1.1.6 Release.1.1.6

32 files changed, 795 insertions, 1227 deletions

diff --git a/PxShared/include/foundation/Px.h b/PxShared/include/foundation/Px.h
index 1b6b3f6..e4e5341 100644
--- a/PxShared/include/foundation/Px.h
+++ b/PxShared/include/foundation/Px.h
@@ -1,29 +1,29 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
diff --git a/PxShared/include/foundation/PxAllocatorCallback.h b/PxShared/include/foundation/PxAllocatorCallback.h
index 7545b60..4e9487d 100644
--- a/PxShared/include/foundation/PxAllocatorCallback.h
+++ b/PxShared/include/foundation/PxAllocatorCallback.h
@@ -1,29 +1,29 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
diff --git a/PxShared/include/foundation/PxAssert.h b/PxShared/include/foundation/PxAssert.h
deleted file mode 100644
index c422c27..0000000
--- a/PxShared/include/foundation/PxAssert.h
+++ /dev/null
@@ -1,95 +0,0 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
-//
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
-//
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
-//
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
-// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
-// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
-
-#ifndef PXFOUNDATION_PXASSERT_H
-#define PXFOUNDATION_PXASSERT_H
-
-/** \addtogroup foundation
-@{ */
-
-#include "foundation/Px.h"
-
-#if !PX_DOXYGEN
-namespace physx
-{
-#endif
-
-/* Base class to handle assert failures */
-class PxAssertHandler
-{
-  public:
-	virtual ~PxAssertHandler()
-	{
-	}
-	virtual void operator()(const char* exp, const char* file, int line, bool& ignore) = 0;
-};
-
-PX_FOUNDATION_API PxAssertHandler& PxGetAssertHandler();
-PX_FOUNDATION_API void PxSetAssertHandler(PxAssertHandler& handler);
-
-#if !PX_DOXYGEN
-} // namespace physx
-#endif
-
-#if !PX_ENABLE_ASSERTS
-#define PX_ASSERT(exp) ((void)0)
-#define PX_ALWAYS_ASSERT_MESSAGE(exp) ((void)0)
-#define PX_ASSERT_WITH_MESSAGE(condition, message) ((void)0)
-#else
-#if PX_VC
-#define PX_CODE_ANALYSIS_ASSUME(exp)                                                                                   \
-	__analysis_assume(!!(exp)) // This macro will be used to get rid of analysis warning messages if a PX_ASSERT is used
-// to "guard" illegal mem access, for example.
-#else
-#define PX_CODE_ANALYSIS_ASSUME(exp)
-#endif
-#define PX_ASSERT(exp)                                                                                                 \
-	{                                                                                                                  \
-		static bool _ignore = false;                                                                                   \
-		((void)((!!(exp)) || (!_ignore && (physx::PxGetAssertHandler()(#exp, __FILE__, __LINE__, _ignore), false))));  \
-		PX_CODE_ANALYSIS_ASSUME(exp);                                                                                  \
-	}
-#define PX_ALWAYS_ASSERT_MESSAGE(exp)                                                                                  \
-	{                                                                                                                  \
-		static bool _ignore = false;                                                                                   \
-		if(!_ignore)                                                                                                   \
-			physx::PxGetAssertHandler()(exp, __FILE__, __LINE__, _ignore);                                             \
-	}
-#define PX_ASSERT_WITH_MESSAGE(exp, message)                                                                             \
-	{                                                                                                                    \
-		static bool _ignore = false;                                                                                     \
-		((void)((!!(exp)) || (!_ignore && (physx::PxGetAssertHandler()(message, __FILE__, __LINE__, _ignore), false)))); \
-		PX_CODE_ANALYSIS_ASSUME(exp);                                                                                    \
-	}
-#endif
-
-#define PX_ALWAYS_ASSERT() PX_ASSERT(0)
-
-/** @} */
-#endif // #ifndef PXFOUNDATION_PXASSERT_H
diff --git a/PxShared/include/foundation/PxBitAndData.h b/PxShared/include/foundation/PxBitAndData.h
index 685c1a2..e569299 100644
--- a/PxShared/include/foundation/PxBitAndData.h
+++ b/PxShared/include/foundation/PxBitAndData.h
@@ -1,29 +1,29 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
diff --git a/PxShared/include/foundation/PxBounds3.h b/PxShared/include/foundation/PxBounds3.h
index 38d7282..ef8ead2 100644
--- a/PxShared/include/foundation/PxBounds3.h
+++ b/PxShared/include/foundation/PxBounds3.h
@@ -1,29 +1,29 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
@@ -321,40 +321,40 @@ PX_CUDA_CALLABLE PX_FORCE_INLINE void PxBounds3::setMaximal()
 
 PX_CUDA_CALLABLE PX_FORCE_INLINE void PxBounds3::include(const PxVec3& v)
 {
-	PX_ASSERT(isValid());
+	PX_SHARED_ASSERT(isValid());
 	minimum = minimum.minimum(v);
 	maximum = maximum.maximum(v);
 }
 
 PX_CUDA_CALLABLE PX_FORCE_INLINE void PxBounds3::include(const PxBounds3& b)
 {
-	PX_ASSERT(isValid());
+	PX_SHARED_ASSERT(isValid());
 	minimum = minimum.minimum(b.minimum);
 	maximum = maximum.maximum(b.maximum);
 }
 
 PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxBounds3::isEmpty() const
 {
-	PX_ASSERT(isValid());
+	PX_SHARED_ASSERT(isValid());
 	return minimum.x > maximum.x;
 }
 
 PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxBounds3::intersects(const PxBounds3& b) const
 {
-	PX_ASSERT(isValid() && b.isValid());
+	PX_SHARED_ASSERT(isValid() && b.isValid());
 	return !(b.minimum.x > maximum.x || minimum.x > b.maximum.x || b.minimum.y > maximum.y || minimum.y > b.maximum.y ||
 	         b.minimum.z > maximum.z || minimum.z > b.maximum.z);
 }
 
 PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxBounds3::intersects1D(const PxBounds3& a, uint32_t axis) const
 {
-	PX_ASSERT(isValid() && a.isValid());
+	PX_SHARED_ASSERT(isValid() && a.isValid());
 	return maximum[axis] >= a.minimum[axis] && a.maximum[axis] >= minimum[axis];
 }
 
 PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxBounds3::contains(const PxVec3& v) const
 {
-	PX_ASSERT(isValid());
+	PX_SHARED_ASSERT(isValid());
 
 	return !(v.x < minimum.x || v.x > maximum.x || v.y < minimum.y || v.y > maximum.y || v.z < minimum.z ||
 	         v.z > maximum.z);
@@ -362,7 +362,7 @@ PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxBounds3::contains(const PxVec3& v) const
 
 PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxBounds3::isInside(const PxBounds3& box) const
 {
-	PX_ASSERT(isValid() && box.isValid());
+	PX_SHARED_ASSERT(isValid() && box.isValid());
 	if(box.minimum.x > minimum.x)
 		return false;
 	if(box.minimum.y > minimum.y)
@@ -380,57 +380,57 @@ PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxBounds3::isInside(const PxBounds3& box)
 
 PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 PxBounds3::getCenter() const
 {
-	PX_ASSERT(isValid());
+	PX_SHARED_ASSERT(isValid());
 	return (minimum + maximum) * 0.5f;
 }
 
 PX_CUDA_CALLABLE PX_FORCE_INLINE float PxBounds3::getCenter(uint32_t axis) const
 {
-	PX_ASSERT(isValid());
+	PX_SHARED_ASSERT(isValid());
 	return (minimum[axis] + maximum[axis]) * 0.5f;
 }
 
 PX_CUDA_CALLABLE PX_FORCE_INLINE float PxBounds3::getExtents(uint32_t axis) const
 {
-	PX_ASSERT(isValid());
+	PX_SHARED_ASSERT(isValid());
 	return (maximum[axis] - minimum[axis]) * 0.5f;
 }
 
 PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 PxBounds3::getDimensions() const
 {
-	PX_ASSERT(isValid());
+	PX_SHARED_ASSERT(isValid());
 	return maximum - minimum;
 }
 
 PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 PxBounds3::getExtents() const
 {
-	PX_ASSERT(isValid());
+	PX_SHARED_ASSERT(isValid());
 	return getDimensions() * 0.5f;
 }
 
 PX_CUDA_CALLABLE PX_FORCE_INLINE void PxBounds3::scaleSafe(float scale)
 {
-	PX_ASSERT(isValid());
+	PX_SHARED_ASSERT(isValid());
 	if(!isEmpty())
 		scaleFast(scale);
 }
 
 PX_CUDA_CALLABLE PX_FORCE_INLINE void PxBounds3::scaleFast(float scale)
 {
-	PX_ASSERT(isValid());
+	PX_SHARED_ASSERT(isValid());
 	*this = centerExtents(getCenter(), getExtents() * scale);
 }
 
 PX_CUDA_CALLABLE PX_FORCE_INLINE void PxBounds3::fattenSafe(float distance)
 {
-	PX_ASSERT(isValid());
+	PX_SHARED_ASSERT(isValid());
 	if(!isEmpty())
 		fattenFast(distance);
 }
 
 PX_CUDA_CALLABLE PX_FORCE_INLINE void PxBounds3::fattenFast(float distance)
 {
-	PX_ASSERT(isValid());
+	PX_SHARED_ASSERT(isValid());
 	minimum.x -= distance;
 	minimum.y -= distance;
 	minimum.z -= distance;
@@ -442,25 +442,25 @@ PX_CUDA_CALLABLE PX_FORCE_INLINE void PxBounds3::fattenFast(float distance)
 
 PX_CUDA_CALLABLE PX_INLINE PxBounds3 PxBounds3::transformSafe(const PxMat33& matrix, const PxBounds3& bounds)
 {
-	PX_ASSERT(bounds.isValid());
+	PX_SHARED_ASSERT(bounds.isValid());
 	return !bounds.isEmpty() ? transformFast(matrix, bounds) : bounds;
 }
 
 PX_CUDA_CALLABLE PX_INLINE PxBounds3 PxBounds3::transformFast(const PxMat33& matrix, const PxBounds3& bounds)
 {
-	PX_ASSERT(bounds.isValid());
+	PX_SHARED_ASSERT(bounds.isValid());
 	return PxBounds3::basisExtent(matrix * bounds.getCenter(), matrix, bounds.getExtents());
 }
 
 PX_CUDA_CALLABLE PX_INLINE PxBounds3 PxBounds3::transformSafe(const PxTransform& transform, const PxBounds3& bounds)
 {
-	PX_ASSERT(bounds.isValid());
+	PX_SHARED_ASSERT(bounds.isValid());
 	return !bounds.isEmpty() ? transformFast(transform, bounds) : bounds;
 }
 
 PX_CUDA_CALLABLE PX_INLINE PxBounds3 PxBounds3::transformFast(const PxTransform& transform, const PxBounds3& bounds)
 {
-	PX_ASSERT(bounds.isValid());
+	PX_SHARED_ASSERT(bounds.isValid());
 	return PxBounds3::basisExtent(transform.transform(bounds.getCenter()), PxMat33(transform.q), bounds.getExtents());
 }
 
diff --git a/PxShared/include/foundation/PxErrorCallback.h b/PxShared/include/foundation/PxErrorCallback.h
index 8b63374..c0517db 100644
--- a/PxShared/include/foundation/PxErrorCallback.h
+++ b/PxShared/include/foundation/PxErrorCallback.h
@@ -1,29 +1,29 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
diff --git a/PxShared/include/foundation/PxErrors.h b/PxShared/include/foundation/PxErrors.h
index fb341bb..cf86d3b 100644
--- a/PxShared/include/foundation/PxErrors.h
+++ b/PxShared/include/foundation/PxErrors.h
@@ -1,29 +1,29 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
diff --git a/PxShared/include/foundation/PxFlags.h b/PxShared/include/foundation/PxFlags.h
index 1aec096..85dce4e 100644
--- a/PxShared/include/foundation/PxFlags.h
+++ b/PxShared/include/foundation/PxFlags.h
@@ -1,29 +1,29 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
@@ -130,20 +130,22 @@ class PxFlags
 	storagetype mBits;
 };
 
+#if !PX_DOXYGEN
+
 #define PX_FLAGS_OPERATORS(enumtype, storagetype)                                                                      \
-	PX_INLINE PxFlags<enumtype, storagetype> operator|(enumtype a, enumtype b)                                         \
+	PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype> operator|(enumtype a, enumtype b)                                         \
 	{                                                                                                                  \
 		PxFlags<enumtype, storagetype> r(a);                                                                           \
 		r |= b;                                                                                                        \
 		return r;                                                                                                      \
 	}                                                                                                                  \
-	PX_INLINE PxFlags<enumtype, storagetype> operator&(enumtype a, enumtype b)                                         \
+	PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype> operator&(enumtype a, enumtype b)                                         \
 	{                                                                                                                  \
 		PxFlags<enumtype, storagetype> r(a);                                                                           \
 		r &= b;                                                                                                        \
 		return r;                                                                                                      \
 	}                                                                                                                  \
-	PX_INLINE PxFlags<enumtype, storagetype> operator~(enumtype a)                                                     \
+	PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype> operator~(enumtype a)                                                     \
 	{                                                                                                                  \
 		return ~PxFlags<enumtype, storagetype>(a);                                                                     \
 	}
@@ -153,95 +155,95 @@ class PxFlags
 	PX_FLAGS_OPERATORS(x::Enum, y)
 
 template <typename enumtype, typename storagetype>
-PX_INLINE PxFlags<enumtype, storagetype>::PxFlags(void)
+PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype>::PxFlags(void)
 {
 	mBits = 0;
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE PxFlags<enumtype, storagetype>::PxFlags(enumtype e)
+PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype>::PxFlags(enumtype e)
 {
 	mBits = static_cast<storagetype>(e);
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE PxFlags<enumtype, storagetype>::PxFlags(const PxFlags<enumtype, storagetype>& f)
+PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype>::PxFlags(const PxFlags<enumtype, storagetype>& f)
 {
 	mBits = f.mBits;
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE PxFlags<enumtype, storagetype>::PxFlags(storagetype b)
+PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype>::PxFlags(storagetype b)
 {
 	mBits = b;
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE bool PxFlags<enumtype, storagetype>::isSet(enumtype e) const
+PX_CUDA_CALLABLE PX_INLINE bool PxFlags<enumtype, storagetype>::isSet(enumtype e) const
 {
 	return (mBits & static_cast<storagetype>(e)) == static_cast<storagetype>(e);
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE PxFlags<enumtype, storagetype>& PxFlags<enumtype, storagetype>::set(enumtype e)
+PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype>& PxFlags<enumtype, storagetype>::set(enumtype e)
 {
 	mBits = static_cast<storagetype>(e);
 	return *this;
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE bool PxFlags<enumtype, storagetype>::operator==(enumtype e) const
+PX_CUDA_CALLABLE PX_INLINE bool PxFlags<enumtype, storagetype>::operator==(enumtype e) const
 {
 	return mBits == static_cast<storagetype>(e);
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE bool PxFlags<enumtype, storagetype>::operator==(const PxFlags<enumtype, storagetype>& f) const
+PX_CUDA_CALLABLE PX_INLINE bool PxFlags<enumtype, storagetype>::operator==(const PxFlags<enumtype, storagetype>& f) const
 {
 	return mBits == f.mBits;
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE bool PxFlags<enumtype, storagetype>::operator==(bool b) const
+PX_CUDA_CALLABLE PX_INLINE bool PxFlags<enumtype, storagetype>::operator==(bool b) const
 {
 	return bool(*this) == b;
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE bool PxFlags<enumtype, storagetype>::operator!=(enumtype e) const
+PX_CUDA_CALLABLE PX_INLINE bool PxFlags<enumtype, storagetype>::operator!=(enumtype e) const
 {
 	return mBits != static_cast<storagetype>(e);
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE bool PxFlags<enumtype, storagetype>::operator!=(const PxFlags<enumtype, storagetype>& f) const
+PX_CUDA_CALLABLE PX_INLINE bool PxFlags<enumtype, storagetype>::operator!=(const PxFlags<enumtype, storagetype>& f) const
 {
 	return mBits != f.mBits;
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE PxFlags<enumtype, storagetype>& PxFlags<enumtype, storagetype>::operator=(enumtype e)
+PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype>& PxFlags<enumtype, storagetype>::operator=(enumtype e)
 {
 	mBits = static_cast<storagetype>(e);
 	return *this;
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE PxFlags<enumtype, storagetype>& PxFlags<enumtype, storagetype>::operator=(const PxFlags<enumtype, storagetype>& f)
+PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype>& PxFlags<enumtype, storagetype>::operator=(const PxFlags<enumtype, storagetype>& f)
 {
 	mBits = f.mBits;
 	return *this;
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE PxFlags<enumtype, storagetype>& PxFlags<enumtype, storagetype>::operator|=(enumtype e)
+PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype>& PxFlags<enumtype, storagetype>::operator|=(enumtype e)
 {
 	mBits |= static_cast<storagetype>(e);
 	return *this;
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE PxFlags<enumtype, storagetype>& PxFlags<enumtype, storagetype>::
+PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype>& PxFlags<enumtype, storagetype>::
 operator|=(const PxFlags<enumtype, storagetype>& f)
 {
 	mBits |= f.mBits;
@@ -249,7 +251,7 @@ operator|=(const PxFlags<enumtype, storagetype>& f)
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE PxFlags<enumtype, storagetype> PxFlags<enumtype, storagetype>::operator|(enumtype e) const
+PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype> PxFlags<enumtype, storagetype>::operator|(enumtype e) const
 {
 	PxFlags<enumtype, storagetype> out(*this);
 	out |= e;
@@ -257,7 +259,7 @@ PX_INLINE PxFlags<enumtype, storagetype> PxFlags<enumtype, storagetype>::operato
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE PxFlags<enumtype, storagetype> PxFlags<enumtype, storagetype>::
+PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype> PxFlags<enumtype, storagetype>::
 operator|(const PxFlags<enumtype, storagetype>& f) const
 {
 	PxFlags<enumtype, storagetype> out(*this);
@@ -266,14 +268,14 @@ operator|(const PxFlags<enumtype, storagetype>& f) const
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE PxFlags<enumtype, storagetype>& PxFlags<enumtype, storagetype>::operator&=(enumtype e)
+PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype>& PxFlags<enumtype, storagetype>::operator&=(enumtype e)
 {
 	mBits &= static_cast<storagetype>(e);
 	return *this;
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE PxFlags<enumtype, storagetype>& PxFlags<enumtype, storagetype>::
+PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype>& PxFlags<enumtype, storagetype>::
 operator&=(const PxFlags<enumtype, storagetype>& f)
 {
 	mBits &= f.mBits;
@@ -281,7 +283,7 @@ operator&=(const PxFlags<enumtype, storagetype>& f)
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE PxFlags<enumtype, storagetype> PxFlags<enumtype, storagetype>::operator&(enumtype e) const
+PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype> PxFlags<enumtype, storagetype>::operator&(enumtype e) const
 {
 	PxFlags<enumtype, storagetype> out = *this;
 	out.mBits &= static_cast<storagetype>(e);
@@ -289,7 +291,7 @@ PX_INLINE PxFlags<enumtype, storagetype> PxFlags<enumtype, storagetype>::operato
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE PxFlags<enumtype, storagetype> PxFlags<enumtype, storagetype>::
+PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype> PxFlags<enumtype, storagetype>::
 operator&(const PxFlags<enumtype, storagetype>& f) const
 {
 	PxFlags<enumtype, storagetype> out = *this;
@@ -298,14 +300,14 @@ operator&(const PxFlags<enumtype, storagetype>& f) const
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE PxFlags<enumtype, storagetype>& PxFlags<enumtype, storagetype>::operator^=(enumtype e)
+PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype>& PxFlags<enumtype, storagetype>::operator^=(enumtype e)
 {
 	mBits ^= static_cast<storagetype>(e);
 	return *this;
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE PxFlags<enumtype, storagetype>& PxFlags<enumtype, storagetype>::
+PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype>& PxFlags<enumtype, storagetype>::
 operator^=(const PxFlags<enumtype, storagetype>& f)
 {
 	mBits ^= f.mBits;
@@ -313,7 +315,7 @@ operator^=(const PxFlags<enumtype, storagetype>& f)
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE PxFlags<enumtype, storagetype> PxFlags<enumtype, storagetype>::operator^(enumtype e) const
+PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype> PxFlags<enumtype, storagetype>::operator^(enumtype e) const
 {
 	PxFlags<enumtype, storagetype> out = *this;
 	out.mBits ^= static_cast<storagetype>(e);
@@ -321,7 +323,7 @@ PX_INLINE PxFlags<enumtype, storagetype> PxFlags<enumtype, storagetype>::operato
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE PxFlags<enumtype, storagetype> PxFlags<enumtype, storagetype>::
+PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype> PxFlags<enumtype, storagetype>::
 operator^(const PxFlags<enumtype, storagetype>& f) const
 {
 	PxFlags<enumtype, storagetype> out = *this;
@@ -330,7 +332,7 @@ operator^(const PxFlags<enumtype, storagetype>& f) const
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE PxFlags<enumtype, storagetype> PxFlags<enumtype, storagetype>::operator~(void) const
+PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype> PxFlags<enumtype, storagetype>::operator~(void) const
 {
 	PxFlags<enumtype, storagetype> out;
 	out.mBits = storagetype(~mBits);
@@ -338,38 +340,37 @@ PX_INLINE PxFlags<enumtype, storagetype> PxFlags<enumtype, storagetype>::operato
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE PxFlags<enumtype, storagetype>::operator bool(void) const
+PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype>::operator bool(void) const
 {
 	return mBits ? true : false;
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE PxFlags<enumtype, storagetype>::operator uint8_t(void) const
+PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype>::operator uint8_t(void) const
 {
 	return static_cast<uint8_t>(mBits);
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE PxFlags<enumtype, storagetype>::operator uint16_t(void) const
+PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype>::operator uint16_t(void) const
 {
 	return static_cast<uint16_t>(mBits);
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE PxFlags<enumtype, storagetype>::operator uint32_t(void) const
+PX_CUDA_CALLABLE PX_INLINE PxFlags<enumtype, storagetype>::operator uint32_t(void) const
 {
 	return static_cast<uint32_t>(mBits);
 }
 
 template <typename enumtype, typename storagetype>
-PX_INLINE void PxFlags<enumtype, storagetype>::clear(enumtype e)
+PX_CUDA_CALLABLE PX_INLINE void PxFlags<enumtype, storagetype>::clear(enumtype e)
 {
 	mBits &= ~static_cast<storagetype>(e);
 }
 
-#if !PX_DOXYGEN
 } // namespace physx
-#endif
+#endif //!PX_DOXYGEN
 
 /** @} */
 #endif // #ifndef PXFOUNDATION_PXFLAGS_H
diff --git a/PxShared/include/foundation/PxFoundation.h b/PxShared/include/foundation/PxFoundation.h
deleted file mode 100644
index aae84a9..0000000
--- a/PxShared/include/foundation/PxFoundation.h
+++ /dev/null
@@ -1,158 +0,0 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
-//
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
-//
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
-//
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
-// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
-// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
-
-#ifndef PX_FOUNDATION_PX_FOUNDATION_H
-#define PX_FOUNDATION_PX_FOUNDATION_H
-
-/** \addtogroup foundation
-  @{
-*/
-
-#include "foundation/Px.h"
-#include "foundation/PxErrors.h"
-
-#if !PX_DOXYGEN
-namespace physx
-{
-#endif
-
-/**
-\brief Foundation SDK singleton class.
-
-You need to have an instance of this class to instance the higher level SDKs.
-*/
-class PX_FOUNDATION_API PxFoundation
-{
-  public:
-	/**
-	\brief Destroys the instance it is called on.
-
-	The operation will fail, if there are still modules referencing the foundation object. Release all dependent modules
-	prior
-	to calling this method.
-
-	@see PxCreateFoundation()
-	*/
-	virtual void release() = 0;
-
-	/**
-	retrieves error callback
-	*/
-	virtual PxErrorCallback& getErrorCallback() = 0;
-
-	/**
-	Sets mask of errors to report.
-	*/
-	virtual void setErrorLevel(PxErrorCode::Enum mask = PxErrorCode::eMASK_ALL) = 0;
-
-	/**
-	Retrieves mask of errors to be reported.
-	*/
-	virtual PxErrorCode::Enum getErrorLevel() const = 0;
-
-	/**
-	Retrieves the allocator this object was created with.
-	*/
-	virtual PxAllocatorCallback& getAllocatorCallback() = 0;
-
-	/**
-	Retrieves if allocation names are being passed to allocator callback.
-	*/
-	virtual bool getReportAllocationNames() const = 0;
-
-	/**
-	Set if allocation names are being passed to allocator callback.
-	\details Enabled by default in debug and checked build, disabled by default in profile and release build.
-	*/
-	virtual void setReportAllocationNames(bool value) = 0;
-
-  protected:
-	virtual ~PxFoundation()
-	{
-	}
-};
-
-#if !PX_DOXYGEN
-} // namespace physx
-#endif
-
-/**
-\brief Creates an instance of the foundation class
-
-The foundation class is needed to initialize higher level SDKs. There may be only one instance per process.
-Calling this method after an instance has been created already will result in an error message and NULL will be
-returned.
-
-\param version Version number we are expecting (should be PX_FOUNDATION_VERSION)
-\param allocator User supplied interface for allocating memory(see #PxAllocatorCallback)
-\param errorCallback User supplied interface for reporting errors and displaying messages(see #PxErrorCallback)
-\return Foundation instance on success, NULL if operation failed
-
-@see PxFoundation
-*/
-
-PX_C_EXPORT PX_FOUNDATION_API physx::PxFoundation* PX_CALL_CONV
-PxCreateFoundation(physx::PxU32 version, physx::PxAllocatorCallback& allocator, physx::PxErrorCallback& errorCallback);
-/**
-\brief Retrieves the Foundation SDK after it has been created.
-
-\note The behavior of this method is undefined if the foundation instance has not been created already.
-
-@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
-{
-class PxProfilerCallback;
-}
-
-/**
-\brief Get the callback that will be used for all profiling.
-*/
-PX_C_EXPORT PX_FOUNDATION_API physx::PxProfilerCallback* PX_CALL_CONV PxGetProfilerCallback();
-
-/**
-\brief Set the callback that will be used for all profiling.
-*/
-PX_C_EXPORT PX_FOUNDATION_API void PX_CALL_CONV PxSetProfilerCallback(physx::PxProfilerCallback* profiler);
-
-/** @} */
-#endif // PX_FOUNDATION_PX_FOUNDATION_H
diff --git a/PxShared/include/foundation/PxFoundationVersion.h b/PxShared/include/foundation/PxFoundationVersion.h
deleted file mode 100644
index 6547405..0000000
--- a/PxShared/include/foundation/PxFoundationVersion.h
+++ /dev/null
@@ -1,65 +0,0 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
-//
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
-//
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
-//
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
-// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
-// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
-
-#ifndef PX_FOUNDATION_VERSION_NUMBER_H
-#define PX_FOUNDATION_VERSION_NUMBER_H
-
-/*
-VersionNumbers:  The combination of these
-numbers uniquely identifies the API, and should
-be incremented when the SDK API changes.  This may
-include changes to file formats.
-
-This header is included in the main SDK header files
-so that the entire SDK and everything that builds on it
-is completely rebuilt when this file changes.  Thus,
-this file is not to include a frequently changing
-build number.  See BuildNumber.h for that.
-
-Each of these three values should stay below 255 because
-sometimes they are stored in a byte.
-*/
-/** \addtogroup foundation
-  @{
-*/
-
-#define PX_FOUNDATION_VERSION_MAJOR 1
-#define PX_FOUNDATION_VERSION_MINOR 0
-#define PX_FOUNDATION_VERSION_BUGFIX 0
-
-/**
-The constant PX_FOUNDATION_VERSION is used when creating certain PhysX module objects.
-This is to ensure that the application is using the same header version as the library was built with.
-*/
-#define PX_FOUNDATION_VERSION                                                                                          \
-	((PX_FOUNDATION_VERSION_MAJOR << 24) + (PX_FOUNDATION_VERSION_MINOR << 16) + (PX_FOUNDATION_VERSION_BUGFIX << 8) + 0)
-
-#endif // PX_FOUNDATION_VERSION_NUMBER_H
-
-/** @} */
diff --git a/PxShared/include/foundation/PxIO.h b/PxShared/include/foundation/PxIO.h
index 77ea1b6..1db6a80 100644
--- a/PxShared/include/foundation/PxIO.h
+++ b/PxShared/include/foundation/PxIO.h
@@ -1,29 +1,29 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
diff --git a/PxShared/include/foundation/PxIntrinsics.h b/PxShared/include/foundation/PxIntrinsics.h
index b4aff28..8ddea2a 100644
--- a/PxShared/include/foundation/PxIntrinsics.h
+++ b/PxShared/include/foundation/PxIntrinsics.h
@@ -1,29 +1,29 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
diff --git a/PxShared/include/foundation/PxMat33.h b/PxShared/include/foundation/PxMat33.h
index a3977c5..3019ba2 100644
--- a/PxShared/include/foundation/PxMat33.h
+++ b/PxShared/include/foundation/PxMat33.h
@@ -1,29 +1,29 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
@@ -309,13 +309,13 @@ class PxMat33
 	}
 
 	//! Element access, mathematical way!
-	PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE float operator()(unsigned int row, unsigned int col) const
+	PX_CUDA_CALLABLE PX_FORCE_INLINE float operator()(unsigned int row, unsigned int col) const
 	{
 		return (*this)[col][row];
 	}
 
 	//! Element access, mathematical way!
-	PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE float& operator()(unsigned int row, unsigned int col)
+	PX_CUDA_CALLABLE PX_FORCE_INLINE float& operator()(unsigned int row, unsigned int col)
 	{
 		return (*this)[col][row];
 	}
@@ -339,11 +339,11 @@ class PxMat33
 		return &column0.x;
 	}
 
-	PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator[](unsigned int num)
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator[](unsigned int num)
 	{
 		return (&column0)[num];
 	}
-	PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3& operator[](unsigned int num) const
+	PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3& operator[](unsigned int num) const
 	{
 		return (&column0)[num];
 	}
diff --git a/PxShared/include/foundation/PxMat44.h b/PxShared/include/foundation/PxMat44.h
index 95f4636..577a93f 100644
--- a/PxShared/include/foundation/PxMat44.h
+++ b/PxShared/include/foundation/PxMat44.h
@@ -1,29 +1,29 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
@@ -264,13 +264,13 @@ class PxMat44
 	}
 
 	//! Element access, mathematical way!
-	PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE float operator()(unsigned int row, unsigned int col) const
+	PX_CUDA_CALLABLE PX_FORCE_INLINE float operator()(unsigned int row, unsigned int col) const
 	{
 		return (*this)[col][row];
 	}
 
 	//! Element access, mathematical way!
-	PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE float& operator()(unsigned int row, unsigned int col)
+	PX_CUDA_CALLABLE PX_FORCE_INLINE float& operator()(unsigned int row, unsigned int col)
 	{
 		return (*this)[col][row];
 	}
@@ -301,7 +301,7 @@ class PxMat44
 
 	PX_CUDA_CALLABLE PX_INLINE const PxVec3 getBasis(int num) const
 	{
-		PX_ASSERT(num >= 0 && num < 3);
+		PX_SHARED_ASSERT(num >= 0 && num < 3);
 		return (&column0)[num].getXYZ();
 	}
 
@@ -322,11 +322,11 @@ class PxMat44
 		return &column0.x;
 	}
 
-	PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec4& operator[](unsigned int num)
+	PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec4& operator[](unsigned int num)
 	{
 		return (&column0)[num];
 	}
-	PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec4& operator[](unsigned int num) const
+	PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec4& operator[](unsigned int num) const
 	{
 		return (&column0)[num];
 	}
diff --git a/PxShared/include/foundation/PxMath.h b/PxShared/include/foundation/PxMath.h
index 7cea398..d75d8bc 100644
--- a/PxShared/include/foundation/PxMath.h
+++ b/PxShared/include/foundation/PxMath.h
@@ -1,29 +1,29 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
@@ -47,7 +47,7 @@
 
 #include <float.h>
 #include "foundation/PxIntrinsics.h"
-#include "foundation/PxAssert.h"
+#include "foundation/PxSharedAssert.h"
 
 #if !PX_DOXYGEN
 namespace physx
@@ -136,7 +136,7 @@ PX_CUDA_CALLABLE PX_FORCE_INLINE int32_t PxAbs(int32_t a)
 template <class T>
 PX_CUDA_CALLABLE PX_FORCE_INLINE T PxClamp(T v, T lo, T hi)
 {
-	PX_ASSERT(lo <= hi);
+	PX_SHARED_ASSERT(lo <= hi);
 	return PxMin(hi, PxMax(lo, v));
 }
 
diff --git a/PxShared/include/foundation/PxMathUtils.h b/PxShared/include/foundation/PxMathUtils.h
deleted file mode 100644
index 11ddde5..0000000
--- a/PxShared/include/foundation/PxMathUtils.h
+++ /dev/null
@@ -1,73 +0,0 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
-//
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
-//
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
-//
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
-// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
-// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
-
-#ifndef PXFOUNDATION_PXMATHUTILS_H
-#define PXFOUNDATION_PXMATHUTILS_H
-
-/** \addtogroup common
-  @{
-*/
-
-#include "foundation/Px.h"
-
-#if !PX_DOXYGEN
-namespace physx
-{
-#endif
-
-/**
-\brief finds the shortest rotation between two vectors.
-
-\param[in] from the vector to start from
-\param[in] target the vector to rotate to
-\return a rotation about an axis normal to the two vectors which takes one to the other via the shortest path
-*/
-
-PX_FOUNDATION_API PxQuat PxShortestRotation(const PxVec3& from, const PxVec3& target);
-
-/* \brief diagonalizes a 3x3 symmetric matrix y
-
-The returned matrix satisfies M = R * D * R', where R is the rotation matrix for the output quaternion, R' its
-transpose, and D the diagonal matrix
-
-If the matrix is not symmetric, the result is undefined.
-
-\param[in] m the matrix to diagonalize
-\param[out] axes a quaternion rotation which diagonalizes the matrix
-\return the vector diagonal of the diagonalized matrix.
-*/
-
-PX_FOUNDATION_API PxVec3 PxDiagonalize(const PxMat33& m, PxQuat& axes);
-
-#if !PX_DOXYGEN
-} // namespace physx
-#endif
-
-/** @} */
-#endif
diff --git a/PxShared/include/foundation/PxMemory.h b/PxShared/include/foundation/PxMemory.h
index 6a8a6ed..911b0d4 100644
--- a/PxShared/include/foundation/PxMemory.h
+++ b/PxShared/include/foundation/PxMemory.h
@@ -1,29 +1,29 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
diff --git a/PxShared/include/foundation/PxPlane.h b/PxShared/include/foundation/PxPlane.h
index dcd542a..76f63f2 100644
--- a/PxShared/include/foundation/PxPlane.h
+++ b/PxShared/include/foundation/PxPlane.h
@@ -1,29 +1,29 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
diff --git a/PxShared/include/foundation/PxPreprocessor.h b/PxShared/include/foundation/PxPreprocessor.h
index ddbf258..55dc196 100644
--- a/PxShared/include/foundation/PxPreprocessor.h
+++ b/PxShared/include/foundation/PxPreprocessor.h
@@ -1,29 +1,29 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
@@ -38,6 +38,12 @@
   @{
 */
 
+#define PX_STRINGIZE_HELPER(X) #X
+#define PX_STRINGIZE(X) PX_STRINGIZE_HELPER(X)
+
+#define PX_CONCAT_HELPER(X, Y) X##Y
+#define PX_CONCAT(X, Y) PX_CONCAT_HELPER(X, Y)
+
 /*
 The following preprocessor identifiers specify compiler, OS, and architecture.
 All definitions have a value of 1 or 0, use '#if' instead of '#ifdef'.
@@ -64,6 +70,13 @@ Compiler defines, see http://sourceforge.net/p/predef/wiki/Compilers/
 #endif
 #elif defined(__clang__)
 #define PX_CLANG 1
+	#if defined (__clang_major__) 
+		#define PX_CLANG_MAJOR __clang_major__
+	#elif defined (_clang_major)
+		#define PX_CLANG_MAJOR _clang_major
+	#else
+		#define PX_CLANG_MAJOR 0
+	#endif	
 #elif defined(__GNUC__) // note: __clang__ implies __GNUC__
 #define PX_GCC 1
 #else
@@ -75,6 +88,8 @@ Operating system defines, see http://sourceforge.net/p/predef/wiki/OperatingSyst
 */
 #if defined(_XBOX_ONE)
 #define PX_XBOXONE 1
+#elif defined(WINAPI_FAMILY) && WINAPI_FAMILY == WINAPI_FAMILY_APP
+#define PX_UWP 1
 #elif defined(_WIN64) // note: _XBOX_ONE implies _WIN64
 #define PX_WIN64 1
 #elif defined(_WIN32) // note: _M_PPC implies _WIN32
@@ -102,7 +117,7 @@ Architecture defines, see http://sourceforge.net/p/predef/wiki/Architectures/
 #define PX_X64 1
 #elif defined(__i386__) || defined(_M_IX86) || defined (__EMSCRIPTEN__)
 #define PX_X86 1
-#elif defined(__arm64__) || defined(__aarch64__)
+#elif defined(__arm64__) || defined(__aarch64__) || defined(_M_ARM64)
 #define PX_A64 1
 #elif defined(__arm__) || defined(_M_ARM)
 #define PX_ARM 1
@@ -166,6 +181,9 @@ define anything not defined on this platform to 0
 #ifndef PX_SWITCH
 #define PX_SWITCH 0
 #endif
+#ifndef PX_UWP
+#define PX_UWP 0
+#endif
 #ifndef PX_X64
 #define PX_X64 0
 #endif
@@ -203,6 +221,9 @@ define anything not defined through the command line to 0
 #ifndef PX_PROFILE
 #define PX_PROFILE 0
 #endif
+#ifndef PX_DEBUG_CRT
+#define PX_DEBUG_CRT 0
+#endif
 #ifndef PX_NVTX
 #define PX_NVTX 0
 #endif
@@ -216,7 +237,7 @@ family shortcuts
 // compiler
 #define PX_GCC_FAMILY (PX_CLANG || PX_GCC)
 // os
-#define PX_WINDOWS_FAMILY (PX_WIN32 || PX_WIN64)
+#define PX_WINDOWS_FAMILY (PX_WIN32 || PX_WIN64 || PX_UWP)
 #define PX_MICROSOFT_FAMILY (PX_XBOXONE || PX_WINDOWS_FAMILY)
 #define PX_LINUX_FAMILY (PX_LINUX || PX_ANDROID)
 #define PX_APPLE_FAMILY (PX_IOS || PX_OSX)                  // equivalent to #if __APPLE__
@@ -234,7 +255,7 @@ family shortcuts
 /**
 C++ standard library defines
 */
-#if defined(_LIBCPP_VERSION) || PX_WIN64 || PX_WIN32 || PX_PS4 || PX_XBOXONE || PX_EMSCRIPTEN
+#if defined(_LIBCPP_VERSION) || PX_WIN64 || PX_WIN32 || PX_PS4 || PX_XBOXONE || PX_UWP || PX_EMSCRIPTEN
 #define PX_LIBCPP 1
 #else
 #define PX_LIBCPP 0
@@ -280,31 +301,6 @@ DLL export macros
 #endif
 
 /**
-Define API function declaration
-
-PX_FOUNDATION_DLL=1 - used by the DLL library (PhysXCommon) to export the API
-PX_FOUNDATION_DLL=0 - for windows configurations where the PX_FOUNDATION_API is linked through standard static linking
-no definition       - this will allow DLLs and libraries to use the exported API from PhysXCommon
-
-*/
-
-#if PX_WINDOWS_FAMILY && !PX_ARM_FAMILY
-#ifndef PX_FOUNDATION_DLL
-#define PX_FOUNDATION_API PX_DLL_IMPORT
-#elif PX_FOUNDATION_DLL
-#define PX_FOUNDATION_API PX_DLL_EXPORT
-#endif
-#elif PX_UNIX_FAMILY
-#ifdef PX_FOUNDATION_DLL
-#define PX_FOUNDATION_API PX_UNIX_EXPORT
-#endif
-#endif
-
-#ifndef PX_FOUNDATION_API
-#define PX_FOUNDATION_API
-#endif
-
-/**
 Calling convention
 */
 #ifndef PX_CALL_CONV
@@ -428,7 +424,7 @@ General defines
 
 // static assert
 #if(defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 7))) || (PX_PS4) || (PX_APPLE_FAMILY) || (PX_SWITCH) || (PX_CLANG && PX_ARM)
-#define PX_COMPILE_TIME_ASSERT(exp) typedef char PxCompileTimeAssert_Dummy[(exp) ? 1 : -1] __attribute__((unused))
+#define PX_COMPILE_TIME_ASSERT(exp) typedef char PX_CONCAT(PxCompileTimeAssert_Dummy, __COUNTER__)[(exp) ? 1 : -1] __attribute__((unused))
 #else
 #define PX_COMPILE_TIME_ASSERT(exp) typedef char PxCompileTimeAssert_Dummy[(exp) ? 1 : -1]
 #endif
@@ -520,12 +516,6 @@ protected:
 	Class(const Class&);                                                                                               \
 	Class& operator=(const Class&);
 
-#define PX_STRINGIZE_HELPER(X) #X
-#define PX_STRINGIZE(X) PX_STRINGIZE_HELPER(X)
-
-#define PX_CONCAT_HELPER(X, Y) X##Y
-#define PX_CONCAT(X, Y) PX_CONCAT_HELPER(X, Y)
-
 #ifndef DISABLE_CUDA_PHYSX
 //CUDA is currently supported only on windows 
 #define PX_SUPPORT_GPU_PHYSX ((PX_WINDOWS_FAMILY) || (PX_LINUX && PX_X64))
diff --git a/PxShared/include/foundation/PxProfiler.h b/PxShared/include/foundation/PxProfiler.h
index 4864969..a949b72 100644
--- a/PxShared/include/foundation/PxProfiler.h
+++ b/PxShared/include/foundation/PxProfiler.h
@@ -1,34 +1,34 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 
 #ifndef PXFOUNDATION_PXPROFILER_H
 #define PXFOUNDATION_PXPROFILER_H
 
-#include "foundation/PxFoundation.h"
+#include "foundation/Px.h"
 
 namespace physx
 {
@@ -71,7 +71,7 @@ public:
 class PxProfileScoped
 {
   public:
-	PX_FORCE_INLINE PxProfileScoped(const char* eventName, bool detached, uint64_t contextId) : mCallback(PxGetProfilerCallback()), mProfilerData(NULL)
+	PX_FORCE_INLINE PxProfileScoped(PxProfilerCallback* callback, const char* eventName, bool detached, uint64_t contextId) : mCallback(callback), mProfilerData(NULL)
 	{
 		if(mCallback)
 		{
@@ -87,7 +87,7 @@ class PxProfileScoped
 		if(mCallback)
 			mCallback->zoneEnd(mProfilerData, mEventName, mDetached, mContextId);
 	}
-	physx::PxProfilerCallback*	mCallback;
+	PxProfilerCallback*			mCallback;
 	const char*					mEventName;
 	void*						mProfilerData;
 	uint64_t					mContextId;
@@ -96,21 +96,4 @@ class PxProfileScoped
 
 } // end of physx namespace
 
-#if PX_DEBUG || PX_CHECKED || PX_PROFILE
-	#define PX_PROFILE_ZONE(x, y)										\
-		physx::PxProfileScoped PX_CONCAT(_scoped, __LINE__)(x, false, y)
-	#define PX_PROFILE_START_CROSSTHREAD(x, y)							\
-		if(PxGetProfilerCallback())										\
-			PxGetProfilerCallback()->zoneStart(x, true, y)
-	#define PX_PROFILE_STOP_CROSSTHREAD(x, y)							\
-		if(PxGetProfilerCallback())										\
-			PxGetProfilerCallback()->zoneEnd(NULL, x, true, y)
-#else
-	#define PX_PROFILE_ZONE(x, y)
-	#define PX_PROFILE_START_CROSSTHREAD(x, y)
-	#define PX_PROFILE_STOP_CROSSTHREAD(x, y)
-#endif
-
-#define PX_PROFILE_POINTER_TO_U64(pointer) static_cast<uint64_t>(reinterpret_cast<size_t>(pointer))
-
 #endif // PXFOUNDATION_PXPROFILER_H
diff --git a/PxShared/include/foundation/PxQuat.h b/PxShared/include/foundation/PxQuat.h
index 1313b0e..f29a372 100644
--- a/PxShared/include/foundation/PxQuat.h
+++ b/PxShared/include/foundation/PxQuat.h
@@ -1,29 +1,29 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
@@ -87,7 +87,7 @@ class PxQuat
 	*/
 	PX_CUDA_CALLABLE PX_INLINE PxQuat(float angleRadians, const PxVec3& unitAxis)
 	{
-		PX_ASSERT(PxAbs(1.0f - unitAxis.magnitude()) < 1e-3f);
+		PX_SHARED_ASSERT(PxAbs(1.0f - unitAxis.magnitude()) < 1e-3f);
 		const float a = angleRadians * 0.5f;
 		const float s = PxSin(a);
 		w = PxCos(a);
diff --git a/PxShared/include/foundation/PxSharedAssert.h b/PxShared/include/foundation/PxSharedAssert.h
new file mode 100644
index 0000000..1cb05cb
--- /dev/null
+++ b/PxShared/include/foundation/PxSharedAssert.h
@@ -0,0 +1,46 @@
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION 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 ``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 OWNER 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.
+//
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
+
+#ifndef PXFOUNDATION_PXASSERT_H
+#define PXFOUNDATION_PXASSERT_H
+
+/** \addtogroup foundation
+@{ */
+
+#include "foundation/Px.h"
+
+#if !PX_ENABLE_ASSERTS
+	#define PX_SHARED_ASSERT(exp) ((void)0)
+#else
+	#include <assert.h>
+	#define PX_SHARED_ASSERT(exp) assert(exp);
+#endif // !PX_ENABLE_ASSERTS
+
+/** @} */
+#endif // #ifndef PXFOUNDATION_PXASSERT_H
diff --git a/PxShared/include/foundation/PxSimpleTypes.h b/PxShared/include/foundation/PxSimpleTypes.h
index 655fbb3..a9ced08 100644
--- a/PxShared/include/foundation/PxSimpleTypes.h
+++ b/PxShared/include/foundation/PxSimpleTypes.h
@@ -1,29 +1,29 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
@@ -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 && !PX_SWITCH
+#if !PX_PS4 && !PX_APPLE_FAMILY
 #define __STDC_FORMAT_MACROS
 #endif
 #include <inttypes.h>
diff --git a/PxShared/include/foundation/PxStrideIterator.h b/PxShared/include/foundation/PxStrideIterator.h
index 1e4c448..dd6dd10 100644
--- a/PxShared/include/foundation/PxStrideIterator.h
+++ b/PxShared/include/foundation/PxStrideIterator.h
@@ -1,29 +1,29 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
@@ -31,7 +31,7 @@
 #define PXFOUNDATION_PXSTRIDEITERATOR_H
 
 #include "foundation/Px.h"
-#include "foundation/PxAssert.h"
+#include "foundation/PxSharedAssert.h"
 
 /** \addtogroup foundation
   @{
@@ -106,7 +106,7 @@ class PxStrideIterator
 	*/
 	explicit PX_INLINE PxStrideIterator(T* ptr = NULL, PxU32 stride = sizeof(T)) : mPtr(ptr), mStride(stride)
 	{
-		PX_ASSERT(mStride == 0 || sizeof(T) <= mStride);
+		PX_SHARED_ASSERT(mStride == 0 || sizeof(T) <= mStride);
 	}
 
 	/**
@@ -117,7 +117,7 @@ class PxStrideIterator
 	PX_INLINE PxStrideIterator(const PxStrideIterator<typename StripConst<T>::Type>& strideIterator)
 	: mPtr(strideIterator.ptr()), mStride(strideIterator.stride())
 	{
-		PX_ASSERT(mStride == 0 || sizeof(T) <= mStride);
+		PX_SHARED_ASSERT(mStride == 0 || sizeof(T) <= mStride);
 	}
 
 	/**
@@ -237,7 +237,7 @@ class PxStrideIterator
 	*/
 	PX_INLINE int operator-(const PxStrideIterator& other) const
 	{
-		PX_ASSERT(isCompatible(other));
+		PX_SHARED_ASSERT(isCompatible(other));
 		int byteDiff = static_cast<int>(reinterpret_cast<const PxU8*>(mPtr) - reinterpret_cast<const PxU8*>(other.mPtr));
 		return byteDiff / static_cast<int>(stride());
 	}
@@ -247,7 +247,7 @@ class PxStrideIterator
 	*/
 	PX_INLINE bool operator==(const PxStrideIterator& other) const
 	{
-		PX_ASSERT(isCompatible(other));
+		PX_SHARED_ASSERT(isCompatible(other));
 		return mPtr == other.mPtr;
 	}
 
@@ -256,7 +256,7 @@ class PxStrideIterator
 	*/
 	PX_INLINE bool operator!=(const PxStrideIterator& other) const
 	{
-		PX_ASSERT(isCompatible(other));
+		PX_SHARED_ASSERT(isCompatible(other));
 		return mPtr != other.mPtr;
 	}
 
@@ -265,7 +265,7 @@ class PxStrideIterator
 	*/
 	PX_INLINE bool operator<(const PxStrideIterator& other) const
 	{
-		PX_ASSERT(isCompatible(other));
+		PX_SHARED_ASSERT(isCompatible(other));
 		return mPtr < other.mPtr;
 	}
 
@@ -274,7 +274,7 @@ class PxStrideIterator
 	*/
 	PX_INLINE bool operator>(const PxStrideIterator& other) const
 	{
-		PX_ASSERT(isCompatible(other));
+		PX_SHARED_ASSERT(isCompatible(other));
 		return mPtr > other.mPtr;
 	}
 
@@ -283,7 +283,7 @@ class PxStrideIterator
 	*/
 	PX_INLINE bool operator<=(const PxStrideIterator& other) const
 	{
-		PX_ASSERT(isCompatible(other));
+		PX_SHARED_ASSERT(isCompatible(other));
 		return mPtr <= other.mPtr;
 	}
 
@@ -292,7 +292,7 @@ class PxStrideIterator
 	*/
 	PX_INLINE bool operator>=(const PxStrideIterator& other) const
 	{
-		PX_ASSERT(isCompatible(other));
+		PX_SHARED_ASSERT(isCompatible(other));
 		return mPtr >= other.mPtr;
 	}
 
diff --git a/PxShared/include/foundation/PxTransform.h b/PxShared/include/foundation/PxTransform.h
index ddba031..f639903 100644
--- a/PxShared/include/foundation/PxTransform.h
+++ b/PxShared/include/foundation/PxTransform.h
@@ -1,29 +1,29 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
@@ -66,7 +66,7 @@ class PxTransform
 
 	PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransform(const PxQuat& orientation) : q(orientation), p(0)
 	{
-		PX_ASSERT(orientation.isSane());
+		PX_SHARED_ASSERT(orientation.isSane());
 	}
 
 	PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform(float x, float y, float z, PxQuat aQ = PxQuat(PxIdentity))
@@ -76,7 +76,7 @@ class PxTransform
 
 	PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform(const PxVec3& p0, const PxQuat& q0) : q(q0), p(p0)
 	{
-		PX_ASSERT(q0.isSane());
+		PX_SHARED_ASSERT(q0.isSane());
 	}
 
 	PX_CUDA_CALLABLE PX_FORCE_INLINE explicit PxTransform(const PxMat44& m); // defined in PxMat44.h
@@ -91,7 +91,7 @@ class PxTransform
 
 	PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform operator*(const PxTransform& x) const
 	{
-		PX_ASSERT(x.isSane());
+		PX_SHARED_ASSERT(x.isSane());
 		return transform(x);
 	}
 
@@ -104,39 +104,39 @@ class PxTransform
 
 	PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform getInverse() const
 	{
-		PX_ASSERT(isFinite());
+		PX_SHARED_ASSERT(isFinite());
 		return PxTransform(q.rotateInv(-p), q.getConjugate());
 	}
 
 	PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 transform(const PxVec3& input) const
 	{
-		PX_ASSERT(isFinite());
+		PX_SHARED_ASSERT(isFinite());
 		return q.rotate(input) + p;
 	}
 
 	PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 transformInv(const PxVec3& input) const
 	{
-		PX_ASSERT(isFinite());
+		PX_SHARED_ASSERT(isFinite());
 		return q.rotateInv(input - p);
 	}
 
 	PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 rotate(const PxVec3& input) const
 	{
-		PX_ASSERT(isFinite());
+		PX_SHARED_ASSERT(isFinite());
 		return q.rotate(input);
 	}
 
 	PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 rotateInv(const PxVec3& input) const
 	{
-		PX_ASSERT(isFinite());
+		PX_SHARED_ASSERT(isFinite());
 		return q.rotateInv(input);
 	}
 
 	//! Transform transform to parent (returns compound transform: first src, then *this)
 	PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform transform(const PxTransform& src) const
 	{
-		PX_ASSERT(src.isSane());
-		PX_ASSERT(isSane());
+		PX_SHARED_ASSERT(src.isSane());
+		PX_SHARED_ASSERT(isSane());
 		// src = [srct, srcr] -> [r*srct + t, r*srcr]
 		return PxTransform(q.rotate(src.p) + p, q * src.q);
 	}
@@ -171,8 +171,8 @@ class PxTransform
 	//! Transform transform from parent (returns compound transform: first src, then this->inverse)
 	PX_CUDA_CALLABLE PX_FORCE_INLINE PxTransform transformInv(const PxTransform& src) const
 	{
-		PX_ASSERT(src.isSane());
-		PX_ASSERT(isFinite());
+		PX_SHARED_ASSERT(src.isSane());
+		PX_SHARED_ASSERT(isFinite());
 		// src = [srct, srcr] -> [r^-1*(srct-t), r^-1*srcr]
 		PxQuat qinv = q.getConjugate();
 		return PxTransform(qinv.rotate(src.p - p), qinv * src.q);
diff --git a/PxShared/include/foundation/PxUnionCast.h b/PxShared/include/foundation/PxUnionCast.h
index 7bead42..007493c 100644
--- a/PxShared/include/foundation/PxUnionCast.h
+++ b/PxShared/include/foundation/PxUnionCast.h
@@ -1,29 +1,29 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
@@ -41,6 +41,13 @@ namespace physx
 {
 #endif
 
+// Needed for clang 7
+#if PX_CLANG && PX_CLANG_MAJOR >= 7
+ #define USE_VOLATILE_UNION volatile 
+#else
+ #define USE_VOLATILE_UNION
+#endif
+
 template <class A, class B>
 PX_FORCE_INLINE A PxUnionCast(B b)
 {
@@ -49,12 +56,14 @@ PX_FORCE_INLINE A PxUnionCast(B b)
 		AB(B bb) : _b(bb)
 		{
 		}
-		B _b;
-		A _a;
-	} u(b);
+		 B _b;
+		 A _a;
+	} USE_VOLATILE_UNION u(b);
 	return u._a;
 }
 
+#undef USE_VOLATILE_UNION
+
 #if !PX_DOXYGEN
 } // namespace physx
 #endif
diff --git a/PxShared/include/foundation/PxVec2.h b/PxShared/include/foundation/PxVec2.h
index bee58e8..1128111 100644
--- a/PxShared/include/foundation/PxVec2.h
+++ b/PxShared/include/foundation/PxVec2.h
@@ -1,29 +1,29 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
@@ -107,9 +107,9 @@ class PxVec2
 	/**
 	\brief element access
 	*/
-	PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE float& operator[](int index)
+	PX_CUDA_CALLABLE PX_FORCE_INLINE float& operator[](int index)
 	{
-		PX_ASSERT(index >= 0 && index <= 1);
+		PX_SHARED_ASSERT(index >= 0 && index <= 1);
 
 		return reinterpret_cast<float*>(this)[index];
 	}
@@ -117,9 +117,9 @@ class PxVec2
 	/**
 	\brief element access
 	*/
-	PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE const float& operator[](int index) const
+	PX_CUDA_CALLABLE PX_FORCE_INLINE const float& operator[](int index) const
 	{
-		PX_ASSERT(index >= 0 && index <= 1);
+		PX_SHARED_ASSERT(index >= 0 && index <= 1);
 
 		return reinterpret_cast<const float*>(this)[index];
 	}
diff --git a/PxShared/include/foundation/PxVec3.h b/PxShared/include/foundation/PxVec3.h
index 7c15afb..d3baead 100644
--- a/PxShared/include/foundation/PxVec3.h
+++ b/PxShared/include/foundation/PxVec3.h
@@ -1,29 +1,29 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
@@ -109,9 +109,9 @@ class PxVec3
 	/**
 	\brief element access
 	*/
-	PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE float& operator[](unsigned int index)
+	PX_CUDA_CALLABLE PX_FORCE_INLINE float& operator[](unsigned int index)
 	{
-		PX_ASSERT(index <= 2);
+		PX_SHARED_ASSERT(index <= 2);
 
 		return reinterpret_cast<float*>(this)[index];
 	}
@@ -119,12 +119,13 @@ class PxVec3
 	/**
 	\brief element access
 	*/
-	PX_DEPRECATED PX_CUDA_CALLABLE PX_FORCE_INLINE const float& operator[](unsigned int index) const
+	PX_CUDA_CALLABLE PX_FORCE_INLINE const float& operator[](unsigned int index) const
 	{
-		PX_ASSERT(index <= 2);
+		PX_SHARED_ASSERT(index <= 2);
 
 		return reinterpret_cast<const float*>(this)[index];
 	}
+
 	/**
 	\brief returns true if the two vectors are exactly equal.
 	*/
@@ -324,7 +325,7 @@ class PxVec3
 	PX_CUDA_CALLABLE PX_FORCE_INLINE float normalizeFast()
 	{
 		const float mag = magnitude();
-		PX_ASSERT(mag >= PX_NORMALIZATION_EPSILON);
+		PX_SHARED_ASSERT(mag >= PX_NORMALIZATION_EPSILON);
 		*this *= 1.0f / mag;
 		return mag;
 	}
diff --git a/PxShared/include/foundation/PxVec4.h b/PxShared/include/foundation/PxVec4.h
index e33eddf..711e531 100644
--- a/PxShared/include/foundation/PxVec4.h
+++ b/PxShared/include/foundation/PxVec4.h
@@ -1,29 +1,29 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
@@ -34,7 +34,7 @@
 */
 #include "foundation/PxMath.h"
 #include "foundation/PxVec3.h"
-#include "foundation/PxAssert.h"
+#include "foundation/PxSharedAssert.h"
 
 /**
 \brief 4 Element vector class.
@@ -130,9 +130,9 @@ class PxVec4
 	/**
 	\brief element access
 	*/
-	PX_DEPRECATED PX_CUDA_CALLABLE PX_INLINE float& operator[](unsigned int index)
+	PX_CUDA_CALLABLE PX_INLINE float& operator[](unsigned int index)
 	{
-		PX_ASSERT(index <= 3);
+		PX_SHARED_ASSERT(index <= 3);
 
 		return reinterpret_cast<float*>(this)[index];
 	}
@@ -140,9 +140,9 @@ class PxVec4
 	/**
 	\brief element access
 	*/
-	PX_DEPRECATED PX_CUDA_CALLABLE PX_INLINE const float& operator[](unsigned int index) const
+	PX_CUDA_CALLABLE PX_INLINE const float& operator[](unsigned int index) const
 	{
-		PX_ASSERT(index <= 3);
+		PX_SHARED_ASSERT(index <= 3);
 
 		return reinterpret_cast<const float*>(this)[index];
 	}
diff --git a/PxShared/include/foundation/unix/PxUnixIntrinsics.h b/PxShared/include/foundation/unix/PxUnixIntrinsics.h
index 5f492bc..1095b13 100644
--- a/PxShared/include/foundation/unix/PxUnixIntrinsics.h
+++ b/PxShared/include/foundation/unix/PxUnixIntrinsics.h
@@ -1,29 +1,29 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
@@ -31,7 +31,7 @@
 #define PXFOUNDATION_PXUNIXINTRINSICS_H
 
 #include "foundation/Px.h"
-#include "foundation/PxAssert.h"
+#include "foundation/PxSharedAssert.h"
 
 #if !(PX_LINUX || PX_ANDROID || PX_PS4 || PX_APPLE_FAMILY)
 #error "This file should only be included by Unix builds!!"
@@ -175,7 +175,7 @@ Set 128B to zero starting at \c dst+offset. Must be aligned.
 */
 PX_FORCE_INLINE void memZero128(void* dest, uint32_t offset = 0)
 {
-	PX_ASSERT(((size_t(dest) + offset) & 0x7f) == 0);
+	PX_SHARED_ASSERT(((size_t(dest) + offset) & 0x7f) == 0);
 	memSet(reinterpret_cast<char*>(dest) + offset, 0, 128);
 }
 
diff --git a/PxShared/include/foundation/windows/PxWindowsFoundationDelayLoadHook.h b/PxShared/include/foundation/windows/PxWindowsFoundationDelayLoadHook.h
deleted file mode 100644
index 1d42185..0000000
--- a/PxShared/include/foundation/windows/PxWindowsFoundationDelayLoadHook.h
+++ /dev/null
@@ -1,71 +0,0 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
-//
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
-//
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
-//
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
-// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
-// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
-
-#ifndef PX_FOUNDATION_DELAY_LOAD_HOOK
-#define PX_FOUNDATION_DELAY_LOAD_HOOK
-
-#include "foundation/PxPreprocessor.h"
-
-/** \addtogroup foundation
-@{
-*/
-
-#if !PX_DOXYGEN
-namespace physx
-{
-#endif
-	/**
- 	\brief PxFoundationDelayLoadHook
-
-	This is a helper class for delay loading the PxFoundation dll. 
-	If a PxFoundation dll with a non-default file name needs to be loaded, 
-	PxFoundationDelayLoadHook can be sub-classed to provide the custom file names.
-
-	Once the names are set, the instance must be set for use by the loading dll. 
- 	*/
-	class PxFoundationDelayLoadHook
-	{
-	public:
-		PxFoundationDelayLoadHook() {}
-		virtual ~PxFoundationDelayLoadHook() {}
-
-		virtual const char* getPxFoundationDEBUGDllName() const = 0;
-		virtual const char* getPxFoundationCHECKEDDllName() const = 0;
-		virtual const char* getPxFoundationPROFILEDllName() const = 0;
-		virtual const char* getPxFoundationDllName() const = 0;
-
-	protected:
-	private:
-	};
-
-#if !PX_DOXYGEN
-} // namespace physx
-#endif
-/** @} */
-#endif
diff --git a/PxShared/include/foundation/windows/PxWindowsIntrinsics.h b/PxShared/include/foundation/windows/PxWindowsIntrinsics.h
index 3cc63b5..804c20b 100644
--- a/PxShared/include/foundation/windows/PxWindowsIntrinsics.h
+++ b/PxShared/include/foundation/windows/PxWindowsIntrinsics.h
@@ -1,29 +1,29 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
 //
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * 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.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
 //
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``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 OWNER 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.
 //
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
@@ -31,7 +31,7 @@
 #define PXFOUNDATION_PXWINDOWSINTRINSICS_H
 
 #include "foundation/Px.h"
-#include "foundation/PxAssert.h"
+#include "foundation/PxSharedAssert.h"
 
 #if !PX_WINDOWS_FAMILY
 #error "This file should only be included by Windows builds!!"
@@ -176,7 +176,7 @@ Set 128B to zero starting at \c dst+offset. Must be aligned.
 */
 PX_FORCE_INLINE void memZero128(void* dest, uint32_t offset = 0)
 {
-	PX_ASSERT(((size_t(dest) + offset) & 0x7f) == 0);
+	PX_SHARED_ASSERT(((size_t(dest) + offset) & 0x7f) == 0);
 	memSet(reinterpret_cast<char*>(dest) + offset, 0, 128);
 }