT})
-	ENDIF(EXISTS ${XCODE_ROOT})
-ENDIF(NOT DEFINED CMAKE_IOS_DEVELOPER_ROOT)
-SET(CMAKE_IOS_DEVELOPER_ROOT ${CMAKE_IOS_DEVELOPER_ROOT} CACHE PATH "Location of iOS Platform")
-
-# Find and use the most recent iOS sdk unless specified manually with CMAKE_IOS_SDK_ROOT
-IF(NOT DEFINED CMAKE_IOS_SDK_ROOT)
-	FILE(GLOB _CMAKE_IOS_SDKS "${CMAKE_IOS_DEVELOPER_ROOT}/SDKs/*")
-	IF(_CMAKE_IOS_SDKS) 
-		LIST(SORT _CMAKE_IOS_SDKS)
-		LIST(REVERSE _CMAKE_IOS_SDKS)
-		LIST(GET _CMAKE_IOS_SDKS 0 CMAKE_IOS_SDK_ROOT)
-	ELSE(_CMAKE_IOS_SDKS)
-		MESSAGE(FATAL_ERROR "No iOS SDK's found in default search path ${CMAKE_IOS_DEVELOPER_ROOT}. Manually set CMAKE_IOS_SDK_ROOT or install the iOS SDK.")
-	ENDIF(_CMAKE_IOS_SDKS)
-	MESSAGE(STATUS "Toolchain using default iOS SDK: ${CMAKE_IOS_SDK_ROOT}")
-ENDIF(NOT DEFINED CMAKE_IOS_SDK_ROOT)
-SET(CMAKE_IOS_SDK_ROOT ${CMAKE_IOS_SDK_ROOT} CACHE PATH "Location of the selected iOS SDK")
-
-# Set the sysroot default to the most recent SDK
-SET(CMAKE_OSX_SYSROOT ${CMAKE_IOS_SDK_ROOT} CACHE PATH "Sysroot used for iOS support")
-
-SET(CMAKE_XCODE_ATTRIBUTE_SUPPORTED_PLATFORMS "iphoneos")
-SET(CMAKE_XCODE_ATTRIBUTE_SDKROOT ${CMAKE_IOS_SDK_ROOT})
-SET(CMAKE_XCODE_ATTRIBUTE_IPHONEOS_DEPLOYMENT_TARGET "7.0")
-
 SET(PXSHARED_IOS_COMPILE_DEFS _LIB;DISABLE_CUDA_PHYSX;DISABLE_COMPUTE_PHYSX)
 SET(PXSHARED_IOS_DEBUG_COMPILE_DEFS _DEBUG;PX_DEBUG=1;PX_CHECKED=1)
 SET(PXSHARED_IOS_CHECKED_COMPILE_DEFS NDEBUG;PX_CHECKED=1)
diff --git a/PxShared/src/compiler/cmake/Linux/CMakeLists.txt b/PxShared/src/compiler/cmake/Linux/CMakeLists.txt
index ea25a8b..543a7b1 100644
--- a/PxShared/src/compiler/cmake/Linux/CMakeLists.txt
+++ b/PxShared/src/compiler/cmake/Linux/CMakeLists.txt
@@ -17,16 +17,18 @@ ENDIF()
 IF (${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "x86_64-unknown-linux-gnu" OR ${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "x86_64-linux-gnu")
 	IF ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
 	  # using Clang	  
-	  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fno-rtti -fno-exceptions -ffast-math -ffunction-sections -fdata-sections -Werror -ferror-limit=0 -Wall -Wextra -fstrict-aliasing -Wstrict-aliasing=2 -Weverything -Wno-documentation-deprecated-sync -Wno-documentation-unknown-command -Wno-float-equal -Wno-padded -Wno-weak-vtables -Wno-cast-align -Wno-conversion -Wno-missing-noreturn -Wno-missing-variable-declarations -Wno-shift-sign-overflow -Wno-covered-switch-default -Wno-exit-time-destructors -Wno-global-constructors -Wno-missing-prototypes -Wno-unreachable-code -Wno-unused-macros -Wno-unused-member-function -Wno-used-but-marked-unused -Wno-weak-template-vtables -Wno-deprecated -Wno-non-virtual-dtor -Wno-invalid-noreturn -Wno-return-type-c-linkage -Wno-reserved-id-macro -Wno-c++98-compat-pedantic -Wno-unused-local-typedef -Wno-old-style-cast -Wno-newline-eof -Wno-unused-private-field -Wno-undefined-func-template -Wno-format-nonliteral -Wno-implicit-fallthrough -Wno-undefined-reinterpret-cast -Wno-disabled-macro-expansion")
+	  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fno-rtti -fno-exceptions -ffunction-sections -fdata-sections -Werror -ferror-limit=0 -Wall -Wextra -fstrict-aliasing -Wstrict-aliasing=2 -Weverything -Wno-documentation-deprecated-sync -Wno-documentation-unknown-command -Wno-float-equal -Wno-padded -Wno-weak-vtables -Wno-cast-align -Wno-conversion -Wno-missing-noreturn -Wno-missing-variable-declarations -Wno-shift-sign-overflow -Wno-covered-switch-default -Wno-exit-time-destructors -Wno-global-constructors -Wno-missing-prototypes -Wno-unreachable-code -Wno-unused-macros -Wno-unused-member-function -Wno-used-but-marked-unused -Wno-weak-template-vtables -Wno-deprecated -Wno-non-virtual-dtor -Wno-invalid-noreturn -Wno-return-type-c-linkage -Wno-reserved-id-macro -Wno-c++98-compat-pedantic -Wno-unused-local-typedef -Wno-old-style-cast -Wno-newline-eof -Wno-unused-private-field -Wno-undefined-func-template -Wno-format-nonliteral -Wno-implicit-fallthrough -Wno-undefined-reinterpret-cast -Wno-disabled-macro-expansion -Wno-return-type-c-linkage")
 	ELSEIF ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
 	  # using GCC
 	  SET(LIBPATH_SUFFIX "x64")
-	  SET(CMAKE_CXX_FLAGS "-Werror -m64 -fPIC -msse2 -mfpmath=sse -ffast-math -fno-exceptions -fno-rtti -fvisibility=hidden -fvisibility-inlines-hidden -Wall -Wextra -fno-strict-aliasing -fdiagnostics-show-option -Wno-invalid-offsetof -Wno-uninitialized -Wno-missing-field-initializers")	  
+	  SET(CMAKE_CXX_FLAGS "-Werror -m64 -fPIC -msse2 -mfpmath=sse -fno-exceptions -fno-rtti -fvisibility=hidden -fvisibility-inlines-hidden -Wall -Wextra -fno-strict-aliasing -fdiagnostics-show-option -Wno-invalid-offsetof -Wno-uninitialized -Wno-missing-field-initializers")	  
 	ENDIF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")	
 ELSEIF(${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "arm-unknown-linux-gnueabihf")
-	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -mfpu=neon -fno-rtti -fno-exceptions -ffast-math -ffunction-sections -fdata-sections -Werror -ferror-limit=0 -Wall -Wextra -fstrict-aliasing -Wstrict-aliasing=2 -Weverything -Wno-documentation-deprecated-sync -Wno-documentation-unknown-command -Wno-float-equal -Wno-padded -Wno-weak-vtables -Wno-cast-align -Wno-conversion -Wno-missing-noreturn -Wno-missing-variable-declarations -Wno-shift-sign-overflow -Wno-covered-switch-default -Wno-exit-time-destructors -Wno-global-constructors -Wno-missing-prototypes -Wno-unreachable-code -Wno-unused-macros -Wno-unused-member-function -Wno-used-but-marked-unused -Wno-weak-template-vtables -Wno-deprecated -Wno-non-virtual-dtor -Wno-old-style-cast -Wno-return-type-c-linkage -Wno-format-nonliteral -Wno-implicit-fallthrough -Wno-disabled-macro-expansion")
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -mfpu=neon -fno-rtti -fno-exceptions -ffunction-sections -fdata-sections -Werror -ferror-limit=0 -Wall -Wextra -fstrict-aliasing -Wstrict-aliasing=2 -Weverything -Wno-documentation-deprecated-sync -Wno-documentation-unknown-command -Wno-float-equal -Wno-padded -Wno-weak-vtables -Wno-cast-align -Wno-conversion -Wno-missing-noreturn -Wno-missing-variable-declarations -Wno-shift-sign-overflow -Wno-covered-switch-default -Wno-exit-time-destructors -Wno-global-constructors -Wno-missing-prototypes -Wno-unreachable-code -Wno-unused-macros -Wno-unused-member-function -Wno-used-but-marked-unused -Wno-weak-template-vtables -Wno-deprecated -Wno-non-virtual-dtor -Wno-old-style-cast -Wno-return-type-c-linkage -Wno-format-nonliteral -Wno-implicit-fallthrough -Wno-disabled-macro-expansion -Wno-return-type-c-linkage")
 ELSEIF(${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "aarch64-unknown-linux-gnueabi")
-	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fno-rtti -fno-exceptions -ffast-math -ffunction-sections -fdata-sections -Werror -ferror-limit=0 -Wall -Wextra -fstrict-aliasing -Wstrict-aliasing=2 -Weverything -Wno-documentation-deprecated-sync -Wno-documentation-unknown-command -Wno-float-equal -Wno-padded -Wno-weak-vtables -Wno-cast-align -Wno-conversion -Wno-missing-noreturn -Wno-missing-variable-declarations -Wno-shift-sign-overflow -Wno-covered-switch-default -Wno-exit-time-destructors -Wno-global-constructors -Wno-missing-prototypes -Wno-unreachable-code -Wno-unused-macros -Wno-unused-member-function -Wno-used-but-marked-unused -Wno-weak-template-vtables -Wno-deprecated -Wno-non-virtual-dtor -Wno-old-style-cast -Wno-return-type-c-linkage -Wno-format-nonliteral -Wno-unused-local-typedef -Wno-implicit-fallthrough -Wno-disabled-macro-expansion")
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fno-rtti -fno-exceptions -ffunction-sections -fdata-sections -Werror -ferror-limit=0 -Wall -Wextra -fstrict-aliasing -Wstrict-aliasing=2 -Weverything -Wno-documentation-deprecated-sync -Wno-documentation-unknown-command -Wno-float-equal -Wno-padded -Wno-weak-vtables -Wno-cast-align -Wno-conversion -Wno-missing-noreturn -Wno-missing-variable-declarations -Wno-shift-sign-overflow -Wno-covered-switch-default -Wno-exit-time-destructors -Wno-global-constructors -Wno-missing-prototypes -Wno-unreachable-code -Wno-unused-macros -Wno-unused-member-function -Wno-used-but-marked-unused -Wno-weak-template-vtables -Wno-deprecated -Wno-non-virtual-dtor -Wno-old-style-cast -Wno-return-type-c-linkage -Wno-format-nonliteral -Wno-unused-local-typedef -Wno-implicit-fallthrough -Wno-disabled-macro-expansion -Wno-return-type-c-linkage")
+ELSEIF(${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "i686-unknown-linux-gnu")
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Xclang -malign-double -fpack-struct=16 -fno-rtti -fno-exceptions -ffunction-sections -fdata-sections -Werror -ferror-limit=0 -Wall -Wextra -fstrict-aliasing -Wstrict-aliasing=2 -Weverything -Wno-documentation-deprecated-sync -Wno-documentation-unknown-command -Wno-float-equal -Wno-padded -Wno-weak-vtables -Wno-cast-align -Wno-conversion -Wno-missing-noreturn -Wno-missing-variable-declarations -Wno-shift-sign-overflow -Wno-covered-switch-default -Wno-exit-time-destructors -Wno-global-constructors -Wno-missing-prototypes -Wno-unreachable-code -Wno-unused-macros -Wno-unused-member-function -Wno-used-but-marked-unused -Wno-weak-template-vtables -Wno-deprecated -Wno-non-virtual-dtor -Wno-invalid-noreturn -Wno-return-type-c-linkage -Wno-reserved-id-macro -Wno-c++98-compat-pedantic -Wno-unused-local-typedef -Wno-old-style-cast -Wno-newline-eof -Wno-unused-private-field -Wno-undefined-reinterpret-cast -Wno-undefined-func-template -Wno-double-promotion -Wno-return-type-c-linkage")
 ELSE(${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "x86_64-unknown-linux-gnu" OR ${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "x86_64-linux-gnu")
 	MESSAGE(FATAL_ERROR "Unknown CMAKE_LIBRARY_ARCHITECTURE ${CMAKE_LIBRARY_ARCHITECTURE}")
 ENDIF(${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "x86_64-unknown-linux-gnu" OR ${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "x86_64-linux-gnu")
diff --git a/PxShared/src/foundation/include/PsArray.h b/PxShared/src/foundation/include/PsArray.h
index 8433fbe..2121c30 100644
--- a/PxShared/src/foundation/include/PsArray.h
+++ b/PxShared/src/foundation/include/PsArray.h
@@ -35,17 +35,6 @@
 #include "PsAllocator.h"
 #include "PsBasicTemplates.h"
 
-#if PX_LIBCPP
-#include <type_traits>
-#else
-#include <tr1/type_traits>
-#endif
-
-#if PX_VC == 9 || PX_VC == 10
-#pragma warning(push)
-#pragma warning(disable : 4347) // behavior change: 'function template' is called instead of 'function'
-#endif
-
 namespace physx
 {
 namespace shdfnd
@@ -158,15 +147,6 @@ class Array : protected Alloc
 		return operator=<Alloc>(t);
 	}
 
-	PX_FORCE_INLINE static bool isArrayOfPOD()
-	{
-#if PX_LIBCPP
-		return std::is_trivially_copyable<T>::value;
-#else
-		return std::tr1::is_pod<T>::value;
-#endif
-	}
-
 	/*!
 	Array indexing operator.
 	\param i
@@ -338,14 +318,7 @@ class Array : protected Alloc
 		PX_ASSERT(mSize);
 		T t = mData[mSize - 1];
 
-		if(!isArrayOfPOD())
-		{
-			mData[--mSize].~T();
-		}
-		else
-		{
-			--mSize;
-		}
+		mData[--mSize].~T();
 
 		return t;
 	}
@@ -379,10 +352,7 @@ class Array : protected Alloc
 		PX_ASSERT(i < mSize);
 		mData[i] = mData[--mSize];
 
-		if(!isArrayOfPOD())
-		{
-			mData[mSize].~T();
-		}
+		mData[mSize].~T();
 	}
 
 	PX_INLINE void replaceWithLast(Iterator i)
@@ -424,24 +394,14 @@ class Array : protected Alloc
 	{
 		PX_ASSERT(i < mSize);
 
-		if(isArrayOfPOD())
-		{
-			if(i + 1 != mSize)
-			{
-				physx::intrinsics::memMove(mData + i, mData + i + 1, (mSize - i - 1) * sizeof(T));
-			}
-		}
-		else
-		{
-			T* it = mData + i;
+		T* it = mData + i;
+		it->~T();
+		while (++i < mSize)
+		{								
+			new (it) T(mData[i]);
+			++it;
 			it->~T();
-			while (++i < mSize)
-			{								
-				new (it) T(mData[i]);
-				++it;
-				it->~T();
-			} 
-		}
+		} 
 		--mSize;
 	}
 
@@ -460,31 +420,19 @@ class Array : protected Alloc
 		PX_ASSERT(begin < mSize);
 		PX_ASSERT((begin + count) <= mSize);
 
-		if(!isArrayOfPOD())
-		{
-			for(uint32_t i = 0; i < count; i++)
-			{
-				mData[begin + i].~T(); // call the destructor on the ones being removed first.
-			}
-		}
+		for(uint32_t i = 0; i < count; i++)
+			mData[begin + i].~T(); // call the destructor on the ones being removed first.
 
 		T* dest = &mData[begin];                       // location we are copying the tail end objects to
 		T* src = &mData[begin + count];                // start of tail objects
 		uint32_t move_count = mSize - (begin + count); // compute remainder that needs to be copied down
 
-		if(isArrayOfPOD())
-		{
-			physx::intrinsics::memMove(dest, src, move_count * sizeof(T));
-		}
-		else
+		for(uint32_t i = 0; i < move_count; i++)
 		{
-			for(uint32_t i = 0; i < move_count; i++)
-			{
-				new (dest) T(*src); // copy the old one to the new location
-				src->~T();          // call the destructor on the old location
-				dest++;
-				src++;
-			}
+			new (dest) T(*src); // copy the old one to the new location
+			src->~T();          // call the destructor on the old location
+			dest++;
+			src++;
 		}
 		mSize -= count;
 	}
@@ -624,29 +572,10 @@ definition for serialized classes is complete in checked builds.
 		Alloc::deallocate(mem);
 	}
 
-	static PX_INLINE bool isZeroInit(const T& object)
-	{
-		if (!isArrayOfPOD())
-			return false;
-		char ZeroBuffOnStack[sizeof(object)] = {};
-		// bgaldrikian - casting to void* to avoid compiler error:
-		// error : first operand of this 'memcmp' call is a pointer to dynamic class [...]; vtable pointer will be compared [-Werror,-Wdynamic-class-memaccess]
-		// even though POD check prevents memcmp from being used on a dynamic class
-		return memcmp(reinterpret_cast<const void*>(&object), ZeroBuffOnStack, sizeof(object)) == 0;
-	}
-
 	static PX_INLINE void create(T* first, T* last, const T& a)
 	{
-		if(isZeroInit(a))
-		{
-			if(last > first)
-				physx::intrinsics::memZero(first, uint32_t((last - first) * sizeof(T)));
-		}
-		else
-		{
-			for(; first < last; ++first)
-				::new (first) T(a);
-		}
+		for(; first < last; ++first)
+			::new (first) T(a);
 	}
 
 	static PX_INLINE void copy(T* first, T* last, const T* src)
@@ -654,24 +583,14 @@ definition for serialized classes is complete in checked builds.
 		if(last <= first)
 			return;
 
-		if(isArrayOfPOD())
-		{
-			physx::intrinsics::memCopy(first, src, uint32_t((last - first) * sizeof(T)));
-		}
-		else
-		{
-			for(; first < last; ++first, ++src)
-				::new (first) T(*src);
-		}
+		for(; first < last; ++first, ++src)
+			::new (first) T(*src);
 	}
 
 	static PX_INLINE void destroy(T* first, T* last)
 	{
-		if(!isArrayOfPOD())
-		{
-			for(; first < last; ++first)
-				first->~T();
-		}
+		for(; first < last; ++first)
+			first->~T();
 	}
 
 	/*!
@@ -799,8 +718,4 @@ PX_INLINE void swap(Array<T, Alloc>& x, Array<T, Alloc>& y)
 } // namespace shdfnd
 } // namespace physx
 
-#if PX_VC == 9 || PX_VC == 10
-#pragma warning(pop)
-#endif
-
 #endif // #ifndef PSFOUNDATION_PSARRAY_H
diff --git a/PxShared/src/foundation/include/PsMathUtils.h b/PxShared/src/foundation/include/PsMathUtils.h
index 794419b..789cf3f 100644
--- a/PxShared/src/foundation/include/PsMathUtils.h
+++ b/PxShared/src/foundation/include/PsMathUtils.h
@@ -493,9 +493,6 @@ PX_FORCE_INLINE void normalToTangents(const PxVec3& normal, PxVec3& tangent0, Px
 	tangent1 = normal.cross(tangent0);
 }
 
-// todo: what is this function doing?
-PX_FOUNDATION_API PxQuat computeQuatFromNormal(const PxVec3& n);
-
 /**
 \brief computes a oriented bounding box around the scaled basis.
 \param basis Input = skewed basis, Output = (normalized) orthogonal basis.
diff --git a/PxShared/src/foundation/include/PsMutex.h b/PxShared/src/foundation/include/PsMutex.h
index 7c93796..23033d0 100644
--- a/PxShared/src/foundation/include/PsMutex.h
+++ b/PxShared/src/foundation/include/PsMutex.h
@@ -82,7 +82,7 @@ class PX_FOUNDATION_API MutexImpl
 	/**
 	Size of this class.
 	*/
-	static const uint32_t& getSize();
+	static uint32_t getSize();
 };
 
 template <typename Alloc = ReflectionAllocator<MutexImpl> >
diff --git a/PxShared/src/foundation/include/PsSList.h b/PxShared/src/foundation/include/PsSList.h
index f811c37..961010b 100644
--- a/PxShared/src/foundation/include/PsSList.h
+++ b/PxShared/src/foundation/include/PsSList.h
@@ -91,7 +91,7 @@ struct PX_FOUNDATION_API SListImpl
 	void push(SListEntry* entry);
 	SListEntry* pop();
 	SListEntry* flush();
-	static const uint32_t& getSize();
+	static uint32_t getSize();
 };
 
 template <typename Alloc = ReflectionAllocator<SListImpl> >
diff --git a/PxShared/src/foundation/include/PsSync.h b/PxShared/src/foundation/include/PsSync.h
index 8b99731..1fd72f5 100644
--- a/PxShared/src/foundation/include/PsSync.h
+++ b/PxShared/src/foundation/include/PsSync.h
@@ -70,9 +70,9 @@ class PX_FOUNDATION_API SyncImpl
 	void reset();
 
 	/**
-   Size of this class.
-   */
-	static const uint32_t& getSize();
+	Size of this class.
+	*/
+	static uint32_t getSize();
 };
 
 /*!
diff --git a/PxShared/src/foundation/include/PsThread.h b/PxShared/src/foundation/include/PsThread.h
index 4e7c104..ec9f999 100644
--- a/PxShared/src/foundation/include/PsThread.h
+++ b/PxShared/src/foundation/include/PsThread.h
@@ -206,9 +206,9 @@ class PX_FOUNDATION_API ThreadImpl
 	static uint32_t getNbPhysicalCores();
 
 	/**
-   Size of this class.
-   */
-	static const uint32_t& getSize();
+	Size of this class.
+	*/
+	static uint32_t getSize();
 };
 
 /**
diff --git a/PxShared/src/foundation/include/PsUtilities.h b/PxShared/src/foundation/include/PsUtilities.h
index 32fe4ec..cd0f200 100644
--- a/PxShared/src/foundation/include/PsUtilities.h
+++ b/PxShared/src/foundation/include/PsUtilities.h
@@ -122,7 +122,7 @@ PX_CUDA_CALLABLE PX_FORCE_INLINE void order(T& x, T& y, E1& xe1, E1& ye1)
 	}
 }
 
-#if PX_GCC_FAMILY && !PX_EMSCRIPTEN
+#if PX_GCC_FAMILY && !PX_EMSCRIPTEN && !PX_LINUX
 __attribute__((noreturn))
 #endif
     PX_INLINE void debugBreak()
@@ -132,7 +132,11 @@ __attribute__((noreturn))
 #elif PX_ANDROID
 	raise(SIGTRAP); // works better than __builtin_trap. Proper call stack and can be continued.
 #elif PX_LINUX
-	asm("int $3");
+	#if (PX_X64 || PX_X64)
+		asm("int $3");
+	#else
+		raise(SIGTRAP);
+	#endif
 #elif PX_GCC_FAMILY
 	__builtin_trap();
 #else
diff --git a/PxShared/src/foundation/include/PsVecMathAoSScalar.h b/PxShared/src/foundation/include/PsVecMathAoSScalar.h
index beb6cdc..b7fe8e4 100644
--- a/PxShared/src/foundation/include/PsVecMathAoSScalar.h
+++ b/PxShared/src/foundation/include/PsVecMathAoSScalar.h
@@ -34,9 +34,6 @@
 #error Scalar version should not be included when using vector intrinsics.
 #endif
 
-// Remove this define when all platforms use simd solver.
-#define PX_SUPPORT_SIMD
-
 struct VecI16V;
 struct VecU16V;
 struct VecI32V;
diff --git a/PxShared/src/foundation/include/unix/PsUnixInlineAoS.h b/PxShared/src/foundation/include/unix/PsUnixInlineAoS.h
index e54f2c8..74002d5 100644
--- a/PxShared/src/foundation/include/unix/PsUnixInlineAoS.h
+++ b/PxShared/src/foundation/include/unix/PsUnixInlineAoS.h
@@ -34,9 +34,6 @@
 #error Vector intrinsics should not be included when using scalar implementation.
 #endif
 
-// Remove this define when all platforms use simd solver.
-#define PX_SUPPORT_SIMD
-
 #if PX_INTEL_FAMILY
 #include "sse2/PsUnixSse2InlineAoS.h"
 #elif PX_NEON
diff --git a/PxShared/src/foundation/include/unix/PsUnixIntrinsics.h b/PxShared/src/foundation/include/unix/PsUnixIntrinsics.h
index 4c6c892..e15b3b5 100644
--- a/PxShared/src/foundation/include/unix/PsUnixIntrinsics.h
+++ b/PxShared/src/foundation/include/unix/PsUnixIntrinsics.h
@@ -34,7 +34,7 @@
 #include "foundation/PxAssert.h"
 #include <math.h>
 
-#if PX_ANDROID
+#if PX_ANDROID || (PX_LINUX && !(PX_X64 || PX_X64)) // x86[_64] Linux uses inline assembly for debug break
 #include <signal.h> // for Ns::debugBreak() { raise(SIGTRAP); }
 #endif
 
diff --git a/PxShared/src/foundation/include/unix/neon/PsUnixNeonInlineAoS.h b/PxShared/src/foundation/include/unix/neon/PsUnixNeonInlineAoS.h
index a97f821..4df3ff6 100644
--- a/PxShared/src/foundation/include/unix/neon/PsUnixNeonInlineAoS.h
+++ b/PxShared/src/foundation/include/unix/neon/PsUnixNeonInlineAoS.h
@@ -53,9 +53,6 @@
 
 #define VECMATH_AOS_EPSILON (1e-3f)
 
-// Remove this define when all platforms use simd solver.
-#define PX_SUPPORT_SIMD
-
 //////////////////////////////////////////////////////////////////////
 //Test that Vec3V and FloatV are legal
 //////////////////////////////////
diff --git a/PxShared/src/foundation/include/unix/sse2/PsUnixSse2InlineAoS.h b/PxShared/src/foundation/include/unix/sse2/PsUnixSse2InlineAoS.h
index 0355538..cdb20fa 100644
--- a/PxShared/src/foundation/include/unix/sse2/PsUnixSse2InlineAoS.h
+++ b/PxShared/src/foundation/include/unix/sse2/PsUnixSse2InlineAoS.h
@@ -34,9 +34,6 @@
 #error Vector intrinsics should not be included when using scalar implementation.
 #endif
 
-// Remove this define when all platforms use simd solver.
-#define PX_SUPPORT_SIMD
-
 #ifdef __SSE4_2__
 #include "smmintrin.h"
 #endif
diff --git a/PxShared/src/foundation/include/windows/PsWindowsInlineAoS.h b/PxShared/src/foundation/include/windows/PsWindowsInlineAoS.h
index 14a311f..5fd1b8d 100644
--- a/PxShared/src/foundation/include/windows/PsWindowsInlineAoS.h
+++ b/PxShared/src/foundation/include/windows/PsWindowsInlineAoS.h
@@ -34,9 +34,6 @@
 #error Vector intrinsics should not be included when using scalar implementation.
 #endif
 
-// Remove this define when all platforms use simd solver.
-#define PX_SUPPORT_SIMD
-
 #include "../PsVecMathSSE.h"
 
 //////////////////////////////////////////////////////////////////////
diff --git a/PxShared/src/foundation/src/PsString.cpp b/PxShared/src/foundation/src/PsString.cpp
index adb29d6..8204051 100644
--- a/PxShared/src/foundation/src/PsString.cpp
+++ b/PxShared/src/foundation/src/PsString.cpp
@@ -37,7 +37,7 @@
 #pragma warning(disable : 4996) // unsafe string functions
 #endif
 
-#if PX_PS4 || PX_APPLE_FAMILY
+#if PX_PS4 || PX_APPLE_FAMILY || (PX_LINUX && PX_X86 && PX_CLANG)
 #pragma clang diagnostic push
 // error : format string is not a string literal
 #pragma clang diagnostic ignored "-Wformat-nonliteral"
@@ -176,7 +176,7 @@ void printFormatted(const char* format, ...)
 }
 }
 
-#if PX_PS4 || PX_APPLE_FAMILY
+#if PX_PS4 || PX_APPLE_FAMILY || (PX_LINUX && PX_X86 && PX_CLANG)
 #pragma clang diagnostic pop
 #endif
 
diff --git a/PxShared/src/foundation/src/unix/PsUnixMutex.cpp b/PxShared/src/foundation/src/unix/PsUnixMutex.cpp
index 092ec1e..23b6549 100644
--- a/PxShared/src/foundation/src/unix/PsUnixMutex.cpp
+++ b/PxShared/src/foundation/src/unix/PsUnixMutex.cpp
@@ -113,10 +113,9 @@ void MutexImpl::unlock()
 	PX_UNUSED(err);
 }
 
-const uint32_t gSize = sizeof(MutexUnixImpl);
-const uint32_t& MutexImpl::getSize()
+uint32_t MutexImpl::getSize()
 {
-	return gSize;
+	return sizeof(MutexUnixImpl);
 }
 
 class ReadWriteLockImpl
diff --git a/PxShared/src/foundation/src/unix/PsUnixSList.cpp b/PxShared/src/foundation/src/unix/PsUnixSList.cpp
index 5dd8ac3..c2da1bb 100644
--- a/PxShared/src/foundation/src/unix/PsUnixSList.cpp
+++ b/PxShared/src/foundation/src/unix/PsUnixSList.cpp
@@ -147,11 +147,9 @@ SListEntry* SListImpl::flush()
 	return result;
 }
 
-static const uint32_t gSize = sizeof(SListDetail);
-
-const uint32_t& SListImpl::getSize()
+uint32_t SListImpl::getSize()
 {
-	return gSize;
+	return sizeof(SListDetail);
 }
 
 } // namespace shdfnd
diff --git a/PxShared/src/foundation/src/unix/PsUnixSync.cpp b/PxShared/src/foundation/src/unix/PsUnixSync.cpp
index aedbbe0..a488743 100644
--- a/PxShared/src/foundation/src/unix/PsUnixSync.cpp
+++ b/PxShared/src/foundation/src/unix/PsUnixSync.cpp
@@ -61,10 +61,9 @@ _SyncImpl* getSync(SyncImpl* impl)
 }
 }
 
-static const uint32_t gSize = sizeof(_SyncImpl);
-const uint32_t& SyncImpl::getSize()
+uint32_t SyncImpl::getSize()
 {
-	return gSize;
+	return sizeof(_SyncImpl);
 }
 
 struct PxUnixScopeLock
diff --git a/PxShared/src/foundation/src/unix/PsUnixThread.cpp b/PxShared/src/foundation/src/unix/PsUnixThread.cpp
index cb369e0..749ae1d 100644
--- a/PxShared/src/foundation/src/unix/PsUnixThread.cpp
+++ b/PxShared/src/foundation/src/unix/PsUnixThread.cpp
@@ -135,10 +135,9 @@ void* PxThreadStart(void* arg)
 }
 }
 
-static const uint32_t gSize = sizeof(_ThreadImpl);
-const uint32_t& ThreadImpl::getSize()
+uint32_t ThreadImpl::getSize()
 {
-	return gSize;
+	return sizeof(_ThreadImpl);
 }
 
 ThreadImpl::Id ThreadImpl::getId()
@@ -314,10 +313,16 @@ uint32_t ThreadImpl::setAffinityMask(uint32_t mask)
 	return uint32_t(prevMask);
 }
 
+#if PX_PS4
+int32_t setNamePS4(pthread_t, const char*);
+#endif
+
 void ThreadImpl::setName(const char* name)
 {
-#if(defined(ANDROID) && (__ANDROID_API__ > 8))
+#if (defined(ANDROID) && (__ANDROID_API__ > 8))
 	pthread_setname_np(getThread(this)->thread, name);
+#elif PX_PS4
+	setNamePS4(getThread(this)->thread, name);
 #else
 	// not implemented because most unix APIs expect setName()
 	// to be called from the thread's context. Example see next comment:
diff --git a/PxShared/src/foundation/src/windows/PsWindowsMutex.cpp b/PxShared/src/foundation/src/windows/PsWindowsMutex.cpp
index 6174b96..e62de47 100644
--- a/PxShared/src/foundation/src/windows/PsWindowsMutex.cpp
+++ b/PxShared/src/foundation/src/windows/PsWindowsMutex.cpp
@@ -99,11 +99,9 @@ void MutexImpl::unlock()
 	LeaveCriticalSection(&getMutex(this)->mLock);
 }
 
-static const uint32_t gSize = sizeof(MutexWinImpl);
-
-const uint32_t& MutexImpl::getSize()
+uint32_t MutexImpl::getSize()
 {
-	return gSize;
+	return sizeof(MutexWinImpl);
 }
 
 class ReadWriteLockImpl
diff --git a/PxShared/src/foundation/src/windows/PsWindowsSList.cpp b/PxShared/src/foundation/src/windows/PsWindowsSList.cpp
index 146785e..5e57b8f 100644
--- a/PxShared/src/foundation/src/windows/PsWindowsSList.cpp
+++ b/PxShared/src/foundation/src/windows/PsWindowsSList.cpp
@@ -68,11 +68,9 @@ SListEntry* SListImpl::flush()
 	return reinterpret_cast<SListEntry*>(InterlockedFlushSList(getDetail(this)));
 }
 
-static const uint32_t gSize = sizeof(SLIST_HEADER);
-
-const uint32_t& SListImpl::getSize()
+uint32_t SListImpl::getSize()
 {
-	return gSize;
+	return sizeof(SLIST_HEADER);
 }
 
 } // namespace shdfnd
diff --git a/PxShared/src/foundation/src/windows/PsWindowsSocket.cpp b/PxShared/src/foundation/src/windows/PsWindowsSocket.cpp
index bd253b9..8654a7e 100644
--- a/PxShared/src/foundation/src/windows/PsWindowsSocket.cpp
+++ b/PxShared/src/foundation/src/windows/PsWindowsSocket.cpp
@@ -95,8 +95,8 @@ class SocketImpl
 SocketImpl::SocketImpl(bool isBlocking)
 : mSocket(INVALID_SOCKET)
 , mListenSocket(INVALID_SOCKET)
-, mPort(0)
 , mHost(NULL)
+, mPort(0)
 , mIsConnected(false)
 , mIsBlocking(isBlocking)
 , mListenMode(false)
diff --git a/PxShared/src/foundation/src/windows/PsWindowsSync.cpp b/PxShared/src/foundation/src/windows/PsWindowsSync.cpp
index 5ce8122..81ae0e5 100644
--- a/PxShared/src/foundation/src/windows/PsWindowsSync.cpp
+++ b/PxShared/src/foundation/src/windows/PsWindowsSync.cpp
@@ -44,10 +44,9 @@ HANDLE& getSync(SyncImpl* impl)
 }
 }
 
-static const uint32_t gSize = sizeof(HANDLE);
-const uint32_t& SyncImpl::getSize()
+uint32_t SyncImpl::getSize()
 {
-	return gSize;
+	return sizeof(HANDLE);
 }
 
 SyncImpl::SyncImpl()
diff --git a/PxShared/src/foundation/src/windows/PsWindowsThread.cpp b/PxShared/src/foundation/src/windows/PsWindowsThread.cpp
index 18ad5ee..9c5728a 100644
--- a/PxShared/src/foundation/src/windows/PsWindowsThread.cpp
+++ b/PxShared/src/foundation/src/windows/PsWindowsThread.cpp
@@ -104,10 +104,9 @@ DWORD WINAPI PxThreadStart(LPVOID arg)
 uint32_t gPhysicalCoreCount = 0;
 }
 
-static const uint32_t gSize = sizeof(_ThreadImpl);
-const uint32_t& ThreadImpl::getSize()
+uint32_t ThreadImpl::getSize()
 {
-	return gSize;
+	return sizeof(_ThreadImpl);
 }
 
 ThreadImpl::Id ThreadImpl::getId()
diff --git a/PxShared/src/pvd/src/PxProfileEvents.h b/PxShared/src/pvd/src/PxProfileEvents.h
index 25f09d7..c8a9989 100644
--- a/PxShared/src/pvd/src/PxProfileEvents.h
+++ b/PxShared/src/pvd/src/PxProfileEvents.h
@@ -103,7 +103,7 @@ namespace physx { namespace profile {
 		};
 	};
 
-#if (PX_PS4) || (PX_APPLE_FAMILY)
+#if (PX_PS4) || (PX_APPLE_FAMILY) || (PX_LINUX && PX_X86 && PX_CLANG)
 #pragma clang diagnostic push
 #pragma clang diagnostic ignored "-Wimplicit-fallthrough"
 #endif
@@ -162,7 +162,7 @@ namespace physx { namespace profile {
 		return EventStreamCompressionFlags::U32;
 	}
 
-#if (PX_PS4) || (PX_APPLE_FAMILY)
+#if (PX_PS4) || (PX_APPLE_FAMILY) || (PX_LINUX && PX_X86 && PX_CLANG)
 #pragma clang diagnostic pop
 #endif
 
diff --git a/PxShared/src/task/src/TaskManager.cpp b/PxShared/src/task/src/TaskManager.cpp
index c6210bd..1551216 100644
--- a/PxShared/src/task/src/TaskManager.cpp
+++ b/PxShared/src/task/src/TaskManager.cpp
@@ -694,7 +694,7 @@ bool PxTaskMgr::dispatchTask( PxTaskID taskID, bool gpuGroupStart )
         break;
     }
 
-    tt.mType = PxTaskType::TT_COMPLETED;
+	mTaskTable[taskID].mType = PxTaskType::TT_COMPLETED;
     return gpuGroupStart;
 }
 
diff --git a/README.md b/README.md
index 3503501..786b1e4 100644
--- a/README.md
+++ b/README.md
@@ -15,37 +15,5 @@ Documentation
 -------------
 
 See ./NvCloth/ReleaseNotes.txt for changes and platform support.
-See ./NvCloth/docs/documentation/NvCloth.html for the users guide.
+See ./NvCloth/docs/documentation/index.html for the release notes, API users guide and compiling instructions.
 See ./NvCloth/docs/doxy/index.html for the api documentation.
-
-Compiling
----------
-For windows:
-Download and install the following dependencies:
-* CMake 3.7 https://cmake.org/download/
-* Visual studio 12 or later (2013 or later)
-* Windows 8.1 sdk https://developer.microsoft.com/en-us/windows/downloads/windows-8-1-sdk
-* CUDA sdk https://developer.nvidia.com/cuda-downloads (version 8 or later)
-
-edit ./NvCloth/scripts/locate_cmake.bat to point to the cmake executable
-edit ./NvCloth/scripts/locate_cuda.bat to point to the CUDA installation folder (that contains the bin, include and lib folder)
-edit ./NvCloth/scripts/locate_win8sdk.bat to point to the windows SDK (C:\Program Files (x86)\Windows Kits\8.1 by default)
-
-Run ./CmakeGenerateAll.bat to generate the visual studio solution files in ./compiler/vcXXwinXX-cmake/
-Run ./samples/CmakeGenerateProjects.bat to generate the visual studio solution files in ./samples/compiler/vcXXwinXX-cmake/
-
-For osx:
-Download and install cmake 3.4 and add the cmake binary to your path.
-Install xcode.
-Run ./NvCloth/GenerateProjectsOsx.sh to generate xcode projects in .//NvCloth/compiler/osxXX-cmake/
-
-For linux:
-Download and install cmake 3.4.
-Installing cmake on Ubuntu 16.04.1 LTS can be done using the following commands:
-```
-sudo apt-get install software-properties-common
-sudo add-apt-repository ppa:george-edison55/cmake-3.x
-sudo apt-get update
-sudo apt-get install cmake
-```
-Run ./NvCloth/GenerateProjectsLinux.sh to generate make files in .//NvCloth/compiler/linux64-XXXXX-cmake/