1.1.6 Release.1.1.6

58 files changed, 0 insertions, 22711 deletions

diff --git a/PxShared/src/foundation/include/Ps.h b/PxShared/src/foundation/include/Ps.h
deleted file mode 100644
index 89fc9c7..0000000
--- a/PxShared/src/foundation/include/Ps.h
+++ /dev/null
@@ -1,70 +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 PSFOUNDATION_PS_H
-#define PSFOUNDATION_PS_H
-
-/*! \file top level include file for shared foundation */
-
-#include "foundation/Px.h"
-
-/**
-Platform specific defines
-*/
-#if PX_WINDOWS_FAMILY || PX_XBOXONE
-#pragma intrinsic(memcmp)
-#pragma intrinsic(memcpy)
-#pragma intrinsic(memset)
-#pragma intrinsic(abs)
-#pragma intrinsic(labs)
-#endif
-
-// An expression that should expand to nothing in non PX_CHECKED builds.
-// We currently use this only for tagging the purpose of containers for memory use tracking.
-#if PX_CHECKED
-#define PX_DEBUG_EXP(x) (x)
-#else
-#define PX_DEBUG_EXP(x)
-#endif
-
-#define PX_SIGN_BITMASK 0x80000000
-
-namespace physx
-{
-namespace shdfnd
-{
-// Int-as-bool type - has some uses for efficiency and with SIMD
-typedef int IntBool;
-static const IntBool IntFalse = 0;
-static const IntBool IntTrue = 1;
-}
-
-} // namespace physx
-
-#endif // #ifndef PSFOUNDATION_PS_H
diff --git a/PxShared/src/foundation/include/PsAlignedMalloc.h b/PxShared/src/foundation/include/PsAlignedMalloc.h
deleted file mode 100644
index 4be8409..0000000
--- a/PxShared/src/foundation/include/PsAlignedMalloc.h
+++ /dev/null
@@ -1,88 +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 PSFOUNDATION_PSALIGNEDMALLOC_H
-#define PSFOUNDATION_PSALIGNEDMALLOC_H
-
-#include "PsUserAllocated.h"
-
-/*!
-Allocate aligned memory.
-Alignment must be a power of 2!
--- should be templated by a base allocator
-*/
-
-namespace physx
-{
-namespace shdfnd
-{
-/**
-Allocator, which is used to access the global PxAllocatorCallback instance
-(used for dynamic data types template instantiation), which can align memory
-*/
-
-// SCS: AlignedMalloc with 3 params not found, seems not used on PC either
-// disabled for now to avoid GCC error
-
-template <uint32_t N, typename BaseAllocator = NonTrackingAllocator>
-class AlignedAllocator : public BaseAllocator
-{
-  public:
-	AlignedAllocator(const BaseAllocator& base = BaseAllocator()) : BaseAllocator(base)
-	{
-	}
-
-	void* allocate(size_t size, const char* file, int line)
-	{
-		size_t pad = N - 1 + sizeof(size_t); // store offset for delete.
-		uint8_t* base = reinterpret_cast<uint8_t*>(BaseAllocator::allocate(size + pad, file, line));
-		if(!base)
-			return NULL;
-
-		uint8_t* ptr = reinterpret_cast<uint8_t*>(size_t(base + pad) & ~(size_t(N) - 1)); // aligned pointer, ensuring N
-		// is a size_t
-		// wide mask
-		reinterpret_cast<size_t*>(ptr)[-1] = size_t(ptr - base); // store offset
-
-		return ptr;
-	}
-	void deallocate(void* ptr)
-	{
-		if(ptr == NULL)
-			return;
-
-		uint8_t* base = reinterpret_cast<uint8_t*>(ptr) - reinterpret_cast<size_t*>(ptr)[-1];
-		BaseAllocator::deallocate(base);
-	}
-};
-
-} // namespace shdfnd
-} // namespace physx
-
-#endif // #ifndef PSFOUNDATION_PSALIGNEDMALLOC_H
diff --git a/PxShared/src/foundation/include/PsAlloca.h b/PxShared/src/foundation/include/PsAlloca.h
deleted file mode 100644
index add64c4..0000000
--- a/PxShared/src/foundation/include/PsAlloca.h
+++ /dev/null
@@ -1,76 +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 PSFOUNDATION_PSALLOCA_H
-#define PSFOUNDATION_PSALLOCA_H
-
-#include "PsTempAllocator.h"
-
-namespace physx
-{
-namespace shdfnd
-{
-template <typename T, typename Alloc = TempAllocator>
-class ScopedPointer : private Alloc
-{
-  public:
-	~ScopedPointer()
-	{
-		if(mOwned)
-			Alloc::deallocate(mPointer);
-	}
-
-	operator T*() const
-	{
-		return mPointer;
-	}
-
-	T* mPointer;
-	bool mOwned;
-};
-
-} // namespace shdfnd
-} // namespace physx
-
-/*! Stack allocation for \c count instances of \c type. Falling back to temp allocator if using more than 1kB. */
-#ifdef __SPU__
-#define PX_ALLOCA(var, type, count) type* var = reinterpret_cast<type*>(PxAlloca(sizeof(type) * (count)))
-#else
-#define PX_ALLOCA(var, type, count)                                                                                    \
-	physx::shdfnd::ScopedPointer<type> var;                                                                            \
-	{                                                                                                                  \
-		uint32_t size = sizeof(type) * (count);                                                                        \
-		var.mOwned = size > 1024;                                                                                      \
-		if(var.mOwned)                                                                                                 \
-			var.mPointer = reinterpret_cast<type*>(physx::shdfnd::TempAllocator().allocate(size, __FILE__, __LINE__)); \
-		else                                                                                                           \
-			var.mPointer = reinterpret_cast<type*>(PxAlloca(size));                                                    \
-	}
-#endif
-#endif // #ifndef PSFOUNDATION_PSALLOCA_H
diff --git a/PxShared/src/foundation/include/PsAllocator.h b/PxShared/src/foundation/include/PsAllocator.h
deleted file mode 100644
index f988b6c..0000000
--- a/PxShared/src/foundation/include/PsAllocator.h
+++ /dev/null
@@ -1,367 +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 PSFOUNDATION_PSALLOCATOR_H
-#define PSFOUNDATION_PSALLOCATOR_H
-
-#include "foundation/PxAllocatorCallback.h"
-#include "foundation/PxFoundation.h"
-#include "Ps.h"
-#include "foundation/PxAssert.h"
-
-#if(PX_WINDOWS_FAMILY || PX_XBOXONE)
-#include <exception>
-#include <typeinfo.h>
-#endif
-#if(PX_APPLE_FAMILY)
-#include <typeinfo>
-#endif
-
-#include <new>
-
-// Allocation macros going through user allocator
-#if PX_CHECKED
-#define PX_ALLOC(n, name) physx::shdfnd::NamedAllocator(name).allocate(n, __FILE__, __LINE__)
-#else
-#define PX_ALLOC(n, name) physx::shdfnd::NonTrackingAllocator().allocate(n, __FILE__, __LINE__)
-#endif
-#define PX_ALLOC_TEMP(n, name) PX_ALLOC(n, name)
-#define PX_FREE(x) physx::shdfnd::NonTrackingAllocator().deallocate(x)
-#define PX_FREE_AND_RESET(x)                                                                                           \
-	{                                                                                                                  \
-		PX_FREE(x);                                                                                                    \
-		x = 0;                                                                                                         \
-	}
-
-// The following macros support plain-old-types and classes derived from UserAllocated.
-#define PX_NEW(T) new (physx::shdfnd::ReflectionAllocator<T>(), __FILE__, __LINE__) T
-#define PX_NEW_TEMP(T) PX_NEW(T)
-#define PX_DELETE(x) delete x
-#define PX_DELETE_AND_RESET(x)                                                                                         \
-	{                                                                                                                  \
-		PX_DELETE(x);                                                                                                  \
-		x = 0;                                                                                                         \
-	}
-#define PX_DELETE_POD(x)                                                                                               \
-	{                                                                                                                  \
-		PX_FREE(x);                                                                                                    \
-		x = 0;                                                                                                         \
-	}
-#define PX_DELETE_ARRAY(x)                                                                                             \
-	{                                                                                                                  \
-		PX_DELETE([] x);                                                                                               \
-		x = 0;                                                                                                         \
-	}
-
-// aligned allocation
-#define PX_ALIGNED16_ALLOC(n) physx::shdfnd::AlignedAllocator<16>().allocate(n, __FILE__, __LINE__)
-#define PX_ALIGNED16_FREE(x) physx::shdfnd::AlignedAllocator<16>().deallocate(x)
-
-//! placement new macro to make it easy to spot bad use of 'new'
-#define PX_PLACEMENT_NEW(p, T) new (p) T
-
-#if PX_DEBUG || PX_CHECKED
-#define PX_USE_NAMED_ALLOCATOR 1
-#else
-#define PX_USE_NAMED_ALLOCATOR 0
-#endif
-
-// Don't use inline for alloca !!!
-#if PX_WINDOWS_FAMILY
-#include <malloc.h>
-#define PxAlloca(x) _alloca(x)
-#elif PX_LINUX || PX_ANDROID
-#include <malloc.h>
-#define PxAlloca(x) alloca(x)
-#elif PX_APPLE_FAMILY
-#include <alloca.h>
-#define PxAlloca(x) alloca(x)
-#elif PX_PS4
-#include <memory.h>
-#define PxAlloca(x) alloca(x)
-#elif PX_XBOXONE
-#include <malloc.h>
-#define PxAlloca(x) alloca(x)
-#elif PX_SWITCH
-#include <malloc.h>
-#define PxAlloca(x) alloca(x)
-#endif
-
-#define PxAllocaAligned(x, alignment) ((size_t(PxAlloca(x + alignment)) + (alignment - 1)) & ~size_t(alignment - 1))
-
-namespace physx
-{
-namespace shdfnd
-{
-
-PX_FOUNDATION_API PxAllocatorCallback& getAllocator();
-
-/**
-Allocator used to access the global PxAllocatorCallback instance without providing additional information.
-*/
-
-class PX_FOUNDATION_API Allocator
-{
-  public:
-	Allocator(const char* = 0)
-	{
-	}
-	void* allocate(size_t size, const char* file, int line);
-	void deallocate(void* ptr);
-};
-
-/*
- * Bootstrap allocator using malloc/free.
- * Don't use unless your objects get allocated before foundation is initialized.
- */
-class RawAllocator
-{
-  public:
-	RawAllocator(const char* = 0)
-	{
-	}
-	void* allocate(size_t size, const char*, int)
-	{
-		// malloc returns valid pointer for size==0, no need to check
-		return ::malloc(size);
-	}
-	void deallocate(void* ptr)
-	{
-		// free(0) is guaranteed to have no side effect, no need to check
-		::free(ptr);
-	}
-};
-
-/*
- * Allocator that simply calls straight back to the application without tracking.
- * This is used by the heap (Foundation::mNamedAllocMap) that tracks allocations
- * because it needs to be able to grow as a result of an allocation.
- * Making the hash table re-entrant to deal with this may not make sense.
- */
-class NonTrackingAllocator
-{
-  public:
-	PX_FORCE_INLINE NonTrackingAllocator(const char* = 0)
-	{
-	}
-	PX_FORCE_INLINE void* allocate(size_t size, const char* file, int line)
-	{
-		return !size ? 0 : getAllocator().allocate(size, "NonTrackedAlloc", file, line);
-	}
-	PX_FORCE_INLINE void deallocate(void* ptr)
-	{
-		if(ptr)
-			getAllocator().deallocate(ptr);
-	}
-};
-
-/*
-\brief	Virtual allocator callback used to provide run-time defined allocators to foundation types like Array or Bitmap.
-        This is used by VirtualAllocator
-*/
-class VirtualAllocatorCallback
-{
-  public:
-	VirtualAllocatorCallback()
-	{
-	}
-	virtual ~VirtualAllocatorCallback()
-	{
-	}
-	virtual void* allocate(const size_t size, const char* file, const int line) = 0;
-	virtual void deallocate(void* ptr) = 0;
-};
-
-/*
-\brief Virtual allocator to be used by foundation types to provide run-time defined allocators.
-Due to the fact that Array extends its allocator, rather than contains a reference/pointer to it, the VirtualAllocator
-must
-be a concrete type containing a pointer to a virtual callback. The callback may not be available at instantiation time,
-therefore
-methods are provided to set the callback later.
-*/
-class VirtualAllocator
-{
-  public:
-	VirtualAllocator(VirtualAllocatorCallback* callback = NULL) : mCallback(callback)
-	{
-	}
-
-	void* allocate(const size_t size, const char* file, const int line)
-	{
-		PX_ASSERT(mCallback);
-		if(size)
-			return mCallback->allocate(size, file, line);
-		return NULL;
-	}
-	void deallocate(void* ptr)
-	{
-		PX_ASSERT(mCallback);
-		if(ptr)
-			mCallback->deallocate(ptr);
-	}
-
-	void setCallback(VirtualAllocatorCallback* callback)
-	{
-		mCallback = callback;
-	}
-	VirtualAllocatorCallback* getCallback()
-	{
-		return mCallback;
-	}
-
-  private:
-	VirtualAllocatorCallback* mCallback;
-	VirtualAllocator& operator=(const VirtualAllocator&);
-};
-
-#if PX_USE_NAMED_ALLOCATOR // can be slow, so only use in debug/checked
-class PX_FOUNDATION_API NamedAllocator
-{
-  public:
-	NamedAllocator(const PxEMPTY);
-	NamedAllocator(const char* name = 0); // todo: should not have default argument!
-	NamedAllocator(const NamedAllocator&);
-	~NamedAllocator();
-	NamedAllocator& operator=(const NamedAllocator&);
-	void* allocate(size_t size, const char* filename, int line);
-	void deallocate(void* ptr);
-};
-#else
-class NamedAllocator;
-#endif // PX_DEBUG
-
-/**
-Allocator used to access the global PxAllocatorCallback instance using a static name derived from T.
-*/
-
-template <typename T>
-class ReflectionAllocator
-{
-	static const char* getName()
-	{
-		if(!PxGetFoundation().getReportAllocationNames())
-			return "<allocation names disabled>";
-#if PX_GCC_FAMILY
-		return __PRETTY_FUNCTION__;
-#else
-		// name() calls malloc(), raw_name() wouldn't
-		return typeid(T).name();
-#endif
-	}
-
-  public:
-	ReflectionAllocator(const PxEMPTY)
-	{
-	}
-	ReflectionAllocator(const char* = 0)
-	{
-	}
-	inline ReflectionAllocator(const ReflectionAllocator&)
-	{
-	}
-	void* allocate(size_t size, const char* filename, int line)
-	{
-		return size ? getAllocator().allocate(size, getName(), filename, line) : 0;
-	}
-	void deallocate(void* ptr)
-	{
-		if(ptr)
-			getAllocator().deallocate(ptr);
-	}
-};
-
-template <typename T>
-struct AllocatorTraits
-{
-#if PX_USE_NAMED_ALLOCATOR
-	typedef NamedAllocator Type;
-#else
-	typedef ReflectionAllocator<T> Type;
-#endif
-};
-
-// if you get a build error here, you are trying to PX_NEW a class
-// that is neither plain-old-type nor derived from UserAllocated
-template <typename T, typename X>
-union EnableIfPod
-{
-	int i;
-	T t;
-	typedef X Type;
-};
-
-} // namespace shdfnd
-} // namespace physx
-
-// Global placement new for ReflectionAllocator templated by
-// plain-old-type. Allows using PX_NEW for pointers and built-in-types.
-//
-// ATTENTION: You need to use PX_DELETE_POD or PX_FREE to deallocate
-// memory, not PX_DELETE. PX_DELETE_POD redirects to PX_FREE.
-//
-// Rationale: PX_DELETE uses global operator delete(void*), which we dont' want to overload.
-// Any other definition of PX_DELETE couldn't support array syntax 'PX_DELETE([]a);'.
-// PX_DELETE_POD was preferred over PX_DELETE_ARRAY because it is used
-// less often and applies to both single instances and arrays.
-template <typename T>
-PX_INLINE void* operator new(size_t size, physx::shdfnd::ReflectionAllocator<T> alloc, const char* fileName,
-                             typename physx::shdfnd::EnableIfPod<T, int>::Type line)
-{
-	return alloc.allocate(size, fileName, line);
-}
-
-template <typename T>
-PX_INLINE void* operator new [](size_t size, physx::shdfnd::ReflectionAllocator<T> alloc, const char* fileName,
-                                typename physx::shdfnd::EnableIfPod<T, int>::Type line)
-{ return alloc.allocate(size, fileName, line); }
-
-// If construction after placement new throws, this placement delete is being called.
-template <typename T>
-PX_INLINE void operator delete(void* ptr, physx::shdfnd::ReflectionAllocator<T> alloc, const char* fileName,
-                               typename physx::shdfnd::EnableIfPod<T, int>::Type line)
-{
-	PX_UNUSED(fileName);
-	PX_UNUSED(line);
-
-	alloc.deallocate(ptr);
-}
-
-// If construction after placement new throws, this placement delete is being called.
-template <typename T>
-PX_INLINE void operator delete [](void* ptr, physx::shdfnd::ReflectionAllocator<T> alloc, const char* fileName,
-                                  typename physx::shdfnd::EnableIfPod<T, int>::Type line)
-{
-	PX_UNUSED(fileName);
-	PX_UNUSED(line);
-
-	alloc.deallocate(ptr);
-}
-
-#endif // #ifndef PSFOUNDATION_PSALLOCATOR_H
diff --git a/PxShared/src/foundation/include/PsAoS.h b/PxShared/src/foundation/include/PsAoS.h
deleted file mode 100644
index 5a7c82d..0000000
--- a/PxShared/src/foundation/include/PsAoS.h
+++ /dev/null
@@ -1,45 +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 PSFOUNDATION_PSAOS_H
-#define PSFOUNDATION_PSAOS_H
-
-#include "foundation/Px.h"
-
-#if PX_WINDOWS && !PX_NEON
-#include "windows/PsWindowsAoS.h"
-#elif(PX_UNIX_FAMILY || PX_PS4 || PX_SWITCH)
-#include "unix/PsUnixAoS.h"
-#elif PX_XBOXONE
-#include "XboxOne/PsXboxOneAoS.h"
-#else
-#error "Platform not supported!"
-#endif
-
-#endif
diff --git a/PxShared/src/foundation/include/PsArray.h b/PxShared/src/foundation/include/PsArray.h
deleted file mode 100644
index 2121c30..0000000
--- a/PxShared/src/foundation/include/PsArray.h
+++ /dev/null
@@ -1,721 +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 PSFOUNDATION_PSARRAY_H
-#define PSFOUNDATION_PSARRAY_H
-
-#include "foundation/PxAssert.h"
-#include "foundation/PxIntrinsics.h"
-#include "PsAllocator.h"
-#include "PsBasicTemplates.h"
-
-namespace physx
-{
-namespace shdfnd
-{
-template <class Serializer>
-void exportArray(Serializer& stream, const void* data, uint32_t size, uint32_t sizeOfElement, uint32_t capacity);
-char* importArray(char* address, void** data, uint32_t size, uint32_t sizeOfElement, uint32_t capacity);
-
-/*!
-An array is a sequential container.
-
-Implementation note
-* entries between 0 and size are valid objects
-* we use inheritance to build this because the array is included inline in a lot
-  of objects and we want the allocator to take no space if it's not stateful, which
-  aggregation doesn't allow. Also, we want the metadata at the front for the inline
-  case where the allocator contains some inline storage space
-*/
-template <class T, class Alloc = typename AllocatorTraits<T>::Type>
-class Array : protected Alloc
-{
-  public:
-	typedef T* Iterator;
-	typedef const T* ConstIterator;
-
-	explicit Array(const PxEMPTY v) : Alloc(v)
-	{
-		if(mData)
-			mCapacity |= PX_SIGN_BITMASK;
-	}
-
-	/*!
-	Default array constructor. Initialize an empty array
-	*/
-	PX_INLINE explicit Array(const Alloc& alloc = Alloc()) : Alloc(alloc), mData(0), mSize(0), mCapacity(0)
-	{
-	}
-
-	/*!
-	Initialize array with given capacity
-	*/
-	PX_INLINE explicit Array(uint32_t size, const T& a = T(), const Alloc& alloc = Alloc())
-	: Alloc(alloc), mData(0), mSize(0), mCapacity(0)
-	{
-		resize(size, a);
-	}
-
-	/*!
-	Copy-constructor. Copy all entries from other array
-	*/
-	template <class A>
-	PX_INLINE explicit Array(const Array<T, A>& other, const Alloc& alloc = Alloc())
-	: Alloc(alloc)
-	{
-		copy(other);
-	}
-
-	// This is necessary else the basic default copy constructor is used in the case of both arrays being of the same
-	// template instance
-	// The C++ standard clearly states that a template constructor is never a copy constructor [2]. In other words,
-	// the presence of a template constructor does not suppress the implicit declaration of the copy constructor.
-	// Also never make a copy constructor explicit, or copy-initialization* will no longer work. This is because
-	// 'binding an rvalue to a const reference requires an accessible copy constructor' (http://gcc.gnu.org/bugs/)
-	// *http://stackoverflow.com/questions/1051379/is-there-a-difference-in-c-between-copy-initialization-and-assignment-initializ
-	PX_INLINE Array(const Array& other, const Alloc& alloc = Alloc()) : Alloc(alloc)
-	{
-		copy(other);
-	}
-
-	/*!
-	Initialize array with given length
-	*/
-	PX_INLINE explicit Array(const T* first, const T* last, const Alloc& alloc = Alloc())
-	: Alloc(alloc), mSize(last < first ? 0 : uint32_t(last - first)), mCapacity(mSize)
-	{
-		mData = allocate(mSize);
-		copy(mData, mData + mSize, first);
-	}
-
-	/*!
-	Destructor
-	*/
-	PX_INLINE ~Array()
-	{
-		destroy(mData, mData + mSize);
-
-		if(capacity() && !isInUserMemory())
-			deallocate(mData);
-	}
-
-	/*!
-	Assignment operator. Copy content (deep-copy)
-	*/
-	template <class A>
-	PX_INLINE Array& operator=(const Array<T, A>& rhs)
-	{
-		if(&rhs == this)
-			return *this;
-
-		clear();
-		reserve(rhs.mSize);
-		copy(mData, mData + rhs.mSize, rhs.mData);
-
-		mSize = rhs.mSize;
-		return *this;
-	}
-
-	PX_INLINE Array& operator=(const Array& t) // Needs to be declared, see comment at copy-constructor
-	{
-		return operator=<Alloc>(t);
-	}
-
-	/*!
-	Array indexing operator.
-	\param i
-	The index of the element that will be returned.
-	\return
-	The element i in the array.
-	*/
-	PX_FORCE_INLINE const T& operator[](uint32_t i) const
-	{
-		PX_ASSERT(i < mSize);
-		return mData[i];
-	}
-
-	/*!
-	Array indexing operator.
-	\param i
-	The index of the element that will be returned.
-	\return
-	The element i in the array.
-	*/
-	PX_FORCE_INLINE T& operator[](uint32_t i)
-	{
-		PX_ASSERT(i < mSize);
-		return mData[i];
-	}
-
-	/*!
-	Returns a pointer to the initial element of the array.
-	\return
-	a pointer to the initial element of the array.
-	*/
-	PX_FORCE_INLINE ConstIterator begin() const
-	{
-		return mData;
-	}
-
-	PX_FORCE_INLINE Iterator begin()
-	{
-		return mData;
-	}
-
-	/*!
-	Returns an iterator beyond the last element of the array. Do not dereference.
-	\return
-	a pointer to the element beyond the last element of the array.
-	*/
-
-	PX_FORCE_INLINE ConstIterator end() const
-	{
-		return mData + mSize;
-	}
-
-	PX_FORCE_INLINE Iterator end()
-	{
-		return mData + mSize;
-	}
-
-	/*!
-	Returns a reference to the first element of the array. Undefined if the array is empty.
-	\return a reference to the first element of the array
-	*/
-
-	PX_FORCE_INLINE const T& front() const
-	{
-		PX_ASSERT(mSize);
-		return mData[0];
-	}
-
-	PX_FORCE_INLINE T& front()
-	{
-		PX_ASSERT(mSize);
-		return mData[0];
-	}
-
-	/*!
-	Returns a reference to the last element of the array. Undefined if the array is empty
-	\return a reference to the last element of the array
-	*/
-
-	PX_FORCE_INLINE const T& back() const
-	{
-		PX_ASSERT(mSize);
-		return mData[mSize - 1];
-	}
-
-	PX_FORCE_INLINE T& back()
-	{
-		PX_ASSERT(mSize);
-		return mData[mSize - 1];
-	}
-
-	/*!
-	Returns the number of entries in the array. This can, and probably will,
-	differ from the array capacity.
-	\return
-	The number of of entries in the array.
-	*/
-	PX_FORCE_INLINE uint32_t size() const
-	{
-		return mSize;
-	}
-
-	/*!
-	Clears the array.
-	*/
-	PX_INLINE void clear()
-	{
-		destroy(mData, mData + mSize);
-		mSize = 0;
-	}
-
-	/*!
-	Returns whether the array is empty (i.e. whether its size is 0).
-	\return
-	true if the array is empty
-	*/
-	PX_FORCE_INLINE bool empty() const
-	{
-		return mSize == 0;
-	}
-
-	/*!
-	Finds the first occurrence of an element in the array.
-	\param a
-	The element to find.
-	*/
-
-	PX_INLINE Iterator find(const T& a)
-	{
-		uint32_t index;
-		for(index = 0; index < mSize && mData[index] != a; index++)
-			;
-		return mData + index;
-	}
-
-	PX_INLINE ConstIterator find(const T& a) const
-	{
-		uint32_t index;
-		for(index = 0; index < mSize && mData[index] != a; index++)
-			;
-		return mData + index;
-	}
-
-	/////////////////////////////////////////////////////////////////////////
-	/*!
-	Adds one element to the end of the array. Operation is O(1).
-	\param a
-	The element that will be added to this array.
-	*/
-	/////////////////////////////////////////////////////////////////////////
-
-	PX_FORCE_INLINE T& pushBack(const T& a)
-	{
-		if(capacity() <= mSize)
-			return growAndPushBack(a);
-
-		PX_PLACEMENT_NEW(reinterpret_cast<void*>(mData + mSize), T)(a);
-
-		return mData[mSize++];
-	}
-
-	/////////////////////////////////////////////////////////////////////////
-	/*!
-	Returns the element at the end of the array. Only legal if the array is non-empty.
-	*/
-	/////////////////////////////////////////////////////////////////////////
-	PX_INLINE T popBack()
-	{
-		PX_ASSERT(mSize);
-		T t = mData[mSize - 1];
-
-		mData[--mSize].~T();
-
-		return t;
-	}
-
-	/////////////////////////////////////////////////////////////////////////
-	/*!
-	Construct one element at the end of the array. Operation is O(1).
-	*/
-	/////////////////////////////////////////////////////////////////////////
-	PX_INLINE T& insert()
-	{
-		if(capacity() <= mSize)
-			grow(capacityIncrement());
-
-		T* ptr = mData + mSize++;
-		new (ptr) T; // not 'T()' because PODs should not get default-initialized.
-		return *ptr;
-	}
-
-	/////////////////////////////////////////////////////////////////////////
-	/*!
-	Subtracts the element on position i from the array and replace it with
-	the last element.
-	Operation is O(1)
-	\param i
-	The position of the element that will be subtracted from this array.
-	*/
-	/////////////////////////////////////////////////////////////////////////
-	PX_INLINE void replaceWithLast(uint32_t i)
-	{
-		PX_ASSERT(i < mSize);
-		mData[i] = mData[--mSize];
-
-		mData[mSize].~T();
-	}
-
-	PX_INLINE void replaceWithLast(Iterator i)
-	{
-		replaceWithLast(static_cast<uint32_t>(i - mData));
-	}
-
-	/////////////////////////////////////////////////////////////////////////
-	/*!
-	Replaces the first occurrence of the element a with the last element
-	Operation is O(n)
-	\param a
-	The position of the element that will be subtracted from this array.
-	\return true if the element has been removed.
-	*/
-	/////////////////////////////////////////////////////////////////////////
-
-	PX_INLINE bool findAndReplaceWithLast(const T& a)
-	{
-		uint32_t index = 0;
-		while(index < mSize && mData[index] != a)
-			++index;
-		if(index == mSize)
-			return false;
-		replaceWithLast(index);
-		return true;
-	}
-
-	/////////////////////////////////////////////////////////////////////////
-	/*!
-	Subtracts the element on position i from the array. Shift the entire
-	array one step.
-	Operation is O(n)
-	\param i
-	The position of the element that will be subtracted from this array.
-	*/
-	/////////////////////////////////////////////////////////////////////////
-	PX_INLINE void remove(uint32_t i)
-	{
-		PX_ASSERT(i < mSize);
-
-		T* it = mData + i;
-		it->~T();
-		while (++i < mSize)
-		{								
-			new (it) T(mData[i]);
-			++it;
-			it->~T();
-		} 
-		--mSize;
-	}
-
-	/////////////////////////////////////////////////////////////////////////
-	/*!
-	Removes a range from the array.  Shifts the array so order is maintained.
-	Operation is O(n)
-	\param begin
-	The starting position of the element that will be subtracted from this array.
-	\param count
-	The number of elments that will be subtracted from this array.
-	*/
-	/////////////////////////////////////////////////////////////////////////
-	PX_INLINE void removeRange(uint32_t begin, uint32_t count)
-	{
-		PX_ASSERT(begin < mSize);
-		PX_ASSERT((begin + count) <= mSize);
-
-		for(uint32_t i = 0; i < count; i++)
-			mData[begin + i].~T(); // call the destructor on the ones being removed first.
-
-		T* dest = &mData[begin];                       // location we are copying the tail end objects to
-		T* src = &mData[begin + count];                // start of tail objects
-		uint32_t move_count = mSize - (begin + count); // compute remainder that needs to be copied down
-
-		for(uint32_t i = 0; i < move_count; i++)
-		{
-			new (dest) T(*src); // copy the old one to the new location
-			src->~T();          // call the destructor on the old location
-			dest++;
-			src++;
-		}
-		mSize -= count;
-	}
-
-	//////////////////////////////////////////////////////////////////////////
-	/*!
-	Resize array
-	*/
-	//////////////////////////////////////////////////////////////////////////
-	PX_NOINLINE void resize(const uint32_t size, const T& a = T());
-
-	PX_NOINLINE void resizeUninitialized(const uint32_t size);
-
-	//////////////////////////////////////////////////////////////////////////
-	/*!
-	Resize array such that only as much memory is allocated to hold the
-	existing elements
-	*/
-	//////////////////////////////////////////////////////////////////////////
-	PX_INLINE void shrink()
-	{
-		recreate(mSize);
-	}
-
-	//////////////////////////////////////////////////////////////////////////
-	/*!
-	Deletes all array elements and frees memory.
-	*/
-	//////////////////////////////////////////////////////////////////////////
-	PX_INLINE void reset()
-	{
-		resize(0);
-		shrink();
-	}
-
-	//////////////////////////////////////////////////////////////////////////
-	/*!
-	Ensure that the array has at least size capacity.
-	*/
-	//////////////////////////////////////////////////////////////////////////
-	PX_INLINE void reserve(const uint32_t capacity)
-	{
-		if(capacity > this->capacity())
-			grow(capacity);
-	}
-
-	//////////////////////////////////////////////////////////////////////////
-	/*!
-	Query the capacity(allocated mem) for the array.
-	*/
-	//////////////////////////////////////////////////////////////////////////
-	PX_FORCE_INLINE uint32_t capacity() const
-	{
-		return mCapacity & ~PX_SIGN_BITMASK;
-	}
-
-	//////////////////////////////////////////////////////////////////////////
-	/*!
-	Unsafe function to force the size of the array
-	*/
-	//////////////////////////////////////////////////////////////////////////
-	PX_FORCE_INLINE void forceSize_Unsafe(uint32_t size)
-	{
-		PX_ASSERT(size <= mCapacity);
-		mSize = size;
-	}
-
-	//////////////////////////////////////////////////////////////////////////
-	/*!
-	Swap contents of an array without allocating temporary storage
-	*/
-	//////////////////////////////////////////////////////////////////////////
-	PX_INLINE void swap(Array<T, Alloc>& other)
-	{
-		shdfnd::swap(mData, other.mData);
-		shdfnd::swap(mSize, other.mSize);
-		shdfnd::swap(mCapacity, other.mCapacity);
-	}
-
-	//////////////////////////////////////////////////////////////////////////
-	/*!
-	Assign a range of values to this vector (resizes to length of range)
-	*/
-	//////////////////////////////////////////////////////////////////////////
-	PX_INLINE void assign(const T* first, const T* last)
-	{
-		resizeUninitialized(uint32_t(last - first));
-		copy(begin(), end(), first);
-	}
-
-	// We need one bit to mark arrays that have been deserialized from a user-provided memory block.
-	// For alignment & memory saving purpose we store that bit in the rarely used capacity member.
-	PX_FORCE_INLINE uint32_t isInUserMemory() const
-	{
-		return mCapacity & PX_SIGN_BITMASK;
-	}
-
-	/// return reference to allocator
-	PX_INLINE Alloc& getAllocator()
-	{
-		return *this;
-	}
-
-  protected:
-	// constructor for where we don't own the memory
-	Array(T* memory, uint32_t size, uint32_t capacity, const Alloc& alloc = Alloc())
-	: Alloc(alloc), mData(memory), mSize(size), mCapacity(capacity | PX_SIGN_BITMASK)
-	{
-	}
-
-	template <class A>
-	PX_NOINLINE void copy(const Array<T, A>& other);
-
-	PX_INLINE T* allocate(uint32_t size)
-	{
-		if(size > 0)
-		{
-			T* p = reinterpret_cast<T*>(Alloc::allocate(sizeof(T) * size, __FILE__, __LINE__));
-/**
-Mark a specified amount of memory with 0xcd pattern. This is used to check that the meta data
-definition for serialized classes is complete in checked builds.
-*/
-#if PX_CHECKED
-			if(p)
-			{
-				for(uint32_t i = 0; i < (sizeof(T) * size); ++i)
-					reinterpret_cast<uint8_t*>(p)[i] = 0xcd;
-			}
-#endif
-			return p;
-		}
-		return 0;
-	}
-
-	PX_INLINE void deallocate(void* mem)
-	{
-		Alloc::deallocate(mem);
-	}
-
-	static PX_INLINE void create(T* first, T* last, const T& a)
-	{
-		for(; first < last; ++first)
-			::new (first) T(a);
-	}
-
-	static PX_INLINE void copy(T* first, T* last, const T* src)
-	{
-		if(last <= first)
-			return;
-
-		for(; first < last; ++first, ++src)
-			::new (first) T(*src);
-	}
-
-	static PX_INLINE void destroy(T* first, T* last)
-	{
-		for(; first < last; ++first)
-			first->~T();
-	}
-
-	/*!
-	Called when pushBack() needs to grow the array.
-	\param a The element that will be added to this array.
-	*/
-	PX_NOINLINE T& growAndPushBack(const T& a);
-
-	/*!
-	Resizes the available memory for the array.
-
-	\param capacity
-	The number of entries that the set should be able to hold.
-	*/
-	PX_INLINE void grow(uint32_t capacity)
-	{
-		PX_ASSERT(this->capacity() < capacity);
-		recreate(capacity);
-	}
-
-	/*!
-	Creates a new memory block, copies all entries to the new block and destroys old entries.
-
-	\param capacity
-	The number of entries that the set should be able to hold.
-	*/
-	PX_NOINLINE void recreate(uint32_t capacity);
-
-	// The idea here is to prevent accidental bugs with pushBack or insert. Unfortunately
-	// it interacts badly with InlineArrays with smaller inline allocations.
-	// TODO(dsequeira): policy template arg, this is exactly what they're for.
-	PX_INLINE uint32_t capacityIncrement() const
-	{
-		const uint32_t capacity = this->capacity();
-		return capacity == 0 ? 1 : capacity * 2;
-	}
-
-	T* mData;
-	uint32_t mSize;
-	uint32_t mCapacity;
-};
-
-template <class T, class Alloc>
-PX_NOINLINE void Array<T, Alloc>::resize(const uint32_t size, const T& a)
-{
-	reserve(size);
-	create(mData + mSize, mData + size, a);
-	destroy(mData + size, mData + mSize);
-	mSize = size;
-}
-
-template <class T, class Alloc>
-template <class A>
-PX_NOINLINE void Array<T, Alloc>::copy(const Array<T, A>& other)
-{
-	if(!other.empty())
-	{
-		mData = allocate(mSize = mCapacity = other.size());
-		copy(mData, mData + mSize, other.begin());
-	}
-	else
-	{
-		mData = NULL;
-		mSize = 0;
-		mCapacity = 0;
-	}
-
-	// mData = allocate(other.mSize);
-	// mSize = other.mSize;
-	// mCapacity = other.mSize;
-	// copy(mData, mData + mSize, other.mData);
-}
-
-template <class T, class Alloc>
-PX_NOINLINE void Array<T, Alloc>::resizeUninitialized(const uint32_t size)
-{
-	reserve(size);
-	mSize = size;
-}
-
-template <class T, class Alloc>
-PX_NOINLINE T& Array<T, Alloc>::growAndPushBack(const T& a)
-{
-	uint32_t capacity = capacityIncrement();
-
-	T* newData = allocate(capacity);
-	PX_ASSERT((!capacity) || (newData && (newData != mData)));
-	copy(newData, newData + mSize, mData);
-
-	// inserting element before destroying old array
-	// avoids referencing destroyed object when duplicating array element.
-	PX_PLACEMENT_NEW(reinterpret_cast<void*>(newData + mSize), T)(a);
-
-	destroy(mData, mData + mSize);
-	if(!isInUserMemory())
-		deallocate(mData);
-
-	mData = newData;
-	mCapacity = capacity;
-
-	return mData[mSize++];
-}
-
-template <class T, class Alloc>
-PX_NOINLINE void Array<T, Alloc>::recreate(uint32_t capacity)
-{
-	T* newData = allocate(capacity);
-	PX_ASSERT((!capacity) || (newData && (newData != mData)));
-
-	copy(newData, newData + mSize, mData);
-	destroy(mData, mData + mSize);
-	if(!isInUserMemory())
-		deallocate(mData);
-
-	mData = newData;
-	mCapacity = capacity;
-}
-
-template <class T, class Alloc>
-PX_INLINE void swap(Array<T, Alloc>& x, Array<T, Alloc>& y)
-{
-	x.swap(y);
-}
-
-} // namespace shdfnd
-} // namespace physx
-
-#endif // #ifndef PSFOUNDATION_PSARRAY_H
diff --git a/PxShared/src/foundation/include/PsAtomic.h b/PxShared/src/foundation/include/PsAtomic.h
deleted file mode 100644
index 23df190..0000000
--- a/PxShared/src/foundation/include/PsAtomic.h
+++ /dev/null
@@ -1,63 +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 PSFOUNDATION_PSATOMIC_H
-#define PSFOUNDATION_PSATOMIC_H
-
-#include "Ps.h"
-
-namespace physx
-{
-namespace shdfnd
-{
-/* set *dest equal to val. Return the old value of *dest */
-PX_FOUNDATION_API int32_t atomicExchange(volatile int32_t* dest, int32_t val);
-
-/* if *dest == comp, replace with exch. Return original value of *dest */
-PX_FOUNDATION_API int32_t atomicCompareExchange(volatile int32_t* dest, int32_t exch, int32_t comp);
-
-/* if *dest == comp, replace with exch. Return original value of *dest */
-PX_FOUNDATION_API void* atomicCompareExchangePointer(volatile void** dest, void* exch, void* comp);
-
-/* increment the specified location. Return the incremented value */
-PX_FOUNDATION_API int32_t atomicIncrement(volatile int32_t* val);
-
-/* decrement the specified location. Return the decremented value */
-PX_FOUNDATION_API int32_t atomicDecrement(volatile int32_t* val);
-
-/* add delta to *val. Return the new value */
-PX_FOUNDATION_API int32_t atomicAdd(volatile int32_t* val, int32_t delta);
-
-/* compute the maximum of dest and val. Return the new value */
-PX_FOUNDATION_API int32_t atomicMax(volatile int32_t* val, int32_t val2);
-
-} // namespace shdfnd
-} // namespace physx
-
-#endif // #ifndef PSFOUNDATION_PSATOMIC_H
diff --git a/PxShared/src/foundation/include/PsBasicTemplates.h b/PxShared/src/foundation/include/PsBasicTemplates.h
deleted file mode 100644
index 514da05..0000000
--- a/PxShared/src/foundation/include/PsBasicTemplates.h
+++ /dev/null
@@ -1,146 +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 PSFOUNDATION_PSBASICTEMPLATES_H
-#define PSFOUNDATION_PSBASICTEMPLATES_H
-
-#include "Ps.h"
-
-namespace physx
-{
-namespace shdfnd
-{
-template <typename A>
-struct Equal
-{
-	bool operator()(const A& a, const A& b) const
-	{
-		return a == b;
-	}
-};
-
-template <typename A>
-struct Less
-{
-	bool operator()(const A& a, const A& b) const
-	{
-		return a < b;
-	}
-};
-
-template <typename A>
-struct Greater
-{
-	bool operator()(const A& a, const A& b) const
-	{
-		return a > b;
-	}
-};
-
-template <class F, class S>
-class Pair
-{
-  public:
-	F first;
-	S second;
-	Pair() : first(F()), second(S())
-	{
-	}
-	Pair(const F& f, const S& s) : first(f), second(s)
-	{
-	}
-	Pair(const Pair& p) : first(p.first), second(p.second)
-	{
-	}
-	// CN - fix for /.../PsBasicTemplates.h(61) : warning C4512: 'physx::shdfnd::Pair<F,S>' : assignment operator could
-	// not be generated
-	Pair& operator=(const Pair& p)
-	{
-		first = p.first;
-		second = p.second;
-		return *this;
-	}
-	bool operator==(const Pair& p) const
-	{
-		return first == p.first && second == p.second;
-	}
-	bool operator<(const Pair& p) const
-	{
-		if(first < p.first)
-			return true;
-		else
-			return !(p.first < first) && (second < p.second);
-	}
-};
-
-template <unsigned int A>
-struct LogTwo
-{
-	static const unsigned int value = LogTwo<(A >> 1)>::value + 1;
-};
-template <>
-struct LogTwo<1>
-{
-	static const unsigned int value = 0;
-};
-
-template <typename T>
-struct UnConst
-{
-	typedef T Type;
-};
-template <typename T>
-struct UnConst<const T>
-{
-	typedef T Type;
-};
-
-template <typename T>
-T pointerOffset(void* p, ptrdiff_t offset)
-{
-	return reinterpret_cast<T>(reinterpret_cast<char*>(p) + offset);
-}
-template <typename T>
-T pointerOffset(const void* p, ptrdiff_t offset)
-{
-	return reinterpret_cast<T>(reinterpret_cast<const char*>(p) + offset);
-}
-
-template <class T>
-PX_CUDA_CALLABLE PX_INLINE void swap(T& x, T& y)
-{
-	const T tmp = x;
-	x = y;
-	y = tmp;
-}
-
-} // namespace shdfnd
-} // namespace physx
-
-#endif // #ifndef PSFOUNDATION_PSBASICTEMPLATES_H
diff --git a/PxShared/src/foundation/include/PsBitUtils.h b/PxShared/src/foundation/include/PsBitUtils.h
deleted file mode 100644
index f69f47a..0000000
--- a/PxShared/src/foundation/include/PsBitUtils.h
+++ /dev/null
@@ -1,109 +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 PSFOUNDATION_PSBITUTILS_H
-#define PSFOUNDATION_PSBITUTILS_H
-
-#include "foundation/PxIntrinsics.h"
-#include "foundation/PxAssert.h"
-#include "PsIntrinsics.h"
-#include "Ps.h"
-
-namespace physx
-{
-namespace shdfnd
-{
-PX_INLINE uint32_t bitCount(uint32_t v)
-{
-	// from http://graphics.stanford.edu/~seander/bithacks.html#CountBitsSetParallel
-	uint32_t const w = v - ((v >> 1) & 0x55555555);
-	uint32_t const x = (w & 0x33333333) + ((w >> 2) & 0x33333333);
-	return (((x + (x >> 4)) & 0xF0F0F0F) * 0x1010101) >> 24;
-}
-
-PX_INLINE bool isPowerOfTwo(uint32_t x)
-{
-	return x != 0 && (x & (x - 1)) == 0;
-}
-
-// "Next Largest Power of 2
-// Given a binary integer value x, the next largest power of 2 can be computed by a SWAR algorithm
-// that recursively "folds" the upper bits into the lower bits. This process yields a bit vector with
-// the same most significant 1 as x, but all 1's below it. Adding 1 to that value yields the next
-// largest power of 2. For a 32-bit value:"
-PX_INLINE uint32_t nextPowerOfTwo(uint32_t x)
-{
-	x |= (x >> 1);
-	x |= (x >> 2);
-	x |= (x >> 4);
-	x |= (x >> 8);
-	x |= (x >> 16);
-	return x + 1;
-}
-
-/*!
-Return the index of the highest set bit. Not valid for zero arg.
-*/
-
-PX_INLINE uint32_t lowestSetBit(uint32_t x)
-{
-	PX_ASSERT(x);
-	return lowestSetBitUnsafe(x);
-}
-
-/*!
-Return the index of the highest set bit. Not valid for zero arg.
-*/
-
-PX_INLINE uint32_t highestSetBit(uint32_t x)
-{
-	PX_ASSERT(x);
-	return highestSetBitUnsafe(x);
-}
-
-// Helper function to approximate log2 of an integer value
-// assumes that the input is actually power of two.
-// todo: replace 2 usages with 'highestSetBit'
-PX_INLINE uint32_t ilog2(uint32_t num)
-{
-	for(uint32_t i = 0; i < 32; i++)
-	{
-		num >>= 1;
-		if(num == 0)
-			return i;
-	}
-
-	PX_ASSERT(0);
-	return uint32_t(-1);
-}
-
-} // namespace shdfnd
-} // namespace physx
-
-#endif // #ifndef PSFOUNDATION_PSBITUTILS_H
diff --git a/PxShared/src/foundation/include/PsBroadcast.h b/PxShared/src/foundation/include/PsBroadcast.h
deleted file mode 100644
index 3eb1cba..0000000
--- a/PxShared/src/foundation/include/PsBroadcast.h
+++ /dev/null
@@ -1,277 +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 PXPVDSDK_PXBROADCAST_H
-#define PXPVDSDK_PXBROADCAST_H
-
-#include "Ps.h"
-#include "PsInlineArray.h"
-
-#include "foundation/PxSimpleTypes.h"
-#include "foundation/PxErrorCallback.h"
-
-namespace physx
-{
-namespace shdfnd
-{
-
-/**
-\brief Abstract listener class that listens to allocation and deallocation events from the
-    foundation memory system.
-
-<b>Threading:</b> All methods of this class should be thread safe as it can be called from the user thread
-or the physics processing thread(s).
-*/
-class AllocationListener
-{
-  public:
-	/**
-	\brief callback when memory is allocated.
-	\param size Size of the allocation in bytes.
-	\param typeName Type this data is being allocated for.
-	\param filename File the allocation came from.
-	\param line the allocation came from.
-	\param allocatedMemory memory that will be returned from the allocation.
-	*/
-	virtual void onAllocation(size_t size, const char* typeName, const char* filename, int line,
-	                          void* allocatedMemory) = 0;
-
-	/**
-	\brief callback when memory is deallocated.
-	\param allocatedMemory memory just before allocation.
-	*/
-	virtual void onDeallocation(void* allocatedMemory) = 0;
-
-  protected:
-	virtual ~AllocationListener()
-	{
-	}
-};
-
-/**
-\brief Broadcast class implementation, registering listeners.
-
-<b>Threading:</b> All methods of this class should be thread safe as it can be called from the user thread
-or the physics processing thread(s). There is not internal locking
-*/
-template <class Listener, class Base>
-class Broadcast : public Base
-{
-  public:
-	static const uint32_t MAX_NB_LISTENERS = 16;
-
-	/**
-	\brief The default constructor.
-	*/
-	Broadcast()
-	{
-	}
-
-	/**
-	\brief Register new listener.
-
-	\note It is NOT SAFE to register and deregister listeners while allocations may be taking place.
-	moreover, there is no thread safety to registration/deregistration.
-
-	\param listener Listener to register.
-	*/
-	void registerListener(Listener& listener)
-	{
-		if(mListeners.size() < MAX_NB_LISTENERS)
-			mListeners.pushBack(&listener);
-	}
-
-	/**
-	\brief Deregister an existing listener.
-
-	\note It is NOT SAFE to register and deregister listeners while allocations may be taking place.
-	moreover, there is no thread safety to registration/deregistration.
-
-	\param listener Listener to deregister.
-	*/
-	void deregisterListener(Listener& listener)
-	{
-		mListeners.findAndReplaceWithLast(&listener);
-	}
-
-	/**
-	\brief Get number of registered listeners.
-
-	\return Number of listeners.
-	*/
-	uint32_t getNbListeners() const
-	{
-		return mListeners.size();
-	}
-
-	/**
-	\brief Get an existing listener from given index.
-
-	\param index Index of the listener.
-	\return Listener on given index.
-	*/
-	Listener& getListener(uint32_t index)
-	{
-		PX_ASSERT(index <= mListeners.size());
-		return *mListeners[index];
-	}
-
-  protected:
-	virtual ~Broadcast()
-	{
-	}
-
-	physx::shdfnd::InlineArray<Listener*, MAX_NB_LISTENERS, physx::shdfnd::NonTrackingAllocator> mListeners;
-};
-
-/**
-\brief Abstract base class for an application defined memory allocator that allows an external listener
-to audit the memory allocations.
-*/
-class BroadcastingAllocator : public Broadcast<AllocationListener, PxAllocatorCallback>
-{
-	PX_NOCOPY(BroadcastingAllocator)
-
-  public:
-	/**
-	\brief The default constructor.
-	*/
-	BroadcastingAllocator(PxAllocatorCallback& allocator, PxErrorCallback& error) : mAllocator(allocator), mError(error)
-	{
-		mListeners.clear();
-	}
-
-	/**
-	\brief The default constructor.
-	*/
-	virtual ~BroadcastingAllocator()
-	{
-		mListeners.clear();
-	}
-
-	/**
-	\brief Allocates size bytes of memory, which must be 16-byte aligned.
-
-	This method should never return NULL.  If you run out of memory, then
-	you should terminate the app or take some other appropriate action.
-
-	<b>Threading:</b> This function should be thread safe as it can be called in the context of the user thread
-	and physics processing thread(s).
-
-	\param size			Number of bytes to allocate.
-	\param typeName		Name of the datatype that is being allocated
-	\param filename		The source file which allocated the memory
-	\param line			The source line which allocated the memory
-	\return				The allocated block of memory.
-	*/
-	void* allocate(size_t size, const char* typeName, const char* filename, int line)
-	{
-		void* mem = mAllocator.allocate(size, typeName, filename, line);
-
-		if(!mem)
-		{
-			mError.reportError(PxErrorCode::eABORT, "User allocator returned NULL.", __FILE__, __LINE__);
-			return NULL;
-		}
-
-		if((reinterpret_cast<size_t>(mem) & 15))
-		{
-			mError.reportError(PxErrorCode::eABORT, "Allocations must be 16-byte aligned.", __FILE__, __LINE__);
-			return NULL;
-		}
-
-		for(uint32_t i = 0; i < mListeners.size(); i++)
-			mListeners[i]->onAllocation(size, typeName, filename, line, mem);
-
-		return mem;
-	}
-
-	/**
-	\brief Frees memory previously allocated by allocate().
-
-	<b>Threading:</b> This function should be thread safe as it can be called in the context of the user thread
-	and physics processing thread(s).
-
-	\param ptr Memory to free.
-	*/
-	void deallocate(void* ptr)
-	{
-		for(uint32_t i = 0; i < mListeners.size(); i++)
-		{
-			mListeners[i]->onDeallocation(ptr);
-		}
-		mAllocator.deallocate(ptr);
-	}
-
-  private:
-	PxAllocatorCallback& mAllocator;
-	PxErrorCallback& mError;
-};
-
-/**
-\brief Abstract base class for an application defined error callback that allows an external listener
-to report errors.
-*/
-class BroadcastingErrorCallback : public Broadcast<PxErrorCallback, PxErrorCallback>
-{
-	PX_NOCOPY(BroadcastingErrorCallback)
-  public:
-	/**
-	\brief The default constructor.
-	*/
-	BroadcastingErrorCallback(PxErrorCallback& errorCallback)
-	{
-		registerListener(errorCallback);
-	}
-
-	/**
-	\brief The default destructor.
-	*/
-	virtual ~BroadcastingErrorCallback()
-	{
-		mListeners.clear();
-	}
-
-	/**
-	\brief Reports an error code.
-	\param code Error code, see #PxErrorCode
-	\param message Message to display.
-	\param file File error occured in.
-	\param line Line number error occured on.
-	*/
-	void reportError(PxErrorCode::Enum code, const char* message, const char* file, int line)
-	{
-		for(uint32_t i = 0; i < mListeners.size(); i++)
-			mListeners[i]->reportError(code, message, file, line);
-	}
-};
-}
-} // namespace physx
-
-#endif // PXPVDSDK_PXBROADCAST_H
diff --git a/PxShared/src/foundation/include/PsCpu.h b/PxShared/src/foundation/include/PsCpu.h
deleted file mode 100644
index 2dcc5c1..0000000
--- a/PxShared/src/foundation/include/PsCpu.h
+++ /dev/null
@@ -1,47 +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 PSFOUNDATION_PSCPU_H
-#define PSFOUNDATION_PSCPU_H
-
-#include "Ps.h"
-
-namespace physx
-{
-namespace shdfnd
-{
-class Cpu
-{
-  public:
-	static uint8_t getCpuId();
-};
-}
-}
-
-#endif // #ifndef PSFOUNDATION_PSCPU_H
diff --git a/PxShared/src/foundation/include/PsFPU.h b/PxShared/src/foundation/include/PsFPU.h
deleted file mode 100644
index fd990a8..0000000
--- a/PxShared/src/foundation/include/PsFPU.h
+++ /dev/null
@@ -1,103 +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 PSFOUNDATION_PSFPU_H
-#define PSFOUNDATION_PSFPU_H
-
-#include "Ps.h"
-#include "PsIntrinsics.h"
-
-#define PX_IR(x) ((uint32_t&)(x))
-#define PX_SIR(x) ((int32_t&)(x))
-#define PX_FR(x) ((float&)(x))
-
-// signed integer representation of a floating-point value.
-
-// Floating-point representation of a integer value.
-
-#define PX_SIGN_BITMASK 0x80000000
-
-#define PX_FPU_GUARD shdfnd::FPUGuard scopedFpGuard;
-#define PX_SIMD_GUARD shdfnd::SIMDGuard scopedFpGuard;
-
-#define PX_SUPPORT_GUARDS (PX_WINDOWS_FAMILY || PX_XBOXONE || (PX_LINUX && (PX_X86 || PX_X64)) || PX_PS4 || PX_OSX)
-
-namespace physx
-{
-namespace shdfnd
-{
-// sets the default SDK state for scalar and SIMD units
-class PX_FOUNDATION_API FPUGuard
-{
-  public:
-	FPUGuard();  // set fpu control word for PhysX
-	~FPUGuard(); // restore fpu control word
-  private:
-	uint32_t mControlWords[8];
-};
-
-// sets default SDK state for simd unit only, lighter weight than FPUGuard
-class SIMDGuard
-{
-  public:
-	PX_INLINE SIMDGuard();  // set simd control word for PhysX
-	PX_INLINE ~SIMDGuard(); // restore simd control word
-  private:
-#if PX_SUPPORT_GUARDS
-	uint32_t mControlWord;
-#endif
-};
-
-/**
-\brief Enables floating point exceptions for the scalar and SIMD unit
-*/
-PX_FOUNDATION_API void enableFPExceptions();
-
-/**
-\brief Disables floating point exceptions for the scalar and SIMD unit
-*/
-PX_FOUNDATION_API void disableFPExceptions();
-
-} // namespace shdfnd
-} // namespace physx
-
-#if PX_WINDOWS_FAMILY || PX_XBOXONE
-#include "windows/PsWindowsFPU.h"
-#elif (PX_LINUX && PX_SSE2) || PX_PS4 || PX_OSX
-#include "unix/PsUnixFPU.h"
-#else
-PX_INLINE physx::shdfnd::SIMDGuard::SIMDGuard()
-{
-}
-PX_INLINE physx::shdfnd::SIMDGuard::~SIMDGuard()
-{
-}
-#endif
-
-#endif // #ifndef PSFOUNDATION_PSFPU_H
diff --git a/PxShared/src/foundation/include/PsFoundation.h b/PxShared/src/foundation/include/PsFoundation.h
deleted file mode 100644
index 68f2cc7..0000000
--- a/PxShared/src/foundation/include/PsFoundation.h
+++ /dev/null
@@ -1,216 +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_PSFOUNDATION_H
-#define PX_FOUNDATION_PSFOUNDATION_H
-
-#include "foundation/PxFoundation.h"
-#include "foundation/PxErrors.h"
-#include "foundation/PxProfiler.h"
-
-#include "PsBroadcast.h"
-#include "PsAllocator.h"
-#include "PsTempAllocator.h"
-#include "PsMutex.h"
-#include "PsHashMap.h"
-#include "PsUserAllocated.h"
-
-#include <stdarg.h>
-
-namespace physx
-{
-namespace shdfnd
-{
-
-#if PX_VC
-#pragma warning(push)
-#pragma warning(disable : 4251) // class needs to have dll-interface to be used by clients of class
-#endif
-
-class PX_FOUNDATION_API Foundation : public PxFoundation, public UserAllocated
-{
-	PX_NOCOPY(Foundation)
-
-  public:
-	typedef MutexT<Allocator> Mutex;
-
-	typedef HashMap<const NamedAllocator*, const char*, Hash<const NamedAllocator*>, NonTrackingAllocator> AllocNameMap;
-	typedef Array<TempAllocatorChunk*, Allocator> AllocFreeTable;
-
-  public:
-	// factory
-	// note, you MUST eventually call release if createInstance returned true!
-	static Foundation* createInstance(PxU32 version, PxErrorCallback& errc, PxAllocatorCallback& alloc);
-	static Foundation& getInstance();
-	void release();
-	static void incRefCount(); // this call requires a foundation object to exist already
-	static void decRefCount(); // this call requires a foundation object to exist already
-
-	// Begin Errors
-	virtual PxErrorCallback& getErrorCallback()
-	{
-		return mErrorCallback;
-	} // Return the user's error callback
-	PxErrorCallback& getInternalErrorCallback()
-	{
-		return mBroadcastingError;
-	} // Return the broadcasting error callback
-
-	void registerErrorCallback(PxErrorCallback& listener);
-	void deregisterErrorCallback(PxErrorCallback& listener);
-
-	virtual void setErrorLevel(PxErrorCode::Enum mask)
-	{
-		mErrorMask = mask;
-	}
-	virtual PxErrorCode::Enum getErrorLevel() const
-	{
-		return mErrorMask;
-	}
-
-	void error(PxErrorCode::Enum, const char* file, int line, const char* messageFmt, ...); // Report errors with the
-	                                                                                        // broadcasting
-	void errorImpl(PxErrorCode::Enum, const char* file, int line, const char* messageFmt, va_list); // error callback
-	static PxU32 getWarnOnceTimestamp();
-
-	// End errors
-
-	// Begin Allocations
-	virtual PxAllocatorCallback& getAllocatorCallback()
-	{
-		return mAllocatorCallback;
-	} // Return the user's allocator callback
-	PxAllocatorCallback& getAllocator()
-	{
-		return mBroadcastingAllocator;
-	} // Return the broadcasting allocator
-
-	void registerAllocationListener(physx::shdfnd::AllocationListener& listener);
-	void deregisterAllocationListener(physx::shdfnd::AllocationListener& listener);
-
-	virtual bool getReportAllocationNames() const
-	{
-		return mReportAllocationNames;
-	}
-	virtual void setReportAllocationNames(bool value)
-	{
-		mReportAllocationNames = value;
-	}
-
-	PX_INLINE AllocNameMap& getNamedAllocMap()
-	{
-		return mNamedAllocMap;
-	}
-	PX_INLINE Mutex& getNamedAllocMutex()
-	{
-		return mNamedAllocMutex;
-	}
-
-	PX_INLINE AllocFreeTable& getTempAllocFreeTable()
-	{
-		return mTempAllocFreeTable;
-	}
-	PX_INLINE Mutex& getTempAllocMutex()
-	{
-		return mTempAllocMutex;
-	}
-	// End allocations
-
-  private:
-	static void destroyInstance();
-
-	Foundation(PxErrorCallback& errc, PxAllocatorCallback& alloc);
-	~Foundation();
-
-	// init order is tricky here: the mutexes require the allocator, the allocator may require the error stream
-	PxAllocatorCallback& mAllocatorCallback;
-	PxErrorCallback& mErrorCallback;
-
-	BroadcastingAllocator mBroadcastingAllocator;
-	BroadcastingErrorCallback mBroadcastingError;
-
-	bool mReportAllocationNames;
-
-	PxErrorCode::Enum mErrorMask;
-	Mutex mErrorMutex;
-
-	AllocNameMap mNamedAllocMap;
-	Mutex mNamedAllocMutex;
-
-	AllocFreeTable mTempAllocFreeTable;
-	Mutex mTempAllocMutex;
-
-	Mutex mListenerMutex;
-
-	static Foundation* mInstance;
-	static PxU32 mRefCount;
-	static PxU32 mWarnOnceTimestap;
-};
-#if PX_VC
-#pragma warning(pop)
-#endif
-
-PX_INLINE Foundation& getFoundation()
-{
-	return Foundation::getInstance();
-}
-
-} // namespace shdfnd
-} // namespace physx
-
-// shortcut macros:
-// usage: Foundation::error(PX_WARN, "static friction %f is is lower than dynamic friction %d", sfr, dfr);
-#define PX_WARN ::physx::PxErrorCode::eDEBUG_WARNING, __FILE__, __LINE__
-#define PX_INFO ::physx::PxErrorCode::eDEBUG_INFO, __FILE__, __LINE__
-
-#if PX_DEBUG || PX_CHECKED
-#define PX_WARN_ONCE(string)                                                                                           \
-	{                                                                                                                  \
-		static PxU32 timestamp = 0;                                                                                    \
-		if(timestamp != Ps::getFoundation().getWarnOnceTimestamp())                                                    \
-		{                                                                                                              \
-			timestamp = Ps::getFoundation().getWarnOnceTimestamp();                                                    \
-			Ps::getFoundation().error(PX_WARN, string);                                                                \
-		}                                                                                                              \
-	\
-}
-#define PX_WARN_ONCE_IF(condition, string)                                                                             \
-	{                                                                                                                  \
-		if(condition)                                                                                                  \
-		{                                                                                                              \
-			PX_WARN_ONCE(string)                                                                                       \
-		}                                                                                                              \
-	\
-}
-#else
-#define PX_WARN_ONCE(string) ((void)0)
-#define PX_WARN_ONCE_IF(condition, string) ((void)0)
-#endif
-
-#endif
diff --git a/PxShared/src/foundation/include/PsHash.h b/PxShared/src/foundation/include/PsHash.h
deleted file mode 100644
index 6b74fb2..0000000
--- a/PxShared/src/foundation/include/PsHash.h
+++ /dev/null
@@ -1,162 +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 PSFOUNDATION_PSHASH_H
-#define PSFOUNDATION_PSHASH_H
-
-#include "Ps.h"
-#include "PsBasicTemplates.h"
-
-#if PX_VC
-#pragma warning(push)
-#pragma warning(disable : 4302)
-#endif
-
-#if PX_LINUX
-#include "foundation/PxSimpleTypes.h"
-#endif
-
-/*!
-Central definition of hash functions
-*/
-
-namespace physx
-{
-namespace shdfnd
-{
-// Hash functions
-
-// Thomas Wang's 32 bit mix
-// http://www.cris.com/~Ttwang/tech/inthash.htm
-PX_FORCE_INLINE uint32_t hash(const uint32_t key)
-{
-	uint32_t k = key;
-	k += ~(k << 15);
-	k ^= (k >> 10);
-	k += (k << 3);
-	k ^= (k >> 6);
-	k += ~(k << 11);
-	k ^= (k >> 16);
-	return uint32_t(k);
-}
-
-PX_FORCE_INLINE uint32_t hash(const int32_t key)
-{
-	return hash(uint32_t(key));
-}
-
-// Thomas Wang's 64 bit mix
-// http://www.cris.com/~Ttwang/tech/inthash.htm
-PX_FORCE_INLINE uint32_t hash(const uint64_t key)
-{
-	uint64_t k = key;
-	k += ~(k << 32);
-	k ^= (k >> 22);
-	k += ~(k << 13);
-	k ^= (k >> 8);
-	k += (k << 3);
-	k ^= (k >> 15);
-	k += ~(k << 27);
-	k ^= (k >> 31);
-	return uint32_t(UINT32_MAX & k);
-}
-
-#if PX_APPLE_FAMILY
-// hash for size_t, to make gcc happy
-PX_INLINE uint32_t hash(const size_t key)
-{
-#if PX_P64_FAMILY
-	return hash(uint64_t(key));
-#else
-	return hash(uint32_t(key));
-#endif
-}
-#endif
-
-// Hash function for pointers
-PX_INLINE uint32_t hash(const void* ptr)
-{
-#if PX_P64_FAMILY
-	return hash(uint64_t(ptr));
-#else
-	return hash(uint32_t(UINT32_MAX & size_t(ptr)));
-#endif
-}
-
-// Hash function for pairs
-template <typename F, typename S>
-PX_INLINE uint32_t hash(const Pair<F, S>& p)
-{
-	uint32_t seed = 0x876543;
-	uint32_t m = 1000007;
-	return hash(p.second) ^ (m * (hash(p.first) ^ (m * seed)));
-}
-
-// hash object for hash map template parameter
-template <class Key>
-struct Hash
-{
-	uint32_t operator()(const Key& k) const
-	{
-		return hash(k);
-	}
-	bool equal(const Key& k0, const Key& k1) const
-	{
-		return k0 == k1;
-	}
-};
-
-// specialization for strings
-template <>
-struct Hash<const char*>
-{
-  public:
-	uint32_t operator()(const char* _string) const
-	{
-		// "DJB" string hash
-		const uint8_t* string = reinterpret_cast<const uint8_t*>(_string);
-		uint32_t h = 5381;
-		for(const uint8_t* ptr = string; *ptr; ptr++)
-			h = ((h << 5) + h) ^ uint32_t(*ptr);
-		return h;
-	}
-	bool equal(const char* string0, const char* string1) const
-	{
-		return !strcmp(string0, string1);
-	}
-};
-
-} // namespace shdfnd
-} // namespace physx
-
-#if PX_VC
-#pragma warning(pop)
-#endif
-
-#endif // #ifndef PSFOUNDATION_PSHASH_H
diff --git a/PxShared/src/foundation/include/PsHashInternals.h b/PxShared/src/foundation/include/PsHashInternals.h
deleted file mode 100644
index 809baa3..0000000
--- a/PxShared/src/foundation/include/PsHashInternals.h
+++ /dev/null
@@ -1,795 +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 PSFOUNDATION_PSHASHINTERNALS_H
-#define PSFOUNDATION_PSHASHINTERNALS_H
-
-#include "PsBasicTemplates.h"
-#include "PsArray.h"
-#include "PsBitUtils.h"
-#include "PsHash.h"
-#include "foundation/PxIntrinsics.h"
-
-#if PX_VC
-#pragma warning(push)
-#pragma warning(disable : 4127) // conditional expression is constant
-#endif
-namespace physx
-{
-namespace shdfnd
-{
-namespace internal
-{
-template <class Entry, class Key, class HashFn, class GetKey, class Allocator, bool compacting>
-class HashBase : private Allocator
-{
-	void init(uint32_t initialTableSize, float loadFactor)
-	{
-		mBuffer = NULL;
-		mEntries = NULL;
-		mEntriesNext = NULL;
-		mHash = NULL;
-		mEntriesCapacity = 0;
-		mHashSize = 0;
-		mLoadFactor = loadFactor;
-		mFreeList = uint32_t(EOL);
-		mTimestamp = 0;
-		mEntriesCount = 0;
-
-		if(initialTableSize)
-			reserveInternal(initialTableSize);
-	}
-
-  public:
-	typedef Entry EntryType;
-
-	HashBase(uint32_t initialTableSize = 64, float loadFactor = 0.75f) : Allocator(PX_DEBUG_EXP("hashBase"))
-	{
-		init(initialTableSize, loadFactor);
-	}
-
-	HashBase(uint32_t initialTableSize, float loadFactor, const Allocator& alloc) : Allocator(alloc)
-	{
-		init(initialTableSize, loadFactor);
-	}
-
-	HashBase(const Allocator& alloc) : Allocator(alloc)
-	{
-		init(64, 0.75f);
-	}
-
-	~HashBase()
-	{
-		destroy(); // No need to clear()
-
-		if(mBuffer)
-			Allocator::deallocate(mBuffer);
-	}
-
-	static const uint32_t EOL = 0xffffffff;
-
-	PX_INLINE Entry* create(const Key& k, bool& exists)
-	{
-		uint32_t h = 0;
-		if(mHashSize)
-		{
-			h = hash(k);
-			uint32_t index = mHash[h];
-			while(index != EOL && !HashFn().equal(GetKey()(mEntries[index]), k))
-				index = mEntriesNext[index];
-			exists = index != EOL;
-			if(exists)
-				return mEntries + index;
-		}
-		else
-			exists = false;
-
-		if(freeListEmpty())
-		{
-			grow();
-			h = hash(k);
-		}
-
-		uint32_t entryIndex = freeListGetNext();
-
-		mEntriesNext[entryIndex] = mHash[h];
-		mHash[h] = entryIndex;
-
-		mEntriesCount++;
-		mTimestamp++;
-
-		return mEntries + entryIndex;
-	}
-
-	PX_INLINE const Entry* find(const Key& k) const
-	{
-		if(!mEntriesCount)
-			return NULL;
-
-		const uint32_t h = hash(k);
-		uint32_t index = mHash[h];
-		while(index != EOL && !HashFn().equal(GetKey()(mEntries[index]), k))
-			index = mEntriesNext[index];
-		return index != EOL ? mEntries + index : NULL;
-	}
-
-	PX_INLINE bool erase(const Key& k, Entry& e)
-	{
-		if(!mEntriesCount)
-			return false;
-
-		const uint32_t h = hash(k);
-		uint32_t* ptr = mHash + h;
-		while(*ptr != EOL && !HashFn().equal(GetKey()(mEntries[*ptr]), k))
-			ptr = mEntriesNext + *ptr;
-
-		if(*ptr == EOL)
-			return false;
-
-		PX_PLACEMENT_NEW(&e, Entry)(mEntries[*ptr]);		
-
-		return eraseInternal(ptr);
-	}
-
-	PX_INLINE bool erase(const Key& k)
-	{
-		if(!mEntriesCount)
-			return false;
-
-		const uint32_t h = hash(k);
-		uint32_t* ptr = mHash + h;
-		while(*ptr != EOL && !HashFn().equal(GetKey()(mEntries[*ptr]), k))
-			ptr = mEntriesNext + *ptr;
-
-		if(*ptr == EOL)
-			return false;		
-
-		return eraseInternal(ptr);
-	}
-
-	PX_INLINE uint32_t size() const
-	{
-		return mEntriesCount;
-	}
-
-	PX_INLINE uint32_t capacity() const
-	{
-		return mHashSize;
-	}
-
-	void clear()
-	{
-		if(!mHashSize || mEntriesCount == 0)
-			return;
-
-		destroy();
-
-		intrinsics::memSet(mHash, EOL, mHashSize * sizeof(uint32_t));
-
-		const uint32_t sizeMinus1 = mEntriesCapacity - 1;
-		for(uint32_t i = 0; i < sizeMinus1; i++)
-		{
-			prefetchLine(mEntriesNext + i, 128);
-			mEntriesNext[i] = i + 1;
-		}
-		mEntriesNext[mEntriesCapacity - 1] = uint32_t(EOL);
-		mFreeList = 0;
-		mEntriesCount = 0;
-	}
-
-	void reserve(uint32_t size)
-	{
-		if(size > mHashSize)
-			reserveInternal(size);
-	}
-
-	PX_INLINE const Entry* getEntries() const
-	{
-		return mEntries;
-	}
-
-	PX_INLINE Entry* insertUnique(const Key& k)
-	{
-		PX_ASSERT(find(k) == NULL);
-		uint32_t h = hash(k);
-
-		uint32_t entryIndex = freeListGetNext();
-
-		mEntriesNext[entryIndex] = mHash[h];
-		mHash[h] = entryIndex;
-
-		mEntriesCount++;
-		mTimestamp++;
-
-		return mEntries + entryIndex;
-	}
-
-  private:
-	void destroy()
-	{
-		for(uint32_t i = 0; i < mHashSize; i++)
-		{
-			for(uint32_t j = mHash[i]; j != EOL; j = mEntriesNext[j])
-				mEntries[j].~Entry();
-		}
-	}
-
-	template <typename HK, typename GK, class A, bool comp>
-	PX_NOINLINE void copy(const HashBase<Entry, Key, HK, GK, A, comp>& other);
-
-	// free list management - if we're coalescing, then we use mFreeList to hold
-	// the top of the free list and it should always be equal to size(). Otherwise,
-	// we build a free list in the next() pointers.
-
-	PX_INLINE void freeListAdd(uint32_t index)
-	{
-		if(compacting)
-		{
-			mFreeList--;
-			PX_ASSERT(mFreeList == mEntriesCount);
-		}
-		else
-		{
-			mEntriesNext[index] = mFreeList;
-			mFreeList = index;
-		}
-	}
-
-	PX_INLINE void freeListAdd(uint32_t start, uint32_t end)
-	{
-		if(!compacting)
-		{
-			for(uint32_t i = start; i < end - 1; i++) // add the new entries to the free list
-				mEntriesNext[i] = i + 1;
-
-			// link in old free list
-			mEntriesNext[end - 1] = mFreeList;
-			PX_ASSERT(mFreeList != end - 1);
-			mFreeList = start;
-		}
-		else if(mFreeList == EOL) // don't reset the free ptr for the compacting hash unless it's empty
-			mFreeList = start;
-	}
-
-	PX_INLINE uint32_t freeListGetNext()
-	{
-		PX_ASSERT(!freeListEmpty());
-		if(compacting)
-		{
-			PX_ASSERT(mFreeList == mEntriesCount);
-			return mFreeList++;
-		}
-		else
-		{
-			uint32_t entryIndex = mFreeList;
-			mFreeList = mEntriesNext[mFreeList];
-			return entryIndex;
-		}
-	}
-
-	PX_INLINE bool freeListEmpty() const
-	{
-		if(compacting)
-			return mEntriesCount == mEntriesCapacity;
-		else
-			return mFreeList == EOL;
-	}
-
-	PX_INLINE void replaceWithLast(uint32_t index)
-	{
-		PX_PLACEMENT_NEW(mEntries + index, Entry)(mEntries[mEntriesCount]);
-		mEntries[mEntriesCount].~Entry();
-		mEntriesNext[index] = mEntriesNext[mEntriesCount];
-
-		uint32_t h = hash(GetKey()(mEntries[index]));
-		uint32_t* ptr;
-		for(ptr = mHash + h; *ptr != mEntriesCount; ptr = mEntriesNext + *ptr)
-			PX_ASSERT(*ptr != EOL);
-		*ptr = index;
-	}
-
-	PX_INLINE uint32_t hash(const Key& k, uint32_t hashSize) const
-	{
-		return HashFn()(k) & (hashSize - 1);
-	}
-
-	PX_INLINE uint32_t hash(const Key& k) const
-	{
-		return hash(k, mHashSize);
-	}
-
-	PX_INLINE bool eraseInternal(uint32_t* ptr)
-	{
-		const uint32_t index = *ptr;
-
-		*ptr = mEntriesNext[index];
-
-		mEntries[index].~Entry();
-
-		mEntriesCount--;
-		mTimestamp++;
-
-		if (compacting && index != mEntriesCount)
-			replaceWithLast(index);
-
-		freeListAdd(index);
-		return true;
-	}
-
-	void reserveInternal(uint32_t size)
-	{
-		if(!isPowerOfTwo(size))
-			size = nextPowerOfTwo(size);
-
-		PX_ASSERT(!(size & (size - 1)));
-
-		// decide whether iteration can be done on the entries directly
-		bool resizeCompact = compacting || freeListEmpty();
-
-		// define new table sizes
-		uint32_t oldEntriesCapacity = mEntriesCapacity;
-		uint32_t newEntriesCapacity = uint32_t(float(size) * mLoadFactor);
-		uint32_t newHashSize = size;
-
-		// allocate new common buffer and setup pointers to new tables
-		uint8_t* newBuffer;
-		uint32_t* newHash;
-		uint32_t* newEntriesNext;
-		Entry* newEntries;
-		{
-			uint32_t newHashByteOffset = 0;
-			uint32_t newEntriesNextBytesOffset = newHashByteOffset + newHashSize * sizeof(uint32_t);
-			uint32_t newEntriesByteOffset = newEntriesNextBytesOffset + newEntriesCapacity * sizeof(uint32_t);
-			newEntriesByteOffset += (16 - (newEntriesByteOffset & 15)) & 15;
-			uint32_t newBufferByteSize = newEntriesByteOffset + newEntriesCapacity * sizeof(Entry);
-
-			newBuffer = reinterpret_cast<uint8_t*>(Allocator::allocate(newBufferByteSize, __FILE__, __LINE__));
-			PX_ASSERT(newBuffer);
-
-			newHash = reinterpret_cast<uint32_t*>(newBuffer + newHashByteOffset);
-			newEntriesNext = reinterpret_cast<uint32_t*>(newBuffer + newEntriesNextBytesOffset);
-			newEntries = reinterpret_cast<Entry*>(newBuffer + newEntriesByteOffset);
-		}
-
-		// initialize new hash table
-		intrinsics::memSet(newHash, uint32_t(EOL), newHashSize * sizeof(uint32_t));
-
-		// iterate over old entries, re-hash and create new entries
-		if(resizeCompact)
-		{
-			// check that old free list is empty - we don't need to copy the next entries
-			PX_ASSERT(compacting || mFreeList == EOL);
-
-			for(uint32_t index = 0; index < mEntriesCount; ++index)
-			{
-				uint32_t h = hash(GetKey()(mEntries[index]), newHashSize);
-				newEntriesNext[index] = newHash[h];
-				newHash[h] = index;
-
-				PX_PLACEMENT_NEW(newEntries + index, Entry)(mEntries[index]);
-				mEntries[index].~Entry();
-			}
-		}
-		else
-		{
-			// copy old free list, only required for non compact resizing
-			intrinsics::memCopy(newEntriesNext, mEntriesNext, mEntriesCapacity * sizeof(uint32_t));
-
-			for(uint32_t bucket = 0; bucket < mHashSize; bucket++)
-			{
-				uint32_t index = mHash[bucket];
-				while(index != EOL)
-				{
-					uint32_t h = hash(GetKey()(mEntries[index]), newHashSize);
-					newEntriesNext[index] = newHash[h];
-					PX_ASSERT(index != newHash[h]);
-
-					newHash[h] = index;
-
-					PX_PLACEMENT_NEW(newEntries + index, Entry)(mEntries[index]);
-					mEntries[index].~Entry();
-
-					index = mEntriesNext[index];
-				}
-			}
-		}
-
-		// swap buffer and pointers
-		Allocator::deallocate(mBuffer);
-		mBuffer = newBuffer;
-		mHash = newHash;
-		mHashSize = newHashSize;
-		mEntriesNext = newEntriesNext;
-		mEntries = newEntries;
-		mEntriesCapacity = newEntriesCapacity;
-
-		freeListAdd(oldEntriesCapacity, newEntriesCapacity);
-	}
-
-	void grow()
-	{
-		PX_ASSERT((mFreeList == EOL) || (compacting && (mEntriesCount == mEntriesCapacity)));
-
-		uint32_t size = mHashSize == 0 ? 16 : mHashSize * 2;
-		reserve(size);
-	}
-
-	uint8_t* mBuffer;
-	Entry* mEntries;
-	uint32_t* mEntriesNext; // same size as mEntries
-	uint32_t* mHash;
-	uint32_t mEntriesCapacity;
-	uint32_t mHashSize;
-	float mLoadFactor;
-	uint32_t mFreeList;
-	uint32_t mTimestamp;
-	uint32_t mEntriesCount; // number of entries
-
-  public:
-	class Iter
-	{
-	  public:
-		PX_INLINE Iter(HashBase& b) : mBucket(0), mEntry(uint32_t(b.EOL)), mTimestamp(b.mTimestamp), mBase(b)
-		{
-			if(mBase.mEntriesCapacity > 0)
-			{
-				mEntry = mBase.mHash[0];
-				skip();
-			}
-		}
-
-		PX_INLINE void check() const
-		{
-			PX_ASSERT(mTimestamp == mBase.mTimestamp);
-		}
-		PX_INLINE const Entry& operator*() const
-		{
-			check();
-			return mBase.mEntries[mEntry];
-		}
-		PX_INLINE Entry& operator*()
-		{
-			check();
-			return mBase.mEntries[mEntry];
-		}
-		PX_INLINE const Entry* operator->() const
-		{
-			check();
-			return mBase.mEntries + mEntry;
-		}
-		PX_INLINE Entry* operator->()
-		{
-			check();
-			return mBase.mEntries + mEntry;
-		}
-		PX_INLINE Iter operator++()
-		{
-			check();
-			advance();
-			return *this;
-		}
-		PX_INLINE Iter operator++(int)
-		{
-			check();
-			Iter i = *this;
-			advance();
-			return i;
-		}
-		PX_INLINE bool done() const
-		{
-			check();
-			return mEntry == mBase.EOL;
-		}
-
-	  private:
-		PX_INLINE void advance()
-		{
-			mEntry = mBase.mEntriesNext[mEntry];
-			skip();
-		}
-		PX_INLINE void skip()
-		{
-			while(mEntry == mBase.EOL)
-			{
-				if(++mBucket == mBase.mHashSize)
-					break;
-				mEntry = mBase.mHash[mBucket];
-			}
-		}
-
-		Iter& operator=(const Iter&);
-
-		uint32_t mBucket;
-		uint32_t mEntry;
-		uint32_t mTimestamp;
-		HashBase& mBase;
-	};
-
-	/*!
-	Iterate over entries in a hash base and allow entry erase while iterating
-	*/
-	class EraseIterator
-	{
-	public:
-		PX_INLINE EraseIterator(HashBase& b): mBase(b)
-		{
-			reset();
-		}
-
-		PX_INLINE Entry* eraseCurrentGetNext(bool eraseCurrent)
-		{
-			if(eraseCurrent && mCurrentEntryIndexPtr)
-			{
-				mBase.eraseInternal(mCurrentEntryIndexPtr);
-				// if next was valid return the same ptr, if next was EOL search new hash entry
-				if(*mCurrentEntryIndexPtr != mBase.EOL)
-					return mBase.mEntries + *mCurrentEntryIndexPtr;
-				else
-					return traverseHashEntries();
-			}
-
-			// traverse mHash to find next entry
-			if(mCurrentEntryIndexPtr == NULL)
-				return traverseHashEntries();
-			
-			const uint32_t index = *mCurrentEntryIndexPtr;			
-			if(mBase.mEntriesNext[index] == mBase.EOL)
-			{
-				return traverseHashEntries();
-			}
-			else
-			{
-				mCurrentEntryIndexPtr = mBase.mEntriesNext + index;
-				return mBase.mEntries + *mCurrentEntryIndexPtr;
-			}
-		}
-
-		PX_INLINE void reset()
-		{
-			mCurrentHashIndex = 0;
-			mCurrentEntryIndexPtr = NULL;			
-		}
-
-	private:
-		PX_INLINE Entry* traverseHashEntries()
-		{
-			mCurrentEntryIndexPtr = NULL;			
-			while (mCurrentEntryIndexPtr == NULL && mCurrentHashIndex < mBase.mHashSize)
-			{
-				if (mBase.mHash[mCurrentHashIndex] != mBase.EOL)
-				{
-					mCurrentEntryIndexPtr = mBase.mHash + mCurrentHashIndex;
-					mCurrentHashIndex++;
-					return mBase.mEntries + *mCurrentEntryIndexPtr;
-				}
-				else
-				{
-					mCurrentHashIndex++;
-				}
-			}
-			return NULL;
-		}
-
-		EraseIterator& operator=(const EraseIterator&);
-	private:
-		uint32_t*	mCurrentEntryIndexPtr;
-		uint32_t	mCurrentHashIndex;		
-		HashBase&	mBase;
-	};
-};
-
-template <class Entry, class Key, class HashFn, class GetKey, class Allocator, bool compacting>
-template <typename HK, typename GK, class A, bool comp>
-PX_NOINLINE void
-HashBase<Entry, Key, HashFn, GetKey, Allocator, compacting>::copy(const HashBase<Entry, Key, HK, GK, A, comp>& other)
-{
-	reserve(other.mEntriesCount);
-
-	for(uint32_t i = 0; i < other.mEntriesCount; i++)
-	{
-		for(uint32_t j = other.mHash[i]; j != EOL; j = other.mEntriesNext[j])
-		{
-			const Entry& otherEntry = other.mEntries[j];
-
-			bool exists;
-			Entry* newEntry = create(GK()(otherEntry), exists);
-			PX_ASSERT(!exists);
-
-			PX_PLACEMENT_NEW(newEntry, Entry)(otherEntry);
-		}
-	}
-}
-
-template <class Key, class HashFn, class Allocator = typename AllocatorTraits<Key>::Type, bool Coalesced = false>
-class HashSetBase
-{
-	PX_NOCOPY(HashSetBase)
-  public:
-	struct GetKey
-	{
-		PX_INLINE const Key& operator()(const Key& e)
-		{
-			return e;
-		}
-	};
-
-	typedef HashBase<Key, Key, HashFn, GetKey, Allocator, Coalesced> BaseMap;
-	typedef typename BaseMap::Iter Iterator;
-
-	HashSetBase(uint32_t initialTableSize, float loadFactor, const Allocator& alloc)
-	: mBase(initialTableSize, loadFactor, alloc)
-	{
-	}
-
-	HashSetBase(const Allocator& alloc) : mBase(64, 0.75f, alloc)
-	{
-	}
-
-	HashSetBase(uint32_t initialTableSize = 64, float loadFactor = 0.75f) : mBase(initialTableSize, loadFactor)
-	{
-	}
-
-	bool insert(const Key& k)
-	{
-		bool exists;
-		Key* e = mBase.create(k, exists);
-		if(!exists)
-			PX_PLACEMENT_NEW(e, Key)(k);
-		return !exists;
-	}
-
-	PX_INLINE bool contains(const Key& k) const
-	{
-		return mBase.find(k) != 0;
-	}
-	PX_INLINE bool erase(const Key& k)
-	{
-		return mBase.erase(k);
-	}
-	PX_INLINE uint32_t size() const
-	{
-		return mBase.size();
-	}
-	PX_INLINE uint32_t capacity() const
-	{
-		return mBase.capacity();
-	}
-	PX_INLINE void reserve(uint32_t size)
-	{
-		mBase.reserve(size);
-	}
-	PX_INLINE void clear()
-	{
-		mBase.clear();
-	}
-
-  protected:
-	BaseMap mBase;
-};
-
-template <class Key, class Value, class HashFn, class Allocator = typename AllocatorTraits<Pair<const Key, Value> >::Type>
-class HashMapBase
-{
-	PX_NOCOPY(HashMapBase)
-  public:
-	typedef Pair<const Key, Value> Entry;
-
-	struct GetKey
-	{
-		PX_INLINE const Key& operator()(const Entry& e)
-		{
-			return e.first;
-		}
-	};
-
-	typedef HashBase<Entry, Key, HashFn, GetKey, Allocator, true> BaseMap;
-	typedef typename BaseMap::Iter Iterator;
-	typedef typename BaseMap::EraseIterator EraseIterator;
-
-	HashMapBase(uint32_t initialTableSize, float loadFactor, const Allocator& alloc)
-	: mBase(initialTableSize, loadFactor, alloc)
-	{
-	}
-
-	HashMapBase(const Allocator& alloc) : mBase(64, 0.75f, alloc)
-	{
-	}
-
-	HashMapBase(uint32_t initialTableSize = 64, float loadFactor = 0.75f) : mBase(initialTableSize, loadFactor)
-	{
-	}
-
-	bool insert(const Key /*&*/ k, const Value /*&*/ v)
-	{
-		bool exists;
-		Entry* e = mBase.create(k, exists);
-		if(!exists)
-			PX_PLACEMENT_NEW(e, Entry)(k, v);
-		return !exists;
-	}
-
-	Value& operator[](const Key& k)
-	{
-		bool exists;
-		Entry* e = mBase.create(k, exists);
-		if(!exists)
-			PX_PLACEMENT_NEW(e, Entry)(k, Value());
-
-		return e->second;
-	}
-
-	PX_INLINE const Entry* find(const Key& k) const
-	{
-		return mBase.find(k);
-	}
-	PX_INLINE bool erase(const Key& k)
-	{
-		return mBase.erase(k);
-	}
-	PX_INLINE bool erase(const Key& k, Entry& e)
-	{		
-		return mBase.erase(k, e);
-	}
-	PX_INLINE uint32_t size() const
-	{
-		return mBase.size();
-	}
-	PX_INLINE uint32_t capacity() const
-	{
-		return mBase.capacity();
-	}
-	PX_INLINE Iterator getIterator()
-	{
-		return Iterator(mBase);
-	}
-	PX_INLINE EraseIterator getEraseIterator()
-	{
-		return EraseIterator(mBase);
-	}
-	PX_INLINE void reserve(uint32_t size)
-	{
-		mBase.reserve(size);
-	}
-	PX_INLINE void clear()
-	{
-		mBase.clear();
-	}
-
-  protected:
-	BaseMap mBase;
-};
-}
-
-} // namespace shdfnd
-} // namespace physx
-
-#if PX_VC
-#pragma warning(pop)
-#endif
-#endif // #ifndef PSFOUNDATION_PSHASHINTERNALS_H
diff --git a/PxShared/src/foundation/include/PsHashMap.h b/PxShared/src/foundation/include/PsHashMap.h
deleted file mode 100644
index 5091dee..0000000
--- a/PxShared/src/foundation/include/PsHashMap.h
+++ /dev/null
@@ -1,118 +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 PSFOUNDATION_PSHASHMAP_H
-#define PSFOUNDATION_PSHASHMAP_H
-
-#include "PsHashInternals.h"
-
-// TODO: make this doxy-format
-//
-// This header defines two hash maps. Hash maps
-// * support custom initial table sizes (rounded up internally to power-of-2)
-// * support custom static allocator objects
-// * auto-resize, based on a load factor (i.e. a 64-entry .75 load factor hash will resize
-//                                        when the 49th element is inserted)
-// * are based on open hashing
-// * have O(1) contains, erase
-//
-// Maps have STL-like copying semantics, and properly initialize and destruct copies of objects
-//
-// There are two forms of map: coalesced and uncoalesced. Coalesced maps keep the entries in the
-// initial segment of an array, so are fast to iterate over; however deletion is approximately
-// twice as expensive.
-//
-// HashMap<T>:
-//		bool			insert(const Key& k, const Value& v)	O(1) amortized (exponential resize policy)
-//		Value &			operator[](const Key& k)				O(1) for existing objects, else O(1) amortized
-//		const Entry *	find(const Key& k);						O(1)
-//		bool			erase(const T& k);						O(1)
-//		uint32_t			size();									constant
-//		void			reserve(uint32_t size);					O(MAX(currentOccupancy,size))
-//		void			clear();								O(currentOccupancy) (with zero constant for objects
-// without
-// destructors)
-//      Iterator		getIterator();
-//
-// operator[] creates an entry if one does not exist, initializing with the default constructor.
-// CoalescedHashMap<T> does not support getIterator, but instead supports
-// 		const Key *getEntries();
-//
-// Use of iterators:
-//
-// for(HashMap::Iterator iter = test.getIterator(); !iter.done(); ++iter)
-//			myFunction(iter->first, iter->second);
-
-namespace physx
-{
-namespace shdfnd
-{
-template <class Key, class Value, class HashFn = Hash<Key>, class Allocator = NonTrackingAllocator>
-class HashMap : public internal::HashMapBase<Key, Value, HashFn, Allocator>
-{
-  public:
-	typedef internal::HashMapBase<Key, Value, HashFn, Allocator> HashMapBase;
-	typedef typename HashMapBase::Iterator Iterator;
-
-	HashMap(uint32_t initialTableSize = 64, float loadFactor = 0.75f) : HashMapBase(initialTableSize, loadFactor)
-	{
-	}
-	HashMap(uint32_t initialTableSize, float loadFactor, const Allocator& alloc)
-	: HashMapBase(initialTableSize, loadFactor, alloc)
-	{
-	}
-	HashMap(const Allocator& alloc) : HashMapBase(64, 0.75f, alloc)
-	{
-	}
-	Iterator getIterator()
-	{
-		return Iterator(HashMapBase::mBase);
-	}
-};
-
-template <class Key, class Value, class HashFn = Hash<Key>, class Allocator = NonTrackingAllocator>
-class CoalescedHashMap : public internal::HashMapBase<Key, Value, HashFn, Allocator>
-{
-  public:
-	typedef internal::HashMapBase<Key, Value, HashFn, Allocator> HashMapBase;
-
-	CoalescedHashMap(uint32_t initialTableSize = 64, float loadFactor = 0.75f)
-	: HashMapBase(initialTableSize, loadFactor)
-	{
-	}
-	const Pair<const Key, Value>* getEntries() const
-	{
-		return HashMapBase::mBase.getEntries();
-	}
-};
-
-} // namespace shdfnd
-} // namespace physx
-
-#endif // #ifndef PSFOUNDATION_PSHASHMAP_H
diff --git a/PxShared/src/foundation/include/PsHashSet.h b/PxShared/src/foundation/include/PsHashSet.h
deleted file mode 100644
index 195f01d..0000000
--- a/PxShared/src/foundation/include/PsHashSet.h
+++ /dev/null
@@ -1,127 +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 PSFOUNDATION_PSHASHSET_H
-#define PSFOUNDATION_PSHASHSET_H
-
-#include "PsHashInternals.h"
-
-// TODO: make this doxy-format
-
-// This header defines two hash sets. Hash sets
-// * support custom initial table sizes (rounded up internally to power-of-2)
-// * support custom static allocator objects
-// * auto-resize, based on a load factor (i.e. a 64-entry .75 load factor hash will resize
-//                                        when the 49th element is inserted)
-// * are based on open hashing
-//
-// Sets have STL-like copying semantics, and properly initialize and destruct copies of objects
-//
-// There are two forms of set: coalesced and uncoalesced. Coalesced sets keep the entries in the
-// initial segment of an array, so are fast to iterate over; however deletion is approximately
-// twice as expensive.
-//
-// HashSet<T>:
-//		bool		insert(const T& k)						amortized O(1) (exponential resize policy)
-// 		bool		contains(const T& k)	const;			O(1)
-//		bool		erase(const T& k);						O(1)
-//		uint32_t		size()					const;			constant
-//		void		reserve(uint32_t size);					O(MAX(size, currentOccupancy))
-//		void		clear();								O(currentOccupancy) (with zero constant for objects without
-// destructors)
-//      Iterator    getIterator();
-//
-// Use of iterators:
-//
-// for(HashSet::Iterator iter = test.getIterator(); !iter.done(); ++iter)
-//			myFunction(*iter);
-//
-// CoalescedHashSet<T> does not support getIterator, but instead supports
-// 		const Key *getEntries();
-//
-// insertion into a set already containing the element fails returning false, as does
-// erasure of an element not in the set
-//
-
-namespace physx
-{
-namespace shdfnd
-{
-template <class Key, class HashFn = Hash<Key>, class Allocator = NonTrackingAllocator>
-class HashSet : public internal::HashSetBase<Key, HashFn, Allocator, false>
-{
-  public:
-	typedef internal::HashSetBase<Key, HashFn, Allocator, false> HashSetBase;
-	typedef typename HashSetBase::Iterator Iterator;
-
-	HashSet(uint32_t initialTableSize = 64, float loadFactor = 0.75f) : HashSetBase(initialTableSize, loadFactor)
-	{
-	}
-	HashSet(uint32_t initialTableSize, float loadFactor, const Allocator& alloc)
-	: HashSetBase(initialTableSize, loadFactor, alloc)
-	{
-	}
-	HashSet(const Allocator& alloc) : HashSetBase(64, 0.75f, alloc)
-	{
-	}
-	Iterator getIterator()
-	{
-		return Iterator(HashSetBase::mBase);
-	}
-};
-
-template <class Key, class HashFn = Hash<Key>, class Allocator = NonTrackingAllocator>
-class CoalescedHashSet : public internal::HashSetBase<Key, HashFn, Allocator, true>
-{
-  public:
-	typedef typename internal::HashSetBase<Key, HashFn, Allocator, true> HashSetBase;
-
-	CoalescedHashSet(uint32_t initialTableSize = 64, float loadFactor = 0.75f)
-	: HashSetBase(initialTableSize, loadFactor)
-	{
-	}
-
-	CoalescedHashSet(uint32_t initialTableSize, float loadFactor, const Allocator& alloc)
-	: HashSetBase(initialTableSize, loadFactor, alloc)
-	{
-	}
-	CoalescedHashSet(const Allocator& alloc) : HashSetBase(64, 0.75f, alloc)
-	{
-	}
-
-	const Key* getEntries() const
-	{
-		return HashSetBase::mBase.getEntries();
-	}
-};
-
-} // namespace shdfnd
-} // namespace physx
-
-#endif // #ifndef PSFOUNDATION_PSHASHSET_H
diff --git a/PxShared/src/foundation/include/PsInlineAllocator.h b/PxShared/src/foundation/include/PsInlineAllocator.h
deleted file mode 100644
index f87abd6..0000000
--- a/PxShared/src/foundation/include/PsInlineAllocator.h
+++ /dev/null
@@ -1,91 +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 PSFOUNDATION_PSINLINEALLOCATOR_H
-#define PSFOUNDATION_PSINLINEALLOCATOR_H
-
-#include "PsUserAllocated.h"
-
-namespace physx
-{
-namespace shdfnd
-{
-// this is used by the array class to allocate some space for a small number
-// of objects along with the metadata
-template <uint32_t N, typename BaseAllocator>
-class InlineAllocator : private BaseAllocator
-{
-  public:
-	InlineAllocator(const PxEMPTY v) : BaseAllocator(v)
-	{
-	}
-
-	InlineAllocator(const BaseAllocator& alloc = BaseAllocator()) : BaseAllocator(alloc), mBufferUsed(false)
-	{
-	}
-
-	InlineAllocator(const InlineAllocator& aloc) : BaseAllocator(aloc), mBufferUsed(false)
-	{
-	}
-
-	void* allocate(uint32_t size, const char* filename, int line)
-	{
-		if(!mBufferUsed && size <= N)
-		{
-			mBufferUsed = true;
-			return mBuffer;
-		}
-		return BaseAllocator::allocate(size, filename, line);
-	}
-
-	void deallocate(void* ptr)
-	{
-		if(ptr == mBuffer)
-			mBufferUsed = false;
-		else
-			BaseAllocator::deallocate(ptr);
-	}
-
-	PX_FORCE_INLINE uint8_t* getInlineBuffer()
-	{
-		return mBuffer;
-	}
-	PX_FORCE_INLINE bool isBufferUsed() const
-	{
-		return mBufferUsed;
-	}
-
-  protected:
-	uint8_t mBuffer[N];
-	bool mBufferUsed;
-};
-} // namespace shdfnd
-} // namespace physx
-
-#endif // #ifndef PSFOUNDATION_PSINLINEALLOCATOR_H
diff --git a/PxShared/src/foundation/include/PsInlineAoS.h b/PxShared/src/foundation/include/PsInlineAoS.h
deleted file mode 100644
index 6ae15cf..0000000
--- a/PxShared/src/foundation/include/PsInlineAoS.h
+++ /dev/null
@@ -1,48 +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 PSFOUNDATION_PSINLINEAOS_H
-#define PSFOUNDATION_PSINLINEAOS_H
-
-#include "foundation/PxPreprocessor.h"
-
-#if PX_WINDOWS
-#include "windows/PsWindowsTrigConstants.h"
-#include "windows/PsWindowsInlineAoS.h"
-#elif(PX_UNIX_FAMILY || PX_PS4 || PX_SWITCH)
-#include "unix/PsUnixTrigConstants.h"
-#include "unix/PsUnixInlineAoS.h"
-#elif PX_XBOXONE
-#include "XboxOne/PsXboxOneTrigConstants.h"
-#include "XboxOne/PsXboxOneInlineAoS.h"
-#else
-#error "Platform not supported!"
-#endif
-
-#endif
diff --git a/PxShared/src/foundation/include/PsInlineArray.h b/PxShared/src/foundation/include/PsInlineArray.h
deleted file mode 100644
index e9ea939..0000000
--- a/PxShared/src/foundation/include/PsInlineArray.h
+++ /dev/null
@@ -1,68 +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 PSFOUNDATION_PSINLINEARRAY_H
-#define PSFOUNDATION_PSINLINEARRAY_H
-
-#include "PsArray.h"
-#include "PsInlineAllocator.h"
-
-namespace physx
-{
-namespace shdfnd
-{
-
-// array that pre-allocates for N elements
-template <typename T, uint32_t N, typename Alloc = typename AllocatorTraits<T>::Type>
-class InlineArray : public Array<T, InlineAllocator<N * sizeof(T), Alloc> >
-{
-	typedef InlineAllocator<N * sizeof(T), Alloc> Allocator;
-
-  public:
-	InlineArray(const PxEMPTY v) : Array<T, Allocator>(v)
-	{
-		if(isInlined())
-			this->mData = reinterpret_cast<T*>(Array<T, Allocator>::getInlineBuffer());
-	}
-
-	PX_INLINE bool isInlined() const
-	{
-		return Allocator::isBufferUsed();
-	}
-
-	PX_INLINE explicit InlineArray(const Alloc& alloc = Alloc()) : Array<T, Allocator>(alloc)
-	{
-		this->mData = this->allocate(N);
-		this->mCapacity = N;
-	}
-};
-} // namespace shdfnd
-} // namespace physx
-
-#endif // #ifndef PSFOUNDATION_PSINLINEARRAY_H
diff --git a/PxShared/src/foundation/include/PsIntrinsics.h b/PxShared/src/foundation/include/PsIntrinsics.h
deleted file mode 100644
index 38b91ba..0000000
--- a/PxShared/src/foundation/include/PsIntrinsics.h
+++ /dev/null
@@ -1,47 +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 PSFOUNDATION_PSINTRINSICS_H
-#define PSFOUNDATION_PSINTRINSICS_H
-
-#include "foundation/PxPreprocessor.h"
-
-#if PX_WINDOWS_FAMILY
-#include "windows/PsWindowsIntrinsics.h"
-#elif(PX_LINUX || PX_ANDROID || PX_APPLE_FAMILY || PX_PS4)
-#include "unix/PsUnixIntrinsics.h"
-#elif PX_XBOXONE
-#include "XboxOne/PsXboxOneIntrinsics.h"
-#elif PX_SWITCH
-#include "switch/PsSwitchIntrinsics.h"
-#else
-#error "Platform not supported!"
-#endif
-
-#endif // #ifndef PSFOUNDATION_PSINTRINSICS_H
diff --git a/PxShared/src/foundation/include/PsMathUtils.h b/PxShared/src/foundation/include/PsMathUtils.h
deleted file mode 100644
index 789cf3f..0000000
--- a/PxShared/src/foundation/include/PsMathUtils.h
+++ /dev/null
@@ -1,694 +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 PSFOUNDATION_PSMATHUTILS_H
-#define PSFOUNDATION_PSMATHUTILS_H
-
-#include "foundation/PxPreprocessor.h"
-#include "foundation/PxTransform.h"
-#include "foundation/PxMat33.h"
-#include "Ps.h"
-#include "PsIntrinsics.h"
-
-// General guideline is: if it's an abstract math function, it belongs here.
-// If it's a math function where the inputs have specific semantics (e.g.
-// separateSwingTwist) it doesn't.
-
-namespace physx
-{
-namespace shdfnd
-{
-/**
-\brief sign returns the sign of its argument. The sign of zero is undefined.
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 sign(const PxF32 a)
-{
-	return intrinsics::sign(a);
-}
-
-/**
-\brief sign returns the sign of its argument. The sign of zero is undefined.
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 sign(const PxF64 a)
-{
-	return (a >= 0.0) ? 1.0 : -1.0;
-}
-
-/**
-\brief sign returns the sign of its argument. The sign of zero is undefined.
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxI32 sign(const PxI32 a)
-{
-	return (a >= 0) ? 1 : -1;
-}
-
-/**
-\brief Returns true if the two numbers are within eps of each other.
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE bool equals(const PxF32 a, const PxF32 b, const PxF32 eps)
-{
-	return (PxAbs(a - b) < eps);
-}
-
-/**
-\brief Returns true if the two numbers are within eps of each other.
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE bool equals(const PxF64 a, const PxF64 b, const PxF64 eps)
-{
-	return (PxAbs(a - b) < eps);
-}
-
-/**
-\brief The floor function returns a floating-point value representing the largest integer that is less than or equal to
-x.
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 floor(const PxF32 a)
-{
-	return floatFloor(a);
-}
-
-/**
-\brief The floor function returns a floating-point value representing the largest integer that is less than or equal to
-x.
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 floor(const PxF64 a)
-{
-	return ::floor(a);
-}
-
-/**
-\brief The ceil function returns a single value representing the smallest integer that is greater than or equal to x.
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 ceil(const PxF32 a)
-{
-	return ::ceilf(a);
-}
-
-/**
-\brief The ceil function returns a double value representing the smallest integer that is greater than or equal to x.
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 ceil(const PxF64 a)
-{
-	return ::ceil(a);
-}
-
-/**
-\brief mod returns the floating-point remainder of x / y.
-
-If the value of y is 0.0, mod returns a quiet NaN.
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 mod(const PxF32 x, const PxF32 y)
-{
-	return PxF32(::fmodf(x, y));
-}
-
-/**
-\brief mod returns the floating-point remainder of x / y.
-
-If the value of y is 0.0, mod returns a quiet NaN.
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 mod(const PxF64 x, const PxF64 y)
-{
-	return ::fmod(x, y);
-}
-
-/**
-\brief Square.
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 sqr(const PxF32 a)
-{
-	return a * a;
-}
-
-/**
-\brief Square.
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 sqr(const PxF64 a)
-{
-	return a * a;
-}
-
-/**
-\brief Calculates x raised to the power of y.
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 pow(const PxF32 x, const PxF32 y)
-{
-	return ::powf(x, y);
-}
-
-/**
-\brief Calculates x raised to the power of y.
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 pow(const PxF64 x, const PxF64 y)
-{
-	return ::pow(x, y);
-}
-
-/**
-\brief Calculates e^n
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 exp(const PxF32 a)
-{
-	return ::expf(a);
-}
-/**
-
-\brief Calculates e^n
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 exp(const PxF64 a)
-{
-	return ::exp(a);
-}
-
-/**
-\brief Calculates 2^n
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 exp2(const PxF32 a)
-{
-	return ::expf(a * 0.693147180559945309417f);
-}
-/**
-
-\brief Calculates 2^n
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 exp2(const PxF64 a)
-{
-	return ::exp(a * 0.693147180559945309417);
-}
-
-/**
-\brief Calculates logarithms.
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 logE(const PxF32 a)
-{
-	return ::logf(a);
-}
-
-/**
-\brief Calculates logarithms.
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 logE(const PxF64 a)
-{
-	return ::log(a);
-}
-
-/**
-\brief Calculates logarithms.
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 log2(const PxF32 a)
-{
-	return ::logf(a) / 0.693147180559945309417f;
-}
-
-/**
-\brief Calculates logarithms.
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 log2(const PxF64 a)
-{
-	return ::log(a) / 0.693147180559945309417;
-}
-
-/**
-\brief Calculates logarithms.
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 log10(const PxF32 a)
-{
-	return ::log10f(a);
-}
-
-/**
-\brief Calculates logarithms.
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 log10(const PxF64 a)
-{
-	return ::log10(a);
-}
-
-/**
-\brief Converts degrees to radians.
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 degToRad(const PxF32 a)
-{
-	return 0.01745329251994329547f * a;
-}
-
-/**
-\brief Converts degrees to radians.
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 degToRad(const PxF64 a)
-{
-	return 0.01745329251994329547 * a;
-}
-
-/**
-\brief Converts radians to degrees.
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 radToDeg(const PxF32 a)
-{
-	return 57.29577951308232286465f * a;
-}
-
-/**
-\brief Converts radians to degrees.
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF64 radToDeg(const PxF64 a)
-{
-	return 57.29577951308232286465 * a;
-}
-
-//! \brief compute sine and cosine at the same time. There is a 'fsincos' on PC that we probably want to use here
-PX_CUDA_CALLABLE PX_FORCE_INLINE void sincos(const PxF32 radians, PxF32& sin, PxF32& cos)
-{
-	/* something like:
-	_asm fld  Local
-	_asm fsincos
-	_asm fstp LocalCos
-	_asm fstp LocalSin
-	*/
-	sin = PxSin(radians);
-	cos = PxCos(radians);
-}
-
-/**
-\brief uniform random number in [a,b]
-*/
-PX_FORCE_INLINE PxI32 rand(const PxI32 a, const PxI32 b)
-{
-	return a + PxI32(::rand() % (b - a + 1));
-}
-
-/**
-\brief uniform random number in [a,b]
-*/
-PX_FORCE_INLINE PxF32 rand(const PxF32 a, const PxF32 b)
-{
-	return a + (b - a) * ::rand() / RAND_MAX;
-}
-
-//! \brief return angle between two vectors in radians
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxF32 angle(const PxVec3& v0, const PxVec3& v1)
-{
-	const PxF32 cos = v0.dot(v1);                 // |v0|*|v1|*Cos(Angle)
-	const PxF32 sin = (v0.cross(v1)).magnitude(); // |v0|*|v1|*Sin(Angle)
-	return PxAtan2(sin, cos);
-}
-
-//! If possible use instead fsel on the dot product /*fsel(d.dot(p),onething,anotherthing);*/
-//! Compares orientations (more readable, user-friendly function)
-PX_CUDA_CALLABLE PX_FORCE_INLINE bool sameDirection(const PxVec3& d, const PxVec3& p)
-{
-	return d.dot(p) >= 0.0f;
-}
-
-//! Checks 2 values have different signs
-PX_CUDA_CALLABLE PX_FORCE_INLINE IntBool differentSign(PxReal f0, PxReal f1)
-{
-#if !PX_EMSCRIPTEN
-	union
-	{
-		PxU32 u;
-		PxReal f;
-	} u1, u2;
-	u1.f = f0;
-	u2.f = f1;
-	return IntBool((u1.u ^ u2.u) & PX_SIGN_BITMASK);
-#else
-	// javascript floats are 64-bits...
-	return IntBool( (f0*f1) < 0.0f );
-#endif
-}
-
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33 star(const PxVec3& v)
-{
-	return PxMat33(PxVec3(0, v.z, -v.y), PxVec3(-v.z, 0, v.x), PxVec3(v.y, -v.x, 0));
-}
-
-PX_CUDA_CALLABLE PX_INLINE PxVec3 log(const PxQuat& q)
-{
-	const PxReal s = q.getImaginaryPart().magnitude();
-	if(s < 1e-12f)
-		return PxVec3(0.0f);
-	// force the half-angle to have magnitude <= pi/2
-	PxReal halfAngle = q.w < 0 ? PxAtan2(-s, -q.w) : PxAtan2(s, q.w);
-	PX_ASSERT(halfAngle >= -PxPi / 2 && halfAngle <= PxPi / 2);
-
-	return q.getImaginaryPart().getNormalized() * 2.f * halfAngle;
-}
-
-PX_CUDA_CALLABLE PX_INLINE PxQuat exp(const PxVec3& v)
-{
-	const PxReal m = v.magnitudeSquared();
-	return m < 1e-24f ? PxQuat(PxIdentity) : PxQuat(PxSqrt(m), v * PxRecipSqrt(m));
-}
-
-// quat to rotate v0 t0 v1
-PX_CUDA_CALLABLE PX_INLINE PxQuat rotationArc(const PxVec3& v0, const PxVec3& v1)
-{
-	const PxVec3 cross = v0.cross(v1);
-	const PxReal d = v0.dot(v1);
-	if(d <= -0.99999f)
-		return (PxAbs(v0.x) < 0.1f ? PxQuat(0.0f, v0.z, -v0.y, 0.0f) : PxQuat(v0.y, -v0.x, 0.0, 0.0)).getNormalized();
-
-	const PxReal s = PxSqrt((1 + d) * 2), r = 1 / s;
-
-	return PxQuat(cross.x * r, cross.y * r, cross.z * r, s * 0.5f).getNormalized();
-}
-
-/**
-\brief returns largest axis
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 largestAxis(const PxVec3& v)
-{
-	PxU32 m = PxU32(v.y > v.x ? 1 : 0);
-	return v.z > v[m] ? 2 : m;
-}
-
-/**
-\brief returns indices for the largest axis and 2 other axii
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 largestAxis(const PxVec3& v, PxU32& other1, PxU32& other2)
-{
-	if(v.x >= PxMax(v.y, v.z))
-	{
-		other1 = 1;
-		other2 = 2;
-		return 0;
-	}
-	else if(v.y >= v.z)
-	{
-		other1 = 0;
-		other2 = 2;
-		return 1;
-	}
-	else
-	{
-		other1 = 0;
-		other2 = 1;
-		return 2;
-	}
-}
-
-/**
-\brief returns axis with smallest absolute value
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 closestAxis(const PxVec3& v)
-{
-	PxU32 m = PxU32(PxAbs(v.y) > PxAbs(v.x) ? 1 : 0);
-	return PxAbs(v.z) > PxAbs(v[m]) ? 2 : m;
-}
-
-PX_CUDA_CALLABLE PX_INLINE PxU32 closestAxis(const PxVec3& v, PxU32& j, PxU32& k)
-{
-	// find largest 2D plane projection
-	const PxF32 absPx = PxAbs(v.x);
-	const PxF32 absNy = PxAbs(v.y);
-	const PxF32 absNz = PxAbs(v.z);
-
-	PxU32 m = 0; // x biggest axis
-	j = 1;
-	k = 2;
-	if(absNy > absPx && absNy > absNz)
-	{
-		// y biggest
-		j = 2;
-		k = 0;
-		m = 1;
-	}
-	else if(absNz > absPx)
-	{
-		// z biggest
-		j = 0;
-		k = 1;
-		m = 2;
-	}
-	return m;
-}
-
-/*!
-Extend an edge along its length by a factor
-*/
-PX_CUDA_CALLABLE PX_FORCE_INLINE void makeFatEdge(PxVec3& p0, PxVec3& p1, PxReal fatCoeff)
-{
-	PxVec3 delta = p1 - p0;
-
-	const PxReal m = delta.magnitude();
-	if(m > 0.0f)
-	{
-		delta *= fatCoeff / m;
-		p0 -= delta;
-		p1 += delta;
-	}
-}
-
-//! Compute point as combination of barycentric coordinates
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3
-computeBarycentricPoint(const PxVec3& p0, const PxVec3& p1, const PxVec3& p2, PxReal u, PxReal v)
-{
-	// This seems to confuse the compiler...
-	// return (1.0f - u - v)*p0 + u*p1 + v*p2;
-	const PxF32 w = 1.0f - u - v;
-	return PxVec3(w * p0.x + u * p1.x + v * p2.x, w * p0.y + u * p1.y + v * p2.y, w * p0.z + u * p1.z + v * p2.z);
-}
-
-// generates a pair of quaternions (swing, twist) such that in = swing * twist, with
-// swing.x = 0
-// twist.y = twist.z = 0, and twist is a unit quat
-PX_FORCE_INLINE void separateSwingTwist(const PxQuat& q, PxQuat& swing, PxQuat& twist)
-{
-	twist = q.x != 0.0f ? PxQuat(q.x, 0, 0, q.w).getNormalized() : PxQuat(PxIdentity);
-	swing = q * twist.getConjugate();
-}
-
-// generate two tangent vectors to a given normal
-PX_FORCE_INLINE void normalToTangents(const PxVec3& normal, PxVec3& tangent0, PxVec3& tangent1)
-{
-	tangent0 = PxAbs(normal.x) < 0.70710678f ? PxVec3(0, -normal.z, normal.y) : PxVec3(-normal.y, normal.x, 0);
-	tangent0.normalize();
-	tangent1 = normal.cross(tangent0);
-}
-
-/**
-\brief computes a oriented bounding box around the scaled basis.
-\param basis Input = skewed basis, Output = (normalized) orthogonal basis.
-\return Bounding box extent.
-*/
-PX_FOUNDATION_API PxVec3 optimizeBoundingBox(PxMat33& basis);
-
-PX_FOUNDATION_API PxQuat slerp(const PxReal t, const PxQuat& left, const PxQuat& right);
-
-PX_CUDA_CALLABLE PX_INLINE PxVec3 ellipseClamp(const PxVec3& point, const PxVec3& radii)
-{
-	// This function need to be implemented in the header file because
-	// it is included in a spu shader program.
-
-	// finds the closest point on the ellipse to a given point
-
-	// (p.y, p.z) is the input point
-	// (e.y, e.z) are the radii of the ellipse
-
-	// lagrange multiplier method with Newton/Halley hybrid root-finder.
-	// see http://www.geometrictools.com/Documentation/DistancePointToEllipse2.pdf
-	// for proof of Newton step robustness and initial estimate.
-	// Halley converges much faster but sometimes overshoots - when that happens we take
-	// a newton step instead
-
-	// converges in 1-2 iterations where D&C works well, and it's good with 4 iterations
-	// with any ellipse that isn't completely crazy
-
-	const PxU32 MAX_ITERATIONS = 20;
-	const PxReal convergenceThreshold = 1e-4f;
-
-	// iteration requires first quadrant but we recover generality later
-
-	PxVec3 q(0, PxAbs(point.y), PxAbs(point.z));
-	const PxReal tinyEps = 1e-6f; // very close to minor axis is numerically problematic but trivial
-	if(radii.y >= radii.z)
-	{
-		if(q.z < tinyEps)
-			return PxVec3(0, point.y > 0 ? radii.y : -radii.y, 0);
-	}
-	else
-	{
-		if(q.y < tinyEps)
-			return PxVec3(0, 0, point.z > 0 ? radii.z : -radii.z);
-	}
-
-	PxVec3 denom, e2 = radii.multiply(radii), eq = radii.multiply(q);
-
-	// we can use any initial guess which is > maximum(-e.y^2,-e.z^2) and for which f(t) is > 0.
-	// this guess works well near the axes, but is weak along the diagonals.
-
-	PxReal t = PxMax(eq.y - e2.y, eq.z - e2.z);
-
-	for(PxU32 i = 0; i < MAX_ITERATIONS; i++)
-	{
-		denom = PxVec3(0, 1 / (t + e2.y), 1 / (t + e2.z));
-		PxVec3 denom2 = eq.multiply(denom);
-
-		PxVec3 fv = denom2.multiply(denom2);
-		PxReal f = fv.y + fv.z - 1;
-
-		// although in exact arithmetic we are guaranteed f>0, we can get here
-		// on the first iteration via catastrophic cancellation if the point is
-		// very close to the origin. In that case we just behave as if f=0
-
-		if(f < convergenceThreshold)
-			return e2.multiply(point).multiply(denom);
-
-		PxReal df = fv.dot(denom) * -2.0f;
-		t = t - f / df;
-	}
-
-	// we didn't converge, so clamp what we have
-	PxVec3 r = e2.multiply(point).multiply(denom);
-	return r * PxRecipSqrt(sqr(r.y / radii.y) + sqr(r.z / radii.z));
-}
-
-PX_CUDA_CALLABLE PX_INLINE PxReal tanHalf(PxReal sin, PxReal cos)
-{
-	return sin / (1 + cos);
-}
-
-PX_INLINE PxQuat quatFromTanQVector(const PxVec3& v)
-{
-	PxReal v2 = v.dot(v);
-	if(v2 < 1e-12f)
-		return PxQuat(PxIdentity);
-	PxReal d = 1 / (1 + v2);
-	return PxQuat(v.x * 2, v.y * 2, v.z * 2, 1 - v2) * d;
-}
-
-PX_FORCE_INLINE PxVec3 cross100(const PxVec3& b)
-{
-	return PxVec3(0.0f, -b.z, b.y);
-}
-PX_FORCE_INLINE PxVec3 cross010(const PxVec3& b)
-{
-	return PxVec3(b.z, 0.0f, -b.x);
-}
-PX_FORCE_INLINE PxVec3 cross001(const PxVec3& b)
-{
-	return PxVec3(-b.y, b.x, 0.0f);
-}
-
-PX_INLINE void decomposeVector(PxVec3& normalCompo, PxVec3& tangentCompo, const PxVec3& outwardDir,
-                               const PxVec3& outwardNormal)
-{
-	normalCompo = outwardNormal * (outwardDir.dot(outwardNormal));
-	tangentCompo = outwardDir - normalCompo;
-}
-
-//! \brief Return (i+1)%3
-// Avoid variable shift for XBox:
-// PX_INLINE PxU32 Ps::getNextIndex3(PxU32 i)			{	return (1<<i) & 3;			}
-PX_INLINE PxU32 getNextIndex3(PxU32 i)
-{
-	return (i + 1 + (i >> 1)) & 3;
-}
-
-PX_INLINE PxMat33 rotFrom2Vectors(const PxVec3& from, const PxVec3& to)
-{
-	// See bottom of http://www.euclideanspace.com/maths/algebra/matrix/orthogonal/rotation/index.htm
-
-	// Early exit if to = from
-	if((from - to).magnitudeSquared() < 1e-4f)
-		return PxMat33(PxIdentity);
-
-	// Early exit if to = -from
-	if((from + to).magnitudeSquared() < 1e-4f)
-		return PxMat33::createDiagonal(PxVec3(1.0f, -1.0f, -1.0f));
-
-	PxVec3 n = from.cross(to);
-
-	PxReal C = from.dot(to), S = PxSqrt(1 - C * C), CC = 1 - C;
-
-	PxReal xx = n.x * n.x, yy = n.y * n.y, zz = n.z * n.z, xy = n.x * n.y, yz = n.y * n.z, xz = n.x * n.z;
-
-	PxMat33 R;
-
-	R(0, 0) = 1 + CC * (xx - 1);
-	R(0, 1) = -n.z * S + CC * xy;
-	R(0, 2) = n.y * S + CC * xz;
-
-	R(1, 0) = n.z * S + CC * xy;
-	R(1, 1) = 1 + CC * (yy - 1);
-	R(1, 2) = -n.x * S + CC * yz;
-
-	R(2, 0) = -n.y * S + CC * xz;
-	R(2, 1) = n.x * S + CC * yz;
-	R(2, 2) = 1 + CC * (zz - 1);
-
-	return R;
-}
-
-PX_FOUNDATION_API void integrateTransform(const PxTransform& curTrans, const PxVec3& linvel, const PxVec3& angvel,
-                                          PxReal timeStep, PxTransform& result);
-
-PX_INLINE void computeBasis(const PxVec3& dir, PxVec3& right, PxVec3& up)
-{
-	// Derive two remaining vectors
-	if(PxAbs(dir.y) <= 0.9999f)
-	{
-		right = PxVec3(dir.z, 0.0f, -dir.x);
-		right.normalize();
-
-		// PT: normalize not needed for 'up' because dir & right are unit vectors,
-		// and by construction the angle between them is 90 degrees (i.e. sin(angle)=1)
-		up = PxVec3(dir.y * right.z, dir.z * right.x - dir.x * right.z, -dir.y * right.x);
-	}
-	else
-	{
-		right = PxVec3(1.0f, 0.0f, 0.0f);
-
-		up = PxVec3(0.0f, dir.z, -dir.y);
-		up.normalize();
-	}
-}
-
-PX_INLINE void computeBasis(const PxVec3& p0, const PxVec3& p1, PxVec3& dir, PxVec3& right, PxVec3& up)
-{
-	// Compute the new direction vector
-	dir = p1 - p0;
-	dir.normalize();
-
-	// Derive two remaining vectors
-	computeBasis(dir, right, up);
-}
-
-PX_FORCE_INLINE bool isAlmostZero(const PxVec3& v)
-{
-	if(PxAbs(v.x) > 1e-6f || PxAbs(v.y) > 1e-6f || PxAbs(v.z) > 1e-6f)
-		return false;
-	return true;
-}
-
-} // namespace shdfnd
-} // namespace physx
-
-#endif
diff --git a/PxShared/src/foundation/include/PsMutex.h b/PxShared/src/foundation/include/PsMutex.h
deleted file mode 100644
index 23033d0..0000000
--- a/PxShared/src/foundation/include/PsMutex.h
+++ /dev/null
@@ -1,330 +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 PSFOUNDATION_PSMUTEX_H
-#define PSFOUNDATION_PSMUTEX_H
-
-#include "PsAllocator.h"
-
-/*
- * This <new> inclusion is a best known fix for gcc 4.4.1 error:
- * Creating object file for apex/src/PsAllocator.cpp ...
- * In file included from apex/include/PsFoundation.h:30,
- *                from apex/src/PsAllocator.cpp:26:
- * apex/include/PsMutex.h: In constructor  'physx::shdfnd::MutexT<Alloc>::MutexT(const Alloc&)':
- * apex/include/PsMutex.h:92: error: no matching function for call to 'operator new(unsigned int,
- * physx::shdfnd::MutexImpl*&)'
- * <built-in>:0: note: candidates are: void* operator new(unsigned int)
- */
-#include <new>
-
-namespace physx
-{
-namespace shdfnd
-{
-class PX_FOUNDATION_API MutexImpl
-{
-  public:
-	/**
-	The constructor for Mutex creates a mutex. It is initially unlocked.
-	*/
-	MutexImpl();
-
-	/**
-	The destructor for Mutex deletes the mutex.
-	*/
-	~MutexImpl();
-
-	/**
-	Acquire (lock) the mutex. If the mutex is already locked
-	by another thread, this method blocks until the mutex is
-	unlocked.
-	*/
-	void lock();
-
-	/**
-	Acquire (lock) the mutex. If the mutex is already locked
-	by another thread, this method returns false without blocking.
-	*/
-	bool trylock();
-
-	/**
-	Release (unlock) the mutex.
-	*/
-	void unlock();
-
-	/**
-	Size of this class.
-	*/
-	static uint32_t getSize();
-};
-
-template <typename Alloc = ReflectionAllocator<MutexImpl> >
-class MutexT : protected Alloc
-{
-	PX_NOCOPY(MutexT)
-  public:
-	class ScopedLock
-	{
-		MutexT<Alloc>& mMutex;
-		PX_NOCOPY(ScopedLock)
-	  public:
-		PX_INLINE ScopedLock(MutexT<Alloc>& mutex) : mMutex(mutex)
-		{
-			mMutex.lock();
-		}
-		PX_INLINE ~ScopedLock()
-		{
-			mMutex.unlock();
-		}
-	};
-
-	/**
-	The constructor for Mutex creates a mutex. It is initially unlocked.
-	*/
-	MutexT(const Alloc& alloc = Alloc()) : Alloc(alloc)
-	{
-		mImpl = reinterpret_cast<MutexImpl*>(Alloc::allocate(MutexImpl::getSize(), __FILE__, __LINE__));
-		PX_PLACEMENT_NEW(mImpl, MutexImpl)();
-	}
-
-	/**
-	The destructor for Mutex deletes the mutex.
-	*/
-	~MutexT()
-	{
-		mImpl->~MutexImpl();
-		Alloc::deallocate(mImpl);
-	}
-
-	/**
-	Acquire (lock) the mutex. If the mutex is already locked
-	by another thread, this method blocks until the mutex is
-	unlocked.
-	*/
-	void lock() const
-	{
-		mImpl->lock();
-	}
-
-	/**
-	Acquire (lock) the mutex. If the mutex is already locked
-	by another thread, this method returns false without blocking,
-	returns true if lock is successfully acquired
-	*/
-	bool trylock() const
-	{
-		return mImpl->trylock();
-	}
-
-	/**
-	Release (unlock) the mutex, the calling thread must have
-	previously called lock() or method will error
-	*/
-	void unlock() const
-	{
-		mImpl->unlock();
-	}
-
-  private:
-	MutexImpl* mImpl;
-};
-
-class PX_FOUNDATION_API ReadWriteLock
-{
-	PX_NOCOPY(ReadWriteLock)
-  public:
-	ReadWriteLock();
-	~ReadWriteLock();
-
-	void lockReader();
-	void lockWriter();
-
-	void unlockReader();
-	void unlockWriter();
-
-  private:
-	class ReadWriteLockImpl* mImpl;
-};
-
-class ScopedReadLock
-{
-	PX_NOCOPY(ScopedReadLock)
-  public:
-	PX_INLINE ScopedReadLock(ReadWriteLock& lock) : mLock(lock)
-	{
-		mLock.lockReader();
-	}
-	PX_INLINE ~ScopedReadLock()
-	{
-		mLock.unlockReader();
-	}
-
-  private:
-	ReadWriteLock& mLock;
-};
-
-class ScopedWriteLock
-{
-	PX_NOCOPY(ScopedWriteLock)
-  public:
-	PX_INLINE ScopedWriteLock(ReadWriteLock& lock) : mLock(lock)
-	{
-		mLock.lockWriter();
-	}
-	PX_INLINE ~ScopedWriteLock()
-	{
-		mLock.unlockWriter();
-	}
-
-  private:
-	ReadWriteLock& mLock;
-};
-
-typedef MutexT<> Mutex;
-
-/*
- * Use this type of lock for mutex behaviour that must operate on SPU and PPU
- * On non-PS3 platforms, it is implemented using Mutex
- */
-class AtomicLock
-{
-	Mutex mMutex;
-	PX_NOCOPY(AtomicLock)
-
-  public:
-	AtomicLock()
-	{
-	}
-
-	bool lock()
-	{
-		mMutex.lock();
-		return true;
-	}
-
-	bool trylock()
-	{
-		return mMutex.trylock();
-	}
-
-	bool unlock()
-	{
-		mMutex.unlock();
-		return true;
-	}
-};
-
-class AtomicLockCopy
-{
-	AtomicLock* pLock;
-
-  public:
-	AtomicLockCopy() : pLock(NULL)
-	{
-	}
-
-	AtomicLockCopy& operator=(AtomicLock& lock)
-	{
-		pLock = &lock;
-		return *this;
-	}
-
-	bool lock()
-	{
-		return pLock->lock();
-	}
-
-	bool trylock()
-	{
-		return pLock->trylock();
-	}
-
-	bool unlock()
-	{
-		return pLock->unlock();
-	}
-};
-
-class AtomicRwLock
-{
-	ReadWriteLock m_Lock;
-	PX_NOCOPY(AtomicRwLock)
-
-  public:
-	AtomicRwLock()
-	{
-	}
-
-	void lockReader()
-	{
-		m_Lock.lockReader();
-	}
-	void lockWriter()
-	{
-		m_Lock.lockWriter();
-	}
-
-	bool tryLockReader()
-	{
-		// Todo - implement this
-		m_Lock.lockReader();
-		return true;
-	}
-
-	void unlockReader()
-	{
-		m_Lock.unlockReader();
-	}
-	void unlockWriter()
-	{
-		m_Lock.unlockWriter();
-	}
-};
-
-class ScopedAtomicLock
-{
-	PX_INLINE ScopedAtomicLock(AtomicLock& lock) : mLock(lock)
-	{
-		mLock.lock();
-	}
-	PX_INLINE ~ScopedAtomicLock()
-	{
-		mLock.unlock();
-	}
-
-	PX_NOCOPY(ScopedAtomicLock)
-  private:
-	AtomicLock& mLock;
-};
-
-} // namespace shdfnd
-} // namespace physx
-
-#endif // #ifndef PSFOUNDATION_PSMUTEX_H
diff --git a/PxShared/src/foundation/include/PsPool.h b/PxShared/src/foundation/include/PsPool.h
deleted file mode 100644
index 796251a..0000000
--- a/PxShared/src/foundation/include/PsPool.h
+++ /dev/null
@@ -1,298 +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 PSFOUNDATION_PSPOOL_H
-#define PSFOUNDATION_PSPOOL_H
-
-#include "PsArray.h"
-#include "PsSort.h"
-#include "PsBasicTemplates.h"
-#include "PsInlineArray.h"
-
-namespace physx
-{
-namespace shdfnd
-{
-
-/*!
-Simple allocation pool
-*/
-template <class T, class Alloc = typename AllocatorTraits<T>::Type>
-class PoolBase : public UserAllocated, public Alloc
-{
-	PX_NOCOPY(PoolBase)
-  protected:
-	PoolBase(const Alloc& alloc, uint32_t elementsPerSlab, uint32_t slabSize)
-	: Alloc(alloc), mSlabs(alloc), mElementsPerSlab(elementsPerSlab), mUsed(0), mSlabSize(slabSize), mFreeElement(0)
-	{
-		PX_COMPILE_TIME_ASSERT(sizeof(T) >= sizeof(size_t));
-	}
-
-  public:
-	~PoolBase()
-	{
-		if(mUsed)
-			disposeElements();
-
-		for(void** slabIt = mSlabs.begin(), *slabEnd = mSlabs.end(); slabIt != slabEnd; ++slabIt)
-			Alloc::deallocate(*slabIt);
-	}
-
-	// Allocate space for single object
-	PX_INLINE T* allocate()
-	{
-		if(mFreeElement == 0)
-			allocateSlab();
-		T* p = reinterpret_cast<T*>(mFreeElement);
-		mFreeElement = mFreeElement->mNext;
-		mUsed++;
-/**
-Mark a specified amount of memory with 0xcd pattern. This is used to check that the meta data
-definition for serialized classes is complete in checked builds.
-*/
-#if PX_CHECKED
-		for(uint32_t i = 0; i < sizeof(T); ++i)
-			reinterpret_cast<uint8_t*>(p)[i] = 0xcd;
-#endif
-		return p;
-	}
-
-	// Put space for a single element back in the lists
-	PX_INLINE void deallocate(T* p)
-	{
-		if(p)
-		{
-			PX_ASSERT(mUsed);
-			mUsed--;
-			push(reinterpret_cast<FreeList*>(p));
-		}
-	}
-
-	PX_INLINE T* construct()
-	{
-		T* t = allocate();
-		return t ? new (t) T() : 0;
-	}
-
-	template <class A1>
-	PX_INLINE T* construct(A1& a)
-	{
-		T* t = allocate();
-		return t ? new (t) T(a) : 0;
-	}
-
-	template <class A1, class A2>
-	PX_INLINE T* construct(A1& a, A2& b)
-	{
-		T* t = allocate();
-		return t ? new (t) T(a, b) : 0;
-	}
-
-	template <class A1, class A2, class A3>
-	PX_INLINE T* construct(A1& a, A2& b, A3& c)
-	{
-		T* t = allocate();
-		return t ? new (t) T(a, b, c) : 0;
-	}
-
-	template <class A1, class A2, class A3>
-	PX_INLINE T* construct(A1* a, A2& b, A3& c)
-	{
-		T* t = allocate();
-		return t ? new (t) T(a, b, c) : 0;
-	}
-
-	template <class A1, class A2, class A3, class A4>
-	PX_INLINE T* construct(A1& a, A2& b, A3& c, A4& d)
-	{
-		T* t = allocate();
-		return t ? new (t) T(a, b, c, d) : 0;
-	}
-
-	template <class A1, class A2, class A3, class A4, class A5>
-	PX_INLINE T* construct(A1& a, A2& b, A3& c, A4& d, A5& e)
-	{
-		T* t = allocate();
-		return t ? new (t) T(a, b, c, d, e) : 0;
-	}
-
-	PX_INLINE void destroy(T* const p)
-	{
-		if(p)
-		{
-			p->~T();
-			deallocate(p);
-		}
-	}
-
-  protected:
-	struct FreeList
-	{
-		FreeList* mNext;
-	};
-
-	// All the allocated slabs, sorted by pointer
-	InlineArray<void*, 64, Alloc> mSlabs;
-
-	uint32_t mElementsPerSlab;
-	uint32_t mUsed;
-	uint32_t mSlabSize;
-
-	FreeList* mFreeElement; // Head of free-list
-
-	// Helper function to get bitmap of allocated elements
-
-	void push(FreeList* p)
-	{
-		p->mNext = mFreeElement;
-		mFreeElement = p;
-	}
-
-	// Allocate a slab and segregate it into the freelist
-	void allocateSlab()
-	{
-		T* slab = reinterpret_cast<T*>(Alloc::allocate(mSlabSize, __FILE__, __LINE__));
-
-		mSlabs.pushBack(slab);
-
-		// Build a chain of nodes for the freelist
-		T* it = slab + mElementsPerSlab;
-		while(--it >= slab)
-			push(reinterpret_cast<FreeList*>(it));
-	}
-
-	/*
-	Cleanup method. Go through all active slabs and call destructor for live objects,
-	then free their memory
-	*/
-	void disposeElements()
-	{
-		Array<void*, Alloc> freeNodes(*this);
-		while(mFreeElement)
-		{
-			freeNodes.pushBack(mFreeElement);
-			mFreeElement = mFreeElement->mNext;
-		}
-		Alloc& alloc(*this);
-		sort(freeNodes.begin(), freeNodes.size(), Less<void*>(), alloc);
-		sort(mSlabs.begin(), mSlabs.size(), Less<void*>(), alloc);
-
-		typename Array<void*, Alloc>::Iterator slabIt = mSlabs.begin(), slabEnd = mSlabs.end();
-		for(typename Array<void*, Alloc>::Iterator freeIt = freeNodes.begin(); slabIt != slabEnd; ++slabIt)
-		{
-			for(T* tIt = reinterpret_cast<T*>(*slabIt), *tEnd = tIt + mElementsPerSlab; tIt != tEnd; ++tIt)
-			{
-				if(freeIt != freeNodes.end() && *freeIt == tIt)
-					++freeIt;
-				else
-					tIt->~T();
-			}
-		}
-	}
-
-	/*
-	Go through all slabs and call destructor if the slab is empty
-	*/
-	void releaseEmptySlabs()
-	{
-		Array<void*, Alloc> freeNodes(*this);
-		Array<void*, Alloc> slabNodes(mSlabs, *this);
-		while(mFreeElement)
-		{
-			freeNodes.pushBack(mFreeElement);
-			mFreeElement = mFreeElement->mNext;
-		}
-
-		typename Array<void*, Alloc>::Iterator freeIt = freeNodes.begin(), freeEnd = freeNodes.end(),
-		                                       lastCheck = freeNodes.end() - mElementsPerSlab;
-
-		if(freeNodes.size() > mElementsPerSlab)
-		{
-			Alloc& alloc(*this);
-			sort(freeNodes.begin(), freeNodes.size(), Less<void*>(), alloc);
-			sort(slabNodes.begin(), slabNodes.size(), Less<void*>(), alloc);
-
-			mSlabs.clear();
-			for(void** slabIt = slabNodes.begin(), *slabEnd = slabNodes.end(); slabIt != slabEnd; ++slabIt)
-			{
-				while((freeIt < lastCheck) && (*slabIt > (*freeIt)))
-				{
-					push(reinterpret_cast<FreeList*>(*freeIt));
-					freeIt++;
-				}
-
-				if(*slabIt == (*freeIt)) // the slab's first element in freeList
-				{
-					const size_t endSlabAddress = size_t(*slabIt) + mSlabSize;
-					const size_t endFreeAddress = size_t(*(freeIt + mElementsPerSlab - 1));
-					if(endFreeAddress + sizeof(T) == endSlabAddress)
-					{ // all slab's element in freeList
-						Alloc::deallocate(*slabIt);
-						freeIt += mElementsPerSlab;
-						continue;
-					}
-				}
-
-				mSlabs.pushBack(*slabIt);
-			}
-		}
-
-		while(freeIt != freeEnd)
-		{
-			push(reinterpret_cast<FreeList*>(*freeIt));
-			++freeIt;
-		}
-	}
-};
-
-// original pool implementation
-template <class T, class Alloc = typename AllocatorTraits<T>::Type>
-class Pool : public PoolBase<T, Alloc>
-{
-  public:
-	Pool(const Alloc& alloc = Alloc(), uint32_t elementsPerSlab = 32)
-	: PoolBase<T, Alloc>(alloc, elementsPerSlab, elementsPerSlab * sizeof(T))
-	{
-	}
-};
-
-// allows specification of the slab size instead of the occupancy
-template <class T, uint32_t slabSize, class Alloc = typename AllocatorTraits<T>::Type>
-class Pool2 : public PoolBase<T, Alloc>
-{
-  public:
-	Pool2(const Alloc& alloc = Alloc()) : PoolBase<T, Alloc>(alloc, slabSize / sizeof(T), slabSize)
-	{
-	}
-};
-
-} // namespace shdfnd
-} // namespace physx
-
-#endif // #ifndef PSFOUNDATION_PSPOOL_H
diff --git a/PxShared/src/foundation/include/PsSList.h b/PxShared/src/foundation/include/PsSList.h
deleted file mode 100644
index 961010b..0000000
--- a/PxShared/src/foundation/include/PsSList.h
+++ /dev/null
@@ -1,140 +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 PSFOUNDATION_PSSLIST_H
-#define PSFOUNDATION_PSSLIST_H
-
-#include "foundation/Px.h"
-#include "foundation/PxAssert.h"
-#include "PsAlignedMalloc.h"
-
-#if PX_P64_FAMILY
-#define PX_SLIST_ALIGNMENT 16
-#else
-#define PX_SLIST_ALIGNMENT 8
-#endif
-
-namespace physx
-{
-namespace shdfnd
-{
-
-#if PX_VC
-#pragma warning(push)
-#pragma warning(disable : 4324) // Padding was added at the end of a structure because of a __declspec(align) value.
-#endif
-
-#if !PX_GCC_FAMILY
-__declspec(align(PX_SLIST_ALIGNMENT))
-#endif
-    class SListEntry
-{
-	friend struct SListImpl;
-
-  public:
-	SListEntry() : mNext(NULL)
-	{
-		PX_ASSERT((size_t(this) & (PX_SLIST_ALIGNMENT - 1)) == 0);
-	}
-
-	// Only use on elements returned by SList::flush()
-	// because the operation is not atomic.
-	SListEntry* next()
-	{
-		return mNext;
-	}
-
-  private:
-	SListEntry* mNext;
-}
-#if PX_GCC_FAMILY
-__attribute__((aligned(PX_SLIST_ALIGNMENT)));
-#else
-;
-#endif
-
-#if PX_VC
-#pragma warning(pop)
-#endif
-
-// template-less implementation
-struct PX_FOUNDATION_API SListImpl
-{
-	SListImpl();
-	~SListImpl();
-	void push(SListEntry* entry);
-	SListEntry* pop();
-	SListEntry* flush();
-	static uint32_t getSize();
-};
-
-template <typename Alloc = ReflectionAllocator<SListImpl> >
-class SListT : protected Alloc
-{
-  public:
-	SListT(const Alloc& alloc = Alloc()) : Alloc(alloc)
-	{
-		mImpl = reinterpret_cast<SListImpl*>(Alloc::allocate(SListImpl::getSize(), __FILE__, __LINE__));
-		PX_ASSERT((size_t(mImpl) & (PX_SLIST_ALIGNMENT - 1)) == 0);
-		PX_PLACEMENT_NEW(mImpl, SListImpl)();
-	}
-	~SListT()
-	{
-		mImpl->~SListImpl();
-		Alloc::deallocate(mImpl);
-	}
-
-	// pushes a new element to the list
-	void push(SListEntry& entry)
-	{
-		mImpl->push(&entry);
-	}
-
-	// pops an element from the list
-	SListEntry* pop()
-	{
-		return mImpl->pop();
-	}
-
-	// removes all items from list, returns pointer to first element
-	SListEntry* flush()
-	{
-		return mImpl->flush();
-	}
-
-  private:
-	SListImpl* mImpl;
-};
-
-typedef SListT<> SList;
-
-} // namespace shdfnd
-} // namespace physx
-
-#endif // #ifndef PSFOUNDATION_PSSLIST_H
diff --git a/PxShared/src/foundation/include/PsSocket.h b/PxShared/src/foundation/include/PsSocket.h
deleted file mode 100644
index 0d8bf55..0000000
--- a/PxShared/src/foundation/include/PsSocket.h
+++ /dev/null
@@ -1,186 +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 PSFOUNDATION_PSSOCKET_H
-#define PSFOUNDATION_PSSOCKET_H
-
-#include "PsUserAllocated.h"
-
-namespace physx
-{
-namespace shdfnd
-{
-/**
-Socket abstraction API
-*/
-
-class PX_FOUNDATION_API Socket : public UserAllocated
-{
-  public:
-	static const uint32_t DEFAULT_BUFFER_SIZE;
-
-	Socket(bool inEnableBuffering = true, bool blocking = true);
-
-	virtual ~Socket();
-
-	/*!
-	Opens a network socket for input and/or output
-
-	\param host
-	Name of the host to connect to. This can be an IP, URL, etc
-
-	\param port
-	The port to connect to on the remote host
-
-	\param timeout
-	Timeout in ms until the connection must be established.
-
-	\return
-	True if the connection was successful, false otherwise
-	*/
-	bool connect(const char* host, uint16_t port, uint32_t timeout = 1000);
-
-	/*!
-	Opens a network socket for input and/or output as a server.  Put the connection in listening mode
-
-	\param port
-	The port on which the socket listens
-	*/
-	bool listen(uint16_t port);
-
-	/*!
-	Accept a connection on a socket that is in listening mode
-
-	\note
-	This method only supports a single connection client.  Additional clients
-	that connect to the listening port will overwrite the existing socket handle.
-
-	\param block
-	whether or not the call should block
-
-	\return whether a connection was established
-	*/
-	bool accept(bool block);
-
-	/*!
-	Disconnects an open socket
-	*/
-	void disconnect();
-
-	/*!
-	Returns whether the socket is currently open (connected) or not.
-
-	\return
-	True if the socket is connected, false otherwise
-	*/
-	bool isConnected() const;
-
-	/*!
-	Returns the name of the connected host. This is the same as the string
-	that was supplied to the connect call.
-
-	\return
-	The name of the connected host
-	*/
-	const char* getHost() const;
-
-	/*!
-	Returns the port of the connected host. This is the same as the port
-	that was supplied to the connect call.
-
-	\return
-	The port of the connected host
-	*/
-	uint16_t getPort() const;
-
-	/*!
-	Flushes the output stream. Until the stream is flushed, there is no
-	guarantee that the written data has actually reached the destination
-	storage. Flush forces all buffered data to be sent to the output.
-
-	\note flush always blocks. If the socket is in non-blocking mode, this will result
-	the thread spinning.
-
-	\return
-	True if the flush was successful, false otherwise
-	*/
-	bool flush();
-
-	/*!
-	Writes data to the output stream.
-
-	\param data
-	Pointer to a  block of data to write to the stream
-
-	\param length
-	Amount of data to write, in bytes
-
-	\return
-	Number of bytes actually written. This could be lower than length if the socket is non-blocking.
-	*/
-
-	uint32_t write(const uint8_t* data, uint32_t length);
-
-	/*!
-	Reads data from the output stream.
-
-	\param data
-	Pointer to a buffer where the read data will be stored.
-
-	\param length
-	Amount of data to read, in bytes.
-
-	\return
-	Number of bytes actually read. This could be lower than length if the stream end is
-	encountered or the socket is non-blocking.
-	*/
-	uint32_t read(uint8_t* data, uint32_t length);
-
-	/*!
-	Sets blocking mode of the socket.
-	Socket must be connected, otherwise calling this method won't take any effect.
-	*/
-	void setBlocking(bool blocking);
-
-	/*!
-	Returns whether read/write/flush calls to the socket are blocking.
-
-	\return
-	True if the socket is blocking.
-	*/
-	bool isBlocking() const;
-
-  private:
-	class SocketImpl* mImpl;
-};
-
-} // namespace shdfnd
-} // namespace physx
-
-#endif // PSFOUNDATION_PSSOCKET_H
diff --git a/PxShared/src/foundation/include/PsSort.h b/PxShared/src/foundation/include/PsSort.h
deleted file mode 100644
index 30808ae..0000000
--- a/PxShared/src/foundation/include/PsSort.h
+++ /dev/null
@@ -1,130 +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 PSFOUNDATION_PSSORT_H
-#define PSFOUNDATION_PSSORT_H
-
-/** \addtogroup foundation
-@{
-*/
-
-#include "PsSortInternals.h"
-#include "PsAlloca.h"
-
-#define PX_SORT_PARANOIA PX_DEBUG
-
-/**
-\brief Sorts an array of objects in ascending order, assuming
-that the predicate implements the < operator:
-
-\see Less, Greater
-*/
-
-#if PX_VC
-#pragma warning(push)
-#pragma warning(disable : 4706) // disable the warning that we did an assignment within a conditional expression, as
-// this was intentional.
-#endif
-
-namespace physx
-{
-namespace shdfnd
-{
-template <class T, class Predicate, class Allocator>
-void sort(T* elements, uint32_t count, const Predicate& compare, const Allocator& inAllocator,
-          const uint32_t initialStackSize = 32)
-{
-	static const uint32_t SMALL_SORT_CUTOFF = 5; // must be >= 3 since we need 3 for median
-
-	PX_ALLOCA(stackMem, int32_t, initialStackSize);
-	internal::Stack<Allocator> stack(stackMem, initialStackSize, inAllocator);
-
-	int32_t first = 0, last = int32_t(count - 1);
-	if(last > first)
-	{
-		for(;;)
-		{
-			while(last > first)
-			{
-				PX_ASSERT(first >= 0 && last < int32_t(count));
-				if(uint32_t(last - first) < SMALL_SORT_CUTOFF)
-				{
-					internal::smallSort(elements, first, last, compare);
-					break;
-				}
-				else
-				{
-					const int32_t partIndex = internal::partition(elements, first, last, compare);
-
-					// push smaller sublist to minimize stack usage
-					if((partIndex - first) < (last - partIndex))
-					{
-						stack.push(first, partIndex - 1);
-						first = partIndex + 1;
-					}
-					else
-					{
-						stack.push(partIndex + 1, last);
-						last = partIndex - 1;
-					}
-				}
-			}
-
-			if(stack.empty())
-				break;
-
-			stack.pop(first, last);
-		}
-	}
-#if PX_SORT_PARANOIA
-	for(uint32_t i = 1; i < count; i++)
-		PX_ASSERT(!compare(elements[i], elements[i - 1]));
-#endif
-}
-
-template <class T, class Predicate>
-void sort(T* elements, uint32_t count, const Predicate& compare)
-{
-	sort(elements, count, compare, typename shdfnd::AllocatorTraits<T>::Type());
-}
-
-template <class T>
-void sort(T* elements, uint32_t count)
-{
-	sort(elements, count, shdfnd::Less<T>(), typename shdfnd::AllocatorTraits<T>::Type());
-}
-
-} // namespace shdfnd
-} // namespace physx
-
-#if PX_VC
-#pragma warning(pop)
-#endif
-
-#endif // #ifndef PSFOUNDATION_PSSORT_H
diff --git a/PxShared/src/foundation/include/PsSortInternals.h b/PxShared/src/foundation/include/PsSortInternals.h
deleted file mode 100644
index 3aa0f7f..0000000
--- a/PxShared/src/foundation/include/PsSortInternals.h
+++ /dev/null
@@ -1,188 +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 PSFOUNDATION_PSSORTINTERNALS_H
-#define PSFOUNDATION_PSSORTINTERNALS_H
-
-/** \addtogroup foundation
-@{
-*/
-
-#include "foundation/PxAssert.h"
-#include "foundation/PxIntrinsics.h"
-#include "PsBasicTemplates.h"
-#include "PsUserAllocated.h"
-
-namespace physx
-{
-namespace shdfnd
-{
-namespace internal
-{
-template <class T, class Predicate>
-PX_INLINE void median3(T* elements, int32_t first, int32_t last, Predicate& compare)
-{
-	/*
-	This creates sentinels because we know there is an element at the start minimum(or equal)
-	than the pivot and an element at the end greater(or equal) than the pivot. Plus the
-	median of 3 reduces the chance of degenerate behavour.
-	*/
-
-	int32_t mid = (first + last) / 2;
-
-	if(compare(elements[mid], elements[first]))
-		swap(elements[first], elements[mid]);
-
-	if(compare(elements[last], elements[first]))
-		swap(elements[first], elements[last]);
-
-	if(compare(elements[last], elements[mid]))
-		swap(elements[mid], elements[last]);
-
-	// keep the pivot at last-1
-	swap(elements[mid], elements[last - 1]);
-}
-
-template <class T, class Predicate>
-PX_INLINE int32_t partition(T* elements, int32_t first, int32_t last, Predicate& compare)
-{
-	median3(elements, first, last, compare);
-
-	/*
-	WARNING: using the line:
-
-	T partValue = elements[last-1];
-
-	and changing the scan loops to:
-
-	while(comparator.greater(partValue, elements[++i]));
-	while(comparator.greater(elements[--j], partValue);
-
-	triggers a compiler optimizer bug on xenon where it stores a double to the stack for partValue
-	then loads it as a single...:-(
-	*/
-
-	int32_t i = first;    // we know first is less than pivot(but i gets pre incremented)
-	int32_t j = last - 1; // pivot is in last-1 (but j gets pre decremented)
-
-	for(;;)
-	{
-		while(compare(elements[++i], elements[last - 1]))
-			;
-		while(compare(elements[last - 1], elements[--j]))
-			;
-
-		if(i >= j)
-			break;
-
-		PX_ASSERT(i <= last && j >= first);
-		swap(elements[i], elements[j]);
-	}
-	// put the pivot in place
-
-	PX_ASSERT(i <= last && first <= (last - 1));
-	swap(elements[i], elements[last - 1]);
-
-	return i;
-}
-
-template <class T, class Predicate>
-PX_INLINE void smallSort(T* elements, int32_t first, int32_t last, Predicate& compare)
-{
-	// selection sort - could reduce to fsel on 360 with floats.
-
-	for(int32_t i = first; i < last; i++)
-	{
-		int32_t m = i;
-		for(int32_t j = i + 1; j <= last; j++)
-			if(compare(elements[j], elements[m]))
-				m = j;
-
-		if(m != i)
-			swap(elements[m], elements[i]);
-	}
-}
-
-template <class Allocator>
-class Stack
-{
-	Allocator mAllocator;
-	uint32_t mSize, mCapacity;
-	int32_t* mMemory;
-	bool mRealloc;
-
-  public:
-	Stack(int32_t* memory, uint32_t capacity, const Allocator& inAllocator)
-	: mAllocator(inAllocator), mSize(0), mCapacity(capacity), mMemory(memory), mRealloc(false)
-	{
-	}
-	~Stack()
-	{
-		if(mRealloc)
-			mAllocator.deallocate(mMemory);
-	}
-
-	void grow()
-	{
-		mCapacity *= 2;
-		int32_t* newMem =
-		    reinterpret_cast<int32_t*>(mAllocator.allocate(sizeof(int32_t) * mCapacity, __FILE__, __LINE__));
-		intrinsics::memCopy(newMem, mMemory, mSize * sizeof(int32_t));
-		if(mRealloc)
-			mAllocator.deallocate(mMemory);
-		mRealloc = true;
-		mMemory = newMem;
-	}
-
-	PX_INLINE void push(int32_t start, int32_t end)
-	{
-		if(mSize >= mCapacity - 1)
-			grow();
-		mMemory[mSize++] = start;
-		mMemory[mSize++] = end;
-	}
-
-	PX_INLINE void pop(int32_t& start, int32_t& end)
-	{
-		PX_ASSERT(!empty());
-		end = mMemory[--mSize];
-		start = mMemory[--mSize];
-	}
-
-	PX_INLINE bool empty()
-	{
-		return mSize == 0;
-	}
-};
-} // namespace internal
-
-} // namespace shdfnd
-} // namespace physx
-
-#endif // #ifndef PSFOUNDATION_PSSORTINTERNALS_H
diff --git a/PxShared/src/foundation/include/PsString.h b/PxShared/src/foundation/include/PsString.h
deleted file mode 100644
index 17d25c8..0000000
--- a/PxShared/src/foundation/include/PsString.h
+++ /dev/null
@@ -1,90 +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 PSFOUNDATION_PSSTRING_H
-#define PSFOUNDATION_PSSTRING_H
-
-#include "foundation/PxPreprocessor.h"
-#include "foundation/PxSimpleTypes.h"
-#include <stdarg.h>
-
-namespace physx
-{
-namespace shdfnd
-{
-
-// the following functions have C99 semantics. Note that C99 requires for snprintf and vsnprintf:
-// * the resulting string is always NULL-terminated regardless of truncation.
-// * in the case of truncation the return value is the number of characters that would have been created.
-
-PX_FOUNDATION_API int32_t sscanf(const char* buffer, const char* format, ...);
-PX_FOUNDATION_API int32_t strcmp(const char* str1, const char* str2);
-PX_FOUNDATION_API int32_t strncmp(const char* str1, const char* str2, size_t count);
-PX_FOUNDATION_API int32_t snprintf(char* dst, size_t dstSize, const char* format, ...);
-PX_FOUNDATION_API int32_t vsnprintf(char* dst, size_t dstSize, const char* src, va_list arg);
-
-// strlcat and strlcpy have BSD semantics:
-// * dstSize is always the size of the destination buffer
-// * the resulting string is always NULL-terminated regardless of truncation
-// * in the case of truncation the return value is the length of the string that would have been created
-
-PX_FOUNDATION_API size_t strlcat(char* dst, size_t dstSize, const char* src);
-PX_FOUNDATION_API size_t strlcpy(char* dst, size_t dstSize, const char* src);
-
-// case-insensitive string comparison
-PX_FOUNDATION_API int32_t stricmp(const char* str1, const char* str2);
-PX_FOUNDATION_API int32_t strnicmp(const char* str1, const char* str2, size_t count);
-
-// in-place string case conversion
-PX_FOUNDATION_API void strlwr(char* str);
-PX_FOUNDATION_API void strupr(char* str);
-
-/**
-\brief The maximum supported formatted output string length
-(number of characters after replacement).
-
-@see printFormatted()
-*/
-static const size_t MAX_PRINTFORMATTED_LENGTH = 1024;
-
-/**
-\brief Prints the formatted data, trying to make sure it's visible to the app programmer
-
-@see NS_MAX_PRINTFORMATTED_LENGTH
-*/
-PX_FOUNDATION_API void printFormatted(const char*, ...);
-
-/**
-\brief Prints the string literally (does not consume % specifier), trying to make sure it's visible to the app
-programmer
-*/
-PX_FOUNDATION_API void printString(const char*);
-}
-}
-#endif // #ifndef PSFOUNDATION_PSSTRING_H
diff --git a/PxShared/src/foundation/include/PsSync.h b/PxShared/src/foundation/include/PsSync.h
deleted file mode 100644
index 1fd72f5..0000000
--- a/PxShared/src/foundation/include/PsSync.h
+++ /dev/null
@@ -1,138 +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 PSFOUNDATION_PSSYNC_H
-#define PSFOUNDATION_PSSYNC_H
-
-#include "PsAllocator.h"
-
-namespace physx
-{
-namespace shdfnd
-{
-/*!
-Implementation notes:
-* - Calling set() on an already signaled Sync does not change its state.
-* - Calling reset() on an already reset Sync does not change its state.
-* - Calling set() on a reset Sync wakes all waiting threads (potential for thread contention).
-* - Calling wait() on an already signaled Sync will return true immediately.
-* - NOTE: be careful when pulsing an event with set() followed by reset(), because a
-*   thread that is not waiting on the event will miss the signal.
-*/
-class PX_FOUNDATION_API SyncImpl
-{
-  public:
-	static const uint32_t waitForever = 0xffffffff;
-
-	SyncImpl();
-
-	~SyncImpl();
-
-	/** Wait on the object for at most the given number of ms. Returns
-	*  true if the object is signaled. Sync::waitForever will block forever
-	*  or until the object is signaled.
-	*/
-
-	bool wait(uint32_t milliseconds = waitForever);
-
-	/** Signal the synchronization object, waking all threads waiting on it */
-
-	void set();
-
-	/** Reset the synchronization object */
-
-	void reset();
-
-	/**
-	Size of this class.
-	*/
-	static uint32_t getSize();
-};
-
-/*!
-Implementation notes:
-* - Calling set() on an already signaled Sync does not change its state.
-* - Calling reset() on an already reset Sync does not change its state.
-* - Calling set() on a reset Sync wakes all waiting threads (potential for thread contention).
-* - Calling wait() on an already signaled Sync will return true immediately.
-* - NOTE: be careful when pulsing an event with set() followed by reset(), because a
-*   thread that is not waiting on the event will miss the signal.
-*/
-template <typename Alloc = ReflectionAllocator<SyncImpl> >
-class SyncT : protected Alloc
-{
-  public:
-	static const uint32_t waitForever = SyncImpl::waitForever;
-
-	SyncT(const Alloc& alloc = Alloc()) : Alloc(alloc)
-	{
-		mImpl = reinterpret_cast<SyncImpl*>(Alloc::allocate(SyncImpl::getSize(), __FILE__, __LINE__));
-		PX_PLACEMENT_NEW(mImpl, SyncImpl)();
-	}
-
-	~SyncT()
-	{
-		mImpl->~SyncImpl();
-		Alloc::deallocate(mImpl);
-	}
-
-	/** Wait on the object for at most the given number of ms. Returns
-	*  true if the object is signaled. Sync::waitForever will block forever
-	*  or until the object is signaled.
-	*/
-
-	bool wait(uint32_t milliseconds = SyncImpl::waitForever)
-	{
-		return mImpl->wait(milliseconds);
-	}
-
-	/** Signal the synchronization object, waking all threads waiting on it */
-
-	void set()
-	{
-		mImpl->set();
-	}
-
-	/** Reset the synchronization object */
-
-	void reset()
-	{
-		mImpl->reset();
-	}
-
-  private:
-	class SyncImpl* mImpl;
-};
-
-typedef SyncT<> Sync;
-
-} // namespace shdfnd
-} // namespace physx
-
-#endif // #ifndef PSFOUNDATION_PSSYNC_H
diff --git a/PxShared/src/foundation/include/PsTempAllocator.h b/PxShared/src/foundation/include/PsTempAllocator.h
deleted file mode 100644
index 7a063dc..0000000
--- a/PxShared/src/foundation/include/PsTempAllocator.h
+++ /dev/null
@@ -1,62 +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 PSFOUNDATION_PSTEMPALLOCATOR_H
-#define PSFOUNDATION_PSTEMPALLOCATOR_H
-
-#include "PsAllocator.h"
-
-namespace physx
-{
-namespace shdfnd
-{
-union TempAllocatorChunk
-{
-	TempAllocatorChunk() : mNext(0)
-	{
-	}
-	TempAllocatorChunk* mNext; // while chunk is free
-	uint32_t mIndex;           // while chunk is allocated
-	uint8_t mPad[16];          // 16 byte aligned allocations
-};
-
-class TempAllocator
-{
-  public:
-	PX_FORCE_INLINE TempAllocator(const char* = 0)
-	{
-	}
-	PX_FOUNDATION_API void* allocate(size_t size, const char* file, int line);
-	PX_FOUNDATION_API void deallocate(void* ptr);
-};
-
-} // namespace shdfnd
-} // namespace physx
-
-#endif // #ifndef PSFOUNDATION_PSTEMPALLOCATOR_H
diff --git a/PxShared/src/foundation/include/PsThread.h b/PxShared/src/foundation/include/PsThread.h
deleted file mode 100644
index ec9f999..0000000
--- a/PxShared/src/foundation/include/PsThread.h
+++ /dev/null
@@ -1,382 +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 PSFOUNDATION_PSTHREAD_H
-#define PSFOUNDATION_PSTHREAD_H
-
-#include "PsUserAllocated.h"
-
-// dsequeira: according to existing comment here (David Black would be my guess)
-// "This is useful to reduce bus contention on tight spin locks. And it needs
-// to be a macro as the xenon compiler often ignores even __forceinline." What's not
-// clear is why a pause function needs inlining...? (TODO: check with XBox team)
-
-// todo: these need to go somewhere else
-
-#if PX_WINDOWS_FAMILY || PX_XBOXONE
-#define PxSpinLockPause() __asm pause
-#elif PX_LINUX || PX_ANDROID || PX_PS4 || PX_APPLE_FAMILY || PX_SWITCH
-#define PxSpinLockPause() asm("nop")
-#else
-#error "Platform not supported!"
-#endif
-
-namespace physx
-{
-namespace shdfnd
-{
-struct ThreadPriority // todo: put in some other header file
-{
-	enum Enum
-	{
-		/**
-	    \brief High priority
-	    */
-		eHIGH         = 0,
-
-		/**
-	    \brief Above Normal priority
-	    */
-		eABOVE_NORMAL = 1,
-
-		/**
-	    \brief Normal/default priority
-	    */
-		eNORMAL       = 2,
-
-		/**
-	    \brief Below Normal priority
-	    */
-		eBELOW_NORMAL = 3,
-
-		/**
-	    \brief Low priority.
-	    */
-		eLOW          = 4,
-		eFORCE_DWORD  = 0xffFFffFF
-	};
-};
-
-class Runnable
-{
-  public:
-	Runnable()
-	{
-	}
-	virtual ~Runnable()
-	{
-	}
-	virtual void execute(void)
-	{
-	}
-};
-
-class PX_FOUNDATION_API ThreadImpl
-{
-  public:
-	typedef size_t Id; // space for a pointer or an integer
-	typedef void* (*ExecuteFn)(void*);
-
-	static uint32_t getDefaultStackSize();
-	static Id getId();
-
-	/**
-	Construct (but do not start) the thread object. The OS thread object will not be created
-	until start() is called. Executes in the context
-	of the spawning thread.
-	*/
-
-	ThreadImpl();
-
-	/**
-	Construct and start the the thread, passing the given arg to the given fn. (pthread style)
-	*/
-
-	ThreadImpl(ExecuteFn fn, void* arg);
-
-	/**
-	Deallocate all resources associated with the thread. Should be called in the
-	context of the spawning thread.
-	*/
-
-	~ThreadImpl();
-
-	/**
-	Create the OS thread and start it running. Called in the context of the spawning thread.
-	If an affinity mask has previously been set then it will be applied after the
-	thread has been created.
-	*/
-
-	void start(uint32_t stackSize, Runnable* r);
-
-	/**
-	Violently kill the current thread. Blunt instrument, not recommended since
-	it can leave all kinds of things unreleased (stack, memory, mutexes...) Should
-	be called in the context of the spawning thread.
-	*/
-
-	void kill();
-
-	/**
-	Stop the thread. Signals the spawned thread that it should stop, so the
-	thread should check regularly
-	*/
-
-	void signalQuit();
-
-	/**
-	Wait for a thread to stop. Should be called in the context of the spawning
-	thread. Returns false if the thread has not been started.
-	*/
-
-	bool waitForQuit();
-
-	/**
-	check whether the thread is signalled to quit. Called in the context of the
-	spawned thread.
-	*/
-
-	bool quitIsSignalled();
-
-	/**
-	Cleanly shut down this thread. Called in the context of the spawned thread.
-	*/
-	void quit();
-
-	/**
-	Change the affinity mask for this thread. The mask is a platform
-	specific value.
-
-	On Windows, Linux, PS4, XboxOne and Switch platforms, each set mask bit represents
-	the index of a logical processor that the OS may schedule thread execution on.
-	Bits outside the range of valid logical processors may be ignored or cause
-	the function to return an error.
-
-	On Apple platforms, this function has no effect.
-
-	If the thread has not yet been started then the mask is stored
-	and applied when the thread is started.
-
-	If the thread has already been started then this method	returns the
-	previous affinity mask on success, otherwise it returns zero.
-	*/
-	uint32_t setAffinityMask(uint32_t mask);
-
-	static ThreadPriority::Enum getPriority(Id threadId);
-
-	/** Set thread priority. */
-	void setPriority(ThreadPriority::Enum prio);
-
-	/** set the thread's name */
-	void setName(const char* name);
-
-	/** Put the current thread to sleep for the given number of milliseconds */
-	static void sleep(uint32_t ms);
-
-	/** Yield the current thread's slot on the CPU */
-	static void yield();
-
-	/** Return the number of physical cores (does not include hyper-threaded cores), returns 0 on failure */
-	static uint32_t getNbPhysicalCores();
-
-	/**
-	Size of this class.
-	*/
-	static uint32_t getSize();
-};
-
-/**
-Thread abstraction API
-*/
-template <typename Alloc = ReflectionAllocator<ThreadImpl> >
-class ThreadT : protected Alloc, public UserAllocated, public Runnable
-{
-  public:
-	typedef ThreadImpl::Id Id; // space for a pointer or an integer
-
-	/**
-	Construct (but do not start) the thread object. Executes in the context
-	of the spawning thread
-	*/
-	ThreadT(const Alloc& alloc = Alloc()) : Alloc(alloc)
-	{
-		mImpl = reinterpret_cast<ThreadImpl*>(Alloc::allocate(ThreadImpl::getSize(), __FILE__, __LINE__));
-		PX_PLACEMENT_NEW(mImpl, ThreadImpl)();
-	}
-
-	/**
-	Construct and start the the thread, passing the given arg to the given fn. (pthread style)
-	*/
-	ThreadT(ThreadImpl::ExecuteFn fn, void* arg, const Alloc& alloc = Alloc()) : Alloc(alloc)
-	{
-		mImpl = reinterpret_cast<ThreadImpl*>(Alloc::allocate(ThreadImpl::getSize(), __FILE__, __LINE__));
-		PX_PLACEMENT_NEW(mImpl, ThreadImpl)(fn, arg);
-	}
-
-	/**
-	Deallocate all resources associated with the thread. Should be called in the
-	context of the spawning thread.
-	*/
-	virtual ~ThreadT()
-	{
-		mImpl->~ThreadImpl();
-		Alloc::deallocate(mImpl);
-	}
-
-	/**
-	start the thread running. Called in the context of the spawning thread.
-	*/
-
-	void start(uint32_t stackSize = ThreadImpl::getDefaultStackSize())
-	{
-		mImpl->start(stackSize, this);
-	}
-
-	/**
-	Violently kill the current thread. Blunt instrument, not recommended since
-	it can leave all kinds of things unreleased (stack, memory, mutexes...) Should
-	be called in the context of the spawning thread.
-	*/
-
-	void kill()
-	{
-		mImpl->kill();
-	}
-
-	/**
-	The virtual execute() method is the user defined function that will
-	run in the new thread. Called in the context of the spawned thread.
-	*/
-
-	virtual void execute(void)
-	{
-	}
-
-	/**
-	stop the thread. Signals the spawned thread that it should stop, so the
-	thread should check regularly
-	*/
-
-	void signalQuit()
-	{
-		mImpl->signalQuit();
-	}
-
-	/**
-	Wait for a thread to stop. Should be called in the context of the spawning
-	thread. Returns false if the thread has not been started.
-	*/
-
-	bool waitForQuit()
-	{
-		return mImpl->waitForQuit();
-	}
-
-	/**
-	check whether the thread is signalled to quit. Called in the context of the
-	spawned thread.
-	*/
-
-	bool quitIsSignalled()
-	{
-		return mImpl->quitIsSignalled();
-	}
-
-	/**
-	Cleanly shut down this thread. Called in the context of the spawned thread.
-	*/
-	void quit()
-	{
-		mImpl->quit();
-	}
-
-	uint32_t setAffinityMask(uint32_t mask)
-	{
-		return mImpl->setAffinityMask(mask);
-	}
-
-	static ThreadPriority::Enum getPriority(ThreadImpl::Id threadId)
-	{
-		return ThreadImpl::getPriority(threadId);
-	}
-
-	/** Set thread priority. */
-	void setPriority(ThreadPriority::Enum prio)
-	{
-		mImpl->setPriority(prio);
-	}
-
-	/** set the thread's name */
-	void setName(const char* name)
-	{
-		mImpl->setName(name);
-	}
-
-	/** Put the current thread to sleep for the given number of milliseconds */
-	static void sleep(uint32_t ms)
-	{
-		ThreadImpl::sleep(ms);
-	}
-
-	/** Yield the current thread's slot on the CPU */
-	static void yield()
-	{
-		ThreadImpl::yield();
-	}
-
-	static uint32_t getDefaultStackSize()
-	{
-		return ThreadImpl::getDefaultStackSize();
-	}
-
-	static ThreadImpl::Id getId()
-	{
-		return ThreadImpl::getId();
-	}
-
-	static uint32_t getNbPhysicalCores()
-	{
-		return ThreadImpl::getNbPhysicalCores();
-	}
-
-  private:
-	class ThreadImpl* mImpl;
-};
-
-typedef ThreadT<> Thread;
-
-PX_FOUNDATION_API uint32_t TlsAlloc();
-PX_FOUNDATION_API void TlsFree(uint32_t index);
-PX_FOUNDATION_API void* TlsGet(uint32_t index);
-PX_FOUNDATION_API uint32_t TlsSet(uint32_t index, void* value);
-
-} // namespace shdfnd
-} // namespace physx
-
-#endif // #ifndef PSFOUNDATION_PSTHREAD_H
diff --git a/PxShared/src/foundation/include/PsTime.h b/PxShared/src/foundation/include/PsTime.h
deleted file mode 100644
index b9c7031..0000000
--- a/PxShared/src/foundation/include/PsTime.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 PSFOUNDATION_PSTIME_H
-#define PSFOUNDATION_PSTIME_H
-
-#include "Ps.h"
-
-#if PX_LINUX || PX_ANDROID
-#include <time.h>
-#endif
-
-namespace physx
-{
-namespace shdfnd
-{
-
-struct CounterFrequencyToTensOfNanos
-{
-	uint64_t mNumerator;
-	uint64_t mDenominator;
-	CounterFrequencyToTensOfNanos(uint64_t inNum, uint64_t inDenom) : mNumerator(inNum), mDenominator(inDenom)
-	{
-	}
-
-	// quite slow.
-	uint64_t toTensOfNanos(uint64_t inCounter) const
-	{
-		return (inCounter * mNumerator) / mDenominator;
-	}
-};
-
-class PX_FOUNDATION_API Time
-{
-  public:
-	typedef double Second;
-	static const uint64_t sNumTensOfNanoSecondsInASecond = 100000000;
-	// This is supposedly guaranteed to not change after system boot
-	// regardless of processors, speedstep, etc.
-	static const CounterFrequencyToTensOfNanos& getBootCounterFrequency();
-
-	static CounterFrequencyToTensOfNanos getCounterFrequency();
-
-	static uint64_t getCurrentCounterValue();
-
-	// SLOW!!
-	// Thar be a 64 bit divide in thar!
-	static uint64_t getCurrentTimeInTensOfNanoSeconds()
-	{
-		uint64_t ticks = getCurrentCounterValue();
-		return getBootCounterFrequency().toTensOfNanos(ticks);
-	}
-
-	Time();
-	Second getElapsedSeconds();
-	Second peekElapsedSeconds();
-	Second getLastTime() const;
-
-  private:
-#if PX_LINUX || PX_ANDROID || PX_APPLE_FAMILY || PX_PS4
-	Second mLastTime;
-#else
-	int64_t mTickCount;
-#endif
-};
-} // namespace shdfnd
-} // namespace physx
-
-#endif // #ifndef PSFOUNDATION_PSTIME_H
diff --git a/PxShared/src/foundation/include/PsUserAllocated.h b/PxShared/src/foundation/include/PsUserAllocated.h
deleted file mode 100644
index f41d29e..0000000
--- a/PxShared/src/foundation/include/PsUserAllocated.h
+++ /dev/null
@@ -1,92 +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 PSFOUNDATION_PSUSERALLOCATED_H
-#define PSFOUNDATION_PSUSERALLOCATED_H
-
-#include "PsAllocator.h"
-
-namespace physx
-{
-namespace shdfnd
-{
-/**
-Provides new and delete using a UserAllocator.
-Guarantees that 'delete x;' uses the UserAllocator too.
-*/
-class UserAllocated
-{
-  public:
-	// PX_SERIALIZATION
-	PX_INLINE void* operator new(size_t, void* address)
-	{
-		return address;
-	}
-	//~PX_SERIALIZATION
-	// Matching operator delete to the above operator new.  Don't ask me
-	// how this makes any sense - Nuernberger.
-	PX_INLINE void operator delete(void*, void*)
-	{
-	}
-
-	template <typename Alloc>
-	PX_INLINE void* operator new(size_t size, Alloc alloc, const char* fileName, int line)
-	{
-		return alloc.allocate(size, fileName, line);
-	}
-	template <typename Alloc>
-	PX_INLINE void* operator new [](size_t size, Alloc alloc, const char* fileName, int line)
-	{ return alloc.allocate(size, fileName, line); }
-
-	// placement delete
-	template <typename Alloc>
-	PX_INLINE void operator delete(void* ptr, Alloc alloc, const char* fileName, int line)
-	{
-		PX_UNUSED(fileName);
-		PX_UNUSED(line);
-		alloc.deallocate(ptr);
-	}
-	template <typename Alloc>
-	PX_INLINE void operator delete [](void* ptr, Alloc alloc, const char* fileName, int line)
-	{
-		PX_UNUSED(fileName);
-		PX_UNUSED(line);
-		alloc.deallocate(ptr);
-	} PX_INLINE void
-	operator delete(void* ptr)
-	{
-		NonTrackingAllocator().deallocate(ptr);
-	}
-	PX_INLINE void operator delete [](void* ptr)
-	{ NonTrackingAllocator().deallocate(ptr); }
-};
-} // namespace shdfnd
-} // namespace physx
-
-#endif // #ifndef PSFOUNDATION_PSUSERALLOCATED_H
diff --git a/PxShared/src/foundation/include/PsUtilities.h b/PxShared/src/foundation/include/PsUtilities.h
deleted file mode 100644
index cd0f200..0000000
--- a/PxShared/src/foundation/include/PsUtilities.h
+++ /dev/null
@@ -1,169 +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 PSFOUNDATION_PSUTILITIES_H
-#define PSFOUNDATION_PSUTILITIES_H
-
-#include "foundation/PxVec3.h"
-#include "foundation/PxAssert.h"
-#include "Ps.h"
-#include "PsIntrinsics.h"
-#include "PsBasicTemplates.h"
-
-namespace physx
-{
-namespace shdfnd
-{
-PX_INLINE char littleEndian()
-{
-	int i = 1;
-	return *(reinterpret_cast<char*>(&i));
-}
-
-// PT: checked casts
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 to32(PxU64 value)
-{
-	PX_ASSERT(value <= 0xffffffff);
-	return PxU32(value);
-}
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxU16 to16(PxU32 value)
-{
-	PX_ASSERT(value <= 0xffff);
-	return PxU16(value);
-}
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxU8 to8(PxU16 value)
-{
-	PX_ASSERT(value <= 0xff);
-	return PxU8(value);
-}
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxU8 to8(PxU32 value)
-{
-	PX_ASSERT(value <= 0xff);
-	return PxU8(value);
-}
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxU8 to8(PxI32 value)
-{
-	PX_ASSERT(value <= 0xff);
-	PX_ASSERT(value >= 0);
-	return PxU8(value);
-}
-PX_CUDA_CALLABLE PX_FORCE_INLINE PxI8 toI8(PxU32 value)
-{
-	PX_ASSERT(value <= 0x7f);
-	return PxI8(value);
-}
-
-/*!
-Get number of elements in array
-*/
-template <typename T, size_t N>
-char (&ArraySizeHelper(T (&array)[N]))[N];
-#define PX_ARRAY_SIZE(_array) (sizeof(physx::shdfnd::ArraySizeHelper(_array)))
-
-/*!
-Sort two elements using operator<
-
-On return x will be the smaller of the two
-*/
-template <class T>
-PX_CUDA_CALLABLE PX_FORCE_INLINE void order(T& x, T& y)
-{
-	if(y < x)
-		swap(x, y);
-}
-
-// most architectures can do predication on real comparisons, and on VMX, it matters
-
-PX_CUDA_CALLABLE PX_FORCE_INLINE void order(PxReal& x, PxReal& y)
-{
-	PxReal newX = PxMin(x, y);
-	PxReal newY = PxMax(x, y);
-	x = newX;
-	y = newY;
-}
-
-/*!
-Sort two elements using operator< and also keep order
-of any extra data
-*/
-template <class T, class E1>
-PX_CUDA_CALLABLE PX_FORCE_INLINE void order(T& x, T& y, E1& xe1, E1& ye1)
-{
-	if(y < x)
-	{
-		swap(x, y);
-		swap(xe1, ye1);
-	}
-}
-
-#if PX_GCC_FAMILY && !PX_EMSCRIPTEN && !PX_LINUX
-__attribute__((noreturn))
-#endif
-    PX_INLINE void debugBreak()
-{
-#if PX_WINDOWS || PX_XBOXONE
-	__debugbreak();
-#elif PX_ANDROID
-	raise(SIGTRAP); // works better than __builtin_trap. Proper call stack and can be continued.
-#elif PX_LINUX
-	#if (PX_X64 || PX_X64)
-		asm("int $3");
-	#else
-		raise(SIGTRAP);
-	#endif
-#elif PX_GCC_FAMILY
-	__builtin_trap();
-#else
-	PX_ASSERT(false);
-#endif
-}
-
-bool checkValid(const float&);
-bool checkValid(const PxVec3&);
-bool checkValid(const PxQuat&);
-bool checkValid(const PxMat33&);
-bool checkValid(const PxTransform&);
-bool checkValid(const char*);
-
-// equivalent to std::max_element
-template <typename T>
-inline const T* maxElement(const T* first, const T* last)
-{
-	const T* m = first;
-	for(const T* it = first + 1; it < last; ++it)
-		if(*m < *it)
-			m = it;
-
-	return m;
-}
-
-} // namespace shdfnd
-} // namespace physx
-
-#endif
diff --git a/PxShared/src/foundation/include/PsVecMath.h b/PxShared/src/foundation/include/PsVecMath.h
deleted file mode 100644
index ffd2de8..0000000
--- a/PxShared/src/foundation/include/PsVecMath.h
+++ /dev/null
@@ -1,1335 +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 PSFOUNDATION_PSVECMATH_H
-#define PSFOUNDATION_PSVECMATH_H
-
-#include "Ps.h"
-#include "PsIntrinsics.h"
-#include "foundation/PxVec3.h"
-#include "foundation/PxVec4.h"
-#include "foundation/PxMat33.h"
-#include "foundation/PxUnionCast.h"
-
-// We can opt to use the scalar version of vectorised functions.
-// This can catch type safety issues and might even work out more optimal on pc.
-// It will also be useful for benchmarking and testing.
-// NEVER submit with vector intrinsics deactivated without good reason.
-// AM: deactivating SIMD for debug win64 just so autobuild will also exercise
-// non-SIMD path, until a dedicated non-SIMD platform sich as Arm comes online.
-// TODO: dima: reference all platforms with SIMD support here,
-// all unknown/experimental cases should better default to NO SIMD.
-
-// enable/disable SIMD
-#if !defined(PX_SIMD_DISABLED)
-#if PX_INTEL_FAMILY && (!defined(__EMSCRIPTEN__) || defined(__SSE2__))
-#define COMPILE_VECTOR_INTRINSICS 1
-#elif PX_ANDROID&& PX_NEON
-#define COMPILE_VECTOR_INTRINSICS 1
-#elif PX_IOS&& PX_NEON
-#define COMPILE_VECTOR_INTRINSICS 1
-#elif PX_SWITCH
-#define COMPILE_VECTOR_INTRINSICS 1
-#else
-#define COMPILE_VECTOR_INTRINSICS 0
-#endif
-#else
-#define COMPILE_VECTOR_INTRINSICS 0
-#endif
-
-#if COMPILE_VECTOR_INTRINSICS && PX_INTEL_FAMILY&&(PX_UNIX_FAMILY || PX_PS4)
-// only SSE2 compatible platforms should reach this
-#if PX_EMSCRIPTEN
-#include <emmintrin.h>
-#endif
-#include <xmmintrin.h>
-#endif
-
-namespace physx
-{
-namespace shdfnd
-{
-namespace aos
-{
-
-// Basic AoS types are
-// FloatV	- 16-byte aligned representation of float.
-// Vec3V		- 16-byte aligned representation of PxVec3 stored as (x y z 0).
-// Vec4V		- 16-byte aligned representation of vector of 4 floats stored as (x y z w).
-// BoolV		- 16-byte aligned representation of vector of 4 bools stored as (x y z w).
-// VecU32V	- 16-byte aligned representation of 4 unsigned ints stored as (x y z w).
-// VecI32V	- 16-byte aligned representation of 4 signed ints stored as (x y z w).
-// Mat33V	- 16-byte aligned representation of any 3x3 matrix.
-// Mat34V	- 16-byte aligned representation of transformation matrix (rotation in col1,col2,col3 and translation in
-// col4).
-// Mat44V	- 16-byte aligned representation of any 4x4 matrix.
-
-#if COMPILE_VECTOR_INTRINSICS
-#include "PsAoS.h"
-#else
-#include "PsVecMathAoSScalar.h"
-#endif
-
-//////////////////////////////////////////
-// Construct a simd type from a scalar type
-//////////////////////////////////////////
-
-// FloatV
-//(f,f,f,f)
-PX_FORCE_INLINE FloatV FLoad(const PxF32 f);
-
-// Vec3V
-//(f,f,f,0)
-PX_FORCE_INLINE Vec3V V3Load(const PxF32 f);
-//(f.x,f.y,f.z,0)
-PX_FORCE_INLINE Vec3V V3LoadU(const PxVec3& f);
-//(f.x,f.y,f.z,0), f must be 16-byte aligned
-PX_FORCE_INLINE Vec3V V3LoadA(const PxVec3& f);
-//(f.x,f.y,f.z,w_undefined), f must be 16-byte aligned
-PX_FORCE_INLINE Vec3V V3LoadUnsafeA(const PxVec3& f);
-//(f.x,f.y,f.z,0)
-PX_FORCE_INLINE Vec3V V3LoadU(const PxF32* f);
-//(f.x,f.y,f.z,0), f must be 16-byte aligned
-PX_FORCE_INLINE Vec3V V3LoadA(const PxF32* f);
-
-// Vec4V
-//(f,f,f,f)
-PX_FORCE_INLINE Vec4V V4Load(const PxF32 f);
-//(f[0],f[1],f[2],f[3])
-PX_FORCE_INLINE Vec4V V4LoadU(const PxF32* const f);
-//(f[0],f[1],f[2],f[3]), f must be 16-byte aligned
-PX_FORCE_INLINE Vec4V V4LoadA(const PxF32* const f);
-//(x,y,z,w)
-PX_FORCE_INLINE Vec4V V4LoadXYZW(const PxF32& x, const PxF32& y, const PxF32& z, const PxF32& w);
-
-// BoolV
-//(f,f,f,f)
-PX_FORCE_INLINE BoolV BLoad(const bool f);
-//(f[0],f[1],f[2],f[3])
-PX_FORCE_INLINE BoolV BLoad(const bool* const f);
-
-// VecU32V
-//(f,f,f,f)
-PX_FORCE_INLINE VecU32V U4Load(const PxU32 f);
-//(f[0],f[1],f[2],f[3])
-PX_FORCE_INLINE VecU32V U4LoadU(const PxU32* f);
-//(f[0],f[1],f[2],f[3]), f must be 16-byte aligned
-PX_FORCE_INLINE VecU32V U4LoadA(const PxU32* f);
-//((U32)x, (U32)y, (U32)z, (U32)w)
-PX_FORCE_INLINE VecU32V U4LoadXYZW(PxU32 x, PxU32 y, PxU32 z, PxU32 w);
-
-// VecI32V
-//(i,i,i,i)
-PX_FORCE_INLINE VecI32V I4Load(const PxI32 i);
-//(i,i,i,i)
-PX_FORCE_INLINE VecI32V I4LoadU(const PxI32* i);
-//(i,i,i,i)
-PX_FORCE_INLINE VecI32V I4LoadA(const PxI32* i);
-
-// QuatV
-//(x = v[0], y=v[1], z=v[2], w=v3[3]) and array don't need to aligned
-PX_FORCE_INLINE QuatV QuatVLoadU(const PxF32* v);
-//(x = v[0], y=v[1], z=v[2], w=v3[3]) and array need to aligned, fast load
-PX_FORCE_INLINE QuatV QuatVLoadA(const PxF32* v);
-//(x, y, z, w)
-PX_FORCE_INLINE QuatV QuatVLoadXYZW(const PxF32 x, const PxF32 y, const PxF32 z, const PxF32 w);
-
-// not added to public api
-Vec4V Vec4V_From_PxVec3_WUndefined(const PxVec3& v);
-
-///////////////////////////////////////////////////
-// Construct a simd type from a different simd type
-///////////////////////////////////////////////////
-
-// Vec3V
-//(v.x,v.y,v.z,0)
-PX_FORCE_INLINE Vec3V Vec3V_From_Vec4V(Vec4V v);
-//(v.x,v.y,v.z,undefined) - be very careful with w!=0 because many functions require w==0 for correct operation eg V3Dot, V3Length, V3Cross etc etc.
-PX_FORCE_INLINE Vec3V Vec3V_From_Vec4V_WUndefined(const Vec4V v);
-
-// Vec4V
-//(f.x,f.y,f.z,f.w)
-PX_FORCE_INLINE Vec4V Vec4V_From_Vec3V(Vec3V f);
-//((PxF32)f.x, (PxF32)f.y, (PxF32)f.z, (PxF32)f.w)
-PX_FORCE_INLINE Vec4V Vec4V_From_VecU32V(VecU32V a);
-//((PxF32)f.x, (PxF32)f.y, (PxF32)f.z, (PxF32)f.w)
-PX_FORCE_INLINE Vec4V Vec4V_From_VecI32V(VecI32V a);
-//(*(reinterpret_cast<PxF32*>(&f.x), (reinterpret_cast<PxF32*>(&f.y), (reinterpret_cast<PxF32*>(&f.z),
-//(reinterpret_cast<PxF32*>(&f.w))
-PX_FORCE_INLINE Vec4V Vec4V_ReinterpretFrom_VecU32V(VecU32V a);
-//(*(reinterpret_cast<PxF32*>(&f.x), (reinterpret_cast<PxF32*>(&f.y), (reinterpret_cast<PxF32*>(&f.z),
-//(reinterpret_cast<PxF32*>(&f.w))
-PX_FORCE_INLINE Vec4V Vec4V_ReinterpretFrom_VecI32V(VecI32V a);
-
-// VecU32V
-//(*(reinterpret_cast<PxU32*>(&f.x), (reinterpret_cast<PxU32*>(&f.y), (reinterpret_cast<PxU32*>(&f.z),
-//(reinterpret_cast<PxU32*>(&f.w))
-PX_FORCE_INLINE VecU32V VecU32V_ReinterpretFrom_Vec4V(Vec4V a);
-//(b[0], b[1], b[2], b[3])
-PX_FORCE_INLINE VecU32V VecU32V_From_BoolV(const BoolVArg b);
-
-// VecI32V
-//(*(reinterpret_cast<PxI32*>(&f.x), (reinterpret_cast<PxI32*>(&f.y), (reinterpret_cast<PxI32*>(&f.z),
-//(reinterpret_cast<PxI32*>(&f.w))
-PX_FORCE_INLINE VecI32V VecI32V_ReinterpretFrom_Vec4V(Vec4V a);
-//((I32)a.x, (I32)a.y, (I32)a.z, (I32)a.w)
-PX_FORCE_INLINE VecI32V VecI32V_From_Vec4V(Vec4V a);
-//((I32)b.x, (I32)b.y, (I32)b.z, (I32)b.w)
-PX_FORCE_INLINE VecI32V VecI32V_From_BoolV(const BoolVArg b);
-
-///////////////////////////////////////////////////
-// Convert from a simd type back to a scalar type
-///////////////////////////////////////////////////
-
-// FloatV
-// a.x
-PX_FORCE_INLINE void FStore(const FloatV a, PxF32* PX_RESTRICT f);
-
-// Vec3V
-//(a.x,a.y,a.z)
-PX_FORCE_INLINE void V3StoreA(const Vec3V a, PxVec3& f);
-//(a.x,a.y,a.z)
-PX_FORCE_INLINE void V3StoreU(const Vec3V a, PxVec3& f);
-
-// Vec4V
-PX_FORCE_INLINE void V4StoreA(const Vec4V a, PxF32* f);
-PX_FORCE_INLINE void V4StoreU(const Vec4V a, PxF32* f);
-
-// BoolV
-PX_FORCE_INLINE void BStoreA(const BoolV b, PxU32* f);
-
-// VecU32V
-PX_FORCE_INLINE void U4StoreA(const VecU32V uv, PxU32* u);
-
-// VecI32V
-PX_FORCE_INLINE void I4StoreA(const VecI32V iv, PxI32* i);
-
-//////////////////////////////////////////////////////////////////
-// Test that simd types have elements in the floating point range
-//////////////////////////////////////////////////////////////////
-
-// check for each component is valid ie in floating point range
-PX_FORCE_INLINE bool isFiniteFloatV(const FloatV a);
-// check for each component is valid ie in floating point range
-PX_FORCE_INLINE bool isFiniteVec3V(const Vec3V a);
-// check for each component is valid ie in floating point range
-PX_FORCE_INLINE bool isFiniteVec4V(const Vec4V a);
-
-// Check that w-component is zero.
-PX_FORCE_INLINE bool isValidVec3V(const Vec3V a);
-
-//////////////////////////////////////////////////////////////////
-// Tests that all elements of two 16-byte types are completely equivalent.
-// Use these tests for unit testing and asserts only.
-//////////////////////////////////////////////////////////////////
-
-namespace _VecMathTests
-{
-PX_FORCE_INLINE Vec3V getInvalidVec3V();
-PX_FORCE_INLINE bool allElementsEqualFloatV(const FloatV a, const FloatV b);
-PX_FORCE_INLINE bool allElementsEqualVec3V(const Vec3V a, const Vec3V b);
-PX_FORCE_INLINE bool allElementsEqualVec4V(const Vec4V a, const Vec4V b);
-PX_FORCE_INLINE bool allElementsEqualBoolV(const BoolV a, const BoolV b);
-PX_FORCE_INLINE bool allElementsEqualVecU32V(const VecU32V a, const VecU32V b);
-PX_FORCE_INLINE bool allElementsEqualVecI32V(const VecI32V a, const VecI32V b);
-
-PX_FORCE_INLINE bool allElementsEqualMat33V(const Mat33V& a, const Mat33V& b)
-{
-	return (allElementsEqualVec3V(a.col0, b.col0) && allElementsEqualVec3V(a.col1, b.col1) &&
-	        allElementsEqualVec3V(a.col2, b.col2));
-}
-PX_FORCE_INLINE bool allElementsEqualMat34V(const Mat34V& a, const Mat34V& b)
-{
-	return (allElementsEqualVec3V(a.col0, b.col0) && allElementsEqualVec3V(a.col1, b.col1) &&
-	        allElementsEqualVec3V(a.col2, b.col2) && allElementsEqualVec3V(a.col3, b.col3));
-}
-PX_FORCE_INLINE bool allElementsEqualMat44V(const Mat44V& a, const Mat44V& b)
-{
-	return (allElementsEqualVec4V(a.col0, b.col0) && allElementsEqualVec4V(a.col1, b.col1) &&
-	        allElementsEqualVec4V(a.col2, b.col2) && allElementsEqualVec4V(a.col3, b.col3));
-}
-
-PX_FORCE_INLINE bool allElementsNearEqualFloatV(const FloatV a, const FloatV b);
-PX_FORCE_INLINE bool allElementsNearEqualVec3V(const Vec3V a, const Vec3V b);
-PX_FORCE_INLINE bool allElementsNearEqualVec4V(const Vec4V a, const Vec4V b);
-PX_FORCE_INLINE bool allElementsNearEqualMat33V(const Mat33V& a, const Mat33V& b)
-{
-	return (allElementsNearEqualVec3V(a.col0, b.col0) && allElementsNearEqualVec3V(a.col1, b.col1) &&
-	        allElementsNearEqualVec3V(a.col2, b.col2));
-}
-PX_FORCE_INLINE bool allElementsNearEqualMat34V(const Mat34V& a, const Mat34V& b)
-{
-	return (allElementsNearEqualVec3V(a.col0, b.col0) && allElementsNearEqualVec3V(a.col1, b.col1) &&
-	        allElementsNearEqualVec3V(a.col2, b.col2) && allElementsNearEqualVec3V(a.col3, b.col3));
-}
-PX_FORCE_INLINE bool allElementsNearEqualMat44V(const Mat44V& a, const Mat44V& b)
-{
-	return (allElementsNearEqualVec4V(a.col0, b.col0) && allElementsNearEqualVec4V(a.col1, b.col1) &&
-	        allElementsNearEqualVec4V(a.col2, b.col2) && allElementsNearEqualVec4V(a.col3, b.col3));
-}
-}
-
-//////////////////////////////////////////////////////////////////
-// Math operations on FloatV
-//////////////////////////////////////////////////////////////////
-
-//(0,0,0,0)
-PX_FORCE_INLINE FloatV FZero();
-//(1,1,1,1)
-PX_FORCE_INLINE FloatV FOne();
-//(0.5,0.5,0.5,0.5)
-PX_FORCE_INLINE FloatV FHalf();
-//(PX_EPS_REAL,PX_EPS_REAL,PX_EPS_REAL,PX_EPS_REAL)
-PX_FORCE_INLINE FloatV FEps();
-//(PX_MAX_REAL, PX_MAX_REAL, PX_MAX_REAL PX_MAX_REAL)
-PX_FORCE_INLINE FloatV FMax();
-//(-PX_MAX_REAL, -PX_MAX_REAL, -PX_MAX_REAL -PX_MAX_REAL)
-PX_FORCE_INLINE FloatV FNegMax();
-//(1e-6f, 1e-6f, 1e-6f, 1e-6f)
-PX_FORCE_INLINE FloatV FEps6();
-//((PxF32*)&1, (PxF32*)&1, (PxF32*)&1, (PxF32*)&1)
-
-//-f (per component)
-PX_FORCE_INLINE FloatV FNeg(const FloatV f);
-// a+b (per component)
-PX_FORCE_INLINE FloatV FAdd(const FloatV a, const FloatV b);
-// a-b (per component)
-PX_FORCE_INLINE FloatV FSub(const FloatV a, const FloatV b);
-// a*b (per component)
-PX_FORCE_INLINE FloatV FMul(const FloatV a, const FloatV b);
-// a/b (per component)
-PX_FORCE_INLINE FloatV FDiv(const FloatV a, const FloatV b);
-// a/b (per component)
-PX_FORCE_INLINE FloatV FDivFast(const FloatV a, const FloatV b);
-// 1.0f/a
-PX_FORCE_INLINE FloatV FRecip(const FloatV a);
-// 1.0f/a
-PX_FORCE_INLINE FloatV FRecipFast(const FloatV a);
-// 1.0f/sqrt(a)
-PX_FORCE_INLINE FloatV FRsqrt(const FloatV a);
-// 1.0f/sqrt(a)
-PX_FORCE_INLINE FloatV FRsqrtFast(const FloatV a);
-// sqrt(a)
-PX_FORCE_INLINE FloatV FSqrt(const FloatV a);
-// a*b+c
-PX_FORCE_INLINE FloatV FScaleAdd(const FloatV a, const FloatV b, const FloatV c);
-// c-a*b
-PX_FORCE_INLINE FloatV FNegScaleSub(const FloatV a, const FloatV b, const FloatV c);
-// fabs(a)
-PX_FORCE_INLINE FloatV FAbs(const FloatV a);
-// c ? a : b (per component)
-PX_FORCE_INLINE FloatV FSel(const BoolV c, const FloatV a, const FloatV b);
-// a>b (per component)
-PX_FORCE_INLINE BoolV FIsGrtr(const FloatV a, const FloatV b);
-// a>=b (per component)
-PX_FORCE_INLINE BoolV FIsGrtrOrEq(const FloatV a, const FloatV b);
-// a==b (per component)
-PX_FORCE_INLINE BoolV FIsEq(const FloatV a, const FloatV b);
-// Max(a,b) (per component)
-PX_FORCE_INLINE FloatV FMax(const FloatV a, const FloatV b);
-// Min(a,b) (per component)
-PX_FORCE_INLINE FloatV FMin(const FloatV a, const FloatV b);
-// Clamp(a,b) (per component)
-PX_FORCE_INLINE FloatV FClamp(const FloatV a, const FloatV minV, const FloatV maxV);
-
-// a.x>b.x
-PX_FORCE_INLINE PxU32 FAllGrtr(const FloatV a, const FloatV b);
-// a.x>=b.x
-PX_FORCE_INLINE PxU32 FAllGrtrOrEq(const FloatV a, const FloatV b);
-// a.x==b.x
-PX_FORCE_INLINE PxU32 FAllEq(const FloatV a, const FloatV b);
-// a<min || a>max
-PX_FORCE_INLINE PxU32 FOutOfBounds(const FloatV a, const FloatV min, const FloatV max);
-// a>=min && a<=max
-PX_FORCE_INLINE PxU32 FInBounds(const FloatV a, const FloatV min, const FloatV max);
-// a<-bounds || a>bounds
-PX_FORCE_INLINE PxU32 FOutOfBounds(const FloatV a, const FloatV bounds);
-// a>=-bounds && a<=bounds
-PX_FORCE_INLINE PxU32 FInBounds(const FloatV a, const FloatV bounds);
-
-// round float a to the near int
-PX_FORCE_INLINE FloatV FRound(const FloatV a);
-// calculate the sin of float a
-PX_FORCE_INLINE FloatV FSin(const FloatV a);
-// calculate the cos of float b
-PX_FORCE_INLINE FloatV FCos(const FloatV a);
-
-//////////////////////////////////////////////////////////////////
-// Math operations on Vec3V
-//////////////////////////////////////////////////////////////////
-
-//(f,f,f,f)
-PX_FORCE_INLINE Vec3V V3Splat(const FloatV f);
-
-//(x,y,z)
-PX_FORCE_INLINE Vec3V V3Merge(const FloatVArg x, const FloatVArg y, const FloatVArg z);
-
-//(1,0,0,0)
-PX_FORCE_INLINE Vec3V V3UnitX();
-//(0,1,0,0)
-PX_FORCE_INLINE Vec3V V3UnitY();
-//(0,0,1,0)
-PX_FORCE_INLINE Vec3V V3UnitZ();
-
-//(f.x,f.x,f.x,f.x)
-PX_FORCE_INLINE FloatV V3GetX(const Vec3V f);
-//(f.y,f.y,f.y,f.y)
-PX_FORCE_INLINE FloatV V3GetY(const Vec3V f);
-//(f.z,f.z,f.z,f.z)
-PX_FORCE_INLINE FloatV V3GetZ(const Vec3V f);
-
-//(f,v.y,v.z,v.w)
-PX_FORCE_INLINE Vec3V V3SetX(const Vec3V v, const FloatV f);
-//(v.x,f,v.z,v.w)
-PX_FORCE_INLINE Vec3V V3SetY(const Vec3V v, const FloatV f);
-//(v.x,v.y,f,v.w)
-PX_FORCE_INLINE Vec3V V3SetZ(const Vec3V v, const FloatV f);
-
-// v.x=f
-PX_FORCE_INLINE void V3WriteX(Vec3V& v, const PxF32 f);
-// v.y=f
-PX_FORCE_INLINE void V3WriteY(Vec3V& v, const PxF32 f);
-// v.z=f
-PX_FORCE_INLINE void V3WriteZ(Vec3V& v, const PxF32 f);
-// v.x=f.x, v.y=f.y, v.z=f.z
-PX_FORCE_INLINE void V3WriteXYZ(Vec3V& v, const PxVec3& f);
-// return v.x
-PX_FORCE_INLINE PxF32 V3ReadX(const Vec3V& v);
-// return v.y
-PX_FORCE_INLINE PxF32 V3ReadY(const Vec3V& v);
-// return v.y
-PX_FORCE_INLINE PxF32 V3ReadZ(const Vec3V& v);
-// return (v.x,v.y,v.z)
-PX_FORCE_INLINE const PxVec3& V3ReadXYZ(const Vec3V& v);
-
-//(a.x, b.x, c.x)
-PX_FORCE_INLINE Vec3V V3ColX(const Vec3V a, const Vec3V b, const Vec3V c);
-//(a.y, b.y, c.y)
-PX_FORCE_INLINE Vec3V V3ColY(const Vec3V a, const Vec3V b, const Vec3V c);
-//(a.z, b.z, c.z)
-PX_FORCE_INLINE Vec3V V3ColZ(const Vec3V a, const Vec3V b, const Vec3V c);
-
-//(0,0,0,0)
-PX_FORCE_INLINE Vec3V V3Zero();
-//(1,1,1,1)
-PX_FORCE_INLINE Vec3V V3One();
-//(PX_EPS_REAL,PX_EPS_REAL,PX_EPS_REAL,PX_EPS_REAL)
-PX_FORCE_INLINE Vec3V V3Eps();
-//-c (per component)
-PX_FORCE_INLINE Vec3V V3Neg(const Vec3V c);
-// a+b (per component)
-PX_FORCE_INLINE Vec3V V3Add(const Vec3V a, const Vec3V b);
-// a-b (per component)
-PX_FORCE_INLINE Vec3V V3Sub(const Vec3V a, const Vec3V b);
-// a*b (per component)
-PX_FORCE_INLINE Vec3V V3Scale(const Vec3V a, const FloatV b);
-// a*b (per component)
-PX_FORCE_INLINE Vec3V V3Mul(const Vec3V a, const Vec3V b);
-// a/b (per component)
-PX_FORCE_INLINE Vec3V V3ScaleInv(const Vec3V a, const FloatV b);
-// a/b (per component)
-PX_FORCE_INLINE Vec3V V3Div(const Vec3V a, const Vec3V b);
-// a/b (per component)
-PX_FORCE_INLINE Vec3V V3ScaleInvFast(const Vec3V a, const FloatV b);
-// a/b (per component)
-PX_FORCE_INLINE Vec3V V3DivFast(const Vec3V a, const Vec3V b);
-// 1.0f/a
-PX_FORCE_INLINE Vec3V V3Recip(const Vec3V a);
-// 1.0f/a
-PX_FORCE_INLINE Vec3V V3RecipFast(const Vec3V a);
-// 1.0f/sqrt(a)
-PX_FORCE_INLINE Vec3V V3Rsqrt(const Vec3V a);
-// 1.0f/sqrt(a)
-PX_FORCE_INLINE Vec3V V3RsqrtFast(const Vec3V a);
-// a*b+c
-PX_FORCE_INLINE Vec3V V3ScaleAdd(const Vec3V a, const FloatV b, const Vec3V c);
-// c-a*b
-PX_FORCE_INLINE Vec3V V3NegScaleSub(const Vec3V a, const FloatV b, const Vec3V c);
-// a*b+c
-PX_FORCE_INLINE Vec3V V3MulAdd(const Vec3V a, const Vec3V b, const Vec3V c);
-// c-a*b
-PX_FORCE_INLINE Vec3V V3NegMulSub(const Vec3V a, const Vec3V b, const Vec3V c);
-// fabs(a)
-PX_FORCE_INLINE Vec3V V3Abs(const Vec3V a);
-
-// a.b 
-// Note: a.w and b.w must have value zero
-PX_FORCE_INLINE FloatV V3Dot(const Vec3V a, const Vec3V b);
-// aXb
-// Note: a.w and b.w must have value zero
-PX_FORCE_INLINE Vec3V V3Cross(const Vec3V a, const Vec3V b);
-// |a.a|^1/2
-// Note: a.w must have value zero
-PX_FORCE_INLINE FloatV V3Length(const Vec3V a);
-// a.a
-// Note: a.w must have value zero
-PX_FORCE_INLINE FloatV V3LengthSq(const Vec3V a);
-// a*|a.a|^-1/2
-// Note: a.w must have value zero
-PX_FORCE_INLINE Vec3V V3Normalize(const Vec3V a);
-// a.a>0 ? a*|a.a|^-1/2 : (0,0,0,0)
-// Note: a.w must have value zero
-PX_FORCE_INLINE FloatV V3Length(const Vec3V a);
-// a.a>0 ? a*|a.a|^-1/2 : unsafeReturnValue 
-// Note: a.w must have value zero
-PX_FORCE_INLINE Vec3V V3NormalizeSafe(const Vec3V a, const Vec3V unsafeReturnValue);
-// a.x + a.y + a.z
-// Note: a.w must have value zero
-PX_FORCE_INLINE FloatV V3SumElems(const Vec3V a);
-
-// c ? a : b (per component)
-PX_FORCE_INLINE Vec3V V3Sel(const BoolV c, const Vec3V a, const Vec3V b);
-// a>b (per component)
-PX_FORCE_INLINE BoolV V3IsGrtr(const Vec3V a, const Vec3V b);
-// a>=b (per component)
-PX_FORCE_INLINE BoolV V3IsGrtrOrEq(const Vec3V a, const Vec3V b);
-// a==b (per component)
-PX_FORCE_INLINE BoolV V3IsEq(const Vec3V a, const Vec3V b);
-// Max(a,b) (per component)
-PX_FORCE_INLINE Vec3V V3Max(const Vec3V a, const Vec3V b);
-// Min(a,b) (per component)
-PX_FORCE_INLINE Vec3V V3Min(const Vec3V a, const Vec3V b);
-
-// Extract the maximum value from a
-// Note: a.w must have value zero
-PX_FORCE_INLINE FloatV V3ExtractMax(const Vec3V a);
-
-// Extract the minimum value from a
-// Note: a.w must have value zero
-PX_FORCE_INLINE FloatV V3ExtractMin(const Vec3V a);
-
-// Clamp(a,b) (per component)
-PX_FORCE_INLINE Vec3V V3Clamp(const Vec3V a, const Vec3V minV, const Vec3V maxV);
-
-// Extract the sign for each component
-PX_FORCE_INLINE Vec3V V3Sign(const Vec3V a);
-
-// Test all components.
-// (a.x>b.x && a.y>b.y && a.z>b.z)
-// Note: a.w and b.w must have value zero
-PX_FORCE_INLINE PxU32 V3AllGrtr(const Vec3V a, const Vec3V b);
-// (a.x>=b.x && a.y>=b.y && a.z>=b.z)
-// Note: a.w and b.w must have value zero
-PX_FORCE_INLINE PxU32 V3AllGrtrOrEq(const Vec3V a, const Vec3V b);
-// (a.x==b.x && a.y==b.y && a.z==b.z)
-// Note: a.w and b.w must have value zero
-PX_FORCE_INLINE PxU32 V3AllEq(const Vec3V a, const Vec3V b);
-// a.x<min.x || a.y<min.y || a.z<min.z || a.x>max.x || a.y>max.y || a.z>max.z
-// Note: a.w and min.w and max.w must have value zero
-PX_FORCE_INLINE PxU32 V3OutOfBounds(const Vec3V a, const Vec3V min, const Vec3V max);
-// a.x>=min.x && a.y>=min.y && a.z>=min.z && a.x<=max.x && a.y<=max.y && a.z<=max.z
-// Note: a.w and min.w and max.w must have value zero
-PX_FORCE_INLINE PxU32 V3InBounds(const Vec3V a, const Vec3V min, const Vec3V max);
-// a.x<-bounds.x || a.y<=-bounds.y || a.z<bounds.z || a.x>bounds.x || a.y>bounds.y || a.z>bounds.z
-// Note: a.w and bounds.w must have value zero
-PX_FORCE_INLINE PxU32 V3OutOfBounds(const Vec3V a, const Vec3V bounds);
-// a.x>=-bounds.x && a.y>=-bounds.y && a.z>=-bounds.z && a.x<=bounds.x && a.y<=bounds.y && a.z<=bounds.z
-// Note: a.w and bounds.w must have value zero
-PX_FORCE_INLINE PxU32 V3InBounds(const Vec3V a, const Vec3V bounds);
-
-//(floor(a.x + 0.5f), floor(a.y + 0.5f), floor(a.z + 0.5f))
-PX_FORCE_INLINE Vec3V V3Round(const Vec3V a);
-
-//(sinf(a.x), sinf(a.y), sinf(a.z))
-PX_FORCE_INLINE Vec3V V3Sin(const Vec3V a);
-//(cosf(a.x), cosf(a.y), cosf(a.z))
-PX_FORCE_INLINE Vec3V V3Cos(const Vec3V a);
-
-//(a.y,a.z,a.z)
-PX_FORCE_INLINE Vec3V V3PermYZZ(const Vec3V a);
-//(a.x,a.y,a.x)
-PX_FORCE_INLINE Vec3V V3PermXYX(const Vec3V a);
-//(a.y,a.z,a.x)
-PX_FORCE_INLINE Vec3V V3PermYZX(const Vec3V a);
-//(a.z, a.x, a.y)
-PX_FORCE_INLINE Vec3V V3PermZXY(const Vec3V a);
-//(a.z,a.z,a.y)
-PX_FORCE_INLINE Vec3V V3PermZZY(const Vec3V a);
-//(a.y,a.x,a.x)
-PX_FORCE_INLINE Vec3V V3PermYXX(const Vec3V a);
-//(0, v1.z, v0.y)
-PX_FORCE_INLINE Vec3V V3Perm_Zero_1Z_0Y(const Vec3V v0, const Vec3V v1);
-//(v0.z, 0, v1.x)
-PX_FORCE_INLINE Vec3V V3Perm_0Z_Zero_1X(const Vec3V v0, const Vec3V v1);
-//(v1.y, v0.x, 0)
-PX_FORCE_INLINE Vec3V V3Perm_1Y_0X_Zero(const Vec3V v0, const Vec3V v1);
-
-// Transpose 3 Vec3Vs inplace. Sets the w component to zero
-// [ x0, y0, z0, w0] [ x1, y1, z1, w1]  [ x2, y2, z2, w2]  -> [x0 x1 x2 0] [y0 y1 y2 0] [z0 z1 z2 0]
-PX_FORCE_INLINE void V3Transpose(Vec3V& col0, Vec3V& col1, Vec3V& col2);
-
-//////////////////////////////////////////////////////////////////
-// Math operations on Vec4V
-//////////////////////////////////////////////////////////////////
-
-//(f,f,f,f)
-PX_FORCE_INLINE Vec4V V4Splat(const FloatV f);
-
-//(f[0],f[1],f[2],f[3])
-PX_FORCE_INLINE Vec4V V4Merge(const FloatV* const f);
-//(x,y,z,w)
-PX_FORCE_INLINE Vec4V V4Merge(const FloatVArg x, const FloatVArg y, const FloatVArg z, const FloatVArg w);
-//(x.w, y.w, z.w, w.w)
-PX_FORCE_INLINE Vec4V V4MergeW(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w);
-//(x.z, y.z, z.z, w.z)
-PX_FORCE_INLINE Vec4V V4MergeZ(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w);
-//(x.y, y.y, z.y, w.y)
-PX_FORCE_INLINE Vec4V V4MergeY(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w);
-//(x.x, y.x, z.x, w.x)
-PX_FORCE_INLINE Vec4V V4MergeX(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w);
-
-//(a.x, b.x, a.y, b.y)
-PX_FORCE_INLINE Vec4V V4UnpackXY(const Vec4VArg a, const Vec4VArg b);
-//(a.z, b.z, a.w, b.w)
-PX_FORCE_INLINE Vec4V V4UnpackZW(const Vec4VArg a, const Vec4VArg b);
-
-//(1,0,0,0)
-PX_FORCE_INLINE Vec4V V4UnitW();
-//(0,1,0,0)
-PX_FORCE_INLINE Vec4V V4UnitY();
-//(0,0,1,0)
-PX_FORCE_INLINE Vec4V V4UnitZ();
-//(0,0,0,1)
-PX_FORCE_INLINE Vec4V V4UnitW();
-
-//(f.x,f.x,f.x,f.x)
-PX_FORCE_INLINE FloatV V4GetX(const Vec4V f);
-//(f.y,f.y,f.y,f.y)
-PX_FORCE_INLINE FloatV V4GetY(const Vec4V f);
-//(f.z,f.z,f.z,f.z)
-PX_FORCE_INLINE FloatV V4GetZ(const Vec4V f);
-//(f.w,f.w,f.w,f.w)
-PX_FORCE_INLINE FloatV V4GetW(const Vec4V f);
-
-//(f,v.y,v.z,v.w)
-PX_FORCE_INLINE Vec4V V4SetX(const Vec4V v, const FloatV f);
-//(v.x,f,v.z,v.w)
-PX_FORCE_INLINE Vec4V V4SetY(const Vec4V v, const FloatV f);
-//(v.x,v.y,f,v.w)
-PX_FORCE_INLINE Vec4V V4SetZ(const Vec4V v, const FloatV f);
-//(v.x,v.y,v.z,f)
-PX_FORCE_INLINE Vec4V V4SetW(const Vec4V v, const FloatV f);
-
-//(v.x,v.y,v.z,0)
-PX_FORCE_INLINE Vec4V V4ClearW(const Vec4V v);
-
-//(a[elementIndex], a[elementIndex], a[elementIndex], a[elementIndex])
-template <int elementIndex>
-PX_FORCE_INLINE Vec4V V4SplatElement(Vec4V a);
-
-// v.x=f
-PX_FORCE_INLINE void V4WriteX(Vec4V& v, const PxF32 f);
-// v.y=f
-PX_FORCE_INLINE void V4WriteY(Vec4V& v, const PxF32 f);
-// v.z=f
-PX_FORCE_INLINE void V4WriteZ(Vec4V& v, const PxF32 f);
-// v.w=f
-PX_FORCE_INLINE void V4WriteW(Vec4V& v, const PxF32 f);
-// v.x=f.x, v.y=f.y, v.z=f.z
-PX_FORCE_INLINE void V4WriteXYZ(Vec4V& v, const PxVec3& f);
-// return v.x
-PX_FORCE_INLINE PxF32 V4ReadX(const Vec4V& v);
-// return v.y
-PX_FORCE_INLINE PxF32 V4ReadY(const Vec4V& v);
-// return v.z
-PX_FORCE_INLINE PxF32 V4ReadZ(const Vec4V& v);
-// return v.w
-PX_FORCE_INLINE PxF32 V4ReadW(const Vec4V& v);
-// return (v.x,v.y,v.z)
-PX_FORCE_INLINE const PxVec3& V4ReadXYZ(const Vec4V& v);
-
-//(0,0,0,0)
-PX_FORCE_INLINE Vec4V V4Zero();
-//(1,1,1,1)
-PX_FORCE_INLINE Vec4V V4One();
-//(PX_EPS_REAL,PX_EPS_REAL,PX_EPS_REAL,PX_EPS_REAL)
-PX_FORCE_INLINE Vec4V V4Eps();
-
-//-c (per component)
-PX_FORCE_INLINE Vec4V V4Neg(const Vec4V c);
-// a+b (per component)
-PX_FORCE_INLINE Vec4V V4Add(const Vec4V a, const Vec4V b);
-// a-b (per component)
-PX_FORCE_INLINE Vec4V V4Sub(const Vec4V a, const Vec4V b);
-// a*b (per component)
-PX_FORCE_INLINE Vec4V V4Scale(const Vec4V a, const FloatV b);
-// a*b (per component)
-PX_FORCE_INLINE Vec4V V4Mul(const Vec4V a, const Vec4V b);
-// a/b (per component)
-PX_FORCE_INLINE Vec4V V4ScaleInv(const Vec4V a, const FloatV b);
-// a/b (per component)
-PX_FORCE_INLINE Vec4V V4Div(const Vec4V a, const Vec4V b);
-// a/b (per component)
-PX_FORCE_INLINE Vec4V V4ScaleInvFast(const Vec4V a, const FloatV b);
-// a/b (per component)
-PX_FORCE_INLINE Vec4V V4DivFast(const Vec4V a, const Vec4V b);
-// 1.0f/a
-PX_FORCE_INLINE Vec4V V4Recip(const Vec4V a);
-// 1.0f/a
-PX_FORCE_INLINE Vec4V V4RecipFast(const Vec4V a);
-// 1.0f/sqrt(a)
-PX_FORCE_INLINE Vec4V V4Rsqrt(const Vec4V a);
-// 1.0f/sqrt(a)
-PX_FORCE_INLINE Vec4V V4RsqrtFast(const Vec4V a);
-// a*b+c
-PX_FORCE_INLINE Vec4V V4ScaleAdd(const Vec4V a, const FloatV b, const Vec4V c);
-// c-a*b
-PX_FORCE_INLINE Vec4V V4NegScaleSub(const Vec4V a, const FloatV b, const Vec4V c);
-// a*b+c
-PX_FORCE_INLINE Vec4V V4MulAdd(const Vec4V a, const Vec4V b, const Vec4V c);
-// c-a*b
-PX_FORCE_INLINE Vec4V V4NegMulSub(const Vec4V a, const Vec4V b, const Vec4V c);
-
-// fabs(a)
-PX_FORCE_INLINE Vec4V V4Abs(const Vec4V a);
-// bitwise a & ~b
-PX_FORCE_INLINE Vec4V V4Andc(const Vec4V a, const VecU32V b);
-
-// a.b (W is taken into account)
-PX_FORCE_INLINE FloatV V4Dot(const Vec4V a, const Vec4V b);
-// a.b (same computation as V3Dot. W is ignored in input)
-PX_FORCE_INLINE FloatV V4Dot3(const Vec4V a, const Vec4V b);
-// aXb (same computation as V3Cross. W is ignored in input and undefined in output)
-PX_FORCE_INLINE Vec4V V4Cross(const Vec4V a, const Vec4V b);
-
-//|a.a|^1/2
-PX_FORCE_INLINE FloatV V4Length(const Vec4V a);
-// a.a
-PX_FORCE_INLINE FloatV V4LengthSq(const Vec4V a);
-
-// a*|a.a|^-1/2
-PX_FORCE_INLINE Vec4V V4Normalize(const Vec4V a);
-// a.a>0 ? a*|a.a|^-1/2 : unsafeReturnValue 
-PX_FORCE_INLINE Vec4V V4NormalizeSafe(const Vec4V a, const Vec4V unsafeReturnValue);
-// a*|a.a|^-1/2
-PX_FORCE_INLINE Vec4V V4NormalizeFast(const Vec4V a);
-
-// c ? a : b (per component)
-PX_FORCE_INLINE Vec4V V4Sel(const BoolV c, const Vec4V a, const Vec4V b);
-// a>b (per component)
-PX_FORCE_INLINE BoolV V4IsGrtr(const Vec4V a, const Vec4V b);
-// a>=b (per component)
-PX_FORCE_INLINE BoolV V4IsGrtrOrEq(const Vec4V a, const Vec4V b);
-// a==b (per component)
-PX_FORCE_INLINE BoolV V4IsEq(const Vec4V a, const Vec4V b);
-// Max(a,b) (per component)
-PX_FORCE_INLINE Vec4V V4Max(const Vec4V a, const Vec4V b);
-// Min(a,b) (per component)
-PX_FORCE_INLINE Vec4V V4Min(const Vec4V a, const Vec4V b);
-// Get the maximum component from a
-PX_FORCE_INLINE FloatV V4ExtractMax(const Vec4V a);
-// Get the minimum component from a
-PX_FORCE_INLINE FloatV V4ExtractMin(const Vec4V a);
-
-// Clamp(a,b) (per component)
-PX_FORCE_INLINE Vec4V V4Clamp(const Vec4V a, const Vec4V minV, const Vec4V maxV);
-
-// return 1 if all components of a are greater than all components of b.
-PX_FORCE_INLINE PxU32 V4AllGrtr(const Vec4V a, const Vec4V b);
-// return 1 if all components of a are greater than or equal to all components of b
-PX_FORCE_INLINE PxU32 V4AllGrtrOrEq(const Vec4V a, const Vec4V b);
-// return 1 if XYZ components of a are greater than or equal to XYZ components of b. W is ignored.
-PX_FORCE_INLINE PxU32 V4AllGrtrOrEq3(const Vec4V a, const Vec4V b);
-// return 1 if all components of a are equal to all components of b
-PX_FORCE_INLINE PxU32 V4AllEq(const Vec4V a, const Vec4V b);
-// return 1 if any XYZ component of a is greater than the corresponding component of b. W is ignored.
-PX_FORCE_INLINE PxU32 V4AnyGrtr3(const Vec4V a, const Vec4V b);
-
-// round(a)(per component)
-PX_FORCE_INLINE Vec4V V4Round(const Vec4V a);
-// sin(a) (per component)
-PX_FORCE_INLINE Vec4V V4Sin(const Vec4V a);
-// cos(a) (per component)
-PX_FORCE_INLINE Vec4V V4Cos(const Vec4V a);
-
-// Permute v into a new vec4v with YXWZ format
-PX_FORCE_INLINE Vec4V V4PermYXWZ(const Vec4V v);
-// Permute v into a new vec4v with XZXZ format
-PX_FORCE_INLINE Vec4V V4PermXZXZ(const Vec4V v);
-// Permute v into a new vec4v with YWYW format
-PX_FORCE_INLINE Vec4V V4PermYWYW(const Vec4V v);
-// Permute v into a new vec4v with YZXW format
-PX_FORCE_INLINE Vec4V V4PermYZXW(const Vec4V v);
-
-// Permute v into a new vec4v with format {a[x], a[y], a[z], a[w]}
-// V4Perm<1,3,1,3> is equal to V4PermYWYW
-// V4Perm<0,2,0,2> is equal to V4PermXZXZ
-// V3Perm<1,0,3,2> is equal to V4PermYXWZ
-template <PxU8 x, PxU8 y, PxU8 z, PxU8 w>
-PX_FORCE_INLINE Vec4V V4Perm(const Vec4V a);
-
-// Transpose 4 Vec4Vs inplace.
-// [ x0, y0, z0, w0] [ x1, y1, z1, w1] [ x2, y2, z2, w2] [ x3, y3, z3, w3] ->
-// [ x0, x1, x2, x3] [ y0, y1, y2, y3] [ z0, z1, z2, z3] [ w0, w1, w2, w3]
-PX_FORCE_INLINE void V3Transpose(Vec3V& col0, Vec3V& col1, Vec3V& col2);
-
-// q = cos(a/2) + u*sin(a/2)
-PX_FORCE_INLINE QuatV QuatV_From_RotationAxisAngle(const Vec3V u, const FloatV a);
-// convert q to a unit quaternion
-PX_FORCE_INLINE QuatV QuatNormalize(const QuatV q);
-//|q.q|^1/2
-PX_FORCE_INLINE FloatV QuatLength(const QuatV q);
-// q.q
-PX_FORCE_INLINE FloatV QuatLengthSq(const QuatV q);
-// a.b
-PX_FORCE_INLINE FloatV QuatDot(const QuatV a, const QuatV b);
-//(-q.x, -q.y, -q.z, q.w)
-PX_FORCE_INLINE QuatV QuatConjugate(const QuatV q);
-//(q.x, q.y, q.z)
-PX_FORCE_INLINE Vec3V QuatGetImaginaryPart(const QuatV q);
-// convert quaternion to matrix 33
-PX_FORCE_INLINE Mat33V QuatGetMat33V(const QuatVArg q);
-// convert quaternion to matrix 33
-PX_FORCE_INLINE void QuatGetMat33V(const QuatVArg q, Vec3V& column0, Vec3V& column1, Vec3V& column2);
-// convert matrix 33 to quaternion
-PX_FORCE_INLINE QuatV Mat33GetQuatV(const Mat33V& a);
-// brief computes rotation of x-axis
-PX_FORCE_INLINE Vec3V QuatGetBasisVector0(const QuatV q);
-// brief computes rotation of y-axis
-PX_FORCE_INLINE Vec3V QuatGetBasisVector1(const QuatV q);
-// brief computes rotation of z-axis
-PX_FORCE_INLINE Vec3V QuatGetBasisVector2(const QuatV q);
-// calculate the rotation vector from q and v
-PX_FORCE_INLINE Vec3V QuatRotate(const QuatV q, const Vec3V v);
-// calculate the rotation vector from the conjugate quaternion and v
-PX_FORCE_INLINE Vec3V QuatRotateInv(const QuatV q, const Vec3V v);
-// quaternion multiplication
-PX_FORCE_INLINE QuatV QuatMul(const QuatV a, const QuatV b);
-// quaternion add
-PX_FORCE_INLINE QuatV QuatAdd(const QuatV a, const QuatV b);
-// (-q.x, -q.y, -q.z, -q.w)
-PX_FORCE_INLINE QuatV QuatNeg(const QuatV q);
-// (a.x - b.x, a.y-b.y, a.z-b.z, a.w-b.w )
-PX_FORCE_INLINE QuatV QuatSub(const QuatV a, const QuatV b);
-// (a.x*b, a.y*b, a.z*b, a.w*b)
-PX_FORCE_INLINE QuatV QuatScale(const QuatV a, const FloatV b);
-// (x = v[0], y = v[1], z = v[2], w =v[3])
-PX_FORCE_INLINE QuatV QuatMerge(const FloatV* const v);
-// (x = v[0], y = v[1], z = v[2], w =v[3])
-PX_FORCE_INLINE QuatV QuatMerge(const FloatVArg x, const FloatVArg y, const FloatVArg z, const FloatVArg w);
-// (x = 0.f, y = 0.f, z = 0.f, w = 1.f)
-PX_FORCE_INLINE QuatV QuatIdentity();
-// check for each component is valid
-PX_FORCE_INLINE bool isFiniteQuatV(const QuatV q);
-// check for each component is valid
-PX_FORCE_INLINE bool isValidQuatV(const QuatV q);
-// check for each component is valid
-PX_FORCE_INLINE bool isSaneQuatV(const QuatV q);
-
-// Math operations on 16-byte aligned booleans.
-// x=false	y=false		z=false		w=false
-PX_FORCE_INLINE BoolV BFFFF();
-// x=false	y=false		z=false		w=true
-PX_FORCE_INLINE BoolV BFFFT();
-// x=false	y=false		z=true		w=false
-PX_FORCE_INLINE BoolV BFFTF();
-// x=false	y=false		z=true		w=true
-PX_FORCE_INLINE BoolV BFFTT();
-// x=false	y=true		z=false		w=false
-PX_FORCE_INLINE BoolV BFTFF();
-// x=false	y=true		z=false		w=true
-PX_FORCE_INLINE BoolV BFTFT();
-// x=false	y=true		z=true		w=false
-PX_FORCE_INLINE BoolV BFTTF();
-// x=false	y=true		z=true		w=true
-PX_FORCE_INLINE BoolV BFTTT();
-// x=true	y=false		z=false		w=false
-PX_FORCE_INLINE BoolV BTFFF();
-// x=true	y=false		z=false		w=true
-PX_FORCE_INLINE BoolV BTFFT();
-// x=true	y=false		z=true		w=false
-PX_FORCE_INLINE BoolV BTFTF();
-// x=true	y=false		z=true		w=true
-PX_FORCE_INLINE BoolV BTFTT();
-// x=true	y=true		z=false		w=false
-PX_FORCE_INLINE BoolV BTTFF();
-// x=true	y=true		z=false		w=true
-PX_FORCE_INLINE BoolV BTTFT();
-// x=true	y=true		z=true		w=false
-PX_FORCE_INLINE BoolV BTTTF();
-// x=true	y=true		z=true		w=true
-PX_FORCE_INLINE BoolV BTTTT();
-
-// x=false	y=false		z=false		w=true
-PX_FORCE_INLINE BoolV BWMask();
-// x=true	y=false		z=false		w=false
-PX_FORCE_INLINE BoolV BXMask();
-// x=false	y=true		z=false		w=false
-PX_FORCE_INLINE BoolV BYMask();
-// x=false	y=false		z=true		w=false
-PX_FORCE_INLINE BoolV BZMask();
-
-// get x component
-PX_FORCE_INLINE BoolV BGetX(const BoolV f);
-// get y component
-PX_FORCE_INLINE BoolV BGetY(const BoolV f);
-// get z component
-PX_FORCE_INLINE BoolV BGetZ(const BoolV f);
-// get w component
-PX_FORCE_INLINE BoolV BGetW(const BoolV f);
-
-// Use elementIndex to splat xxxx or yyyy or zzzz or wwww
-template <int elementIndex>
-PX_FORCE_INLINE BoolV BSplatElement(Vec4V a);
-
-// component-wise && (AND)
-PX_FORCE_INLINE BoolV BAnd(const BoolV a, const BoolV b);
-// component-wise || (OR)
-PX_FORCE_INLINE BoolV BOr(const BoolV a, const BoolV b);
-// component-wise not
-PX_FORCE_INLINE BoolV BNot(const BoolV a);
-
-// if all four components are true, return true, otherwise return false
-PX_FORCE_INLINE BoolV BAllTrue4(const BoolV a);
-
-// if any four components is true, return true, otherwise return false
-PX_FORCE_INLINE BoolV BAnyTrue4(const BoolV a);
-
-// if all three(0, 1, 2) components are true, return true, otherwise return false
-PX_FORCE_INLINE BoolV BAllTrue3(const BoolV a);
-
-// if any three (0, 1, 2) components is true, return true, otherwise return false
-PX_FORCE_INLINE BoolV BAnyTrue3(const BoolV a);
-
-// Return 1 if all components equal, zero otherwise.
-PX_FORCE_INLINE PxU32 BAllEq(const BoolV a, const BoolV b);
-
-// Specialized/faster BAllEq function for b==TTTT
-PX_FORCE_INLINE PxU32 BAllEqTTTT(const BoolV a);
-// Specialized/faster BAllEq function for b==FFFF
-PX_FORCE_INLINE PxU32 BAllEqFFFF(const BoolV a);
-
-/// Get BoolV as bits set in an PxU32. A bit in the output is set if the element is 'true' in the input.
-/// There is a bit for each element in a, with element 0s value held in bit0, element 1 in bit 1s and so forth.
-/// If nothing is true in the input it will return 0, and if all are true if will return 0xf.
-/// NOTE! That performance of the function varies considerably by platform, thus it is recommended to use
-/// where your algorithm really needs a BoolV in an integer variable.
-PX_FORCE_INLINE PxU32 BGetBitMask(const BoolV a);
-
-// VecI32V stuff
-
-PX_FORCE_INLINE VecI32V VecI32V_Zero();
-
-PX_FORCE_INLINE VecI32V VecI32V_One();
-
-PX_FORCE_INLINE VecI32V VecI32V_Two();
-
-PX_FORCE_INLINE VecI32V VecI32V_MinusOne();
-
-// Compute a shift parameter for VecI32V_LeftShift and VecI32V_RightShift
-// Each element of shift must be identical ie the vector must have form {count, count, count, count} with count>=0
-PX_FORCE_INLINE VecShiftV VecI32V_PrepareShift(const VecI32VArg shift);
-
-// Shift each element of a leftwards by the same amount
-// Compute shift with VecI32V_PrepareShift
-//{a.x<<shift[0], a.y<<shift[0], a.z<<shift[0], a.w<<shift[0]}
-PX_FORCE_INLINE VecI32V VecI32V_LeftShift(const VecI32VArg a, const VecShiftVArg shift);
-
-// Shift each element of a rightwards by the same amount
-// Compute shift with VecI32V_PrepareShift
-//{a.x>>shift[0], a.y>>shift[0], a.z>>shift[0], a.w>>shift[0]}
-PX_FORCE_INLINE VecI32V VecI32V_RightShift(const VecI32VArg a, const VecShiftVArg shift);
-
-PX_FORCE_INLINE VecI32V VecI32V_Add(const VecI32VArg a, const VecI32VArg b);
-
-PX_FORCE_INLINE VecI32V VecI32V_Or(const VecI32VArg a, const VecI32VArg b);
-
-PX_FORCE_INLINE VecI32V VecI32V_GetX(const VecI32VArg a);
-
-PX_FORCE_INLINE VecI32V VecI32V_GetY(const VecI32VArg a);
-
-PX_FORCE_INLINE VecI32V VecI32V_GetZ(const VecI32VArg a);
-
-PX_FORCE_INLINE VecI32V VecI32V_GetW(const VecI32VArg a);
-
-PX_FORCE_INLINE VecI32V VecI32V_Sub(const VecI32VArg a, const VecI32VArg b);
-
-PX_FORCE_INLINE BoolV VecI32V_IsGrtr(const VecI32VArg a, const VecI32VArg b);
-
-PX_FORCE_INLINE BoolV VecI32V_IsEq(const VecI32VArg a, const VecI32VArg b);
-
-PX_FORCE_INLINE VecI32V V4I32Sel(const BoolV c, const VecI32V a, const VecI32V b);
-
-// VecU32V stuff
-
-PX_FORCE_INLINE VecU32V U4Zero();
-
-PX_FORCE_INLINE VecU32V U4One();
-
-PX_FORCE_INLINE VecU32V U4Two();
-
-PX_FORCE_INLINE BoolV V4IsEqU32(const VecU32V a, const VecU32V b);
-
-PX_FORCE_INLINE VecU32V V4U32Sel(const BoolV c, const VecU32V a, const VecU32V b);
-
-PX_FORCE_INLINE VecU32V V4U32or(VecU32V a, VecU32V b);
-
-PX_FORCE_INLINE VecU32V V4U32xor(VecU32V a, VecU32V b);
-
-PX_FORCE_INLINE VecU32V V4U32and(VecU32V a, VecU32V b);
-
-PX_FORCE_INLINE VecU32V V4U32Andc(VecU32V a, VecU32V b);
-
-// VecU32 - why does this not return a bool?
-PX_FORCE_INLINE VecU32V V4IsGrtrV32u(const Vec4V a, const Vec4V b);
-
-// Math operations on 16-byte aligned Mat33s (represents any 3x3 matrix)
-// a*b
-PX_FORCE_INLINE Vec3V M33MulV3(const Mat33V& a, const Vec3V b);
-// A*x + b
-PX_FORCE_INLINE Vec3V M33MulV3AddV3(const Mat33V& A, const Vec3V b, const Vec3V c);
-// transpose(a) * b
-PX_FORCE_INLINE Vec3V M33TrnspsMulV3(const Mat33V& a, const Vec3V b);
-// a*b
-PX_FORCE_INLINE Mat33V M33MulM33(const Mat33V& a, const Mat33V& b);
-// a+b
-PX_FORCE_INLINE Mat33V M33Add(const Mat33V& a, const Mat33V& b);
-// a+b
-PX_FORCE_INLINE Mat33V M33Sub(const Mat33V& a, const Mat33V& b);
-//-a
-PX_FORCE_INLINE Mat33V M33Neg(const Mat33V& a);
-// absolute value of the matrix
-PX_FORCE_INLINE Mat33V M33Abs(const Mat33V& a);
-// inverse mat
-PX_FORCE_INLINE Mat33V M33Inverse(const Mat33V& a);
-// transpose(a)
-PX_FORCE_INLINE Mat33V M33Trnsps(const Mat33V& a);
-// create an identity matrix
-PX_FORCE_INLINE Mat33V M33Identity();
-
-// create a vec3 to store the diagonal element of the M33
-PX_FORCE_INLINE Mat33V M33Diagonal(const Vec3VArg);
-
-// Not implemented
-// return 1 if all components of a are equal to all components of b
-// PX_FORCE_INLINE PxU32 V4U32AllEq(const VecU32V a, const VecU32V b);
-// v.w=f
-// PX_FORCE_INLINE void V3WriteW(Vec3V& v, const PxF32 f);
-// PX_FORCE_INLINE PxF32 V3ReadW(const Vec3V& v);
-
-// Not used
-// PX_FORCE_INLINE Vec4V V4LoadAligned(Vec4V* addr);
-// PX_FORCE_INLINE Vec4V V4LoadUnaligned(Vec4V* addr);
-// floor(a)(per component)
-// PX_FORCE_INLINE Vec4V V4Floor(Vec4V a);
-// ceil(a) (per component)
-// PX_FORCE_INLINE Vec4V V4Ceil(Vec4V a);
-// PX_FORCE_INLINE VecU32V V4ConvertToU32VSaturate(const Vec4V a, PxU32 power);
-
-// Math operations on 16-byte aligned Mat34s (represents transformation matrix - rotation and translation).
-// namespace _Mat34V
-//{
-//	//a*b
-//	PX_FORCE_INLINE Vec3V multiplyV(const Mat34V& a, const Vec3V b);
-//	//a_rotation * b
-//	PX_FORCE_INLINE Vec3V multiply3X3V(const Mat34V& a, const Vec3V b);
-//	//transpose(a_rotation)*b
-//	PX_FORCE_INLINE Vec3V multiplyTranspose3X3V(const Mat34V& a, const Vec3V b);
-//	//a*b
-//	PX_FORCE_INLINE Mat34V multiplyV(const Mat34V& a, const Mat34V& b);
-//	//a_rotation*b
-//	PX_FORCE_INLINE Mat33V multiply3X3V(const Mat34V& a, const Mat33V& b);
-//	//a_rotation*b_rotation
-//	PX_FORCE_INLINE Mat33V multiply3X3V(const Mat34V& a, const Mat34V& b);
-//	//a+b
-//	PX_FORCE_INLINE Mat34V addV(const Mat34V& a, const Mat34V& b);
-//	//a^-1
-//	PX_FORCE_INLINE Mat34V getInverseV(const Mat34V& a);
-//	//transpose(a_rotation)
-//	PX_FORCE_INLINE Mat33V getTranspose3X3(const Mat34V& a);
-//}; //namespace _Mat34V
-
-// a*b
-//#define M34MulV3(a,b)			(M34MulV3(a,b))
-////a_rotation * b
-//#define M34Mul33V3(a,b)			(M34Mul33V3(a,b))
-////transpose(a_rotation)*b
-//#define M34TrnspsMul33V3(a,b)	(M34TrnspsMul33V3(a,b))
-////a*b
-//#define M34MulM34(a,b)			(_Mat34V::multiplyV(a,b))
-// a_rotation*b
-//#define M34MulM33(a,b)			(M34MulM33(a,b))
-// a_rotation*b_rotation
-//#define M34Mul33MM34(a,b)		(M34MulM33(a,b))
-// a+b
-//#define M34Add(a,b)				(M34Add(a,b))
-////a^-1
-//#define M34Inverse(a,b)			(M34Inverse(a))
-// transpose(a_rotation)
-//#define M34Trnsps33(a)			(M33Trnsps3X3(a))
-
-// Math operations on 16-byte aligned Mat44s (represents any 4x4 matrix)
-// namespace _Mat44V
-//{
-//	//a*b
-//	PX_FORCE_INLINE Vec4V multiplyV(const Mat44V& a, const Vec4V b);
-//	//transpose(a)*b
-//	PX_FORCE_INLINE Vec4V multiplyTransposeV(const Mat44V& a, const Vec4V b);
-//	//a*b
-//	PX_FORCE_INLINE Mat44V multiplyV(const Mat44V& a, const Mat44V& b);
-//	//a+b
-//	PX_FORCE_INLINE Mat44V addV(const Mat44V& a, const Mat44V& b);
-//	//a&-1
-//	PX_FORCE_INLINE Mat44V getInverseV(const Mat44V& a);
-//	//transpose(a)
-//	PX_FORCE_INLINE Mat44V getTransposeV(const Mat44V& a);
-//}; //namespace _Mat44V
-
-// namespace _VecU32V
-//{
-//	// pack 8 U32s to 8 U16s with saturation
-//	PX_FORCE_INLINE VecU16V pack2U32VToU16VSaturate(VecU32V a, VecU32V b);
-//	PX_FORCE_INLINE VecU32V orV(VecU32V a, VecU32V b);
-//	PX_FORCE_INLINE VecU32V andV(VecU32V a, VecU32V b);
-//	PX_FORCE_INLINE VecU32V andcV(VecU32V a, VecU32V b);
-//	// conversion from integer to float
-//	PX_FORCE_INLINE Vec4V convertToVec4V(VecU32V a);
-//	// splat a[elementIndex] into all fields of a
-//	template<int elementIndex>
-//	PX_FORCE_INLINE VecU32V splatElement(VecU32V a);
-//	PX_FORCE_INLINE void storeAligned(VecU32V a, VecU32V* address);
-//};
-
-// namespace _VecI32V
-//{
-//	template<int a> PX_FORCE_INLINE VecI32V splatI32();
-//};
-//
-// namespace _VecU16V
-//{
-//	PX_FORCE_INLINE VecU16V orV(VecU16V a, VecU16V b);
-//	PX_FORCE_INLINE VecU16V andV(VecU16V a, VecU16V b);
-//	PX_FORCE_INLINE VecU16V andcV(VecU16V a, VecU16V b);
-//	PX_FORCE_INLINE void storeAligned(VecU16V val, VecU16V *address);
-//	PX_FORCE_INLINE VecU16V loadAligned(VecU16V* addr);
-//	PX_FORCE_INLINE VecU16V loadUnaligned(VecU16V* addr);
-//	PX_FORCE_INLINE VecU16V compareGt(VecU16V a, VecU16V b);
-//	template<int elementIndex>
-//	PX_FORCE_INLINE VecU16V splatElement(VecU16V a);
-//	PX_FORCE_INLINE VecU16V subtractModulo(VecU16V a, VecU16V b);
-//	PX_FORCE_INLINE VecU16V addModulo(VecU16V a, VecU16V b);
-//	PX_FORCE_INLINE VecU32V getLo16(VecU16V a); // [0,2,4,6] 16-bit values to [0,1,2,3] 32-bit vector
-//	PX_FORCE_INLINE VecU32V getHi16(VecU16V a); // [1,3,5,7] 16-bit values to [0,1,2,3] 32-bit vector
-//};
-//
-// namespace _VecI16V
-//{
-//	template <int val> PX_FORCE_INLINE VecI16V splatImmediate();
-//};
-//
-// namespace _VecU8V
-//{
-//};
-
-// a*b
-//#define M44MulV4(a,b)		(M44MulV4(a,b))
-////transpose(a)*b
-//#define M44TrnspsMulV4(a,b) (M44TrnspsMulV4(a,b))
-////a*b
-//#define M44MulM44(a,b)		(M44MulM44(a,b))
-////a+b
-//#define M44Add(a,b)			(M44Add(a,b))
-////a&-1
-//#define M44Inverse(a)		(M44Inverse(a))
-////transpose(a)
-//#define M44Trnsps(a)		(M44Trnsps(a))
-
-// dsequeira: these used to be assert'd out in SIMD builds, but they're necessary if
-// we want to be able to write some scalar functions which run using SIMD data structures
-
-PX_FORCE_INLINE void V3WriteX(Vec3V& v, const PxF32 f)
-{
-	reinterpret_cast<PxVec3&>(v).x = f;
-}
-
-PX_FORCE_INLINE void V3WriteY(Vec3V& v, const PxF32 f)
-{
-	reinterpret_cast<PxVec3&>(v).y = f;
-}
-
-PX_FORCE_INLINE void V3WriteZ(Vec3V& v, const PxF32 f)
-{
-	reinterpret_cast<PxVec3&>(v).z = f;
-}
-
-PX_FORCE_INLINE void V3WriteXYZ(Vec3V& v, const PxVec3& f)
-{
-	reinterpret_cast<PxVec3&>(v) = f;
-}
-
-PX_FORCE_INLINE PxF32 V3ReadX(const Vec3V& v)
-{
-	return reinterpret_cast<const PxVec3&>(v).x;
-}
-
-PX_FORCE_INLINE PxF32 V3ReadY(const Vec3V& v)
-{
-	return reinterpret_cast<const PxVec3&>(v).y;
-}
-
-PX_FORCE_INLINE PxF32 V3ReadZ(const Vec3V& v)
-{
-	return reinterpret_cast<const PxVec3&>(v).z;
-}
-
-PX_FORCE_INLINE const PxVec3& V3ReadXYZ(const Vec3V& v)
-{
-	return reinterpret_cast<const PxVec3&>(v);
-}
-
-PX_FORCE_INLINE void V4WriteX(Vec4V& v, const PxF32 f)
-{
-	reinterpret_cast<PxVec4&>(v).x = f;
-}
-
-PX_FORCE_INLINE void V4WriteY(Vec4V& v, const PxF32 f)
-{
-	reinterpret_cast<PxVec4&>(v).y = f;
-}
-
-PX_FORCE_INLINE void V4WriteZ(Vec4V& v, const PxF32 f)
-{
-	reinterpret_cast<PxVec4&>(v).z = f;
-}
-
-PX_FORCE_INLINE void V4WriteW(Vec4V& v, const PxF32 f)
-{
-	reinterpret_cast<PxVec4&>(v).w = f;
-}
-
-PX_FORCE_INLINE void V4WriteXYZ(Vec4V& v, const PxVec3& f)
-{
-	reinterpret_cast<PxVec3&>(v) = f;
-}
-
-PX_FORCE_INLINE PxF32 V4ReadX(const Vec4V& v)
-{
-	return reinterpret_cast<const PxVec4&>(v).x;
-}
-
-PX_FORCE_INLINE PxF32 V4ReadY(const Vec4V& v)
-{
-	return reinterpret_cast<const PxVec4&>(v).y;
-}
-
-PX_FORCE_INLINE PxF32 V4ReadZ(const Vec4V& v)
-{
-	return reinterpret_cast<const PxVec4&>(v).z;
-}
-
-PX_FORCE_INLINE PxF32 V4ReadW(const Vec4V& v)
-{
-	return reinterpret_cast<const PxVec4&>(v).w;
-}
-
-PX_FORCE_INLINE const PxVec3& V4ReadXYZ(const Vec4V& v)
-{
-	return reinterpret_cast<const PxVec3&>(v);
-}
-
-// this macro transposes 4 Vec4V into 3 Vec4V (assuming that the W component can be ignored
-#define PX_TRANSPOSE_44_34(inA, inB, inC, inD, outA, outB, outC)                                                       \
-	\
-outA = V4UnpackXY(inA, inC);                                                                                           \
-	\
-inA = V4UnpackZW(inA, inC);                                                                                            \
-	\
-inC = V4UnpackXY(inB, inD);                                                                                            \
-	\
-inB = V4UnpackZW(inB, inD);                                                                                            \
-	\
-outB = V4UnpackZW(outA, inC);                                                                                          \
-	\
-outA = V4UnpackXY(outA, inC);                                                                                          \
-	\
-outC = V4UnpackXY(inA, inB);
-
-// this macro transposes 3 Vec4V into 4 Vec4V (with W components as garbage!)
-#define PX_TRANSPOSE_34_44(inA, inB, inC, outA, outB, outC, outD)                                                      \
-	outA = V4UnpackXY(inA, inC);                                                                                       \
-	inA = V4UnpackZW(inA, inC);                                                                                        \
-	outC = V4UnpackXY(inB, inB);                                                                                       \
-	inC = V4UnpackZW(inB, inB);                                                                                        \
-	outB = V4UnpackZW(outA, outC);                                                                                     \
-	outA = V4UnpackXY(outA, outC);                                                                                     \
-	outC = V4UnpackXY(inA, inC);                                                                                       \
-	outD = V4UnpackZW(inA, inC);
-
-#define PX_TRANSPOSE_44(inA, inB, inC, inD, outA, outB, outC, outD)                                                    \
-	outA = V4UnpackXY(inA, inC);                                                                                       \
-	inA = V4UnpackZW(inA, inC);                                                                                        \
-	inC = V4UnpackXY(inB, inD);                                                                                        \
-	inB = V4UnpackZW(inB, inD);                                                                                        \
-	outB = V4UnpackZW(outA, inC);                                                                                      \
-	outA = V4UnpackXY(outA, inC);                                                                                      \
-	outC = V4UnpackXY(inA, inB);                                                                                       \
-	outD = V4UnpackZW(inA, inB);
-
-// This function returns a Vec4V, where each element is the dot product of one pair of Vec3Vs. On PC, each element in
-// the result should be identical to the results if V3Dot was performed
-// for each pair of Vec3V.
-// However, on other platforms, the result might diverge by some small margin due to differences in FP rounding, e.g. if
-// _mm_dp_ps was used or some other approximate dot product or fused madd operations
-// were used.
-// Where there does not exist a hw-accelerated dot-product operation, this approach should be the fastest way to compute
-// the dot product of 4 vectors.
-PX_FORCE_INLINE Vec4V V3Dot4(const Vec3VArg a0, const Vec3VArg b0, const Vec3VArg a1, const Vec3VArg b1,
-                             const Vec3VArg a2, const Vec3VArg b2, const Vec3VArg a3, const Vec3VArg b3)
-{
-	Vec4V a0b0 = Vec4V_From_Vec3V(V3Mul(a0, b0));
-	Vec4V a1b1 = Vec4V_From_Vec3V(V3Mul(a1, b1));
-	Vec4V a2b2 = Vec4V_From_Vec3V(V3Mul(a2, b2));
-	Vec4V a3b3 = Vec4V_From_Vec3V(V3Mul(a3, b3));
-
-	Vec4V aTrnsps, bTrnsps, cTrnsps;
-
-	PX_TRANSPOSE_44_34(a0b0, a1b1, a2b2, a3b3, aTrnsps, bTrnsps, cTrnsps);
-
-	return V4Add(V4Add(aTrnsps, bTrnsps), cTrnsps);
-}
-
-//(f.x,f.y,f.z,0) - Alternative/faster V3LoadU implementation when it is safe to read "W", i.e. the 32bits after the PxVec3.
-PX_FORCE_INLINE Vec3V V3LoadU_SafeReadW(const PxVec3& f)
-{
-	return Vec3V_From_Vec4V(V4LoadU(&f.x));
-}
-
-// Now for the cross-platform implementations of the 16-byte aligned maths functions (win32/360/ppu/spu etc).
-#if COMPILE_VECTOR_INTRINSICS
-#include "PsInlineAoS.h"
-#else // #if COMPILE_VECTOR_INTRINSICS
-#include "PsVecMathAoSScalarInline.h"
-#endif // #if !COMPILE_VECTOR_INTRINSICS
-#include "PsVecQuat.h"
-
-} // namespace aos
-} // namespace shdfnd
-} // namespace physx
-
-#endif // PSFOUNDATION_PSVECMATH_H
diff --git a/PxShared/src/foundation/include/PsVecMathAoSScalar.h b/PxShared/src/foundation/include/PsVecMathAoSScalar.h
deleted file mode 100644
index b7fe8e4..0000000
--- a/PxShared/src/foundation/include/PsVecMathAoSScalar.h
+++ /dev/null
@@ -1,239 +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 PSFOUNDATION_PSVECMATHAOSSCALAR_H
-#define PSFOUNDATION_PSVECMATHAOSSCALAR_H
-
-#if COMPILE_VECTOR_INTRINSICS
-#error Scalar version should not be included when using vector intrinsics.
-#endif
-
-struct VecI16V;
-struct VecU16V;
-struct VecI32V;
-struct VecU32V;
-struct Vec4V;
-typedef Vec4V QuatV;
-
-PX_ALIGN_PREFIX(16)
-struct FloatV
-{
-	PxF32 x;
-	PxF32 pad[3];
-	FloatV()
-	{
-	}
-	FloatV(const PxF32 _x) : x(_x)
-	{
-	}
-} PX_ALIGN_SUFFIX(16);
-
-PX_ALIGN_PREFIX(16)
-struct Vec4V
-{
-	PxF32 x, y, z, w;
-	Vec4V()
-	{
-	}
-	Vec4V(const PxF32 _x, const PxF32 _y, const PxF32 _z, const PxF32 _w) : x(_x), y(_y), z(_z), w(_w)
-	{
-	}
-} PX_ALIGN_SUFFIX(16);
-
-PX_ALIGN_PREFIX(16)
-struct Vec3V
-{
-	PxF32 x, y, z;
-	PxF32 pad;
-	Vec3V()
-	{
-	}
-	Vec3V(const PxF32 _x, const PxF32 _y, const PxF32 _z) : x(_x), y(_y), z(_z), pad(0.0f)
-	{
-	}
-} PX_ALIGN_SUFFIX(16);
-
-PX_ALIGN_PREFIX(16)
-struct BoolV
-{
-	PxU32 ux, uy, uz, uw;
-	BoolV()
-	{
-	}
-	BoolV(const PxU32 _x, const PxU32 _y, const PxU32 _z, const PxU32 _w) : ux(_x), uy(_y), uz(_z), uw(_w)
-	{
-	}
-} PX_ALIGN_SUFFIX(16);
-
-struct Mat33V
-{
-	Mat33V()
-	{
-	}
-	Mat33V(const Vec3V& c0, const Vec3V& c1, const Vec3V& c2) : col0(c0), col1(c1), col2(c2)
-	{
-	}
-	Vec3V col0;
-	Vec3V col1;
-	Vec3V col2;
-};
-
-struct Mat34V
-{
-	Mat34V()
-	{
-	}
-	Mat34V(const Vec3V& c0, const Vec3V& c1, const Vec3V& c2, const Vec3V& c3) : col0(c0), col1(c1), col2(c2), col3(c3)
-	{
-	}
-	Vec3V col0;
-	Vec3V col1;
-	Vec3V col2;
-	Vec3V col3;
-};
-
-struct Mat43V
-{
-	Mat43V()
-	{
-	}
-	Mat43V(const Vec4V& c0, const Vec4V& c1, const Vec4V& c2) : col0(c0), col1(c1), col2(c2)
-	{
-	}
-	Vec4V col0;
-	Vec4V col1;
-	Vec4V col2;
-};
-
-struct Mat44V
-{
-	Mat44V()
-	{
-	}
-	Mat44V(const Vec4V& c0, const Vec4V& c1, const Vec4V& c2, const Vec4V& c3) : col0(c0), col1(c1), col2(c2), col3(c3)
-	{
-	}
-	Vec4V col0;
-	Vec4V col1;
-	Vec4V col2;
-	Vec4V col3;
-};
-
-PX_ALIGN_PREFIX(16)
-struct VecU32V
-{
-	PxU32 u32[4];
-	PX_FORCE_INLINE VecU32V()
-	{
-	}
-	PX_FORCE_INLINE VecU32V(PxU32 a, PxU32 b, PxU32 c, PxU32 d)
-	{
-		u32[0] = a;
-		u32[1] = b;
-		u32[2] = c;
-		u32[3] = d;
-	}
-} PX_ALIGN_SUFFIX(16);
-
-PX_ALIGN_PREFIX(16)
-struct VecI32V
-{
-	PxI32 i32[4];
-	PX_FORCE_INLINE VecI32V()
-	{
-	}
-	PX_FORCE_INLINE VecI32V(PxI32 a, PxI32 b, PxI32 c, PxI32 d)
-	{
-		i32[0] = a;
-		i32[1] = b;
-		i32[2] = c;
-		i32[3] = d;
-	}
-} PX_ALIGN_SUFFIX(16);
-
-PX_ALIGN_PREFIX(16)
-struct VecI16V
-{
-	PxI16 i16[8];
-	PX_FORCE_INLINE VecI16V()
-	{
-	}
-	PX_FORCE_INLINE VecI16V(PxI16 a, PxI16 b, PxI16 c, PxI16 d, PxI16 e, PxI16 f, PxI16 g, PxI16 h)
-	{
-		i16[0] = a;
-		i16[1] = b;
-		i16[2] = c;
-		i16[3] = d;
-		i16[4] = e;
-		i16[5] = f;
-		i16[6] = g;
-		i16[7] = h;
-	}
-} PX_ALIGN_SUFFIX(16);
-
-PX_ALIGN_PREFIX(16)
-struct VecU16V
-{
-	union
-	{
-		PxU16 u16[8];
-		PxI16 i16[8];
-	};
-	PX_FORCE_INLINE VecU16V()
-	{
-	}
-	PX_FORCE_INLINE VecU16V(PxU16 a, PxU16 b, PxU16 c, PxU16 d, PxU16 e, PxU16 f, PxU16 g, PxU16 h)
-	{
-		u16[0] = a;
-		u16[1] = b;
-		u16[2] = c;
-		u16[3] = d;
-		u16[4] = e;
-		u16[5] = f;
-		u16[6] = g;
-		u16[7] = h;
-	}
-} PX_ALIGN_SUFFIX(16);
-
-#define FloatVArg FloatV &
-#define Vec3VArg Vec3V &
-#define Vec4VArg Vec4V &
-#define BoolVArg BoolV &
-#define VecU32VArg VecU32V &
-#define VecI32VArg VecI32V &
-#define VecU16VArg VecU16V &
-#define VecI16VArg VecI16V &
-#define QuatVArg QuatV &
-
-#define VecCrossV Vec3V
-
-typedef VecI32V VecShiftV;
-#define VecShiftVArg VecShiftV &
-
-#endif // PX_PHYSICS_COMMON_VECMATH_INLINE_SCALAR
diff --git a/PxShared/src/foundation/include/PsVecMathAoSScalarInline.h b/PxShared/src/foundation/include/PsVecMathAoSScalarInline.h
deleted file mode 100644
index f5dea7b..0000000
--- a/PxShared/src/foundation/include/PsVecMathAoSScalarInline.h
+++ /dev/null
@@ -1,2259 +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 PSFOUNDATION_PSVECMATHAOSSCALARINLINE_H
-#define PSFOUNDATION_PSVECMATHAOSSCALARINLINE_H
-
-#if COMPILE_VECTOR_INTRINSICS
-#error Scalar version should not be included when using vector intrinsics.
-#endif
-
-#define BOOL_TO_U32(b) (PxU32)(- PxI32(b))
-#define TRUE_TO_U32 (PxU32)(-1)
-#define FALSE_TO_U32 (PxU32)(0)
-
-#define BOOL_TO_U16(b) (PxU16)(- PxI32(b))
-
-#define PX_VECMATH_ASSERT_ENABLED 0
-
-#if PX_VECMATH_ASSERT_ENABLED
-#define VECMATHAOS_ASSERT(x) { PX_ASSERT(x); }
-#else
-#define VECMATHAOS_ASSERT(x)
-#endif
-
-/////////////////////////////////////////////////////////////////////
-////INTERNAL USE ONLY AND TESTS
-/////////////////////////////////////////////////////////////////////
-
-namespace internalScalarSimd
-{
-PX_FORCE_INLINE PxF32 FStore(const FloatV a)
-{
-	return a.x;
-}
-
-PX_FORCE_INLINE bool hasZeroElementInFloatV(const FloatV a)
-{
-	return (0 == a.x);
-}
-
-PX_FORCE_INLINE bool hasZeroElementInVec3V(const Vec3V a)
-{
-	return (0 == a.x || 0 == a.y || 0 == a.z);
-}
-
-PX_FORCE_INLINE bool hasZeroElementInVec4V(const Vec4V a)
-{
-	return (0 == a.x || 0 == a.y || 0 == a.z || 0 == a.w);
-}
-}
-
-namespace _VecMathTests
-{
-// PT: this function returns an invalid Vec3V (W!=0.0f) just for unit-testing 'isValidVec3V'
-PX_FORCE_INLINE Vec3V getInvalidVec3V()
-{
-	Vec3V tmp;
-	tmp.x = tmp.y = tmp.z = 0.0f;
-	tmp.pad = 1.0f;
-	return tmp;
-}
-
-PX_FORCE_INLINE bool allElementsEqualFloatV(const FloatV a, const FloatV b)
-{
-	return (a.x == b.x);
-}
-
-PX_FORCE_INLINE bool allElementsEqualVec3V(const Vec3V a, const Vec3V b)
-{
-	return (a.x == b.x && a.y == b.y && a.z == b.z);
-}
-
-PX_FORCE_INLINE bool allElementsEqualVec4V(const Vec4V a, const Vec4V b)
-{
-	return (a.x == b.x && a.y == b.y && a.z == b.z && a.w == b.w);
-}
-
-PX_FORCE_INLINE bool allElementsEqualBoolV(const BoolV a, const BoolV b)
-{
-	return (a.ux == b.ux && a.uy == b.uy && a.uz == b.uz && a.uw == b.uw);
-}
-
-PX_FORCE_INLINE bool allElementsEqualVecU32V(const VecU32V a, const VecU32V b)
-{
-	return (a.u32[0] == b.u32[0] && a.u32[1] == b.u32[1] && a.u32[2] == b.u32[2] && a.u32[3] == b.u32[3]);
-}
-
-PX_FORCE_INLINE bool allElementsEqualVecI32V(const VecI32V a, const VecI32V b)
-{
-	return (a.i32[0] == b.i32[0] && a.i32[1] == b.i32[1] && a.i32[2] == b.i32[2] && a.i32[3] == b.i32[3]);
-}
-
-#define VECMATH_AOS_EPSILON (1e-3f)
-
-PX_FORCE_INLINE bool allElementsNearEqualFloatV(const FloatV a, const FloatV b)
-{
-	const PxF32 cx = a.x - b.x;
-	return (cx > -VECMATH_AOS_EPSILON && cx < VECMATH_AOS_EPSILON);
-}
-
-PX_FORCE_INLINE bool allElementsNearEqualVec3V(const Vec3V a, const Vec3V b)
-{
-	const PxF32 cx = a.x - b.x;
-	const PxF32 cy = a.y - b.y;
-	const PxF32 cz = a.z - b.z;
-	return (cx > -VECMATH_AOS_EPSILON && cx < VECMATH_AOS_EPSILON && cy > -VECMATH_AOS_EPSILON &&
-	        cy < VECMATH_AOS_EPSILON && cz > -VECMATH_AOS_EPSILON && cz < VECMATH_AOS_EPSILON);
-}
-
-PX_FORCE_INLINE bool allElementsNearEqualVec4V(const Vec4V a, const Vec4V b)
-{
-	const PxF32 cx = a.x - b.x;
-	const PxF32 cy = a.y - b.y;
-	const PxF32 cz = a.z - b.z;
-	const PxF32 cw = a.w - b.w;
-	return (cx > -VECMATH_AOS_EPSILON && cx < VECMATH_AOS_EPSILON && cy > -VECMATH_AOS_EPSILON &&
-	        cy < VECMATH_AOS_EPSILON && cz > -VECMATH_AOS_EPSILON && cz < VECMATH_AOS_EPSILON &&
-	        cw > -VECMATH_AOS_EPSILON && cw < VECMATH_AOS_EPSILON);
-}
-}
-
-///////////////////////////////////////////////////////
-
-PX_FORCE_INLINE bool isValidVec3V(const Vec3V a)
-{
-	return a.pad == 0.f;
-}
-
-PX_FORCE_INLINE bool isFiniteFloatV(const FloatV a)
-{
-	return PxIsFinite(a.x);
-}
-
-PX_FORCE_INLINE bool isFiniteVec3V(const Vec3V a)
-{
-	return PxIsFinite(a.x) && PxIsFinite(a.y) && PxIsFinite(a.z);
-}
-
-PX_FORCE_INLINE bool isFiniteVec4V(const Vec4V a)
-{
-	return PxIsFinite(a.x) && PxIsFinite(a.y) && PxIsFinite(a.z) && PxIsFinite(a.w);
-}
-
-/////////////////////////////////////////////////////////////////////
-////VECTORISED FUNCTION IMPLEMENTATIONS
-/////////////////////////////////////////////////////////////////////
-
-PX_FORCE_INLINE FloatV FLoad(const PxF32 f)
-{
-	return FloatV(f);
-}
-
-PX_FORCE_INLINE Vec3V V3Load(const PxF32 f)
-{
-	return Vec3V(f, f, f);
-}
-
-PX_FORCE_INLINE Vec4V V4Load(const PxF32 f)
-{
-	return Vec4V(f, f, f, f);
-}
-
-PX_FORCE_INLINE BoolV BLoad(const bool f)
-{
-#if PX_ARM
-	// SD: Android ARM builds fail if this is done with a cast.
-	// Might also fail because of something else but the select
-	// operator here seems to fix everything that failed in release builds.
-	return f ? BTTTT() : BFFFF();
-#else
-	return BoolV(BOOL_TO_U32(f), BOOL_TO_U32(f), BOOL_TO_U32(f), BOOL_TO_U32(f));
-#endif
-}
-
-PX_FORCE_INLINE Vec3V V3LoadA(const PxVec3& f)
-{
-	return Vec3V(f.x, f.y, f.z);
-}
-
-PX_FORCE_INLINE Vec3V V3LoadU(const PxVec3& f)
-{
-	return Vec3V(f.x, f.y, f.z);
-}
-
-PX_FORCE_INLINE Vec3V V3LoadUnsafeA(const PxVec3& f)
-{
-	return Vec3V(f.x, f.y, f.z);
-}
-
-PX_FORCE_INLINE Vec3V V3LoadA(const PxF32* const f)
-{
-	return Vec3V(f[0], f[1], f[2]);
-}
-
-PX_FORCE_INLINE Vec3V V3LoadU(const PxF32* const f)
-{
-	return Vec3V(f[0], f[1], f[2]);
-}
-
-PX_FORCE_INLINE Vec3V Vec3V_From_Vec4V(Vec4V f)
-{
-	return Vec3V(f.x, f.y, f.z);
-}
-
-PX_FORCE_INLINE Vec3V Vec3V_From_Vec4V_WUndefined(const Vec4V v)
-{
-	return Vec3V(v.x, v.y, v.z);
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_From_Vec3V(Vec3V f)
-{
-	return Vec4V(f.x, f.y, f.z, 0.0f);
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_From_FloatV(FloatV f)
-{
-	return Vec4V(f.x, f.x, f.x, f.x);
-}
-
-PX_FORCE_INLINE Vec3V Vec3V_From_FloatV(FloatV f)
-{
-	return Vec3V(f.x, f.x, f.x);
-}
-
-PX_FORCE_INLINE Vec3V Vec3V_From_FloatV_WUndefined(FloatV f)
-{
-	return Vec3V(f.x, f.x, f.x);
-}
-
-PX_FORCE_INLINE Vec4V V4LoadA(const PxF32* const f)
-{
-	return Vec4V(f[0], f[1], f[2], f[3]);
-}
-
-PX_FORCE_INLINE void V4StoreA(const Vec4V a, PxF32* f)
-{
-	*reinterpret_cast<Vec4V*>(f) = a;
-}
-
-PX_FORCE_INLINE void V4StoreU(const Vec4V a, PxF32* f)
-{
-	*reinterpret_cast<PxVec4*>(f) = *reinterpret_cast<const PxVec4*>(&a.x);
-}
-
-PX_FORCE_INLINE void BStoreA(const BoolV a, PxU32* f)
-{
-	*reinterpret_cast<BoolV*>(f) = a;
-}
-
-PX_FORCE_INLINE void U4StoreA(const VecU32V uv, PxU32* u)
-{
-	*reinterpret_cast<VecU32V*>(u) = uv;
-}
-
-PX_FORCE_INLINE void I4StoreA(const VecI32V iv, PxI32* i)
-{
-	*reinterpret_cast<VecI32V*>(i) = iv;
-}
-
-PX_FORCE_INLINE Vec4V V4LoadU(const PxF32* const f)
-{
-	return Vec4V(f[0], f[1], f[2], f[3]);
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_From_PxVec3_WUndefined(const PxVec3& f)
-{
-	return Vec4V(f[0], f[1], f[2], 0.0f);
-}
-
-PX_FORCE_INLINE BoolV BLoad(const bool* const f)
-{
-	return BoolV(BOOL_TO_U32(f[0]), BOOL_TO_U32(f[1]), BOOL_TO_U32(f[2]), BOOL_TO_U32(f[3]));
-}
-
-PX_FORCE_INLINE void FStore(const FloatV a, PxF32* PX_RESTRICT f)
-{
-	*f = a.x;
-}
-
-PX_FORCE_INLINE void V3StoreA(const Vec3V a, PxVec3& f)
-{
-	f = PxVec3(a.x, a.y, a.z);
-}
-
-PX_FORCE_INLINE void V3StoreU(const Vec3V a, PxVec3& f)
-{
-	f = PxVec3(a.x, a.y, a.z);
-}
-
-PX_FORCE_INLINE void Store_From_BoolV(const BoolV b, PxU32* b2)
-{
-	*b2 = b.ux;
-}
-
-//////////////////////////
-// FLOATV
-//////////////////////////
-
-PX_FORCE_INLINE FloatV FZero()
-{
-	return FLoad(0.0f);
-}
-
-PX_FORCE_INLINE FloatV FOne()
-{
-	return FLoad(1.0f);
-}
-
-PX_FORCE_INLINE FloatV FHalf()
-{
-	return FLoad(0.5f);
-}
-
-PX_FORCE_INLINE FloatV FEps()
-{
-	return FLoad(PX_EPS_REAL);
-}
-
-PX_FORCE_INLINE FloatV FEps6()
-{
-	return FLoad(1e-6f);
-}
-
-PX_FORCE_INLINE FloatV FMax()
-{
-	return FLoad(PX_MAX_REAL);
-}
-
-PX_FORCE_INLINE FloatV FNegMax()
-{
-	return FLoad(-PX_MAX_REAL);
-}
-
-PX_FORCE_INLINE FloatV FNeg(const FloatV f)
-{
-	return FloatV(-f.x);
-}
-
-PX_FORCE_INLINE FloatV FAdd(const FloatV a, const FloatV b)
-{
-	return FloatV(a.x + b.x);
-}
-
-PX_FORCE_INLINE FloatV FSub(const FloatV a, const FloatV b)
-{
-	return FloatV(a.x - b.x);
-}
-
-PX_FORCE_INLINE FloatV FMul(const FloatV a, const FloatV b)
-{
-	return FloatV(a.x * b.x);
-}
-
-PX_FORCE_INLINE FloatV FDiv(const FloatV a, const FloatV b)
-{
-	VECMATHAOS_ASSERT(b.x != 0.0f);
-	return FloatV(a.x / b.x);
-}
-
-PX_FORCE_INLINE FloatV FDivFast(const FloatV a, const FloatV b)
-{
-	VECMATHAOS_ASSERT(b.x != 0.0f);
-	return FloatV(a.x / b.x);
-}
-
-PX_FORCE_INLINE FloatV FRecip(const FloatV a)
-{
-	VECMATHAOS_ASSERT(a.x != 0.0f);
-	return 1.0f / a.x;
-}
-
-PX_FORCE_INLINE FloatV FRecipFast(const FloatV a)
-{
-	VECMATHAOS_ASSERT(a.x != 0.0f);
-	return 1.0f / a.x;
-}
-
-PX_FORCE_INLINE FloatV FRsqrt(const FloatV a)
-{
-	VECMATHAOS_ASSERT(a.x != 0.0f);
-	return PxRecipSqrt(a.x);
-}
-
-PX_FORCE_INLINE FloatV FSqrt(const FloatV a)
-{
-	return PxSqrt(a.x);
-}
-
-PX_FORCE_INLINE FloatV FRsqrtFast(const FloatV a)
-{
-	VECMATHAOS_ASSERT(a.x != 0.0f);
-	return PxRecipSqrt(a.x);
-}
-
-PX_FORCE_INLINE FloatV FScaleAdd(const FloatV a, const FloatV b, const FloatV c)
-{
-	return FAdd(FMul(a, b), c);
-}
-
-PX_FORCE_INLINE FloatV FNegScaleSub(const FloatV a, const FloatV b, const FloatV c)
-{
-	return FSub(c, FMul(a, b));
-}
-
-PX_FORCE_INLINE FloatV FAbs(const FloatV a)
-{
-	return FloatV(PxAbs(a.x));
-}
-
-PX_FORCE_INLINE FloatV FSel(const BoolV c, const FloatV a, const FloatV b)
-{
-	return FloatV(c.ux ? a.x : b.x);
-}
-
-PX_FORCE_INLINE BoolV FIsGrtr(const FloatV a, const FloatV b)
-{
-	return BLoad(a.x > b.x);
-}
-
-PX_FORCE_INLINE BoolV FIsGrtrOrEq(const FloatV a, const FloatV b)
-{
-	return BLoad(a.x >= b.x);
-}
-
-PX_FORCE_INLINE BoolV FIsEq(const FloatV a, const FloatV b)
-{
-	return BLoad(a.x == b.x);
-}
-
-PX_FORCE_INLINE FloatV FMax(const FloatV a, const FloatV b)
-{
-	return (a.x > b.x ? FloatV(a.x) : FloatV(b.x));
-}
-
-PX_FORCE_INLINE FloatV FMin(const FloatV a, const FloatV b)
-{
-	return (a.x > b.x ? FloatV(b.x) : FloatV(a.x));
-}
-
-PX_FORCE_INLINE FloatV FClamp(const FloatV a, const FloatV minV, const FloatV maxV)
-{
-	return FMax(FMin(a, maxV), minV);
-}
-
-PX_FORCE_INLINE PxU32 FAllGrtr(const FloatV a, const FloatV b)
-{
-	return BOOL_TO_U32(a.x > b.x);
-}
-
-PX_FORCE_INLINE PxU32 FAllGrtrOrEq(const FloatV a, const FloatV b)
-{
-	return BOOL_TO_U32(a.x >= b.x);
-}
-PX_FORCE_INLINE PxU32 FAllEq(const FloatV a, const FloatV b)
-{
-	return BOOL_TO_U32(a.x == b.x);
-}
-
-PX_FORCE_INLINE FloatV FRound(const FloatV a)
-{
-	return floorf(a.x + 0.5f);
-}
-
-PX_FORCE_INLINE FloatV FSin(const FloatV a)
-{
-	return sinf(a.x);
-}
-
-PX_FORCE_INLINE FloatV FCos(const FloatV a)
-{
-	return cosf(a.x);
-}
-
-PX_FORCE_INLINE PxU32 FOutOfBounds(const FloatV a, const FloatV min, const FloatV max)
-{
-	return BOOL_TO_U32(a.x > max.x || a.x < min.x);
-}
-
-PX_FORCE_INLINE PxU32 FInBounds(const FloatV a, const FloatV min, const FloatV max)
-{
-	return BOOL_TO_U32(a.x >= min.x && a.x <= max.x);
-}
-
-PX_FORCE_INLINE PxU32 FOutOfBounds(const FloatV a, const FloatV bounds)
-{
-	return FOutOfBounds(a, FNeg(bounds), bounds);
-}
-
-PX_FORCE_INLINE PxU32 FInBounds(const FloatV a, const FloatV bounds)
-{
-	return FInBounds(a, FNeg(bounds), bounds);
-}
-
-/////////////////////
-// VEC3V
-/////////////////////
-
-PX_FORCE_INLINE Vec3V V3Splat(const FloatV f)
-{
-	return Vec3V(f.x, f.x, f.x);
-}
-
-PX_FORCE_INLINE Vec3V V3Merge(const FloatVArg x, const FloatVArg y, const FloatVArg z)
-{
-	return Vec3V(x.x, y.x, z.x);
-}
-
-PX_FORCE_INLINE Vec3V V3UnitX()
-{
-	return Vec3V(1.0f, 0.0f, 0.0f);
-}
-
-PX_FORCE_INLINE Vec3V V3UnitY()
-{
-	return Vec3V(0.0f, 1.0f, 0.0f);
-}
-
-PX_FORCE_INLINE Vec3V V3UnitZ()
-{
-	return Vec3V(0.0f, 0.0f, 1.0f);
-}
-
-PX_FORCE_INLINE FloatV V3GetX(const Vec3V f)
-{
-	return FloatV(f.x);
-}
-
-PX_FORCE_INLINE FloatV V3GetY(const Vec3V f)
-{
-	return FloatV(f.y);
-}
-
-PX_FORCE_INLINE FloatV V3GetZ(const Vec3V f)
-{
-	return FloatV(f.z);
-}
-
-PX_FORCE_INLINE Vec3V V3SetX(const Vec3V v, const FloatV f)
-{
-	return Vec3V(f.x, v.y, v.z);
-}
-
-PX_FORCE_INLINE Vec3V V3SetY(const Vec3V v, const FloatV f)
-{
-	return Vec3V(v.x, f.x, v.z);
-}
-
-PX_FORCE_INLINE Vec3V V3SetZ(const Vec3V v, const FloatV f)
-{
-	return Vec3V(v.x, v.y, f.x);
-}
-
-PX_FORCE_INLINE Vec3V V3ColX(const Vec3V a, const Vec3V b, const Vec3V c)
-{
-	return Vec3V(a.x, b.x, c.x);
-}
-
-PX_FORCE_INLINE Vec3V V3ColY(const Vec3V a, const Vec3V b, const Vec3V c)
-{
-	return Vec3V(a.y, b.y, c.y);
-}
-
-PX_FORCE_INLINE Vec3V V3ColZ(const Vec3V a, const Vec3V b, const Vec3V c)
-{
-	return Vec3V(a.z, b.z, c.z);
-}
-
-PX_FORCE_INLINE Vec3V V3Zero()
-{
-	return V3Load(0.0f);
-}
-
-PX_FORCE_INLINE Vec3V V3One()
-{
-	return V3Load(1.0f);
-}
-
-PX_FORCE_INLINE Vec3V V3Eps()
-{
-	return V3Load(PX_EPS_REAL);
-}
-
-PX_FORCE_INLINE Vec3V V3Neg(const Vec3V c)
-{
-	return Vec3V(-c.x, -c.y, -c.z);
-}
-
-PX_FORCE_INLINE Vec3V V3Add(const Vec3V a, const Vec3V b)
-{
-	return Vec3V(a.x + b.x, a.y + b.y, a.z + b.z);
-}
-
-PX_FORCE_INLINE Vec3V V3Sub(const Vec3V a, const Vec3V b)
-{
-	return Vec3V(a.x - b.x, a.y - b.y, a.z - b.z);
-}
-
-PX_FORCE_INLINE Vec3V V3Scale(const Vec3V a, const FloatV b)
-{
-	return Vec3V(a.x * b.x, a.y * b.x, a.z * b.x);
-}
-
-PX_FORCE_INLINE Vec3V V3Mul(const Vec3V a, const Vec3V b)
-{
-	return Vec3V(a.x * b.x, a.y * b.y, a.z * b.z);
-}
-
-PX_FORCE_INLINE Vec3V V3ScaleInv(const Vec3V a, const FloatV b)
-{
-	const PxF32 bInv = 1.0f / b.x;
-	return Vec3V(a.x * bInv, a.y * bInv, a.z * bInv);
-}
-
-PX_FORCE_INLINE Vec3V V3Div(const Vec3V a, const Vec3V b)
-{
-	return Vec3V(a.x / b.x, a.y / b.y, a.z / b.z);
-}
-
-PX_FORCE_INLINE Vec3V V3ScaleInvFast(const Vec3V a, const FloatV b)
-{
-	const PxF32 bInv = 1.0f / b.x;
-	return Vec3V(a.x * bInv, a.y * bInv, a.z * bInv);
-}
-
-PX_FORCE_INLINE Vec3V V3DivFast(const Vec3V a, const Vec3V b)
-{
-	return Vec3V(a.x / b.x, a.y / b.y, a.z / b.z);
-}
-
-PX_FORCE_INLINE Vec3V V3Recip(const Vec3V a)
-{
-	return Vec3V(1.0f / a.x, 1.0f / a.y, 1.0f / a.z);
-}
-
-PX_FORCE_INLINE Vec3V V3RecipFast(const Vec3V a)
-{
-	return Vec3V(1.0f / a.x, 1.0f / a.y, 1.0f / a.z);
-}
-
-PX_FORCE_INLINE Vec3V V3Rsqrt(const Vec3V a)
-{
-	return Vec3V(PxRecipSqrt(a.x), PxRecipSqrt(a.y), PxRecipSqrt(a.z));
-}
-
-PX_FORCE_INLINE Vec3V V3RsqrtFast(const Vec3V a)
-{
-	return Vec3V(PxRecipSqrt(a.x), PxRecipSqrt(a.y), PxRecipSqrt(a.z));
-}
-
-PX_FORCE_INLINE Vec3V V3ScaleAdd(const Vec3V a, const FloatV b, const Vec3V c)
-{
-	return V3Add(V3Scale(a, b), c);
-}
-
-PX_FORCE_INLINE Vec3V V3NegScaleSub(const Vec3V a, const FloatV b, const Vec3V c)
-{
-	return V3Sub(c, V3Scale(a, b));
-}
-
-PX_FORCE_INLINE Vec3V V3MulAdd(const Vec3V a, const Vec3V b, const Vec3V c)
-{
-	return V3Add(V3Mul(a, b), c);
-}
-
-PX_FORCE_INLINE Vec3V V3NegMulSub(const Vec3V a, const Vec3V b, const Vec3V c)
-{
-	return V3Sub(c, V3Mul(a, b));
-}
-
-PX_FORCE_INLINE FloatV V3Dot(const Vec3V a, const Vec3V b)
-{
-	return FloatV(a.x * b.x + a.y * b.y + a.z * b.z);
-}
-
-PX_FORCE_INLINE VecCrossV V3PrepareCross(const Vec3VArg normal)
-{
-	return normal;
-}
-
-PX_FORCE_INLINE Vec3V V3Cross(const Vec3V a, const Vec3V b)
-{
-	return Vec3V(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x);
-}
-
-PX_FORCE_INLINE FloatV V3Length(const Vec3V a)
-{
-	return FloatV(PxSqrt(a.x * a.x + a.y * a.y + a.z * a.z));
-}
-
-PX_FORCE_INLINE FloatV V3LengthSq(const Vec3V a)
-{
-	return FloatV(a.x * a.x + a.y * a.y + a.z * a.z);
-}
-
-PX_FORCE_INLINE Vec3V V3Normalize(const Vec3V a)
-{
-	VECMATHAOS_ASSERT(a.x != 0 || a.y != 0 || a.z != 0);
-	const PxF32 lengthInv = 1.0f / PxSqrt(a.x * a.x + a.y * a.y + a.z * a.z);
-	return Vec3V(a.x * lengthInv, a.y * lengthInv, a.z * lengthInv);
-}
-
-PX_FORCE_INLINE Vec3V V3NormalizeSafe(const Vec3V a, const Vec3V unsafeReturnValue)
-{
-	const PxF32 length = PxSqrt(a.x * a.x + a.y * a.y + a.z * a.z);
-	if(PX_EPS_REAL >= length)
-	{
-		return unsafeReturnValue;
-	}
-	else
-	{
-		const PxF32 lengthInv = 1.0f / length;
-		return Vec3V(a.x * lengthInv, a.y * lengthInv, a.z * lengthInv);
-	}
-}
-
-PX_FORCE_INLINE Vec3V V3NormalizeFast(const Vec3V a)
-{
-	VECMATHAOS_ASSERT(a.x != 0 || a.y != 0 || a.z != 0);
-	const PxF32 lengthInv = 1.0f / PxSqrt(a.x * a.x + a.y * a.y + a.z * a.z);
-	return Vec3V(a.x * lengthInv, a.y * lengthInv, a.z * lengthInv);
-}
-
-PX_FORCE_INLINE Vec3V V3Sel(const BoolV c, const Vec3V a, const Vec3V b)
-{
-	return Vec3V(c.ux ? a.x : b.x, c.uy ? a.y : b.y, c.uz ? a.z : b.z);
-}
-
-PX_FORCE_INLINE BoolV V3IsGrtr(const Vec3V a, const Vec3V b)
-{
-	return BoolV(BOOL_TO_U32(a.x > b.x), BOOL_TO_U32(a.y > b.y), BOOL_TO_U32(a.z > b.z), FALSE_TO_U32);
-}
-
-PX_FORCE_INLINE BoolV V3IsGrtrOrEq(const Vec3V a, const Vec3V b)
-{
-	return BoolV(BOOL_TO_U32(a.x >= b.x), BOOL_TO_U32(a.y >= b.y), BOOL_TO_U32(a.z >= b.z), TRUE_TO_U32);
-}
-
-PX_FORCE_INLINE BoolV V3IsEq(const Vec3V a, const Vec3V b)
-{
-	return BoolV(BOOL_TO_U32(a.x == b.x), BOOL_TO_U32(a.y == b.y), BOOL_TO_U32(a.z == b.z), TRUE_TO_U32);
-}
-
-PX_FORCE_INLINE Vec3V V3Max(const Vec3V a, const Vec3V b)
-{
-	return Vec3V(a.x > b.x ? a.x : b.x, a.y > b.y ? a.y : b.y, a.z > b.z ? a.z : b.z);
-}
-
-PX_FORCE_INLINE Vec3V V3Min(const Vec3V a, const Vec3V b)
-{
-	return Vec3V(a.x < b.x ? a.x : b.x, a.y < b.y ? a.y : b.y, a.z < b.z ? a.z : b.z);
-}
-
-PX_FORCE_INLINE FloatV V3ExtractMax(const Vec3V a)
-{
-	const PxF32 t0 = (a.x >= a.y) ? a.x : a.y;
-	return t0 >= a.z ? t0 : a.z;
-}
-
-PX_FORCE_INLINE FloatV V3ExtractMin(const Vec3V a)
-{
-	const PxF32 t0 = (a.x <= a.y) ? a.x : a.y;
-	return t0 <= a.z ? t0 : a.z;
-}
-
-// return (a >= 0.0f) ? 1.0f : -1.0f;
-PX_FORCE_INLINE Vec3V V3Sign(const Vec3V a)
-{
-	return Vec3V((a.x >= 0.f ? 1.f : -1.f), (a.y >= 0.f ? 1.f : -1.f), (a.z >= 0.f ? 1.f : -1.f));
-}
-
-PX_FORCE_INLINE Vec3V V3Clamp(const Vec3V a, const Vec3V minV, const Vec3V maxV)
-{
-	return V3Max(V3Min(a, maxV), minV);
-}
-
-PX_FORCE_INLINE Vec3V V3Abs(const Vec3V a)
-{
-	return V3Max(a, V3Neg(a));
-}
-
-PX_FORCE_INLINE PxU32 V3AllGrtr(const Vec3V a, const Vec3V b)
-{
-	return BOOL_TO_U32((a.x > b.x) & (a.y > b.y) & (a.z > b.z));
-}
-
-PX_FORCE_INLINE PxU32 V3AllGrtrOrEq(const Vec3V a, const Vec3V b)
-{
-	return BOOL_TO_U32((a.x >= b.x) & (a.y >= b.y) & (a.z >= b.z));
-}
-
-PX_FORCE_INLINE PxU32 V3AllEq(const Vec3V a, const Vec3V b)
-{
-	return BOOL_TO_U32((a.x == b.x) & (a.y == b.y) & (a.z == b.z));
-}
-
-PX_FORCE_INLINE Vec3V V3Round(const Vec3V a)
-{
-	return Vec3V(floorf(a.x + 0.5f), floorf(a.y + 0.5f), floorf(a.z + 0.5f));
-}
-
-PX_FORCE_INLINE Vec3V V3Sin(const Vec3V a)
-{
-	return Vec3V(sinf(a.x), sinf(a.y), sinf(a.z));
-}
-
-PX_FORCE_INLINE Vec3V V3Cos(const Vec3V a)
-{
-	return Vec3V(cosf(a.x), cosf(a.y), cosf(a.z));
-}
-
-PX_FORCE_INLINE Vec3V V3PermYZZ(const Vec3V a)
-{
-	return Vec3V(a.y, a.z, a.z);
-}
-
-PX_FORCE_INLINE Vec3V V3PermXYX(const Vec3V a)
-{
-	return Vec3V(a.x, a.y, a.x);
-}
-
-PX_FORCE_INLINE Vec3V V3PermYZX(const Vec3V a)
-{
-	return Vec3V(a.y, a.z, a.x);
-}
-
-PX_FORCE_INLINE Vec3V V3PermZXY(const Vec3V a)
-{
-	return Vec3V(a.z, a.x, a.y);
-}
-
-PX_FORCE_INLINE Vec3V V3PermZZY(const Vec3V a)
-{
-	return Vec3V(a.z, a.z, a.y);
-}
-
-PX_FORCE_INLINE Vec3V V3PermYXX(const Vec3V a)
-{
-	return Vec3V(a.y, a.x, a.x);
-}
-
-PX_FORCE_INLINE Vec3V V3Perm_Zero_1Z_0Y(const Vec3V v0, const Vec3V v1)
-{
-	return Vec3V(0.0f, v1.z, v0.y);
-}
-
-PX_FORCE_INLINE Vec3V V3Perm_0Z_Zero_1X(const Vec3V v0, const Vec3V v1)
-{
-	return Vec3V(v0.z, 0.0f, v1.x);
-}
-
-PX_FORCE_INLINE Vec3V V3Perm_1Y_0X_Zero(const Vec3V v0, const Vec3V v1)
-{
-	return Vec3V(v1.y, v0.x, 0.0f);
-}
-
-PX_FORCE_INLINE FloatV V3SumElems(const Vec3V a)
-{
-	return FloatV(a.x + a.y + a.z);
-}
-
-PX_FORCE_INLINE PxU32 V3OutOfBounds(const Vec3V a, const Vec3V min, const Vec3V max)
-{
-	return BOOL_TO_U32(a.x > max.x || a.y > max.y || a.z > max.z || a.x < min.x || a.y < min.y || a.z < min.z);
-}
-
-PX_FORCE_INLINE PxU32 V3InBounds(const Vec3V a, const Vec3V min, const Vec3V max)
-{
-	return BOOL_TO_U32(a.x <= max.x && a.y <= max.y && a.z <= max.z && a.x >= min.x && a.y >= min.y && a.z >= min.z);
-}
-
-PX_FORCE_INLINE PxU32 V3OutOfBounds(const Vec3V a, const Vec3V bounds)
-{
-	return V3OutOfBounds(a, V3Neg(bounds), bounds);
-}
-
-PX_FORCE_INLINE PxU32 V3InBounds(const Vec3V a, const Vec3V bounds)
-{
-	return V3InBounds(a, V3Neg(bounds), bounds);
-}
-
-PX_FORCE_INLINE void V3Transpose(Vec3V& col0, Vec3V& col1, Vec3V& col2)
-{
-	const PxF32 t01 = col0.y, t02 = col0.z, t12 = col1.z;
-	col0.y = col1.x;
-	col0.z = col2.x;
-	col1.z = col2.y;
-	col1.x = t01;
-	col2.x = t02;
-	col2.y = t12;
-}
-
-/////////////////////////
-// VEC4V
-/////////////////////////
-
-PX_FORCE_INLINE Vec4V V4Splat(const FloatV f)
-{
-	return Vec4V(f.x, f.x, f.x, f.x);
-}
-
-PX_FORCE_INLINE Vec4V V4Merge(const FloatV* const floatVArray)
-{
-	return Vec4V(floatVArray[0].x, floatVArray[1].x, floatVArray[2].x, floatVArray[3].x);
-}
-
-PX_FORCE_INLINE Vec4V V4Merge(const FloatVArg x, const FloatVArg y, const FloatVArg z, const FloatVArg w)
-{
-	return Vec4V(x.x, y.x, z.x, w.x);
-}
-
-PX_FORCE_INLINE Vec4V V4MergeW(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w)
-{
-	return Vec4V(x.w, y.w, z.w, w.w);
-}
-
-PX_FORCE_INLINE Vec4V V4MergeZ(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w)
-{
-	return Vec4V(x.z, y.z, z.z, w.z);
-}
-
-PX_FORCE_INLINE Vec4V V4MergeY(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w)
-{
-	return Vec4V(x.y, y.y, z.y, w.y);
-}
-
-PX_FORCE_INLINE Vec4V V4MergeX(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w)
-{
-	return Vec4V(x.x, y.x, z.x, w.x);
-}
-
-PX_FORCE_INLINE Vec4V V4UnpackXY(const Vec4VArg a, const Vec4VArg b)
-{
-	return Vec4V(a.x, b.x, a.y, b.y);
-}
-
-PX_FORCE_INLINE Vec4V V4UnpackZW(const Vec4VArg a, const Vec4VArg b)
-{
-	return Vec4V(a.z, b.z, a.w, b.w);
-}
-
-PX_FORCE_INLINE Vec4V V4UnitX()
-{
-	return Vec4V(1.0f, 0.0f, 0.0f, 0.0f);
-}
-
-PX_FORCE_INLINE Vec4V V4UnitY()
-{
-	return Vec4V(0.0f, 1.0f, 0.0f, 0.0f);
-}
-
-PX_FORCE_INLINE Vec4V V4UnitZ()
-{
-	return Vec4V(0.0f, 0.0f, 1.0f, 0.0f);
-}
-
-PX_FORCE_INLINE Vec4V V4UnitW()
-{
-	return Vec4V(0.0f, 0.0f, 0.0f, 1.0f);
-}
-
-PX_FORCE_INLINE FloatV V4GetX(const Vec4V f)
-{
-	return FloatV(f.x);
-}
-
-PX_FORCE_INLINE FloatV V4GetY(const Vec4V f)
-{
-	return FloatV(f.y);
-}
-
-PX_FORCE_INLINE FloatV V4GetZ(const Vec4V f)
-{
-	return FloatV(f.z);
-}
-
-PX_FORCE_INLINE FloatV V4GetW(const Vec4V f)
-{
-	return FloatV(f.w);
-}
-
-PX_FORCE_INLINE Vec4V V4SetX(const Vec4V v, const FloatV f)
-{
-	return Vec4V(f.x, v.y, v.z, v.w);
-}
-
-PX_FORCE_INLINE Vec4V V4SetY(const Vec4V v, const FloatV f)
-{
-	return Vec4V(v.x, f.x, v.z, v.w);
-}
-
-PX_FORCE_INLINE Vec4V V4SetZ(const Vec4V v, const FloatV f)
-{
-	return Vec4V(v.x, v.y, f.x, v.w);
-}
-
-PX_FORCE_INLINE Vec4V V4SetW(const Vec4V v, const FloatV f)
-{
-	return Vec4V(v.x, v.y, v.z, f.x);
-}
-
-PX_FORCE_INLINE Vec4V V4SetW(const Vec3V v, const FloatV f)
-{
-	return Vec4V(v.x, v.y, v.z, f.x);
-}
-
-PX_FORCE_INLINE Vec4V V4ClearW(const Vec4V v)
-{
-	return Vec4V(v.x, v.y, v.z, 0.0f);
-}
-
-PX_FORCE_INLINE Vec4V V4PermYXWZ(const Vec4V v)
-{
-	return Vec4V(v.y, v.x, v.w, v.z);
-}
-
-PX_FORCE_INLINE Vec4V V4PermXZXZ(const Vec4V v)
-{
-	return Vec4V(v.x, v.z, v.x, v.z);
-}
-
-PX_FORCE_INLINE Vec4V V4PermYWYW(const Vec4V v)
-{
-	return Vec4V(v.y, v.w, v.y, v.w);
-}
-
-PX_FORCE_INLINE Vec4V V4PermYZXW(const Vec4V v)
-{
-	return Vec4V(v.y, v.z, v.x, v.w);
-}
-
-template <PxU8 _x, PxU8 _y, PxU8 _z, PxU8 _w>
-PX_FORCE_INLINE Vec4V V4Perm(const Vec4V v)
-{
-	const PxF32 f[4] = { v.x, v.y, v.z, v.w };
-	return Vec4V(f[_x], f[_y], f[_z], f[_w]);
-}
-
-PX_FORCE_INLINE Vec4V V4Zero()
-{
-	return V4Load(0.0f);
-}
-
-PX_FORCE_INLINE Vec4V V4One()
-{
-	return V4Load(1.0f);
-}
-
-PX_FORCE_INLINE Vec4V V4Eps()
-{
-	return V4Load(PX_EPS_REAL);
-}
-
-PX_FORCE_INLINE Vec4V V4Neg(const Vec4V c)
-{
-	return Vec4V(-c.x, -c.y, -c.z, -c.w);
-}
-
-PX_FORCE_INLINE Vec4V V4Add(const Vec4V a, const Vec4V b)
-{
-	return Vec4V(a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w);
-}
-
-PX_FORCE_INLINE Vec4V V4Sub(const Vec4V a, const Vec4V b)
-{
-	return Vec4V(a.x - b.x, a.y - b.y, a.z - b.z, a.w - b.w);
-}
-
-PX_FORCE_INLINE Vec4V V4Scale(const Vec4V a, const FloatV b)
-{
-	return Vec4V(a.x * b.x, a.y * b.x, a.z * b.x, a.w * b.x);
-}
-
-PX_FORCE_INLINE Vec4V V4Mul(const Vec4V a, const Vec4V b)
-{
-	return Vec4V(a.x * b.x, a.y * b.y, a.z * b.z, a.w * b.w);
-}
-
-PX_FORCE_INLINE Vec4V V4ScaleInv(const Vec4V a, const FloatV b)
-{
-	const PxF32 bInv = 1.0f / b.x;
-	return Vec4V(a.x * bInv, a.y * bInv, a.z * bInv, a.w * bInv);
-}
-
-PX_FORCE_INLINE Vec4V V4Div(const Vec4V a, const Vec4V b)
-{
-	VECMATHAOS_ASSERT(b.x != 0 && b.y != 0 && b.z != 0 && b.w != 0);
-	return Vec4V(a.x / b.x, a.y / b.y, a.z / b.z, a.w / b.w);
-}
-
-PX_FORCE_INLINE Vec4V V4ScaleInvFast(const Vec4V a, const FloatV b)
-{
-	const PxF32 bInv = 1.0f / b.x;
-	return Vec4V(a.x * bInv, a.y * bInv, a.z * bInv, a.w * bInv);
-}
-
-PX_FORCE_INLINE Vec4V V4DivFast(const Vec4V a, const Vec4V b)
-{
-	return Vec4V(a.x / b.x, a.y / b.y, a.z / b.z, a.w / b.w);
-}
-
-PX_FORCE_INLINE Vec4V V4Recip(const Vec4V a)
-{
-	return Vec4V(1.0f / a.x, 1.0f / a.y, 1.0f / a.z, 1.0f / a.w);
-}
-
-PX_FORCE_INLINE Vec4V V4RecipFast(const Vec4V a)
-{
-	return Vec4V(1.0f / a.x, 1.0f / a.y, 1.0f / a.z, 1.0f / a.w);
-}
-
-PX_FORCE_INLINE Vec4V V4Rsqrt(const Vec4V a)
-{
-	return Vec4V(PxRecipSqrt(a.x), PxRecipSqrt(a.y), PxRecipSqrt(a.z), PxRecipSqrt(a.w));
-}
-
-PX_FORCE_INLINE Vec4V V4RsqrtFast(const Vec4V a)
-{
-	return Vec4V(PxRecipSqrt(a.x), PxRecipSqrt(a.y), PxRecipSqrt(a.z), PxRecipSqrt(a.w));
-}
-
-PX_FORCE_INLINE Vec4V V4Sqrt(const Vec4V a)
-{
-	return Vec4V(PxSqrt(a.x), PxSqrt(a.y), PxSqrt(a.z), PxSqrt(a.w));
-}
-
-PX_FORCE_INLINE Vec4V V4ScaleAdd(const Vec4V a, const FloatV b, const Vec4V c)
-{
-	return V4Add(V4Scale(a, b), c);
-}
-
-PX_FORCE_INLINE Vec4V V4NegScaleSub(const Vec4V a, const FloatV b, const Vec4V c)
-{
-	return V4Sub(c, V4Scale(a, b));
-}
-
-PX_FORCE_INLINE Vec4V V4MulAdd(const Vec4V a, const Vec4V b, const Vec4V c)
-{
-	return V4Add(V4Mul(a, b), c);
-}
-
-PX_FORCE_INLINE Vec4V V4NegMulSub(const Vec4V a, const Vec4V b, const Vec4V c)
-{
-	return V4Sub(c, V4Mul(a, b));
-}
-
-PX_FORCE_INLINE FloatV V4SumElements(const Vec4V a)
-{
-	return FloatV(a.x + a.y + a.z + a.w);
-}
-
-PX_FORCE_INLINE FloatV V4Dot(const Vec4V a, const Vec4V b)
-{
-	return FloatV(a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w);
-}
-
-PX_FORCE_INLINE FloatV V4Dot3(const Vec4V a, const Vec4V b)
-{
-	return FloatV(a.x * b.x + a.y * b.y + a.z * b.z);
-}
-
-PX_FORCE_INLINE Vec4V V4Cross(const Vec4V a, const Vec4V b)
-{
-	return Vec4V(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x, 0.0f);
-}
-
-PX_FORCE_INLINE FloatV V4Length(const Vec4V a)
-{
-	return FloatV(PxSqrt(a.x * a.x + a.y * a.y + a.z * a.z + a.w * a.w));
-}
-
-PX_FORCE_INLINE FloatV V4LengthSq(const Vec4V a)
-{
-	return V4Dot(a, a);
-}
-
-PX_FORCE_INLINE Vec4V V4Normalize(const Vec4V a)
-{
-	VECMATHAOS_ASSERT(0 != a.x || 0 != a.y || 0 != a.z || 0 != a.w);
-	const FloatV length = FloatV(V4Length(a));
-	return V4ScaleInv(a, length);
-}
-
-PX_FORCE_INLINE Vec4V V4NormalizeSafe(const Vec4V a, const Vec4V unsafeReturnValue)
-{
-	const FloatV length = FloatV(V4Length(a));
-	if(PX_EPS_REAL >= length.x)
-	{
-		return unsafeReturnValue;
-	}
-	else
-	{
-		return V4ScaleInv(a, length);
-	}
-}
-PX_FORCE_INLINE Vec4V V4NormalizeFast(const Vec4V a)
-{
-	VECMATHAOS_ASSERT(0 != a.x || 0 != a.y || 0 != a.z || 0 != a.w);
-	const FloatV length = FloatV(V4Length(a));
-	return V4ScaleInv(a, length);
-}
-
-PX_FORCE_INLINE Vec4V V4Sel(const BoolV c, const Vec4V a, const Vec4V b)
-{
-	return Vec4V(c.ux ? a.x : b.x, c.uy ? a.y : b.y, c.uz ? a.z : b.z, c.uw ? a.w : b.w);
-}
-
-PX_FORCE_INLINE BoolV V4IsGrtr(const Vec4V a, const Vec4V b)
-{
-	return BoolV(BOOL_TO_U32(a.x > b.x), BOOL_TO_U32(a.y > b.y), BOOL_TO_U32(a.z > b.z), BOOL_TO_U32(a.w > b.w));
-}
-
-PX_FORCE_INLINE BoolV V4IsGrtrOrEq(const Vec4V a, const Vec4V b)
-{
-	return BoolV(BOOL_TO_U32(a.x >= b.x), BOOL_TO_U32(a.y >= b.y), BOOL_TO_U32(a.z >= b.z), BOOL_TO_U32(a.w >= b.w));
-}
-
-PX_FORCE_INLINE BoolV V4IsEq(const Vec4V a, const Vec4V b)
-{
-	return BoolV(BOOL_TO_U32(a.x == b.x), BOOL_TO_U32(a.y == b.y), BOOL_TO_U32(a.z == b.z), BOOL_TO_U32(a.w == b.w));
-}
-
-PX_FORCE_INLINE Vec4V V4Max(const Vec4V a, const Vec4V b)
-{
-	return Vec4V(a.x > b.x ? a.x : b.x, a.y > b.y ? a.y : b.y, a.z > b.z ? a.z : b.z, a.w > b.w ? a.w : b.w);
-}
-
-PX_FORCE_INLINE Vec4V V4Min(const Vec4V a, const Vec4V b)
-{
-	return Vec4V(a.x < b.x ? a.x : b.x, a.y < b.y ? a.y : b.y, a.z < b.z ? a.z : b.z, a.w < b.w ? a.w : b.w);
-}
-
-PX_FORCE_INLINE FloatV V4ExtractMax(const Vec4V a)
-{
-	const PxF32 t0 = (a.x >= a.y) ? a.x : a.y;
-	const PxF32 t1 = (a.z >= a.w) ? a.x : a.w;
-	return t0 >= t1 ? t0 : t1;
-}
-
-PX_FORCE_INLINE FloatV V4ExtractMin(const Vec4V a)
-{
-	const PxF32 t0 = (a.x <= a.y) ? a.x : a.y;
-	const PxF32 t1 = (a.z <= a.w) ? a.x : a.w;
-	return t0 <= t1 ? t0 : t1;
-}
-
-PX_FORCE_INLINE Vec4V V4Clamp(const Vec4V a, const Vec4V minV, const Vec4V maxV)
-{
-	return V4Max(V4Min(a, maxV), minV);
-}
-
-PX_FORCE_INLINE Vec4V V4Round(const Vec4V a)
-{
-	return Vec4V(floorf(a.x + 0.5f), floorf(a.y + 0.5f), floorf(a.z + 0.5f), floorf(a.w + 0.5f));
-}
-
-PX_FORCE_INLINE Vec4V V4Sin(const Vec4V a)
-{
-	return Vec4V(sinf(a.x), sinf(a.y), sinf(a.z), sinf(a.w));
-}
-
-PX_FORCE_INLINE Vec4V V4Cos(const Vec4V a)
-{
-	return Vec4V(cosf(a.x), cosf(a.y), cosf(a.z), cosf(a.w));
-}
-
-PX_FORCE_INLINE PxU32 V4AllGrtr(const Vec4V a, const Vec4V b)
-{
-	return BOOL_TO_U32((a.x > b.x) & (a.y > b.y) & (a.z > b.z) & (a.w > b.w));
-}
-
-PX_FORCE_INLINE PxU32 V4AllGrtrOrEq(const Vec4V a, const Vec4V b)
-{
-	return BOOL_TO_U32((a.x >= b.x) & (a.y >= b.y) & (a.z >= b.z) & (a.w >= b.w));
-}
-
-PX_FORCE_INLINE PxU32 V4AllGrtrOrEq3(const Vec4V a, const Vec4V b)
-{
-	return BOOL_TO_U32((a.x >= b.x) & (a.y >= b.y) & (a.z >= b.z));
-}
-
-PX_FORCE_INLINE PxU32 V4AllEq(const Vec4V a, const Vec4V b)
-{
-	return BOOL_TO_U32((a.x == b.x) & (a.y == b.y) & (a.z == b.z) & (a.w == b.w));
-}
-
-PX_FORCE_INLINE PxU32 V4AnyGrtr3(const Vec4V a, const Vec4V b)
-{
-	return BOOL_TO_U32((a.x > b.x) | (a.y > b.y) | (a.z > b.z));
-}
-
-PX_FORCE_INLINE void V4Transpose(Vec4V& col0, Vec4V& col1, Vec4V& col2, Vec4V& col3)
-{
-	const PxF32 t01 = col0.y, t02 = col0.z, t03 = col0.w;
-	const PxF32 t12 = col1.z, t13 = col1.w;
-	const PxF32 t23 = col2.w;
-	col0.y = col1.x;
-	col0.z = col2.x;
-	col0.w = col3.x;
-	col1.z = col2.y;
-	col1.w = col3.y;
-	col2.w = col3.z;
-	col1.x = t01;
-	col2.x = t02;
-	col3.x = t03;
-	col2.y = t12;
-	col3.y = t13;
-	col3.z = t23;
-}
-
-PX_FORCE_INLINE BoolV BFFFF()
-{
-	return BoolV(FALSE_TO_U32, FALSE_TO_U32, FALSE_TO_U32, FALSE_TO_U32);
-}
-PX_FORCE_INLINE BoolV BFFFT()
-{
-	return BoolV(FALSE_TO_U32, FALSE_TO_U32, FALSE_TO_U32, TRUE_TO_U32);
-}
-PX_FORCE_INLINE BoolV BFFTF()
-{
-	return BoolV(FALSE_TO_U32, FALSE_TO_U32, TRUE_TO_U32, FALSE_TO_U32);
-}
-PX_FORCE_INLINE BoolV BFFTT()
-{
-	return BoolV(FALSE_TO_U32, FALSE_TO_U32, TRUE_TO_U32, TRUE_TO_U32);
-}
-PX_FORCE_INLINE BoolV BFTFF()
-{
-	return BoolV(FALSE_TO_U32, TRUE_TO_U32, FALSE_TO_U32, FALSE_TO_U32);
-}
-PX_FORCE_INLINE BoolV BFTFT()
-{
-	return BoolV(FALSE_TO_U32, TRUE_TO_U32, FALSE_TO_U32, TRUE_TO_U32);
-}
-PX_FORCE_INLINE BoolV BFTTF()
-{
-	return BoolV(FALSE_TO_U32, TRUE_TO_U32, TRUE_TO_U32, FALSE_TO_U32);
-}
-PX_FORCE_INLINE BoolV BFTTT()
-{
-	return BoolV(FALSE_TO_U32, TRUE_TO_U32, TRUE_TO_U32, TRUE_TO_U32);
-}
-PX_FORCE_INLINE BoolV BTFFF()
-{
-	return BoolV(TRUE_TO_U32, FALSE_TO_U32, FALSE_TO_U32, FALSE_TO_U32);
-}
-PX_FORCE_INLINE BoolV BTFFT()
-{
-	return BoolV(TRUE_TO_U32, FALSE_TO_U32, FALSE_TO_U32, TRUE_TO_U32);
-}
-PX_FORCE_INLINE BoolV BTFTF()
-{
-	return BoolV(TRUE_TO_U32, FALSE_TO_U32, TRUE_TO_U32, FALSE_TO_U32);
-}
-PX_FORCE_INLINE BoolV BTFTT()
-{
-	return BoolV(TRUE_TO_U32, FALSE_TO_U32, TRUE_TO_U32, TRUE_TO_U32);
-}
-PX_FORCE_INLINE BoolV BTTFF()
-{
-	return BoolV(TRUE_TO_U32, TRUE_TO_U32, FALSE_TO_U32, FALSE_TO_U32);
-}
-PX_FORCE_INLINE BoolV BTTFT()
-{
-	return BoolV(TRUE_TO_U32, TRUE_TO_U32, FALSE_TO_U32, TRUE_TO_U32);
-}
-PX_FORCE_INLINE BoolV BTTTF()
-{
-	return BoolV(TRUE_TO_U32, TRUE_TO_U32, TRUE_TO_U32, FALSE_TO_U32);
-}
-PX_FORCE_INLINE BoolV BTTTT()
-{
-	return BoolV(TRUE_TO_U32, TRUE_TO_U32, TRUE_TO_U32, TRUE_TO_U32);
-}
-
-PX_FORCE_INLINE BoolV BXMask()
-{
-	return BTFFF();
-}
-PX_FORCE_INLINE BoolV BYMask()
-{
-	return BFTFF();
-}
-PX_FORCE_INLINE BoolV BZMask()
-{
-	return BFFTF();
-}
-PX_FORCE_INLINE BoolV BWMask()
-{
-	return BFFFT();
-}
-
-PX_FORCE_INLINE BoolV BGetX(const BoolV a)
-{
-	return BoolV(a.ux, a.ux, a.ux, a.ux);
-}
-
-PX_FORCE_INLINE BoolV BGetY(const BoolV a)
-{
-	return BoolV(a.uy, a.uy, a.uy, a.uy);
-}
-
-PX_FORCE_INLINE BoolV BGetZ(const BoolV a)
-{
-	return BoolV(a.uz, a.uz, a.uz, a.uz);
-}
-
-PX_FORCE_INLINE BoolV BGetW(const BoolV a)
-{
-	return BoolV(a.uw, a.uw, a.uw, a.uw);
-}
-
-PX_FORCE_INLINE BoolV BSetX(const BoolV v, const BoolV f)
-{
-	return BoolV(f.ux, v.uy, v.uz, v.uw);
-}
-
-PX_FORCE_INLINE BoolV BSetY(const BoolV v, const BoolV f)
-{
-	return BoolV(v.ux, f.uy, v.uz, v.uw);
-}
-
-PX_FORCE_INLINE BoolV BSetZ(const BoolV v, const BoolV f)
-{
-	return BoolV(v.ux, v.uy, f.uz, v.uw);
-}
-
-PX_FORCE_INLINE BoolV BSetW(const BoolV v, const BoolV f)
-{
-	return BoolV(v.ux, v.uy, v.uz, f.uw);
-}
-
-template <int index>
-BoolV BSplatElement(BoolV a)
-{
-	PxU32* b = (PxU32*)&a;
-	return BoolV(b[index], b[index], b[index], b[index]);
-}
-
-PX_FORCE_INLINE BoolV BAnd(const BoolV a, const BoolV b)
-{
-	return BoolV(BOOL_TO_U32(a.ux && b.ux), BOOL_TO_U32(a.uy && b.uy), BOOL_TO_U32(a.uz && b.uz), BOOL_TO_U32(a.uw && b.uw));
-}
-
-PX_FORCE_INLINE BoolV BAndNot(const BoolV a, const BoolV b)
-{
-	return BoolV(a.ux & ~b.ux, a.uy & ~b.uy, a.uz & ~b.uz, a.uw & ~b.uw);
-}
-
-PX_FORCE_INLINE BoolV BNot(const BoolV a)
-{
-	return BoolV(~a.ux, ~a.uy, ~a.uz, ~a.uw);
-}
-
-PX_FORCE_INLINE BoolV BOr(const BoolV a, const BoolV b)
-{
-	return BoolV(BOOL_TO_U32(a.ux || b.ux), BOOL_TO_U32(a.uy || b.uy), BOOL_TO_U32(a.uz || b.uz), BOOL_TO_U32(a.uw || b.uw));
-}
-
-PX_FORCE_INLINE PxU32 BAllEq(const BoolV a, const BoolV b)
-{
-	return (a.ux == b.ux && a.uy == b.uy && a.uz == b.uz && a.uw == b.uw ? 1 : 0);
-}
-
-PX_FORCE_INLINE PxU32 BAllEqTTTT(const BoolV a)
-{
-	return BAllEq(a, BTTTT());
-}
-
-PX_FORCE_INLINE PxU32 BAllEqFFFF(const BoolV a)
-{
-	return BAllEq(a, BFFFF());
-}
-
-PX_FORCE_INLINE BoolV BAllTrue4(const BoolV a)
-{
-	return (a.ux & a.uy & a.uz & a.uw) ? BTTTT() : BFFFF();
-}
-
-PX_FORCE_INLINE BoolV BAnyTrue4(const BoolV a)
-{
-	return (a.ux | a.uy | a.uz | a.uw) ? BTTTT() : BFFFF();
-}
-
-PX_FORCE_INLINE BoolV BAllTrue3(const BoolV a)
-{
-	return (a.ux & a.uy & a.uz) ? BTTTT() : BFFFF();
-}
-
-PX_FORCE_INLINE BoolV BAnyTrue3(const BoolV a)
-{
-	return (a.ux | a.uy | a.uz) ? BTTTT() : BFFFF();
-}
-
-PX_FORCE_INLINE PxU32 BGetBitMask(const BoolV a)
-{
-	return (a.ux & 1) | (a.uy & 2) | (a.uz & 4) | (a.uw & 8);
-}
-
-//////////////////////////////////
-// MAT33V
-//////////////////////////////////
-
-PX_FORCE_INLINE Vec3V M33MulV3(const Mat33V& a, const Vec3V b)
-{
-	return Vec3V(a.col0.x * b.x + a.col1.x * b.y + a.col2.x * b.z, a.col0.y * b.x + a.col1.y * b.y + a.col2.y * b.z,
-	             a.col0.z * b.x + a.col1.z * b.y + a.col2.z * b.z);
-}
-
-PX_FORCE_INLINE Vec3V M33TrnspsMulV3(const Mat33V& a, const Vec3V b)
-{
-	return Vec3V(a.col0.x * b.x + a.col0.y * b.y + a.col0.z * b.z, a.col1.x * b.x + a.col1.y * b.y + a.col1.z * b.z,
-	             a.col2.x * b.x + a.col2.y * b.y + a.col2.z * b.z);
-}
-
-PX_FORCE_INLINE Vec3V M33MulV3AddV3(const Mat33V& A, const Vec3V b, const Vec3V c)
-{
-	const FloatV x = V3GetX(b);
-	const FloatV y = V3GetY(b);
-	const FloatV z = V3GetZ(b);
-	Vec3V result = V3ScaleAdd(A.col0, x, c);
-	result = V3ScaleAdd(A.col1, y, result);
-	return V3ScaleAdd(A.col2, z, result);
-}
-
-PX_FORCE_INLINE Mat33V M33MulM33(const Mat33V& a, const Mat33V& b)
-{
-	return Mat33V(M33MulV3(a, b.col0), M33MulV3(a, b.col1), M33MulV3(a, b.col2));
-}
-
-PX_FORCE_INLINE Mat33V M33Add(const Mat33V& a, const Mat33V& b)
-{
-	return Mat33V(V3Add(a.col0, b.col0), V3Add(a.col1, b.col1), V3Add(a.col2, b.col2));
-}
-
-PX_FORCE_INLINE Mat33V M33Scale(const Mat33V& a, const FloatV& b)
-{
-	return Mat33V(V3Scale(a.col0, b), V3Scale(a.col1, b), V3Scale(a.col2, b));
-}
-
-PX_FORCE_INLINE Mat33V M33Sub(const Mat33V& a, const Mat33V& b)
-{
-	return Mat33V(V3Sub(a.col0, b.col0), V3Sub(a.col1, b.col1), V3Sub(a.col2, b.col2));
-}
-
-PX_FORCE_INLINE Mat33V M33Neg(const Mat33V& a)
-{
-	return Mat33V(V3Neg(a.col0), V3Neg(a.col1), V3Neg(a.col2));
-}
-
-PX_FORCE_INLINE Mat33V M33Abs(const Mat33V& a)
-{
-	return Mat33V(V3Abs(a.col0), V3Abs(a.col1), V3Abs(a.col2));
-}
-
-PX_FORCE_INLINE Mat33V M33Diagonal(const Vec3VArg d)
-{
-	const Vec3V x = V3Mul(V3UnitX(), d);
-	const Vec3V y = V3Mul(V3UnitY(), d);
-	const Vec3V z = V3Mul(V3UnitZ(), d);
-	return Mat33V(x, y, z);
-}
-
-PX_FORCE_INLINE Mat33V M33Inverse(const Mat33V& a)
-{
-	const PxF32 det = a.col0.x * (a.col1.y * a.col2.z - a.col1.z * a.col2.y) -
-	                  a.col1.x * (a.col0.y * a.col2.z - a.col2.y * a.col0.z) +
-	                  a.col2.x * (a.col0.y * a.col1.z - a.col1.y * a.col0.z);
-
-	const PxF32 invDet = 1.0f / det;
-
-	Mat33V ret;
-	ret.col0.x = invDet * (a.col1.y * a.col2.z - a.col2.y * a.col1.z);
-	ret.col0.y = invDet * (a.col2.y * a.col0.z - a.col0.y * a.col2.z);
-	ret.col0.z = invDet * (a.col0.y * a.col1.z - a.col1.y * a.col0.z);
-
-	ret.col1.x = invDet * (a.col2.x * a.col1.z - a.col1.x * a.col2.z);
-	ret.col1.y = invDet * (a.col0.x * a.col2.z - a.col2.x * a.col0.z);
-	ret.col1.z = invDet * (a.col1.x * a.col0.z - a.col0.x * a.col1.z);
-
-	ret.col2.x = invDet * (a.col1.x * a.col2.y - a.col2.x * a.col1.y);
-	ret.col2.y = invDet * (a.col2.x * a.col0.y - a.col0.x * a.col2.y);
-	ret.col2.z = invDet * (a.col0.x * a.col1.y - a.col1.x * a.col0.y);
-
-	return ret;
-}
-
-PX_FORCE_INLINE Mat33V Mat33V_From_PxMat33(const PxMat33& m)
-{
-	return Mat33V(V3LoadU(m.column0), V3LoadU(m.column1), V3LoadU(m.column2));
-}
-
-PX_FORCE_INLINE void PxMat33_From_Mat33V(const Mat33V& m, PxMat33& out)
-{
-	PX_ASSERT((size_t(&out) & 15) == 0);
-	V3StoreU(m.col0, out.column0);
-	V3StoreU(m.col1, out.column1);
-	V3StoreU(m.col2, out.column2);
-}
-
-PX_FORCE_INLINE Mat33V M33Trnsps(const Mat33V& a)
-{
-	return Mat33V(Vec3V(a.col0.x, a.col1.x, a.col2.x), Vec3V(a.col0.y, a.col1.y, a.col2.y),
-	              Vec3V(a.col0.z, a.col1.z, a.col2.z));
-}
-
-PX_FORCE_INLINE Mat33V M33Identity()
-{
-	return Mat33V(V3UnitX(), V3UnitY(), V3UnitZ());
-}
-
-//////////////////////////////////
-// MAT34V
-//////////////////////////////////
-
-PX_FORCE_INLINE Vec3V M34MulV3(const Mat34V& a, const Vec3V b)
-{
-	return Vec3V(a.col0.x * b.x + a.col1.x * b.y + a.col2.x * b.z + a.col3.x,
-	             a.col0.y * b.x + a.col1.y * b.y + a.col2.y * b.z + a.col3.y,
-	             a.col0.z * b.x + a.col1.z * b.y + a.col2.z * b.z + a.col3.z);
-}
-
-PX_FORCE_INLINE Vec3V M34Mul33V3(const Mat34V& a, const Vec3V b)
-{
-	return Vec3V(a.col0.x * b.x + a.col1.x * b.y + a.col2.x * b.z, a.col0.y * b.x + a.col1.y * b.y + a.col2.y * b.z,
-	             a.col0.z * b.x + a.col1.z * b.y + a.col2.z * b.z);
-}
-
-PX_FORCE_INLINE Vec3V M34TrnspsMul33V3(const Mat34V& a, const Vec3V b)
-{
-	return Vec3V(a.col0.x * b.x + a.col0.y * b.y + a.col0.z * b.z, a.col1.x * b.x + a.col1.y * b.y + a.col1.z * b.z,
-	             a.col2.x * b.x + a.col2.y * b.y + a.col2.z * b.z);
-}
-
-PX_FORCE_INLINE Mat34V M34MulM34(const Mat34V& a, const Mat34V& b)
-{
-	return Mat34V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2), M34MulV3(a, b.col3));
-}
-
-PX_FORCE_INLINE Mat33V M34MulM33(const Mat34V& a, const Mat33V& b)
-{
-	return Mat33V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2));
-}
-
-PX_FORCE_INLINE Mat33V M34Mul33V3(const Mat34V& a, const Mat33V& b)
-{
-	return Mat33V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2));
-}
-
-PX_FORCE_INLINE Mat33V M34Mul33MM34(const Mat34V& a, const Mat34V& b)
-{
-	return Mat33V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2));
-}
-
-PX_FORCE_INLINE Mat34V M34Add(const Mat34V& a, const Mat34V& b)
-{
-	return Mat34V(V3Add(a.col0, b.col0), V3Add(a.col1, b.col1), V3Add(a.col2, b.col2), V3Add(a.col3, b.col3));
-}
-
-PX_FORCE_INLINE Mat33V M34Trnsps33(const Mat34V& a)
-{
-	return Mat33V(Vec3V(a.col0.x, a.col1.x, a.col2.x), Vec3V(a.col0.y, a.col1.y, a.col2.y),
-	              Vec3V(a.col0.z, a.col1.z, a.col2.z));
-}
-
-//////////////////////////////////
-// MAT44V
-//////////////////////////////////
-
-PX_FORCE_INLINE Vec4V M44MulV4(const Mat44V& a, const Vec4V b)
-{
-	return Vec4V(a.col0.x * b.x + a.col1.x * b.y + a.col2.x * b.z + a.col3.x * b.w,
-	             a.col0.y * b.x + a.col1.y * b.y + a.col2.y * b.z + a.col3.y * b.w,
-	             a.col0.z * b.x + a.col1.z * b.y + a.col2.z * b.z + a.col3.z * b.w,
-	             a.col0.w * b.x + a.col1.w * b.y + a.col2.w * b.z + a.col3.w * b.w);
-}
-
-PX_FORCE_INLINE Vec4V M44TrnspsMulV4(const Mat44V& a, const Vec4V b)
-{
-	return Vec4V(a.col0.x * b.x + a.col0.y * b.y + a.col0.z * b.z + a.col0.w * b.w,
-	             a.col1.x * b.x + a.col1.y * b.y + a.col1.z * b.z + a.col1.w * b.w,
-	             a.col2.x * b.x + a.col2.y * b.y + a.col2.z * b.z + a.col2.w * b.w,
-	             a.col3.x * b.x + a.col3.y * b.y + a.col3.z * b.z + a.col3.w * b.w);
-}
-
-PX_FORCE_INLINE Mat44V M44MulM44(const Mat44V& a, const Mat44V& b)
-{
-	return Mat44V(M44MulV4(a, b.col0), M44MulV4(a, b.col1), M44MulV4(a, b.col2), M44MulV4(a, b.col3));
-}
-
-PX_FORCE_INLINE Mat44V M44Add(const Mat44V& a, const Mat44V& b)
-{
-	return Mat44V(V4Add(a.col0, b.col0), V4Add(a.col1, b.col1), V4Add(a.col2, b.col2), V4Add(a.col3, b.col3));
-}
-
-PX_FORCE_INLINE Mat44V M44Inverse(const Mat44V& a)
-{
-	PxF32 tmp[12];
-	PxF32 dst[16];
-	PxF32 det;
-
-	const PxF32 src[16] = { a.col0.x, a.col0.y, a.col0.z, a.col0.w, a.col1.x, a.col1.y, a.col1.z, a.col1.w,
-		                    a.col2.x, a.col2.y, a.col2.z, a.col2.w, a.col3.x, a.col3.y, a.col3.z, a.col3.w };
-
-	tmp[0] = src[10] * src[15];
-	tmp[1] = src[11] * src[14];
-	tmp[2] = src[9] * src[15];
-	tmp[3] = src[11] * src[13];
-	tmp[4] = src[9] * src[14];
-	tmp[5] = src[10] * src[13];
-	tmp[6] = src[8] * src[15];
-	tmp[7] = src[11] * src[12];
-	tmp[8] = src[8] * src[14];
-	tmp[9] = src[10] * src[12];
-	tmp[10] = src[8] * src[13];
-	tmp[11] = src[9] * src[12];
-
-	dst[0] = tmp[0] * src[5] + tmp[3] * src[6] + tmp[4] * src[7];
-	dst[0] -= tmp[1] * src[5] + tmp[2] * src[6] + tmp[5] * src[7];
-	dst[1] = tmp[1] * src[4] + tmp[6] * src[6] + tmp[9] * src[7];
-	dst[1] -= tmp[0] * src[4] + tmp[7] * src[6] + tmp[8] * src[7];
-	dst[2] = tmp[2] * src[4] + tmp[7] * src[5] + tmp[10] * src[7];
-	dst[2] -= tmp[3] * src[4] + tmp[6] * src[5] + tmp[11] * src[7];
-	dst[3] = tmp[5] * src[4] + tmp[8] * src[5] + tmp[11] * src[6];
-	dst[3] -= tmp[4] * src[4] + tmp[9] * src[5] + tmp[10] * src[6];
-	dst[4] = tmp[1] * src[1] + tmp[2] * src[2] + tmp[5] * src[3];
-	dst[4] -= tmp[0] * src[1] + tmp[3] * src[2] + tmp[4] * src[3];
-	dst[5] = tmp[0] * src[0] + tmp[7] * src[2] + tmp[8] * src[3];
-	dst[5] -= tmp[1] * src[0] + tmp[6] * src[2] + tmp[9] * src[3];
-	dst[6] = tmp[3] * src[0] + tmp[6] * src[1] + tmp[11] * src[3];
-	dst[6] -= tmp[2] * src[0] + tmp[7] * src[1] + tmp[10] * src[3];
-	dst[7] = tmp[4] * src[0] + tmp[9] * src[1] + tmp[10] * src[2];
-	dst[7] -= tmp[5] * src[0] + tmp[8] * src[1] + tmp[11] * src[2];
-
-	tmp[0] = src[2] * src[7];
-	tmp[1] = src[3] * src[6];
-	tmp[2] = src[1] * src[7];
-	tmp[3] = src[3] * src[5];
-	tmp[4] = src[1] * src[6];
-	tmp[5] = src[2] * src[5];
-	tmp[6] = src[0] * src[7];
-	tmp[7] = src[3] * src[4];
-	tmp[8] = src[0] * src[6];
-	tmp[9] = src[2] * src[4];
-	tmp[10] = src[0] * src[5];
-	tmp[11] = src[1] * src[4];
-
-	dst[8] = tmp[0] * src[13] + tmp[3] * src[14] + tmp[4] * src[15];
-	dst[8] -= tmp[1] * src[13] + tmp[2] * src[14] + tmp[5] * src[15];
-	dst[9] = tmp[1] * src[12] + tmp[6] * src[14] + tmp[9] * src[15];
-	dst[9] -= tmp[0] * src[12] + tmp[7] * src[14] + tmp[8] * src[15];
-	dst[10] = tmp[2] * src[12] + tmp[7] * src[13] + tmp[10] * src[15];
-	dst[10] -= tmp[3] * src[12] + tmp[6] * src[13] + tmp[11] * src[15];
-	dst[11] = tmp[5] * src[12] + tmp[8] * src[13] + tmp[11] * src[14];
-	dst[11] -= tmp[4] * src[12] + tmp[9] * src[13] + tmp[10] * src[14];
-	dst[12] = tmp[2] * src[10] + tmp[5] * src[11] + tmp[1] * src[9];
-	dst[12] -= tmp[4] * src[11] + tmp[0] * src[9] + tmp[3] * src[10];
-	dst[13] = tmp[8] * src[11] + tmp[0] * src[8] + tmp[7] * src[10];
-	dst[13] -= tmp[6] * src[10] + tmp[9] * src[11] + tmp[1] * src[8];
-	dst[14] = tmp[6] * src[9] + tmp[11] * src[11] + tmp[3] * src[8];
-	dst[14] -= tmp[10] * src[11] + tmp[2] * src[8] + tmp[7] * src[9];
-	dst[15] = tmp[10] * src[10] + tmp[4] * src[8] + tmp[9] * src[9];
-	dst[15] -= tmp[8] * src[9] + tmp[11] * src[10] + tmp[5] * src[8];
-
-	det = src[0] * dst[0] + src[1] * dst[1] + src[2] * dst[2] + src[3] * dst[3];
-
-	det = 1.0f / det;
-	for(PxU32 j = 0; j < 16; j++)
-	{
-		dst[j] *= det;
-	}
-
-	return Mat44V(Vec4V(dst[0], dst[4], dst[8], dst[12]), Vec4V(dst[1], dst[5], dst[9], dst[13]),
-	              Vec4V(dst[2], dst[6], dst[10], dst[14]), Vec4V(dst[3], dst[7], dst[11], dst[15]));
-}
-
-PX_FORCE_INLINE Mat44V M44Trnsps(const Mat44V& a)
-{
-	return Mat44V(Vec4V(a.col0.x, a.col1.x, a.col2.x, a.col3.x), Vec4V(a.col0.y, a.col1.y, a.col2.y, a.col3.y),
-	              Vec4V(a.col0.z, a.col1.z, a.col2.z, a.col3.z), Vec4V(a.col0.w, a.col1.w, a.col2.w, a.col3.w));
-}
-
-PX_FORCE_INLINE Vec4V V4LoadXYZW(const PxF32& x, const PxF32& y, const PxF32& z, const PxF32& w)
-{
-	return Vec4V(x, y, z, w);
-}
-
-/*
-PX_FORCE_INLINE VecU16V V4U32PK(VecU32V a, VecU32V b)
-{
-    return VecU16V(
-        PxU16(PxClamp<PxU32>((a).u32[0], 0, 0xFFFF)),
-        PxU16(PxClamp<PxU32>((a).u32[1], 0, 0xFFFF)),
-        PxU16(PxClamp<PxU32>((a).u32[2], 0, 0xFFFF)),
-        PxU16(PxClamp<PxU32>((a).u32[3], 0, 0xFFFF)),
-        PxU16(PxClamp<PxU32>((b).u32[0], 0, 0xFFFF)),
-        PxU16(PxClamp<PxU32>((b).u32[1], 0, 0xFFFF)),
-        PxU16(PxClamp<PxU32>((b).u32[2], 0, 0xFFFF)),
-        PxU16(PxClamp<PxU32>((b).u32[3], 0, 0xFFFF)));
-}
-*/
-
-PX_FORCE_INLINE VecU32V V4U32Sel(const BoolV c, const VecU32V a, const VecU32V b)
-{
-	return VecU32V(c.ux ? a.u32[0] : b.u32[0], c.uy ? a.u32[1] : b.u32[1], c.uz ? a.u32[2] : b.u32[2],
-	               c.uw ? a.u32[3] : b.u32[3]);
-}
-
-PX_FORCE_INLINE VecU32V V4U32or(VecU32V a, VecU32V b)
-{
-	return VecU32V((a).u32[0] | (b).u32[0], (a).u32[1] | (b).u32[1], (a).u32[2] | (b).u32[2], (a).u32[3] | (b).u32[3]);
-}
-
-PX_FORCE_INLINE VecU32V V4U32xor(VecU32V a, VecU32V b)
-{
-	return VecU32V((a).u32[0] ^ (b).u32[0], (a).u32[1] ^ (b).u32[1], (a).u32[2] ^ (b).u32[2], (a).u32[3] ^ (b).u32[3]);
-}
-
-PX_FORCE_INLINE VecU32V V4U32and(VecU32V a, VecU32V b)
-{
-	return VecU32V((a).u32[0] & (b).u32[0], (a).u32[1] & (b).u32[1], (a).u32[2] & (b).u32[2], (a).u32[3] & (b).u32[3]);
-}
-
-PX_FORCE_INLINE VecU32V V4U32Andc(VecU32V a, VecU32V b)
-{
-	return VecU32V((a).u32[0] & ~(b).u32[0], (a).u32[1] & ~(b).u32[1], (a).u32[2] & ~(b).u32[2],
-	               (a).u32[3] & ~(b).u32[3]);
-}
-
-/*
-PX_FORCE_INLINE VecU16V V4U16Or(VecU16V a, VecU16V b)
-{
-    return VecU16V(
-        (a).u16[0]|(b).u16[0], (a).u16[1]|(b).u16[1], (a).u16[2]|(b).u16[2], (a).u16[3]|(b).u16[3],
-        (a).u16[4]|(b).u16[4], (a).u16[5]|(b).u16[5], (a).u16[6]|(b).u16[6], (a).u16[7]|(b).u16[7]);
-}
-*/
-
-/*
-PX_FORCE_INLINE VecU16V V4U16And(VecU16V a, VecU16V b)
-{
-    return VecU16V(
-        (a).u16[0]&(b).u16[0], (a).u16[1]&(b).u16[1], (a).u16[2]&(b).u16[2], (a).u16[3]&(b).u16[3],
-        (a).u16[4]&(b).u16[4], (a).u16[5]&(b).u16[5], (a).u16[6]&(b).u16[6], (a).u16[7]&(b).u16[7]);
-}
-*/
-
-/*
-PX_FORCE_INLINE VecU16V V4U16Andc(VecU16V a, VecU16V b)
-{
-    return VecU16V(
-        (a).u16[0]&~(b).u16[0], (a).u16[1]&~(b).u16[1], (a).u16[2]&~(b).u16[2], (a).u16[3]&~(b).u16[3],
-        (a).u16[4]&~(b).u16[4], (a).u16[5]&~(b).u16[5], (a).u16[6]&~(b).u16[6], (a).u16[7]&~(b).u16[7]);
-}
-*/
-
-/*
-template<int a> PX_FORCE_INLINE VecI32V V4ISplat()
-{
-    return VecI32V(a, a, a, a);
-}
-
-template<PxU32 a> PX_FORCE_INLINE VecU32V V4USplat()
-{
-    return VecU32V(a, a, a, a);
-}
-*/
-
-/*
-PX_FORCE_INLINE void V4U16StoreAligned(VecU16V val, VecU16V* address)
-{
-    *address = val;
-}
-*/
-
-PX_FORCE_INLINE void V4U32StoreAligned(VecU32V val, VecU32V* address)
-{
-	*address = val;
-}
-
-PX_FORCE_INLINE Vec4V V4Andc(const Vec4V a, const VecU32V b)
-{
-	VecU32V r = V4U32Andc(*reinterpret_cast<const VecU32V*>(&a), b);
-	return (*reinterpret_cast<const Vec4V*>(&r));
-}
-
-PX_FORCE_INLINE VecU32V V4IsGrtrV32u(const Vec4V a, const Vec4V b)
-{
-	return VecU32V(a.x > b.x ? 0xFFFFffff : 0, a.y > b.y ? 0xFFFFffff : 0, a.z > b.z ? 0xFFFFffff : 0,
-	               a.w > b.w ? 0xFFFFffff : 0);
-}
-
-PX_FORCE_INLINE VecU16V V4U16LoadAligned(VecU16V* addr)
-{
-	return *addr;
-}
-
-PX_FORCE_INLINE VecU16V V4U16LoadUnaligned(VecU16V* addr)
-{
-	return *addr;
-}
-
-PX_FORCE_INLINE VecU16V V4U16CompareGt(VecU16V a, VecU16V b)
-{
-	return VecU16V
-		(
-		BOOL_TO_U16(a.u16[0] > b.u16[0]), BOOL_TO_U16(a.u16[1] > b.u16[1]), BOOL_TO_U16(a.u16[2] > b.u16[2]), BOOL_TO_U16(a.u16[3] > b.u16[3]),
-		BOOL_TO_U16(a.u16[4] > b.u16[4]), BOOL_TO_U16(a.u16[5] > b.u16[5]), BOOL_TO_U16(a.u16[6] > b.u16[6]), BOOL_TO_U16(a.u16[7] > b.u16[7])
-		);
-}
-
-PX_FORCE_INLINE VecU16V V4I16CompareGt(VecU16V a, VecU16V b)
-{
-	return VecU16V
-		(
-		BOOL_TO_U16(a.i16[0] > b.i16[0]), BOOL_TO_U16(a.i16[1] > b.i16[1]), BOOL_TO_U16(a.i16[2] > b.i16[2]), BOOL_TO_U16(a.i16[3] > b.i16[3]),
-		BOOL_TO_U16(a.i16[4] > b.i16[4]), BOOL_TO_U16(a.i16[5] > b.i16[5]), BOOL_TO_U16(a.i16[6] > b.i16[6]), BOOL_TO_U16(a.i16[7] > b.i16[7])
-		);
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_From_VecU32V(VecU32V a)
-{
-	return Vec4V(PxF32((a).u32[0]), PxF32((a).u32[1]), PxF32((a).u32[2]), PxF32((a).u32[3]));
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_From_VecI32V(VecI32V a)
-{
-	return Vec4V(PxF32((a).i32[0]), PxF32((a).i32[1]), PxF32((a).i32[2]), PxF32((a).i32[3]));
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_From_Vec4V(Vec4V a)
-{
-	float* data = (float*)&a;
-	return VecI32V(PxI32(data[0]), PxI32(data[1]), PxI32(data[2]), PxI32(data[3]));
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_ReinterpretFrom_VecU32V(VecU32V a)
-{
-	Vec4V b = *reinterpret_cast<Vec4V*>(&a);
-	return b;
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_ReinterpretFrom_VecI32V(VecI32V a)
-{
-	Vec4V b = *reinterpret_cast<Vec4V*>(&a);
-	return b;
-}
-
-PX_FORCE_INLINE VecU32V VecU32V_ReinterpretFrom_Vec4V(Vec4V a)
-{
-	VecU32V b = *reinterpret_cast<VecU32V*>(&a);
-	return b;
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_ReinterpretFrom_Vec4V(Vec4V a)
-{
-	VecI32V b = *reinterpret_cast<VecI32V*>(&a);
-	return b;
-}
-
-template <int index>
-PX_FORCE_INLINE VecU32V V4U32SplatElement(VecU32V a)
-{
-	return VecU32V((a).u32[index], (a).u32[index], (a).u32[index], (a).u32[index]);
-}
-
-template <int index>
-PX_FORCE_INLINE VecU32V V4U32SplatElement(BoolV a)
-{
-	const PxU32 u = (&a.ux)[index];
-	return VecU32V(u, u, u, u);
-}
-
-template <int index>
-PX_FORCE_INLINE Vec4V V4SplatElement(Vec4V a)
-{
-	float* data = (float*)&a;
-	return Vec4V(data[index], data[index], data[index], data[index]);
-}
-
-PX_FORCE_INLINE VecU32V U4LoadXYZW(PxU32 x, PxU32 y, PxU32 z, PxU32 w)
-{
-	return VecU32V(x, y, z, w);
-}
-
-PX_FORCE_INLINE Vec4V V4Abs(const Vec4V a)
-{
-	return V4Max(a, V4Neg(a));
-}
-
-PX_FORCE_INLINE BoolV V4IsEqU32(const VecU32V a, const VecU32V b)
-{
-	return BoolV(BOOL_TO_U32(a.u32[0] == b.u32[0]), BOOL_TO_U32(a.u32[1] == b.u32[1]), BOOL_TO_U32(a.u32[2] == b.u32[2]), BOOL_TO_U32(a.u32[3] == b.u32[3]));
-}
-
-PX_FORCE_INLINE VecU32V U4Load(const PxU32 i)
-{
-	return VecU32V(i, i, i, i);
-}
-
-PX_FORCE_INLINE VecU32V U4LoadU(const PxU32* i)
-{
-	return VecU32V(i[0], i[1], i[2], i[3]);
-}
-
-PX_FORCE_INLINE VecU32V U4LoadA(const PxU32* i)
-{
-	return VecU32V(i[0], i[1], i[2], i[3]);
-}
-
-PX_FORCE_INLINE VecI32V I4Load(const PxI32 i)
-{
-	return VecI32V(i, i, i, i);
-}
-
-PX_FORCE_INLINE VecI32V I4LoadU(const PxI32* i)
-{
-	return VecI32V(i[0], i[1], i[2], i[3]);
-}
-
-PX_FORCE_INLINE VecI32V I4LoadA(const PxI32* i)
-{
-	return VecI32V(i[0], i[1], i[2], i[3]);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Add(const VecI32VArg a, const VecI32VArg b)
-{
-	return VecI32V(a.i32[0] + b.i32[0], a.i32[1] + b.i32[1], a.i32[2] + b.i32[2], a.i32[3] + b.i32[3]);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Sub(const VecI32VArg a, const VecI32VArg b)
-{
-	return VecI32V(a.i32[0] - b.i32[0], a.i32[1] - b.i32[1], a.i32[2] - b.i32[2], a.i32[3] - b.i32[3]);
-}
-
-PX_FORCE_INLINE BoolV VecI32V_IsGrtr(const VecI32VArg a, const VecI32VArg b)
-{
-	return BoolV(BOOL_TO_U32(a.i32[0] > b.i32[0]), BOOL_TO_U32(a.i32[1] > b.i32[1]), BOOL_TO_U32(a.i32[2] > b.i32[2]), BOOL_TO_U32(a.i32[3] > b.i32[3]));
-}
-
-PX_FORCE_INLINE BoolV VecI32V_IsEq(const VecI32VArg a, const VecI32VArg b)
-{
-	return BoolV(BOOL_TO_U32(a.i32[0] == b.i32[0]), BOOL_TO_U32(a.i32[1] == b.i32[1]), BOOL_TO_U32(a.i32[2] == b.i32[2]), BOOL_TO_U32(a.i32[3] == b.i32[3]));
-}
-
-PX_FORCE_INLINE VecI32V V4I32Sel(const BoolV c, const VecI32V a, const VecI32V b)
-{
-	return VecI32V(c.ux ? a.i32[0] : b.i32[0], c.uy ? a.i32[1] : b.i32[1], c.uz ? a.i32[2] : b.i32[2],
-	               c.uw ? a.i32[3] : b.i32[3]);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Zero()
-{
-	return VecI32V(0, 0, 0, 0);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_One()
-{
-	return VecI32V(1, 1, 1, 1);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Two()
-{
-	return VecI32V(2, 2, 2, 2);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_MinusOne()
-{
-	return VecI32V(-1, -1, -1, -1);
-}
-
-PX_FORCE_INLINE VecU32V U4Zero()
-{
-	return VecU32V(0, 0, 0, 0);
-}
-
-PX_FORCE_INLINE VecU32V U4One()
-{
-	return VecU32V(1, 1, 1, 1);
-}
-
-PX_FORCE_INLINE VecU32V U4Two()
-{
-	return VecU32V(2, 2, 2, 2);
-}
-
-PX_FORCE_INLINE VecShiftV VecI32V_PrepareShift(const VecI32VArg shift)
-{
-	return shift;
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_LeftShift(const VecI32VArg a, const VecShiftVArg count)
-{
-	return VecI32V(a.i32[0] << count.i32[0], a.i32[1] << count.i32[1], a.i32[2] << count.i32[2], a.i32[3]
-	                                                                                                 << count.i32[3]);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_RightShift(const VecI32VArg a, const VecShiftVArg count)
-{
-	return VecI32V(a.i32[0] >> count.i32[0], a.i32[1] >> count.i32[1], a.i32[2] >> count.i32[2],
-	               a.i32[3] >> count.i32[3]);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_And(const VecI32VArg a, const VecI32VArg b)
-{
-	return VecI32V(a.i32[0] & b.i32[0], a.i32[1] & b.i32[1], a.i32[2] & b.i32[2], a.i32[3] & b.i32[3]);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Or(const VecI32VArg a, const VecI32VArg b)
-{
-	return VecI32V(a.i32[0] | b.i32[0], a.i32[1] | b.i32[1], a.i32[2] | b.i32[2], a.i32[3] | b.i32[3]);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_GetX(const VecI32VArg a)
-{
-	return VecI32V(a.i32[0], a.i32[0], a.i32[0], a.i32[0]);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_GetY(const VecI32VArg a)
-{
-	return VecI32V(a.i32[1], a.i32[1], a.i32[1], a.i32[1]);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_GetZ(const VecI32VArg a)
-{
-	return VecI32V(a.i32[2], a.i32[2], a.i32[2], a.i32[2]);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_GetW(const VecI32VArg a)
-{
-	return VecI32V(a.i32[3], a.i32[3], a.i32[3], a.i32[3]);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Sel(const BoolV c, const VecI32VArg a, const VecI32VArg b)
-{
-	return VecI32V(c.ux ? a.i32[0] : b.i32[0], c.uy ? a.i32[1] : b.i32[1], c.uz ? a.i32[2] : b.i32[2],
-	               c.uw ? a.i32[3] : b.i32[3]);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Merge(const VecI32VArg a, const VecI32VArg b, const VecI32VArg c, const VecI32VArg d)
-{
-	return VecI32V(a.i32[0], b.i32[0], c.i32[0], d.i32[0]);
-}
-
-PX_FORCE_INLINE void PxI32_From_VecI32V(const VecI32VArg a, PxI32* i)
-{
-	*i = a.i32[0];
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_From_BoolV(const BoolVArg b)
-{
-	return VecI32V(PxI32(b.ux), PxI32(b.uy), PxI32(b.uz), PxI32(b.uw));
-}
-
-PX_FORCE_INLINE VecU32V VecU32V_From_BoolV(const BoolVArg b)
-{
-	return VecU32V(b.ux, b.uy, b.uz, b.uw);
-}
-
-PX_FORCE_INLINE void QuatGetMat33V(const QuatVArg q, Vec3V& column0, Vec3V& column1, Vec3V& column2)
-{
-	const FloatV one = FOne();
-	const FloatV x = V4GetX(q);
-	const FloatV y = V4GetY(q);
-	const FloatV z = V4GetZ(q);
-	const FloatV w = V4GetW(q);
-
-	const FloatV x2 = FAdd(x, x);
-	const FloatV y2 = FAdd(y, y);
-	const FloatV z2 = FAdd(z, z);
-
-	const FloatV xx = FMul(x2, x);
-	const FloatV yy = FMul(y2, y);
-	const FloatV zz = FMul(z2, z);
-
-	const FloatV xy = FMul(x2, y);
-	const FloatV xz = FMul(x2, z);
-	const FloatV xw = FMul(x2, w);
-
-	const FloatV yz = FMul(y2, z);
-	const FloatV yw = FMul(y2, w);
-	const FloatV zw = FMul(z2, w);
-
-	const FloatV v = FSub(one, xx);
-
-	column0 = V3Merge(FSub(FSub(one, yy), zz), FAdd(xy, zw), FSub(xz, yw));
-	column1 = V3Merge(FSub(xy, zw), FSub(v, zz), FAdd(yz, xw));
-	column2 = V3Merge(FAdd(xz, yw), FSub(yz, xw), FSub(v, yy));
-}
-
-
-// not used
-
-/*
-PX_FORCE_INLINE Vec4V V4LoadAligned(Vec4V* addr)
-{
-    return *addr;
-}
-*/
-
-/*
-PX_FORCE_INLINE Vec4V V4LoadUnaligned(Vec4V* addr)
-{
-    return *addr;
-}
-*/
-
-/*
-PX_FORCE_INLINE Vec4V V4Ceil(const Vec4V a)
-{
-    return Vec4V(PxCeil(a.x), PxCeil(a.y), PxCeil(a.z), PxCeil(a.w));
-}
-
-PX_FORCE_INLINE Vec4V V4Floor(const Vec4V a)
-{
-    return Vec4V(PxFloor(a.x), PxFloor(a.y), PxFloor(a.z), PxFloor(a.w));
-}
-*/
-
-/*
-PX_FORCE_INLINE VecU32V V4ConvertToU32VSaturate(const Vec4V a, PxU32 power)
-{
-    PX_ASSERT(power == 0 && "Non-zero power not supported in convertToU32VSaturate");
-    PX_UNUSED(power); // prevent warning in release builds
-    PxF32 ffffFFFFasFloat = PxF32(0xFFFF0000);
-    return VecU32V(
-        PxU32(PxClamp<PxF32>((a).x, 0.0f, ffffFFFFasFloat)),
-        PxU32(PxClamp<PxF32>((a).y, 0.0f, ffffFFFFasFloat)),
-        PxU32(PxClamp<PxF32>((a).z, 0.0f, ffffFFFFasFloat)),
-        PxU32(PxClamp<PxF32>((a).w, 0.0f, ffffFFFFasFloat)));
-}
-*/
-
-#endif // PSFOUNDATION_PSVECMATHAOSSCALARINLINE_H
diff --git a/PxShared/src/foundation/include/PsVecMathSSE.h b/PxShared/src/foundation/include/PsVecMathSSE.h
deleted file mode 100644
index 559fa68..0000000
--- a/PxShared/src/foundation/include/PsVecMathSSE.h
+++ /dev/null
@@ -1,56 +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 PSFOUNDATION_PSVECMATHSSE_H
-#define PSFOUNDATION_PSVECMATHSSE_H
-
-namespace
-{
-	const PX_ALIGN(16, PxF32) minus1w[4] = { 0.0f, 0.0f, 0.0f, -1.0f };
-}
-
-PX_FORCE_INLINE void QuatGetMat33V(const QuatVArg q, Vec3V& column0, Vec3V& column1, Vec3V& column2)
-{
-    const __m128 q2 = V4Add(q, q);
-    const __m128 qw2 = V4MulAdd(q2, V4GetW(q), _mm_load_ps(minus1w));			// (2wx, 2wy, 2wz, 2ww-1)
-    const __m128 nw2 = Vec3V_From_Vec4V(V4Neg(qw2));							// (-2wx, -2wy, -2wz, 0)
-    const __m128 v = Vec3V_From_Vec4V(q);
-
-    const __m128 a0 = _mm_shuffle_ps(qw2, nw2, _MM_SHUFFLE(3, 1, 2, 3));		// (2ww-1, 2wz, -2wy, 0)
-    column0 = V4MulAdd(v, V4GetX(q2), a0);
-
-    const __m128 a1 = _mm_shuffle_ps(qw2, nw2, _MM_SHUFFLE(3, 2, 0, 3));		// (2ww-1, 2wx, -2wz, 0)
-    column1 = V4MulAdd(v, V4GetY(q2), _mm_shuffle_ps(a1, a1, _MM_SHUFFLE(3, 1, 0, 2)));
-
-    const __m128 a2 = _mm_shuffle_ps(qw2, nw2, _MM_SHUFFLE(3, 0, 1, 3));		// (2ww-1, 2wy, -2wx, 0)
-    column2 = V4MulAdd(v, V4GetZ(q2), _mm_shuffle_ps(a2, a2, _MM_SHUFFLE(3, 0, 2, 1)));
-}
-
-#endif // PSFOUNDATION_PSVECMATHSSE_H
-
diff --git a/PxShared/src/foundation/include/PsVecMathUtilities.h b/PxShared/src/foundation/include/PsVecMathUtilities.h
deleted file mode 100644
index 21bc50a..0000000
--- a/PxShared/src/foundation/include/PsVecMathUtilities.h
+++ /dev/null
@@ -1,57 +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 PSFOUNDATION_PSVECMATHUTILITIES_H
-#define PSFOUNDATION_PSVECMATHUTILITIES_H
-
-#include "PsVecMath.h"
-
-namespace physx
-{
-namespace shdfnd
-{
-namespace aos
-{
-/*!
-    Extend an edge along its length by a factor
-    */
-PX_FORCE_INLINE void makeFatEdge(Vec3V& p0, Vec3V& p1, const FloatVArg fatCoeff)
-{
-	const Vec3V delta = V3Sub(p1, p0);
-	const FloatV m = V3Length(delta);
-	const BoolV con = FIsGrtr(m, FZero());
-	const Vec3V fatDelta = V3Scale(V3ScaleInv(delta, m), fatCoeff);
-	p0 = V3Sel(con, V3Sub(p0, fatDelta), p0);
-	p1 = V3Sel(con, V3Add(p1, fatDelta), p1);
-}
-}
-}
-}
-
-#endif
diff --git a/PxShared/src/foundation/include/PsVecQuat.h b/PxShared/src/foundation/include/PsVecQuat.h
deleted file mode 100644
index c4726fc..0000000
--- a/PxShared/src/foundation/include/PsVecQuat.h
+++ /dev/null
@@ -1,455 +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 PSFOUNDATION_PSVECQUAT_H
-#define PSFOUNDATION_PSVECQUAT_H
-
-//#include "PsInlineAoS.h"
-
-#ifndef PX_PIDIV2
-#define PX_PIDIV2 1.570796327f
-#endif
-
-//////////////////////////////////
-// QuatV
-//////////////////////////////////
-PX_FORCE_INLINE QuatV QuatVLoadXYZW(const PxF32 x, const PxF32 y, const PxF32 z, const PxF32 w)
-{
-	return V4LoadXYZW(x, y, z, w);
-}
-
-PX_FORCE_INLINE QuatV QuatVLoadU(const PxF32* v)
-{
-	return V4LoadU(v);
-}
-
-PX_FORCE_INLINE QuatV QuatVLoadA(const PxF32* v)
-{
-	return V4LoadA(v);
-}
-
-PX_FORCE_INLINE QuatV QuatV_From_RotationAxisAngle(const Vec3V u, const FloatV a)
-{
-	// q = cos(a/2) + u*sin(a/2)
-	const FloatV half = FLoad(0.5f);
-	const FloatV hangle = FMul(a, half);
-	const FloatV piByTwo(FLoad(PX_PIDIV2));
-	const FloatV PiByTwoMinHangle(FSub(piByTwo, hangle));
-	const Vec4V hangle2(Vec4V_From_Vec3V(V3Merge(hangle, PiByTwoMinHangle, hangle)));
-
-	/*const FloatV sina = FSin(hangle);
-	const FloatV cosa = FCos(hangle);*/
-
-	const Vec4V _sina = V4Sin(hangle2);
-	const FloatV sina = V4GetX(_sina);
-	const FloatV cosa = V4GetY(_sina);
-
-	const Vec3V v = V3Scale(u, sina);
-	// return V4Sel(BTTTF(), Vec4V_From_Vec3V(v), V4Splat(cosa));
-	return V4SetW(Vec4V_From_Vec3V(v), cosa);
-}
-
-// Normalize
-PX_FORCE_INLINE QuatV QuatNormalize(const QuatV q)
-{
-	return V4Normalize(q);
-}
-
-PX_FORCE_INLINE FloatV QuatLength(const QuatV q)
-{
-	return V4Length(q);
-}
-
-PX_FORCE_INLINE FloatV QuatLengthSq(const QuatV q)
-{
-	return V4LengthSq(q);
-}
-
-PX_FORCE_INLINE FloatV QuatDot(const QuatV a, const QuatV b) // convert this PxQuat to a unit quaternion
-{
-	return V4Dot(a, b);
-}
-
-PX_FORCE_INLINE QuatV QuatConjugate(const QuatV q)
-{
-	return V4SetW(V4Neg(q), V4GetW(q));
-}
-
-PX_FORCE_INLINE Vec3V QuatGetImaginaryPart(const QuatV q)
-{
-	return Vec3V_From_Vec4V(q);
-}
-
-/** brief computes rotation of x-axis */
-PX_FORCE_INLINE Vec3V QuatGetBasisVector0(const QuatV q)
-{
-	/*const PxF32 x2 = x*2.0f;
-	const PxF32 w2 = w*2.0f;
-	return PxVec3(	(w * w2) - 1.0f + x*x2,
-	                (z * w2)        + y*x2,
-	                (-y * w2)       + z*x2);*/
-
-	const FloatV two = FLoad(2.f);
-	const FloatV w = V4GetW(q);
-	const Vec3V u = Vec3V_From_Vec4V(q);
-
-	const FloatV x2 = FMul(V3GetX(u), two);
-	const FloatV w2 = FMul(w, two);
-
-	const Vec3V a = V3Scale(u, x2);
-	const Vec3V tmp = V3Merge(w, V3GetZ(u), FNeg(V3GetY(u)));
-	// const Vec3V b = V3Scale(tmp, w2);
-	// const Vec3V ab = V3Add(a, b);
-	const Vec3V ab = V3ScaleAdd(tmp, w2, a);
-	return V3SetX(ab, FSub(V3GetX(ab), FOne()));
-}
-
-/** brief computes rotation of y-axis */
-PX_FORCE_INLINE Vec3V QuatGetBasisVector1(const QuatV q)
-{
-	/*const PxF32 y2 = y*2.0f;
-	const PxF32 w2 = w*2.0f;
-	return PxVec3(	(-z * w2)       + x*y2,
-	                (w * w2) - 1.0f + y*y2,
-	                (x * w2)        + z*y2);*/
-
-	const FloatV two = FLoad(2.f);
-	const FloatV w = V4GetW(q);
-	const Vec3V u = Vec3V_From_Vec4V(q);
-
-	const FloatV y2 = FMul(V3GetY(u), two);
-	const FloatV w2 = FMul(w, two);
-
-	const Vec3V a = V3Scale(u, y2);
-	const Vec3V tmp = V3Merge(FNeg(V3GetZ(u)), w, V3GetX(u));
-	// const Vec3V b = V3Scale(tmp, w2);
-	// const Vec3V ab = V3Add(a, b);
-	const Vec3V ab = V3ScaleAdd(tmp, w2, a);
-	return V3SetY(ab, FSub(V3GetY(ab), FOne()));
-}
-
-/** brief computes rotation of z-axis */
-PX_FORCE_INLINE Vec3V QuatGetBasisVector2(const QuatV q)
-{
-	/*const PxF32 z2 = z*2.0f;
-	const PxF32 w2 = w*2.0f;
-	return PxVec3(	(y * w2)        + x*z2,
-	                (-x * w2)       + y*z2,
-	                (w * w2) - 1.0f + z*z2);*/
-
-	const FloatV two = FLoad(2.f);
-	const FloatV w = V4GetW(q);
-	const Vec3V u = Vec3V_From_Vec4V(q);
-
-	const FloatV z2 = FMul(V3GetZ(u), two);
-	const FloatV w2 = FMul(w, two);
-
-	const Vec3V a = V3Scale(u, z2);
-	const Vec3V tmp = V3Merge(V3GetY(u), FNeg(V3GetX(u)), w);
-	/*const Vec3V b = V3Scale(tmp, w2);
-	const Vec3V ab = V3Add(a, b);*/
-	const Vec3V ab = V3ScaleAdd(tmp, w2, a);
-	return V3SetZ(ab, FSub(V3GetZ(ab), FOne()));
-}
-
-PX_FORCE_INLINE Vec3V QuatRotate(const QuatV q, const Vec3V v)
-{
-	/*
-	const PxVec3 qv(x,y,z);
-	return (v*(w*w-0.5f) + (qv.cross(v))*w + qv*(qv.dot(v)))*2;
-	*/
-
-	const FloatV two = FLoad(2.f);
-	// const FloatV half = FloatV_From_F32(0.5f);
-	const FloatV nhalf = FLoad(-0.5f);
-	const Vec3V u = Vec3V_From_Vec4V(q);
-	const FloatV w = V4GetW(q);
-	// const FloatV w2 = FSub(FMul(w, w), half);
-	const FloatV w2 = FScaleAdd(w, w, nhalf);
-	const Vec3V a = V3Scale(v, w2);
-	// const Vec3V b = V3Scale(V3Cross(u, v), w);
-	// const Vec3V c = V3Scale(u, V3Dot(u, v));
-	// return V3Scale(V3Add(V3Add(a, b), c), two);
-	const Vec3V temp = V3ScaleAdd(V3Cross(u, v), w, a);
-	return V3Scale(V3ScaleAdd(u, V3Dot(u, v), temp), two);
-}
-
-PX_FORCE_INLINE Vec3V QuatTransform(const QuatV q, const Vec3V p, const Vec3V v)
-{
-	// p + q.rotate(v)
-	const FloatV two = FLoad(2.f);
-	// const FloatV half = FloatV_From_F32(0.5f);
-	const FloatV nhalf = FLoad(-0.5f);
-	const Vec3V u = Vec3V_From_Vec4V(q);
-	const FloatV w = V4GetW(q);
-	// const FloatV w2 = FSub(FMul(w, w), half);
-	const FloatV w2 = FScaleAdd(w, w, nhalf);
-	const Vec3V a = V3Scale(v, w2);
-	/*const Vec3V b = V3Scale(V3Cross(u, v), w);
-	const Vec3V c = V3Scale(u, V3Dot(u, v));
-	return V3ScaleAdd(V3Add(V3Add(a, b), c), two, p);*/
-	const Vec3V temp = V3ScaleAdd(V3Cross(u, v), w, a);
-	const Vec3V z = V3ScaleAdd(u, V3Dot(u, v), temp);
-	return V3ScaleAdd(z, two, p);
-}
-
-PX_FORCE_INLINE Vec3V QuatRotateInv(const QuatV q, const Vec3V v)
-{
-
-	//	const PxVec3 qv(x,y,z);
-	//	return (v*(w*w-0.5f) - (qv.cross(v))*w + qv*(qv.dot(v)))*2;
-
-	const FloatV two = FLoad(2.f);
-	const FloatV nhalf = FLoad(-0.5f);
-	const Vec3V u = Vec3V_From_Vec4V(q);
-	const FloatV w = V4GetW(q);
-	const FloatV w2 = FScaleAdd(w, w, nhalf);
-	const Vec3V a = V3Scale(v, w2);
-	/*const Vec3V b = V3Scale(V3Cross(u, v), w);
-	const Vec3V c = V3Scale(u, V3Dot(u, v));
-	return V3Scale(V3Add(V3Sub(a, b), c), two);*/
-	const Vec3V temp = V3NegScaleSub(V3Cross(u, v), w, a);
-	return V3Scale(V3ScaleAdd(u, V3Dot(u, v), temp), two);
-}
-
-PX_FORCE_INLINE QuatV QuatMul(const QuatV a, const QuatV b)
-{
-	const Vec3V imagA = Vec3V_From_Vec4V(a);
-	const Vec3V imagB = Vec3V_From_Vec4V(b);
-	const FloatV rA = V4GetW(a);
-	const FloatV rB = V4GetW(b);
-
-	const FloatV real = FSub(FMul(rA, rB), V3Dot(imagA, imagB));
-	const Vec3V v0 = V3Scale(imagA, rB);
-	const Vec3V v1 = V3Scale(imagB, rA);
-	const Vec3V v2 = V3Cross(imagA, imagB);
-	const Vec3V imag = V3Add(V3Add(v0, v1), v2);
-
-	return V4SetW(Vec4V_From_Vec3V(imag), real);
-}
-
-PX_FORCE_INLINE QuatV QuatAdd(const QuatV a, const QuatV b)
-{
-	return V4Add(a, b);
-}
-
-PX_FORCE_INLINE QuatV QuatNeg(const QuatV q)
-{
-	return V4Neg(q);
-}
-
-PX_FORCE_INLINE QuatV QuatSub(const QuatV a, const QuatV b)
-{
-	return V4Sub(a, b);
-}
-
-PX_FORCE_INLINE QuatV QuatScale(const QuatV a, const FloatV b)
-{
-	return V4Scale(a, b);
-}
-
-PX_FORCE_INLINE QuatV QuatMerge(const FloatV* const floatVArray)
-{
-	return V4Merge(floatVArray);
-}
-
-PX_FORCE_INLINE QuatV QuatMerge(const FloatVArg x, const FloatVArg y, const FloatVArg z, const FloatVArg w)
-{
-	return V4Merge(x, y, z, w);
-}
-
-PX_FORCE_INLINE QuatV QuatIdentity()
-{
-	return V4SetW(V4Zero(), FOne());
-}
-
-PX_FORCE_INLINE bool isFiniteQuatV(const QuatV q)
-{
-	return isFiniteVec4V(q);
-}
-
-PX_FORCE_INLINE bool isValidQuatV(const QuatV q)
-{
-	const FloatV unitTolerance = FLoad(1e-4f);
-	const FloatV tmp = FAbs(FSub(QuatLength(q), FOne()));
-	const BoolV con = FIsGrtr(unitTolerance, tmp);
-	return isFiniteVec4V(q) & (BAllEqTTTT(con) == 1);
-}
-
-PX_FORCE_INLINE bool isSaneQuatV(const QuatV q)
-{
-	const FloatV unitTolerance = FLoad(1e-2f);
-	const FloatV tmp = FAbs(FSub(QuatLength(q), FOne()));
-	const BoolV con = FIsGrtr(unitTolerance, tmp);
-	return isFiniteVec4V(q) & (BAllEqTTTT(con) == 1);
-}
-
-PX_FORCE_INLINE Mat33V QuatGetMat33V(const QuatVArg q)
-{
-	// const FloatV two = FloatV_From_F32(2.f);
-	// const FloatV one = FOne();
-
-	// const FloatV x = V4GetX(q);
-	// const FloatV y = V4GetY(q);
-	// const FloatV z = V4GetZ(q);
-	// const Vec4V _q = V4Mul(q, two);
-	//
-	////const FloatV w = V4GetW(q);
-
-	// const Vec4V t0 = V4Mul(_q, x); // 2xx, 2xy, 2xz, 2xw
-	// const Vec4V t1 = V4Mul(_q, y); // 2xy, 2yy, 2yz, 2yw
-	// const Vec4V t2 = V4Mul(_q, z); // 2xz, 2yz, 2zz, 2zw
-	////const Vec4V t3 = V4Mul(_q, w); // 2xw, 2yw, 2zw, 2ww
-
-	// const FloatV xx2 = V4GetX(t0);
-	// const FloatV xy2 = V4GetY(t0);
-	// const FloatV xz2 = V4GetZ(t0);
-	// const FloatV xw2 = V4GetW(t0);
-
-	// const FloatV yy2 = V4GetY(t1);
-	// const FloatV yz2 = V4GetZ(t1);
-	// const FloatV yw2 = V4GetW(t1);
-
-	// const FloatV zz2 = V4GetZ(t2);
-	// const FloatV zw2 = V4GetW(t2);
-
-	////const FloatV ww2 = V4GetW(t3);
-
-	// const FloatV c00 = FSub(one, FAdd(yy2, zz2));
-	// const FloatV c01 = FSub(xy2, zw2);
-	// const FloatV c02 = FAdd(xz2, yw2);
-
-	// const FloatV c10 = FAdd(xy2, zw2);
-	// const FloatV c11 = FSub(one, FAdd(xx2, zz2));
-	// const FloatV c12 = FSub(yz2, xw2);
-
-	// const FloatV c20 = FSub(xz2, yw2);
-	// const FloatV c21 = FAdd(yz2, xw2);
-	// const FloatV c22 = FSub(one, FAdd(xx2, yy2));
-
-	// const Vec3V c0 = V3Merge(c00, c10, c20);
-	// const Vec3V c1 = V3Merge(c01, c11, c21);
-	// const Vec3V c2 = V3Merge(c02, c12, c22);
-
-	// return Mat33V(c0, c1, c2);
-
-	const FloatV one = FOne();
-	const FloatV x = V4GetX(q);
-	const FloatV y = V4GetY(q);
-	const FloatV z = V4GetZ(q);
-	const FloatV w = V4GetW(q);
-
-	const FloatV x2 = FAdd(x, x);
-	const FloatV y2 = FAdd(y, y);
-	const FloatV z2 = FAdd(z, z);
-
-	const FloatV xx = FMul(x2, x);
-	const FloatV yy = FMul(y2, y);
-	const FloatV zz = FMul(z2, z);
-
-	const FloatV xy = FMul(x2, y);
-	const FloatV xz = FMul(x2, z);
-	const FloatV xw = FMul(x2, w);
-
-	const FloatV yz = FMul(y2, z);
-	const FloatV yw = FMul(y2, w);
-	const FloatV zw = FMul(z2, w);
-
-	const FloatV v = FSub(one, xx);
-
-	const Vec3V column0 = V3Merge(FSub(FSub(one, yy), zz), FAdd(xy, zw), FSub(xz, yw));
-	const Vec3V column1 = V3Merge(FSub(xy, zw), FSub(v, zz), FAdd(yz, xw));
-	const Vec3V column2 = V3Merge(FAdd(xz, yw), FSub(yz, xw), FSub(v, yy));
-	return Mat33V(column0, column1, column2);
-}
-
-PX_FORCE_INLINE QuatV Mat33GetQuatV(const Mat33V& a)
-{
-	const FloatV one = FOne();
-	const FloatV zero = FZero();
-	const FloatV half = FLoad(0.5f);
-	const FloatV two = FLoad(2.f);
-	const FloatV scale = FLoad(0.25f);
-	const FloatV a00 = V3GetX(a.col0);
-	const FloatV a11 = V3GetY(a.col1);
-	const FloatV a22 = V3GetZ(a.col2);
-
-	const FloatV a21 = V3GetZ(a.col1); // row=2, col=1;
-	const FloatV a12 = V3GetY(a.col2); // row=1, col=2;
-	const FloatV a02 = V3GetX(a.col2); // row=0, col=2;
-	const FloatV a20 = V3GetZ(a.col0); // row=2, col=0;
-	const FloatV a10 = V3GetY(a.col0); // row=1, col=0;
-	const FloatV a01 = V3GetX(a.col1); // row=0, col=1;
-
-	const Vec3V vec0 = V3Merge(a21, a02, a10);
-	const Vec3V vec1 = V3Merge(a12, a20, a01);
-	const Vec3V v = V3Sub(vec0, vec1);
-	const Vec3V g = V3Add(vec0, vec1);
-
-	const FloatV trace = FAdd(a00, FAdd(a11, a22));
-
-	if(FAllGrtrOrEq(trace, zero))
-	{
-		const FloatV h = FSqrt(FAdd(trace, one));
-		const FloatV w = FMul(half, h);
-		const FloatV s = FMul(half, FRecip(h));
-		const Vec3V u = V3Scale(v, s);
-		return V4SetW(Vec4V_From_Vec3V(u), w);
-	}
-	else
-	{
-		const FloatV ntrace = FNeg(trace);
-		const Vec3V d = V3Merge(a00, a11, a22);
-		const BoolV con0 = BAllTrue3(V3IsGrtrOrEq(V3Splat(a00), d));
-		const BoolV con1 = BAllTrue3(V3IsGrtrOrEq(V3Splat(a11), d));
-
-		const FloatV t0 = FAdd(one, FScaleAdd(a00, two, ntrace));
-		const FloatV t1 = FAdd(one, FScaleAdd(a11, two, ntrace));
-		const FloatV t2 = FAdd(one, FScaleAdd(a22, two, ntrace));
-
-		const FloatV t = FSel(con0, t0, FSel(con1, t1, t2));
-
-		const FloatV h = FMul(two, FSqrt(t));
-		const FloatV s = FRecip(h);
-		const FloatV g0 = FMul(scale, h);
-		const Vec3V vs = V3Scale(v, s);
-		const Vec3V gs = V3Scale(g, s);
-		const FloatV gsx = V3GetX(gs);
-		const FloatV gsy = V3GetY(gs);
-		const FloatV gsz = V3GetZ(gs);
-		// vs.x= (a21 - a12)*s; vs.y=(a02 - a20)*s; vs.z=(a10 - a01)*s;
-		// gs.x= (a21 + a12)*s; gs.y=(a02 + a20)*s; gs.z=(a10 + a01)*s;
-		const Vec4V v0 = V4Merge(g0, gsz, gsy, V3GetX(vs));
-		const Vec4V v1 = V4Merge(gsz, g0, gsx, V3GetY(vs));
-		const Vec4V v2 = V4Merge(gsy, gsx, g0, V3GetZ(vs));
-		return V4Sel(con0, v0, V4Sel(con1, v1, v2));
-	}
-}
-
-#endif
diff --git a/PxShared/src/foundation/include/PsVecTransform.h b/PxShared/src/foundation/include/PsVecTransform.h
deleted file mode 100644
index 5c16339..0000000
--- a/PxShared/src/foundation/include/PsVecTransform.h
+++ /dev/null
@@ -1,283 +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 PSFOUNDATION_PSVECTRANSFORM_H
-#define PSFOUNDATION_PSVECTRANSFORM_H
-
-#include "PsVecMath.h"
-#include "foundation/PxTransform.h"
-
-namespace physx
-{
-namespace shdfnd
-{
-namespace aos
-{
-
-class PsTransformV
-{
-  public:
-	QuatV q;
-	Vec3V p;
-
-	PX_FORCE_INLINE PsTransformV(const PxTransform& orientation)
-	{
-		// const PxQuat oq = orientation.q;
-		// const PxF32 f[4] = {oq.x, oq.y, oq.z, oq.w};
-		q = QuatVLoadXYZW(orientation.q.x, orientation.q.y, orientation.q.z, orientation.q.w);
-		// q = QuatV_From_F32Array(&oq.x);
-		p = V3LoadU(orientation.p);
-	}
-
-	PX_FORCE_INLINE PsTransformV(const Vec3VArg p0 = V3Zero(), const QuatVArg q0 = QuatIdentity()) : q(q0), p(p0)
-	{
-		PX_ASSERT(isSaneQuatV(q0));
-	}
-
-	PX_FORCE_INLINE PsTransformV operator*(const PsTransformV& x) const
-	{
-		PX_ASSERT(x.isSane());
-		return transform(x);
-	}
-
-	PX_FORCE_INLINE PsTransformV getInverse() const
-	{
-		PX_ASSERT(isFinite());
-		// return PxTransform(q.rotateInv(-p),q.getConjugate());
-		return PsTransformV(QuatRotateInv(q, V3Neg(p)), QuatConjugate(q));
-	}
-
-	PX_FORCE_INLINE void normalize()
-	{
-		p = V3Zero();
-		q = QuatIdentity();
-	}
-
-	PX_FORCE_INLINE void Invalidate()
-	{
-		p = V3Splat(FMax());
-		q = QuatIdentity();
-	}
-
-	PX_FORCE_INLINE Vec3V transform(const Vec3VArg input) const
-	{
-		PX_ASSERT(isFinite());
-		// return q.rotate(input) + p;
-		return QuatTransform(q, p, input);
-	}
-
-	PX_FORCE_INLINE Vec3V transformInv(const Vec3VArg input) const
-	{
-		PX_ASSERT(isFinite());
-		// return q.rotateInv(input-p);
-		return QuatRotateInv(q, V3Sub(input, p));
-	}
-
-	PX_FORCE_INLINE Vec3V rotate(const Vec3VArg input) const
-	{
-		PX_ASSERT(isFinite());
-		// return q.rotate(input);
-		return QuatRotate(q, input);
-	}
-
-	PX_FORCE_INLINE Vec3V rotateInv(const Vec3VArg input) const
-	{
-		PX_ASSERT(isFinite());
-		// return q.rotateInv(input);
-		return QuatRotateInv(q, input);
-	}
-
-	//! Transform transform to parent (returns compound transform: first src, then *this)
-	PX_FORCE_INLINE PsTransformV transform(const PsTransformV& src) const
-	{
-		PX_ASSERT(src.isSane());
-		PX_ASSERT(isSane());
-		// src = [srct, srcr] -> [r*srct + t, r*srcr]
-		// return PxTransform(q.rotate(src.p) + p, q*src.q);
-		return PsTransformV(V3Add(QuatRotate(q, src.p), p), QuatMul(q, src.q));
-	}
-
-	/**
-	\brief returns true if finite and q is a unit quaternion
-	*/
-
-	PX_FORCE_INLINE bool isValid() const
-	{
-		// return p.isFinite() && q.isFinite() && q.isValid();
-		return isFiniteVec3V(p) & isFiniteQuatV(q) & isValidQuatV(q);
-	}
-
-	/**
-	\brief returns true if finite and quat magnitude is reasonably close to unit to allow for some accumulation of error
-	vs isValid
-	*/
-
-	PX_FORCE_INLINE bool isSane() const
-	{
-		// return isFinite() && q.isSane();
-		return isFinite() & isSaneQuatV(q);
-	}
-
-	/**
-	\brief returns true if all elems are finite (not NAN or INF, etc.)
-	*/
-	PX_FORCE_INLINE bool isFinite() const
-	{
-		// return p.isFinite() && q.isFinite();
-		return isFiniteVec3V(p) & isFiniteQuatV(q);
-	}
-
-	//! Transform transform from parent (returns compound transform: first src, then this->inverse)
-	PX_FORCE_INLINE PsTransformV transformInv(const PsTransformV& src) const
-	{
-		PX_ASSERT(src.isSane());
-		PX_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);*/
-		const QuatV qinv = QuatConjugate(q);
-		const Vec3V v = QuatRotate(qinv, V3Sub(src.p, p));
-		const QuatV rot = QuatMul(qinv, src.q);
-		return PsTransformV(v, rot);
-	}
-
-	static PX_FORCE_INLINE PsTransformV createIdentity()
-	{
-		return PsTransformV(V3Zero());
-	}
-};
-
-PX_FORCE_INLINE PsTransformV loadTransformA(const PxTransform& transform)
-{
-	const QuatV q0 = QuatVLoadA(&transform.q.x);
-	const Vec3V p0 = V3LoadA(&transform.p.x);
-
-	return PsTransformV(p0, q0);
-}
-
-PX_FORCE_INLINE PsTransformV loadTransformU(const PxTransform& transform)
-{
-	const QuatV q0 = QuatVLoadU(&transform.q.x);
-	const Vec3V p0 = V3LoadU(&transform.p.x);
-
-	return PsTransformV(p0, q0);
-}
-
-class PsMatTransformV
-{
-  public:
-	Mat33V rot;
-	Vec3V p;
-
-	PX_FORCE_INLINE PsMatTransformV()
-	{
-		p = V3Zero();
-		rot = M33Identity();
-	}
-	PX_FORCE_INLINE PsMatTransformV(const Vec3VArg _p, const Mat33V& _rot)
-	{
-		p = _p;
-		rot = _rot;
-	}
-
-	PX_FORCE_INLINE PsMatTransformV(const PsTransformV& other)
-	{
-		p = other.p;
-		QuatGetMat33V(other.q, rot.col0, rot.col1, rot.col2);
-	}
-
-	PX_FORCE_INLINE PsMatTransformV(const Vec3VArg _p, const QuatV& quat)
-	{
-		p = _p;
-		QuatGetMat33V(quat, rot.col0, rot.col1, rot.col2);
-	}
-
-	PX_FORCE_INLINE Vec3V getCol0() const
-	{
-		return rot.col0;
-	}
-
-	PX_FORCE_INLINE Vec3V getCol1() const
-	{
-		return rot.col1;
-	}
-
-	PX_FORCE_INLINE Vec3V getCol2() const
-	{
-		return rot.col2;
-	}
-
-	PX_FORCE_INLINE void setCol0(const Vec3VArg col0)
-	{
-		rot.col0 = col0;
-	}
-
-	PX_FORCE_INLINE void setCol1(const Vec3VArg col1)
-	{
-		rot.col1 = col1;
-	}
-
-	PX_FORCE_INLINE void setCol2(const Vec3VArg col2)
-	{
-		rot.col2 = col2;
-	}
-
-	PX_FORCE_INLINE Vec3V transform(const Vec3VArg input) const
-	{
-		return V3Add(p, M33MulV3(rot, input));
-	}
-
-	PX_FORCE_INLINE Vec3V transformInv(const Vec3VArg input) const
-	{
-		return M33TrnspsMulV3(rot, V3Sub(input, p)); // QuatRotateInv(q, V3Sub(input, p));
-	}
-
-	PX_FORCE_INLINE Vec3V rotate(const Vec3VArg input) const
-	{
-		return M33MulV3(rot, input);
-	}
-
-	PX_FORCE_INLINE Vec3V rotateInv(const Vec3VArg input) const
-	{
-		return M33TrnspsMulV3(rot, input);
-	}
-
-	PX_FORCE_INLINE PsMatTransformV transformInv(const PsMatTransformV& src) const
-	{
-
-		const Vec3V v = M33TrnspsMulV3(rot, V3Sub(src.p, p));
-		const Mat33V mat = M33MulM33(M33Trnsps(rot), src.rot);
-		return PsMatTransformV(v, mat);
-	}
-};
-}
-}
-}
-
-#endif
diff --git a/PxShared/src/foundation/include/unix/PsUnixAoS.h b/PxShared/src/foundation/include/unix/PsUnixAoS.h
deleted file mode 100644
index 122879f..0000000
--- a/PxShared/src/foundation/include/unix/PsUnixAoS.h
+++ /dev/null
@@ -1,47 +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 PSFOUNDATION_PSUNIXAOS_H
-#define PSFOUNDATION_PSUNIXAOS_H
-
-// no includes here! this file should be included from PxcVecMath.h only!!!
-
-#if !COMPILE_VECTOR_INTRINSICS
-#error Vector intrinsics should not be included when using scalar implementation.
-#endif
-
-#if PX_INTEL_FAMILY
-#include "sse2/PsUnixSse2AoS.h"
-#elif PX_NEON
-#include "neon/PsUnixNeonAoS.h"
-#else
-#error No SIMD implementation for this unix platform.
-#endif
-
-#endif // PSFOUNDATION_PSUNIXAOS_H
diff --git a/PxShared/src/foundation/include/unix/PsUnixFPU.h b/PxShared/src/foundation/include/unix/PsUnixFPU.h
deleted file mode 100644
index edd5522..0000000
--- a/PxShared/src/foundation/include/unix/PsUnixFPU.h
+++ /dev/null
@@ -1,69 +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 PSFOUNDATION_PSUNIXFPU_H
-#define PSFOUNDATION_PSUNIXFPU_H
-
-#include "foundation/PxPreprocessor.h"
-
-#if PX_LINUX || PX_PS4 || PX_OSX
-
-#if PX_X86 || PX_X64
-#if PX_EMSCRIPTEN
-#include <emmintrin.h>
-#endif
-#include <xmmintrin.h>
-#elif PX_NEON
-#include <arm_neon.h>
-#endif
-
-
-PX_INLINE physx::shdfnd::SIMDGuard::SIMDGuard()
-{
-#if !PX_EMSCRIPTEN && (PX_X86 || PX_X64)
-	mControlWord = _mm_getcsr();
-	// set default (disable exceptions: _MM_MASK_MASK) and FTZ (_MM_FLUSH_ZERO_ON), DAZ (_MM_DENORMALS_ZERO_ON: (1<<6))
-	_mm_setcsr(_MM_MASK_MASK | _MM_FLUSH_ZERO_ON | (1 << 6));
-#endif
-}
-
-PX_INLINE physx::shdfnd::SIMDGuard::~SIMDGuard()
-{
-#if !PX_EMSCRIPTEN && (PX_X86 || PX_X64)
-	// restore control word and clear exception flags
-	// (setting exception state flags cause exceptions on the first following fp operation)
-	_mm_setcsr(mControlWord & ~_MM_EXCEPT_MASK);
-#endif
-}
-
-#else
-#error No SIMD implementation for this unix platform.
-#endif // PX_LINUX || PX_PS4 || PX_OSX
-
-#endif // #ifndef PSFOUNDATION_PSUNIXFPU_H
diff --git a/PxShared/src/foundation/include/unix/PsUnixInlineAoS.h b/PxShared/src/foundation/include/unix/PsUnixInlineAoS.h
deleted file mode 100644
index 74002d5..0000000
--- a/PxShared/src/foundation/include/unix/PsUnixInlineAoS.h
+++ /dev/null
@@ -1,45 +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 PSFOUNDATION_PSUNIXINLINEAOS_H
-#define PSFOUNDATION_PSUNIXINLINEAOS_H
-
-#if !COMPILE_VECTOR_INTRINSICS
-#error Vector intrinsics should not be included when using scalar implementation.
-#endif
-
-#if PX_INTEL_FAMILY
-#include "sse2/PsUnixSse2InlineAoS.h"
-#elif PX_NEON
-#include "neon/PsUnixNeonInlineAoS.h"
-#else
-#error No SIMD implementation for this unix platform.
-#endif
-
-#endif // PSFOUNDATION_PSUNIXINLINEAOS_H
diff --git a/PxShared/src/foundation/include/unix/PsUnixIntrinsics.h b/PxShared/src/foundation/include/unix/PsUnixIntrinsics.h
deleted file mode 100644
index e15b3b5..0000000
--- a/PxShared/src/foundation/include/unix/PsUnixIntrinsics.h
+++ /dev/null
@@ -1,153 +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 PSFOUNDATION_PSUNIXINTRINSICS_H
-#define PSFOUNDATION_PSUNIXINTRINSICS_H
-
-#include "Ps.h"
-#include "foundation/PxAssert.h"
-#include <math.h>
-
-#if PX_ANDROID || (PX_LINUX && !(PX_X64 || PX_X64)) // x86[_64] Linux uses inline assembly for debug break
-#include <signal.h> // for Ns::debugBreak() { raise(SIGTRAP); }
-#endif
-
-#if 0
-#include <libkern/OSAtomic.h>
-#endif
-
-// this file is for internal intrinsics - that is, intrinsics that are used in
-// cross platform code but do not appear in the API
-
-#if !(PX_LINUX || PX_ANDROID || PX_PS4 || PX_APPLE_FAMILY)
-#error "This file should only be included by unix builds!!"
-#endif
-
-namespace physx
-{
-namespace shdfnd
-{
-
-PX_FORCE_INLINE void memoryBarrier()
-{
-	__sync_synchronize();
-}
-
-/*!
-Return the index of the highest set bit. Undefined for zero arg.
-*/
-PX_INLINE uint32_t highestSetBitUnsafe(uint32_t v)
-{
-
-	return 31 - __builtin_clz(v);
-}
-
-/*!
-Return the index of the highest set bit. Undefined for zero arg.
-*/
-PX_INLINE int32_t lowestSetBitUnsafe(uint32_t v)
-{
-	return __builtin_ctz(v);
-}
-
-/*!
-Returns the index of the highest set bit. Returns 32 for v=0.
-*/
-PX_INLINE uint32_t countLeadingZeros(uint32_t v)
-{
-	if(v)
-		return __builtin_clz(v);
-	else
-		return 32;
-}
-
-/*!
-Prefetch aligned 64B x86, 32b ARM around \c ptr+offset.
-*/
-PX_FORCE_INLINE void prefetchLine(const void* ptr, uint32_t offset = 0)
-{
-	__builtin_prefetch(reinterpret_cast<const char* PX_RESTRICT>(ptr) + offset, 0, 3);
-}
-
-/*!
-Prefetch \c count bytes starting at \c ptr.
-*/
-#if PX_ANDROID || PX_IOS
-PX_FORCE_INLINE void prefetch(const void* ptr, uint32_t count = 1)
-{
-	const char* cp = static_cast<const char*>(ptr);
-	size_t p = reinterpret_cast<size_t>(ptr);
-	uint32_t startLine = uint32_t(p >> 5), endLine = uint32_t((p + count - 1) >> 5);
-	uint32_t lines = endLine - startLine + 1;
-	do
-	{
-		prefetchLine(cp);
-		cp += 32;
-	} while(--lines);
-}
-#else
-PX_FORCE_INLINE void prefetch(const void* ptr, uint32_t count = 1)
-{
-	const char* cp = reinterpret_cast<const char*>(ptr);
-	uint64_t p = size_t(ptr);
-	uint64_t startLine = p >> 6, endLine = (p + count - 1) >> 6;
-	uint64_t lines = endLine - startLine + 1;
-	do
-	{
-		prefetchLine(cp);
-		cp += 64;
-	} while(--lines);
-}
-#endif
-
-//! \brief platform-specific reciprocal
-PX_CUDA_CALLABLE PX_FORCE_INLINE float recipFast(float a)
-{
-	return 1.0f / a;
-}
-
-//! \brief platform-specific fast reciprocal square root
-PX_CUDA_CALLABLE PX_FORCE_INLINE float recipSqrtFast(float a)
-{
-	return 1.0f / ::sqrtf(a);
-}
-
-//! \brief platform-specific floor
-PX_CUDA_CALLABLE PX_FORCE_INLINE float floatFloor(float x)
-{
-	return ::floorf(x);
-}
-
-#define NS_EXPECT_TRUE(x) x
-#define NS_EXPECT_FALSE(x) x
-
-} // namespace shdfnd
-} // namespace physx
-
-#endif // #ifndef PSFOUNDATION_PSUNIXINTRINSICS_H
diff --git a/PxShared/src/foundation/include/unix/PsUnixTrigConstants.h b/PxShared/src/foundation/include/unix/PsUnixTrigConstants.h
deleted file mode 100644
index 7f54733..0000000
--- a/PxShared/src/foundation/include/unix/PsUnixTrigConstants.h
+++ /dev/null
@@ -1,82 +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 PSFOUNDATION_PSUNIXTRIGCONSTANTS_H
-#define PSFOUNDATION_PSUNIXTRIGCONSTANTS_H
-
-//#define PX_GLOBALCONST extern const __declspec(selectany)
-#define PX_GLOBALCONST extern const __attribute__((weak))
-
-PX_ALIGN_PREFIX(16)
-struct PX_VECTORF32
-{
-	float f[4];
-} PX_ALIGN_SUFFIX(16);
-
-PX_GLOBALCONST PX_VECTORF32 g_PXSinCoefficients0 = { { 1.0f, -0.166666667f, 8.333333333e-3f, -1.984126984e-4f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXSinCoefficients1 = { { 2.755731922e-6f, -2.505210839e-8f, 1.605904384e-10f, -7.647163732e-13f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXSinCoefficients2 = { { 2.811457254e-15f, -8.220635247e-18f, 1.957294106e-20f, -3.868170171e-23f } };
-PX_GLOBALCONST PX_VECTORF32 g_PXCosCoefficients0 = { { 1.0f, -0.5f, 4.166666667e-2f, -1.388888889e-3f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXCosCoefficients1 = { { 2.480158730e-5f, -2.755731922e-7f, 2.087675699e-9f, -1.147074560e-11f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXCosCoefficients2 = { { 4.779477332e-14f, -1.561920697e-16f, 4.110317623e-19f, -8.896791392e-22f } };
-PX_GLOBALCONST PX_VECTORF32 g_PXTanCoefficients0 = { { 1.0f, 0.333333333f, 0.133333333f, 5.396825397e-2f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXTanCoefficients1 = { { 2.186948854e-2f, 8.863235530e-3f, 3.592128167e-3f, 1.455834485e-3f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXTanCoefficients2 = { { 5.900274264e-4f, 2.391290764e-4f, 9.691537707e-5f, 3.927832950e-5f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXASinCoefficients0 = { { -0.05806367563904f, -0.41861972469416f, 0.22480114791621f, 2.17337241360606f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXASinCoefficients1 = { { 0.61657275907170f, 4.29696498283455f, -1.18942822255452f, -6.53784832094831f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXASinCoefficients2 = { { -1.36926553863413f, -4.48179294237210f, 1.41810672941833f, 5.48179257935713f } };
-PX_GLOBALCONST PX_VECTORF32 g_PXATanCoefficients0 = { { 1.0f, 0.333333334f, 0.2f, 0.142857143f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXATanCoefficients1 = { { 1.111111111e-1f, 9.090909091e-2f, 7.692307692e-2f, 6.666666667e-2f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXATanCoefficients2 = { { 5.882352941e-2f, 5.263157895e-2f, 4.761904762e-2f, 4.347826087e-2f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXSinEstCoefficients = { { 1.0f, -1.66521856991541e-1f, 8.199913018755e-3f, -1.61475937228e-4f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXCosEstCoefficients = { { 1.0f, -4.95348008918096e-1f, 3.878259962881e-2f, -9.24587976263e-4f } };
-PX_GLOBALCONST PX_VECTORF32 g_PXTanEstCoefficients = { { 2.484f, -1.954923183e-1f, 2.467401101f, PxInvPi } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXATanEstCoefficients = { { 7.689891418951e-1f, 1.104742493348f, 8.661844266006e-1f, PxPiDivTwo } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXASinEstCoefficients = { { -1.36178272886711f, 2.37949493464538f, -8.08228565650486e-1f, 2.78440142746736e-1f } };
-PX_GLOBALCONST PX_VECTORF32 g_PXASinEstConstants = { { 1.00000011921f, PxPiDivTwo, 0.0f, 0.0f } };
-PX_GLOBALCONST PX_VECTORF32 g_PXPiConstants0 = { { PxPi, PxTwoPi, PxInvPi, PxInvTwoPi } };
-PX_GLOBALCONST PX_VECTORF32 g_PXReciprocalTwoPi = { { PxInvTwoPi, PxInvTwoPi, PxInvTwoPi, PxInvTwoPi } };
-PX_GLOBALCONST PX_VECTORF32 g_PXTwoPi = { { PxTwoPi, PxTwoPi, PxTwoPi, PxTwoPi } };
-
-#endif
diff --git a/PxShared/src/foundation/include/unix/neon/PsUnixNeonAoS.h b/PxShared/src/foundation/include/unix/neon/PsUnixNeonAoS.h
deleted file mode 100644
index 60a5be8..0000000
--- a/PxShared/src/foundation/include/unix/neon/PsUnixNeonAoS.h
+++ /dev/null
@@ -1,129 +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 PSFOUNDATION_PSUNIXNEONAOS_H
-#define PSFOUNDATION_PSUNIXNEONAOS_H
-
-// no includes here! this file should be included from PxcVecMath.h only!!!
-
-#if !COMPILE_VECTOR_INTRINSICS
-#error Vector intrinsics should not be included when using scalar implementation.
-#endif
-
-// only ARM NEON compatible platforms should reach this
-#include <arm_neon.h>
-
-typedef float32x2_t FloatV;
-typedef float32x4_t Vec3V;
-typedef float32x4_t Vec4V;
-typedef uint32x4_t BoolV;
-typedef float32x4_t QuatV;
-
-typedef uint32x4_t VecU32V;
-typedef int32x4_t VecI32V;
-typedef uint16x8_t VecU16V;
-typedef int16x8_t VecI16V;
-typedef uint8x16_t VecU8V;
-
-#define FloatVArg FloatV &
-#define Vec3VArg Vec3V &
-#define Vec4VArg Vec4V &
-#define BoolVArg BoolV &
-#define VecU32VArg VecU32V &
-#define VecI32VArg VecI32V &
-#define VecU16VArg VecU16V &
-#define VecI16VArg VecI16V &
-#define VecU8VArg VecU8V &
-#define QuatVArg QuatV &
-
-// KS - TODO - make an actual VecCrossV type for NEON
-#define VecCrossV Vec3V
-
-typedef VecI32V VecShiftV;
-#define VecShiftVArg VecShiftV &
-
-PX_ALIGN_PREFIX(16)
-struct Mat33V
-{
-	Mat33V()
-	{
-	}
-	Mat33V(const Vec3V& c0, const Vec3V& c1, const Vec3V& c2) : col0(c0), col1(c1), col2(c2)
-	{
-	}
-	Vec3V PX_ALIGN(16, col0);
-	Vec3V PX_ALIGN(16, col1);
-	Vec3V PX_ALIGN(16, col2);
-} PX_ALIGN_SUFFIX(16);
-
-PX_ALIGN_PREFIX(16)
-struct Mat34V
-{
-	Mat34V()
-	{
-	}
-	Mat34V(const Vec3V& c0, const Vec3V& c1, const Vec3V& c2, const Vec3V& c3) : col0(c0), col1(c1), col2(c2), col3(c3)
-	{
-	}
-	Vec3V PX_ALIGN(16, col0);
-	Vec3V PX_ALIGN(16, col1);
-	Vec3V PX_ALIGN(16, col2);
-	Vec3V PX_ALIGN(16, col3);
-} PX_ALIGN_SUFFIX(16);
-
-PX_ALIGN_PREFIX(16)
-struct Mat43V
-{
-	Mat43V()
-	{
-	}
-	Mat43V(const Vec4V& c0, const Vec4V& c1, const Vec4V& c2) : col0(c0), col1(c1), col2(c2)
-	{
-	}
-	Vec4V PX_ALIGN(16, col0);
-	Vec4V PX_ALIGN(16, col1);
-	Vec4V PX_ALIGN(16, col2);
-} PX_ALIGN_SUFFIX(16);
-
-PX_ALIGN_PREFIX(16)
-struct Mat44V
-{
-	Mat44V()
-	{
-	}
-	Mat44V(const Vec4V& c0, const Vec4V& c1, const Vec4V& c2, const Vec4V& c3) : col0(c0), col1(c1), col2(c2), col3(c3)
-	{
-	}
-	Vec4V PX_ALIGN(16, col0);
-	Vec4V PX_ALIGN(16, col1);
-	Vec4V PX_ALIGN(16, col2);
-	Vec4V PX_ALIGN(16, col3);
-} PX_ALIGN_SUFFIX(16);
-
-#endif // PSFOUNDATION_PSUNIXNEONAOS_H
diff --git a/PxShared/src/foundation/include/unix/neon/PsUnixNeonInlineAoS.h b/PxShared/src/foundation/include/unix/neon/PsUnixNeonInlineAoS.h
deleted file mode 100644
index 4df3ff6..0000000
--- a/PxShared/src/foundation/include/unix/neon/PsUnixNeonInlineAoS.h
+++ /dev/null
@@ -1,3579 +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 PSFOUNDATION_PSUNIXNEONINLINEAOS_H
-#define PSFOUNDATION_PSUNIXNEONINLINEAOS_H
-
-#if !COMPILE_VECTOR_INTRINSICS
-#error Vector intrinsics should not be included when using scalar implementation.
-#endif
-
-// improved estimates
-#define VRECIPEQ recipq_newton<1>
-#define VRECIPE recip_newton<1>
-#define VRECIPSQRTEQ rsqrtq_newton<1>
-#define VRECIPSQRTE rsqrt_newton<1>
-
-// "exact"
-#define VRECIPQ recipq_newton<4>
-#if PX_SWITCH
-// StabilizationTests.AveragePoint needs more precision to succeed.
-#define VRECIP recip_newton<5> 
-#else
-#define VRECIP recip_newton<4>
-#endif
-#define VRECIPSQRTQ rsqrtq_newton<4>
-#define VRECIPSQRT rsqrt_newton<4>
-
-#define VECMATH_AOS_EPSILON (1e-3f)
-
-//////////////////////////////////////////////////////////////////////
-//Test that Vec3V and FloatV are legal
-//////////////////////////////////
-
-#define FLOAT_COMPONENTS_EQUAL_THRESHOLD 0.01f
-PX_FORCE_INLINE bool isValidFloatV(const FloatV a)
-{
-	/*
-	PX_ALIGN(16, PxF32) data[4];
-	vst1_f32(reinterpret_cast<float32_t*>(data), a);
-	return 
-	PxU32* intData = reinterpret_cast<PxU32*>(data);
-	return intData[0] == intData[1];
-	*/
-	PX_ALIGN(16, PxF32) data[4];
-	vst1_f32(reinterpret_cast<float32_t*>(data), a);
-	const float32_t x = data[0];
-	const float32_t y = data[1];
-	
-	if (PxAbs(x - y) < FLOAT_COMPONENTS_EQUAL_THRESHOLD)
-	{
-		return true;
-	}
-
-	if (PxAbs((x - y) / x) < FLOAT_COMPONENTS_EQUAL_THRESHOLD)
-	{
-		return true;
-	}
-
-	return false;
-}
-
-PX_FORCE_INLINE bool isValidVec3V(const Vec3V a)
-{
-	const float32_t w = vgetq_lane_f32(a, 3);
-	return (0.0f == w);
-	//const PxU32* intData = reinterpret_cast<const PxU32*>(&w);
-	//return *intData == 0;
-}
-
-PX_FORCE_INLINE bool isAligned16(const void* a)
-{
-	return(0 == (size_t(a) & 0x0f));
-}
-
-#if PX_DEBUG
-#define ASSERT_ISVALIDVEC3V(a) PX_ASSERT(isValidVec3V(a))
-#define ASSERT_ISVALIDFLOATV(a) PX_ASSERT(isValidFloatV(a))
-#define ASSERT_ISALIGNED16(a) PX_ASSERT(isAligned16(static_cast<const void*>(a)))
-#else
-#define ASSERT_ISVALIDVEC3V(a)
-#define ASSERT_ISVALIDFLOATV(a) 
-#define ASSERT_ISALIGNED16(a)
-#endif
-
-namespace internalUnitNeonSimd
-{
-PX_FORCE_INLINE PxU32 BAllTrue4_R(const BoolV a)
-{
-	const uint16x4_t dHigh = vget_high_u16(vreinterpretq_u16_u32(a));
-	const uint16x4_t dLow = vmovn_u32(a);
-	const uint16x8_t combined = vcombine_u16(dLow, dHigh);
-	const uint32x2_t finalReduce = vreinterpret_u32_u8(vmovn_u16(combined));
-	return PxU32(vget_lane_u32(finalReduce, 0) == 0xffffFFFF);
-}
-
-PX_FORCE_INLINE PxU32 BAllTrue3_R(const BoolV a)
-{
-	const uint16x4_t dHigh = vget_high_u16(vreinterpretq_u16_u32(a));
-	const uint16x4_t dLow = vmovn_u32(a);
-	const uint16x8_t combined = vcombine_u16(dLow, dHigh);
-	const uint32x2_t finalReduce = vreinterpret_u32_u8(vmovn_u16(combined));
-	return PxU32((vget_lane_u32(finalReduce, 0) & 0xffFFff) == 0xffFFff);
-}
-
-PX_FORCE_INLINE PxU32 BAnyTrue4_R(const BoolV a)
-{
-	const uint16x4_t dHigh = vget_high_u16(vreinterpretq_u16_u32(a));
-	const uint16x4_t dLow = vmovn_u32(a);
-	const uint16x8_t combined = vcombine_u16(dLow, dHigh);
-	const uint32x2_t finalReduce = vreinterpret_u32_u8(vmovn_u16(combined));
-	return PxU32(vget_lane_u32(finalReduce, 0) != 0x0);
-}
-
-PX_FORCE_INLINE PxU32 BAnyTrue3_R(const BoolV a)
-{
-	const uint16x4_t dHigh = vget_high_u16(vreinterpretq_u16_u32(a));
-	const uint16x4_t dLow = vmovn_u32(a);
-	const uint16x8_t combined = vcombine_u16(dLow, dHigh);
-	const uint32x2_t finalReduce = vreinterpret_u32_u8(vmovn_u16(combined));
-	return PxU32((vget_lane_u32(finalReduce, 0) & 0xffFFff) != 0);
-}
-}
-
-namespace _VecMathTests
-{
-// PT: this function returns an invalid Vec3V (W!=0.0f) just for unit-testing 'isValidVec3V'
-PX_FORCE_INLINE Vec3V getInvalidVec3V()
-{
-	PX_ALIGN(16, PxF32) data[4] = { 1.0f, 1.0f, 1.0f, 1.0f };
-	return V4LoadA(data);
-}
-
-PX_FORCE_INLINE bool allElementsEqualFloatV(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return vget_lane_u32(vceq_f32(a, b), 0) != 0;
-}
-
-PX_FORCE_INLINE bool allElementsEqualVec3V(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return V3AllEq(a, b) != 0;
-}
-
-PX_FORCE_INLINE bool allElementsEqualVec4V(const Vec4V a, const Vec4V b)
-{
-	return V4AllEq(a, b) != 0;
-}
-
-PX_FORCE_INLINE bool allElementsEqualBoolV(const BoolV a, const BoolV b)
-{
-	return internalUnitNeonSimd::BAllTrue4_R(vceqq_u32(a, b)) != 0;
-}
-
-PX_FORCE_INLINE PxU32 V4U32AllEq(const VecU32V a, const VecU32V b)
-{
-	return internalUnitNeonSimd::BAllTrue4_R(V4IsEqU32(a, b));
-}
-
-PX_FORCE_INLINE bool allElementsEqualVecU32V(const VecU32V a, const VecU32V b)
-{
-	return V4U32AllEq(a, b) != 0;
-}
-
-PX_FORCE_INLINE BoolV V4IsEqI32(const VecI32V a, const VecI32V b)
-{
-	return vceqq_s32(a, b);
-}
-
-PX_FORCE_INLINE PxU32 V4I32AllEq(const VecI32V a, const VecI32V b)
-{
-	return internalUnitNeonSimd::BAllTrue4_R(V4IsEqI32(a, b));
-}
-
-PX_FORCE_INLINE bool allElementsEqualVecI32V(const VecI32V a, const VecI32V b)
-{
-	return V4I32AllEq(a, b) != 0;
-}
-
-PX_FORCE_INLINE bool allElementsNearEqualFloatV(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-
-	const float32x2_t c = vsub_f32(a, b);
-	const float32x2_t error = vdup_n_f32(VECMATH_AOS_EPSILON);
-// absolute compare abs(error) > abs(c)
-	const uint32x2_t greater = vcagt_f32(error, c);
-	const uint32x2_t min = vpmin_u32(greater, greater);
-	return vget_lane_u32(min, 0) != 0x0;
-}
-
-PX_FORCE_INLINE bool allElementsNearEqualVec3V(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	const float32x4_t c = vsubq_f32(a, b);
-	const float32x4_t error = vdupq_n_f32(VECMATH_AOS_EPSILON);
-// absolute compare abs(error) > abs(c)
-	const uint32x4_t greater = vcagtq_f32(error, c);
-	return internalUnitNeonSimd::BAllTrue3_R(greater) != 0;
-}
-
-PX_FORCE_INLINE bool allElementsNearEqualVec4V(const Vec4V a, const Vec4V b)
-{
-	const float32x4_t c = vsubq_f32(a, b);
-	const float32x4_t error = vdupq_n_f32(VECMATH_AOS_EPSILON);
-// absolute compare abs(error) > abs(c)
-	const uint32x4_t greater = vcagtq_f32(error, c);
-	return internalUnitNeonSimd::BAllTrue4_R(greater) != 0x0;
-}
-}
-
-#if 0 // debugging printfs
-#include <stdio.h>
-PX_FORCE_INLINE void printVec(const float32x4_t& v, const char* name)
-{
-	PX_ALIGN(16, float32_t) data[4];
-	vst1q_f32(data, v);
-	printf("%s: (%f, %f, %f, %f)\n", name, data[0], data[1], data[2], data[3]);
-}
-
-PX_FORCE_INLINE void printVec(const float32x2_t& v, const char* name)
-{
-	PX_ALIGN(16, float32_t) data[2];
-	vst1_f32(data, v);
-	printf("%s: (%f, %f)\n", name, data[0], data[1]);
-}
-
-PX_FORCE_INLINE void printVec(const uint32x4_t& v, const char* name)
-{
-	PX_ALIGN(16, uint32_t) data[4];
-	vst1q_u32(data, v);
-	printf("%s: (0x%x, 0x%x, 0x%x, 0x%x)\n", name, data[0], data[1], data[2], data[3]);
-}
-
-PX_FORCE_INLINE void printVec(const uint16x8_t& v, const char* name)
-{
-	PX_ALIGN(16, uint16_t) data[8];
-	vst1q_u16(data, v);
-	printf("%s: (0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x)\n", name, data[0], data[1], data[2], data[3],
-		data[4], data[5], data[6], data[7]);
-}
-
-PX_FORCE_INLINE void printVec(const int32x4_t& v, const char* name)
-{
-	PX_ALIGN(16, int32_t) data[4];
-	vst1q_s32(data, v);
-	printf("%s: (0x%x, 0x%x, 0x%x, 0x%x)\n", name, data[0], data[1], data[2], data[3]);
-}
-
-PX_FORCE_INLINE void printVec(const int16x8_t& v, const char* name)
-{
-	PX_ALIGN(16, int16_t) data[8];
-	vst1q_s16(data, v);
-	printf("%s: (0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x)\n", name, data[0], data[1], data[2], data[3],
-		data[4], data[5], data[6], data[7]);
-}
-
-PX_FORCE_INLINE void printVec(const uint16x4_t& v, const char* name)
-{
-	PX_ALIGN(16, uint16_t) data[4];
-	vst1_u16(data, v);
-	printf("%s: (0x%x, 0x%x, 0x%x, 0x%x)\n", name, data[0], data[1], data[2], data[3]);
-}
-
-PX_FORCE_INLINE void printVec(const uint32x2_t& v, const char* name)
-{
-	PX_ALIGN(16, uint32_t) data[2];
-	vst1_u32(data, v);
-	printf("%s: (0x%x, 0x%x)\n", name, data[0], data[1]);
-}
-
-PX_FORCE_INLINE void printVar(const PxU32 v, const char* name)
-{
-	printf("%s: 0x%x\n", name, v);
-}
-
-PX_FORCE_INLINE void printVar(const PxF32 v, const char* name)
-{
-	printf("%s: %f\n", name, v);
-}
-
-#define PRINT_VAR(X) printVar((X), #X)
-#define PRINT_VEC(X) printVec((X), #X)
-#define PRINT_VEC_TITLE(TITLE, X) printVec((X), TITLE #X)
-#endif // debugging printf
-
-/////////////////////////////////////////////////////////////////////
-////FUNCTIONS USED ONLY FOR ASSERTS IN VECTORISED IMPLEMENTATIONS
-/////////////////////////////////////////////////////////////////////
-
-PX_FORCE_INLINE bool isFiniteFloatV(const FloatV a)
-{
-	PX_ALIGN(16, PxF32) data[4];
-	vst1_f32(reinterpret_cast<float32_t*>(data), a);
-	return PxIsFinite(data[0]) && PxIsFinite(data[1]);
-}
-
-PX_FORCE_INLINE bool isFiniteVec3V(const Vec3V a)
-{
-	PX_ALIGN(16, PxF32) data[4];
-	vst1q_f32(reinterpret_cast<float32_t*>(data), a);
-	return PxIsFinite(data[0]) && PxIsFinite(data[1]) && PxIsFinite(data[2]);
-}
-
-PX_FORCE_INLINE bool isFiniteVec4V(const Vec4V a)
-{
-	PX_ALIGN(16, PxF32) data[4];
-	vst1q_f32(reinterpret_cast<float32_t*>(data), a);
-	return PxIsFinite(data[0]) && PxIsFinite(data[1]) && PxIsFinite(data[2]) && PxIsFinite(data[3]);
-}
-
-PX_FORCE_INLINE bool hasZeroElementinFloatV(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	return vget_lane_u32(vreinterpret_u32_f32(a), 0) == 0;
-}
-
-PX_FORCE_INLINE bool hasZeroElementInVec3V(const Vec3V a)
-{
-	const uint32x2_t dLow = vget_low_u32(vreinterpretq_u32_f32(a));
-	const uint32x2_t dMin = vpmin_u32(dLow, dLow);
-
-	return vget_lane_u32(dMin, 0) == 0 || vgetq_lane_u32(vreinterpretq_u32_f32(a), 2) == 0;
-}
-
-PX_FORCE_INLINE bool hasZeroElementInVec4V(const Vec4V a)
-{
-	const uint32x2_t dHigh = vget_high_u32(vreinterpretq_u32_f32(a));
-	const uint32x2_t dLow = vget_low_u32(vreinterpretq_u32_f32(a));
-
-	const uint32x2_t dMin = vmin_u32(dHigh, dLow);
-	const uint32x2_t pairMin = vpmin_u32(dMin, dMin);
-	return vget_lane_u32(pairMin, 0) == 0;
-}
-
-/////////////////////////////////////////////////////////////////////
-////VECTORISED FUNCTION IMPLEMENTATIONS
-/////////////////////////////////////////////////////////////////////
-
-PX_FORCE_INLINE FloatV FLoad(const PxF32 f)
-{
-	return vdup_n_f32(reinterpret_cast<const float32_t&>(f));
-}
-
-PX_FORCE_INLINE FloatV FLoadA(const PxF32* const f)
-{
-	ASSERT_ISALIGNED16(f);
-	return vld1_f32(reinterpret_cast<const float32_t*>(f));
-}
-
-PX_FORCE_INLINE Vec3V V3Load(const PxF32 f)
-{
-	PX_ALIGN(16, PxF32) data[4] = { f, f, f, 0.0f };
-	return V4LoadA(data);
-}
-
-PX_FORCE_INLINE Vec4V V4Load(const PxF32 f)
-{
-	return vdupq_n_f32(reinterpret_cast<const float32_t&>(f));
-}
-
-PX_FORCE_INLINE BoolV BLoad(const bool f)
-{
-	const PxU32 i = static_cast<PxU32>(-(static_cast<PxI32>(f)));
-	return vdupq_n_u32(i);
-}
-
-PX_FORCE_INLINE Vec3V V3LoadA(const PxVec3& f)
-{
-	ASSERT_ISALIGNED16(&f);
-	PX_ALIGN(16, PxF32) data[4] = { f.x, f.y, f.z, 0.0f };
-	return V4LoadA(data);
-}
-
-PX_FORCE_INLINE Vec3V V3LoadU(const PxVec3& f)
-{
-	PX_ALIGN(16, PxF32) data[4] = { f.x, f.y, f.z, 0.0f };
-	return V4LoadA(data);
-}
-
-PX_FORCE_INLINE Vec3V V3LoadUnsafeA(const PxVec3& f)
-{
-	ASSERT_ISALIGNED16(&f);
-	PX_ALIGN(16, PxF32) data[4] = { f.x, f.y, f.z, 0.0f };
-	return V4LoadA(data);
-}
-
-PX_FORCE_INLINE Vec3V V3LoadA(const PxF32* f)
-{
-	ASSERT_ISALIGNED16(f);
-	PX_ALIGN(16, PxF32) data[4] = { f[0], f[1], f[2], 0.0f };
-	return V4LoadA(data);
-}
-
-PX_FORCE_INLINE Vec3V V3LoadU(const PxF32* f)
-{
-	PX_ALIGN(16, PxF32) data[4] = { f[0], f[1], f[2], 0.0f };
-	return V4LoadA(data);
-}
-
-PX_FORCE_INLINE Vec3V Vec3V_From_Vec4V(Vec4V v)
-{
-	return vsetq_lane_f32(0.0f, v, 3);
-}
-
-PX_FORCE_INLINE Vec3V Vec3V_From_Vec4V_WUndefined(Vec4V v)
-{
-	return v;
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_From_Vec3V(Vec3V f)
-{
-	return f; // ok if it is implemented as the same type.
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_From_FloatV(FloatV f)
-{
-	return vcombine_f32(f, f);
-}
-
-PX_FORCE_INLINE Vec3V Vec3V_From_FloatV(FloatV f)
-{
-	return Vec3V_From_Vec4V(Vec4V_From_FloatV(f));
-}
-
-PX_FORCE_INLINE Vec3V Vec3V_From_FloatV_WUndefined(FloatV f)
-{
-	return Vec3V_From_Vec4V_WUndefined(Vec4V_From_FloatV(f));
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_From_PxVec3_WUndefined(const PxVec3& f)
-{
-	PX_ALIGN(16, PxF32) data[4] = { f.x, f.y, f.z, 0.0f };
-	return V4LoadA(data);
-}
-
-PX_FORCE_INLINE Mat33V Mat33V_From_PxMat33(const PxMat33& m)
-{
-	return Mat33V(V3LoadU(m.column0), V3LoadU(m.column1), V3LoadU(m.column2));
-}
-
-PX_FORCE_INLINE void PxMat33_From_Mat33V(const Mat33V& m, PxMat33& out)
-{
-	V3StoreU(m.col0, out.column0);
-	V3StoreU(m.col1, out.column1);
-	V3StoreU(m.col2, out.column2);
-}
-
-PX_FORCE_INLINE Vec4V V4LoadA(const PxF32* const f)
-{
-	ASSERT_ISALIGNED16(f);
-	return vld1q_f32(reinterpret_cast<const float32_t*>(f));
-}
-
-PX_FORCE_INLINE void V4StoreA(Vec4V a, PxF32* f)
-{
-	ASSERT_ISALIGNED16(f);
-	vst1q_f32(reinterpret_cast<float32_t*>(f), a);
-}
-
-PX_FORCE_INLINE void V4StoreU(const Vec4V a, PxF32* f)
-{
-	PX_ALIGN(16, PxF32) f2[4];
-	vst1q_f32(reinterpret_cast<float32_t*>(f2), a);
-	f[0] = f2[0];
-	f[1] = f2[1];
-	f[2] = f2[2];
-	f[3] = f2[3];
-}
-
-PX_FORCE_INLINE void BStoreA(const BoolV a, PxU32* u)
-{
-	ASSERT_ISALIGNED16(u);
-	vst1q_u32(reinterpret_cast<uint32_t*>(u), a);
-}
-
-PX_FORCE_INLINE void U4StoreA(const VecU32V uv, PxU32* u)
-{
-	ASSERT_ISALIGNED16(u);
-	vst1q_u32(reinterpret_cast<uint32_t*>(u), uv);
-}
-
-PX_FORCE_INLINE void I4StoreA(const VecI32V iv, PxI32* i)
-{
-	ASSERT_ISALIGNED16(i);
-	vst1q_s32(reinterpret_cast<int32_t*>(i), iv);
-}
-
-PX_FORCE_INLINE Vec4V V4LoadU(const PxF32* const f)
-{
-	return vld1q_f32(reinterpret_cast<const float32_t*>(f));
-}
-
-PX_FORCE_INLINE BoolV BLoad(const bool* const f)
-{
-	const PX_ALIGN(16, PxU32) b[4] = { static_cast<PxU32>(-static_cast<PxI32>(f[0])),
-		                               static_cast<PxU32>(-static_cast<PxI32>(f[1])),
-		                               static_cast<PxU32>(-static_cast<PxI32>(f[2])),
-		                               static_cast<PxU32>(-static_cast<PxI32>(f[3])) };
-	return vld1q_u32(b);
-}
-
-PX_FORCE_INLINE void FStore(const FloatV a, PxF32* PX_RESTRICT f)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	// vst1q_lane_f32(f, a, 0); // causes vst1 alignment bug
-	*f = vget_lane_f32(a, 0);
-}
-
-PX_FORCE_INLINE void Store_From_BoolV(const BoolV a, PxU32* PX_RESTRICT f)
-{
-	*f = vget_lane_u32(vget_low_u32(a), 0);
-}
-
-PX_FORCE_INLINE void V3StoreA(const Vec3V a, PxVec3& f)
-{
-	ASSERT_ISALIGNED16(&f);
-	PX_ALIGN(16, PxF32) f2[4];
-	vst1q_f32(reinterpret_cast<float32_t*>(f2), a);
-	f = PxVec3(f2[0], f2[1], f2[2]);
-}
-
-PX_FORCE_INLINE void V3StoreU(const Vec3V a, PxVec3& f)
-{
-	PX_ALIGN(16, PxF32) f2[4];
-	vst1q_f32(reinterpret_cast<float32_t*>(f2), a);
-	f = PxVec3(f2[0], f2[1], f2[2]);
-}
-
-//////////////////////////////////
-// FLOATV
-//////////////////////////////////
-
-PX_FORCE_INLINE FloatV FZero()
-{
-	return FLoad(0.0f);
-}
-
-PX_FORCE_INLINE FloatV FOne()
-{
-	return FLoad(1.0f);
-}
-
-PX_FORCE_INLINE FloatV FHalf()
-{
-	return FLoad(0.5f);
-}
-
-PX_FORCE_INLINE FloatV FEps()
-{
-	return FLoad(PX_EPS_REAL);
-}
-
-PX_FORCE_INLINE FloatV FEps6()
-{
-	return FLoad(1e-6f);
-}
-
-PX_FORCE_INLINE FloatV FMax()
-{
-	return FLoad(PX_MAX_REAL);
-}
-
-PX_FORCE_INLINE FloatV FNegMax()
-{
-	return FLoad(-PX_MAX_REAL);
-}
-
-PX_FORCE_INLINE FloatV IZero()
-{
-	return vreinterpret_f32_u32(vdup_n_u32(0));
-}
-
-PX_FORCE_INLINE FloatV IOne()
-{
-	return vreinterpret_f32_u32(vdup_n_u32(1));
-}
-
-PX_FORCE_INLINE FloatV ITwo()
-{
-	return vreinterpret_f32_u32(vdup_n_u32(2));
-}
-
-PX_FORCE_INLINE FloatV IThree()
-{
-	return vreinterpret_f32_u32(vdup_n_u32(3));
-}
-
-PX_FORCE_INLINE FloatV IFour()
-{
-	return vreinterpret_f32_u32(vdup_n_u32(4));
-}
-
-PX_FORCE_INLINE FloatV FNeg(const FloatV f)
-{
-	ASSERT_ISVALIDFLOATV(f);
-	return vneg_f32(f);
-}
-
-PX_FORCE_INLINE FloatV FAdd(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return vadd_f32(a, b);
-}
-
-PX_FORCE_INLINE FloatV FSub(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return vsub_f32(a, b);
-}
-
-PX_FORCE_INLINE FloatV FMul(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return vmul_f32(a, b);
-}
-
-template <int n>
-PX_FORCE_INLINE float32x2_t recip_newton(const float32x2_t& in)
-{
-	float32x2_t recip = vrecpe_f32(in);
-	for(int i = 0; i < n; ++i)
-		recip = vmul_f32(recip, vrecps_f32(in, recip));
-	return recip;
-}
-
-template <int n>
-PX_FORCE_INLINE float32x4_t recipq_newton(const float32x4_t& in)
-{
-	float32x4_t recip = vrecpeq_f32(in);
-	for(int i = 0; i < n; ++i)
-		recip = vmulq_f32(recip, vrecpsq_f32(recip, in));
-	return recip;
-}
-
-template <int n>
-PX_FORCE_INLINE float32x2_t rsqrt_newton(const float32x2_t& in)
-{
-	float32x2_t rsqrt = vrsqrte_f32(in);
-	for(int i = 0; i < n; ++i)
-		rsqrt = vmul_f32(rsqrt, vrsqrts_f32(vmul_f32(rsqrt, rsqrt), in));
-	return rsqrt;
-}
-
-template <int n>
-PX_FORCE_INLINE float32x4_t rsqrtq_newton(const float32x4_t& in)
-{
-	float32x4_t rsqrt = vrsqrteq_f32(in);
-	for(int i = 0; i < n; ++i)
-		rsqrt = vmulq_f32(rsqrt, vrsqrtsq_f32(vmulq_f32(rsqrt, rsqrt), in));
-	return rsqrt;
-}
-
-PX_FORCE_INLINE FloatV FDiv(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return vmul_f32(a, VRECIP(b));
-}
-
-PX_FORCE_INLINE FloatV FDivFast(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return vmul_f32(a, VRECIPE(b));
-}
-
-PX_FORCE_INLINE FloatV FRecip(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	return VRECIP(a);
-}
-
-PX_FORCE_INLINE FloatV FRecipFast(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	return VRECIPE(a);
-}
-
-PX_FORCE_INLINE FloatV FRsqrt(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	return VRECIPSQRT(a);
-}
-
-PX_FORCE_INLINE FloatV FSqrt(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	return FSel(FIsEq(a, FZero()), a, vmul_f32(a, VRECIPSQRT(a)));
-}
-
-PX_FORCE_INLINE FloatV FRsqrtFast(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	return VRECIPSQRTE(a);
-}
-
-PX_FORCE_INLINE FloatV FScaleAdd(const FloatV a, const FloatV b, const FloatV c)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	ASSERT_ISVALIDFLOATV(c);
-	return vmla_f32(c, a, b);
-}
-
-PX_FORCE_INLINE FloatV FNegScaleSub(const FloatV a, const FloatV b, const FloatV c)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	ASSERT_ISVALIDFLOATV(c);
-	return vmls_f32(c, a, b);
-}
-
-PX_FORCE_INLINE FloatV FAbs(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	return vabs_f32(a);
-}
-
-PX_FORCE_INLINE FloatV FSel(const BoolV c, const FloatV a, const FloatV b)
-{
-	PX_ASSERT(	_VecMathTests::allElementsEqualBoolV(c, BTTTT()) || 
-				_VecMathTests::allElementsEqualBoolV(c, BFFFF()));
-	ASSERT_ISVALIDFLOATV(vbsl_f32(vget_low_u32(c), a, b));
-	return vbsl_f32(vget_low_u32(c), a, b);
-}
-
-PX_FORCE_INLINE BoolV FIsGrtr(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return vdupq_lane_u32(vcgt_f32(a, b), 0);
-}
-
-PX_FORCE_INLINE BoolV FIsGrtrOrEq(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return vdupq_lane_u32(vcge_f32(a, b), 0);
-}
-
-PX_FORCE_INLINE BoolV FIsEq(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return vdupq_lane_u32(vceq_f32(a, b), 0);
-}
-
-PX_FORCE_INLINE FloatV FMax(const FloatV a, const FloatV b)
-{
-	//ASSERT_ISVALIDFLOATV(a);
-	//ASSERT_ISVALIDFLOATV(b);
-	return vmax_f32(a, b);
-}
-
-PX_FORCE_INLINE FloatV FMin(const FloatV a, const FloatV b)
-{
-	//ASSERT_ISVALIDFLOATV(a);
-	//ASSERT_ISVALIDFLOATV(b);
-	return vmin_f32(a, b);
-}
-
-PX_FORCE_INLINE FloatV FClamp(const FloatV a, const FloatV minV, const FloatV maxV)
-{
-	ASSERT_ISVALIDFLOATV(minV);
-	ASSERT_ISVALIDFLOATV(maxV);
-	return vmax_f32(vmin_f32(a, maxV), minV);
-}
-
-PX_FORCE_INLINE PxU32 FAllGrtr(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return vget_lane_u32(vcgt_f32(a, b), 0);
-}
-
-PX_FORCE_INLINE PxU32 FAllGrtrOrEq(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return vget_lane_u32(vcge_f32(a, b), 0);
-}
-
-PX_FORCE_INLINE PxU32 FAllEq(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return vget_lane_u32(vceq_f32(a, b), 0);
-}
-
-PX_FORCE_INLINE FloatV FRound(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-
-	// truncate(a + (0.5f - sign(a)))
-	const float32x2_t half = vdup_n_f32(0.5f);
-	const float32x2_t sign = vcvt_f32_u32((vshr_n_u32(vreinterpret_u32_f32(a), 31)));
-	const float32x2_t aPlusHalf = vadd_f32(a, half);
-	const float32x2_t aRound = vsub_f32(aPlusHalf, sign);
-	int32x2_t tmp = vcvt_s32_f32(aRound);
-	return vcvt_f32_s32(tmp);
-}
-
-PX_FORCE_INLINE FloatV FSin(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-
-	// Modulo the range of the given angles such that -XM_2PI <= Angles < XM_2PI
-	const FloatV recipTwoPi = FLoadA(g_PXReciprocalTwoPi.f);
-	const FloatV twoPi = FLoadA(g_PXTwoPi.f);
-	const FloatV tmp = FMul(a, recipTwoPi);
-	const FloatV b = FRound(tmp);
-	const FloatV V1 = FNegScaleSub(twoPi, b, a);
-
-	// sin(V) ~= V - V^3 / 3! + V^5 / 5! - V^7 / 7! + V^9 / 9! - V^11 / 11! + V^13 / 13! -
-	//           V^15 / 15! + V^17 / 17! - V^19 / 19! + V^21 / 21! - V^23 / 23! (for -PI <= V < PI)
-	const FloatV V2 = FMul(V1, V1);
-	const FloatV V3 = FMul(V2, V1);
-	const FloatV V5 = FMul(V3, V2);
-	const FloatV V7 = FMul(V5, V2);
-	const FloatV V9 = FMul(V7, V2);
-	const FloatV V11 = FMul(V9, V2);
-	const FloatV V13 = FMul(V11, V2);
-	const FloatV V15 = FMul(V13, V2);
-	const FloatV V17 = FMul(V15, V2);
-	const FloatV V19 = FMul(V17, V2);
-	const FloatV V21 = FMul(V19, V2);
-	const FloatV V23 = FMul(V21, V2);
-
-	const Vec4V sinCoefficients0 = V4LoadA(g_PXSinCoefficients0.f);
-	const Vec4V sinCoefficients1 = V4LoadA(g_PXSinCoefficients1.f);
-	const Vec4V sinCoefficients2 = V4LoadA(g_PXSinCoefficients2.f);
-
-	const FloatV S1 = V4GetY(sinCoefficients0);
-	const FloatV S2 = V4GetZ(sinCoefficients0);
-	const FloatV S3 = V4GetW(sinCoefficients0);
-	const FloatV S4 = V4GetX(sinCoefficients1);
-	const FloatV S5 = V4GetY(sinCoefficients1);
-	const FloatV S6 = V4GetZ(sinCoefficients1);
-	const FloatV S7 = V4GetW(sinCoefficients1);
-	const FloatV S8 = V4GetX(sinCoefficients2);
-	const FloatV S9 = V4GetY(sinCoefficients2);
-	const FloatV S10 = V4GetZ(sinCoefficients2);
-	const FloatV S11 = V4GetW(sinCoefficients2);
-
-	FloatV Result;
-	Result = FScaleAdd(S1, V3, V1);
-	Result = FScaleAdd(S2, V5, Result);
-	Result = FScaleAdd(S3, V7, Result);
-	Result = FScaleAdd(S4, V9, Result);
-	Result = FScaleAdd(S5, V11, Result);
-	Result = FScaleAdd(S6, V13, Result);
-	Result = FScaleAdd(S7, V15, Result);
-	Result = FScaleAdd(S8, V17, Result);
-	Result = FScaleAdd(S9, V19, Result);
-	Result = FScaleAdd(S10, V21, Result);
-	Result = FScaleAdd(S11, V23, Result);
-
-	return Result;
-}
-
-PX_FORCE_INLINE FloatV FCos(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-
-	// Modulo the range of the given angles such that -XM_2PI <= Angles < XM_2PI
-	const FloatV recipTwoPi = FLoadA(g_PXReciprocalTwoPi.f);
-	const FloatV twoPi = FLoadA(g_PXTwoPi.f);
-	const FloatV tmp = FMul(a, recipTwoPi);
-	const FloatV b = FRound(tmp);
-	const FloatV V1 = FNegScaleSub(twoPi, b, a);
-
-	// cos(V) ~= 1 - V^2 / 2! + V^4 / 4! - V^6 / 6! + V^8 / 8! - V^10 / 10! + V^12 / 12! -
-	//           V^14 / 14! + V^16 / 16! - V^18 / 18! + V^20 / 20! - V^22 / 22! (for -PI <= V < PI)
-	const FloatV V2 = FMul(V1, V1);
-	const FloatV V4 = FMul(V2, V2);
-	const FloatV V6 = FMul(V4, V2);
-	const FloatV V8 = FMul(V4, V4);
-	const FloatV V10 = FMul(V6, V4);
-	const FloatV V12 = FMul(V6, V6);
-	const FloatV V14 = FMul(V8, V6);
-	const FloatV V16 = FMul(V8, V8);
-	const FloatV V18 = FMul(V10, V8);
-	const FloatV V20 = FMul(V10, V10);
-	const FloatV V22 = FMul(V12, V10);
-
-	const Vec4V cosCoefficients0 = V4LoadA(g_PXCosCoefficients0.f);
-	const Vec4V cosCoefficients1 = V4LoadA(g_PXCosCoefficients1.f);
-	const Vec4V cosCoefficients2 = V4LoadA(g_PXCosCoefficients2.f);
-
-	const FloatV C1 = V4GetY(cosCoefficients0);
-	const FloatV C2 = V4GetZ(cosCoefficients0);
-	const FloatV C3 = V4GetW(cosCoefficients0);
-	const FloatV C4 = V4GetX(cosCoefficients1);
-	const FloatV C5 = V4GetY(cosCoefficients1);
-	const FloatV C6 = V4GetZ(cosCoefficients1);
-	const FloatV C7 = V4GetW(cosCoefficients1);
-	const FloatV C8 = V4GetX(cosCoefficients2);
-	const FloatV C9 = V4GetY(cosCoefficients2);
-	const FloatV C10 = V4GetZ(cosCoefficients2);
-	const FloatV C11 = V4GetW(cosCoefficients2);
-
-	FloatV Result;
-	Result = FScaleAdd(C1, V2, FOne());
-	Result = FScaleAdd(C2, V4, Result);
-	Result = FScaleAdd(C3, V6, Result);
-	Result = FScaleAdd(C4, V8, Result);
-	Result = FScaleAdd(C5, V10, Result);
-	Result = FScaleAdd(C6, V12, Result);
-	Result = FScaleAdd(C7, V14, Result);
-	Result = FScaleAdd(C8, V16, Result);
-	Result = FScaleAdd(C9, V18, Result);
-	Result = FScaleAdd(C10, V20, Result);
-	Result = FScaleAdd(C11, V22, Result);
-
-	return Result;
-}
-
-PX_FORCE_INLINE PxU32 FOutOfBounds(const FloatV a, const FloatV min, const FloatV max)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(min);
-	ASSERT_ISVALIDFLOATV(max);
-
-	const BoolV c = BOr(FIsGrtr(a, max), FIsGrtr(min, a));
-	return PxU32(!BAllEqFFFF(c));
-}
-
-PX_FORCE_INLINE PxU32 FInBounds(const FloatV a, const FloatV min, const FloatV max)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(min);
-	ASSERT_ISVALIDFLOATV(max);
-
-	const BoolV c = BAnd(FIsGrtrOrEq(a, min), FIsGrtrOrEq(max, a));
-	return PxU32(BAllEqTTTT(c));
-}
-
-PX_FORCE_INLINE PxU32 FOutOfBounds(const FloatV a, const FloatV bounds)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(bounds);
-	const uint32x2_t greater = vcagt_f32(a, bounds);
-	return vget_lane_u32(greater, 0);
-}
-
-PX_FORCE_INLINE PxU32 FInBounds(const FloatV a, const FloatV bounds)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(bounds);
-	const uint32x2_t geq = vcage_f32(bounds, a);
-	return vget_lane_u32(geq, 0);
-}
-
-//////////////////////////////////
-// VEC3V
-//////////////////////////////////
-
-PX_FORCE_INLINE Vec3V V3Splat(const FloatV f)
-{
-	ASSERT_ISVALIDFLOATV(f);
-
-	const uint32x2_t mask = { 0xffffFFFF, 0x0 };
-
-	const uint32x2_t uHigh = vreinterpret_u32_f32(f);
-	const float32x2_t dHigh = vreinterpret_f32_u32(vand_u32(uHigh, mask));
-
-	return vcombine_f32(f, dHigh);
-}
-
-PX_FORCE_INLINE Vec3V V3Merge(const FloatVArg x, const FloatVArg y, const FloatVArg z)
-{
-	ASSERT_ISVALIDFLOATV(x);
-	ASSERT_ISVALIDFLOATV(y);
-	ASSERT_ISVALIDFLOATV(z);
-
-	const uint32x2_t mask = { 0xffffFFFF, 0x0 };
-
-	const uint32x2_t dHigh = vand_u32(vreinterpret_u32_f32(z), mask);
-	const uint32x2_t dLow = vext_u32(vreinterpret_u32_f32(x), vreinterpret_u32_f32(y), 1);
-	return vreinterpretq_f32_u32(vcombine_u32(dLow, dHigh));
-}
-
-PX_FORCE_INLINE Vec3V V3UnitX()
-{
-	const float32x4_t x = { 1.0f, 0.0f, 0.0f, 0.0f };
-	return x;
-}
-
-PX_FORCE_INLINE Vec3V V3UnitY()
-{
-	const float32x4_t y = { 0, 1.0f, 0, 0 };
-	return y;
-}
-
-PX_FORCE_INLINE Vec3V V3UnitZ()
-{
-	const float32x4_t z = { 0, 0, 1.0f, 0 };
-	return z;
-}
-
-PX_FORCE_INLINE FloatV V3GetX(const Vec3V f)
-{
-	ASSERT_ISVALIDVEC3V(f);
-	const float32x2_t fLow = vget_low_f32(f);
-	return vdup_lane_f32(fLow, 0);
-}
-
-PX_FORCE_INLINE FloatV V3GetY(const Vec3V f)
-{
-	ASSERT_ISVALIDVEC3V(f);
-	const float32x2_t fLow = vget_low_f32(f);
-	return vdup_lane_f32(fLow, 1);
-}
-
-PX_FORCE_INLINE FloatV V3GetZ(const Vec3V f)
-{
-	ASSERT_ISVALIDVEC3V(f);
-	const float32x2_t fhigh = vget_high_f32(f);
-	return vdup_lane_f32(fhigh, 0);
-}
-
-PX_FORCE_INLINE Vec3V V3SetX(const Vec3V v, const FloatV f)
-{
-	ASSERT_ISVALIDVEC3V(v);
-	ASSERT_ISVALIDFLOATV(f);
-	return V4Sel(BFTTT(), v, vcombine_f32(f, f));
-}
-
-PX_FORCE_INLINE Vec3V V3SetY(const Vec3V v, const FloatV f)
-{
-	ASSERT_ISVALIDVEC3V(v);
-	ASSERT_ISVALIDFLOATV(f);
-	return V4Sel(BTFTT(), v, vcombine_f32(f, f));
-}
-
-PX_FORCE_INLINE Vec3V V3SetZ(const Vec3V v, const FloatV f)
-{
-	ASSERT_ISVALIDVEC3V(v);
-	ASSERT_ISVALIDFLOATV(f);
-	return V4Sel(BTTFT(), v, vcombine_f32(f, f));
-}
-
-PX_FORCE_INLINE Vec3V V3ColX(const Vec3V a, const Vec3V b, const Vec3V c)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	ASSERT_ISVALIDVEC3V(c);
-
-	const float32x2_t aLow = vget_low_f32(a);
-	const float32x2_t bLow = vget_low_f32(b);
-	const float32x2_t cLow = vget_low_f32(c);
-	const float32x2_t zero = vdup_n_f32(0.0f);
-
-	const float32x2x2_t zipL = vzip_f32(aLow, bLow);
-	const float32x2x2_t zipH = vzip_f32(cLow, zero);
-
-	return vcombine_f32(zipL.val[0], zipH.val[0]);
-}
-
-PX_FORCE_INLINE Vec3V V3ColY(const Vec3V a, const Vec3V b, const Vec3V c)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	ASSERT_ISVALIDVEC3V(c);
-
-	const float32x2_t aLow = vget_low_f32(a);
-	const float32x2_t bLow = vget_low_f32(b);
-	const float32x2_t cLow = vget_low_f32(c);
-	const float32x2_t zero = vdup_n_f32(0.0f);
-
-	const float32x2x2_t zipL = vzip_f32(aLow, bLow);
-	const float32x2x2_t zipH = vzip_f32(cLow, zero);
-
-	return vcombine_f32(zipL.val[1], zipH.val[1]);
-}
-
-PX_FORCE_INLINE Vec3V V3ColZ(const Vec3V a, const Vec3V b, const Vec3V c)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	ASSERT_ISVALIDVEC3V(c);
-
-	const float32x2_t aHi = vget_high_f32(a);
-	const float32x2_t bHi = vget_high_f32(b);
-	const float32x2_t cHi = vget_high_f32(c);
-
-	const float32x2x2_t zipL = vzip_f32(aHi, bHi);
-
-	return vcombine_f32(zipL.val[0], cHi);
-}
-
-PX_FORCE_INLINE Vec3V V3Zero()
-{
-	return vdupq_n_f32(0.0f);
-}
-
-PX_FORCE_INLINE Vec3V V3Eps()
-{
-	return V3Load(PX_EPS_REAL);
-}
-
-PX_FORCE_INLINE Vec3V V3One()
-{
-	return V3Load(1.0f);
-}
-
-PX_FORCE_INLINE Vec3V V3Neg(const Vec3V f)
-{
-	ASSERT_ISVALIDVEC3V(f);
-	const float32x4_t tmp = vnegq_f32(f);
-	return vsetq_lane_f32(0.0f, tmp, 3);
-}
-
-PX_FORCE_INLINE Vec3V V3Add(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return vaddq_f32(a, b);
-}
-
-PX_FORCE_INLINE Vec3V V3Add(const Vec3V a, const FloatV b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return vaddq_f32(a, Vec3V_From_FloatV(b));
-}
-
-PX_FORCE_INLINE Vec3V V3Sub(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return vsubq_f32(a, b);
-}
-
-PX_FORCE_INLINE Vec3V V3Sub(const Vec3V a, const FloatV b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return vsubq_f32(a, Vec3V_From_FloatV(b));
-}
-
-PX_FORCE_INLINE Vec3V V3Scale(const Vec3V a, const FloatV b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDFLOATV(b);
-	const float32x4_t tmp = vmulq_lane_f32(a, b, 0);
-	return vsetq_lane_f32(0.0f, tmp, 3);
-}
-
-PX_FORCE_INLINE Vec3V V3Mul(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return vmulq_f32(a, b);
-}
-
-PX_FORCE_INLINE Vec3V V3ScaleInv(const Vec3V a, const FloatV b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDFLOATV(b);
-	const float32x2_t invB = VRECIP(b);
-	const float32x4_t tmp = vmulq_lane_f32(a, invB, 0);
-	return vsetq_lane_f32(0.0f, tmp, 3);
-}
-
-PX_FORCE_INLINE Vec3V V3Div(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	float32x4_t invB = VRECIPQ(b);
-	invB = vsetq_lane_f32(0.0f, invB, 3);
-	return vmulq_f32(a, invB);
-}
-
-PX_FORCE_INLINE Vec3V V3ScaleInvFast(const Vec3V a, const FloatV b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDFLOATV(b);
-	const float32x2_t invB = VRECIPE(b);
-	const float32x4_t tmp = vmulq_lane_f32(a, invB, 0);
-	return vsetq_lane_f32(0.0f, tmp, 3);
-}
-
-PX_FORCE_INLINE Vec3V V3DivFast(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	float32x4_t invB = VRECIPEQ(b);
-	invB = vsetq_lane_f32(0.0f, invB, 3);
-	return vmulq_f32(a, invB);
-}
-
-PX_FORCE_INLINE Vec3V V3Recip(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const float32x4_t recipA = VRECIPQ(a);
-	return vsetq_lane_f32(0.0f, recipA, 3);
-}
-
-PX_FORCE_INLINE Vec3V V3RecipFast(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const float32x4_t recipA = VRECIPEQ(a);
-	return vsetq_lane_f32(0.0f, recipA, 3);
-}
-
-PX_FORCE_INLINE Vec3V V3Rsqrt(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const float32x4_t rSqrA = VRECIPSQRTQ(a);
-	return vsetq_lane_f32(0.0f, rSqrA, 3);
-}
-
-PX_FORCE_INLINE Vec3V V3RsqrtFast(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const float32x4_t rSqrA = VRECIPSQRTEQ(a);
-	return vsetq_lane_f32(0.0f, rSqrA, 3);
-}
-
-PX_FORCE_INLINE Vec3V V3ScaleAdd(const Vec3V a, const FloatV b, const Vec3V c)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDFLOATV(b);
-	ASSERT_ISVALIDVEC3V(c);
-
-	float32x4_t tmp = vmlaq_lane_f32(c, a, b, 0);
-	// using vsetq_lane_f32 resulted in failures,
-	// probably related to a compiler bug on
-	// ndk r9d-win32, gcc 4.8, cardhu/shield
-
-	// code with issue
-	// return vsetq_lane_f32(0.0f, tmp, 3);
-
-	// workaround
-	float32x2_t w_z = vget_high_f32(tmp);
-	float32x2_t y_x = vget_low_f32(tmp);
-	w_z = vset_lane_f32(0.0f, w_z, 1);
-	return vcombine_f32(y_x, w_z);
-}
-
-PX_FORCE_INLINE Vec3V V3NegScaleSub(const Vec3V a, const FloatV b, const Vec3V c)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDFLOATV(b);
-	ASSERT_ISVALIDVEC3V(c);
-
-	float32x4_t tmp = vmlsq_lane_f32(c, a, b, 0);
-	// using vsetq_lane_f32 resulted in failures,
-	// probably related to a compiler bug on
-	// ndk r9d-win32, gcc 4.8, cardhu/shield
-
-	// code with issue
-	// return vsetq_lane_f32(0.0f, tmp, 3);
-
-	// workaround
-	float32x2_t w_z = vget_high_f32(tmp);
-	float32x2_t y_x = vget_low_f32(tmp);
-	w_z = vset_lane_f32(0.0f, w_z, 1);
-	return vcombine_f32(y_x, w_z);
-}
-
-PX_FORCE_INLINE Vec3V V3MulAdd(const Vec3V a, const Vec3V b, const Vec3V c)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	ASSERT_ISVALIDVEC3V(c);
-	return vmlaq_f32(c, a, b);
-}
-
-PX_FORCE_INLINE Vec3V V3NegMulSub(const Vec3V a, const Vec3V b, const Vec3V c)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	ASSERT_ISVALIDVEC3V(c);
-	return vmlsq_f32(c, a, b);
-}
-
-PX_FORCE_INLINE Vec3V V3Abs(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	return vabsq_f32(a);
-}
-
-PX_FORCE_INLINE FloatV V3Dot(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	
-	//	const uint32x2_t mask = {0xffffFFFF, 0x0};
-	const float32x4_t tmp = vmulq_f32(a, b);
-
-	const float32x2_t low = vget_low_f32(tmp);
-	const float32x2_t high = vget_high_f32(tmp);
-	//	const float32x2_t high = vreinterpret_f32_u32(vand_u32(vreinterpret_u32_f32(high_), mask));
-
-	const float32x2_t sumTmp = vpadd_f32(low, high);       // = {0+z, x+y}
-	const float32x2_t sum0ZYX = vpadd_f32(sumTmp, sumTmp); // = {x+y+z, x+y+z}
-
-	return sum0ZYX;
-}
-
-PX_FORCE_INLINE Vec3V V3Cross(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-
-	const uint32x2_t TF = { 0xffffFFFF, 0x0 };
-	const float32x2_t ay_ax = vget_low_f32(a);  // d2
-	const float32x2_t aw_az = vget_high_f32(a); // d3
-	const float32x2_t by_bx = vget_low_f32(b);  // d4
-	const float32x2_t bw_bz = vget_high_f32(b); // d5
-	// Hi, Lo
-	const float32x2_t bz_by = vext_f32(by_bx, bw_bz, 1); // bz, by
-	const float32x2_t az_ay = vext_f32(ay_ax, aw_az, 1); // az, ay
-
-	const float32x2_t azbx = vmul_f32(aw_az, by_bx);      // 0, az*bx
-	const float32x2_t aybz_axby = vmul_f32(ay_ax, bz_by); // ay*bz, ax*by
-
-	const float32x2_t azbxSUBaxbz = vmls_f32(azbx, bw_bz, ay_ax);                  // 0, az*bx-ax*bz
-	const float32x2_t aybzSUBazby_axbySUBaybx = vmls_f32(aybz_axby, by_bx, az_ay); // ay*bz-az*by, ax*by-ay*bx
-
-	const float32x2_t retLow = vext_f32(aybzSUBazby_axbySUBaybx, azbxSUBaxbz, 1);           // az*bx-ax*bz, ay*bz-az*by
-	const uint32x2_t retHigh = vand_u32(TF, vreinterpret_u32_f32(aybzSUBazby_axbySUBaybx)); // 0, ax*by-ay*bx
-
-	return vcombine_f32(retLow, vreinterpret_f32_u32(retHigh));
-}
-
-PX_FORCE_INLINE VecCrossV V3PrepareCross(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	return a;
-}
-
-PX_FORCE_INLINE FloatV V3Length(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-
-	//	const uint32x2_t mask = {0xffffFFFF, 0x0};
-
-	const float32x4_t tmp = vmulq_f32(a, a);
-	const float32x2_t low = vget_low_f32(tmp);
-	const float32x2_t high = vget_high_f32(tmp);
-	//	const float32x2_t high = vreinterpret_f32_u32(vand_u32(vreinterpret_u32_f32(high_), mask));
-
-	const float32x2_t sumTmp = vpadd_f32(low, high);       // = {0+z, x+y}
-	const float32x2_t sum0ZYX = vpadd_f32(sumTmp, sumTmp); // = {x+y+z, x+y+z}
-
-	return FSqrt(sum0ZYX);
-}
-
-PX_FORCE_INLINE FloatV V3LengthSq(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	return V3Dot(a, a);
-}
-
-PX_FORCE_INLINE Vec3V V3Normalize(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	//PX_ASSERT(!FAllEq(V4LengthSq(a), FZero()));
-	return V3ScaleInv(a, V3Length(a));
-}
-
-PX_FORCE_INLINE Vec3V V3NormalizeFast(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	//PX_ASSERT(!FAllEq(V4LengthSq(a), FZero()));
-	return V3Scale(a, VRECIPSQRTE(V3Dot(a, a)));
-}
-
-PX_FORCE_INLINE Vec3V V3NormalizeSafe(const Vec3V a, const Vec3V unsafeReturnValue)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const FloatV zero = vdup_n_f32(0.0f);
-	const FloatV length = V3Length(a);
-	const uint32x4_t isGreaterThanZero = FIsGrtr(length, zero);
-	return V3Sel(isGreaterThanZero, V3ScaleInv(a, length), unsafeReturnValue);
-}
-
-PX_FORCE_INLINE Vec3V V3Sel(const BoolV c, const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V( vbslq_f32(c, a, b));
-	return vbslq_f32(c, a, b);
-}
-
-PX_FORCE_INLINE BoolV V3IsGrtr(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return vcgtq_f32(a, b);
-}
-
-PX_FORCE_INLINE BoolV V3IsGrtrOrEq(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return vcgeq_f32(a, b);
-}
-
-PX_FORCE_INLINE BoolV V3IsEq(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return vceqq_f32(a, b);
-}
-
-PX_FORCE_INLINE Vec3V V3Max(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);	
-	return vmaxq_f32(a, b);
-}
-
-PX_FORCE_INLINE Vec3V V3Min(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return vminq_f32(a, b);
-}
-
-PX_FORCE_INLINE FloatV V3ExtractMax(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-
-	const float32x2_t low = vget_low_f32(a);
-	const float32x2_t high = vget_high_f32(a);
-
-	const float32x2_t zz = vdup_lane_f32(high, 0);
-	const float32x2_t max0 = vpmax_f32(zz, low);
-	const float32x2_t max1 = vpmax_f32(max0, max0);
-
-	return max1;
-}
-
-PX_FORCE_INLINE FloatV V3ExtractMin(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-
-	const float32x2_t low = vget_low_f32(a);
-	const float32x2_t high = vget_high_f32(a);
-
-	const float32x2_t zz = vdup_lane_f32(high, 0);
-	const float32x2_t min0 = vpmin_f32(zz, low);
-	const float32x2_t min1 = vpmin_f32(min0, min0);
-
-	return min1;
-}
-
-// return (a >= 0.0f) ? 1.0f : -1.0f;
-PX_FORCE_INLINE Vec3V V3Sign(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const Vec3V zero = V3Zero();
-	const Vec3V one = V3One();
-	const Vec3V none = V3Neg(one);
-	return V3Sel(V3IsGrtrOrEq(a, zero), one, none);
-}
-
-PX_FORCE_INLINE Vec3V V3Clamp(const Vec3V a, const Vec3V minV, const Vec3V maxV)
-{
-	ASSERT_ISVALIDVEC3V(minV);
-	ASSERT_ISVALIDVEC3V(maxV);	
-	return V3Max(V3Min(a, maxV), minV);
-}
-
-PX_FORCE_INLINE PxU32 V3AllGrtr(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return internalUnitNeonSimd::BAllTrue3_R(V4IsGrtr(a, b));
-}
-
-PX_FORCE_INLINE PxU32 V3AllGrtrOrEq(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return internalUnitNeonSimd::BAllTrue3_R(V4IsGrtrOrEq(a, b));
-}
-
-PX_FORCE_INLINE PxU32 V3AllEq(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return internalUnitNeonSimd::BAllTrue3_R(V4IsEq(a, b));
-}
-
-PX_FORCE_INLINE Vec3V V3Round(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	// truncate(a + (0.5f - sign(a)))
-	const Vec3V half = V3Load(0.5f);
-	const float32x4_t sign = vcvtq_f32_u32((vshrq_n_u32(vreinterpretq_u32_f32(a), 31)));
-	const Vec3V aPlusHalf = V3Add(a, half);
-	const Vec3V aRound = V3Sub(aPlusHalf, sign);
-	return vcvtq_f32_s32(vcvtq_s32_f32(aRound));
-}
-
-PX_FORCE_INLINE Vec3V V3Sin(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-
-	// Modulo the range of the given angles such that -XM_2PI <= Angles < XM_2PI
-	const Vec4V recipTwoPi = V4LoadA(g_PXReciprocalTwoPi.f);
-	const Vec4V twoPi = V4LoadA(g_PXTwoPi.f);
-	const Vec3V tmp = V4Mul(a, recipTwoPi);
-	const Vec3V b = V3Round(tmp);
-	const Vec3V V1 = V4NegMulSub(twoPi, b, a);
-
-	// sin(V) ~= V - V^3 / 3! + V^5 / 5! - V^7 / 7! + V^9 / 9! - V^11 / 11! + V^13 / 13! -
-	//           V^15 / 15! + V^17 / 17! - V^19 / 19! + V^21 / 21! - V^23 / 23! (for -PI <= V < PI)
-	const Vec3V V2 = V3Mul(V1, V1);
-	const Vec3V V3 = V3Mul(V2, V1);
-	const Vec3V V5 = V3Mul(V3, V2);
-	const Vec3V V7 = V3Mul(V5, V2);
-	const Vec3V V9 = V3Mul(V7, V2);
-	const Vec3V V11 = V3Mul(V9, V2);
-	const Vec3V V13 = V3Mul(V11, V2);
-	const Vec3V V15 = V3Mul(V13, V2);
-	const Vec3V V17 = V3Mul(V15, V2);
-	const Vec3V V19 = V3Mul(V17, V2);
-	const Vec3V V21 = V3Mul(V19, V2);
-	const Vec3V V23 = V3Mul(V21, V2);
-
-	const Vec4V sinCoefficients0 = V4LoadA(g_PXSinCoefficients0.f);
-	const Vec4V sinCoefficients1 = V4LoadA(g_PXSinCoefficients1.f);
-	const Vec4V sinCoefficients2 = V4LoadA(g_PXSinCoefficients2.f);
-
-	const FloatV S1 = V4GetY(sinCoefficients0);
-	const FloatV S2 = V4GetZ(sinCoefficients0);
-	const FloatV S3 = V4GetW(sinCoefficients0);
-	const FloatV S4 = V4GetX(sinCoefficients1);
-	const FloatV S5 = V4GetY(sinCoefficients1);
-	const FloatV S6 = V4GetZ(sinCoefficients1);
-	const FloatV S7 = V4GetW(sinCoefficients1);
-	const FloatV S8 = V4GetX(sinCoefficients2);
-	const FloatV S9 = V4GetY(sinCoefficients2);
-	const FloatV S10 = V4GetZ(sinCoefficients2);
-	const FloatV S11 = V4GetW(sinCoefficients2);
-
-	Vec3V Result;
-	Result = V4ScaleAdd(V3, S1, V1);
-	Result = V4ScaleAdd(V5, S2, Result);
-	Result = V4ScaleAdd(V7, S3, Result);
-	Result = V4ScaleAdd(V9, S4, Result);
-	Result = V4ScaleAdd(V11, S5, Result);
-	Result = V4ScaleAdd(V13, S6, Result);
-	Result = V4ScaleAdd(V15, S7, Result);
-	Result = V4ScaleAdd(V17, S8, Result);
-	Result = V4ScaleAdd(V19, S9, Result);
-	Result = V4ScaleAdd(V21, S10, Result);
-	Result = V4ScaleAdd(V23, S11, Result);
-
-	return Result;
-}
-
-PX_FORCE_INLINE Vec3V V3Cos(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	
-	// Modulo the range of the given angles such that -XM_2PI <= Angles < XM_2PI
-	const Vec4V recipTwoPi = V4LoadA(g_PXReciprocalTwoPi.f);
-	const Vec4V twoPi = V4LoadA(g_PXTwoPi.f);
-	const Vec3V tmp = V4Mul(a, recipTwoPi);
-	const Vec3V b = V3Round(tmp);
-	const Vec3V V1 = V4NegMulSub(twoPi, b, a);
-
-	// cos(V) ~= 1 - V^2 / 2! + V^4 / 4! - V^6 / 6! + V^8 / 8! - V^10 / 10! + V^12 / 12! -
-	//           V^14 / 14! + V^16 / 16! - V^18 / 18! + V^20 / 20! - V^22 / 22! (for -PI <= V < PI)
-	const Vec3V V2 = V3Mul(V1, V1);
-	const Vec3V V4 = V3Mul(V2, V2);
-	const Vec3V V6 = V3Mul(V4, V2);
-	const Vec3V V8 = V3Mul(V4, V4);
-	const Vec3V V10 = V3Mul(V6, V4);
-	const Vec3V V12 = V3Mul(V6, V6);
-	const Vec3V V14 = V3Mul(V8, V6);
-	const Vec3V V16 = V3Mul(V8, V8);
-	const Vec3V V18 = V3Mul(V10, V8);
-	const Vec3V V20 = V3Mul(V10, V10);
-	const Vec3V V22 = V3Mul(V12, V10);
-
-	const Vec4V cosCoefficients0 = V4LoadA(g_PXCosCoefficients0.f);
-	const Vec4V cosCoefficients1 = V4LoadA(g_PXCosCoefficients1.f);
-	const Vec4V cosCoefficients2 = V4LoadA(g_PXCosCoefficients2.f);
-
-	const FloatV C1 = V4GetY(cosCoefficients0);
-	const FloatV C2 = V4GetZ(cosCoefficients0);
-	const FloatV C3 = V4GetW(cosCoefficients0);
-	const FloatV C4 = V4GetX(cosCoefficients1);
-	const FloatV C5 = V4GetY(cosCoefficients1);
-	const FloatV C6 = V4GetZ(cosCoefficients1);
-	const FloatV C7 = V4GetW(cosCoefficients1);
-	const FloatV C8 = V4GetX(cosCoefficients2);
-	const FloatV C9 = V4GetY(cosCoefficients2);
-	const FloatV C10 = V4GetZ(cosCoefficients2);
-	const FloatV C11 = V4GetW(cosCoefficients2);
-
-	Vec3V Result;
-	Result = V4ScaleAdd(V2, C1, V4One());
-	Result = V4ScaleAdd(V4, C2, Result);
-	Result = V4ScaleAdd(V6, C3, Result);
-	Result = V4ScaleAdd(V8, C4, Result);
-	Result = V4ScaleAdd(V10, C5, Result);
-	Result = V4ScaleAdd(V12, C6, Result);
-	Result = V4ScaleAdd(V14, C7, Result);
-	Result = V4ScaleAdd(V16, C8, Result);
-	Result = V4ScaleAdd(V18, C9, Result);
-	Result = V4ScaleAdd(V20, C10, Result);
-	Result = V4ScaleAdd(V22, C11, Result);
-
-	return V4ClearW(Result);
-}
-
-PX_FORCE_INLINE Vec3V V3PermYZZ(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const float32x2_t xy = vget_low_f32(a);
-	const float32x2_t zw = vget_high_f32(a);
-	const float32x2_t yz = vext_f32(xy, zw, 1);
-	return vcombine_f32(yz, zw);
-}
-
-PX_FORCE_INLINE Vec3V V3PermXYX(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const uint32x2_t mask = { 0xffffFFFF, 0x0 };
-
-	const uint32x2_t xy = vget_low_u32(vreinterpretq_u32_f32(a));
-	const uint32x2_t xw = vand_u32(xy, mask);
-	return vreinterpretq_f32_u32(vcombine_u32(xy, xw));
-}
-
-PX_FORCE_INLINE Vec3V V3PermYZX(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const uint32x2_t mask = { 0xffffFFFF, 0x0 };
-
-	const uint32x2_t xy = vget_low_u32(vreinterpretq_u32_f32(a));
-	const uint32x2_t zw = vget_high_u32(vreinterpretq_u32_f32(a));
-	const uint32x2_t yz = vext_u32(xy, zw, 1);
-	const uint32x2_t xw = vand_u32(xy, mask);
-	return vreinterpretq_f32_u32(vcombine_u32(yz, xw));
-}
-
-PX_FORCE_INLINE Vec3V V3PermZXY(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);	
-	
-	const uint32x2_t xy = vget_low_u32(vreinterpretq_u32_f32(a));
-	const uint32x2_t zw = vget_high_u32(vreinterpretq_u32_f32(a));
-	const uint32x2_t wz = vrev64_u32(zw);
-
-	const uint32x2_t zx = vext_u32(wz, xy, 1);
-	const uint32x2_t yw = vext_u32(xy, wz, 1);
-
-	return vreinterpretq_f32_u32(vcombine_u32(zx, yw));
-}
-
-PX_FORCE_INLINE Vec3V V3PermZZY(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-
-	const uint32x2_t xy = vget_low_u32(vreinterpretq_u32_f32(a));
-	const uint32x2_t zw = vget_high_u32(vreinterpretq_u32_f32(a));
-
-	const uint32x2_t wz = vrev64_u32(zw);
-	const uint32x2_t yw = vext_u32(xy, wz, 1);
-	const uint32x2_t zz = vdup_lane_u32(wz, 1);
-
-	return vreinterpretq_f32_u32(vcombine_u32(zz, yw));
-}
-
-PX_FORCE_INLINE Vec3V V3PermYXX(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-
-	const uint32x2_t mask = { 0xffffFFFF, 0x0 };
-
-	const uint32x2_t xy = vget_low_u32(vreinterpretq_u32_f32(a));
-	const uint32x2_t yx = vrev64_u32(xy);
-	const uint32x2_t xw = vand_u32(xy, mask);
-	return vreinterpretq_f32_u32(vcombine_u32(yx, xw));
-}
-
-PX_FORCE_INLINE Vec3V V3Perm_Zero_1Z_0Y(const Vec3V v0, const Vec3V v1)
-{
-	ASSERT_ISVALIDVEC3V(v0);
-	ASSERT_ISVALIDVEC3V(v1);
-	
-	const uint32x2_t xy = vget_low_u32(vreinterpretq_u32_f32(v0));
-	const uint32x2_t zw = vget_high_u32(vreinterpretq_u32_f32(v1));
-	const uint32x2_t wz = vrev64_u32(zw);
-	const uint32x2_t yw = vext_u32(xy, wz, 1);
-
-	return vreinterpretq_f32_u32(vcombine_u32(wz, yw));
-}
-
-PX_FORCE_INLINE Vec3V V3Perm_0Z_Zero_1X(const Vec3V v0, const Vec3V v1)
-{
-	ASSERT_ISVALIDVEC3V(v0);
-	ASSERT_ISVALIDVEC3V(v1);
-
-	const uint32x2_t mask = { 0xffffFFFF, 0x0 };
-
-	const uint32x2_t zw = vget_high_u32(vreinterpretq_u32_f32(v0));
-	const uint32x2_t xy = vget_low_u32(vreinterpretq_u32_f32(v1));
-	const uint32x2_t xw = vand_u32(xy, mask);
-
-	return vreinterpretq_f32_u32(vcombine_u32(zw, xw));
-}
-
-PX_FORCE_INLINE Vec3V V3Perm_1Y_0X_Zero(const Vec3V v0, const Vec3V v1)
-{
-	ASSERT_ISVALIDVEC3V(v0);
-	ASSERT_ISVALIDVEC3V(v1);
-	
-	const uint32x2_t axy = vget_low_u32(vreinterpretq_u32_f32(v0));
-	const uint32x2_t bxy = vget_low_u32(vreinterpretq_u32_f32(v1));
-	const uint32x2_t byax = vext_u32(bxy, axy, 1);
-	const uint32x2_t ww = vdup_n_u32(0);
-
-	return vreinterpretq_f32_u32(vcombine_u32(byax, ww));
-}
-
-PX_FORCE_INLINE FloatV V3SumElems(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-
-	// const uint32x2_t mask = {0xffffFFFF, 0x0};
-
-	const float32x2_t low = vget_low_f32(a);
-	const float32x2_t high = vget_high_f32(a);
-	// const float32x2_t high = vreinterpret_f32_u32(vand_u32(vreinterpret_u32_f32(high_), mask));
-
-	const float32x2_t sumTmp = vpadd_f32(low, high);       // = {0+z, x+y}
-	const float32x2_t sum0ZYX = vpadd_f32(sumTmp, sumTmp); // = {x+y+z, x+y+z}
-
-	return sum0ZYX;
-}
-
-PX_FORCE_INLINE PxU32 V3OutOfBounds(const Vec3V a, const Vec3V min, const Vec3V max)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(min);
-	ASSERT_ISVALIDVEC3V(max);
-
-	const BoolV c = BOr(V3IsGrtr(a, max), V3IsGrtr(min, a));
-	return internalUnitNeonSimd::BAnyTrue3_R(c);
-}
-
-PX_FORCE_INLINE PxU32 V3InBounds(const Vec3V a, const Vec3V min, const Vec3V max)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(min);
-	ASSERT_ISVALIDVEC3V(max);
-
-	const BoolV c = BAnd(V3IsGrtrOrEq(a, min), V3IsGrtrOrEq(max, a));
-	return internalUnitNeonSimd::BAllTrue4_R(c);
-}
-
-PX_FORCE_INLINE PxU32 V3OutOfBounds(const Vec3V a, const Vec3V bounds)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(bounds);
-
-	const BoolV greater = V3IsGrtr(V3Abs(a), bounds);
-	return internalUnitNeonSimd::BAnyTrue3_R(greater);
-}
-
-PX_FORCE_INLINE PxU32 V3InBounds(const Vec3V a, const Vec3V bounds)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(bounds);
-
-	const BoolV greaterOrEq = V3IsGrtrOrEq(bounds, V3Abs(a));
-	return internalUnitNeonSimd::BAllTrue4_R(greaterOrEq);
-}
-
-PX_FORCE_INLINE void V3Transpose(Vec3V& col0, Vec3V& col1, Vec3V& col2)
-{
-	ASSERT_ISVALIDVEC3V(col0);
-	ASSERT_ISVALIDVEC3V(col1);
-	ASSERT_ISVALIDVEC3V(col2);
-
-	Vec3V col3 = V3Zero();
-	const float32x4x2_t v0v1 = vzipq_f32(col0, col2);
-	const float32x4x2_t v2v3 = vzipq_f32(col1, col3);
-	const float32x4x2_t zip0 = vzipq_f32(v0v1.val[0], v2v3.val[0]);
-	const float32x4x2_t zip1 = vzipq_f32(v0v1.val[1], v2v3.val[1]);
-	col0 = zip0.val[0];
-	col1 = zip0.val[1];
-	col2 = zip1.val[0];
-	// col3 = zip1.val[1];
-}
-
-//////////////////////////////////
-// VEC4V
-//////////////////////////////////
-
-PX_FORCE_INLINE Vec4V V4Splat(const FloatV f)
-{
-	ASSERT_ISVALIDFLOATV(f);
-	return vcombine_f32(f, f);
-}
-
-PX_FORCE_INLINE Vec4V V4Merge(const FloatV* const floatVArray)
-{
-	ASSERT_ISVALIDFLOATV(floatVArray[0]);
-	ASSERT_ISVALIDFLOATV(floatVArray[1]);
-	ASSERT_ISVALIDFLOATV(floatVArray[2]);
-	ASSERT_ISVALIDFLOATV(floatVArray[3]);
-
-	const uint32x2_t xLow = vreinterpret_u32_f32(floatVArray[0]);
-	const uint32x2_t yLow = vreinterpret_u32_f32(floatVArray[1]);
-	const uint32x2_t zLow = vreinterpret_u32_f32(floatVArray[2]);
-	const uint32x2_t wLow = vreinterpret_u32_f32(floatVArray[3]);
-
-	const uint32x2_t dLow = vext_u32(xLow, yLow, 1);
-	const uint32x2_t dHigh = vext_u32(zLow, wLow, 1);
-
-	return vreinterpretq_f32_u32(vcombine_u32(dLow, dHigh));
-}
-
-PX_FORCE_INLINE Vec4V V4Merge(const FloatVArg x, const FloatVArg y, const FloatVArg z, const FloatVArg w)
-{
-	ASSERT_ISVALIDFLOATV(x);
-	ASSERT_ISVALIDFLOATV(y);
-	ASSERT_ISVALIDFLOATV(z);
-	ASSERT_ISVALIDFLOATV(w);
-
-	const uint32x2_t xLow = vreinterpret_u32_f32(x);
-	const uint32x2_t yLow = vreinterpret_u32_f32(y);
-	const uint32x2_t zLow = vreinterpret_u32_f32(z);
-	const uint32x2_t wLow = vreinterpret_u32_f32(w);
-
-	const uint32x2_t dLow = vext_u32(xLow, yLow, 1);
-	const uint32x2_t dHigh = vext_u32(zLow, wLow, 1);
-
-	return vreinterpretq_f32_u32(vcombine_u32(dLow, dHigh));
-}
-
-PX_FORCE_INLINE Vec4V V4MergeW(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w)
-{
-	const float32x2_t xx = vget_high_f32(x);
-	const float32x2_t yy = vget_high_f32(y);
-	const float32x2_t zz = vget_high_f32(z);
-	const float32x2_t ww = vget_high_f32(w);
-
-	const float32x2x2_t zipL = vzip_f32(xx, yy);
-	const float32x2x2_t zipH = vzip_f32(zz, ww);
-
-	return vcombine_f32(zipL.val[1], zipH.val[1]);
-}
-
-PX_FORCE_INLINE Vec4V V4MergeZ(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w)
-{
-	const float32x2_t xx = vget_high_f32(x);
-	const float32x2_t yy = vget_high_f32(y);
-	const float32x2_t zz = vget_high_f32(z);
-	const float32x2_t ww = vget_high_f32(w);
-
-	const float32x2x2_t zipL = vzip_f32(xx, yy);
-	const float32x2x2_t zipH = vzip_f32(zz, ww);
-
-	return vcombine_f32(zipL.val[0], zipH.val[0]);
-}
-
-PX_FORCE_INLINE Vec4V V4MergeY(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w)
-{
-	const float32x2_t xx = vget_low_f32(x);
-	const float32x2_t yy = vget_low_f32(y);
-	const float32x2_t zz = vget_low_f32(z);
-	const float32x2_t ww = vget_low_f32(w);
-
-	const float32x2x2_t zipL = vzip_f32(xx, yy);
-	const float32x2x2_t zipH = vzip_f32(zz, ww);
-
-	return vcombine_f32(zipL.val[1], zipH.val[1]);
-}
-
-PX_FORCE_INLINE Vec4V V4MergeX(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w)
-{
-	const float32x2_t xx = vget_low_f32(x);
-	const float32x2_t yy = vget_low_f32(y);
-	const float32x2_t zz = vget_low_f32(z);
-	const float32x2_t ww = vget_low_f32(w);
-
-	const float32x2x2_t zipL = vzip_f32(xx, yy);
-	const float32x2x2_t zipH = vzip_f32(zz, ww);
-
-	return vcombine_f32(zipL.val[0], zipH.val[0]);
-}
-
-PX_FORCE_INLINE Vec4V V4UnpackXY(const Vec4VArg a, const Vec4VArg b)
-{
-	return vzipq_f32(a, b).val[0];
-}
-
-PX_FORCE_INLINE Vec4V V4UnpackZW(const Vec4VArg a, const Vec4VArg b)
-{
-	return vzipq_f32(a, b).val[1];
-}
-
-PX_FORCE_INLINE Vec4V V4UnitW()
-{
-	const float32x2_t zeros = vreinterpret_f32_u32(vmov_n_u32(0));
-	const float32x2_t ones = vmov_n_f32(1.0f);
-	const float32x2_t zo = vext_f32(zeros, ones, 1);
-	return vcombine_f32(zeros, zo);
-}
-
-PX_FORCE_INLINE Vec4V V4UnitX()
-{
-	const float32x2_t zeros = vreinterpret_f32_u32(vmov_n_u32(0));
-	const float32x2_t ones = vmov_n_f32(1.0f);
-	const float32x2_t oz = vext_f32(ones, zeros, 1);
-	return vcombine_f32(oz, zeros);
-}
-
-PX_FORCE_INLINE Vec4V V4UnitY()
-{
-	const float32x2_t zeros = vreinterpret_f32_u32(vmov_n_u32(0));
-	const float32x2_t ones = vmov_n_f32(1.0f);
-	const float32x2_t zo = vext_f32(zeros, ones, 1);
-	return vcombine_f32(zo, zeros);
-}
-
-PX_FORCE_INLINE Vec4V V4UnitZ()
-{
-	const float32x2_t zeros = vreinterpret_f32_u32(vmov_n_u32(0));
-	const float32x2_t ones = vmov_n_f32(1.0f);
-	const float32x2_t oz = vext_f32(ones, zeros, 1);
-	return vcombine_f32(zeros, oz);
-}
-
-PX_FORCE_INLINE FloatV V4GetW(const Vec4V f)
-{
-	const float32x2_t fhigh = vget_high_f32(f);
-	return vdup_lane_f32(fhigh, 1);
-}
-
-PX_FORCE_INLINE FloatV V4GetX(const Vec4V f)
-{
-	const float32x2_t fLow = vget_low_f32(f);
-	return vdup_lane_f32(fLow, 0);
-}
-
-PX_FORCE_INLINE FloatV V4GetY(const Vec4V f)
-{
-	const float32x2_t fLow = vget_low_f32(f);
-	return vdup_lane_f32(fLow, 1);
-}
-
-PX_FORCE_INLINE FloatV V4GetZ(const Vec4V f)
-{
-	const float32x2_t fhigh = vget_high_f32(f);
-	return vdup_lane_f32(fhigh, 0);
-}
-
-PX_FORCE_INLINE Vec4V V4SetW(const Vec4V v, const FloatV f)
-{
-	ASSERT_ISVALIDFLOATV(f);
-	return V4Sel(BTTTF(), v, vcombine_f32(f, f));
-}
-
-PX_FORCE_INLINE Vec4V V4SetX(const Vec4V v, const FloatV f)
-{
-	ASSERT_ISVALIDFLOATV(f);
-	return V4Sel(BFTTT(), v, vcombine_f32(f, f));
-}
-
-PX_FORCE_INLINE Vec4V V4SetY(const Vec4V v, const FloatV f)
-{
-	ASSERT_ISVALIDFLOATV(f);
-	return V4Sel(BTFTT(), v, vcombine_f32(f, f));
-}
-
-PX_FORCE_INLINE Vec4V V4SetZ(const Vec4V v, const FloatV f)
-{
-	ASSERT_ISVALIDFLOATV(f);
-	return V4Sel(BTTFT(), v, vcombine_f32(f, f));
-}
-
-PX_FORCE_INLINE Vec4V V4ClearW(const Vec4V v)
-{
-	return V4Sel(BTTTF(), v, V4Zero());
-}
-
-PX_FORCE_INLINE Vec4V V4PermYXWZ(const Vec4V a)
-{
-	const float32x2_t xy = vget_low_f32(a);
-	const float32x2_t zw = vget_high_f32(a);
-	const float32x2_t yx = vext_f32(xy, xy, 1);
-	const float32x2_t wz = vext_f32(zw, zw, 1);
-	return vcombine_f32(yx, wz);
-}
-
-PX_FORCE_INLINE Vec4V V4PermXZXZ(const Vec4V a)
-{
-	const float32x2_t xy = vget_low_f32(a);
-	const float32x2_t zw = vget_high_f32(a);
-	const float32x2x2_t xzyw = vzip_f32(xy, zw);
-	return vcombine_f32(xzyw.val[0], xzyw.val[0]);
-}
-
-PX_FORCE_INLINE Vec4V V4PermYWYW(const Vec4V a)
-{
-	const float32x2_t xy = vget_low_f32(a);
-	const float32x2_t zw = vget_high_f32(a);
-	const float32x2x2_t xzyw = vzip_f32(xy, zw);
-	return vcombine_f32(xzyw.val[1], xzyw.val[1]);
-}
-
-PX_FORCE_INLINE Vec4V V4PermYZXW(const Vec4V a)
-{
-	const uint32x2_t xy = vget_low_u32(vreinterpretq_u32_f32(a));
-	const uint32x2_t zw = vget_high_u32(vreinterpretq_u32_f32(a));
-	const uint32x2_t yz = vext_u32(xy, zw, 1);
-	const uint32x2_t xw = vrev64_u32(vext_u32(zw, xy, 1));
-	return vreinterpretq_f32_u32(vcombine_u32(yz, xw));
-}
-
-template <PxU8 E0, PxU8 E1, PxU8 E2, PxU8 E3>
-PX_FORCE_INLINE Vec4V V4Perm(const Vec4V V)
-{
-	static const uint32_t ControlElement[4] =
-	{
-#if 1
-		0x03020100, // XM_SWIZZLE_X
-		0x07060504, // XM_SWIZZLE_Y
-		0x0B0A0908, // XM_SWIZZLE_Z
-		0x0F0E0D0C, // XM_SWIZZLE_W
-#else
-		0x00010203, // XM_SWIZZLE_X
-		0x04050607, // XM_SWIZZLE_Y
-		0x08090A0B, // XM_SWIZZLE_Z
-		0x0C0D0E0F, // XM_SWIZZLE_W
-#endif
-	};
-
-	uint8x8x2_t tbl;
-	tbl.val[0] = vreinterpret_u8_f32(vget_low_f32(V));
-	tbl.val[1] = vreinterpret_u8_f32(vget_high_f32(V));
-
-	uint8x8_t idx =
-	    vcreate_u8(static_cast<uint64_t>(ControlElement[E0]) | (static_cast<uint64_t>(ControlElement[E1]) << 32));
-	const uint8x8_t rL = vtbl2_u8(tbl, idx);
-	idx = vcreate_u8(static_cast<uint64_t>(ControlElement[E2]) | (static_cast<uint64_t>(ControlElement[E3]) << 32));
-	const uint8x8_t rH = vtbl2_u8(tbl, idx);
-	return vreinterpretq_f32_u8(vcombine_u8(rL, rH));
-}
-
-// PT: this seems measurably slower than the hardcoded version
-/*PX_FORCE_INLINE Vec4V V4PermYZXW(const Vec4V a)
-{
-    return V4Perm<1, 2, 0, 3>(a);
-}*/
-
-PX_FORCE_INLINE Vec4V V4Zero()
-{
-	return vreinterpretq_f32_u32(vmovq_n_u32(0));
-	//	return vmovq_n_f32(0.0f);
-}
-
-PX_FORCE_INLINE Vec4V V4One()
-{
-	return vmovq_n_f32(1.0f);
-}
-
-PX_FORCE_INLINE Vec4V V4Eps()
-{
-	//	return vmovq_n_f32(PX_EPS_REAL);
-	return V4Load(PX_EPS_REAL);
-}
-
-PX_FORCE_INLINE Vec4V V4Neg(const Vec4V f)
-{
-	return vnegq_f32(f);
-}
-
-PX_FORCE_INLINE Vec4V V4Add(const Vec4V a, const Vec4V b)
-{
-	return vaddq_f32(a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4Sub(const Vec4V a, const Vec4V b)
-{
-	return vsubq_f32(a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4Scale(const Vec4V a, const FloatV b)
-{
-	return vmulq_lane_f32(a, b, 0);
-}
-
-PX_FORCE_INLINE Vec4V V4Mul(const Vec4V a, const Vec4V b)
-{
-	return vmulq_f32(a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4ScaleInv(const Vec4V a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(b);
-	const float32x2_t invB = VRECIP(b);
-	return vmulq_lane_f32(a, invB, 0);
-}
-
-PX_FORCE_INLINE Vec4V V4Div(const Vec4V a, const Vec4V b)
-{
-	const float32x4_t invB = VRECIPQ(b);
-	return vmulq_f32(a, invB);
-}
-
-PX_FORCE_INLINE Vec4V V4ScaleInvFast(const Vec4V a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(b);
-	const float32x2_t invB = VRECIPE(b);
-	return vmulq_lane_f32(a, invB, 0);
-}
-
-PX_FORCE_INLINE Vec4V V4DivFast(const Vec4V a, const Vec4V b)
-{
-	const float32x4_t invB = VRECIPEQ(b);
-	return vmulq_f32(a, invB);
-}
-
-PX_FORCE_INLINE Vec4V V4Recip(const Vec4V a)
-{
-	return VRECIPQ(a);
-}
-
-PX_FORCE_INLINE Vec4V V4RecipFast(const Vec4V a)
-{
-	return VRECIPEQ(a);
-}
-
-PX_FORCE_INLINE Vec4V V4Rsqrt(const Vec4V a)
-{
-	return VRECIPSQRTQ(a);
-}
-
-PX_FORCE_INLINE Vec4V V4RsqrtFast(const Vec4V a)
-{
-	return VRECIPSQRTEQ(a);
-}
-
-PX_FORCE_INLINE Vec4V V4Sqrt(const Vec4V a)
-{
-	return V4Sel(V4IsEq(a, V4Zero()), a, V4Mul(a, VRECIPSQRTQ(a)));
-}
-
-PX_FORCE_INLINE Vec4V V4ScaleAdd(const Vec4V a, const FloatV b, const Vec4V c)
-{
-	ASSERT_ISVALIDFLOATV(b);
-	return vmlaq_lane_f32(c, a, b, 0);
-}
-
-PX_FORCE_INLINE Vec4V V4NegScaleSub(const Vec4V a, const FloatV b, const Vec4V c)
-{
-	ASSERT_ISVALIDFLOATV(b);
-	return vmlsq_lane_f32(c, a, b, 0);
-}
-
-PX_FORCE_INLINE Vec4V V4MulAdd(const Vec4V a, const Vec4V b, const Vec4V c)
-{
-	return vmlaq_f32(c, a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4NegMulSub(const Vec4V a, const Vec4V b, const Vec4V c)
-{
-	return vmlsq_f32(c, a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4Abs(const Vec4V a)
-{
-	return vabsq_f32(a);
-}
-
-PX_FORCE_INLINE FloatV V4SumElements(const Vec4V a)
-{
-	const Vec4V xy = V4UnpackXY(a, a); // x,x,y,y
-	const Vec4V zw = V4UnpackZW(a, a); // z,z,w,w
-	const Vec4V xz_yw = V4Add(xy, zw); // x+z,x+z,y+w,y+w
-	const FloatV xz = V4GetX(xz_yw);   // x+z
-	const FloatV yw = V4GetZ(xz_yw);   // y+w
-	return FAdd(xz, yw);               // sum
-}
-
-PX_FORCE_INLINE FloatV V4Dot(const Vec4V a, const Vec4V b)
-{
-	const float32x4_t tmp = vmulq_f32(a, b);
-	const float32x2_t low = vget_low_f32(tmp);
-	const float32x2_t high = vget_high_f32(tmp);
-
-	const float32x2_t sumTmp = vpadd_f32(low, high);       // = {z+w, x+y}
-	const float32x2_t sumWZYX = vpadd_f32(sumTmp, sumTmp); // = {x+y+z+w, x+y+z+w}
-	return sumWZYX;
-}
-
-PX_FORCE_INLINE FloatV V4Dot3(const Vec4V aa, const Vec4V bb)
-{
-	// PT: the V3Dot code relies on the fact that W=0 so we can't reuse it as-is, we need to clear W first.
-	// TODO: find a better implementation that does not need to clear W.
-	const Vec4V a = V4ClearW(aa);
-	const Vec4V b = V4ClearW(bb);
-
-	const float32x4_t tmp = vmulq_f32(a, b);
-	const float32x2_t low = vget_low_f32(tmp);
-	const float32x2_t high = vget_high_f32(tmp);
-
-	const float32x2_t sumTmp = vpadd_f32(low, high);       // = {0+z, x+y}
-	const float32x2_t sum0ZYX = vpadd_f32(sumTmp, sumTmp); // = {x+y+z, x+y+z}
-	return sum0ZYX;
-}
-
-PX_FORCE_INLINE Vec4V V4Cross(const Vec4V a, const Vec4V b)
-{
-	const uint32x2_t TF = { 0xffffFFFF, 0x0 };
-	const float32x2_t ay_ax = vget_low_f32(a);  // d2
-	const float32x2_t aw_az = vget_high_f32(a); // d3
-	const float32x2_t by_bx = vget_low_f32(b);  // d4
-	const float32x2_t bw_bz = vget_high_f32(b); // d5
-	// Hi, Lo
-	const float32x2_t bz_by = vext_f32(by_bx, bw_bz, 1); // bz, by
-	const float32x2_t az_ay = vext_f32(ay_ax, aw_az, 1); // az, ay
-
-	const float32x2_t azbx = vmul_f32(aw_az, by_bx);      // 0, az*bx
-	const float32x2_t aybz_axby = vmul_f32(ay_ax, bz_by); // ay*bz, ax*by
-
-	const float32x2_t azbxSUBaxbz = vmls_f32(azbx, bw_bz, ay_ax);                  // 0, az*bx-ax*bz
-	const float32x2_t aybzSUBazby_axbySUBaybx = vmls_f32(aybz_axby, by_bx, az_ay); // ay*bz-az*by, ax*by-ay*bx
-
-	const float32x2_t retLow = vext_f32(aybzSUBazby_axbySUBaybx, azbxSUBaxbz, 1);           // az*bx-ax*bz, ay*bz-az*by
-	const uint32x2_t retHigh = vand_u32(TF, vreinterpret_u32_f32(aybzSUBazby_axbySUBaybx)); // 0, ax*by-ay*bx
-
-	return vcombine_f32(retLow, vreinterpret_f32_u32(retHigh));
-}
-
-PX_FORCE_INLINE FloatV V4Length(const Vec4V a)
-{
-	const float32x4_t tmp = vmulq_f32(a, a);
-	const float32x2_t low = vget_low_f32(tmp);
-	const float32x2_t high = vget_high_f32(tmp);
-
-	const float32x2_t sumTmp = vpadd_f32(low, high);       // = {0+z, x+y}
-	const float32x2_t sumWZYX = vpadd_f32(sumTmp, sumTmp); // = {x+y+z, x+y+z}
-	return FSqrt(sumWZYX);
-}
-
-PX_FORCE_INLINE FloatV V4LengthSq(const Vec4V a)
-{
-	return V4Dot(a, a);
-}
-
-PX_FORCE_INLINE Vec4V V4Normalize(const Vec4V a)
-{
-	//PX_ASSERT(!FAllEq(V4LengthSq(a), FZero()));
-	return V4ScaleInv(a, V4Length(a));
-}
-
-PX_FORCE_INLINE Vec4V V4NormalizeFast(const Vec4V a)
-{
-	//PX_ASSERT(!FAllEq(V4LengthSq(a), FZero()));
-	return V4Scale(a, FRsqrtFast(V4Dot(a, a)));
-}
-
-PX_FORCE_INLINE Vec4V V4NormalizeSafe(const Vec4V a, const Vec4V unsafeReturnValue)
-{
-	const FloatV zero = FZero();
-	const FloatV length = V4Length(a);
-	const uint32x4_t isGreaterThanZero = FIsGrtr(length, zero);
-	return V4Sel(isGreaterThanZero, V4ScaleInv(a, length), unsafeReturnValue);
-}
-
-PX_FORCE_INLINE BoolV V4IsEqU32(const VecU32V a, const VecU32V b)
-{
-	return vceqq_u32(a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4Sel(const BoolV c, const Vec4V a, const Vec4V b)
-{
-	return vbslq_f32(c, a, b);
-}
-
-PX_FORCE_INLINE BoolV V4IsGrtr(const Vec4V a, const Vec4V b)
-{
-	return vcgtq_f32(a, b);
-}
-
-PX_FORCE_INLINE BoolV V4IsGrtrOrEq(const Vec4V a, const Vec4V b)
-{
-	return vcgeq_f32(a, b);
-}
-
-PX_FORCE_INLINE BoolV V4IsEq(const Vec4V a, const Vec4V b)
-{
-	return vceqq_f32(a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4Max(const Vec4V a, const Vec4V b)
-{
-	return vmaxq_f32(a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4Min(const Vec4V a, const Vec4V b)
-{
-	return vminq_f32(a, b);
-}
-
-PX_FORCE_INLINE FloatV V4ExtractMax(const Vec4V a)
-{
-	const float32x2_t low = vget_low_f32(a);
-	const float32x2_t high = vget_high_f32(a);
-
-	const float32x2_t max0 = vpmax_f32(high, low);
-	const float32x2_t max1 = vpmax_f32(max0, max0);
-
-	return max1;
-}
-
-PX_FORCE_INLINE FloatV V4ExtractMin(const Vec4V a)
-{
-	const float32x2_t low = vget_low_f32(a);
-	const float32x2_t high = vget_high_f32(a);
-
-	const float32x2_t min0 = vpmin_f32(high, low);
-	const float32x2_t min1 = vpmin_f32(min0, min0);
-
-	return min1;
-}
-
-PX_FORCE_INLINE Vec4V V4Clamp(const Vec4V a, const Vec4V minV, const Vec4V maxV)
-{
-	return V4Max(V4Min(a, maxV), minV);
-}
-
-PX_FORCE_INLINE PxU32 V4AllGrtr(const Vec4V a, const Vec4V b)
-{
-	return internalUnitNeonSimd::BAllTrue4_R(V4IsGrtr(a, b));
-}
-
-PX_FORCE_INLINE PxU32 V4AllGrtrOrEq(const Vec4V a, const Vec4V b)
-{
-	return internalUnitNeonSimd::BAllTrue4_R(V4IsGrtrOrEq(a, b));
-}
-
-PX_FORCE_INLINE PxU32 V4AllGrtrOrEq3(const Vec4V a, const Vec4V b)
-{
-	return internalUnitNeonSimd::BAllTrue3_R(V4IsGrtrOrEq(a, b));
-}
-
-PX_FORCE_INLINE PxU32 V4AllEq(const Vec4V a, const Vec4V b)
-{
-	return internalUnitNeonSimd::BAllTrue4_R(V4IsEq(a, b));
-}
-
-PX_FORCE_INLINE PxU32 V4AnyGrtr3(const Vec4V a, const Vec4V b)
-{
-	return internalUnitNeonSimd::BAnyTrue3_R(V4IsGrtr(a, b));
-}
-
-PX_FORCE_INLINE Vec4V V4Round(const Vec4V a)
-{
-	// truncate(a + (0.5f - sign(a)))
-	const Vec4V half = V4Load(0.5f);
-	const float32x4_t sign = vcvtq_f32_u32((vshrq_n_u32(vreinterpretq_u32_f32(a), 31)));
-	const Vec4V aPlusHalf = V4Add(a, half);
-	const Vec4V aRound = V4Sub(aPlusHalf, sign);
-	return vcvtq_f32_s32(vcvtq_s32_f32(aRound));
-}
-
-PX_FORCE_INLINE Vec4V V4Sin(const Vec4V a)
-{
-	const Vec4V recipTwoPi = V4LoadA(g_PXReciprocalTwoPi.f);
-	const Vec4V twoPi = V4LoadA(g_PXTwoPi.f);
-	const Vec4V tmp = V4Mul(a, recipTwoPi);
-	const Vec4V b = V4Round(tmp);
-	const Vec4V V1 = V4NegMulSub(twoPi, b, a);
-
-	// sin(V) ~= V - V^3 / 3! + V^5 / 5! - V^7 / 7! + V^9 / 9! - V^11 / 11! + V^13 / 13! -
-	//           V^15 / 15! + V^17 / 17! - V^19 / 19! + V^21 / 21! - V^23 / 23! (for -PI <= V < PI)
-	const Vec4V V2 = V4Mul(V1, V1);
-	const Vec4V V3 = V4Mul(V2, V1);
-	const Vec4V V5 = V4Mul(V3, V2);
-	const Vec4V V7 = V4Mul(V5, V2);
-	const Vec4V V9 = V4Mul(V7, V2);
-	const Vec4V V11 = V4Mul(V9, V2);
-	const Vec4V V13 = V4Mul(V11, V2);
-	const Vec4V V15 = V4Mul(V13, V2);
-	const Vec4V V17 = V4Mul(V15, V2);
-	const Vec4V V19 = V4Mul(V17, V2);
-	const Vec4V V21 = V4Mul(V19, V2);
-	const Vec4V V23 = V4Mul(V21, V2);
-
-	const Vec4V sinCoefficients0 = V4LoadA(g_PXSinCoefficients0.f);
-	const Vec4V sinCoefficients1 = V4LoadA(g_PXSinCoefficients1.f);
-	const Vec4V sinCoefficients2 = V4LoadA(g_PXSinCoefficients2.f);
-
-	const FloatV S1 = V4GetY(sinCoefficients0);
-	const FloatV S2 = V4GetZ(sinCoefficients0);
-	const FloatV S3 = V4GetW(sinCoefficients0);
-	const FloatV S4 = V4GetX(sinCoefficients1);
-	const FloatV S5 = V4GetY(sinCoefficients1);
-	const FloatV S6 = V4GetZ(sinCoefficients1);
-	const FloatV S7 = V4GetW(sinCoefficients1);
-	const FloatV S8 = V4GetX(sinCoefficients2);
-	const FloatV S9 = V4GetY(sinCoefficients2);
-	const FloatV S10 = V4GetZ(sinCoefficients2);
-	const FloatV S11 = V4GetW(sinCoefficients2);
-
-	Vec4V Result;
-	Result = V4ScaleAdd(V3, S1, V1);
-	Result = V4ScaleAdd(V5, S2, Result);
-	Result = V4ScaleAdd(V7, S3, Result);
-	Result = V4ScaleAdd(V9, S4, Result);
-	Result = V4ScaleAdd(V11, S5, Result);
-	Result = V4ScaleAdd(V13, S6, Result);
-	Result = V4ScaleAdd(V15, S7, Result);
-	Result = V4ScaleAdd(V17, S8, Result);
-	Result = V4ScaleAdd(V19, S9, Result);
-	Result = V4ScaleAdd(V21, S10, Result);
-	Result = V4ScaleAdd(V23, S11, Result);
-
-	return Result;
-}
-
-PX_FORCE_INLINE Vec4V V4Cos(const Vec4V a)
-{
-	const Vec4V recipTwoPi = V4LoadA(g_PXReciprocalTwoPi.f);
-	const Vec4V twoPi = V4LoadA(g_PXTwoPi.f);
-	const Vec4V tmp = V4Mul(a, recipTwoPi);
-	const Vec4V b = V4Round(tmp);
-	const Vec4V V1 = V4NegMulSub(twoPi, b, a);
-
-	// cos(V) ~= 1 - V^2 / 2! + V^4 / 4! - V^6 / 6! + V^8 / 8! - V^10 / 10! + V^12 / 12! -
-	//           V^14 / 14! + V^16 / 16! - V^18 / 18! + V^20 / 20! - V^22 / 22! (for -PI <= V < PI)
-	const Vec4V V2 = V4Mul(V1, V1);
-	const Vec4V V4 = V4Mul(V2, V2);
-	const Vec4V V6 = V4Mul(V4, V2);
-	const Vec4V V8 = V4Mul(V4, V4);
-	const Vec4V V10 = V4Mul(V6, V4);
-	const Vec4V V12 = V4Mul(V6, V6);
-	const Vec4V V14 = V4Mul(V8, V6);
-	const Vec4V V16 = V4Mul(V8, V8);
-	const Vec4V V18 = V4Mul(V10, V8);
-	const Vec4V V20 = V4Mul(V10, V10);
-	const Vec4V V22 = V4Mul(V12, V10);
-
-	const Vec4V cosCoefficients0 = V4LoadA(g_PXCosCoefficients0.f);
-	const Vec4V cosCoefficients1 = V4LoadA(g_PXCosCoefficients1.f);
-	const Vec4V cosCoefficients2 = V4LoadA(g_PXCosCoefficients2.f);
-
-	const FloatV C1 = V4GetY(cosCoefficients0);
-	const FloatV C2 = V4GetZ(cosCoefficients0);
-	const FloatV C3 = V4GetW(cosCoefficients0);
-	const FloatV C4 = V4GetX(cosCoefficients1);
-	const FloatV C5 = V4GetY(cosCoefficients1);
-	const FloatV C6 = V4GetZ(cosCoefficients1);
-	const FloatV C7 = V4GetW(cosCoefficients1);
-	const FloatV C8 = V4GetX(cosCoefficients2);
-	const FloatV C9 = V4GetY(cosCoefficients2);
-	const FloatV C10 = V4GetZ(cosCoefficients2);
-	const FloatV C11 = V4GetW(cosCoefficients2);
-
-	Vec4V Result;
-	Result = V4ScaleAdd(V2, C1, V4One());
-	Result = V4ScaleAdd(V4, C2, Result);
-	Result = V4ScaleAdd(V6, C3, Result);
-	Result = V4ScaleAdd(V8, C4, Result);
-	Result = V4ScaleAdd(V10, C5, Result);
-	Result = V4ScaleAdd(V12, C6, Result);
-	Result = V4ScaleAdd(V14, C7, Result);
-	Result = V4ScaleAdd(V16, C8, Result);
-	Result = V4ScaleAdd(V18, C9, Result);
-	Result = V4ScaleAdd(V20, C10, Result);
-	Result = V4ScaleAdd(V22, C11, Result);
-
-	return Result;
-}
-
-PX_FORCE_INLINE void V4Transpose(Vec4V& col0, Vec4V& col1, Vec4V& col2, Vec4V& col3)
-{
-	const float32x4x2_t v0v1 = vzipq_f32(col0, col2);
-	const float32x4x2_t v2v3 = vzipq_f32(col1, col3);
-	const float32x4x2_t zip0 = vzipq_f32(v0v1.val[0], v2v3.val[0]);
-	const float32x4x2_t zip1 = vzipq_f32(v0v1.val[1], v2v3.val[1]);
-	col0 = zip0.val[0];
-	col1 = zip0.val[1];
-	col2 = zip1.val[0];
-	col3 = zip1.val[1];
-}
-
-//////////////////////////////////
-// VEC4V
-//////////////////////////////////
-
-PX_FORCE_INLINE BoolV BFFFF()
-{
-	return vmovq_n_u32(0);
-}
-
-PX_FORCE_INLINE BoolV BFFFT()
-{
-	const uint32x2_t zeros = vmov_n_u32(0);
-	const uint32x2_t ones = vmov_n_u32(0xffffFFFF);
-	const uint32x2_t zo = vext_u32(zeros, ones, 1);
-	return vcombine_u32(zeros, zo);
-}
-
-PX_FORCE_INLINE BoolV BFFTF()
-{
-	const uint32x2_t zeros = vmov_n_u32(0);
-	const uint32x2_t ones = vmov_n_u32(0xffffFFFF);
-	const uint32x2_t oz = vext_u32(ones, zeros, 1);
-	return vcombine_u32(zeros, oz);
-}
-
-PX_FORCE_INLINE BoolV BFFTT()
-{
-	const uint32x2_t zeros = vmov_n_u32(0);
-	const uint32x2_t ones = vmov_n_u32(0xffffFFFF);
-	return vcombine_u32(zeros, ones);
-}
-
-PX_FORCE_INLINE BoolV BFTFF()
-{
-	const uint32x2_t zeros = vmov_n_u32(0);
-	const uint32x2_t ones = vmov_n_u32(0xffffFFFF);
-	const uint32x2_t zo = vext_u32(zeros, ones, 1);
-	return vcombine_u32(zo, zeros);
-}
-
-PX_FORCE_INLINE BoolV BFTFT()
-{
-	const uint32x2_t zeros = vmov_n_u32(0);
-	const uint32x2_t ones = vmov_n_u32(0xffffFFFF);
-	const uint32x2_t zo = vext_u32(zeros, ones, 1);
-	return vcombine_u32(zo, zo);
-}
-
-PX_FORCE_INLINE BoolV BFTTF()
-{
-	const uint32x2_t zeros = vmov_n_u32(0);
-	const uint32x2_t ones = vmov_n_u32(0xffffFFFF);
-	const uint32x2_t zo = vext_u32(zeros, ones, 1);
-	const uint32x2_t oz = vext_u32(ones, zeros, 1);
-	return vcombine_u32(zo, oz);
-}
-
-PX_FORCE_INLINE BoolV BFTTT()
-{
-	const uint32x2_t zeros = vmov_n_u32(0);
-	const uint32x2_t ones = vmov_n_u32(0xffffFFFF);
-	const uint32x2_t zo = vext_u32(zeros, ones, 1);
-	return vcombine_u32(zo, ones);
-}
-
-PX_FORCE_INLINE BoolV BTFFF()
-{
-	const uint32x2_t zeros = vmov_n_u32(0);
-	const uint32x2_t ones = vmov_n_u32(0xffffFFFF);
-	// const uint32x2_t zo = vext_u32(zeros, ones, 1);
-	const uint32x2_t oz = vext_u32(ones, zeros, 1);
-	return vcombine_u32(oz, zeros);
-}
-
-PX_FORCE_INLINE BoolV BTFFT()
-{
-	const uint32x2_t zeros = vmov_n_u32(0);
-	const uint32x2_t ones = vmov_n_u32(0xffffFFFF);
-	const uint32x2_t zo = vext_u32(zeros, ones, 1);
-	const uint32x2_t oz = vext_u32(ones, zeros, 1);
-	return vcombine_u32(oz, zo);
-}
-
-PX_FORCE_INLINE BoolV BTFTF()
-{
-	const uint32x2_t zeros = vmov_n_u32(0);
-	const uint32x2_t ones = vmov_n_u32(0xffffFFFF);
-	const uint32x2_t oz = vext_u32(ones, zeros, 1);
-	return vcombine_u32(oz, oz);
-}
-
-PX_FORCE_INLINE BoolV BTFTT()
-{
-	const uint32x2_t zeros = vmov_n_u32(0);
-	const uint32x2_t ones = vmov_n_u32(0xffffFFFF);
-	const uint32x2_t oz = vext_u32(ones, zeros, 1);
-	return vcombine_u32(oz, ones);
-}
-
-PX_FORCE_INLINE BoolV BTTFF()
-{
-	const uint32x2_t zeros = vmov_n_u32(0);
-	const uint32x2_t ones = vmov_n_u32(0xffffFFFF);
-	return vcombine_u32(ones, zeros);
-}
-
-PX_FORCE_INLINE BoolV BTTFT()
-{
-	const uint32x2_t zeros = vmov_n_u32(0);
-	const uint32x2_t ones = vmov_n_u32(0xffffFFFF);
-	const uint32x2_t zo = vext_u32(zeros, ones, 1);
-	return vcombine_u32(ones, zo);
-}
-
-PX_FORCE_INLINE BoolV BTTTF()
-{
-	const uint32x2_t zeros = vmov_n_u32(0);
-	const uint32x2_t ones = vmov_n_u32(0xffffFFFF);
-	const uint32x2_t oz = vext_u32(ones, zeros, 1);
-	return vcombine_u32(ones, oz);
-}
-
-PX_FORCE_INLINE BoolV BTTTT()
-{
-	return vmovq_n_u32(0xffffFFFF);
-}
-
-PX_FORCE_INLINE BoolV BXMask()
-{
-	return BTFFF();
-}
-
-PX_FORCE_INLINE BoolV BYMask()
-{
-	return BFTFF();
-}
-
-PX_FORCE_INLINE BoolV BZMask()
-{
-	return BFFTF();
-}
-
-PX_FORCE_INLINE BoolV BWMask()
-{
-	return BFFFT();
-}
-
-PX_FORCE_INLINE BoolV BGetX(const BoolV f)
-{
-	const uint32x2_t fLow = vget_low_u32(f);
-	return vdupq_lane_u32(fLow, 0);
-}
-
-PX_FORCE_INLINE BoolV BGetY(const BoolV f)
-{
-	const uint32x2_t fLow = vget_low_u32(f);
-	return vdupq_lane_u32(fLow, 1);
-}
-
-PX_FORCE_INLINE BoolV BGetZ(const BoolV f)
-{
-	const uint32x2_t fHigh = vget_high_u32(f);
-	return vdupq_lane_u32(fHigh, 0);
-}
-
-PX_FORCE_INLINE BoolV BGetW(const BoolV f)
-{
-	const uint32x2_t fHigh = vget_high_u32(f);
-	return vdupq_lane_u32(fHigh, 1);
-}
-
-PX_FORCE_INLINE BoolV BSetX(const BoolV v, const BoolV f)
-{
-	return vbslq_u32(BFTTT(), v, f);
-}
-
-PX_FORCE_INLINE BoolV BSetY(const BoolV v, const BoolV f)
-{
-	return vbslq_u32(BTFTT(), v, f);
-}
-
-PX_FORCE_INLINE BoolV BSetZ(const BoolV v, const BoolV f)
-{
-	return vbslq_u32(BTTFT(), v, f);
-}
-
-PX_FORCE_INLINE BoolV BSetW(const BoolV v, const BoolV f)
-{
-	return vbslq_u32(BTTTF(), v, f);
-}
-
-PX_FORCE_INLINE BoolV BAnd(const BoolV a, const BoolV b)
-{
-	return vandq_u32(a, b);
-}
-
-PX_FORCE_INLINE BoolV BNot(const BoolV a)
-{
-	return vmvnq_u32(a);
-}
-
-PX_FORCE_INLINE BoolV BAndNot(const BoolV a, const BoolV b)
-{
-	// return vbicq_u32(a, b);
-	return vandq_u32(a, vmvnq_u32(b));
-}
-
-PX_FORCE_INLINE BoolV BOr(const BoolV a, const BoolV b)
-{
-	return vorrq_u32(a, b);
-}
-
-PX_FORCE_INLINE BoolV BAllTrue4(const BoolV a)
-{
-	const uint32x2_t allTrue = vmov_n_u32(0xffffFFFF);
-	const uint16x4_t dHigh = vget_high_u16(vreinterpretq_u16_u32(a));
-	const uint16x4_t dLow = vmovn_u32(a);
-	uint16x8_t combined = vcombine_u16(dLow, dHigh);
-	const uint32x2_t finalReduce = vreinterpret_u32_u8(vmovn_u16(combined));
-	const uint32x2_t result = vceq_u32(finalReduce, allTrue);
-	return vdupq_lane_u32(result, 0);
-}
-
-PX_FORCE_INLINE BoolV BAnyTrue4(const BoolV a)
-{
-	const uint32x2_t allTrue = vmov_n_u32(0xffffFFFF);
-	const uint16x4_t dHigh = vget_high_u16(vreinterpretq_u16_u32(a));
-	const uint16x4_t dLow = vmovn_u32(a);
-	uint16x8_t combined = vcombine_u16(dLow, dHigh);
-	const uint32x2_t finalReduce = vreinterpret_u32_u8(vmovn_u16(combined));
-	const uint32x2_t result = vtst_u32(finalReduce, allTrue);
-	return vdupq_lane_u32(result, 0);
-}
-
-PX_FORCE_INLINE BoolV BAllTrue3(const BoolV a)
-{
-	const uint32x2_t allTrue3 = vmov_n_u32(0x00ffFFFF);
-	const uint16x4_t dHigh = vget_high_u16(vreinterpretq_u16_u32(a));
-	const uint16x4_t dLow = vmovn_u32(a);
-	uint16x8_t combined = vcombine_u16(dLow, dHigh);
-	const uint32x2_t finalReduce = vreinterpret_u32_u8(vmovn_u16(combined));
-	const uint32x2_t result = vceq_u32(vand_u32(finalReduce, allTrue3), allTrue3);
-	return vdupq_lane_u32(result, 0);
-}
-
-PX_FORCE_INLINE BoolV BAnyTrue3(const BoolV a)
-{
-	const uint32x2_t allTrue3 = vmov_n_u32(0x00ffFFFF);
-	const uint16x4_t dHigh = vget_high_u16(vreinterpretq_u16_u32(a));
-	const uint16x4_t dLow = vmovn_u32(a);
-	uint16x8_t combined = vcombine_u16(dLow, dHigh);
-	const uint32x2_t finalReduce = vreinterpret_u32_u8(vmovn_u16(combined));
-	const uint32x2_t result = vtst_u32(vand_u32(finalReduce, allTrue3), allTrue3);
-	return vdupq_lane_u32(result, 0);
-}
-
-PX_FORCE_INLINE PxU32 BAllEq(const BoolV a, const BoolV b)
-{
-	const BoolV bTest = vceqq_u32(a, b);
-	return internalUnitNeonSimd::BAllTrue4_R(bTest);
-}
-
-PX_FORCE_INLINE PxU32 BAllEqTTTT(const BoolV a)
-{
-	return BAllEq(a, BTTTT());
-}
-
-PX_FORCE_INLINE PxU32 BAllEqFFFF(const BoolV a)
-{
-	return BAllEq(a, BFFFF());
-}
-
-PX_FORCE_INLINE PxU32 BGetBitMask(const BoolV a)
-{
-	static PX_ALIGN(16, const PxU32) bitMaskData[4] = { 1, 2, 4, 8 };
-	const uint32x4_t bitMask = *(reinterpret_cast<const uint32x4_t*>(bitMaskData));
-	const uint32x4_t t0 = vandq_u32(a, bitMask);
-	const uint32x2_t t1 = vpadd_u32(vget_low_u32(t0), vget_high_u32(t0)); // Pairwise add (0 + 1), (2 + 3)
-	return PxU32(vget_lane_u32(vpadd_u32(t1, t1), 0));
-}
-
-//////////////////////////////////
-// MAT33V
-//////////////////////////////////
-
-PX_FORCE_INLINE Vec3V M33MulV3(const Mat33V& a, const Vec3V b)
-{
-	const FloatV x = V3GetX(b);
-	const FloatV y = V3GetY(b);
-	const FloatV z = V3GetZ(b);
-	const Vec3V v0 = V3Scale(a.col0, x);
-	const Vec3V v1 = V3Scale(a.col1, y);
-	const Vec3V v2 = V3Scale(a.col2, z);
-	const Vec3V v0PlusV1 = V3Add(v0, v1);
-	return V3Add(v0PlusV1, v2);
-}
-
-PX_FORCE_INLINE Vec3V M33TrnspsMulV3(const Mat33V& a, const Vec3V b)
-{
-	const FloatV x = V3Dot(a.col0, b);
-	const FloatV y = V3Dot(a.col1, b);
-	const FloatV z = V3Dot(a.col2, b);
-	return V3Merge(x, y, z);
-}
-
-PX_FORCE_INLINE Vec3V M33MulV3AddV3(const Mat33V& A, const Vec3V b, const Vec3V c)
-{
-	const FloatV x = V3GetX(b);
-	const FloatV y = V3GetY(b);
-	const FloatV z = V3GetZ(b);
-	Vec3V result = V3ScaleAdd(A.col0, x, c);
-	result = V3ScaleAdd(A.col1, y, result);
-	return V3ScaleAdd(A.col2, z, result);
-}
-
-PX_FORCE_INLINE Mat33V M33MulM33(const Mat33V& a, const Mat33V& b)
-{
-	return Mat33V(M33MulV3(a, b.col0), M33MulV3(a, b.col1), M33MulV3(a, b.col2));
-}
-
-PX_FORCE_INLINE Mat33V M33Add(const Mat33V& a, const Mat33V& b)
-{
-	return Mat33V(V3Add(a.col0, b.col0), V3Add(a.col1, b.col1), V3Add(a.col2, b.col2));
-}
-
-PX_FORCE_INLINE Mat33V M33Scale(const Mat33V& a, const FloatV& b)
-{
-	return Mat33V(V3Scale(a.col0, b), V3Scale(a.col1, b), V3Scale(a.col2, b));
-}
-
-PX_FORCE_INLINE Mat33V M33Inverse(const Mat33V& a)
-{
-	const float32x2_t zeros = vreinterpret_f32_u32(vmov_n_u32(0));
-	const BoolV btttf = BTTTF();
-
-	const Vec3V cross01 = V3Cross(a.col0, a.col1);
-	const Vec3V cross12 = V3Cross(a.col1, a.col2);
-	const Vec3V cross20 = V3Cross(a.col2, a.col0);
-	const FloatV dot = V3Dot(cross01, a.col2);
-	const FloatV invDet = FRecipFast(dot);
-
-	const float32x4x2_t merge = vzipq_f32(cross12, cross01);
-	const float32x4_t mergeh = merge.val[0];
-	const float32x4_t mergel = merge.val[1];
-
-	// const Vec3V colInv0 = XMVectorPermute(mergeh,cross20,PxPermuteControl(0,4,1,7));
-	const float32x4_t colInv0_xxyy = vzipq_f32(mergeh, cross20).val[0];
-	const float32x4_t colInv0 = vreinterpretq_f32_u32(vandq_u32(vreinterpretq_u32_f32(colInv0_xxyy), btttf));
-
-	// const Vec3V colInv1 = XMVectorPermute(mergeh,cross20,PxPermuteControl(2,5,3,7));
-	const float32x2_t zw0 = vget_high_f32(mergeh);
-	const float32x2_t xy1 = vget_low_f32(cross20);
-	const float32x2_t yzero1 = vext_f32(xy1, zeros, 1);
-	const float32x2x2_t merge1 = vzip_f32(zw0, yzero1);
-	const float32x4_t colInv1 = vcombine_f32(merge1.val[0], merge1.val[1]);
-
-	// const Vec3V colInv2 = XMVectorPermute(mergel,cross20,PxPermuteControl(0,6,1,7));
-	const float32x2_t x0y0 = vget_low_f32(mergel);
-	const float32x2_t z1w1 = vget_high_f32(cross20);
-	const float32x2x2_t merge2 = vzip_f32(x0y0, z1w1);
-	const float32x4_t colInv2 = vcombine_f32(merge2.val[0], merge2.val[1]);
-
-	return Mat33V(vmulq_lane_f32(colInv0, invDet, 0), vmulq_lane_f32(colInv1, invDet, 0),
-	              vmulq_lane_f32(colInv2, invDet, 0));
-}
-
-PX_FORCE_INLINE Mat33V M33Trnsps(const Mat33V& a)
-{
-	return Mat33V(V3Merge(V3GetX(a.col0), V3GetX(a.col1), V3GetX(a.col2)),
-	              V3Merge(V3GetY(a.col0), V3GetY(a.col1), V3GetY(a.col2)),
-	              V3Merge(V3GetZ(a.col0), V3GetZ(a.col1), V3GetZ(a.col2)));
-}
-
-PX_FORCE_INLINE Mat33V M33Identity()
-{
-	return Mat33V(V3UnitX(), V3UnitY(), V3UnitZ());
-}
-
-PX_FORCE_INLINE Mat33V M33Sub(const Mat33V& a, const Mat33V& b)
-{
-	return Mat33V(V3Sub(a.col0, b.col0), V3Sub(a.col1, b.col1), V3Sub(a.col2, b.col2));
-}
-
-PX_FORCE_INLINE Mat33V M33Neg(const Mat33V& a)
-{
-	return Mat33V(V3Neg(a.col0), V3Neg(a.col1), V3Neg(a.col2));
-}
-
-PX_FORCE_INLINE Mat33V M33Abs(const Mat33V& a)
-{
-	return Mat33V(V3Abs(a.col0), V3Abs(a.col1), V3Abs(a.col2));
-}
-
-PX_FORCE_INLINE Mat33V PromoteVec3V(const Vec3V v)
-{
-	const BoolV bTFFF = BTFFF();
-	const BoolV bFTFF = BFTFF();
-	const BoolV bFFTF = BTFTF();
-
-	const Vec3V zero = V3Zero();
-
-	return Mat33V(V3Sel(bTFFF, v, zero), V3Sel(bFTFF, v, zero), V3Sel(bFFTF, v, zero));
-}
-
-PX_FORCE_INLINE Mat33V M33Diagonal(const Vec3VArg d)
-{
-	const Vec3V x = V3Mul(V3UnitX(), d);
-	const Vec3V y = V3Mul(V3UnitY(), d);
-	const Vec3V z = V3Mul(V3UnitZ(), d);
-	return Mat33V(x, y, z);
-}
-
-//////////////////////////////////
-// MAT34V
-//////////////////////////////////
-
-PX_FORCE_INLINE Vec3V M34MulV3(const Mat34V& a, const Vec3V b)
-{
-	const FloatV x = V3GetX(b);
-	const FloatV y = V3GetY(b);
-	const FloatV z = V3GetZ(b);
-	const Vec3V v0 = V3Scale(a.col0, x);
-	const Vec3V v1 = V3Scale(a.col1, y);
-	const Vec3V v2 = V3Scale(a.col2, z);
-	const Vec3V v0PlusV1 = V3Add(v0, v1);
-	const Vec3V v0PlusV1Plusv2 = V3Add(v0PlusV1, v2);
-	return V3Add(v0PlusV1Plusv2, a.col3);
-}
-
-PX_FORCE_INLINE Vec3V M34Mul33V3(const Mat34V& a, const Vec3V b)
-{
-	const FloatV x = V3GetX(b);
-	const FloatV y = V3GetY(b);
-	const FloatV z = V3GetZ(b);
-	const Vec3V v0 = V3Scale(a.col0, x);
-	const Vec3V v1 = V3Scale(a.col1, y);
-	const Vec3V v2 = V3Scale(a.col2, z);
-	const Vec3V v0PlusV1 = V3Add(v0, v1);
-	return V3Add(v0PlusV1, v2);
-}
-
-PX_FORCE_INLINE Vec3V M34TrnspsMul33V3(const Mat34V& a, const Vec3V b)
-{
-	const FloatV x = V3Dot(a.col0, b);
-	const FloatV y = V3Dot(a.col1, b);
-	const FloatV z = V3Dot(a.col2, b);
-	return V3Merge(x, y, z);
-}
-
-PX_FORCE_INLINE Mat34V M34MulM34(const Mat34V& a, const Mat34V& b)
-{
-	return Mat34V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2), M34MulV3(a, b.col3));
-}
-
-PX_FORCE_INLINE Mat33V M34MulM33(const Mat34V& a, const Mat33V& b)
-{
-	return Mat33V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2));
-}
-
-PX_FORCE_INLINE Mat33V M34Mul33MM34(const Mat34V& a, const Mat34V& b)
-{
-	return Mat33V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2));
-}
-
-PX_FORCE_INLINE Mat34V M34Add(const Mat34V& a, const Mat34V& b)
-{
-	return Mat34V(V3Add(a.col0, b.col0), V3Add(a.col1, b.col1), V3Add(a.col2, b.col2), V3Add(a.col3, b.col3));
-}
-
-PX_FORCE_INLINE Mat33V M34Trnsps33(const Mat34V& a)
-{
-	return Mat33V(V3Merge(V3GetX(a.col0), V3GetX(a.col1), V3GetX(a.col2)),
-	              V3Merge(V3GetY(a.col0), V3GetY(a.col1), V3GetY(a.col2)),
-	              V3Merge(V3GetZ(a.col0), V3GetZ(a.col1), V3GetZ(a.col2)));
-}
-
-//////////////////////////////////
-// MAT44V
-//////////////////////////////////
-
-PX_FORCE_INLINE Vec4V M44MulV4(const Mat44V& a, const Vec4V b)
-{
-	const FloatV x = V4GetX(b);
-	const FloatV y = V4GetY(b);
-	const FloatV z = V4GetZ(b);
-	const FloatV w = V4GetW(b);
-
-	const Vec4V v0 = V4Scale(a.col0, x);
-	const Vec4V v1 = V4Scale(a.col1, y);
-	const Vec4V v2 = V4Scale(a.col2, z);
-	const Vec4V v3 = V4Scale(a.col3, w);
-	const Vec4V v0PlusV1 = V4Add(v0, v1);
-	const Vec4V v0PlusV1Plusv2 = V4Add(v0PlusV1, v2);
-	return V4Add(v0PlusV1Plusv2, v3);
-}
-
-PX_FORCE_INLINE Vec4V M44TrnspsMulV4(const Mat44V& a, const Vec4V b)
-{
-	return V4Merge(V4Dot(a.col0, b), V4Dot(a.col1, b), V4Dot(a.col2, b), V4Dot(a.col3, b));
-}
-
-PX_FORCE_INLINE Mat44V M44MulM44(const Mat44V& a, const Mat44V& b)
-{
-	return Mat44V(M44MulV4(a, b.col0), M44MulV4(a, b.col1), M44MulV4(a, b.col2), M44MulV4(a, b.col3));
-}
-
-PX_FORCE_INLINE Mat44V M44Add(const Mat44V& a, const Mat44V& b)
-{
-	return Mat44V(V4Add(a.col0, b.col0), V4Add(a.col1, b.col1), V4Add(a.col2, b.col2), V4Add(a.col3, b.col3));
-}
-
-PX_FORCE_INLINE Mat44V M44Trnsps(const Mat44V& a)
-{
-	// asm volatile(
-	// "vzip.f32 %q0, %q2 \n\t"
-	// "vzip.f32 %q1, %q3 \n\t"
-	// "vzip.f32 %q0, %q1 \n\t"
-	// "vzip.f32 %q2, %q3 \n\t"
-	// : "+w" (a.col0), "+w" (a.col1), "+w" (a.col2), "+w" a.col3));
-
-	const float32x4x2_t v0v1 = vzipq_f32(a.col0, a.col2);
-	const float32x4x2_t v2v3 = vzipq_f32(a.col1, a.col3);
-	const float32x4x2_t zip0 = vzipq_f32(v0v1.val[0], v2v3.val[0]);
-	const float32x4x2_t zip1 = vzipq_f32(v0v1.val[1], v2v3.val[1]);
-
-	return Mat44V(zip0.val[0], zip0.val[1], zip1.val[0], zip1.val[1]);
-}
-
-PX_FORCE_INLINE Mat44V M44Inverse(const Mat44V& a)
-{
-	float32x4_t minor0, minor1, minor2, minor3;
-	float32x4_t row0, row1, row2, row3;
-	float32x4_t det, tmp1;
-
-	tmp1 = vmovq_n_f32(0.0f);
-	row1 = vmovq_n_f32(0.0f);
-	row3 = vmovq_n_f32(0.0f);
-
-	row0 = a.col0;
-	row1 = vextq_f32(a.col1, a.col1, 2);
-	row2 = a.col2;
-	row3 = vextq_f32(a.col3, a.col3, 2);
-
-	tmp1 = vmulq_f32(row2, row3);
-	tmp1 = vrev64q_f32(tmp1);
-	minor0 = vmulq_f32(row1, tmp1);
-	minor1 = vmulq_f32(row0, tmp1);
-	tmp1 = vextq_f32(tmp1, tmp1, 2);
-	minor0 = vsubq_f32(vmulq_f32(row1, tmp1), minor0);
-	minor1 = vsubq_f32(vmulq_f32(row0, tmp1), minor1);
-	minor1 = vextq_f32(minor1, minor1, 2);
-
-	tmp1 = vmulq_f32(row1, row2);
-	tmp1 = vrev64q_f32(tmp1);
-	minor0 = vaddq_f32(vmulq_f32(row3, tmp1), minor0);
-	minor3 = vmulq_f32(row0, tmp1);
-	tmp1 = vextq_f32(tmp1, tmp1, 2);
-	minor0 = vsubq_f32(minor0, vmulq_f32(row3, tmp1));
-	minor3 = vsubq_f32(vmulq_f32(row0, tmp1), minor3);
-	minor3 = vextq_f32(minor3, minor3, 2);
-
-	tmp1 = vmulq_f32(vextq_f32(row1, row1, 2), row3);
-	tmp1 = vrev64q_f32(tmp1);
-	row2 = vextq_f32(row2, row2, 2);
-	minor0 = vaddq_f32(vmulq_f32(row2, tmp1), minor0);
-	minor2 = vmulq_f32(row0, tmp1);
-	tmp1 = vextq_f32(tmp1, tmp1, 2);
-	minor0 = vsubq_f32(minor0, vmulq_f32(row2, tmp1));
-	minor2 = vsubq_f32(vmulq_f32(row0, tmp1), minor2);
-	minor2 = vextq_f32(minor2, minor2, 2);
-
-	tmp1 = vmulq_f32(row0, row1);
-	tmp1 = vrev64q_f32(tmp1);
-	minor2 = vaddq_f32(vmulq_f32(row3, tmp1), minor2);
-	minor3 = vsubq_f32(vmulq_f32(row2, tmp1), minor3);
-	tmp1 = vextq_f32(tmp1, tmp1, 2);
-	minor2 = vsubq_f32(vmulq_f32(row3, tmp1), minor2);
-	minor3 = vsubq_f32(minor3, vmulq_f32(row2, tmp1));
-
-	tmp1 = vmulq_f32(row0, row3);
-	tmp1 = vrev64q_f32(tmp1);
-	minor1 = vsubq_f32(minor1, vmulq_f32(row2, tmp1));
-	minor2 = vaddq_f32(vmulq_f32(row1, tmp1), minor2);
-	tmp1 = vextq_f32(tmp1, tmp1, 2);
-	minor1 = vaddq_f32(vmulq_f32(row2, tmp1), minor1);
-	minor2 = vsubq_f32(minor2, vmulq_f32(row1, tmp1));
-
-	tmp1 = vmulq_f32(row0, row2);
-	tmp1 = vrev64q_f32(tmp1);
-	minor1 = vaddq_f32(vmulq_f32(row3, tmp1), minor1);
-	minor3 = vsubq_f32(minor3, vmulq_f32(row1, tmp1));
-	tmp1 = vextq_f32(tmp1, tmp1, 2);
-	minor1 = vsubq_f32(minor1, vmulq_f32(row3, tmp1));
-	minor3 = vaddq_f32(vmulq_f32(row1, tmp1), minor3);
-
-	det = vmulq_f32(row0, minor0);
-	det = vaddq_f32(vextq_f32(det, det, 2), det);
-	det = vaddq_f32(vrev64q_f32(det), det);
-	det = vdupq_lane_f32(VRECIPE(vget_low_f32(det)), 0);
-
-	minor0 = vmulq_f32(det, minor0);
-	minor1 = vmulq_f32(det, minor1);
-	minor2 = vmulq_f32(det, minor2);
-	minor3 = vmulq_f32(det, minor3);
-	Mat44V invTrans(minor0, minor1, minor2, minor3);
-	return M44Trnsps(invTrans);
-}
-
-PX_FORCE_INLINE Vec4V V4LoadXYZW(const PxF32& x, const PxF32& y, const PxF32& z, const PxF32& w)
-{
-	const float32x4_t ret = { x, y, z, w };
-	return ret;
-}
-
-/*
-PX_FORCE_INLINE VecU16V V4U32PK(VecU32V a, VecU32V b)
-{
-    return vcombine_u16(vqmovn_u32(a), vqmovn_u32(b));
-}
-*/
-
-PX_FORCE_INLINE VecU32V V4U32Sel(const BoolV c, const VecU32V a, const VecU32V b)
-{
-	return vbslq_u32(c, a, b);
-}
-
-PX_FORCE_INLINE VecU32V V4U32or(VecU32V a, VecU32V b)
-{
-	return vorrq_u32(a, b);
-}
-
-PX_FORCE_INLINE VecU32V V4U32xor(VecU32V a, VecU32V b)
-{
-	return veorq_u32(a, b);
-}
-
-PX_FORCE_INLINE VecU32V V4U32and(VecU32V a, VecU32V b)
-{
-	return vandq_u32(a, b);
-}
-
-PX_FORCE_INLINE VecU32V V4U32Andc(VecU32V a, VecU32V b)
-{
-	// return vbicq_u32(a, b); // creates gcc compiler bug in RTreeQueries.cpp
-	return vandq_u32(a, vmvnq_u32(b));
-}
-
-/*
-PX_FORCE_INLINE VecU16V V4U16Or(VecU16V a, VecU16V b)
-{
-    return vorrq_u16(a, b);
-}
-*/
-
-/*
-PX_FORCE_INLINE VecU16V V4U16And(VecU16V a, VecU16V b)
-{
-    return vandq_u16(a, b);
-}
-*/
-/*
-PX_FORCE_INLINE VecU16V V4U16Andc(VecU16V a, VecU16V b)
-{
-    return vbicq_u16(a, b);
-}
-*/
-
-PX_FORCE_INLINE VecI32V I4Load(const PxI32 i)
-{
-	return vdupq_n_s32(i);
-}
-
-PX_FORCE_INLINE VecI32V I4LoadU(const PxI32* i)
-{
-	return vld1q_s32(i);
-}
-
-PX_FORCE_INLINE VecI32V I4LoadA(const PxI32* i)
-{
-	return vld1q_s32(i);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Add(const VecI32VArg a, const VecI32VArg b)
-{
-	return vaddq_s32(a, b);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Sub(const VecI32VArg a, const VecI32VArg b)
-{
-	return vsubq_s32(a, b);
-}
-
-PX_FORCE_INLINE BoolV VecI32V_IsGrtr(const VecI32VArg a, const VecI32VArg b)
-{
-	return vcgtq_s32(a, b);
-}
-
-PX_FORCE_INLINE BoolV VecI32V_IsEq(const VecI32VArg a, const VecI32VArg b)
-{
-	return vceqq_s32(a, b);
-}
-
-PX_FORCE_INLINE VecI32V V4I32Sel(const BoolV c, const VecI32V a, const VecI32V b)
-{
-	return vbslq_s32(c, a, b);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Zero()
-{
-	return vdupq_n_s32(0);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_One()
-{
-	return vdupq_n_s32(1);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Two()
-{
-	return vdupq_n_s32(2);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_MinusOne()
-{
-	return vdupq_n_s32(-1);
-}
-
-PX_FORCE_INLINE VecU32V U4Zero()
-{
-	return U4Load(0);
-}
-
-PX_FORCE_INLINE VecU32V U4One()
-{
-	return U4Load(1);
-}
-
-PX_FORCE_INLINE VecU32V U4Two()
-{
-	return U4Load(2);
-}
-
-PX_FORCE_INLINE VecShiftV VecI32V_PrepareShift(const VecI32VArg shift)
-{
-	return shift;
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_LeftShift(const VecI32VArg a, const VecShiftVArg count)
-{
-	return vshlq_s32(a, count);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_RightShift(const VecI32VArg a, const VecShiftVArg count)
-{
-	return vshlq_s32(a, VecI32V_Sub(I4Load(0), count));
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_And(const VecI32VArg a, const VecI32VArg b)
-{
-	return vandq_s32(a, b);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Or(const VecI32VArg a, const VecI32VArg b)
-{
-	return vorrq_s32(a, b);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_GetX(const VecI32VArg f)
-{
-	const int32x2_t fLow = vget_low_s32(f);
-	return vdupq_lane_s32(fLow, 0);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_GetY(const VecI32VArg f)
-{
-	const int32x2_t fLow = vget_low_s32(f);
-	return vdupq_lane_s32(fLow, 1);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_GetZ(const VecI32VArg f)
-{
-	const int32x2_t fHigh = vget_high_s32(f);
-	return vdupq_lane_s32(fHigh, 0);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_GetW(const VecI32VArg f)
-{
-	const int32x2_t fHigh = vget_high_s32(f);
-	return vdupq_lane_s32(fHigh, 1);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Sel(const BoolV c, const VecI32VArg a, const VecI32VArg b)
-{
-	return vbslq_s32(c, a, b);
-}
-
-PX_FORCE_INLINE void PxI32_From_VecI32V(const VecI32VArg a, PxI32* i)
-{
-	*i = vgetq_lane_s32(a, 0);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Merge(const VecI32VArg a, const VecI32VArg b, const VecI32VArg c, const VecI32VArg d)
-{
-	const int32x2_t aLow = vget_low_s32(a);
-	const int32x2_t bLow = vget_low_s32(b);
-	const int32x2_t cLow = vget_low_s32(c);
-	const int32x2_t dLow = vget_low_s32(d);
-
-	const int32x2_t low = vext_s32(aLow, bLow, 1);
-	const int32x2_t high = vext_s32(cLow, dLow, 1);
-
-	return vcombine_s32(low, high);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_From_BoolV(const BoolVArg a)
-{
-	return vreinterpretq_s32_u32(a);
-}
-
-PX_FORCE_INLINE VecU32V VecU32V_From_BoolV(const BoolVArg a)
-{
-	return a;
-}
-
-/*
-template<int a> PX_FORCE_INLINE VecI32V V4ISplat()
-{
-    return vdupq_n_s32(a);
-}
-
-template<PxU32 a> PX_FORCE_INLINE VecU32V V4USplat()
-{
-    return vdupq_n_u32(a);
-}
-*/
-
-/*
-PX_FORCE_INLINE void V4U16StoreAligned(VecU16V val, VecU16V* address)
-{
-    vst1q_u16((uint16_t*)address, val);
-}
-*/
-
-PX_FORCE_INLINE void V4U32StoreAligned(VecU32V val, VecU32V* address)
-{
-	vst1q_u32(reinterpret_cast<uint32_t*>(address), val);
-}
-
-PX_FORCE_INLINE Vec4V V4LoadAligned(Vec4V* addr)
-{
-	return vld1q_f32(reinterpret_cast<float32_t*>(addr));
-}
-
-PX_FORCE_INLINE Vec4V V4LoadUnaligned(Vec4V* addr)
-{
-	return vld1q_f32(reinterpret_cast<float32_t*>(addr));
-}
-
-PX_FORCE_INLINE Vec4V V4Andc(const Vec4V a, const VecU32V b)
-{
-	return vreinterpretq_f32_u32(V4U32Andc(vreinterpretq_u32_f32(a), b));
-}
-
-PX_FORCE_INLINE VecU32V V4IsGrtrV32u(const Vec4V a, const Vec4V b)
-{
-	return V4IsGrtr(a, b);
-}
-
-PX_FORCE_INLINE VecU16V V4U16LoadAligned(VecU16V* addr)
-{
-	return vld1q_u16(reinterpret_cast<uint16_t*>(addr));
-}
-
-PX_FORCE_INLINE VecU16V V4U16LoadUnaligned(VecU16V* addr)
-{
-	return vld1q_u16(reinterpret_cast<uint16_t*>(addr));
-}
-
-PX_FORCE_INLINE VecU16V V4U16CompareGt(VecU16V a, VecU16V b)
-{
-	return vcgtq_u16(a, b);
-}
-
-PX_FORCE_INLINE VecU16V V4I16CompareGt(VecI16V a, VecI16V b)
-{
-	return vcgtq_s16(a, b);
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_From_VecU32V(VecU32V a)
-{
-	return vcvtq_f32_u32(a);
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_From_VecI32V(VecI32V a)
-{
-	return vcvtq_f32_s32(a);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_From_Vec4V(Vec4V a)
-{
-	return vcvtq_s32_f32(a);
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_ReinterpretFrom_VecU32V(VecU32V a)
-{
-	return vreinterpretq_f32_u32(a);
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_ReinterpretFrom_VecI32V(VecI32V a)
-{
-	return vreinterpretq_f32_s32(a);
-}
-
-PX_FORCE_INLINE VecU32V VecU32V_ReinterpretFrom_Vec4V(Vec4V a)
-{
-	return vreinterpretq_u32_f32(a);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_ReinterpretFrom_Vec4V(Vec4V a)
-{
-	return vreinterpretq_s32_f32(a);
-}
-
-template <int index>
-PX_FORCE_INLINE BoolV BSplatElement(BoolV a)
-{
-	if(index < 2)
-	{
-		return vdupq_lane_u32(vget_low_u32(a), index);
-	}
-	else if(index == 2)
-	{
-		return vdupq_lane_u32(vget_high_u32(a), 0);
-	}
-	else if(index == 3)
-	{
-		return vdupq_lane_u32(vget_high_u32(a), 1);
-	}
-}
-
-template <int index>
-PX_FORCE_INLINE VecU32V V4U32SplatElement(VecU32V a)
-{
-	if(index < 2)
-	{
-		return vdupq_lane_u32(vget_low_u32(a), index);
-	}
-	else if(index == 2)
-	{
-		return vdupq_lane_u32(vget_high_u32(a), 0);
-	}
-	else if(index == 3)
-	{
-		return vdupq_lane_u32(vget_high_u32(a), 1);
-	}
-}
-
-template <int index>
-PX_FORCE_INLINE Vec4V V4SplatElement(Vec4V a)
-{
-	if(index < 2)
-	{
-		return vdupq_lane_f32(vget_low_f32(a), index);
-	}
-	else if(index == 2)
-	{
-		return vdupq_lane_f32(vget_high_f32(a), 0);
-	}
-	else if(index == 3)
-	{
-		return vdupq_lane_f32(vget_high_f32(a), 1);
-	}
-}
-
-PX_FORCE_INLINE VecU32V U4LoadXYZW(PxU32 x, PxU32 y, PxU32 z, PxU32 w)
-{
-	const uint32x4_t ret = { x, y, z, w };
-	return ret;
-}
-
-PX_FORCE_INLINE VecU32V U4Load(const PxU32 i)
-{
-	return vdupq_n_u32(i);
-}
-
-PX_FORCE_INLINE VecU32V U4LoadU(const PxU32* i)
-{
-	return vld1q_u32(i);
-}
-
-PX_FORCE_INLINE VecU32V U4LoadA(const PxU32* i)
-{
-	return vld1q_u32(i);
-}
-
-PX_FORCE_INLINE Vec4V V4Ceil(const Vec4V in)
-{
-	const float32x4_t ones = vdupq_n_f32(1.0f);
-	const float32x4_t rdToZero = vcvtq_f32_s32(vcvtq_s32_f32(in));
-	const float32x4_t rdToZeroPlusOne = vaddq_f32(rdToZero, ones);
-	const uint32x4_t gt = vcgtq_f32(in, rdToZero);
-	return vbslq_f32(gt, rdToZeroPlusOne, rdToZero);
-}
-
-PX_FORCE_INLINE Vec4V V4Floor(const Vec4V in)
-{
-	const float32x4_t ones = vdupq_n_f32(1.0f);
-	const float32x4_t rdToZero = vcvtq_f32_s32(vcvtq_s32_f32(in));
-	const float32x4_t rdToZeroMinusOne = vsubq_f32(rdToZero, ones);
-	const uint32x4_t lt = vcltq_f32(in, rdToZero);
-	return vbslq_f32(lt, rdToZeroMinusOne, rdToZero);
-}
-
-PX_FORCE_INLINE VecU32V V4ConvertToU32VSaturate(const Vec4V in, PxU32 power)
-{
-	PX_ASSERT(power == 0 && "Non-zero power not supported in convertToU32VSaturate");
-	PX_UNUSED(power); // prevent warning in release builds
-
-	return vcvtq_u32_f32(in);
-}
-
-PX_FORCE_INLINE void QuatGetMat33V(const QuatVArg q, Vec3V& column0, Vec3V& column1, Vec3V& column2)
-{
-	const FloatV one = FOne();
-	const FloatV x = V4GetX(q);
-	const FloatV y = V4GetY(q);
-	const FloatV z = V4GetZ(q);
-	const FloatV w = V4GetW(q);
-
-	const FloatV x2 = FAdd(x, x);
-	const FloatV y2 = FAdd(y, y);
-	const FloatV z2 = FAdd(z, z);
-
-	const FloatV xx = FMul(x2, x);
-	const FloatV yy = FMul(y2, y);
-	const FloatV zz = FMul(z2, z);
-
-	const FloatV xy = FMul(x2, y);
-	const FloatV xz = FMul(x2, z);
-	const FloatV xw = FMul(x2, w);
-
-	const FloatV yz = FMul(y2, z);
-	const FloatV yw = FMul(y2, w);
-	const FloatV zw = FMul(z2, w);
-
-	const FloatV v = FSub(one, xx);
-
-	column0 = V3Merge(FSub(FSub(one, yy), zz), FAdd(xy, zw), FSub(xz, yw));
-	column1 = V3Merge(FSub(xy, zw), FSub(v, zz), FAdd(yz, xw));
-	column2 = V3Merge(FAdd(xz, yw), FSub(yz, xw), FSub(v, yy));
-}
-
-#endif // PSFOUNDATION_PSUNIXNEONINLINEAOS_H
diff --git a/PxShared/src/foundation/include/unix/sse2/PsUnixSse2AoS.h b/PxShared/src/foundation/include/unix/sse2/PsUnixSse2AoS.h
deleted file mode 100644
index 9c76438..0000000
--- a/PxShared/src/foundation/include/unix/sse2/PsUnixSse2AoS.h
+++ /dev/null
@@ -1,179 +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 PSFOUNDATION_PSUNIXSSE2AOS_H
-#define PSFOUNDATION_PSUNIXSSE2AOS_H
-
-// no includes here! this file should be included from PxcVecMath.h only!!!
-
-#if !COMPILE_VECTOR_INTRINSICS
-#error Vector intrinsics should not be included when using scalar implementation.
-#endif
-#if PX_EMSCRIPTEN
-typedef int8_t   __int8_t;
-typedef int16_t  __int16_t;
-typedef int32_t  __int32_t;
-typedef int64_t  __int64_t;
-typedef uint16_t __uint16_t;
-typedef uint32_t __uint32_t;
-typedef uint64_t __uint64_t;
-#endif
-
-typedef union UnionM128
-{
-	UnionM128()
-	{
-	}
-	UnionM128(__m128 in)
-	{
-		m128 = in;
-	}
-
-	UnionM128(__m128i in)
-	{
-		m128i = in;
-	}
-
-	operator __m128()
-	{
-		return m128;
-	}
-
-	operator const __m128() const
-	{
-		return m128;
-	}
-
-	float m128_f32[4];
-	__int8_t m128_i8[16];
-	__int16_t m128_i16[8];
-	__int32_t m128_i32[4];
-	__int64_t m128_i64[2];
-	__uint16_t m128_u16[8];
-	__uint32_t m128_u32[4];
-	__uint64_t m128_u64[2];
-	__m128 m128;
-	__m128i m128i;
-} UnionM128;
-
-typedef __m128 FloatV;
-typedef __m128 Vec3V;
-typedef __m128 Vec4V;
-typedef __m128 BoolV;
-typedef __m128 QuatV;
-typedef __m128i VecI32V;
-typedef UnionM128 VecU32V;
-typedef UnionM128 VecU16V;
-typedef UnionM128 VecI16V;
-typedef UnionM128 VecU8V;
-
-#define FloatVArg FloatV &
-#define Vec3VArg Vec3V &
-#define Vec4VArg Vec4V &
-#define BoolVArg BoolV &
-#define VecU32VArg VecU32V &
-#define VecI32VArg VecI32V &
-#define VecU16VArg VecU16V &
-#define VecI16VArg VecI16V &
-#define VecU8VArg VecU8V &
-#define QuatVArg QuatV &
-
-// Optimization for situations in which you cross product multiple vectors with the same vector.
-// Avoids 2X shuffles per product
-struct VecCrossV
-{
-	Vec3V mL1;
-	Vec3V mR1;
-};
-
-struct VecShiftV
-{
-	VecI32V shift;
-};
-#define VecShiftVArg VecShiftV &
-
-PX_ALIGN_PREFIX(16)
-struct Mat33V
-{
-	Mat33V()
-	{
-	}
-	Mat33V(const Vec3V& c0, const Vec3V& c1, const Vec3V& c2) : col0(c0), col1(c1), col2(c2)
-	{
-	}
-	Vec3V PX_ALIGN(16, col0);
-	Vec3V PX_ALIGN(16, col1);
-	Vec3V PX_ALIGN(16, col2);
-} PX_ALIGN_SUFFIX(16);
-
-PX_ALIGN_PREFIX(16)
-struct Mat34V
-{
-	Mat34V()
-	{
-	}
-	Mat34V(const Vec3V& c0, const Vec3V& c1, const Vec3V& c2, const Vec3V& c3) : col0(c0), col1(c1), col2(c2), col3(c3)
-	{
-	}
-	Vec3V PX_ALIGN(16, col0);
-	Vec3V PX_ALIGN(16, col1);
-	Vec3V PX_ALIGN(16, col2);
-	Vec3V PX_ALIGN(16, col3);
-} PX_ALIGN_SUFFIX(16);
-
-PX_ALIGN_PREFIX(16)
-struct Mat43V
-{
-	Mat43V()
-	{
-	}
-	Mat43V(const Vec4V& c0, const Vec4V& c1, const Vec4V& c2) : col0(c0), col1(c1), col2(c2)
-	{
-	}
-	Vec4V PX_ALIGN(16, col0);
-	Vec4V PX_ALIGN(16, col1);
-	Vec4V PX_ALIGN(16, col2);
-} PX_ALIGN_SUFFIX(16);
-
-PX_ALIGN_PREFIX(16)
-struct Mat44V
-{
-	Mat44V()
-	{
-	}
-	Mat44V(const Vec4V& c0, const Vec4V& c1, const Vec4V& c2, const Vec4V& c3) : col0(c0), col1(c1), col2(c2), col3(c3)
-	{
-	}
-	Vec4V PX_ALIGN(16, col0);
-	Vec4V PX_ALIGN(16, col1);
-	Vec4V PX_ALIGN(16, col2);
-	Vec4V PX_ALIGN(16, col3);
-} PX_ALIGN_SUFFIX(16);
-
-#endif // PSFOUNDATION_PSUNIXSSE2AOS_H
diff --git a/PxShared/src/foundation/include/unix/sse2/PsUnixSse2InlineAoS.h b/PxShared/src/foundation/include/unix/sse2/PsUnixSse2InlineAoS.h
deleted file mode 100644
index cdb20fa..0000000
--- a/PxShared/src/foundation/include/unix/sse2/PsUnixSse2InlineAoS.h
+++ /dev/null
@@ -1,3223 +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 PSFOUNDATION_PSUNIXSSE2INLINEAOS_H
-#define PSFOUNDATION_PSUNIXSSE2INLINEAOS_H
-
-#if !COMPILE_VECTOR_INTRINSICS
-#error Vector intrinsics should not be included when using scalar implementation.
-#endif
-
-#ifdef __SSE4_2__
-#include "smmintrin.h"
-#endif
-
-#include "../../PsVecMathSSE.h"
-
-#define PX_FPCLASS_SNAN 0x0001 /* signaling NaN */
-#define PX_FPCLASS_QNAN 0x0002 /* quiet NaN */
-#define PX_FPCLASS_NINF 0x0004 /* negative infinity */
-#define PX_FPCLASS_PINF 0x0200 /* positive infinity */
-
-PX_FORCE_INLINE __m128 m128_I2F(__m128i n)
-{
-	return _mm_castsi128_ps(n);
-}
-PX_FORCE_INLINE __m128i m128_F2I(__m128 n)
-{
-	return _mm_castps_si128(n);
-}
-
-//////////////////////////////////////////////////////////////////////
-//Test that Vec3V and FloatV are legal
-//////////////////////////////////////////////////////////////////////
-
-#define FLOAT_COMPONENTS_EQUAL_THRESHOLD 0.01f
-PX_FORCE_INLINE static bool isValidFloatV(const FloatV a)
-{
-	const PxF32 x = V4ReadX(a);
-	const PxF32 y = V4ReadY(a);
-	const PxF32 z = V4ReadZ(a);
-	const PxF32 w = V4ReadW(a);
-
- 	if (
-		(PxAbs(x - y) < FLOAT_COMPONENTS_EQUAL_THRESHOLD) &&
-		(PxAbs(x - z) < FLOAT_COMPONENTS_EQUAL_THRESHOLD) &&
-		(PxAbs(x - w) < FLOAT_COMPONENTS_EQUAL_THRESHOLD)
-		)
-	{
-		return true;
-	}
-
-	if (
-		(PxAbs((x - y) / x) < FLOAT_COMPONENTS_EQUAL_THRESHOLD) &&
-		(PxAbs((x - z) / x) < FLOAT_COMPONENTS_EQUAL_THRESHOLD) &&
-		(PxAbs((x - w) / x) < FLOAT_COMPONENTS_EQUAL_THRESHOLD)
-		)
-	{
-		return true;
-	}
-
-	return false;
-}
-
-PX_FORCE_INLINE bool isValidVec3V(const Vec3V a)
-{
-	PX_ALIGN(16, PxF32 f[4]);
-	V4StoreA(a, f);
-	return (f[3] == 0.0f);
-}
-
-PX_FORCE_INLINE bool isFiniteLength(const Vec3V a)
-{
-	return !FAllEq(V4LengthSq(a), FZero());
-}
-
-PX_FORCE_INLINE bool isAligned16(void* a)
-{
-	return(0 == (size_t(a) & 0x0f));
-}
-
-//ASSERT_FINITELENGTH is deactivated because there is a lot of code that calls a simd normalisation function with zero length but then ignores the result.
-
-#if PX_DEBUG
-#define ASSERT_ISVALIDVEC3V(a) PX_ASSERT(isValidVec3V(a))
-#define ASSERT_ISVALIDFLOATV(a) PX_ASSERT(isValidFloatV(a))
-#define ASSERT_ISALIGNED16(a) PX_ASSERT(isAligned16(reinterpret_cast<void*>(a)))
-#define ASSERT_ISFINITELENGTH(a) //PX_ASSERT(isFiniteLength(a))
-#else
-#define ASSERT_ISVALIDVEC3V(a)
-#define ASSERT_ISVALIDFLOATV(a) 
-#define ASSERT_ISALIGNED16(a)
-#define ASSERT_ISFINITELENGTH(a)
-#endif
-
-
-namespace internalUnitSSE2Simd
-{
-PX_FORCE_INLINE PxU32 BAllTrue4_R(const BoolV a)
-{
-	const PxI32 moveMask = _mm_movemask_ps(a);
-	return PxU32(moveMask == 0xf);
-}
-
-PX_FORCE_INLINE PxU32 BAllTrue3_R(const BoolV a)
-{
-	const PxI32 moveMask = _mm_movemask_ps(a);
-	return PxU32((moveMask & 0x7) == 0x7);
-}
-
-PX_FORCE_INLINE PxU32 BAnyTrue4_R(const BoolV a)
-{
-	const PxI32 moveMask = _mm_movemask_ps(a);
-	return PxU32(moveMask != 0x0);
-}
-
-PX_FORCE_INLINE PxU32 BAnyTrue3_R(const BoolV a)
-{
-	const PxI32 moveMask = _mm_movemask_ps(a);
-	return PxU32((moveMask & 0x7) != 0x0);
-}
-
-PX_FORCE_INLINE PxU32 FiniteTestEq(const Vec4V a, const Vec4V b)
-{
-	// This is a bit of a bodge.
-	//_mm_comieq_ss returns 1 if either value is nan so we need to re-cast a and b with true encoded as a non-nan
-	// number.
-	// There must be a better way of doing this in sse.
-	const BoolV one = FOne();
-	const BoolV zero = FZero();
-	const BoolV a1 = V4Sel(a, one, zero);
-	const BoolV b1 = V4Sel(b, one, zero);
-	return (
-	    _mm_comieq_ss(a1, b1) &&
-	    _mm_comieq_ss(_mm_shuffle_ps(a1, a1, _MM_SHUFFLE(1, 1, 1, 1)), _mm_shuffle_ps(b1, b1, _MM_SHUFFLE(1, 1, 1, 1))) &&
-	    _mm_comieq_ss(_mm_shuffle_ps(a1, a1, _MM_SHUFFLE(2, 2, 2, 2)), _mm_shuffle_ps(b1, b1, _MM_SHUFFLE(2, 2, 2, 2))) &&
-	    _mm_comieq_ss(_mm_shuffle_ps(a1, a1, _MM_SHUFFLE(3, 3, 3, 3)), _mm_shuffle_ps(b1, b1, _MM_SHUFFLE(3, 3, 3, 3))));
-}
-
-#if !PX_EMSCRIPTEN
-const PX_ALIGN(16, PxF32 gMaskXYZ[4]) = { physx::PxUnionCast<PxF32>(0xffffffff), physx::PxUnionCast<PxF32>(0xffffffff),
-	                                      physx::PxUnionCast<PxF32>(0xffffffff), 0 };
-}
-#else
-// emscripten doesn't like the PxUnionCast data structure
-// the following is what windows and xbox does -- using these for emscripten
-const PX_ALIGN(16, PxU32 gMaskXYZ[4]) = { 0xffffffff, 0xffffffff, 0xffffffff, 0 }; }
-#endif
-
-namespace _VecMathTests
-{
-// PT: this function returns an invalid Vec3V (W!=0.0f) just for unit-testing 'isValidVec3V'
-PX_FORCE_INLINE Vec3V getInvalidVec3V()
-{
-	const float f = 1.0f;
-	return _mm_load1_ps(&f);
-}
-
-PX_FORCE_INLINE bool allElementsEqualFloatV(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_comieq_ss(a, b) != 0;
-}
-
-PX_FORCE_INLINE bool allElementsEqualVec3V(const Vec3V a, const Vec3V b)
-{
-	return V3AllEq(a, b) != 0;
-}
-
-PX_FORCE_INLINE bool allElementsEqualVec4V(const Vec4V a, const Vec4V b)
-{
-	return V4AllEq(a, b) != 0;
-}
-
-PX_FORCE_INLINE bool allElementsEqualBoolV(const BoolV a, const BoolV b)
-{
-	return internalUnitSSE2Simd::BAllTrue4_R(VecI32V_IsEq(m128_F2I(a), m128_F2I(b))) != 0;
-}
-
-PX_FORCE_INLINE bool allElementsEqualVecU32V(const VecU32V a, const VecU32V b)
-{
-	return internalUnitSSE2Simd::BAllTrue4_R(V4IsEqU32(a, b)) != 0;
-}
-
-PX_FORCE_INLINE bool allElementsEqualVecI32V(const VecI32V a, const VecI32V b)
-{
-	BoolV c = m128_I2F(_mm_cmpeq_epi32(a, b));
-	return internalUnitSSE2Simd::BAllTrue4_R(c) != 0;
-}
-
-#define VECMATH_AOS_EPSILON (1e-3f)
-
-PX_FORCE_INLINE bool allElementsNearEqualFloatV(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	const FloatV c = FSub(a, b);
-	const FloatV minError = FLoad(-VECMATH_AOS_EPSILON);
-	const FloatV maxError = FLoad(VECMATH_AOS_EPSILON);
-	return _mm_comigt_ss(c, minError) && _mm_comilt_ss(c, maxError);
-}
-
-PX_FORCE_INLINE bool allElementsNearEqualVec3V(const Vec3V a, const Vec3V b)
-{
-	const Vec3V c = V3Sub(a, b);
-	const Vec3V minError = V3Load(-VECMATH_AOS_EPSILON);
-	const Vec3V maxError = V3Load(VECMATH_AOS_EPSILON);
-	return (_mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(0, 0, 0, 0)), minError) &&
-	 		_mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(0, 0, 0, 0)), maxError) &&
-	 		_mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(1, 1, 1, 1)), minError) &&
-	 		_mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(1, 1, 1, 1)), maxError) &&
-	 		_mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(2, 2, 2, 2)), minError) &&
-	 		_mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(2, 2, 2, 2)), maxError));
-}
-
-PX_FORCE_INLINE bool allElementsNearEqualVec4V(const Vec4V a, const Vec4V b)
-{
-	const Vec4V c = V4Sub(a, b);
-	const Vec4V minError = V4Load(-VECMATH_AOS_EPSILON);
-	const Vec4V maxError = V4Load(VECMATH_AOS_EPSILON);
-	return (_mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(0, 0, 0, 0)), minError) &&
-	        _mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(0, 0, 0, 0)), maxError) &&
-	        _mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(1, 1, 1, 1)), minError) &&
-	        _mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(1, 1, 1, 1)), maxError) &&
-	        _mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(2, 2, 2, 2)), minError) &&
-	        _mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(2, 2, 2, 2)), maxError) &&
-	        _mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(3, 3, 3, 3)), minError) &&
-	        _mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(3, 3, 3, 3)), maxError));
-}
-}
-
-/////////////////////////////////////////////////////////////////////
-////FUNCTIONS USED ONLY FOR ASSERTS IN VECTORISED IMPLEMENTATIONS
-/////////////////////////////////////////////////////////////////////
-
-PX_FORCE_INLINE bool isFiniteFloatV(const FloatV a)
-{
-	PxF32 badNumber =
-	    physx::PxUnionCast<PxF32, PxU32>(PX_FPCLASS_SNAN | PX_FPCLASS_QNAN | PX_FPCLASS_NINF | PX_FPCLASS_PINF);
-	const FloatV vBadNum = FLoad(badNumber);
-	const BoolV vMask = BAnd(vBadNum, a);
-	return internalUnitSSE2Simd::FiniteTestEq(vMask, BFFFF()) == 1;
-}
-
-PX_FORCE_INLINE bool isFiniteVec3V(const Vec3V a)
-{
-	PxF32 badNumber =
-	    physx::PxUnionCast<PxF32, PxU32>(PX_FPCLASS_SNAN | PX_FPCLASS_QNAN | PX_FPCLASS_NINF | PX_FPCLASS_PINF);
-	const Vec3V vBadNum = V3Load(badNumber);
-	const BoolV vMask = BAnd(BAnd(vBadNum, a), BTTTF());
-	return internalUnitSSE2Simd::FiniteTestEq(vMask, BFFFF()) == 1;
-}
-
-PX_FORCE_INLINE bool isFiniteVec4V(const Vec4V a)
-{
-	/*Vec4V a;
-	PX_ALIGN(16, PxF32 f[4]);
-	F32Array_Aligned_From_Vec4V(a, f);
-	return PxIsFinite(f[0])
-	        && PxIsFinite(f[1])
-	        && PxIsFinite(f[2])
-	        && PxIsFinite(f[3]);*/
-
-	PxF32 badNumber =
-	    physx::PxUnionCast<PxF32, PxU32>(PX_FPCLASS_SNAN | PX_FPCLASS_QNAN | PX_FPCLASS_NINF | PX_FPCLASS_PINF);
-	const Vec4V vBadNum = V4Load(badNumber);
-	const BoolV vMask = BAnd(vBadNum, a);
-
-	return internalUnitSSE2Simd::FiniteTestEq(vMask, BFFFF()) == 1;
-}
-
-PX_FORCE_INLINE bool hasZeroElementinFloatV(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	return _mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0)), FZero()) ? true : false;
-}
-
-PX_FORCE_INLINE bool hasZeroElementInVec3V(const Vec3V a)
-{
-	return (_mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0)), FZero()) ||
-	        _mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 1, 1, 1)), FZero()) ||
-	        _mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2)), FZero()));
-}
-
-PX_FORCE_INLINE bool hasZeroElementInVec4V(const Vec4V a)
-{
-	return (_mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0)), FZero()) ||
-	        _mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 1, 1, 1)), FZero()) ||
-	        _mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2)), FZero()) ||
-	        _mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 3, 3, 3)), FZero()));
-}
-
-/////////////////////////////////////////////////////////////////////
-////VECTORISED FUNCTION IMPLEMENTATIONS
-/////////////////////////////////////////////////////////////////////
-
-PX_FORCE_INLINE FloatV FLoad(const PxF32 f)
-{
-	return _mm_load1_ps(&f);
-}
-
-PX_FORCE_INLINE Vec3V V3Load(const PxF32 f)
-{
-	return _mm_set_ps(0.0f, f, f, f);
-}
-
-PX_FORCE_INLINE Vec4V V4Load(const PxF32 f)
-{
-	return _mm_load1_ps(&f);
-}
-
-PX_FORCE_INLINE BoolV BLoad(const bool f)
-{
-	const PxU32 i = -PxI32(f);
-	return _mm_load1_ps(reinterpret_cast<const float*>(&i));
-}
-
-PX_FORCE_INLINE Vec3V V3LoadA(const PxVec3& f)
-{
-	ASSERT_ISALIGNED16(const_cast<PxVec3*>(&f));
-#if !PX_EMSCRIPTEN
-	return _mm_and_ps(reinterpret_cast<const Vec3V&>(f), V4LoadA(internalUnitSSE2Simd::gMaskXYZ));
-#else
-	return _mm_and_ps((Vec3V&)f, (VecI32V&)internalUnitSSE2Simd::gMaskXYZ);
-#endif
-}
-
-PX_FORCE_INLINE Vec3V V3LoadU(const PxVec3& f)
-{
-	return _mm_set_ps(0.0f, f.z, f.y, f.x);
-}
-
-PX_FORCE_INLINE Vec3V V3LoadUnsafeA(const PxVec3& f)
-{
-	ASSERT_ISALIGNED16(const_cast<PxVec3*>(&f));
-	return _mm_set_ps(0.0f, f.z, f.y, f.x);
-}
-
-PX_FORCE_INLINE Vec3V V3LoadA(const PxF32* const f)
-{
-	ASSERT_ISALIGNED16(const_cast<PxF32*>(f));
-#if !PX_EMSCRIPTEN
-	return _mm_and_ps(V4LoadA(f), V4LoadA(internalUnitSSE2Simd::gMaskXYZ));
-#else
-	return _mm_and_ps((Vec3V&)*f, (VecI32V&)internalUnitSSE2Simd::gMaskXYZ);
-#endif
-}
-
-PX_FORCE_INLINE Vec3V V3LoadU(const PxF32* const i)
-{
-	return _mm_set_ps(0.0f, i[2], i[1], i[0]);
-}
-
-PX_FORCE_INLINE Vec3V Vec3V_From_Vec4V(Vec4V v)
-{
-	return V4ClearW(v);
-}
-
-PX_FORCE_INLINE Vec3V Vec3V_From_Vec4V_WUndefined(const Vec4V v)
-{
-	return v;
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_From_Vec3V(Vec3V f)
-{
-	ASSERT_ISVALIDVEC3V(f);
-	return f; // ok if it is implemented as the same type.
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_From_PxVec3_WUndefined(const PxVec3& f)
-{
-	return _mm_set_ps(0.0f, f.z, f.y, f.x);
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_From_FloatV(FloatV f)
-{
-	return f;
-}
-
-PX_FORCE_INLINE Vec3V Vec3V_From_FloatV(FloatV f)
-{
-	ASSERT_ISVALIDFLOATV(f);
-	return Vec3V_From_Vec4V(Vec4V_From_FloatV(f));
-}
-
-PX_FORCE_INLINE Vec3V Vec3V_From_FloatV_WUndefined(FloatV f)
-{
-	ASSERT_ISVALIDVEC3V(f);
-	return Vec3V_From_Vec4V_WUndefined(Vec4V_From_FloatV(f));
-}
-
-PX_FORCE_INLINE Mat33V Mat33V_From_PxMat33(const PxMat33& m)
-{
-	return Mat33V(V3LoadU(m.column0), V3LoadU(m.column1), V3LoadU(m.column2));
-}
-
-PX_FORCE_INLINE void PxMat33_From_Mat33V(const Mat33V& m, PxMat33& out)
-{
-	V3StoreU(m.col0, out.column0);
-	V3StoreU(m.col1, out.column1);
-	V3StoreU(m.col2, out.column2);
-}
-
-PX_FORCE_INLINE Vec4V V4LoadA(const PxF32* const f)
-{
-	ASSERT_ISALIGNED16(const_cast<PxF32*>(f));
-	return _mm_load_ps(f);
-}
-
-PX_FORCE_INLINE void V4StoreA(Vec4V a, PxF32* f)
-{
-	ASSERT_ISALIGNED16(f);
-	_mm_store_ps(f, a);
-}
-
-PX_FORCE_INLINE void V4StoreU(const Vec4V a, PxF32* f)
-{
-	_mm_storeu_ps(f, a);
-}
-
-PX_FORCE_INLINE void BStoreA(const BoolV a, PxU32* f)
-{
-	ASSERT_ISALIGNED16(f);
-	_mm_store_ps(reinterpret_cast<PxF32*>(f), a);
-}
-
-PX_FORCE_INLINE void U4StoreA(const VecU32V uv, PxU32* u)
-{
-	ASSERT_ISALIGNED16(u);
-	_mm_store_ps(reinterpret_cast<float*>(u), uv);
-}
-
-PX_FORCE_INLINE void I4StoreA(const VecI32V iv, PxI32* i)
-{
-	ASSERT_ISALIGNED16(i);
-	_mm_store_ps(reinterpret_cast<float*>(i), m128_I2F(iv));
-}
-
-PX_FORCE_INLINE Vec4V V4LoadU(const PxF32* const f)
-{
-	return _mm_loadu_ps(f);
-}
-
-PX_FORCE_INLINE BoolV BLoad(const bool* const f)
-{
-	const PX_ALIGN(16, PxI32) b[4] = { -PxI32(f[0]), -PxI32(f[1]), -PxI32(f[2]), -PxI32(f[3]) };
-	return _mm_load_ps(reinterpret_cast<const float*>(&b));
-}
-
-PX_FORCE_INLINE void FStore(const FloatV a, PxF32* PX_RESTRICT f)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	_mm_store_ss(f, a);
-}
-
-PX_FORCE_INLINE void V3StoreA(const Vec3V a, PxVec3& f)
-{
-	ASSERT_ISALIGNED16(&f);
-	PX_ALIGN(16, PxF32) f2[4];
-	_mm_store_ps(f2, a);
-	f = PxVec3(f2[0], f2[1], f2[2]);
-}
-
-PX_FORCE_INLINE void V3StoreU(const Vec3V a, PxVec3& f)
-{
-	PX_ALIGN(16, PxF32) f2[4];
-	_mm_store_ps(f2, a);
-	f = PxVec3(f2[0], f2[1], f2[2]);
-}
-
-PX_FORCE_INLINE void Store_From_BoolV(const BoolV b, PxU32* b2)
-{
-	_mm_store_ss(reinterpret_cast<PxF32*>(b2), b);
-}
-
-PX_FORCE_INLINE VecU32V U4Load(const PxU32 i)
-{
-	return _mm_load1_ps(reinterpret_cast<const PxF32*>(&i));
-}
-
-PX_FORCE_INLINE VecU32V U4LoadU(const PxU32* i)
-{
-	return _mm_loadu_ps(reinterpret_cast<const PxF32*>(i));
-}
-
-PX_FORCE_INLINE VecU32V U4LoadA(const PxU32* i)
-{
-	ASSERT_ISALIGNED16(const_cast<PxU32*>(i));
-	return _mm_load_ps(reinterpret_cast<const PxF32*>(i));
-}
-
-//////////////////////////////////
-// FLOATV
-//////////////////////////////////
-
-PX_FORCE_INLINE FloatV FZero()
-{
-	return FLoad(0.0f);
-}
-
-PX_FORCE_INLINE FloatV FOne()
-{
-	return FLoad(1.0f);
-}
-
-PX_FORCE_INLINE FloatV FHalf()
-{
-	return FLoad(0.5f);
-}
-
-PX_FORCE_INLINE FloatV FEps()
-{
-	return FLoad(PX_EPS_REAL);
-}
-
-PX_FORCE_INLINE FloatV FEps6()
-{
-	return FLoad(1e-6f);
-}
-
-PX_FORCE_INLINE FloatV FMax()
-{
-	return FLoad(PX_MAX_REAL);
-}
-
-PX_FORCE_INLINE FloatV FNegMax()
-{
-	return FLoad(-PX_MAX_REAL);
-}
-
-PX_FORCE_INLINE FloatV IZero()
-{
-	const PxU32 zero = 0;
-	return _mm_load1_ps(reinterpret_cast<const PxF32*>(&zero));
-}
-
-PX_FORCE_INLINE FloatV IOne()
-{
-	const PxU32 one = 1;
-	return _mm_load1_ps(reinterpret_cast<const PxF32*>(&one));
-}
-
-PX_FORCE_INLINE FloatV ITwo()
-{
-	const PxU32 two = 2;
-	return _mm_load1_ps(reinterpret_cast<const PxF32*>(&two));
-}
-
-PX_FORCE_INLINE FloatV IThree()
-{
-	const PxU32 three = 3;
-	return _mm_load1_ps(reinterpret_cast<const PxF32*>(&three));
-}
-
-PX_FORCE_INLINE FloatV IFour()
-{
-	PxU32 four = 4;
-	return _mm_load1_ps(reinterpret_cast<const PxF32*>(&four));
-}
-
-PX_FORCE_INLINE FloatV FNeg(const FloatV f)
-{
-	ASSERT_ISVALIDFLOATV(f);
-	return _mm_sub_ps(_mm_setzero_ps(), f);
-}
-
-PX_FORCE_INLINE FloatV FAdd(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-/*
-	if(!isValidFloatV(a))
-	{
-assert(false);
-	}
-	if(!isValidFloatV(b))
-	{
-assert(false);
-	}
-*/
-	return _mm_add_ps(a, b);
-}
-
-PX_FORCE_INLINE FloatV FSub(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_sub_ps(a, b);
-}
-
-PX_FORCE_INLINE FloatV FMul(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_mul_ps(a, b);
-}
-
-PX_FORCE_INLINE FloatV FDiv(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_div_ps(a, b);
-}
-
-PX_FORCE_INLINE FloatV FDivFast(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_mul_ps(a, _mm_rcp_ps(b));
-}
-
-PX_FORCE_INLINE FloatV FRecip(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	return _mm_div_ps(FOne(), a);
-}
-
-PX_FORCE_INLINE FloatV FRecipFast(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	return _mm_rcp_ps(a);
-}
-
-PX_FORCE_INLINE FloatV FRsqrt(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	return _mm_div_ps(FOne(), _mm_sqrt_ps(a));
-}
-
-PX_FORCE_INLINE FloatV FSqrt(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	return _mm_sqrt_ps(a);
-}
-
-PX_FORCE_INLINE FloatV FRsqrtFast(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	return _mm_rsqrt_ps(a);
-}
-
-PX_FORCE_INLINE FloatV FScaleAdd(const FloatV a, const FloatV b, const FloatV c)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	ASSERT_ISVALIDFLOATV(c);
-	return FAdd(FMul(a, b), c);
-}
-
-PX_FORCE_INLINE FloatV FNegScaleSub(const FloatV a, const FloatV b, const FloatV c)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	ASSERT_ISVALIDFLOATV(c);
-	return FSub(c, FMul(a, b));
-}
-
-PX_FORCE_INLINE FloatV FAbs(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	PX_ALIGN(16, const PxU32) absMask[4] = { 0x7fFFffFF, 0x7fFFffFF, 0x7fFFffFF, 0x7fFFffFF };
-	return _mm_and_ps(a, _mm_load_ps(reinterpret_cast<const PxF32*>(absMask)));
-}
-
-PX_FORCE_INLINE FloatV FSel(const BoolV c, const FloatV a, const FloatV b)
-{
-	PX_ASSERT(_VecMathTests::allElementsEqualBoolV(c,BTTTT()) ||
-			  _VecMathTests::allElementsEqualBoolV(c,BFFFF()));
-	ASSERT_ISVALIDFLOATV(_mm_or_ps(_mm_andnot_ps(c, b), _mm_and_ps(c, a)));
-	return _mm_or_ps(_mm_andnot_ps(c, b), _mm_and_ps(c, a));
-}
-
-PX_FORCE_INLINE BoolV FIsGrtr(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_cmpgt_ps(a, b);
-}
-
-PX_FORCE_INLINE BoolV FIsGrtrOrEq(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_cmpge_ps(a, b);
-}
-
-PX_FORCE_INLINE BoolV FIsEq(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_cmpeq_ps(a, b);
-}
-
-PX_FORCE_INLINE FloatV FMax(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_max_ps(a, b);
-}
-
-PX_FORCE_INLINE FloatV FMin(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_min_ps(a, b);
-}
-
-PX_FORCE_INLINE FloatV FClamp(const FloatV a, const FloatV minV, const FloatV maxV)
-{
-	ASSERT_ISVALIDFLOATV(minV);
-	ASSERT_ISVALIDFLOATV(maxV);
-	return _mm_max_ps(_mm_min_ps(a, maxV), minV);
-}
-
-PX_FORCE_INLINE PxU32 FAllGrtr(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_comigt_ss(a, b);
-}
-
-PX_FORCE_INLINE PxU32 FAllGrtrOrEq(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_comige_ss(a, b);
-}
-
-PX_FORCE_INLINE PxU32 FAllEq(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_comieq_ss(a, b);
-}
-
-PX_FORCE_INLINE FloatV FRound(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-#ifdef __SSE4_2__
-	return _mm_round_ps(a, _MM_FROUND_TO_NEAREST_INT | _MM_FROUND_NO_EXC);
-#else
-	// return _mm_round_ps(a, 0x0);
-	const FloatV half = FLoad(0.5f);
-	const __m128 signBit = _mm_cvtepi32_ps(_mm_srli_epi32(_mm_cvtps_epi32(a), 31));
-	const FloatV aRound = FSub(FAdd(a, half), signBit);
-	__m128i tmp = _mm_cvttps_epi32(aRound);
-	return _mm_cvtepi32_ps(tmp);
-#endif
-}
-
-PX_FORCE_INLINE FloatV FSin(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-
-	// Modulo the range of the given angles such that -XM_2PI <= Angles < XM_2PI
-	const FloatV recipTwoPi = V4LoadA(g_PXReciprocalTwoPi.f);
-	const FloatV twoPi = V4LoadA(g_PXTwoPi.f);
-	const FloatV tmp = FMul(a, recipTwoPi);
-	const FloatV b = FRound(tmp);
-	const FloatV V1 = FNegScaleSub(twoPi, b, a);
-
-	// sin(V) ~= V - V^3 / 3! + V^5 / 5! - V^7 / 7! + V^9 / 9! - V^11 / 11! + V^13 / 13! -
-	//			 V^15 / 15! + V^17 / 17! - V^19 / 19! + V^21 / 21! - V^23 / 23! (for -PI <= V < PI)
-	const FloatV V2 = FMul(V1, V1);
-	const FloatV V3 = FMul(V2, V1);
-	const FloatV V5 = FMul(V3, V2);
-	const FloatV V7 = FMul(V5, V2);
-	const FloatV V9 = FMul(V7, V2);
-	const FloatV V11 = FMul(V9, V2);
-	const FloatV V13 = FMul(V11, V2);
-	const FloatV V15 = FMul(V13, V2);
-	const FloatV V17 = FMul(V15, V2);
-	const FloatV V19 = FMul(V17, V2);
-	const FloatV V21 = FMul(V19, V2);
-	const FloatV V23 = FMul(V21, V2);
-
-	const Vec4V sinCoefficients0 = V4LoadA(g_PXSinCoefficients0.f);
-	const Vec4V sinCoefficients1 = V4LoadA(g_PXSinCoefficients1.f);
-	const Vec4V sinCoefficients2 = V4LoadA(g_PXSinCoefficients2.f);
-
-	const FloatV S1 = V4GetY(sinCoefficients0);
-	const FloatV S2 = V4GetZ(sinCoefficients0);
-	const FloatV S3 = V4GetW(sinCoefficients0);
-	const FloatV S4 = V4GetX(sinCoefficients1);
-	const FloatV S5 = V4GetY(sinCoefficients1);
-	const FloatV S6 = V4GetZ(sinCoefficients1);
-	const FloatV S7 = V4GetW(sinCoefficients1);
-	const FloatV S8 = V4GetX(sinCoefficients2);
-	const FloatV S9 = V4GetY(sinCoefficients2);
-	const FloatV S10 = V4GetZ(sinCoefficients2);
-	const FloatV S11 = V4GetW(sinCoefficients2);
-
-	FloatV Result;
-	Result = FScaleAdd(S1, V3, V1);
-	Result = FScaleAdd(S2, V5, Result);
-	Result = FScaleAdd(S3, V7, Result);
-	Result = FScaleAdd(S4, V9, Result);
-	Result = FScaleAdd(S5, V11, Result);
-	Result = FScaleAdd(S6, V13, Result);
-	Result = FScaleAdd(S7, V15, Result);
-	Result = FScaleAdd(S8, V17, Result);
-	Result = FScaleAdd(S9, V19, Result);
-	Result = FScaleAdd(S10, V21, Result);
-	Result = FScaleAdd(S11, V23, Result);
-
-	return Result;
-}
-
-PX_FORCE_INLINE FloatV FCos(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-
-	// Modulo the range of the given angles such that -XM_2PI <= Angles < XM_2PI
-	const FloatV recipTwoPi = V4LoadA(g_PXReciprocalTwoPi.f);
-	const FloatV twoPi = V4LoadA(g_PXTwoPi.f);
-	const FloatV tmp = FMul(a, recipTwoPi);
-	const FloatV b = FRound(tmp);
-	const FloatV V1 = FNegScaleSub(twoPi, b, a);
-
-	// cos(V) ~= 1 - V^2 / 2! + V^4 / 4! - V^6 / 6! + V^8 / 8! - V^10 / 10! + V^12 / 12! -
-	//           V^14 / 14! + V^16 / 16! - V^18 / 18! + V^20 / 20! - V^22 / 22! (for -PI <= V < PI)
-	const FloatV V2 = FMul(V1, V1);
-	const FloatV V4 = FMul(V2, V2);
-	const FloatV V6 = FMul(V4, V2);
-	const FloatV V8 = FMul(V4, V4);
-	const FloatV V10 = FMul(V6, V4);
-	const FloatV V12 = FMul(V6, V6);
-	const FloatV V14 = FMul(V8, V6);
-	const FloatV V16 = FMul(V8, V8);
-	const FloatV V18 = FMul(V10, V8);
-	const FloatV V20 = FMul(V10, V10);
-	const FloatV V22 = FMul(V12, V10);
-
-	const Vec4V cosCoefficients0 = V4LoadA(g_PXCosCoefficients0.f);
-	const Vec4V cosCoefficients1 = V4LoadA(g_PXCosCoefficients1.f);
-	const Vec4V cosCoefficients2 = V4LoadA(g_PXCosCoefficients2.f);
-
-	const FloatV C1 = V4GetY(cosCoefficients0);
-	const FloatV C2 = V4GetZ(cosCoefficients0);
-	const FloatV C3 = V4GetW(cosCoefficients0);
-	const FloatV C4 = V4GetX(cosCoefficients1);
-	const FloatV C5 = V4GetY(cosCoefficients1);
-	const FloatV C6 = V4GetZ(cosCoefficients1);
-	const FloatV C7 = V4GetW(cosCoefficients1);
-	const FloatV C8 = V4GetX(cosCoefficients2);
-	const FloatV C9 = V4GetY(cosCoefficients2);
-	const FloatV C10 = V4GetZ(cosCoefficients2);
-	const FloatV C11 = V4GetW(cosCoefficients2);
-
-	FloatV Result;
-	Result = FScaleAdd(C1, V2, V4One());
-	Result = FScaleAdd(C2, V4, Result);
-	Result = FScaleAdd(C3, V6, Result);
-	Result = FScaleAdd(C4, V8, Result);
-	Result = FScaleAdd(C5, V10, Result);
-	Result = FScaleAdd(C6, V12, Result);
-	Result = FScaleAdd(C7, V14, Result);
-	Result = FScaleAdd(C8, V16, Result);
-	Result = FScaleAdd(C9, V18, Result);
-	Result = FScaleAdd(C10, V20, Result);
-	Result = FScaleAdd(C11, V22, Result);
-
-	return Result;
-}
-
-PX_FORCE_INLINE PxU32 FOutOfBounds(const FloatV a, const FloatV min, const FloatV max)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(min);
-	ASSERT_ISVALIDFLOATV(max);
-	const BoolV c = BOr(FIsGrtr(a, max), FIsGrtr(min, a));
-	return !BAllEqFFFF(c);
-}
-
-PX_FORCE_INLINE PxU32 FInBounds(const FloatV a, const FloatV min, const FloatV max)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(min);
-	ASSERT_ISVALIDFLOATV(max)
-	const BoolV c = BAnd(FIsGrtrOrEq(a, min), FIsGrtrOrEq(max, a));
-	return BAllEqTTTT(c);
-}
-
-PX_FORCE_INLINE PxU32 FOutOfBounds(const FloatV a, const FloatV bounds)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(bounds);
-	return FOutOfBounds(a, FNeg(bounds), bounds);
-}
-
-PX_FORCE_INLINE PxU32 FInBounds(const FloatV a, const FloatV bounds)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(bounds);
-	return FInBounds(a, FNeg(bounds), bounds);
-}
-
-//////////////////////////////////
-// VEC3V
-//////////////////////////////////
-
-PX_FORCE_INLINE Vec3V V3Splat(const FloatV f)
-{
-	ASSERT_ISVALIDFLOATV(f);
-	const __m128 zero = FZero();
-	const __m128 fff0 = _mm_move_ss(f, zero);
-	return _mm_shuffle_ps(fff0, fff0, _MM_SHUFFLE(0, 1, 2, 3));
-}
-
-PX_FORCE_INLINE Vec3V V3Merge(const FloatVArg x, const FloatVArg y, const FloatVArg z)
-{
-	ASSERT_ISVALIDFLOATV(x);
-	ASSERT_ISVALIDFLOATV(y);
-	ASSERT_ISVALIDFLOATV(z);
-	// static on zero causes compiler crash on x64 debug_opt
-	const __m128 zero = FZero();
-	const __m128 xy = _mm_move_ss(x, y);
-	const __m128 z0 = _mm_move_ss(zero, z);
-
-	return _mm_shuffle_ps(xy, z0, _MM_SHUFFLE(1, 0, 0, 1));
-}
-
-PX_FORCE_INLINE Vec3V V3UnitX()
-{
-	const PX_ALIGN(16, PxF32) x[4] = { 1.0f, 0.0f, 0.0f, 0.0f };
-	const __m128 x128 = _mm_load_ps(x);
-	return x128;
-}
-
-PX_FORCE_INLINE Vec3V V3UnitY()
-{
-	const PX_ALIGN(16, PxF32) y[4] = { 0.0f, 1.0f, 0.0f, 0.0f };
-	const __m128 y128 = _mm_load_ps(y);
-	return y128;
-}
-
-PX_FORCE_INLINE Vec3V V3UnitZ()
-{
-	const PX_ALIGN(16, PxF32) z[4] = { 0.0f, 0.0f, 1.0f, 0.0f };
-	const __m128 z128 = _mm_load_ps(z);
-	return z128;
-}
-
-PX_FORCE_INLINE FloatV V3GetX(const Vec3V f)
-{
-	ASSERT_ISVALIDVEC3V(f);
-	return _mm_shuffle_ps(f, f, _MM_SHUFFLE(0, 0, 0, 0));
-}
-
-PX_FORCE_INLINE FloatV V3GetY(const Vec3V f)
-{
-	ASSERT_ISVALIDVEC3V(f)
-	return _mm_shuffle_ps(f, f, _MM_SHUFFLE(1, 1, 1, 1));
-}
-
-PX_FORCE_INLINE FloatV V3GetZ(const Vec3V f)
-{
-	ASSERT_ISVALIDVEC3V(f);
-	return _mm_shuffle_ps(f, f, _MM_SHUFFLE(2, 2, 2, 2));
-}
-
-PX_FORCE_INLINE Vec3V V3SetX(const Vec3V v, const FloatV f)
-{
-	ASSERT_ISVALIDVEC3V(v);
-	ASSERT_ISVALIDFLOATV(f);
-	return V4Sel(BFTTT(), v, f);
-}
-
-PX_FORCE_INLINE Vec3V V3SetY(const Vec3V v, const FloatV f)
-{
-	ASSERT_ISVALIDVEC3V(v);
-	ASSERT_ISVALIDFLOATV(f);
-	return V4Sel(BTFTT(), v, f);
-}
-
-PX_FORCE_INLINE Vec3V V3SetZ(const Vec3V v, const FloatV f)
-{
-	ASSERT_ISVALIDVEC3V(v);
-	ASSERT_ISVALIDFLOATV(f);
-	return V4Sel(BTTFT(), v, f);
-}
-
-PX_FORCE_INLINE Vec3V V3ColX(const Vec3V a, const Vec3V b, const Vec3V c)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	ASSERT_ISVALIDVEC3V(c);
-	Vec3V r = _mm_shuffle_ps(a, c, _MM_SHUFFLE(3, 0, 3, 0));
-	return V3SetY(r, V3GetX(b));
-}
-
-PX_FORCE_INLINE Vec3V V3ColY(const Vec3V a, const Vec3V b, const Vec3V c)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	ASSERT_ISVALIDVEC3V(c)
-	Vec3V r = _mm_shuffle_ps(a, c, _MM_SHUFFLE(3, 1, 3, 1));
-	return V3SetY(r, V3GetY(b));
-}
-
-PX_FORCE_INLINE Vec3V V3ColZ(const Vec3V a, const Vec3V b, const Vec3V c)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	ASSERT_ISVALIDVEC3V(c);
-	Vec3V r = _mm_shuffle_ps(a, c, _MM_SHUFFLE(3, 2, 3, 2));
-	return V3SetY(r, V3GetZ(b));
-}
-
-PX_FORCE_INLINE Vec3V V3Zero()
-{
-	return V3Load(0.0f);
-}
-
-PX_FORCE_INLINE Vec3V V3Eps()
-{
-	return V3Load(PX_EPS_REAL);
-}
-PX_FORCE_INLINE Vec3V V3One()
-{
-	return V3Load(1.0f);
-}
-
-PX_FORCE_INLINE Vec3V V3Neg(const Vec3V f)
-{
-	ASSERT_ISVALIDVEC3V(f);
-	return _mm_sub_ps(_mm_setzero_ps(), f);
-}
-
-PX_FORCE_INLINE Vec3V V3Add(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return _mm_add_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec3V V3Sub(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return _mm_sub_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec3V V3Scale(const Vec3V a, const FloatV b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_mul_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec3V V3Mul(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return _mm_mul_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec3V V3ScaleInv(const Vec3V a, const FloatV b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_div_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec3V V3Div(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return V4ClearW(_mm_div_ps(a, b));
-}
-
-PX_FORCE_INLINE Vec3V V3ScaleInvFast(const Vec3V a, const FloatV b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_mul_ps(a, _mm_rcp_ps(b));
-}
-
-PX_FORCE_INLINE Vec3V V3DivFast(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return V4ClearW(_mm_mul_ps(a, _mm_rcp_ps(b)));
-}
-
-PX_FORCE_INLINE Vec3V V3Recip(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const __m128 zero = V3Zero();
-	const __m128 tttf = BTTTF();
-	const __m128 recipA = _mm_div_ps(V3One(), a);
-	return V4Sel(tttf, recipA, zero);
-}
-
-PX_FORCE_INLINE Vec3V V3RecipFast(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const __m128 zero = V3Zero();
-	const __m128 tttf = BTTTF();
-	const __m128 recipA = _mm_rcp_ps(a);
-	return V4Sel(tttf, recipA, zero);
-}
-
-PX_FORCE_INLINE Vec3V V3Rsqrt(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const __m128 zero = V3Zero();
-	const __m128 tttf = BTTTF();
-	const __m128 recipA = _mm_div_ps(V3One(), _mm_sqrt_ps(a));
-	return V4Sel(tttf, recipA, zero);
-}
-
-PX_FORCE_INLINE Vec3V V3RsqrtFast(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const __m128 zero = V3Zero();
-	const __m128 tttf = BTTTF();
-	const __m128 recipA = _mm_rsqrt_ps(a);
-	return V4Sel(tttf, recipA, zero);
-}
-
-PX_FORCE_INLINE Vec3V V3ScaleAdd(const Vec3V a, const FloatV b, const Vec3V c)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDFLOATV(b);
-	ASSERT_ISVALIDVEC3V(c);
-	return V3Add(V3Scale(a, b), c);
-}
-
-PX_FORCE_INLINE Vec3V V3NegScaleSub(const Vec3V a, const FloatV b, const Vec3V c)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDFLOATV(b);
-	ASSERT_ISVALIDVEC3V(c);
-	return V3Sub(c, V3Scale(a, b));
-}
-
-PX_FORCE_INLINE Vec3V V3MulAdd(const Vec3V a, const Vec3V b, const Vec3V c)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	ASSERT_ISVALIDVEC3V(c);
-	return V3Add(V3Mul(a, b), c);
-}
-
-PX_FORCE_INLINE Vec3V V3NegMulSub(const Vec3V a, const Vec3V b, const Vec3V c)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	ASSERT_ISVALIDVEC3V(c);
-	return V3Sub(c, V3Mul(a, b));
-}
-
-PX_FORCE_INLINE Vec3V V3Abs(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	return V3Max(a, V3Neg(a));
-}
-
-PX_FORCE_INLINE FloatV V3Dot(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-#ifdef __SSE4_2__
-	return _mm_dp_ps(a, b, 0x7f);
-#else
-	const __m128 t0 = _mm_mul_ps(a, b);								//	aw*bw | az*bz | ay*by | ax*bx
-	const __m128 t1 = _mm_shuffle_ps(t0, t0, _MM_SHUFFLE(1,0,3,2));	//	ay*by | ax*bx | aw*bw | az*bz
-	const __m128 t2 = _mm_add_ps(t0, t1);							//	ay*by + aw*bw | ax*bx + az*bz | aw*bw + ay*by | az*bz + ax*bx
-	const __m128 t3 = _mm_shuffle_ps(t2, t2, _MM_SHUFFLE(2,3,0,1));	//	ax*bx + az*bz | ay*by + aw*bw | az*bz + ax*bx | aw*bw + ay*by
-	return _mm_add_ps(t3, t2);										//	ax*bx + az*bz + ay*by + aw*bw 
-																	//	ay*by + aw*bw + ax*bx + az*bz
-																	//	az*bz + ax*bx + aw*bw + ay*by
-																	//	aw*bw + ay*by + az*bz + ax*bx
-#endif
-}
-
-PX_FORCE_INLINE Vec3V V3Cross(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	const __m128 r1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 1, 0, 2)); // z,x,y,w
-	const __m128 r2 = _mm_shuffle_ps(b, b, _MM_SHUFFLE(3, 0, 2, 1)); // y,z,x,w
-	const __m128 l1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 2, 1)); // y,z,x,w
-	const __m128 l2 = _mm_shuffle_ps(b, b, _MM_SHUFFLE(3, 1, 0, 2)); // z,x,y,w
-	return _mm_sub_ps(_mm_mul_ps(l1, l2), _mm_mul_ps(r1, r2));
-}
-
-PX_FORCE_INLINE VecCrossV V3PrepareCross(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	VecCrossV v;
-	v.mR1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 1, 0, 2)); // z,x,y,w
-	v.mL1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 2, 1)); // y,z,x,w
-	return v;
-}
-
-PX_FORCE_INLINE Vec3V V3Cross(const VecCrossV& a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(b);
-	const __m128 r2 = _mm_shuffle_ps(b, b, _MM_SHUFFLE(3, 0, 2, 1)); // y,z,x,w
-	const __m128 l2 = _mm_shuffle_ps(b, b, _MM_SHUFFLE(3, 1, 0, 2)); // z,x,y,w
-	return _mm_sub_ps(_mm_mul_ps(a.mL1, l2), _mm_mul_ps(a.mR1, r2));
-}
-
-PX_FORCE_INLINE Vec3V V3Cross(const Vec3V a, const VecCrossV& b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const __m128 r2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 2, 1)); // y,z,x,w
-	const __m128 l2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 1, 0, 2)); // z,x,y,w
-	return _mm_sub_ps(_mm_mul_ps(b.mR1, r2), _mm_mul_ps(b.mL1, l2));
-}
-
-PX_FORCE_INLINE Vec3V V3Cross(const VecCrossV& a, const VecCrossV& b)
-{
-	return _mm_sub_ps(_mm_mul_ps(a.mL1, b.mR1), _mm_mul_ps(a.mR1, b.mL1));
-}
-
-PX_FORCE_INLINE FloatV V3Length(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	return _mm_sqrt_ps(V3Dot(a, a));
-}
-
-PX_FORCE_INLINE FloatV V3LengthSq(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	return V3Dot(a, a);
-}
-
-PX_FORCE_INLINE Vec3V V3Normalize(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISFINITELENGTH(a);
-	return V3ScaleInv(a, _mm_sqrt_ps(V3Dot(a, a)));
-}
-
-PX_FORCE_INLINE Vec3V V3NormalizeFast(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISFINITELENGTH(a);
-	return V3Scale(a, _mm_rsqrt_ps(V3Dot(a, a)));
-}
-
-PX_FORCE_INLINE Vec3V V3NormalizeSafe(const Vec3V a, const Vec3V unsafeReturnValue)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const __m128 eps = V3Eps();
-	const __m128 length = V3Length(a);
-	const __m128 isGreaterThanZero = FIsGrtr(length, eps);
-	return V3Sel(isGreaterThanZero, V3ScaleInv(a, length), unsafeReturnValue);
-}
-
-PX_FORCE_INLINE Vec3V V3Sel(const BoolV c, const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(_mm_or_ps(_mm_andnot_ps(c, b), _mm_and_ps(c, a)));
-	return _mm_or_ps(_mm_andnot_ps(c, b), _mm_and_ps(c, a));
-}
-
-PX_FORCE_INLINE BoolV V3IsGrtr(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return _mm_cmpgt_ps(a, b);
-}
-
-PX_FORCE_INLINE BoolV V3IsGrtrOrEq(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return _mm_cmpge_ps(a, b);
-}
-
-PX_FORCE_INLINE BoolV V3IsEq(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return _mm_cmpeq_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec3V V3Max(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return _mm_max_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec3V V3Min(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return _mm_min_ps(a, b);
-}
-
-PX_FORCE_INLINE FloatV V3ExtractMax(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const __m128 shuf1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0));
-	const __m128 shuf2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 1, 1, 1));
-	const __m128 shuf3 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2));
-
-	return _mm_max_ps(_mm_max_ps(shuf1, shuf2), shuf3);
-}
-
-PX_FORCE_INLINE FloatV V3ExtractMin(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-
-	const __m128 shuf1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0));
-	const __m128 shuf2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 1, 1, 1));
-	const __m128 shuf3 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2));
-
-	return _mm_min_ps(_mm_min_ps(shuf1, shuf2), shuf3);
-}
-
-// return (a >= 0.0f) ? 1.0f : -1.0f;
-PX_FORCE_INLINE Vec3V V3Sign(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const __m128 zero = V3Zero();
-	const __m128 one = V3One();
-	const __m128 none = V3Neg(one);
-	return V3Sel(V3IsGrtrOrEq(a, zero), one, none);
-}
-
-PX_FORCE_INLINE Vec3V V3Clamp(const Vec3V a, const Vec3V minV, const Vec3V maxV)
-{
-	ASSERT_ISVALIDVEC3V(maxV);
-	ASSERT_ISVALIDVEC3V(minV);
-	return V3Max(V3Min(a, maxV), minV);
-}
-
-PX_FORCE_INLINE PxU32 V3AllGrtr(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return internalUnitSSE2Simd::BAllTrue3_R(V4IsGrtr(a, b));
-}
-
-PX_FORCE_INLINE PxU32 V3AllGrtrOrEq(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return internalUnitSSE2Simd::BAllTrue3_R(V4IsGrtrOrEq(a, b));
-}
-
-PX_FORCE_INLINE PxU32 V3AllEq(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return internalUnitSSE2Simd::BAllTrue3_R(V4IsEq(a, b));
-}
-
-PX_FORCE_INLINE Vec3V V3Round(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-#ifdef __SSE4_2__
-	return _mm_round_ps(a, _MM_FROUND_TO_NEAREST_INT | _MM_FROUND_NO_EXC);
-#else
-	// return _mm_round_ps(a, 0x0);
-	const Vec3V half = V3Load(0.5f);
-	const __m128 signBit = _mm_cvtepi32_ps(_mm_srli_epi32(_mm_cvtps_epi32(a), 31));
-	const Vec3V aRound = V3Sub(V3Add(a, half), signBit);
-	__m128i tmp = _mm_cvttps_epi32(aRound);
-	return _mm_cvtepi32_ps(tmp);
-#endif
-}
-
-PX_FORCE_INLINE Vec3V V3Sin(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	// Modulo the range of the given angles such that -XM_2PI <= Angles < XM_2PI
-	const Vec4V recipTwoPi = V4LoadA(g_PXReciprocalTwoPi.f);
-	const Vec4V twoPi = V4LoadA(g_PXTwoPi.f);
-	const Vec3V tmp = V3Scale(a, recipTwoPi);
-	const Vec3V b = V3Round(tmp);
-	const Vec3V V1 = V3NegScaleSub(b, twoPi, a);
-
-	// sin(V) ~= V - V^3 / 3! + V^5 / 5! - V^7 / 7! + V^9 / 9! - V^11 / 11! + V^13 / 13! -
-	//           V^15 / 15! + V^17 / 17! - V^19 / 19! + V^21 / 21! - V^23 / 23! (for -PI <= V < PI)
-	const Vec3V V2 = V3Mul(V1, V1);
-	const Vec3V V3 = V3Mul(V2, V1);
-	const Vec3V V5 = V3Mul(V3, V2);
-	const Vec3V V7 = V3Mul(V5, V2);
-	const Vec3V V9 = V3Mul(V7, V2);
-	const Vec3V V11 = V3Mul(V9, V2);
-	const Vec3V V13 = V3Mul(V11, V2);
-	const Vec3V V15 = V3Mul(V13, V2);
-	const Vec3V V17 = V3Mul(V15, V2);
-	const Vec3V V19 = V3Mul(V17, V2);
-	const Vec3V V21 = V3Mul(V19, V2);
-	const Vec3V V23 = V3Mul(V21, V2);
-
-	const Vec4V sinCoefficients0 = V4LoadA(g_PXSinCoefficients0.f);
-	const Vec4V sinCoefficients1 = V4LoadA(g_PXSinCoefficients1.f);
-	const Vec4V sinCoefficients2 = V4LoadA(g_PXSinCoefficients2.f);
-
-	const FloatV S1 = V4GetY(sinCoefficients0);
-	const FloatV S2 = V4GetZ(sinCoefficients0);
-	const FloatV S3 = V4GetW(sinCoefficients0);
-	const FloatV S4 = V4GetX(sinCoefficients1);
-	const FloatV S5 = V4GetY(sinCoefficients1);
-	const FloatV S6 = V4GetZ(sinCoefficients1);
-	const FloatV S7 = V4GetW(sinCoefficients1);
-	const FloatV S8 = V4GetX(sinCoefficients2);
-	const FloatV S9 = V4GetY(sinCoefficients2);
-	const FloatV S10 = V4GetZ(sinCoefficients2);
-	const FloatV S11 = V4GetW(sinCoefficients2);
-
-	Vec3V Result;
-	Result = V3ScaleAdd(V3, S1, V1);
-	Result = V3ScaleAdd(V5, S2, Result);
-	Result = V3ScaleAdd(V7, S3, Result);
-	Result = V3ScaleAdd(V9, S4, Result);
-	Result = V3ScaleAdd(V11, S5, Result);
-	Result = V3ScaleAdd(V13, S6, Result);
-	Result = V3ScaleAdd(V15, S7, Result);
-	Result = V3ScaleAdd(V17, S8, Result);
-	Result = V3ScaleAdd(V19, S9, Result);
-	Result = V3ScaleAdd(V21, S10, Result);
-	Result = V3ScaleAdd(V23, S11, Result);
-
-	ASSERT_ISVALIDVEC3V(Result);
-	return Result;
-}
-
-PX_FORCE_INLINE Vec3V V3Cos(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-
-	// Modulo the range of the given angles such that -XM_2PI <= Angles < XM_2PI
-	const Vec4V recipTwoPi = V4LoadA(g_PXReciprocalTwoPi.f);
-	const Vec4V twoPi = V4LoadA(g_PXTwoPi.f);
-	const Vec3V tmp = V3Scale(a, recipTwoPi);
-	const Vec3V b = V3Round(tmp);
-	const Vec3V V1 = V3NegScaleSub(b, twoPi, a);
-
-	// cos(V) ~= 1 - V^2 / 2! + V^4 / 4! - V^6 / 6! + V^8 / 8! - V^10 / 10! + V^12 / 12! -
-	//           V^14 / 14! + V^16 / 16! - V^18 / 18! + V^20 / 20! - V^22 / 22! (for -PI <= V < PI)
-	const Vec3V V2 = V3Mul(V1, V1);
-	const Vec3V V4 = V3Mul(V2, V2);
-	const Vec3V V6 = V3Mul(V4, V2);
-	const Vec3V V8 = V3Mul(V4, V4);
-	const Vec3V V10 = V3Mul(V6, V4);
-	const Vec3V V12 = V3Mul(V6, V6);
-	const Vec3V V14 = V3Mul(V8, V6);
-	const Vec3V V16 = V3Mul(V8, V8);
-	const Vec3V V18 = V3Mul(V10, V8);
-	const Vec3V V20 = V3Mul(V10, V10);
-	const Vec3V V22 = V3Mul(V12, V10);
-
-	const Vec4V cosCoefficients0 = V4LoadA(g_PXCosCoefficients0.f);
-	const Vec4V cosCoefficients1 = V4LoadA(g_PXCosCoefficients1.f);
-	const Vec4V cosCoefficients2 = V4LoadA(g_PXCosCoefficients2.f);
-
-	const FloatV C1 = V4GetY(cosCoefficients0);
-	const FloatV C2 = V4GetZ(cosCoefficients0);
-	const FloatV C3 = V4GetW(cosCoefficients0);
-	const FloatV C4 = V4GetX(cosCoefficients1);
-	const FloatV C5 = V4GetY(cosCoefficients1);
-	const FloatV C6 = V4GetZ(cosCoefficients1);
-	const FloatV C7 = V4GetW(cosCoefficients1);
-	const FloatV C8 = V4GetX(cosCoefficients2);
-	const FloatV C9 = V4GetY(cosCoefficients2);
-	const FloatV C10 = V4GetZ(cosCoefficients2);
-	const FloatV C11 = V4GetW(cosCoefficients2);
-
-	Vec3V Result;
-	Result = V3ScaleAdd(V2, C1, V3One());
-	Result = V3ScaleAdd(V4, C2, Result);
-	Result = V3ScaleAdd(V6, C3, Result);
-	Result = V3ScaleAdd(V8, C4, Result);
-	Result = V3ScaleAdd(V10, C5, Result);
-	Result = V3ScaleAdd(V12, C6, Result);
-	Result = V3ScaleAdd(V14, C7, Result);
-	Result = V3ScaleAdd(V16, C8, Result);
-	Result = V3ScaleAdd(V18, C9, Result);
-	Result = V3ScaleAdd(V20, C10, Result);
-	Result = V3ScaleAdd(V22, C11, Result);
-
-	ASSERT_ISVALIDVEC3V(Result);
-	return Result;
-}
-
-PX_FORCE_INLINE Vec3V V3PermYZZ(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 2, 2, 1));
-}
-
-PX_FORCE_INLINE Vec3V V3PermXYX(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 1, 0));
-}
-
-PX_FORCE_INLINE Vec3V V3PermYZX(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 2, 1));
-}
-
-PX_FORCE_INLINE Vec3V V3PermZXY(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 1, 0, 2));
-}
-
-PX_FORCE_INLINE Vec3V V3PermZZY(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 1, 2, 2));
-}
-
-PX_FORCE_INLINE Vec3V V3PermYXX(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 0, 1));
-}
-
-PX_FORCE_INLINE Vec3V V3Perm_Zero_1Z_0Y(const Vec3V v0, const Vec3V v1)
-{
-	ASSERT_ISVALIDVEC3V(v0);
-	ASSERT_ISVALIDVEC3V(v1);
-	return _mm_shuffle_ps(v1, v0, _MM_SHUFFLE(3, 1, 2, 3));
-}
-
-PX_FORCE_INLINE Vec3V V3Perm_0Z_Zero_1X(const Vec3V v0, const Vec3V v1)
-{
-	ASSERT_ISVALIDVEC3V(v0);
-	ASSERT_ISVALIDVEC3V(v1);
-	return _mm_shuffle_ps(v0, v1, _MM_SHUFFLE(3, 0, 3, 2));
-}
-
-PX_FORCE_INLINE Vec3V V3Perm_1Y_0X_Zero(const Vec3V v0, const Vec3V v1)
-{
-	ASSERT_ISVALIDVEC3V(v0);
-	ASSERT_ISVALIDVEC3V(v1);
-	// There must be a better way to do this.
-	Vec3V v2 = V3Zero();
-	FloatV y1 = V3GetY(v1);
-	FloatV x0 = V3GetX(v0);
-	v2 = V3SetX(v2, y1);
-	return V3SetY(v2, x0);
-}
-
-PX_FORCE_INLINE FloatV V3SumElems(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-#ifdef __SSE4_2__
-	Vec3V r = _mm_hadd_ps(a, a);
-	r = _mm_hadd_ps(r, r);
-	return r;
-#else
-	__m128 shuf1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0)); // z,y,x,w
-	__m128 shuf2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 1, 1, 1)); // y,x,w,z
-	__m128 shuf3 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2)); // x,w,z,y
-	return _mm_add_ps(_mm_add_ps(shuf1, shuf2), shuf3);
-#endif
-}
-
-PX_FORCE_INLINE PxU32 V3OutOfBounds(const Vec3V a, const Vec3V min, const Vec3V max)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(min);
-	ASSERT_ISVALIDVEC3V(max);
-	const BoolV c = BOr(V3IsGrtr(a, max), V3IsGrtr(min, a));
-	return !BAllEqFFFF(c);
-}
-
-PX_FORCE_INLINE PxU32 V3InBounds(const Vec3V a, const Vec3V min, const Vec3V max)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(min);
-	ASSERT_ISVALIDVEC3V(max);
-	const BoolV c = BAnd(V3IsGrtrOrEq(a, min), V3IsGrtrOrEq(max, a));
-	return BAllEqTTTT(c);
-}
-
-PX_FORCE_INLINE PxU32 V3OutOfBounds(const Vec3V a, const Vec3V bounds)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(bounds);
-	return V3OutOfBounds(a, V3Neg(bounds), bounds);
-}
-
-PX_FORCE_INLINE PxU32 V3InBounds(const Vec3V a, const Vec3V bounds)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(bounds)
-	return V3InBounds(a, V3Neg(bounds), bounds);
-}
-
-PX_FORCE_INLINE void V3Transpose(Vec3V& col0, Vec3V& col1, Vec3V& col2)
-{
-	ASSERT_ISVALIDVEC3V(col0);
-	ASSERT_ISVALIDVEC3V(col1);
-	ASSERT_ISVALIDVEC3V(col2);
-
-	const Vec3V col3 = _mm_setzero_ps();
-	Vec3V tmp0 = _mm_unpacklo_ps(col0, col1);
-	Vec3V tmp2 = _mm_unpacklo_ps(col2, col3);
-	Vec3V tmp1 = _mm_unpackhi_ps(col0, col1);
-	Vec3V tmp3 = _mm_unpackhi_ps(col2, col3);
-	col0 = _mm_movelh_ps(tmp0, tmp2);
-	col1 = _mm_movehl_ps(tmp2, tmp0);
-	col2 = _mm_movelh_ps(tmp1, tmp3);
-}
-
-//////////////////////////////////
-// VEC4V
-//////////////////////////////////
-
-PX_FORCE_INLINE Vec4V V4Splat(const FloatV f)
-{
-	ASSERT_ISVALIDFLOATV(f);
-	// return _mm_shuffle_ps(f, f, _MM_SHUFFLE(0,0,0,0));
-	return f;
-}
-
-PX_FORCE_INLINE Vec4V V4Merge(const FloatV* const floatVArray)
-{
-	ASSERT_ISVALIDFLOATV(floatVArray[0]);
-	ASSERT_ISVALIDFLOATV(floatVArray[1]);
-	ASSERT_ISVALIDFLOATV(floatVArray[2]);
-	ASSERT_ISVALIDFLOATV(floatVArray[3]);
-	const __m128 xw = _mm_move_ss(floatVArray[1], floatVArray[0]); // y, y, y, x
-	const __m128 yz = _mm_move_ss(floatVArray[2], floatVArray[3]); // z, z, z, w
-	return _mm_shuffle_ps(xw, yz, _MM_SHUFFLE(0, 2, 1, 0));
-}
-
-PX_FORCE_INLINE Vec4V V4Merge(const FloatVArg x, const FloatVArg y, const FloatVArg z, const FloatVArg w)
-{
-	ASSERT_ISVALIDFLOATV(x);
-	ASSERT_ISVALIDFLOATV(y);
-	ASSERT_ISVALIDFLOATV(z);
-	ASSERT_ISVALIDFLOATV(w);
-	const __m128 xw = _mm_move_ss(y, x); // y, y, y, x
-	const __m128 yz = _mm_move_ss(z, w); // z, z, z, w
-	return _mm_shuffle_ps(xw, yz, _MM_SHUFFLE(0, 2, 1, 0));
-}
-
-PX_FORCE_INLINE Vec4V V4MergeW(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w)
-{
-	const Vec4V xz = _mm_unpackhi_ps(x, z);
-	const Vec4V yw = _mm_unpackhi_ps(y, w);
-	return _mm_unpackhi_ps(xz, yw);
-}
-
-PX_FORCE_INLINE Vec4V V4MergeZ(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w)
-{
-	const Vec4V xz = _mm_unpackhi_ps(x, z);
-	const Vec4V yw = _mm_unpackhi_ps(y, w);
-	return _mm_unpacklo_ps(xz, yw);
-}
-
-PX_FORCE_INLINE Vec4V V4MergeY(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w)
-{
-	const Vec4V xz = _mm_unpacklo_ps(x, z);
-	const Vec4V yw = _mm_unpacklo_ps(y, w);
-	return _mm_unpackhi_ps(xz, yw);
-}
-
-PX_FORCE_INLINE Vec4V V4MergeX(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w)
-{
-	const Vec4V xz = _mm_unpacklo_ps(x, z);
-	const Vec4V yw = _mm_unpacklo_ps(y, w);
-	return _mm_unpacklo_ps(xz, yw);
-}
-
-PX_FORCE_INLINE Vec4V V4UnpackXY(const Vec4VArg a, const Vec4VArg b)
-{
-	return _mm_unpacklo_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4UnpackZW(const Vec4VArg a, const Vec4VArg b)
-{
-	return _mm_unpackhi_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4UnitW()
-{
-	const PX_ALIGN(16, PxF32) w[4] = { 0.0f, 0.0f, 0.0f, 1.0f };
-	const __m128 w128 = _mm_load_ps(w);
-	return w128;
-}
-
-PX_FORCE_INLINE Vec4V V4UnitX()
-{
-	const PX_ALIGN(16, PxF32) x[4] = { 1.0f, 0.0f, 0.0f, 0.0f };
-	const __m128 x128 = _mm_load_ps(x);
-	return x128;
-}
-
-PX_FORCE_INLINE Vec4V V4UnitY()
-{
-	const PX_ALIGN(16, PxF32) y[4] = { 0.0f, 1.0f, 0.0f, 0.0f };
-	const __m128 y128 = _mm_load_ps(y);
-	return y128;
-}
-
-PX_FORCE_INLINE Vec4V V4UnitZ()
-{
-	const PX_ALIGN(16, PxF32) z[4] = { 0.0f, 0.0f, 1.0f, 0.0f };
-	const __m128 z128 = _mm_load_ps(z);
-	return z128;
-}
-
-PX_FORCE_INLINE FloatV V4GetW(const Vec4V f)
-{
-	return _mm_shuffle_ps(f, f, _MM_SHUFFLE(3, 3, 3, 3));
-}
-
-PX_FORCE_INLINE FloatV V4GetX(const Vec4V f)
-{
-	return _mm_shuffle_ps(f, f, _MM_SHUFFLE(0, 0, 0, 0));
-}
-
-PX_FORCE_INLINE FloatV V4GetY(const Vec4V f)
-{
-	return _mm_shuffle_ps(f, f, _MM_SHUFFLE(1, 1, 1, 1));
-}
-
-PX_FORCE_INLINE FloatV V4GetZ(const Vec4V f)
-{
-	return _mm_shuffle_ps(f, f, _MM_SHUFFLE(2, 2, 2, 2));
-}
-
-PX_FORCE_INLINE Vec4V V4SetW(const Vec4V v, const FloatV f)
-{
-	ASSERT_ISVALIDFLOATV(f);
-	return V4Sel(BTTTF(), v, f);
-}
-
-PX_FORCE_INLINE Vec4V V4SetX(const Vec4V v, const FloatV f)
-{
-	ASSERT_ISVALIDFLOATV(f);
-	return V4Sel(BFTTT(), v, f);
-}
-
-PX_FORCE_INLINE Vec4V V4SetY(const Vec4V v, const FloatV f)
-{
-	ASSERT_ISVALIDFLOATV(f);
-	return V4Sel(BTFTT(), v, f);
-}
-
-PX_FORCE_INLINE Vec4V V4SetZ(const Vec4V v, const FloatV f)
-{
-	ASSERT_ISVALIDFLOATV(f);
-	return V4Sel(BTTFT(), v, f);
-}
-
-PX_FORCE_INLINE Vec4V V4ClearW(const Vec4V v)
-{
-#if !PX_EMSCRIPTEN
-	return _mm_and_ps(v, V4LoadA(internalUnitSSE2Simd::gMaskXYZ));
-#else
-	return _mm_and_ps(v, (VecI32V&)internalUnitSSE2Simd::gMaskXYZ);
-#endif
-}
-
-PX_FORCE_INLINE Vec4V V4PermYXWZ(const Vec4V a)
-{
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 3, 0, 1));
-}
-
-PX_FORCE_INLINE Vec4V V4PermXZXZ(const Vec4V a)
-{
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 0, 2, 0));
-}
-
-PX_FORCE_INLINE Vec4V V4PermYWYW(const Vec4V a)
-{
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 1, 3, 1));
-}
-
-PX_FORCE_INLINE Vec4V V4PermYZXW(const Vec4V a)
-{
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 2, 1));
-}
-
-template <PxU8 x, PxU8 y, PxU8 z, PxU8 w>
-PX_FORCE_INLINE Vec4V V4Perm(const Vec4V a)
-{
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(w, z, y, x));
-}
-
-PX_FORCE_INLINE Vec4V V4Zero()
-{
-	return V4Load(0.0f);
-}
-
-PX_FORCE_INLINE Vec4V V4One()
-{
-	return V4Load(1.0f);
-}
-
-PX_FORCE_INLINE Vec4V V4Eps()
-{
-	return V4Load(PX_EPS_REAL);
-}
-
-PX_FORCE_INLINE Vec4V V4Neg(const Vec4V f)
-{
-	return _mm_sub_ps(_mm_setzero_ps(), f);
-}
-
-PX_FORCE_INLINE Vec4V V4Add(const Vec4V a, const Vec4V b)
-{
-	return _mm_add_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4Sub(const Vec4V a, const Vec4V b)
-{
-	return _mm_sub_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4Scale(const Vec4V a, const FloatV b)
-{
-	return _mm_mul_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4Mul(const Vec4V a, const Vec4V b)
-{
-	return _mm_mul_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4ScaleInv(const Vec4V a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_div_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4Div(const Vec4V a, const Vec4V b)
-{
-	return _mm_div_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4ScaleInvFast(const Vec4V a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_mul_ps(a, _mm_rcp_ps(b));
-}
-
-PX_FORCE_INLINE Vec4V V4DivFast(const Vec4V a, const Vec4V b)
-{
-	return _mm_mul_ps(a, _mm_rcp_ps(b));
-}
-
-PX_FORCE_INLINE Vec4V V4Recip(const Vec4V a)
-{
-	return _mm_div_ps(V4One(), a);
-}
-
-PX_FORCE_INLINE Vec4V V4RecipFast(const Vec4V a)
-{
-	return _mm_rcp_ps(a);
-}
-
-PX_FORCE_INLINE Vec4V V4Rsqrt(const Vec4V a)
-{
-	return _mm_div_ps(V4One(), _mm_sqrt_ps(a));
-}
-
-PX_FORCE_INLINE Vec4V V4RsqrtFast(const Vec4V a)
-{
-	return _mm_rsqrt_ps(a);
-}
-
-PX_FORCE_INLINE Vec4V V4Sqrt(const Vec4V a)
-{
-	return _mm_sqrt_ps(a);
-}
-
-PX_FORCE_INLINE Vec4V V4ScaleAdd(const Vec4V a, const FloatV b, const Vec4V c)
-{
-	ASSERT_ISVALIDFLOATV(b);
-	return V4Add(V4Scale(a, b), c);
-}
-
-PX_FORCE_INLINE Vec4V V4NegScaleSub(const Vec4V a, const FloatV b, const Vec4V c)
-{
-	ASSERT_ISVALIDFLOATV(b);
-	return V4Sub(c, V4Scale(a, b));
-}
-
-PX_FORCE_INLINE Vec4V V4MulAdd(const Vec4V a, const Vec4V b, const Vec4V c)
-{
-	return V4Add(V4Mul(a, b), c);
-}
-
-PX_FORCE_INLINE Vec4V V4NegMulSub(const Vec4V a, const Vec4V b, const Vec4V c)
-{
-	return V4Sub(c, V4Mul(a, b));
-}
-
-PX_FORCE_INLINE Vec4V V4Abs(const Vec4V a)
-{
-	return V4Max(a, V4Neg(a));
-}
-
-PX_FORCE_INLINE FloatV V4SumElements(const Vec4V a)
-{
-#ifdef __SSE4_2__
-	Vec4V r = _mm_hadd_ps(a, a);
-	r = _mm_hadd_ps(r, r);
-	return r;
-#else
-	const Vec4V xy = V4UnpackXY(a, a);                                        // x,x,y,y
-	const Vec4V zw = V4UnpackZW(a, a);                                        // z,z,w,w
-	const Vec4V xz_yw = V4Add(xy, zw);                                        // x+z,x+z,y+w,y+w
-	const FloatV xz = V4GetX(xz_yw);                                          // x+z
-	const FloatV yw = V4GetZ(xz_yw);                                          // y+w
-	return FAdd(xz, yw);                                                      // sum
-#endif
-}
-
-PX_FORCE_INLINE FloatV V4Dot(const Vec4V a, const Vec4V b)
-{
-#ifdef __SSE4_2__
-	return _mm_dp_ps(a, b, 0xff);
-#else
-	const __m128 dot1 = _mm_mul_ps(a, b);                                     // x,y,z,w
-	const __m128 shuf1 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(2, 1, 0, 3)); // w,x,y,z
-	const __m128 shuf2 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(1, 0, 3, 2)); // z,w,x,y
-	const __m128 shuf3 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(0, 3, 2, 1)); // y,z,w,x
-	return _mm_add_ps(_mm_add_ps(shuf2, shuf3), _mm_add_ps(dot1, shuf1));
-#endif
-}
-
-PX_FORCE_INLINE FloatV V4Dot3(const Vec4V a, const Vec4V b)
-{
-#ifdef __SSE4_2__
-	return _mm_dp_ps(a, b, 0x7f);
-#else
-	const __m128 dot1 = _mm_mul_ps(a, b);                                     // w,z,y,x
-	const __m128 shuf1 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(0, 0, 0, 0)); // z,y,x,w
-	const __m128 shuf2 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(1, 1, 1, 1)); // y,x,w,z
-	const __m128 shuf3 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(2, 2, 2, 2)); // x,w,z,y
-	return _mm_add_ps(_mm_add_ps(shuf1, shuf2), shuf3);
-#endif
-}
-
-PX_FORCE_INLINE Vec4V V4Cross(const Vec4V a, const Vec4V b)
-{
-	const __m128 r1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 1, 0, 2)); // z,x,y,w
-	const __m128 r2 = _mm_shuffle_ps(b, b, _MM_SHUFFLE(3, 0, 2, 1)); // y,z,x,w
-	const __m128 l1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 2, 1)); // y,z,x,w
-	const __m128 l2 = _mm_shuffle_ps(b, b, _MM_SHUFFLE(3, 1, 0, 2)); // z,x,y,w
-	return _mm_sub_ps(_mm_mul_ps(l1, l2), _mm_mul_ps(r1, r2));
-}
-
-PX_FORCE_INLINE FloatV V4Length(const Vec4V a)
-{
-	return _mm_sqrt_ps(V4Dot(a, a));
-}
-
-PX_FORCE_INLINE FloatV V4LengthSq(const Vec4V a)
-{
-	return V4Dot(a, a);
-}
-
-PX_FORCE_INLINE Vec4V V4Normalize(const Vec4V a)
-{
-	ASSERT_ISFINITELENGTH(a);
-	return V4ScaleInv(a, _mm_sqrt_ps(V4Dot(a, a)));
-}
-
-PX_FORCE_INLINE Vec4V V4NormalizeFast(const Vec4V a)
-{
-	ASSERT_ISFINITELENGTH(a);
-	return V4ScaleInvFast(a, _mm_sqrt_ps(V4Dot(a, a)));
-}
-
-PX_FORCE_INLINE Vec4V V4NormalizeSafe(const Vec4V a, const Vec3V unsafeReturnValue)
-{
-	const __m128 eps = V3Eps();
-	const __m128 length = V4Length(a);
-	const __m128 isGreaterThanZero = V4IsGrtr(length, eps);
-	return V4Sel(isGreaterThanZero, V4ScaleInv(a, length), unsafeReturnValue);
-}
-
-PX_FORCE_INLINE BoolV V4IsEqU32(const VecU32V a, const VecU32V b)
-{
-	return m128_I2F(_mm_cmpeq_epi32(m128_F2I(a), m128_F2I(b)));
-}
-
-PX_FORCE_INLINE Vec4V V4Sel(const BoolV c, const Vec4V a, const Vec4V b)
-{
-	return _mm_or_ps(_mm_andnot_ps(c, b), _mm_and_ps(c, a));
-}
-
-PX_FORCE_INLINE BoolV V4IsGrtr(const Vec4V a, const Vec4V b)
-{
-	return _mm_cmpgt_ps(a, b);
-}
-
-PX_FORCE_INLINE BoolV V4IsGrtrOrEq(const Vec4V a, const Vec4V b)
-{
-	return _mm_cmpge_ps(a, b);
-}
-
-PX_FORCE_INLINE BoolV V4IsEq(const Vec4V a, const Vec4V b)
-{
-	return _mm_cmpeq_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4Max(const Vec4V a, const Vec4V b)
-{
-	return _mm_max_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4Min(const Vec4V a, const Vec4V b)
-{
-	return _mm_min_ps(a, b);
-}
-
-PX_FORCE_INLINE FloatV V4ExtractMax(const Vec4V a)
-{
-	const __m128 shuf1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 1, 0, 3));
-	const __m128 shuf2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 0, 3, 2));
-	const __m128 shuf3 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 3, 2, 1));
-
-	return _mm_max_ps(_mm_max_ps(a, shuf1), _mm_max_ps(shuf2, shuf3));
-}
-
-PX_FORCE_INLINE FloatV V4ExtractMin(const Vec4V a)
-{
-	const __m128 shuf1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 1, 0, 3));
-	const __m128 shuf2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 0, 3, 2));
-	const __m128 shuf3 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 3, 2, 1));
-
-	return _mm_min_ps(_mm_min_ps(a, shuf1), _mm_min_ps(shuf2, shuf3));
-}
-
-PX_FORCE_INLINE Vec4V V4Clamp(const Vec4V a, const Vec4V minV, const Vec4V maxV)
-{
-	return V4Max(V4Min(a, maxV), minV);
-}
-
-PX_FORCE_INLINE PxU32 V4AllGrtr(const Vec4V a, const Vec4V b)
-{
-	return internalUnitSSE2Simd::BAllTrue4_R(V4IsGrtr(a, b));
-}
-
-PX_FORCE_INLINE PxU32 V4AllGrtrOrEq(const Vec4V a, const Vec4V b)
-{
-	return internalUnitSSE2Simd::BAllTrue4_R(V4IsGrtrOrEq(a, b));
-}
-
-PX_FORCE_INLINE PxU32 V4AllGrtrOrEq3(const Vec4V a, const Vec4V b)
-{
-	return internalUnitSSE2Simd::BAllTrue3_R(V4IsGrtrOrEq(a, b));
-}
-
-PX_FORCE_INLINE PxU32 V4AllEq(const Vec4V a, const Vec4V b)
-{
-	return internalUnitSSE2Simd::BAllTrue4_R(V4IsEq(a, b));
-}
-
-PX_FORCE_INLINE PxU32 V4AnyGrtr3(const Vec4V a, const Vec4V b)
-{
-	return internalUnitSSE2Simd::BAnyTrue3_R(V4IsGrtr(a, b));
-}
-
-PX_FORCE_INLINE Vec4V V4Round(const Vec4V a)
-{
-#ifdef __SSE4_2__
-	return _mm_round_ps(a, _MM_FROUND_TO_NEAREST_INT | _MM_FROUND_NO_EXC);
-#else
-	// return _mm_round_ps(a, 0x0);
-	const Vec4V half = V4Load(0.5f);
-	const __m128 signBit = _mm_cvtepi32_ps(_mm_srli_epi32(_mm_cvtps_epi32(a), 31));
-	const Vec4V aRound = V4Sub(V4Add(a, half), signBit);
-	__m128i tmp = _mm_cvttps_epi32(aRound);
-	return _mm_cvtepi32_ps(tmp);
-#endif
-}
-
-PX_FORCE_INLINE Vec4V V4Sin(const Vec4V a)
-{
-	const Vec4V recipTwoPi = V4LoadA(g_PXReciprocalTwoPi.f);
-	const Vec4V twoPi = V4LoadA(g_PXTwoPi.f);
-	const Vec4V tmp = V4Mul(a, recipTwoPi);
-	const Vec4V b = V4Round(tmp);
-	const Vec4V V1 = V4NegMulSub(twoPi, b, a);
-
-	// sin(V) ~= V - V^3 / 3! + V^5 / 5! - V^7 / 7! + V^9 / 9! - V^11 / 11! + V^13 / 13! -
-	//           V^15 / 15! + V^17 / 17! - V^19 / 19! + V^21 / 21! - V^23 / 23! (for -PI <= V < PI)
-	const Vec4V V2 = V4Mul(V1, V1);
-	const Vec4V V3 = V4Mul(V2, V1);
-	const Vec4V V5 = V4Mul(V3, V2);
-	const Vec4V V7 = V4Mul(V5, V2);
-	const Vec4V V9 = V4Mul(V7, V2);
-	const Vec4V V11 = V4Mul(V9, V2);
-	const Vec4V V13 = V4Mul(V11, V2);
-	const Vec4V V15 = V4Mul(V13, V2);
-	const Vec4V V17 = V4Mul(V15, V2);
-	const Vec4V V19 = V4Mul(V17, V2);
-	const Vec4V V21 = V4Mul(V19, V2);
-	const Vec4V V23 = V4Mul(V21, V2);
-
-	const Vec4V sinCoefficients0 = V4LoadA(g_PXSinCoefficients0.f);
-	const Vec4V sinCoefficients1 = V4LoadA(g_PXSinCoefficients1.f);
-	const Vec4V sinCoefficients2 = V4LoadA(g_PXSinCoefficients2.f);
-
-	const FloatV S1 = V4GetY(sinCoefficients0);
-	const FloatV S2 = V4GetZ(sinCoefficients0);
-	const FloatV S3 = V4GetW(sinCoefficients0);
-	const FloatV S4 = V4GetX(sinCoefficients1);
-	const FloatV S5 = V4GetY(sinCoefficients1);
-	const FloatV S6 = V4GetZ(sinCoefficients1);
-	const FloatV S7 = V4GetW(sinCoefficients1);
-	const FloatV S8 = V4GetX(sinCoefficients2);
-	const FloatV S9 = V4GetY(sinCoefficients2);
-	const FloatV S10 = V4GetZ(sinCoefficients2);
-	const FloatV S11 = V4GetW(sinCoefficients2);
-
-	Vec4V Result;
-	Result = V4MulAdd(S1, V3, V1);
-	Result = V4MulAdd(S2, V5, Result);
-	Result = V4MulAdd(S3, V7, Result);
-	Result = V4MulAdd(S4, V9, Result);
-	Result = V4MulAdd(S5, V11, Result);
-	Result = V4MulAdd(S6, V13, Result);
-	Result = V4MulAdd(S7, V15, Result);
-	Result = V4MulAdd(S8, V17, Result);
-	Result = V4MulAdd(S9, V19, Result);
-	Result = V4MulAdd(S10, V21, Result);
-	Result = V4MulAdd(S11, V23, Result);
-
-	return Result;
-}
-
-PX_FORCE_INLINE Vec4V V4Cos(const Vec4V a)
-{
-	const Vec4V recipTwoPi = V4LoadA(g_PXReciprocalTwoPi.f);
-	const Vec4V twoPi = V4LoadA(g_PXTwoPi.f);
-	const Vec4V tmp = V4Mul(a, recipTwoPi);
-	const Vec4V b = V4Round(tmp);
-	const Vec4V V1 = V4NegMulSub(twoPi, b, a);
-
-	// cos(V) ~= 1 - V^2 / 2! + V^4 / 4! - V^6 / 6! + V^8 / 8! - V^10 / 10! + V^12 / 12! -
-	//           V^14 / 14! + V^16 / 16! - V^18 / 18! + V^20 / 20! - V^22 / 22! (for -PI <= V < PI)
-	const Vec4V V2 = V4Mul(V1, V1);
-	const Vec4V V4 = V4Mul(V2, V2);
-	const Vec4V V6 = V4Mul(V4, V2);
-	const Vec4V V8 = V4Mul(V4, V4);
-	const Vec4V V10 = V4Mul(V6, V4);
-	const Vec4V V12 = V4Mul(V6, V6);
-	const Vec4V V14 = V4Mul(V8, V6);
-	const Vec4V V16 = V4Mul(V8, V8);
-	const Vec4V V18 = V4Mul(V10, V8);
-	const Vec4V V20 = V4Mul(V10, V10);
-	const Vec4V V22 = V4Mul(V12, V10);
-
-	const Vec4V cosCoefficients0 = V4LoadA(g_PXCosCoefficients0.f);
-	const Vec4V cosCoefficients1 = V4LoadA(g_PXCosCoefficients1.f);
-	const Vec4V cosCoefficients2 = V4LoadA(g_PXCosCoefficients2.f);
-
-	const FloatV C1 = V4GetY(cosCoefficients0);
-	const FloatV C2 = V4GetZ(cosCoefficients0);
-	const FloatV C3 = V4GetW(cosCoefficients0);
-	const FloatV C4 = V4GetX(cosCoefficients1);
-	const FloatV C5 = V4GetY(cosCoefficients1);
-	const FloatV C6 = V4GetZ(cosCoefficients1);
-	const FloatV C7 = V4GetW(cosCoefficients1);
-	const FloatV C8 = V4GetX(cosCoefficients2);
-	const FloatV C9 = V4GetY(cosCoefficients2);
-	const FloatV C10 = V4GetZ(cosCoefficients2);
-	const FloatV C11 = V4GetW(cosCoefficients2);
-
-	Vec4V Result;
-	Result = V4MulAdd(C1, V2, V4One());
-	Result = V4MulAdd(C2, V4, Result);
-	Result = V4MulAdd(C3, V6, Result);
-	Result = V4MulAdd(C4, V8, Result);
-	Result = V4MulAdd(C5, V10, Result);
-	Result = V4MulAdd(C6, V12, Result);
-	Result = V4MulAdd(C7, V14, Result);
-	Result = V4MulAdd(C8, V16, Result);
-	Result = V4MulAdd(C9, V18, Result);
-	Result = V4MulAdd(C10, V20, Result);
-	Result = V4MulAdd(C11, V22, Result);
-
-	return Result;
-}
-
-PX_FORCE_INLINE void V4Transpose(Vec4V& col0, Vec4V& col1, Vec4V& col2, Vec4V& col3)
-{
-	Vec4V tmp0 = _mm_unpacklo_ps(col0, col1);
-	Vec4V tmp2 = _mm_unpacklo_ps(col2, col3);
-	Vec4V tmp1 = _mm_unpackhi_ps(col0, col1);
-	Vec4V tmp3 = _mm_unpackhi_ps(col2, col3);
-	col0 = _mm_movelh_ps(tmp0, tmp2);
-	col1 = _mm_movehl_ps(tmp2, tmp0);
-	col2 = _mm_movelh_ps(tmp1, tmp3);
-	col3 = _mm_movehl_ps(tmp3, tmp1);
-}
-
-//////////////////////////////////
-// BoolV
-//////////////////////////////////
-
-PX_FORCE_INLINE BoolV BFFFF()
-{
-	return _mm_setzero_ps();
-}
-
-PX_FORCE_INLINE BoolV BFFFT()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0,0,0,0xFFFFFFFF};
-	const __m128 ffft=_mm_load_ps((float*)&f);
-	return ffft;*/
-	return m128_I2F(_mm_set_epi32(-1, 0, 0, 0));
-}
-
-PX_FORCE_INLINE BoolV BFFTF()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0,0,0xFFFFFFFF,0};
-	const __m128 fftf=_mm_load_ps((float*)&f);
-	return fftf;*/
-	return m128_I2F(_mm_set_epi32(0, -1, 0, 0));
-}
-
-PX_FORCE_INLINE BoolV BFFTT()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0,0,0xFFFFFFFF,0xFFFFFFFF};
-	const __m128 fftt=_mm_load_ps((float*)&f);
-	return fftt;*/
-	return m128_I2F(_mm_set_epi32(-1, -1, 0, 0));
-}
-
-PX_FORCE_INLINE BoolV BFTFF()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0,0xFFFFFFFF,0,0};
-	const __m128 ftff=_mm_load_ps((float*)&f);
-	return ftff;*/
-	return m128_I2F(_mm_set_epi32(0, 0, -1, 0));
-}
-
-PX_FORCE_INLINE BoolV BFTFT()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0,0xFFFFFFFF,0,0xFFFFFFFF};
-	const __m128 ftft=_mm_load_ps((float*)&f);
-	return ftft;*/
-	return m128_I2F(_mm_set_epi32(-1, 0, -1, 0));
-}
-
-PX_FORCE_INLINE BoolV BFTTF()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0,0xFFFFFFFF,0xFFFFFFFF,0};
-	const __m128 fttf=_mm_load_ps((float*)&f);
-	return fttf;*/
-	return m128_I2F(_mm_set_epi32(0, -1, -1, 0));
-}
-
-PX_FORCE_INLINE BoolV BFTTT()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0,0xFFFFFFFF,0xFFFFFFFF,0xFFFFFFFF};
-	const __m128 fttt=_mm_load_ps((float*)&f);
-	return fttt;*/
-	return m128_I2F(_mm_set_epi32(-1, -1, -1, 0));
-}
-
-PX_FORCE_INLINE BoolV BTFFF()
-{
-	// const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0,0,0};
-	// const __m128 tfff=_mm_load_ps((float*)&f);
-	// return tfff;
-	return m128_I2F(_mm_set_epi32(0, 0, 0, -1));
-}
-
-PX_FORCE_INLINE BoolV BTFFT()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0,0,0xFFFFFFFF};
-	const __m128 tfft=_mm_load_ps((float*)&f);
-	return tfft;*/
-	return m128_I2F(_mm_set_epi32(-1, 0, 0, -1));
-}
-
-PX_FORCE_INLINE BoolV BTFTF()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0,0xFFFFFFFF,0};
-	const __m128 tftf=_mm_load_ps((float*)&f);
-	return tftf;*/
-	return m128_I2F(_mm_set_epi32(0, -1, 0, -1));
-}
-
-PX_FORCE_INLINE BoolV BTFTT()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0,0xFFFFFFFF,0xFFFFFFFF};
-	const __m128 tftt=_mm_load_ps((float*)&f);
-	return tftt;*/
-	return m128_I2F(_mm_set_epi32(-1, -1, 0, -1));
-}
-
-PX_FORCE_INLINE BoolV BTTFF()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0xFFFFFFFF,0,0};
-	const __m128 ttff=_mm_load_ps((float*)&f);
-	return ttff;*/
-	return m128_I2F(_mm_set_epi32(0, 0, -1, -1));
-}
-
-PX_FORCE_INLINE BoolV BTTFT()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0xFFFFFFFF,0,0xFFFFFFFF};
-	const __m128 ttft=_mm_load_ps((float*)&f);
-	return ttft;*/
-	return m128_I2F(_mm_set_epi32(-1, 0, -1, -1));
-}
-
-PX_FORCE_INLINE BoolV BTTTF()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0xFFFFFFFF,0xFFFFFFFF,0};
-	const __m128 tttf=_mm_load_ps((float*)&f);
-	return tttf;*/
-	return m128_I2F(_mm_set_epi32(0, -1, -1, -1));
-}
-
-PX_FORCE_INLINE BoolV BTTTT()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0xFFFFFFFF,0xFFFFFFFF,0xFFFFFFFF};
-	const __m128 tttt=_mm_load_ps((float*)&f);
-	return tttt;*/
-	return m128_I2F(_mm_set_epi32(-1, -1, -1, -1));
-}
-
-PX_FORCE_INLINE BoolV BXMask()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0,0,0};
-	const __m128 tfff=_mm_load_ps((float*)&f);
-	return tfff;*/
-	return m128_I2F(_mm_set_epi32(0, 0, 0, -1));
-}
-
-PX_FORCE_INLINE BoolV BYMask()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0,0xFFFFFFFF,0,0};
-	const __m128 ftff=_mm_load_ps((float*)&f);
-	return ftff;*/
-	return m128_I2F(_mm_set_epi32(0, 0, -1, 0));
-}
-
-PX_FORCE_INLINE BoolV BZMask()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0,0,0xFFFFFFFF,0};
-	const __m128 fftf=_mm_load_ps((float*)&f);
-	return fftf;*/
-	return m128_I2F(_mm_set_epi32(0, -1, 0, 0));
-}
-
-PX_FORCE_INLINE BoolV BWMask()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0,0,0,0xFFFFFFFF};
-	const __m128 ffft=_mm_load_ps((float*)&f);
-	return ffft;*/
-	return m128_I2F(_mm_set_epi32(-1, 0, 0, 0));
-}
-
-PX_FORCE_INLINE BoolV BGetX(const BoolV f)
-{
-	return _mm_shuffle_ps(f, f, _MM_SHUFFLE(0, 0, 0, 0));
-}
-
-PX_FORCE_INLINE BoolV BGetY(const BoolV f)
-{
-	return _mm_shuffle_ps(f, f, _MM_SHUFFLE(1, 1, 1, 1));
-}
-
-PX_FORCE_INLINE BoolV BGetZ(const BoolV f)
-{
-	return _mm_shuffle_ps(f, f, _MM_SHUFFLE(2, 2, 2, 2));
-}
-
-PX_FORCE_INLINE BoolV BGetW(const BoolV f)
-{
-	return _mm_shuffle_ps(f, f, _MM_SHUFFLE(3, 3, 3, 3));
-}
-
-PX_FORCE_INLINE BoolV BSetX(const BoolV v, const BoolV f)
-{
-	return V4Sel(BFTTT(), v, f);
-}
-
-PX_FORCE_INLINE BoolV BSetY(const BoolV v, const BoolV f)
-{
-	return V4Sel(BTFTT(), v, f);
-}
-
-PX_FORCE_INLINE BoolV BSetZ(const BoolV v, const BoolV f)
-{
-	return V4Sel(BTTFT(), v, f);
-}
-
-PX_FORCE_INLINE BoolV BSetW(const BoolV v, const BoolV f)
-{
-	return V4Sel(BTTTF(), v, f);
-}
-
-PX_FORCE_INLINE BoolV BAnd(const BoolV a, const BoolV b)
-{
-	return _mm_and_ps(a, b);
-}
-
-PX_FORCE_INLINE BoolV BNot(const BoolV a)
-{
-	const BoolV bAllTrue(BTTTT());
-	return _mm_xor_ps(a, bAllTrue);
-}
-
-PX_FORCE_INLINE BoolV BAndNot(const BoolV a, const BoolV b)
-{
-	return _mm_andnot_ps(b, a);
-}
-
-PX_FORCE_INLINE BoolV BOr(const BoolV a, const BoolV b)
-{
-	return _mm_or_ps(a, b);
-}
-
-PX_FORCE_INLINE BoolV BAllTrue4(const BoolV a)
-{
-	const BoolV bTmp =
-	    _mm_and_ps(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 1, 0, 1)), _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 3, 2, 3)));
-	return _mm_and_ps(_mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(0, 0, 0, 0)),
-	                  _mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(1, 1, 1, 1)));
-}
-
-PX_FORCE_INLINE BoolV BAnyTrue4(const BoolV a)
-{
-	const BoolV bTmp =
-	    _mm_or_ps(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 1, 0, 1)), _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 3, 2, 3)));
-	return _mm_or_ps(_mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(0, 0, 0, 0)),
-	                 _mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(1, 1, 1, 1)));
-}
-
-PX_FORCE_INLINE BoolV BAllTrue3(const BoolV a)
-{
-	const BoolV bTmp =
-	    _mm_and_ps(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 1, 0, 1)), _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2)));
-	return _mm_and_ps(_mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(0, 0, 0, 0)),
-	                  _mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(1, 1, 1, 1)));
-}
-
-PX_FORCE_INLINE BoolV BAnyTrue3(const BoolV a)
-{
-	const BoolV bTmp =
-	    _mm_or_ps(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 1, 0, 1)), _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2)));
-	return _mm_or_ps(_mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(0, 0, 0, 0)),
-	                 _mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(1, 1, 1, 1)));
-}
-
-PX_FORCE_INLINE PxU32 BAllEq(const BoolV a, const BoolV b)
-{
-	const BoolV bTest = m128_I2F(_mm_cmpeq_epi32(m128_F2I(a), m128_F2I(b)));
-	return internalUnitSSE2Simd::BAllTrue4_R(bTest);
-}
-
-PX_FORCE_INLINE PxU32 BAllEqTTTT(const BoolV a)
-{
-	return PxU32(_mm_movemask_ps(a)==15);
-}
-
-PX_FORCE_INLINE PxU32 BAllEqFFFF(const BoolV a)
-{
-	return PxU32(_mm_movemask_ps(a)==0);
-}
-
-PX_FORCE_INLINE PxU32 BGetBitMask(const BoolV a)
-{
-	return PxU32(_mm_movemask_ps(a));
-}
-
-//////////////////////////////////
-// MAT33V
-//////////////////////////////////
-
-PX_FORCE_INLINE Vec3V M33MulV3(const Mat33V& a, const Vec3V b)
-{
-	const FloatV x = V3GetX(b);
-	const FloatV y = V3GetY(b);
-	const FloatV z = V3GetZ(b);
-	const Vec3V v0 = V3Scale(a.col0, x);
-	const Vec3V v1 = V3Scale(a.col1, y);
-	const Vec3V v2 = V3Scale(a.col2, z);
-	const Vec3V v0PlusV1 = V3Add(v0, v1);
-	return V3Add(v0PlusV1, v2);
-}
-
-PX_FORCE_INLINE Vec3V M33TrnspsMulV3(const Mat33V& a, const Vec3V b)
-{
-	const FloatV x = V3Dot(a.col0, b);
-	const FloatV y = V3Dot(a.col1, b);
-	const FloatV z = V3Dot(a.col2, b);
-	return V3Merge(x, y, z);
-}
-
-PX_FORCE_INLINE Vec3V M33MulV3AddV3(const Mat33V& A, const Vec3V b, const Vec3V c)
-{
-	const FloatV x = V3GetX(b);
-	const FloatV y = V3GetY(b);
-	const FloatV z = V3GetZ(b);
-	Vec3V result = V3ScaleAdd(A.col0, x, c);
-	result = V3ScaleAdd(A.col1, y, result);
-	return V3ScaleAdd(A.col2, z, result);
-}
-
-PX_FORCE_INLINE Mat33V M33MulM33(const Mat33V& a, const Mat33V& b)
-{
-	return Mat33V(M33MulV3(a, b.col0), M33MulV3(a, b.col1), M33MulV3(a, b.col2));
-}
-
-PX_FORCE_INLINE Mat33V M33Add(const Mat33V& a, const Mat33V& b)
-{
-	return Mat33V(V3Add(a.col0, b.col0), V3Add(a.col1, b.col1), V3Add(a.col2, b.col2));
-}
-
-PX_FORCE_INLINE Mat33V M33Scale(const Mat33V& a, const FloatV& b)
-{
-	return Mat33V(V3Scale(a.col0, b), V3Scale(a.col1, b), V3Scale(a.col2, b));
-}
-
-PX_FORCE_INLINE Mat33V M33Inverse(const Mat33V& a)
-{
-	const BoolV tfft = BTFFT();
-	const BoolV tttf = BTTTF();
-	const FloatV zero = FZero();
-	const Vec3V cross01 = V3Cross(a.col0, a.col1);
-	const Vec3V cross12 = V3Cross(a.col1, a.col2);
-	const Vec3V cross20 = V3Cross(a.col2, a.col0);
-	const FloatV dot = V3Dot(cross01, a.col2);
-	const FloatV invDet = _mm_rcp_ps(dot);
-	const Vec3V mergeh = _mm_unpacklo_ps(cross12, cross01);
-	const Vec3V mergel = _mm_unpackhi_ps(cross12, cross01);
-	Vec3V colInv0 = _mm_unpacklo_ps(mergeh, cross20);
-	colInv0 = _mm_or_ps(_mm_andnot_ps(tttf, zero), _mm_and_ps(tttf, colInv0));
-	const Vec3V zppd = _mm_shuffle_ps(mergeh, cross20, _MM_SHUFFLE(3, 0, 0, 2));
-	const Vec3V pbwp = _mm_shuffle_ps(cross20, mergeh, _MM_SHUFFLE(3, 3, 1, 0));
-	const Vec3V colInv1 = _mm_or_ps(_mm_andnot_ps(BTFFT(), pbwp), _mm_and_ps(BTFFT(), zppd));
-	const Vec3V xppd = _mm_shuffle_ps(mergel, cross20, _MM_SHUFFLE(3, 0, 0, 0));
-	const Vec3V pcyp = _mm_shuffle_ps(cross20, mergel, _MM_SHUFFLE(3, 1, 2, 0));
-	const Vec3V colInv2 = _mm_or_ps(_mm_andnot_ps(tfft, pcyp), _mm_and_ps(tfft, xppd));
-
-	return Mat33V(_mm_mul_ps(colInv0, invDet), _mm_mul_ps(colInv1, invDet), _mm_mul_ps(colInv2, invDet));
-}
-
-PX_FORCE_INLINE Mat33V M33Trnsps(const Mat33V& a)
-{
-	return Mat33V(V3Merge(V3GetX(a.col0), V3GetX(a.col1), V3GetX(a.col2)),
-	              V3Merge(V3GetY(a.col0), V3GetY(a.col1), V3GetY(a.col2)),
-	              V3Merge(V3GetZ(a.col0), V3GetZ(a.col1), V3GetZ(a.col2)));
-}
-
-PX_FORCE_INLINE Mat33V M33Identity()
-{
-	return Mat33V(V3UnitX(), V3UnitY(), V3UnitZ());
-}
-
-PX_FORCE_INLINE Mat33V M33Sub(const Mat33V& a, const Mat33V& b)
-{
-	return Mat33V(V3Sub(a.col0, b.col0), V3Sub(a.col1, b.col1), V3Sub(a.col2, b.col2));
-}
-
-PX_FORCE_INLINE Mat33V M33Neg(const Mat33V& a)
-{
-	return Mat33V(V3Neg(a.col0), V3Neg(a.col1), V3Neg(a.col2));
-}
-
-PX_FORCE_INLINE Mat33V M33Abs(const Mat33V& a)
-{
-	return Mat33V(V3Abs(a.col0), V3Abs(a.col1), V3Abs(a.col2));
-}
-
-PX_FORCE_INLINE Mat33V PromoteVec3V(const Vec3V v)
-{
-	const BoolV bTFFF = BTFFF();
-	const BoolV bFTFF = BFTFF();
-	const BoolV bFFTF = BTFTF();
-
-	const Vec3V zero = V3Zero();
-
-	return Mat33V(V3Sel(bTFFF, v, zero), V3Sel(bFTFF, v, zero), V3Sel(bFFTF, v, zero));
-}
-
-PX_FORCE_INLINE Mat33V M33Diagonal(const Vec3VArg d)
-{
-	const FloatV x = V3Mul(V3UnitX(), d);
-	const FloatV y = V3Mul(V3UnitY(), d);
-	const FloatV z = V3Mul(V3UnitZ(), d);
-	return Mat33V(x, y, z);
-}
-
-//////////////////////////////////
-// MAT34V
-//////////////////////////////////
-
-PX_FORCE_INLINE Vec3V M34MulV3(const Mat34V& a, const Vec3V b)
-{
-	const FloatV x = V3GetX(b);
-	const FloatV y = V3GetY(b);
-	const FloatV z = V3GetZ(b);
-	const Vec3V v0 = V3Scale(a.col0, x);
-	const Vec3V v1 = V3Scale(a.col1, y);
-	const Vec3V v2 = V3Scale(a.col2, z);
-	const Vec3V v0PlusV1 = V3Add(v0, v1);
-	const Vec3V v0PlusV1Plusv2 = V3Add(v0PlusV1, v2);
-	return V3Add(v0PlusV1Plusv2, a.col3);
-}
-
-PX_FORCE_INLINE Vec3V M34Mul33V3(const Mat34V& a, const Vec3V b)
-{
-	const FloatV x = V3GetX(b);
-	const FloatV y = V3GetY(b);
-	const FloatV z = V3GetZ(b);
-	const Vec3V v0 = V3Scale(a.col0, x);
-	const Vec3V v1 = V3Scale(a.col1, y);
-	const Vec3V v2 = V3Scale(a.col2, z);
-	const Vec3V v0PlusV1 = V3Add(v0, v1);
-	return V3Add(v0PlusV1, v2);
-}
-
-PX_FORCE_INLINE Vec3V M34TrnspsMul33V3(const Mat34V& a, const Vec3V b)
-{
-	const FloatV x = V3Dot(a.col0, b);
-	const FloatV y = V3Dot(a.col1, b);
-	const FloatV z = V3Dot(a.col2, b);
-	return V3Merge(x, y, z);
-}
-
-PX_FORCE_INLINE Mat34V M34MulM34(const Mat34V& a, const Mat34V& b)
-{
-	return Mat34V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2), M34MulV3(a, b.col3));
-}
-
-PX_FORCE_INLINE Mat33V M34MulM33(const Mat34V& a, const Mat33V& b)
-{
-	return Mat33V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2));
-}
-
-PX_FORCE_INLINE Mat33V M34Mul33MM34(const Mat34V& a, const Mat34V& b)
-{
-	return Mat33V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2));
-}
-
-PX_FORCE_INLINE Mat34V M34Add(const Mat34V& a, const Mat34V& b)
-{
-	return Mat34V(V3Add(a.col0, b.col0), V3Add(a.col1, b.col1), V3Add(a.col2, b.col2), V3Add(a.col3, b.col3));
-}
-
-PX_FORCE_INLINE Mat33V M34Trnsps33(const Mat34V& a)
-{
-	return Mat33V(V3Merge(V3GetX(a.col0), V3GetX(a.col1), V3GetX(a.col2)),
-	              V3Merge(V3GetY(a.col0), V3GetY(a.col1), V3GetY(a.col2)),
-	              V3Merge(V3GetZ(a.col0), V3GetZ(a.col1), V3GetZ(a.col2)));
-}
-
-//////////////////////////////////
-// MAT44V
-//////////////////////////////////
-
-PX_FORCE_INLINE Vec4V M44MulV4(const Mat44V& a, const Vec4V b)
-{
-	const FloatV x = V4GetX(b);
-	const FloatV y = V4GetY(b);
-	const FloatV z = V4GetZ(b);
-	const FloatV w = V4GetW(b);
-
-	const Vec4V v0 = V4Scale(a.col0, x);
-	const Vec4V v1 = V4Scale(a.col1, y);
-	const Vec4V v2 = V4Scale(a.col2, z);
-	const Vec4V v3 = V4Scale(a.col3, w);
-	const Vec4V v0PlusV1 = V4Add(v0, v1);
-	const Vec4V v0PlusV1Plusv2 = V4Add(v0PlusV1, v2);
-	return V4Add(v0PlusV1Plusv2, v3);
-}
-
-PX_FORCE_INLINE Vec4V M44TrnspsMulV4(const Mat44V& a, const Vec4V b)
-{
-	PX_ALIGN(16, FloatV) dotProdArray[4] = { V4Dot(a.col0, b), V4Dot(a.col1, b), V4Dot(a.col2, b), V4Dot(a.col3, b) };
-	return V4Merge(dotProdArray);
-}
-
-PX_FORCE_INLINE Mat44V M44MulM44(const Mat44V& a, const Mat44V& b)
-{
-	return Mat44V(M44MulV4(a, b.col0), M44MulV4(a, b.col1), M44MulV4(a, b.col2), M44MulV4(a, b.col3));
-}
-
-PX_FORCE_INLINE Mat44V M44Add(const Mat44V& a, const Mat44V& b)
-{
-	return Mat44V(V4Add(a.col0, b.col0), V4Add(a.col1, b.col1), V4Add(a.col2, b.col2), V4Add(a.col3, b.col3));
-}
-
-PX_FORCE_INLINE Mat44V M44Trnsps(const Mat44V& a)
-{
-	const Vec4V v0 = _mm_unpacklo_ps(a.col0, a.col2);
-	const Vec4V v1 = _mm_unpackhi_ps(a.col0, a.col2);
-	const Vec4V v2 = _mm_unpacklo_ps(a.col1, a.col3);
-	const Vec4V v3 = _mm_unpackhi_ps(a.col1, a.col3);
-	return Mat44V(_mm_unpacklo_ps(v0, v2), _mm_unpackhi_ps(v0, v2), _mm_unpacklo_ps(v1, v3), _mm_unpackhi_ps(v1, v3));
-}
-
-PX_FORCE_INLINE Mat44V M44Inverse(const Mat44V& a)
-{
-	__m128 minor0, minor1, minor2, minor3;
-	__m128 row0, row1, row2, row3;
-	__m128 det, tmp1;
-
-	tmp1 = V4Zero();
-	row1 = V4Zero();
-	row3 = V4Zero();
-
-	row0 = a.col0;
-	row1 = _mm_shuffle_ps(a.col1, a.col1, _MM_SHUFFLE(1, 0, 3, 2));
-	row2 = a.col2;
-	row3 = _mm_shuffle_ps(a.col3, a.col3, _MM_SHUFFLE(1, 0, 3, 2));
-
-	tmp1 = _mm_mul_ps(row2, row3);
-	tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0xB1);
-	minor0 = _mm_mul_ps(row1, tmp1);
-	minor1 = _mm_mul_ps(row0, tmp1);
-	tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0x4E);
-	minor0 = _mm_sub_ps(_mm_mul_ps(row1, tmp1), minor0);
-	minor1 = _mm_sub_ps(_mm_mul_ps(row0, tmp1), minor1);
-	minor1 = _mm_shuffle_ps(minor1, minor1, 0x4E);
-
-	tmp1 = _mm_mul_ps(row1, row2);
-	tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0xB1);
-	minor0 = _mm_add_ps(_mm_mul_ps(row3, tmp1), minor0);
-	minor3 = _mm_mul_ps(row0, tmp1);
-	tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0x4E);
-	minor0 = _mm_sub_ps(minor0, _mm_mul_ps(row3, tmp1));
-	minor3 = _mm_sub_ps(_mm_mul_ps(row0, tmp1), minor3);
-	minor3 = _mm_shuffle_ps(minor3, minor3, 0x4E);
-
-	tmp1 = _mm_mul_ps(_mm_shuffle_ps(row1, row1, 0x4E), row3);
-	tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0xB1);
-	row2 = _mm_shuffle_ps(row2, row2, 0x4E);
-	minor0 = _mm_add_ps(_mm_mul_ps(row2, tmp1), minor0);
-	minor2 = _mm_mul_ps(row0, tmp1);
-	tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0x4E);
-	minor0 = _mm_sub_ps(minor0, _mm_mul_ps(row2, tmp1));
-	minor2 = _mm_sub_ps(_mm_mul_ps(row0, tmp1), minor2);
-	minor2 = _mm_shuffle_ps(minor2, minor2, 0x4E);
-
-	tmp1 = _mm_mul_ps(row0, row1);
-	tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0xB1);
-	minor2 = _mm_add_ps(_mm_mul_ps(row3, tmp1), minor2);
-	minor3 = _mm_sub_ps(_mm_mul_ps(row2, tmp1), minor3);
-	tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0x4E);
-	minor2 = _mm_sub_ps(_mm_mul_ps(row3, tmp1), minor2);
-	minor3 = _mm_sub_ps(minor3, _mm_mul_ps(row2, tmp1));
-
-	tmp1 = _mm_mul_ps(row0, row3);
-	tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0xB1);
-	minor1 = _mm_sub_ps(minor1, _mm_mul_ps(row2, tmp1));
-	minor2 = _mm_add_ps(_mm_mul_ps(row1, tmp1), minor2);
-	tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0x4E);
-	minor1 = _mm_add_ps(_mm_mul_ps(row2, tmp1), minor1);
-	minor2 = _mm_sub_ps(minor2, _mm_mul_ps(row1, tmp1));
-
-	tmp1 = _mm_mul_ps(row0, row2);
-	tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0xB1);
-	minor1 = _mm_add_ps(_mm_mul_ps(row3, tmp1), minor1);
-	minor3 = _mm_sub_ps(minor3, _mm_mul_ps(row1, tmp1));
-	tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0x4E);
-	minor1 = _mm_sub_ps(minor1, _mm_mul_ps(row3, tmp1));
-	minor3 = _mm_add_ps(_mm_mul_ps(row1, tmp1), minor3);
-
-	det = _mm_mul_ps(row0, minor0);
-	det = _mm_add_ps(_mm_shuffle_ps(det, det, 0x4E), det);
-	det = _mm_add_ss(_mm_shuffle_ps(det, det, 0xB1), det);
-	tmp1 = _mm_rcp_ss(det);
-#if 0
-	det = _mm_sub_ss(_mm_add_ss(tmp1, tmp1), _mm_mul_ss(det, _mm_mul_ss(tmp1, tmp1)));
-	det = _mm_shuffle_ps(det, det, 0x00);
-#else
-	det = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(0, 0, 0, 0));
-#endif
-
-	minor0 = _mm_mul_ps(det, minor0);
-	minor1 = _mm_mul_ps(det, minor1);
-	minor2 = _mm_mul_ps(det, minor2);
-	minor3 = _mm_mul_ps(det, minor3);
-	Mat44V invTrans(minor0, minor1, minor2, minor3);
-	return M44Trnsps(invTrans);
-}
-
-PX_FORCE_INLINE Vec4V V4LoadXYZW(const PxF32& x, const PxF32& y, const PxF32& z, const PxF32& w)
-{
-	return _mm_set_ps(w, z, y, x);
-}
-
-/*
-// AP: work in progress - use proper SSE intrinsics where possible
-PX_FORCE_INLINE VecU16V V4U32PK(VecU32V a, VecU32V b)
-{
-    VecU16V result;
-    result.m128_u16[0] = PxU16(PxClamp<PxU32>((a).m128_u32[0], 0, 0xFFFF));
-    result.m128_u16[1] = PxU16(PxClamp<PxU32>((a).m128_u32[1], 0, 0xFFFF));
-    result.m128_u16[2] = PxU16(PxClamp<PxU32>((a).m128_u32[2], 0, 0xFFFF));
-    result.m128_u16[3] = PxU16(PxClamp<PxU32>((a).m128_u32[3], 0, 0xFFFF));
-    result.m128_u16[4] = PxU16(PxClamp<PxU32>((b).m128_u32[0], 0, 0xFFFF));
-    result.m128_u16[5] = PxU16(PxClamp<PxU32>((b).m128_u32[1], 0, 0xFFFF));
-    result.m128_u16[6] = PxU16(PxClamp<PxU32>((b).m128_u32[2], 0, 0xFFFF));
-    result.m128_u16[7] = PxU16(PxClamp<PxU32>((b).m128_u32[3], 0, 0xFFFF));
-    return result;
-}
-*/
-
-PX_FORCE_INLINE VecU32V V4U32Sel(const BoolV c, const VecU32V a, const VecU32V b)
-{
-	return m128_I2F(_mm_or_si128(_mm_andnot_si128(m128_F2I(c), m128_F2I(b)), _mm_and_si128(m128_F2I(c), m128_F2I(a))));
-}
-
-PX_FORCE_INLINE VecU32V V4U32or(VecU32V a, VecU32V b)
-{
-	return m128_I2F(_mm_or_si128(m128_F2I(a), m128_F2I(b)));
-}
-
-PX_FORCE_INLINE VecU32V V4U32xor(VecU32V a, VecU32V b)
-{
-	return m128_I2F(_mm_xor_si128(m128_F2I(a), m128_F2I(b)));
-}
-
-PX_FORCE_INLINE VecU32V V4U32and(VecU32V a, VecU32V b)
-{
-	return m128_I2F(_mm_and_si128(m128_F2I(a), m128_F2I(b)));
-}
-
-PX_FORCE_INLINE VecU32V V4U32Andc(VecU32V a, VecU32V b)
-{
-	return m128_I2F(_mm_andnot_si128(m128_F2I(b), m128_F2I(a)));
-}
-
-/*
-PX_FORCE_INLINE VecU16V V4U16Or(VecU16V a, VecU16V b)
-{
-    return m128_I2F(_mm_or_si128(m128_F2I(a), m128_F2I(b)));
-}
-*/
-
-/*
-PX_FORCE_INLINE VecU16V V4U16And(VecU16V a, VecU16V b)
-{
-    return m128_I2F(_mm_and_si128(m128_F2I(a), m128_F2I(b)));
-}
-*/
-
-/*
-PX_FORCE_INLINE VecU16V V4U16Andc(VecU16V a, VecU16V b)
-{
-    return m128_I2F(_mm_andnot_si128(m128_F2I(b), m128_F2I(a)));
-}
-*/
-
-PX_FORCE_INLINE VecI32V I4Load(const PxI32 i)
-{
-	return m128_F2I(_mm_load1_ps(reinterpret_cast<const PxF32*>(&i)));
-}
-
-PX_FORCE_INLINE VecI32V I4LoadU(const PxI32* i)
-{
-	return m128_F2I(_mm_loadu_ps(reinterpret_cast<const PxF32*>(i)));
-}
-
-PX_FORCE_INLINE VecI32V I4LoadA(const PxI32* i)
-{
-	return m128_F2I(_mm_load_ps(reinterpret_cast<const PxF32*>(i)));
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Add(const VecI32VArg a, const VecI32VArg b)
-{
-	return _mm_add_epi32(a, b);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Sub(const VecI32VArg a, const VecI32VArg b)
-{
-	return _mm_sub_epi32(a, b);
-}
-
-PX_FORCE_INLINE BoolV VecI32V_IsGrtr(const VecI32VArg a, const VecI32VArg b)
-{
-	return m128_I2F(_mm_cmpgt_epi32(a, b));
-}
-
-PX_FORCE_INLINE BoolV VecI32V_IsEq(const VecI32VArg a, const VecI32VArg b)
-{
-	return m128_I2F(_mm_cmpeq_epi32(a, b));
-}
-
-PX_FORCE_INLINE VecI32V V4I32Sel(const BoolV c, const VecI32V a, const VecI32V b)
-{
-	return _mm_or_si128(_mm_andnot_si128(m128_F2I(c), b), _mm_and_si128(m128_F2I(c), a));
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Zero()
-{
-	return _mm_setzero_si128();
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_One()
-{
-	return I4Load(1);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Two()
-{
-	return I4Load(2);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_MinusOne()
-{
-	return I4Load(-1);
-}
-
-PX_FORCE_INLINE VecU32V U4Zero()
-{
-	return U4Load(0);
-}
-
-PX_FORCE_INLINE VecU32V U4One()
-{
-	return U4Load(1);
-}
-
-PX_FORCE_INLINE VecU32V U4Two()
-{
-	return U4Load(2);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Sel(const BoolV c, const VecI32VArg a, const VecI32VArg b)
-{
-	return _mm_or_si128(_mm_andnot_si128(m128_F2I(c), b), _mm_and_si128(m128_F2I(c), a));
-}
-
-PX_FORCE_INLINE VecShiftV VecI32V_PrepareShift(const VecI32VArg shift)
-{
-	VecShiftV s;
-	s.shift = VecI32V_Sel(BTFFF(), shift, VecI32V_Zero());
-	return s;
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_LeftShift(const VecI32VArg a, const VecShiftVArg count)
-{
-	return _mm_sll_epi32(a, count.shift);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_RightShift(const VecI32VArg a, const VecShiftVArg count)
-{
-	return _mm_srl_epi32(a, count.shift);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_And(const VecI32VArg a, const VecI32VArg b)
-{
-	return _mm_and_si128(a, b);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Or(const VecI32VArg a, const VecI32VArg b)
-{
-	return _mm_or_si128(a, b);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_GetX(const VecI32VArg a)
-{
-	return m128_F2I(_mm_shuffle_ps(m128_I2F(a), m128_I2F(a), _MM_SHUFFLE(0, 0, 0, 0)));
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_GetY(const VecI32VArg a)
-{
-	return m128_F2I(_mm_shuffle_ps(m128_I2F(a), m128_I2F(a), _MM_SHUFFLE(1, 1, 1, 1)));
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_GetZ(const VecI32VArg a)
-{
-	return m128_F2I(_mm_shuffle_ps(m128_I2F(a), m128_I2F(a), _MM_SHUFFLE(2, 2, 2, 2)));
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_GetW(const VecI32VArg a)
-{
-	return m128_F2I(_mm_shuffle_ps(m128_I2F(a), m128_I2F(a), _MM_SHUFFLE(3, 3, 3, 3)));
-}
-
-PX_FORCE_INLINE void PxI32_From_VecI32V(const VecI32VArg a, PxI32* i)
-{
-	_mm_store_ss(reinterpret_cast<PxF32*>(i), m128_I2F(a));
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Merge(const VecI32VArg x, const VecI32VArg y, const VecI32VArg z, const VecI32VArg w)
-{
-	const __m128 xw = _mm_move_ss(m128_I2F(y), m128_I2F(x)); // y, y, y, x
-	const __m128 yz = _mm_move_ss(m128_I2F(z), m128_I2F(w)); // z, z, z, w
-	return m128_F2I(_mm_shuffle_ps(xw, yz, _MM_SHUFFLE(0, 2, 1, 0)));
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_From_BoolV(const BoolVArg a)
-{
-	return m128_F2I(a);
-}
-
-PX_FORCE_INLINE VecU32V VecU32V_From_BoolV(const BoolVArg a)
-{
-	return a;
-}
-
-/*
-template<int a> PX_FORCE_INLINE VecI32V V4ISplat()
-{
-    VecI32V result;
-    result.m128_i32[0] = a;
-    result.m128_i32[1] = a;
-    result.m128_i32[2] = a;
-    result.m128_i32[3] = a;
-    return result;
-}
-
-template<PxU32 a> PX_FORCE_INLINE VecU32V V4USplat()
-{
-    VecU32V result;
-    result.m128_u32[0] = a;
-    result.m128_u32[1] = a;
-    result.m128_u32[2] = a;
-    result.m128_u32[3] = a;
-    return result;
-}
-*/
-
-/*
-PX_FORCE_INLINE void V4U16StoreAligned(VecU16V val, VecU16V* address)
-{
-    *address = val;
-}
-*/
-
-PX_FORCE_INLINE void V4U32StoreAligned(VecU32V val, VecU32V* address)
-{
-	*address = val;
-}
-
-PX_FORCE_INLINE Vec4V V4LoadAligned(Vec4V* addr)
-{
-	return *addr;
-}
-
-PX_FORCE_INLINE Vec4V V4LoadUnaligned(Vec4V* addr)
-{
-	return V4LoadU(reinterpret_cast<float*>(addr));
-}
-
-PX_FORCE_INLINE Vec4V V4Andc(const Vec4V a, const VecU32V b)
-{
-	VecU32V result32(a);
-	result32 = V4U32Andc(result32, b);
-	return Vec4V(result32);
-}
-
-PX_FORCE_INLINE VecU32V V4IsGrtrV32u(const Vec4V a, const Vec4V b)
-{
-	return V4IsGrtr(a, b);
-}
-
-PX_FORCE_INLINE VecU16V V4U16LoadAligned(VecU16V* addr)
-{
-	return *addr;
-}
-
-PX_FORCE_INLINE VecU16V V4U16LoadUnaligned(VecU16V* addr)
-{
-	return *addr;
-}
-
-PX_FORCE_INLINE VecU16V V4U16CompareGt(VecU16V a, VecU16V b)
-{
-	// _mm_cmpgt_epi16 doesn't work for unsigned values unfortunately
-	// return m128_I2F(_mm_cmpgt_epi16(m128_F2I(a), m128_F2I(b)));
-	VecU16V result;
-	result.m128_u16[0] = (a).m128_u16[0] > (b).m128_u16[0];
-	result.m128_u16[1] = (a).m128_u16[1] > (b).m128_u16[1];
-	result.m128_u16[2] = (a).m128_u16[2] > (b).m128_u16[2];
-	result.m128_u16[3] = (a).m128_u16[3] > (b).m128_u16[3];
-	result.m128_u16[4] = (a).m128_u16[4] > (b).m128_u16[4];
-	result.m128_u16[5] = (a).m128_u16[5] > (b).m128_u16[5];
-	result.m128_u16[6] = (a).m128_u16[6] > (b).m128_u16[6];
-	result.m128_u16[7] = (a).m128_u16[7] > (b).m128_u16[7];
-	return result;
-}
-
-PX_FORCE_INLINE VecU16V V4I16CompareGt(VecU16V a, VecU16V b)
-{
-	return m128_I2F(_mm_cmpgt_epi16(m128_F2I(a), m128_F2I(b)));
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_From_VecU32V(VecU32V a)
-{
-	Vec4V result = V4LoadXYZW(PxF32(a.m128_u32[0]), PxF32(a.m128_u32[1]), PxF32(a.m128_u32[2]), PxF32(a.m128_u32[3]));
-	return result;
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_From_VecI32V(VecI32V in)
-{
-	return _mm_cvtepi32_ps(in);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_From_Vec4V(Vec4V a)
-{
-	return _mm_cvttps_epi32(a);
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_ReinterpretFrom_VecU32V(VecU32V a)
-{
-	return Vec4V(a);
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_ReinterpretFrom_VecI32V(VecI32V a)
-{
-	return m128_I2F(a);
-}
-
-PX_FORCE_INLINE VecU32V VecU32V_ReinterpretFrom_Vec4V(Vec4V a)
-{
-	return VecU32V(a);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_ReinterpretFrom_Vec4V(Vec4V a)
-{
-	return m128_F2I(a);
-}
-
-/*
-template<int index> PX_FORCE_INLINE BoolV BSplatElement(BoolV a)
-{
-    BoolV result;
-    result[0] = result[1] = result[2] = result[3] = a[index];
-    return result;
-}
-*/
-
-template <int index>
-BoolV BSplatElement(BoolV a)
-{
-	float* data = reinterpret_cast<float*>(&a);
-	return V4Load(data[index]);
-}
-
-template <int index>
-PX_FORCE_INLINE VecU32V V4U32SplatElement(VecU32V a)
-{
-	VecU32V result;
-	result.m128_u32[0] = result.m128_u32[1] = result.m128_u32[2] = result.m128_u32[3] = a.m128_u32[index];
-	return result;
-}
-
-template <int index>
-PX_FORCE_INLINE Vec4V V4SplatElement(Vec4V a)
-{
-	float* data = reinterpret_cast<float*>(&a);
-	return V4Load(data[index]);
-}
-
-PX_FORCE_INLINE VecU32V U4LoadXYZW(PxU32 x, PxU32 y, PxU32 z, PxU32 w)
-{
-	VecU32V result;
-	result.m128_u32[0] = x;
-	result.m128_u32[1] = y;
-	result.m128_u32[2] = z;
-	result.m128_u32[3] = w;
-	return result;
-}
-
-PX_FORCE_INLINE Vec4V V4Ceil(const Vec4V in)
-{
-	UnionM128 a(in);
-	return V4LoadXYZW(PxCeil(a.m128_f32[0]), PxCeil(a.m128_f32[1]), PxCeil(a.m128_f32[2]), PxCeil(a.m128_f32[3]));
-}
-
-PX_FORCE_INLINE Vec4V V4Floor(const Vec4V in)
-{
-	UnionM128 a(in);
-	return V4LoadXYZW(PxFloor(a.m128_f32[0]), PxFloor(a.m128_f32[1]), PxFloor(a.m128_f32[2]), PxFloor(a.m128_f32[3]));
-}
-
-PX_FORCE_INLINE VecU32V V4ConvertToU32VSaturate(const Vec4V in, PxU32 power)
-{
-	PX_ASSERT(power == 0 && "Non-zero power not supported in convertToU32VSaturate");
-	PX_UNUSED(power); // prevent warning in release builds
-	PxF32 ffffFFFFasFloat = PxF32(0xFFFF0000);
-	UnionM128 a(in);
-	VecU32V result;
-	result.m128_u32[0] = PxU32(PxClamp<PxF32>((a).m128_f32[0], 0.0f, ffffFFFFasFloat));
-	result.m128_u32[1] = PxU32(PxClamp<PxF32>((a).m128_f32[1], 0.0f, ffffFFFFasFloat));
-	result.m128_u32[2] = PxU32(PxClamp<PxF32>((a).m128_f32[2], 0.0f, ffffFFFFasFloat));
-	result.m128_u32[3] = PxU32(PxClamp<PxF32>((a).m128_f32[3], 0.0f, ffffFFFFasFloat));
-	return result;
-}
-
-#endif // PSFOUNDATION_PSUNIXSSE2INLINEAOS_H
diff --git a/PxShared/src/foundation/include/windows/PsWindowsAoS.h b/PxShared/src/foundation/include/windows/PsWindowsAoS.h
deleted file mode 100644
index aab0712..0000000
--- a/PxShared/src/foundation/include/windows/PsWindowsAoS.h
+++ /dev/null
@@ -1,131 +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 PSFOUNDATION_PSWINDOWSAOS_H
-#define PSFOUNDATION_PSWINDOWSAOS_H
-
-// no includes here! this file should be included from PxcVecMath.h only!!!
-
-#if !COMPILE_VECTOR_INTRINSICS
-#error Vector intrinsics should not be included when using scalar implementation.
-#endif
-
-typedef __m128 FloatV;
-typedef __m128 Vec3V;
-typedef __m128 Vec4V;
-typedef __m128 BoolV;
-typedef __m128 VecU32V;
-typedef __m128 VecI32V;
-typedef __m128 VecU16V;
-typedef __m128 VecI16V;
-typedef __m128 QuatV;
-
-#define FloatVArg FloatV &
-#define Vec3VArg Vec3V &
-#define Vec4VArg Vec4V &
-#define BoolVArg BoolV &
-#define VecU32VArg VecU32V &
-#define VecI32VArg VecI32V &
-#define VecU16VArg VecU16V &
-#define VecI16VArg VecI16V &
-#define QuatVArg QuatV &
-
-// Optimization for situations in which you cross product multiple vectors with the same vector.
-// Avoids 2X shuffles per product
-struct VecCrossV
-{
-	Vec3V mL1;
-	Vec3V mR1;
-};
-
-struct VecShiftV
-{
-	VecI32V shift;
-};
-#define VecShiftVArg VecShiftV &
-
-PX_ALIGN_PREFIX(16)
-struct Mat33V
-{
-	Mat33V()
-	{
-	}
-	Mat33V(const Vec3V& c0, const Vec3V& c1, const Vec3V& c2) : col0(c0), col1(c1), col2(c2)
-	{
-	}
-	Vec3V PX_ALIGN(16, col0);
-	Vec3V PX_ALIGN(16, col1);
-	Vec3V PX_ALIGN(16, col2);
-} PX_ALIGN_SUFFIX(16);
-
-PX_ALIGN_PREFIX(16)
-struct Mat34V
-{
-	Mat34V()
-	{
-	}
-	Mat34V(const Vec3V& c0, const Vec3V& c1, const Vec3V& c2, const Vec3V& c3) : col0(c0), col1(c1), col2(c2), col3(c3)
-	{
-	}
-	Vec3V PX_ALIGN(16, col0);
-	Vec3V PX_ALIGN(16, col1);
-	Vec3V PX_ALIGN(16, col2);
-	Vec3V PX_ALIGN(16, col3);
-} PX_ALIGN_SUFFIX(16);
-
-PX_ALIGN_PREFIX(16)
-struct Mat43V
-{
-	Mat43V()
-	{
-	}
-	Mat43V(const Vec4V& c0, const Vec4V& c1, const Vec4V& c2) : col0(c0), col1(c1), col2(c2)
-	{
-	}
-	Vec4V PX_ALIGN(16, col0);
-	Vec4V PX_ALIGN(16, col1);
-	Vec4V PX_ALIGN(16, col2);
-} PX_ALIGN_SUFFIX(16);
-
-PX_ALIGN_PREFIX(16)
-struct Mat44V
-{
-	Mat44V()
-	{
-	}
-	Mat44V(const Vec4V& c0, const Vec4V& c1, const Vec4V& c2, const Vec4V& c3) : col0(c0), col1(c1), col2(c2), col3(c3)
-	{
-	}
-	Vec4V PX_ALIGN(16, col0);
-	Vec4V PX_ALIGN(16, col1);
-	Vec4V PX_ALIGN(16, col2);
-	Vec4V PX_ALIGN(16, col3);
-} PX_ALIGN_SUFFIX(16);
-
-#endif // PSFOUNDATION_PSWINDOWSAOS_H
diff --git a/PxShared/src/foundation/include/windows/PsWindowsFPU.h b/PxShared/src/foundation/include/windows/PsWindowsFPU.h
deleted file mode 100644
index d85e531..0000000
--- a/PxShared/src/foundation/include/windows/PsWindowsFPU.h
+++ /dev/null
@@ -1,51 +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 PSFOUNDATION_PSWINDOWSFPU_H
-#define PSFOUNDATION_PSWINDOWSFPU_H
-
-PX_INLINE physx::shdfnd::SIMDGuard::SIMDGuard()
-{
-#if !PX_ARM
-	mControlWord = _mm_getcsr();
-	// set default (disable exceptions: _MM_MASK_MASK) and FTZ (_MM_FLUSH_ZERO_ON), DAZ (_MM_DENORMALS_ZERO_ON: (1<<6))
-	_mm_setcsr(_MM_MASK_MASK | _MM_FLUSH_ZERO_ON | (1 << 6));
-#endif
-}
-
-PX_INLINE physx::shdfnd::SIMDGuard::~SIMDGuard()
-{
-#if !PX_ARM
-	// restore control word and clear any exception flags
-	// (setting exception state flags cause exceptions on the first following fp operation)
-	_mm_setcsr(mControlWord & ~_MM_EXCEPT_MASK);
-#endif
-}
-
-#endif // #ifndef PSFOUNDATION_PSWINDOWSFPU_H
diff --git a/PxShared/src/foundation/include/windows/PsWindowsInclude.h b/PxShared/src/foundation/include/windows/PsWindowsInclude.h
deleted file mode 100644
index 75962e1..0000000
--- a/PxShared/src/foundation/include/windows/PsWindowsInclude.h
+++ /dev/null
@@ -1,96 +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 PSFOUNDATION_PSWINDOWSINCLUDE_H
-#define PSFOUNDATION_PSWINDOWSINCLUDE_H
-
-#include "Ps.h"
-
-#ifndef _WIN32
-#error "This file should only be included by Windows builds!!"
-#endif
-
-#ifdef _WINDOWS_ // windows already included
-#error "Only include windows.h through this file!!"
-#endif
-
-// We only support >= Windows XP, and we need this for critical section and
-#define _WIN32_WINNT 0x0501
-
-// turn off as much as we can for windows. All we really need is the thread functions(critical sections/Interlocked*
-// etc)
-#define NOGDICAPMASKS
-#define NOVIRTUALKEYCODES
-#define NOWINMESSAGES
-#define NOWINSTYLES
-#define NOSYSMETRICS
-#define NOMENUS
-#define NOICONS
-#define NOKEYSTATES
-#define NOSYSCOMMANDS
-#define NORASTEROPS
-#define NOSHOWWINDOW
-#define NOATOM
-#define NOCLIPBOARD
-#define NOCOLOR
-#define NOCTLMGR
-#define NODRAWTEXT
-#define NOGDI
-#define NOMB
-#define NOMEMMGR
-#define NOMETAFILE
-#define NOMINMAX
-#define NOOPENFILE
-#define NOSCROLL
-#define NOSERVICE
-#define NOSOUND
-#define NOTEXTMETRIC
-#define NOWH
-#define NOWINOFFSETS
-#define NOCOMM
-#define NOKANJI
-#define NOHELP
-#define NOPROFILER
-#define NODEFERWINDOWPOS
-#define NOMCX
-#define WIN32_LEAN_AND_MEAN
-#define NOUSER
-#define NONLS
-#define NOMSG
-
-#pragma warning(push)
-#pragma warning(disable : 4668) //'symbol' is not defined as a preprocessor macro, replacing with '0' for 'directives'
-#include <windows.h>
-#pragma warning(pop)
-
-#if PX_SSE2
-#include <xmmintrin.h>
-#endif
-
-#endif // #ifndef PSFOUNDATION_PSWINDOWSINCLUDE_H
diff --git a/PxShared/src/foundation/include/windows/PsWindowsInlineAoS.h b/PxShared/src/foundation/include/windows/PsWindowsInlineAoS.h
deleted file mode 100644
index 5fd1b8d..0000000
--- a/PxShared/src/foundation/include/windows/PsWindowsInlineAoS.h
+++ /dev/null
@@ -1,3116 +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 PSFOUNDATION_PSWINDOWSINLINEAOS_H
-#define PSFOUNDATION_PSWINDOWSINLINEAOS_H
-
-#if !COMPILE_VECTOR_INTRINSICS
-#error Vector intrinsics should not be included when using scalar implementation.
-#endif
-
-#include "../PsVecMathSSE.h"
-
-//////////////////////////////////////////////////////////////////////
-//Test that Vec3V and FloatV are legal
-//////////////////////////////////////////////////////////////////////
-
-#define FLOAT_COMPONENTS_EQUAL_THRESHOLD 0.01f
-PX_FORCE_INLINE bool isValidFloatV(const FloatV a)
-{
-	const PxF32 x = V4ReadX(a);
-	const PxF32 y = V4ReadY(a);
-	const PxF32 z = V4ReadZ(a);
-	const PxF32 w = V4ReadW(a);
-
-	if (
-		(PxAbs(x - y) < FLOAT_COMPONENTS_EQUAL_THRESHOLD) &&
-		(PxAbs(x - z) < FLOAT_COMPONENTS_EQUAL_THRESHOLD) &&
-		(PxAbs(x - w) < FLOAT_COMPONENTS_EQUAL_THRESHOLD)
-		)
-	{
-		return true;
-	}
-	
-	if (
-		(PxAbs((x - y) / x) < FLOAT_COMPONENTS_EQUAL_THRESHOLD) &&
-		(PxAbs((x - z) / x) < FLOAT_COMPONENTS_EQUAL_THRESHOLD) &&
-		(PxAbs((x - w) / x) < FLOAT_COMPONENTS_EQUAL_THRESHOLD)
-		)
-	{
-		return true;
-	}
-	return false;
-}
-
-PX_FORCE_INLINE bool isValidVec3V(const Vec3V a)
-{
-	//using _mm_comieq_ss to do the comparison doesn't work for NaN.
-	PX_ALIGN(16, PxF32 f[4]);
-	V4StoreA((const Vec4V&)a, f);
-	return f[3] == 0.0f;
-}
-
-PX_FORCE_INLINE bool isFiniteLength(const Vec3V a)
-{
-	return !FAllEq(V4LengthSq(a), FZero());
-}
-
-PX_FORCE_INLINE bool isAligned16(void* a)
-{
-	return(0 == ((size_t)a & 0x0f));
-}
-
-//ASSERT_FINITELENGTH is deactivated because there is a lot of code that calls a simd normalisation function with zero length but then ignores the result.
-
-#if PX_DEBUG
-#define ASSERT_ISVALIDVEC3V(a) PX_ASSERT(isValidVec3V(a))
-#define ASSERT_ISVALIDFLOATV(a) PX_ASSERT(isValidFloatV(a))
-#define ASSERT_ISALIGNED16(a) PX_ASSERT(isAligned16((void*)a))
-#define ASSERT_ISFINITELENGTH(a) //PX_ASSERT(isFiniteLength(a))
-#else
-#define ASSERT_ISVALIDVEC3V(a)
-#define ASSERT_ISVALIDFLOATV(a) 
-#define ASSERT_ISALIGNED16(a)
-#define ASSERT_ISFINITELENGTH(a)
-#endif
-/////////////////////////////////////////////////////////////////////
-////FUNCTIONS USED ONLY FOR ASSERTS IN VECTORISED IMPLEMENTATIONS
-/////////////////////////////////////////////////////////////////////
-
-//////////////////////////////////////////////////////////////////////
-// USED ONLY INTERNALLY
-//////////////////////////////////////////////////////////////////////
-
-namespace internalWindowsSimd
-{
-PX_FORCE_INLINE __m128 m128_I2F(__m128i n)
-{
-	return _mm_castsi128_ps(n);
-}
-
-PX_FORCE_INLINE __m128i m128_F2I(__m128 n)
-{
-	return _mm_castps_si128(n);
-}
-
-PX_FORCE_INLINE PxU32 BAllTrue4_R(const BoolV a)
-{
-	const PxI32 moveMask = _mm_movemask_ps(a);
-	return PxU32(moveMask == 0xf);
-}
-
-PX_FORCE_INLINE PxU32 BAllTrue3_R(const BoolV a)
-{
-	const PxI32 moveMask = _mm_movemask_ps(a);
-	return PxU32((moveMask & 0x7) == 0x7);
-}
-
-PX_FORCE_INLINE PxU32 BAnyTrue4_R(const BoolV a)
-{
-	const PxI32 moveMask = _mm_movemask_ps(a);
-	return PxU32(moveMask != 0x0);
-}
-
-PX_FORCE_INLINE PxU32 BAnyTrue3_R(const BoolV a)
-{
-	const PxI32 moveMask = _mm_movemask_ps(a);
-	return PxU32(((moveMask & 0x7) != 0x0));
-}
-
-PX_FORCE_INLINE PxU32 FiniteTestEq(const Vec4V a, const Vec4V b)
-{
-	// This is a bit of a bodge.
-	//_mm_comieq_ss returns 1 if either value is nan so we need to re-cast a and b with true encoded as a non-nan
-	// number.
-	// There must be a better way of doing this in sse.
-	const BoolV one = FOne();
-	const BoolV zero = FZero();
-	const BoolV a1 = V4Sel(a, one, zero);
-	const BoolV b1 = V4Sel(b, one, zero);
-	return (PxU32(
-	    _mm_comieq_ss(a1, b1) &&
-	    _mm_comieq_ss(_mm_shuffle_ps(a1, a1, _MM_SHUFFLE(1, 1, 1, 1)), _mm_shuffle_ps(b1, b1, _MM_SHUFFLE(1, 1, 1, 1))) &&
-	    _mm_comieq_ss(_mm_shuffle_ps(a1, a1, _MM_SHUFFLE(2, 2, 2, 2)), _mm_shuffle_ps(b1, b1, _MM_SHUFFLE(2, 2, 2, 2))) &&
-	    _mm_comieq_ss(_mm_shuffle_ps(a1, a1, _MM_SHUFFLE(3, 3, 3, 3)), _mm_shuffle_ps(b1, b1, _MM_SHUFFLE(3, 3, 3, 3)))));
-}
-
-PX_FORCE_INLINE bool hasZeroElementinFloatV(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	return _mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0)), FZero()) ? true : false;
-}
-
-PX_FORCE_INLINE bool hasZeroElementInVec3V(const Vec3V a)
-{
-	return (_mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0)), FZero()) ||
-			_mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 1, 1, 1)), FZero()) ||
-			_mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2)), FZero()));
-}
-
-PX_FORCE_INLINE bool hasZeroElementInVec4V(const Vec4V a)
-{
-	return (_mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0)), FZero()) ||
-	        _mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 1, 1, 1)), FZero()) ||
-	        _mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2)), FZero()) ||
-	        _mm_comieq_ss(_mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 3, 3, 3)), FZero()));
-}
-
-const PX_ALIGN(16, PxU32 gMaskXYZ[4]) = { 0xffffffff, 0xffffffff, 0xffffffff, 0 };
-} //internalWindowsSimd
-
-namespace _VecMathTests
-{
-// PT: this function returns an invalid Vec3V (W!=0.0f) just for unit-testing 'isValidVec3V'
-PX_FORCE_INLINE Vec3V getInvalidVec3V()
-{
-	const float f = 1.0f;
-	return _mm_load1_ps(&f);
-}
-
-PX_FORCE_INLINE bool allElementsEqualFloatV(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_comieq_ss(a, b) != 0;
-}
-
-PX_FORCE_INLINE bool allElementsEqualVec3V(const Vec3V a, const Vec3V b)
-{
-	return V3AllEq(a, b) != 0;
-}
-
-PX_FORCE_INLINE bool allElementsEqualVec4V(const Vec4V a, const Vec4V b)
-{
-	return V4AllEq(a, b) != 0;
-}
-
-PX_FORCE_INLINE bool allElementsEqualBoolV(const BoolV a, const BoolV b)
-{
-	return internalWindowsSimd::BAllTrue4_R(VecI32V_IsEq(a, b)) != 0;
-}
-
-PX_FORCE_INLINE bool allElementsEqualVecU32V(const VecU32V a, const VecU32V b)
-{
-	return internalWindowsSimd::BAllTrue4_R(V4IsEqU32(a, b)) != 0;
-}
-
-PX_FORCE_INLINE bool allElementsEqualVecI32V(const VecI32V a, const VecI32V b)
-{
-	BoolV c = internalWindowsSimd::m128_I2F(
-	    _mm_cmpeq_epi32(internalWindowsSimd::m128_F2I(a), internalWindowsSimd::m128_F2I(b)));
-	return internalWindowsSimd::BAllTrue4_R(c) != 0;
-}
-
-#define VECMATH_AOS_EPSILON (1e-3f)
-static const FloatV minFError = FLoad(-VECMATH_AOS_EPSILON);
-static const FloatV maxFError = FLoad(VECMATH_AOS_EPSILON);
-static const Vec3V minV3Error = V3Load(-VECMATH_AOS_EPSILON);
-static const Vec3V maxV3Error = V3Load(VECMATH_AOS_EPSILON);
-static const Vec4V minV4Error = V4Load(-VECMATH_AOS_EPSILON);
-static const Vec4V maxV4Error = V4Load(VECMATH_AOS_EPSILON);
-
-PX_FORCE_INLINE bool allElementsNearEqualFloatV(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	const FloatV c = FSub(a, b);
-	return _mm_comigt_ss(c, minFError) && _mm_comilt_ss(c, maxFError);
-}
-
-PX_FORCE_INLINE bool allElementsNearEqualVec3V(const Vec3V a, const Vec3V b)
-{
-	const Vec3V c = V3Sub(a, b);
-	return (_mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(0, 0, 0, 0)), minV3Error) &&
-			_mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(0, 0, 0, 0)), maxV3Error) &&
-			_mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(1, 1, 1, 1)), minV3Error) &&
-			_mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(1, 1, 1, 1)), maxV3Error) &&
-			_mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(2, 2, 2, 2)), minV3Error) &&
-			_mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(2, 2, 2, 2)), maxV3Error));
-}
-
-PX_FORCE_INLINE bool allElementsNearEqualVec4V(const Vec4V a, const Vec4V b)
-{
-	const Vec4V c = V4Sub(a, b);
-	return (_mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(0, 0, 0, 0)), minV4Error) &&
-	        _mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(0, 0, 0, 0)), maxV4Error) &&
-	        _mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(1, 1, 1, 1)), minV4Error) &&
-	        _mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(1, 1, 1, 1)), maxV4Error) &&
-	        _mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(2, 2, 2, 2)), minV4Error) &&
-	        _mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(2, 2, 2, 2)), maxV4Error) &&
-	        _mm_comigt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(3, 3, 3, 3)), minV4Error) &&
-	        _mm_comilt_ss(_mm_shuffle_ps(c, c, _MM_SHUFFLE(3, 3, 3, 3)), maxV4Error));
-}
-} //_VecMathTests
-
-PX_FORCE_INLINE bool isFiniteFloatV(const FloatV a)
-{
-	PxF32 f;
-	FStore(a, &f);
-	return PxIsFinite(f);
-	/*
-	const PxU32 badNumber = (_FPCLASS_SNAN | _FPCLASS_QNAN | _FPCLASS_NINF | _FPCLASS_PINF);
-	const FloatV vBadNum = FloatV_From_F32((PxF32&)badNumber);
-	const BoolV vMask = BAnd(vBadNum,  a);
-	return FiniteTestEq(vMask, BFFFF()) == 1;
-	*/
-}
-
-PX_FORCE_INLINE bool isFiniteVec3V(const Vec3V a)
-{
-	PX_ALIGN(16, PxF32 f[4]);
-	V4StoreA((Vec4V&)a, f);
-	return PxIsFinite(f[0]) && PxIsFinite(f[1]) && PxIsFinite(f[2]);
-
-	/*
-	const PxU32 badNumber = (_FPCLASS_SNAN | _FPCLASS_QNAN | _FPCLASS_NINF | _FPCLASS_PINF);
-	const Vec3V vBadNum = Vec3V_From_F32((PxF32&)badNumber);
-	const BoolV vMask = BAnd(BAnd(vBadNum,  a), BTTTF());
-	return FiniteTestEq(vMask, BFFFF()) == 1;
-	*/
-}
-
-PX_FORCE_INLINE bool isFiniteVec4V(const Vec4V a)
-{
-	PX_ALIGN(16, PxF32 f[4]);
-	V4StoreA(a, f);
-	return PxIsFinite(f[0]) && PxIsFinite(f[1]) && PxIsFinite(f[2]) && PxIsFinite(f[3]);
-
-	/*
-	const PxU32 badNumber = (_FPCLASS_SNAN | _FPCLASS_QNAN | _FPCLASS_NINF | _FPCLASS_PINF);
-	const Vec4V vBadNum = Vec4V_From_U32((PxF32&)badNumber);
-	const BoolV vMask = BAnd(vBadNum,  a);
-
-	return FiniteTestEq(vMask, BFFFF()) == 1;
-	*/
-}
-
-/////////////////////////////////////////////////////////////////////
-////VECTORISED FUNCTION IMPLEMENTATIONS
-/////////////////////////////////////////////////////////////////////
-
-PX_FORCE_INLINE FloatV FLoad(const PxF32 f)
-{
-	return _mm_load1_ps(&f);
-}
-
-PX_FORCE_INLINE Vec3V V3Load(const PxF32 f)
-{
-	return _mm_set_ps(0.0f, f, f, f);
-}
-
-PX_FORCE_INLINE Vec4V V4Load(const PxF32 f)
-{
-	return _mm_load1_ps(&f);
-}
-
-PX_FORCE_INLINE BoolV BLoad(const bool f)
-{
-	const PxU32 i = PxU32(-(PxI32)f);
-	return _mm_load1_ps((float*)&i);
-}
-
-PX_FORCE_INLINE Vec3V V3LoadA(const PxVec3& f)
-{
-	ASSERT_ISALIGNED16(&f);
-	return _mm_and_ps(_mm_load_ps(&f.x), reinterpret_cast<const Vec4V&>(internalWindowsSimd::gMaskXYZ));
-}
-
-PX_FORCE_INLINE Vec3V V3LoadU(const PxVec3& f)
-{
-	return _mm_set_ps(0.0f, f.z, f.y, f.x);
-}
-
-// w component of result is undefined
-PX_FORCE_INLINE Vec3V V3LoadUnsafeA(const PxVec3& f)
-{
-	ASSERT_ISALIGNED16(&f);
-	return _mm_load_ps(&f.x);
-}
-
-PX_FORCE_INLINE Vec3V V3LoadA(const PxF32* const f)
-{
-	ASSERT_ISALIGNED16(f);
-	return V4ClearW(_mm_load_ps(f));
-}
-
-PX_FORCE_INLINE Vec3V V3LoadU(const PxF32* const i)
-{
-	return _mm_set_ps(0.0f, i[2], i[1], i[0]);
-}
-
-PX_FORCE_INLINE Vec3V Vec3V_From_Vec4V(Vec4V v)
-{
-	return V4ClearW(v);
-}
-
-PX_FORCE_INLINE Vec3V Vec3V_From_Vec4V_WUndefined(const Vec4V v)
-{
-	return v;
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_From_Vec3V(Vec3V f)
-{
-	return f; // ok if it is implemented as the same type.
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_From_FloatV(FloatV f)
-{
-	return f;
-}
-
-PX_FORCE_INLINE Vec3V Vec3V_From_FloatV(FloatV f)
-{
-	return Vec3V_From_Vec4V(Vec4V_From_FloatV(f));
-}
-
-PX_FORCE_INLINE Vec3V Vec3V_From_FloatV_WUndefined(FloatV f)
-{
-	return Vec3V_From_Vec4V_WUndefined(Vec4V_From_FloatV(f));
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_From_PxVec3_WUndefined(const PxVec3& f)
-{
-	return _mm_set_ps(0.0f, f.z, f.y, f.x);
-}
-
-PX_FORCE_INLINE Vec4V V4LoadA(const PxF32* const f)
-{
-	ASSERT_ISALIGNED16(f);
-	return _mm_load_ps(f);
-}
-
-PX_FORCE_INLINE void V4StoreA(const Vec4V a, PxF32* f)
-{
-	ASSERT_ISALIGNED16(f);
-	_mm_store_ps(f, a);
-}
-
-PX_FORCE_INLINE void V4StoreU(const Vec4V a, PxF32* f)
-{
-	_mm_storeu_ps(f, a);
-}
-
-PX_FORCE_INLINE void BStoreA(const BoolV a, PxU32* f)
-{
-	ASSERT_ISALIGNED16(f);
-	_mm_store_ps((PxF32*)f, a);
-}
-
-PX_FORCE_INLINE void U4StoreA(const VecU32V uv, PxU32* u)
-{
-	ASSERT_ISALIGNED16(u);
-	_mm_store_ps((PxF32*)u, uv);
-}
-
-PX_FORCE_INLINE void I4StoreA(const VecI32V iv, PxI32* i)
-{
-	ASSERT_ISALIGNED16(i);
-	_mm_store_ps((PxF32*)i, iv);
-}
-
-PX_FORCE_INLINE Vec4V V4LoadU(const PxF32* const f)
-{
-	return _mm_loadu_ps(f);
-}
-
-PX_FORCE_INLINE BoolV BLoad(const bool* const f)
-{
-	const PX_ALIGN(16, PxU32 b[4]) = { PxU32(-(PxI32)f[0]), PxU32(-(PxI32)f[1]),
-		                               PxU32(-(PxI32)f[2]), PxU32(-(PxI32)f[3]) };
-	return _mm_load_ps((float*)&b);
-}
-
-PX_FORCE_INLINE void FStore(const FloatV a, PxF32* PX_RESTRICT f)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	_mm_store_ss(f, a);
-}
-
-PX_FORCE_INLINE void V3StoreA(const Vec3V a, PxVec3& f)
-{
-	ASSERT_ISALIGNED16(&f);
-	PX_ALIGN(16, PxF32 f2[4]);
-	_mm_store_ps(f2, a);
-	f = PxVec3(f2[0], f2[1], f2[2]);
-}
-
-PX_FORCE_INLINE void Store_From_BoolV(const BoolV b, PxU32* b2)
-{
-	_mm_store_ss((PxF32*)b2, b);
-}
-
-PX_FORCE_INLINE void V3StoreU(const Vec3V a, PxVec3& f)
-{
-	PX_ALIGN(16, PxF32 f2[4]);
-	_mm_store_ps(f2, a);
-	f = PxVec3(f2[0], f2[1], f2[2]);
-}
-
-PX_FORCE_INLINE Mat33V Mat33V_From_PxMat33(const PxMat33& m)
-{
-	return Mat33V(V3LoadU(m.column0), V3LoadU(m.column1), V3LoadU(m.column2));
-}
-
-PX_FORCE_INLINE void PxMat33_From_Mat33V(const Mat33V& m, PxMat33& out)
-{
-	ASSERT_ISALIGNED16(&out);
-	V3StoreU(m.col0, out.column0);
-	V3StoreU(m.col1, out.column1);
-	V3StoreU(m.col2, out.column2);
-}
-
-//////////////////////////////////
-// FLOATV
-//////////////////////////////////
-
-PX_FORCE_INLINE FloatV FZero()
-{
-	return _mm_setzero_ps();
-}
-
-PX_FORCE_INLINE FloatV FOne()
-{
-	return FLoad(1.0f);
-}
-
-PX_FORCE_INLINE FloatV FHalf()
-{
-	return FLoad(0.5f);
-}
-
-PX_FORCE_INLINE FloatV FEps()
-{
-	return FLoad(PX_EPS_REAL);
-}
-
-PX_FORCE_INLINE FloatV FEps6()
-{
-	return FLoad(1e-6f);
-}
-
-PX_FORCE_INLINE FloatV FMax()
-{
-	return FLoad(PX_MAX_REAL);
-}
-
-PX_FORCE_INLINE FloatV FNegMax()
-{
-	return FLoad(-PX_MAX_REAL);
-}
-
-PX_FORCE_INLINE FloatV IZero()
-{
-	const PxU32 zero = 0;
-	return _mm_load1_ps((PxF32*)&zero);
-}
-
-PX_FORCE_INLINE FloatV IOne()
-{
-	const PxU32 one = 1;
-	return _mm_load1_ps((PxF32*)&one);
-}
-
-PX_FORCE_INLINE FloatV ITwo()
-{
-	const PxU32 two = 2;
-	return _mm_load1_ps((PxF32*)&two);
-}
-
-PX_FORCE_INLINE FloatV IThree()
-{
-	const PxU32 three = 3;
-	return _mm_load1_ps((PxF32*)&three);
-}
-
-PX_FORCE_INLINE FloatV IFour()
-{
-	const PxU32 four = 4;
-	return _mm_load1_ps((PxF32*)&four);
-}
-
-PX_FORCE_INLINE FloatV FNeg(const FloatV f)
-{
-	ASSERT_ISVALIDFLOATV(f);
-	return _mm_sub_ps(_mm_setzero_ps(), f);
-}
-
-PX_FORCE_INLINE FloatV FAdd(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_add_ps(a, b);
-}
-
-PX_FORCE_INLINE FloatV FSub(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_sub_ps(a, b);
-}
-
-PX_FORCE_INLINE FloatV FMul(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_mul_ps(a, b);
-}
-
-PX_FORCE_INLINE FloatV FDiv(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_div_ps(a, b);
-}
-
-PX_FORCE_INLINE FloatV FDivFast(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_mul_ps(a, _mm_rcp_ps(b));
-}
-
-PX_FORCE_INLINE FloatV FRecip(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	return _mm_div_ps(FOne(), a);
-}
-
-PX_FORCE_INLINE FloatV FRecipFast(const FloatV a)
-{
-	return _mm_rcp_ps(a);
-}
-
-PX_FORCE_INLINE FloatV FRsqrt(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	return _mm_div_ps(FOne(), _mm_sqrt_ps(a));
-}
-
-PX_FORCE_INLINE FloatV FSqrt(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	return _mm_sqrt_ps(a);
-}
-
-PX_FORCE_INLINE FloatV FRsqrtFast(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	return _mm_rsqrt_ps(a);
-}
-
-PX_FORCE_INLINE FloatV FScaleAdd(const FloatV a, const FloatV b, const FloatV c)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	ASSERT_ISVALIDFLOATV(c);
-	return FAdd(FMul(a, b), c);
-}
-
-PX_FORCE_INLINE FloatV FNegScaleSub(const FloatV a, const FloatV b, const FloatV c)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	ASSERT_ISVALIDFLOATV(c);
-	return FSub(c, FMul(a, b));
-}
-
-PX_FORCE_INLINE FloatV FAbs(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	PX_ALIGN(16, const static PxU32 absMask[4]) = { 0x7fFFffFF, 0x7fFFffFF, 0x7fFFffFF, 0x7fFFffFF };
-	return _mm_and_ps(a, _mm_load_ps((PxF32*)absMask));
-}
-
-PX_FORCE_INLINE FloatV FSel(const BoolV c, const FloatV a, const FloatV b)
-{
-	PX_ASSERT(_VecMathTests::allElementsEqualBoolV(c, BTTTT()) ||
-			  _VecMathTests::allElementsEqualBoolV(c, BFFFF()));
-	ASSERT_ISVALIDFLOATV(_mm_or_ps(_mm_andnot_ps(c, b), _mm_and_ps(c, a)));
-	return _mm_or_ps(_mm_andnot_ps(c, b), _mm_and_ps(c, a));
-}
-
-PX_FORCE_INLINE BoolV FIsGrtr(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_cmpgt_ps(a, b);
-}
-
-PX_FORCE_INLINE BoolV FIsGrtrOrEq(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_cmpge_ps(a, b);
-}
-
-PX_FORCE_INLINE BoolV FIsEq(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_cmpeq_ps(a, b);
-}
-
-PX_FORCE_INLINE FloatV FMax(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_max_ps(a, b);
-}
-
-PX_FORCE_INLINE FloatV FMin(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_min_ps(a, b);
-}
-
-PX_FORCE_INLINE FloatV FClamp(const FloatV a, const FloatV minV, const FloatV maxV)
-{
-	ASSERT_ISVALIDFLOATV(minV);
-	ASSERT_ISVALIDFLOATV(maxV);
-	return _mm_max_ps(_mm_min_ps(a, maxV), minV);
-}
-
-PX_FORCE_INLINE PxU32 FAllGrtr(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return PxU32(_mm_comigt_ss(a, b));
-}
-
-PX_FORCE_INLINE PxU32 FAllGrtrOrEq(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return PxU32(_mm_comige_ss(a, b));
-}
-
-PX_FORCE_INLINE PxU32 FAllEq(const FloatV a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return PxU32(_mm_comieq_ss(a, b));
-}
-
-PX_FORCE_INLINE FloatV FRound(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	// return _mm_round_ps(a, 0x0);
-	const FloatV half = FLoad(0.5f);
-	const __m128 signBit = _mm_cvtepi32_ps(_mm_srli_epi32(_mm_cvtps_epi32(a), 31));
-	const FloatV aRound = FSub(FAdd(a, half), signBit);
-	__m128i tmp = _mm_cvttps_epi32(aRound);
-	return _mm_cvtepi32_ps(tmp);
-}
-
-PX_FORCE_INLINE FloatV FSin(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	// Modulo the range of the given angles such that -XM_2PI <= Angles < XM_2PI
-	const FloatV recipTwoPi = V4LoadA(g_PXReciprocalTwoPi.f);
-	const FloatV twoPi = V4LoadA(g_PXTwoPi.f);
-	const FloatV tmp = FMul(a, recipTwoPi);
-	const FloatV b = FRound(tmp);
-	const FloatV V1 = FNegScaleSub(twoPi, b, a);
-
-	// sin(V) ~= V - V^3 / 3! + V^5 / 5! - V^7 / 7! + V^9 / 9! - V^11 / 11! + V^13 / 13! -
-	//           V^15 / 15! + V^17 / 17! - V^19 / 19! + V^21 / 21! - V^23 / 23! (for -PI <= V < PI)
-	const FloatV V2 = FMul(V1, V1);
-	const FloatV V3 = FMul(V2, V1);
-	const FloatV V5 = FMul(V3, V2);
-	const FloatV V7 = FMul(V5, V2);
-	const FloatV V9 = FMul(V7, V2);
-	const FloatV V11 = FMul(V9, V2);
-	const FloatV V13 = FMul(V11, V2);
-	const FloatV V15 = FMul(V13, V2);
-	const FloatV V17 = FMul(V15, V2);
-	const FloatV V19 = FMul(V17, V2);
-	const FloatV V21 = FMul(V19, V2);
-	const FloatV V23 = FMul(V21, V2);
-
-	const Vec4V sinCoefficients0 = V4LoadA(g_PXSinCoefficients0.f);
-	const Vec4V sinCoefficients1 = V4LoadA(g_PXSinCoefficients1.f);
-	const Vec4V sinCoefficients2 = V4LoadA(g_PXSinCoefficients2.f);
-
-	const FloatV S1 = V4GetY(sinCoefficients0);
-	const FloatV S2 = V4GetZ(sinCoefficients0);
-	const FloatV S3 = V4GetW(sinCoefficients0);
-	const FloatV S4 = V4GetX(sinCoefficients1);
-	const FloatV S5 = V4GetY(sinCoefficients1);
-	const FloatV S6 = V4GetZ(sinCoefficients1);
-	const FloatV S7 = V4GetW(sinCoefficients1);
-	const FloatV S8 = V4GetX(sinCoefficients2);
-	const FloatV S9 = V4GetY(sinCoefficients2);
-	const FloatV S10 = V4GetZ(sinCoefficients2);
-	const FloatV S11 = V4GetW(sinCoefficients2);
-
-	FloatV Result;
-	Result = FScaleAdd(S1, V3, V1);
-	Result = FScaleAdd(S2, V5, Result);
-	Result = FScaleAdd(S3, V7, Result);
-	Result = FScaleAdd(S4, V9, Result);
-	Result = FScaleAdd(S5, V11, Result);
-	Result = FScaleAdd(S6, V13, Result);
-	Result = FScaleAdd(S7, V15, Result);
-	Result = FScaleAdd(S8, V17, Result);
-	Result = FScaleAdd(S9, V19, Result);
-	Result = FScaleAdd(S10, V21, Result);
-	Result = FScaleAdd(S11, V23, Result);
-
-	return Result;
-}
-
-PX_FORCE_INLINE FloatV FCos(const FloatV a)
-{
-	ASSERT_ISVALIDFLOATV(a);
-
-	// Modulo the range of the given angles such that -XM_2PI <= Angles < XM_2PI
-	const FloatV recipTwoPi = V4LoadA(g_PXReciprocalTwoPi.f);
-	const FloatV twoPi = V4LoadA(g_PXTwoPi.f);
-	const FloatV tmp = FMul(a, recipTwoPi);
-	const FloatV b = FRound(tmp);
-	const FloatV V1 = FNegScaleSub(twoPi, b, a);
-
-	// cos(V) ~= 1 - V^2 / 2! + V^4 / 4! - V^6 / 6! + V^8 / 8! - V^10 / 10! + V^12 / 12! -
-	//           V^14 / 14! + V^16 / 16! - V^18 / 18! + V^20 / 20! - V^22 / 22! (for -PI <= V < PI)
-	const FloatV V2 = FMul(V1, V1);
-	const FloatV V4 = FMul(V2, V2);
-	const FloatV V6 = FMul(V4, V2);
-	const FloatV V8 = FMul(V4, V4);
-	const FloatV V10 = FMul(V6, V4);
-	const FloatV V12 = FMul(V6, V6);
-	const FloatV V14 = FMul(V8, V6);
-	const FloatV V16 = FMul(V8, V8);
-	const FloatV V18 = FMul(V10, V8);
-	const FloatV V20 = FMul(V10, V10);
-	const FloatV V22 = FMul(V12, V10);
-
-	const Vec4V cosCoefficients0 = V4LoadA(g_PXCosCoefficients0.f);
-	const Vec4V cosCoefficients1 = V4LoadA(g_PXCosCoefficients1.f);
-	const Vec4V cosCoefficients2 = V4LoadA(g_PXCosCoefficients2.f);
-
-	const FloatV C1 = V4GetY(cosCoefficients0);
-	const FloatV C2 = V4GetZ(cosCoefficients0);
-	const FloatV C3 = V4GetW(cosCoefficients0);
-	const FloatV C4 = V4GetX(cosCoefficients1);
-	const FloatV C5 = V4GetY(cosCoefficients1);
-	const FloatV C6 = V4GetZ(cosCoefficients1);
-	const FloatV C7 = V4GetW(cosCoefficients1);
-	const FloatV C8 = V4GetX(cosCoefficients2);
-	const FloatV C9 = V4GetY(cosCoefficients2);
-	const FloatV C10 = V4GetZ(cosCoefficients2);
-	const FloatV C11 = V4GetW(cosCoefficients2);
-
-	FloatV Result;
-	Result = FScaleAdd(C1, V2, V4One());
-	Result = FScaleAdd(C2, V4, Result);
-	Result = FScaleAdd(C3, V6, Result);
-	Result = FScaleAdd(C4, V8, Result);
-	Result = FScaleAdd(C5, V10, Result);
-	Result = FScaleAdd(C6, V12, Result);
-	Result = FScaleAdd(C7, V14, Result);
-	Result = FScaleAdd(C8, V16, Result);
-	Result = FScaleAdd(C9, V18, Result);
-	Result = FScaleAdd(C10, V20, Result);
-	Result = FScaleAdd(C11, V22, Result);
-
-	return Result;
-}
-
-PX_FORCE_INLINE PxU32 FOutOfBounds(const FloatV a, const FloatV min, const FloatV max)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(min);
-	ASSERT_ISVALIDFLOATV(max);
-	const BoolV c = BOr(FIsGrtr(a, max), FIsGrtr(min, a));
-	return PxU32(!BAllEqFFFF(c));
-}
-
-PX_FORCE_INLINE PxU32 FInBounds(const FloatV a, const FloatV min, const FloatV max)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(min);
-	ASSERT_ISVALIDFLOATV(max);
-	const BoolV c = BAnd(FIsGrtrOrEq(a, min), FIsGrtrOrEq(max, a));
-	return BAllEqTTTT(c);
-}
-
-PX_FORCE_INLINE PxU32 FOutOfBounds(const FloatV a, const FloatV bounds)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(bounds);
-	return FOutOfBounds(a, FNeg(bounds), bounds);
-}
-
-PX_FORCE_INLINE PxU32 FInBounds(const FloatV a, const FloatV bounds)
-{
-	ASSERT_ISVALIDFLOATV(a);
-	ASSERT_ISVALIDFLOATV(bounds);
-	return FInBounds(a, FNeg(bounds), bounds);
-}
-
-//////////////////////////////////
-// VEC3V
-//////////////////////////////////
-
-PX_FORCE_INLINE Vec3V V3Splat(const FloatV f)
-{
-	ASSERT_ISVALIDFLOATV(f);
-	const __m128 zero = V3Zero();
-	const __m128 fff0 = _mm_move_ss(f, zero);
-	return _mm_shuffle_ps(fff0, fff0, _MM_SHUFFLE(0, 1, 2, 3));
-}
-
-PX_FORCE_INLINE Vec3V V3Merge(const FloatVArg x, const FloatVArg y, const FloatVArg z)
-{
-	ASSERT_ISVALIDFLOATV(x);
-	ASSERT_ISVALIDFLOATV(y);
-	ASSERT_ISVALIDFLOATV(z);
-	// static on zero causes compiler crash on x64 debug_opt
-	const __m128 zero = V3Zero();
-	const __m128 xy = _mm_move_ss(x, y);
-	const __m128 z0 = _mm_move_ss(zero, z);
-
-	return _mm_shuffle_ps(xy, z0, _MM_SHUFFLE(1, 0, 0, 1));
-}
-
-PX_FORCE_INLINE Vec3V V3UnitX()
-{
-	const PX_ALIGN(16, PxF32 x[4]) = { 1.0f, 0.0f, 0.0f, 0.0f };
-	const __m128 x128 = _mm_load_ps(x);
-	return x128;
-}
-
-PX_FORCE_INLINE Vec3V V3UnitY()
-{
-	const PX_ALIGN(16, PxF32 y[4]) = { 0.0f, 1.0f, 0.0f, 0.0f };
-	const __m128 y128 = _mm_load_ps(y);
-	return y128;
-}
-
-PX_FORCE_INLINE Vec3V V3UnitZ()
-{
-	const PX_ALIGN(16, PxF32 z[4]) = { 0.0f, 0.0f, 1.0f, 0.0f };
-	const __m128 z128 = _mm_load_ps(z);
-	return z128;
-}
-
-PX_FORCE_INLINE FloatV V3GetX(const Vec3V f)
-{
-	ASSERT_ISVALIDVEC3V(f);
-	return _mm_shuffle_ps(f, f, _MM_SHUFFLE(0, 0, 0, 0));
-}
-
-PX_FORCE_INLINE FloatV V3GetY(const Vec3V f)
-{
-	ASSERT_ISVALIDVEC3V(f);
-	return _mm_shuffle_ps(f, f, _MM_SHUFFLE(1, 1, 1, 1));
-}
-
-PX_FORCE_INLINE FloatV V3GetZ(const Vec3V f)
-{
-	ASSERT_ISVALIDVEC3V(f);
-	return _mm_shuffle_ps(f, f, _MM_SHUFFLE(2, 2, 2, 2));
-}
-
-PX_FORCE_INLINE Vec3V V3SetX(const Vec3V v, const FloatV f)
-{
-	ASSERT_ISVALIDVEC3V(v);
-	ASSERT_ISVALIDFLOATV(f);
-	return V4Sel(BFTTT(), v, f);
-}
-
-PX_FORCE_INLINE Vec3V V3SetY(const Vec3V v, const FloatV f)
-{
-	ASSERT_ISVALIDVEC3V(v);
-	ASSERT_ISVALIDFLOATV(f);
-	return V4Sel(BTFTT(), v, f);
-}
-
-PX_FORCE_INLINE Vec3V V3SetZ(const Vec3V v, const FloatV f)
-{
-	ASSERT_ISVALIDVEC3V(v);
-	ASSERT_ISVALIDFLOATV(f);
-	return V4Sel(BTTFT(), v, f);
-}
-
-PX_FORCE_INLINE Vec3V V3ColX(const Vec3V a, const Vec3V b, const Vec3V c)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	ASSERT_ISVALIDVEC3V(c);
-	Vec3V r = _mm_shuffle_ps(a, c, _MM_SHUFFLE(3, 0, 3, 0));
-	return V3SetY(r, V3GetX(b));
-}
-
-PX_FORCE_INLINE Vec3V V3ColY(const Vec3V a, const Vec3V b, const Vec3V c)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	ASSERT_ISVALIDVEC3V(c);
-	Vec3V r = _mm_shuffle_ps(a, c, _MM_SHUFFLE(3, 1, 3, 1));
-	return V3SetY(r, V3GetY(b));
-}
-
-PX_FORCE_INLINE Vec3V V3ColZ(const Vec3V a, const Vec3V b, const Vec3V c)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	ASSERT_ISVALIDVEC3V(c);
-	Vec3V r = _mm_shuffle_ps(a, c, _MM_SHUFFLE(3, 2, 3, 2));
-	return V3SetY(r, V3GetZ(b));
-}
-
-PX_FORCE_INLINE Vec3V V3Zero()
-{
-	return _mm_setzero_ps();
-}
-
-PX_FORCE_INLINE Vec3V V3One()
-{
-	return V3Load(1.0f);
-}
-
-PX_FORCE_INLINE Vec3V V3Eps()
-{
-	return V3Load(PX_EPS_REAL);
-}
-
-PX_FORCE_INLINE Vec3V V3Neg(const Vec3V f)
-{
-	ASSERT_ISVALIDVEC3V(f);
-	return _mm_sub_ps(_mm_setzero_ps(), f);
-}
-
-PX_FORCE_INLINE Vec3V V3Add(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return _mm_add_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec3V V3Sub(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return _mm_sub_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec3V V3Scale(const Vec3V a, const FloatV b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_mul_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec3V V3Mul(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return _mm_mul_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec3V V3ScaleInv(const Vec3V a, const FloatV b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_div_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec3V V3Div(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return V4ClearW(_mm_div_ps(a, b));
-}
-
-PX_FORCE_INLINE Vec3V V3ScaleInvFast(const Vec3V a, const FloatV b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_mul_ps(a, _mm_rcp_ps(b));
-}
-
-PX_FORCE_INLINE Vec3V V3DivFast(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return V4ClearW(_mm_mul_ps(a, _mm_rcp_ps(b)));
-}
-
-PX_FORCE_INLINE Vec3V V3Recip(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const __m128 zero = V3Zero();
-	const __m128 tttf = BTTTF();
-	const __m128 recipA = _mm_div_ps(V3One(), a);
-	return V4Sel(tttf, recipA, zero);
-}
-
-PX_FORCE_INLINE Vec3V V3RecipFast(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const __m128 zero = V3Zero();
-	const __m128 tttf = BTTTF();
-	const __m128 recipA = _mm_rcp_ps(a);
-	return V4Sel(tttf, recipA, zero);
-}
-
-PX_FORCE_INLINE Vec3V V3Rsqrt(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const __m128 zero = V3Zero();
-	const __m128 tttf = BTTTF();
-	const __m128 recipA = _mm_div_ps(V3One(), _mm_sqrt_ps(a));
-	return V4Sel(tttf, recipA, zero);
-}
-
-PX_FORCE_INLINE Vec3V V3RsqrtFast(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const __m128 zero = V3Zero();
-	const __m128 tttf = BTTTF();
-	const __m128 recipA = _mm_rsqrt_ps(a);
-	return V4Sel(tttf, recipA, zero);
-}
-
-PX_FORCE_INLINE Vec3V V3ScaleAdd(const Vec3V a, const FloatV b, const Vec3V c)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDFLOATV(b);
-	ASSERT_ISVALIDVEC3V(c);
-	return V3Add(V3Scale(a, b), c);
-}
-
-PX_FORCE_INLINE Vec3V V3NegScaleSub(const Vec3V a, const FloatV b, const Vec3V c)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDFLOATV(b);
-	ASSERT_ISVALIDVEC3V(c);
-	return V3Sub(c, V3Scale(a, b));
-}
-
-PX_FORCE_INLINE Vec3V V3MulAdd(const Vec3V a, const Vec3V b, const Vec3V c)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	ASSERT_ISVALIDVEC3V(c);
-	return V3Add(V3Mul(a, b), c);
-}
-
-PX_FORCE_INLINE Vec3V V3NegMulSub(const Vec3V a, const Vec3V b, const Vec3V c)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	ASSERT_ISVALIDVEC3V(c);
-	return V3Sub(c, V3Mul(a, b));
-}
-
-PX_FORCE_INLINE Vec3V V3Abs(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	return V3Max(a, V3Neg(a));
-}
-
-PX_FORCE_INLINE FloatV V3Dot(const Vec3V a, const Vec3V b)	
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-
-	const __m128 t0 = _mm_mul_ps(a, b);								//	aw*bw | az*bz | ay*by | ax*bx
-	const __m128 t1 = _mm_shuffle_ps(t0, t0, _MM_SHUFFLE(1,0,3,2));	//	ay*by | ax*bx | aw*bw | az*bz
-	const __m128 t2 = _mm_add_ps(t0, t1);							//	ay*by + aw*bw | ax*bx + az*bz | aw*bw + ay*by | az*bz + ax*bx
-	const __m128 t3 = _mm_shuffle_ps(t2, t2, _MM_SHUFFLE(2,3,0,1));	//	ax*bx + az*bz | ay*by + aw*bw | az*bz + ax*bx | aw*bw + ay*by
-	return _mm_add_ps(t3, t2);										//	ax*bx + az*bz + ay*by + aw*bw 
-																	//	ay*by + aw*bw + ax*bx + az*bz
-																	//	az*bz + ax*bx + aw*bw + ay*by
-																	//	aw*bw + ay*by + az*bz + ax*bx
-}
-
-PX_FORCE_INLINE Vec3V V3Cross(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	const __m128 r1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 1, 0, 2)); // z,x,y,w
-	const __m128 r2 = _mm_shuffle_ps(b, b, _MM_SHUFFLE(3, 0, 2, 1)); // y,z,x,w
-	const __m128 l1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 2, 1)); // y,z,x,w
-	const __m128 l2 = _mm_shuffle_ps(b, b, _MM_SHUFFLE(3, 1, 0, 2)); // z,x,y,w
-	return _mm_sub_ps(_mm_mul_ps(l1, l2), _mm_mul_ps(r1, r2));
-}
-
-PX_FORCE_INLINE VecCrossV V3PrepareCross(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	VecCrossV v;
-	v.mR1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 1, 0, 2)); // z,x,y,w
-	v.mL1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 2, 1)); // y,z,x,w
-	return v;
-}
-
-PX_FORCE_INLINE Vec3V V3Cross(const VecCrossV& a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(b);
-	const __m128 r2 = _mm_shuffle_ps(b, b, _MM_SHUFFLE(3, 0, 2, 1)); // y,z,x,w
-	const __m128 l2 = _mm_shuffle_ps(b, b, _MM_SHUFFLE(3, 1, 0, 2)); // z,x,y,w
-	return _mm_sub_ps(_mm_mul_ps(a.mL1, l2), _mm_mul_ps(a.mR1, r2));
-}
-
-PX_FORCE_INLINE Vec3V V3Cross(const Vec3V a, const VecCrossV& b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const __m128 r2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 2, 1)); // y,z,x,w
-	const __m128 l2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 1, 0, 2)); // z,x,y,w
-	return _mm_sub_ps(_mm_mul_ps(b.mR1, r2), _mm_mul_ps(b.mL1, l2));
-}
-
-PX_FORCE_INLINE Vec3V V3Cross(const VecCrossV& a, const VecCrossV& b)
-{
-	return _mm_sub_ps(_mm_mul_ps(a.mL1, b.mR1), _mm_mul_ps(a.mR1, b.mL1));
-}
-
-PX_FORCE_INLINE FloatV V3Length(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	return _mm_sqrt_ps(V3Dot(a, a));
-}
-
-PX_FORCE_INLINE FloatV V3LengthSq(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	return V3Dot(a, a);
-}
-
-PX_FORCE_INLINE Vec3V V3Normalize(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISFINITELENGTH(a);
-	return V3ScaleInv(a, _mm_sqrt_ps(V3Dot(a, a)));
-}
-
-PX_FORCE_INLINE Vec3V V3NormalizeFast(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISFINITELENGTH(a);
-	return V3Scale(a, _mm_rsqrt_ps(V3Dot(a, a)));
-}
-
-PX_FORCE_INLINE Vec3V V3NormalizeSafe(const Vec3V a, const Vec3V unsafeReturnValue)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const __m128 eps = FEps();
-	const __m128 length = V3Length(a);
-	const __m128 isGreaterThanZero = FIsGrtr(length, eps);
-	return V3Sel(isGreaterThanZero, V3ScaleInv(a, length), unsafeReturnValue);
-}
-
-PX_FORCE_INLINE Vec3V V3Sel(const BoolV c, const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(_mm_or_ps(_mm_andnot_ps(c, b), _mm_and_ps(c, a)));
-	return _mm_or_ps(_mm_andnot_ps(c, b), _mm_and_ps(c, a));
-}
-
-PX_FORCE_INLINE BoolV V3IsGrtr(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return _mm_cmpgt_ps(a, b);
-}
-
-PX_FORCE_INLINE BoolV V3IsGrtrOrEq(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return _mm_cmpge_ps(a, b);
-}
-
-PX_FORCE_INLINE BoolV V3IsEq(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return _mm_cmpeq_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec3V V3Max(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return _mm_max_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec3V V3Min(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return _mm_min_ps(a, b);
-}
-
-PX_FORCE_INLINE FloatV V3ExtractMax(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const __m128 shuf1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0));
-	const __m128 shuf2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 1, 1, 1));
-	const __m128 shuf3 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2));
-	return _mm_max_ps(_mm_max_ps(shuf1, shuf2), shuf3);
-}
-
-PX_FORCE_INLINE FloatV V3ExtractMin(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const __m128 shuf1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0));
-	const __m128 shuf2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 1, 1, 1));
-	const __m128 shuf3 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2));
-	return _mm_min_ps(_mm_min_ps(shuf1, shuf2), shuf3);
-}
-
-//// if(a > 0.0f) return 1.0f; else if a == 0.f return 0.f, else return -1.f;
-// PX_FORCE_INLINE Vec3V V3MathSign(const Vec3V a)
-//{
-//	VECMATHAOS_ASSERT(isValidVec3V(a));
-//
-//	const __m128i ai = _mm_cvtps_epi32(a);
-//	const __m128i bi = _mm_cvtps_epi32(V3Neg(a));
-//	const __m128  aa = _mm_cvtepi32_ps(_mm_srai_epi32(ai, 31));
-//	const __m128  bb = _mm_cvtepi32_ps(_mm_srai_epi32(bi, 31));
-//	return _mm_or_ps(aa, bb);
-//}
-
-// return (a >= 0.0f) ? 1.0f : -1.0f;
-PX_FORCE_INLINE Vec3V V3Sign(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const __m128 zero = V3Zero();
-	const __m128 one = V3One();
-	const __m128 none = V3Neg(one);
-	return V3Sel(V3IsGrtrOrEq(a, zero), one, none);
-}
-
-PX_FORCE_INLINE Vec3V V3Clamp(const Vec3V a, const Vec3V minV, const Vec3V maxV)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(minV);
-	ASSERT_ISVALIDVEC3V(maxV);
-	return V3Max(V3Min(a, maxV), minV);
-}
-
-PX_FORCE_INLINE PxU32 V3AllGrtr(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return internalWindowsSimd::BAllTrue3_R(V4IsGrtr(a, b));
-}
-
-PX_FORCE_INLINE PxU32 V3AllGrtrOrEq(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return internalWindowsSimd::BAllTrue3_R(V4IsGrtrOrEq(a, b));
-}
-
-PX_FORCE_INLINE PxU32 V3AllEq(const Vec3V a, const Vec3V b)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(b);
-	return internalWindowsSimd::BAllTrue3_R(V4IsEq(a, b));
-}
-
-PX_FORCE_INLINE Vec3V V3Round(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-
-	// return _mm_round_ps(a, 0x0);
-	const Vec3V half = V3Load(0.5f);
-	const __m128 signBit = _mm_cvtepi32_ps(_mm_srli_epi32(_mm_cvtps_epi32(a), 31));
-	const Vec3V aRound = V3Sub(V3Add(a, half), signBit);
-	__m128i tmp = _mm_cvttps_epi32(aRound);
-	return _mm_cvtepi32_ps(tmp);
-}
-
-PX_FORCE_INLINE Vec3V V3Sin(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-
-	// Modulo the range of the given angles such that -XM_2PI <= Angles < XM_2PI
-	const Vec4V recipTwoPi = V4LoadA(g_PXReciprocalTwoPi.f);
-	const Vec4V twoPi = V4LoadA(g_PXTwoPi.f);
-	const Vec3V tmp = V3Scale(a, recipTwoPi);
-	const Vec3V b = V3Round(tmp);
-	const Vec3V V1 = V3NegScaleSub(b, twoPi, a);
-
-	// sin(V) ~= V - V^3 / 3! + V^5 / 5! - V^7 / 7! + V^9 / 9! - V^11 / 11! + V^13 / 13! -
-	//           V^15 / 15! + V^17 / 17! - V^19 / 19! + V^21 / 21! - V^23 / 23! (for -PI <= V < PI)
-	const Vec3V V2 = V3Mul(V1, V1);
-	const Vec3V V3 = V3Mul(V2, V1);
-	const Vec3V V5 = V3Mul(V3, V2);
-	const Vec3V V7 = V3Mul(V5, V2);
-	const Vec3V V9 = V3Mul(V7, V2);
-	const Vec3V V11 = V3Mul(V9, V2);
-	const Vec3V V13 = V3Mul(V11, V2);
-	const Vec3V V15 = V3Mul(V13, V2);
-	const Vec3V V17 = V3Mul(V15, V2);
-	const Vec3V V19 = V3Mul(V17, V2);
-	const Vec3V V21 = V3Mul(V19, V2);
-	const Vec3V V23 = V3Mul(V21, V2);
-
-	const Vec4V sinCoefficients0 = V4LoadA(g_PXSinCoefficients0.f);
-	const Vec4V sinCoefficients1 = V4LoadA(g_PXSinCoefficients1.f);
-	const Vec4V sinCoefficients2 = V4LoadA(g_PXSinCoefficients2.f);
-
-	const FloatV S1 = V4GetY(sinCoefficients0);
-	const FloatV S2 = V4GetZ(sinCoefficients0);
-	const FloatV S3 = V4GetW(sinCoefficients0);
-	const FloatV S4 = V4GetX(sinCoefficients1);
-	const FloatV S5 = V4GetY(sinCoefficients1);
-	const FloatV S6 = V4GetZ(sinCoefficients1);
-	const FloatV S7 = V4GetW(sinCoefficients1);
-	const FloatV S8 = V4GetX(sinCoefficients2);
-	const FloatV S9 = V4GetY(sinCoefficients2);
-	const FloatV S10 = V4GetZ(sinCoefficients2);
-	const FloatV S11 = V4GetW(sinCoefficients2);
-
-	Vec3V Result;
-	Result = V3ScaleAdd(V3, S1, V1);
-	Result = V3ScaleAdd(V5, S2, Result);
-	Result = V3ScaleAdd(V7, S3, Result);
-	Result = V3ScaleAdd(V9, S4, Result);
-	Result = V3ScaleAdd(V11, S5, Result);
-	Result = V3ScaleAdd(V13, S6, Result);
-	Result = V3ScaleAdd(V15, S7, Result);
-	Result = V3ScaleAdd(V17, S8, Result);
-	Result = V3ScaleAdd(V19, S9, Result);
-	Result = V3ScaleAdd(V21, S10, Result);
-	Result = V3ScaleAdd(V23, S11, Result);
-
-	ASSERT_ISVALIDVEC3V(Result);
-	return Result;
-}
-
-PX_FORCE_INLINE Vec3V V3Cos(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-
-	// Modulo the range of the given angles such that -XM_2PI <= Angles < XM_2PI
-	const Vec4V recipTwoPi = V4LoadA(g_PXReciprocalTwoPi.f);
-	const Vec4V twoPi = V4LoadA(g_PXTwoPi.f);
-	const Vec3V tmp = V3Scale(a, recipTwoPi);
-	const Vec3V b = V3Round(tmp);
-	const Vec3V V1 = V3NegScaleSub(b, twoPi, a);
-
-	// cos(V) ~= 1 - V^2 / 2! + V^4 / 4! - V^6 / 6! + V^8 / 8! - V^10 / 10! + V^12 / 12! -
-	//           V^14 / 14! + V^16 / 16! - V^18 / 18! + V^20 / 20! - V^22 / 22! (for -PI <= V < PI)
-	const Vec3V V2 = V3Mul(V1, V1);
-	const Vec3V V4 = V3Mul(V2, V2);
-	const Vec3V V6 = V3Mul(V4, V2);
-	const Vec3V V8 = V3Mul(V4, V4);
-	const Vec3V V10 = V3Mul(V6, V4);
-	const Vec3V V12 = V3Mul(V6, V6);
-	const Vec3V V14 = V3Mul(V8, V6);
-	const Vec3V V16 = V3Mul(V8, V8);
-	const Vec3V V18 = V3Mul(V10, V8);
-	const Vec3V V20 = V3Mul(V10, V10);
-	const Vec3V V22 = V3Mul(V12, V10);
-
-	const Vec4V cosCoefficients0 = V4LoadA(g_PXCosCoefficients0.f);
-	const Vec4V cosCoefficients1 = V4LoadA(g_PXCosCoefficients1.f);
-	const Vec4V cosCoefficients2 = V4LoadA(g_PXCosCoefficients2.f);
-
-	const FloatV C1 = V4GetY(cosCoefficients0);
-	const FloatV C2 = V4GetZ(cosCoefficients0);
-	const FloatV C3 = V4GetW(cosCoefficients0);
-	const FloatV C4 = V4GetX(cosCoefficients1);
-	const FloatV C5 = V4GetY(cosCoefficients1);
-	const FloatV C6 = V4GetZ(cosCoefficients1);
-	const FloatV C7 = V4GetW(cosCoefficients1);
-	const FloatV C8 = V4GetX(cosCoefficients2);
-	const FloatV C9 = V4GetY(cosCoefficients2);
-	const FloatV C10 = V4GetZ(cosCoefficients2);
-	const FloatV C11 = V4GetW(cosCoefficients2);
-
-	Vec3V Result;
-	Result = V3ScaleAdd(V2, C1, V3One());
-	Result = V3ScaleAdd(V4, C2, Result);
-	Result = V3ScaleAdd(V6, C3, Result);
-	Result = V3ScaleAdd(V8, C4, Result);
-	Result = V3ScaleAdd(V10, C5, Result);
-	Result = V3ScaleAdd(V12, C6, Result);
-	Result = V3ScaleAdd(V14, C7, Result);
-	Result = V3ScaleAdd(V16, C8, Result);
-	Result = V3ScaleAdd(V18, C9, Result);
-	Result = V3ScaleAdd(V20, C10, Result);
-	Result = V3ScaleAdd(V22, C11, Result);
-
-	ASSERT_ISVALIDVEC3V(Result); 
-	return Result;
-}
-
-PX_FORCE_INLINE Vec3V V3PermYZZ(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 2, 2, 1));
-}
-
-PX_FORCE_INLINE Vec3V V3PermXYX(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 1, 0));
-}
-
-PX_FORCE_INLINE Vec3V V3PermYZX(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 2, 1));
-}
-
-PX_FORCE_INLINE Vec3V V3PermZXY(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 1, 0, 2));
-}
-
-PX_FORCE_INLINE Vec3V V3PermZZY(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 1, 2, 2));
-}
-
-PX_FORCE_INLINE Vec3V V3PermYXX(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 0, 1));
-}
-
-PX_FORCE_INLINE Vec3V V3Perm_Zero_1Z_0Y(const Vec3V v0, const Vec3V v1)
-{
-	ASSERT_ISVALIDVEC3V(v0);
-	ASSERT_ISVALIDVEC3V(v1);
-	return _mm_shuffle_ps(v1, v0, _MM_SHUFFLE(3, 1, 2, 3));
-}
-
-PX_FORCE_INLINE Vec3V V3Perm_0Z_Zero_1X(const Vec3V v0, const Vec3V v1)
-{
-	ASSERT_ISVALIDVEC3V(v0);
-	ASSERT_ISVALIDVEC3V(v1);
-	return _mm_shuffle_ps(v0, v1, _MM_SHUFFLE(3, 0, 3, 2));
-}
-
-PX_FORCE_INLINE Vec3V V3Perm_1Y_0X_Zero(const Vec3V v0, const Vec3V v1)
-{
-	ASSERT_ISVALIDVEC3V(v0);
-	ASSERT_ISVALIDVEC3V(v1);
-	// There must be a better way to do this.
-	Vec3V v2 = V3Zero();
-	FloatV y1 = V3GetY(v1);
-	FloatV x0 = V3GetX(v0);
-	v2 = V3SetX(v2, y1);
-	return V3SetY(v2, x0);
-}
-
-PX_FORCE_INLINE FloatV V3SumElems(const Vec3V a)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	const __m128 shuf1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0)); // z,y,x,w
-	const __m128 shuf2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 1, 1, 1)); // y,x,w,z
-	const __m128 shuf3 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2)); // x,w,z,y
-	return _mm_add_ps(_mm_add_ps(shuf1, shuf2), shuf3);
-}
-
-PX_FORCE_INLINE PxU32 V3OutOfBounds(const Vec3V a, const Vec3V min, const Vec3V max)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(min);
-	ASSERT_ISVALIDVEC3V(max);
-	const BoolV c = BOr(V3IsGrtr(a, max), V3IsGrtr(min, a));
-	return PxU32(!BAllEqFFFF(c));
-}
-
-PX_FORCE_INLINE PxU32 V3InBounds(const Vec3V a, const Vec3V min, const Vec3V max)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(min);
-	ASSERT_ISVALIDVEC3V(max);
-	const BoolV c = BAnd(V3IsGrtrOrEq(a, min), V3IsGrtrOrEq(max, a));
-	return BAllEqTTTT(c);
-}
-
-PX_FORCE_INLINE PxU32 V3OutOfBounds(const Vec3V a, const Vec3V bounds)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(bounds);
-	return V3OutOfBounds(a, V3Neg(bounds), bounds);
-}
-
-PX_FORCE_INLINE PxU32 V3InBounds(const Vec3V a, const Vec3V bounds)
-{
-	ASSERT_ISVALIDVEC3V(a);
-	ASSERT_ISVALIDVEC3V(bounds);
-	return V3InBounds(a, V3Neg(bounds), bounds);
-}
-
-PX_FORCE_INLINE void V3Transpose(Vec3V& col0, Vec3V& col1, Vec3V& col2)
-{
-	ASSERT_ISVALIDVEC3V(col0);
-	ASSERT_ISVALIDVEC3V(col1);
-	ASSERT_ISVALIDVEC3V(col2);
-	const Vec3V col3 = _mm_setzero_ps();
-	Vec3V tmp0 = _mm_unpacklo_ps(col0, col1);
-	Vec3V tmp2 = _mm_unpacklo_ps(col2, col3);
-	Vec3V tmp1 = _mm_unpackhi_ps(col0, col1);
-	Vec3V tmp3 = _mm_unpackhi_ps(col2, col3);
-	col0 = _mm_movelh_ps(tmp0, tmp2);
-	col1 = _mm_movehl_ps(tmp2, tmp0);
-	col2 = _mm_movelh_ps(tmp1, tmp3);
-}
-
-//////////////////////////////////
-// VEC4V
-//////////////////////////////////
-
-PX_FORCE_INLINE Vec4V V4Splat(const FloatV f)
-{
-	ASSERT_ISVALIDFLOATV(f);
-	// return _mm_shuffle_ps(f, f, _MM_SHUFFLE(0,0,0,0));
-	return f;
-}
-
-PX_FORCE_INLINE Vec4V V4Merge(const FloatV* const floatVArray)
-{
-	ASSERT_ISVALIDFLOATV(floatVArray[0]);
-	ASSERT_ISVALIDFLOATV(floatVArray[1]);
-	ASSERT_ISVALIDFLOATV(floatVArray[2]);
-	ASSERT_ISVALIDFLOATV(floatVArray[3]);
-	const __m128 xw = _mm_move_ss(floatVArray[1], floatVArray[0]); // y, y, y, x
-	const __m128 yz = _mm_move_ss(floatVArray[2], floatVArray[3]); // z, z, z, w
-	return _mm_shuffle_ps(xw, yz, _MM_SHUFFLE(0, 2, 1, 0));
-}
-
-PX_FORCE_INLINE Vec4V V4Merge(const FloatVArg x, const FloatVArg y, const FloatVArg z, const FloatVArg w)
-{
-	ASSERT_ISVALIDFLOATV(x);
-	ASSERT_ISVALIDFLOATV(y);
-	ASSERT_ISVALIDFLOATV(z);
-	ASSERT_ISVALIDFLOATV(w);
-	const __m128 xw = _mm_move_ss(y, x); // y, y, y, x
-	const __m128 yz = _mm_move_ss(z, w); // z, z, z, w
-	return _mm_shuffle_ps(xw, yz, _MM_SHUFFLE(0, 2, 1, 0));
-}
-
-PX_FORCE_INLINE Vec4V V4MergeW(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w)
-{
-	const Vec4V xz = _mm_unpackhi_ps(x, z);
-	const Vec4V yw = _mm_unpackhi_ps(y, w);
-	return _mm_unpackhi_ps(xz, yw);
-}
-
-PX_FORCE_INLINE Vec4V V4MergeZ(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w)
-{
-	const Vec4V xz = _mm_unpackhi_ps(x, z);
-	const Vec4V yw = _mm_unpackhi_ps(y, w);
-	return _mm_unpacklo_ps(xz, yw);
-}
-
-PX_FORCE_INLINE Vec4V V4MergeY(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w)
-{
-	const Vec4V xz = _mm_unpacklo_ps(x, z);
-	const Vec4V yw = _mm_unpacklo_ps(y, w);
-	return _mm_unpackhi_ps(xz, yw);
-}
-
-PX_FORCE_INLINE Vec4V V4MergeX(const Vec4VArg x, const Vec4VArg y, const Vec4VArg z, const Vec4VArg w)
-{
-	const Vec4V xz = _mm_unpacklo_ps(x, z);
-	const Vec4V yw = _mm_unpacklo_ps(y, w);
-	return _mm_unpacklo_ps(xz, yw);
-}
-
-PX_FORCE_INLINE Vec4V V4UnpackXY(const Vec4VArg a, const Vec4VArg b)
-{
-	return _mm_unpacklo_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4UnpackZW(const Vec4VArg a, const Vec4VArg b)
-{
-	return _mm_unpackhi_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4PermYXWZ(const Vec4V a)
-{
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 3, 0, 1));
-}
-
-PX_FORCE_INLINE Vec4V V4PermXZXZ(const Vec4V a)
-{
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 0, 2, 0));
-}
-
-PX_FORCE_INLINE Vec4V V4PermYWYW(const Vec4V a)
-{
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 1, 3, 1));
-}
-
-PX_FORCE_INLINE Vec4V V4PermYZXW(const Vec4V a)
-{
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 2, 1));
-}
-
-template <PxU8 x, PxU8 y, PxU8 z, PxU8 w>
-PX_FORCE_INLINE Vec4V V4Perm(const Vec4V a)
-{
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(w, z, y, x));
-}
-
-PX_FORCE_INLINE Vec4V V4UnitW()
-{
-	const PX_ALIGN(16, PxF32 w[4]) = { 0.0f, 0.0f, 0.0f, 1.0f };
-	const __m128 w128 = _mm_load_ps(w);
-	return w128;
-}
-
-PX_FORCE_INLINE Vec4V V4UnitX()
-{
-	const PX_ALIGN(16, PxF32 x[4]) = { 1.0f, 0.0f, 0.0f, 0.0f };
-	const __m128 x128 = _mm_load_ps(x);
-	return x128;
-}
-
-PX_FORCE_INLINE Vec4V V4UnitY()
-{
-	const PX_ALIGN(16, PxF32 y[4]) = { 0.0f, 1.0f, 0.0f, 0.0f };
-	const __m128 y128 = _mm_load_ps(y);
-	return y128;
-}
-
-PX_FORCE_INLINE Vec4V V4UnitZ()
-{
-	const PX_ALIGN(16, PxF32 z[4]) = { 0.0f, 0.0f, 1.0f, 0.0f };
-	const __m128 z128 = _mm_load_ps(z);
-	return z128;
-}
-
-PX_FORCE_INLINE FloatV V4GetW(const Vec4V f)
-{
-	return _mm_shuffle_ps(f, f, _MM_SHUFFLE(3, 3, 3, 3));
-}
-
-PX_FORCE_INLINE FloatV V4GetX(const Vec4V f)
-{
-	return _mm_shuffle_ps(f, f, _MM_SHUFFLE(0, 0, 0, 0));
-}
-
-PX_FORCE_INLINE FloatV V4GetY(const Vec4V f)
-{
-	return _mm_shuffle_ps(f, f, _MM_SHUFFLE(1, 1, 1, 1));
-}
-
-PX_FORCE_INLINE FloatV V4GetZ(const Vec4V f)
-{
-	return _mm_shuffle_ps(f, f, _MM_SHUFFLE(2, 2, 2, 2));
-}
-
-PX_FORCE_INLINE Vec4V V4SetW(const Vec4V v, const FloatV f)
-{
-	ASSERT_ISVALIDFLOATV(f);
-	return V4Sel(BTTTF(), v, f);
-}
-
-PX_FORCE_INLINE Vec4V V4ClearW(const Vec4V v)
-{
-	return _mm_and_ps(v, (VecI32V&)internalWindowsSimd::gMaskXYZ);
-}
-
-PX_FORCE_INLINE Vec4V V4SetX(const Vec4V v, const FloatV f)
-{
-	ASSERT_ISVALIDFLOATV(f);
-	return V4Sel(BFTTT(), v, f);
-}
-
-PX_FORCE_INLINE Vec4V V4SetY(const Vec4V v, const FloatV f)
-{
-	ASSERT_ISVALIDFLOATV(f);
-	return V4Sel(BTFTT(), v, f);
-}
-
-PX_FORCE_INLINE Vec4V V4SetZ(const Vec4V v, const FloatV f)
-{
-	ASSERT_ISVALIDFLOATV(f);
-	return V4Sel(BTTFT(), v, f);
-}
-
-PX_FORCE_INLINE Vec4V V4Zero()
-{
-	return _mm_setzero_ps();
-}
-
-PX_FORCE_INLINE Vec4V V4One()
-{
-	return V4Load(1.0f);
-}
-
-PX_FORCE_INLINE Vec4V V4Eps()
-{
-	return V4Load(PX_EPS_REAL);
-}
-
-PX_FORCE_INLINE Vec4V V4Neg(const Vec4V f)
-{
-	return _mm_sub_ps(_mm_setzero_ps(), f);
-}
-
-PX_FORCE_INLINE Vec4V V4Add(const Vec4V a, const Vec4V b)
-{
-	return _mm_add_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4Sub(const Vec4V a, const Vec4V b)
-{
-	return _mm_sub_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4Scale(const Vec4V a, const FloatV b)
-{
-	return _mm_mul_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4Mul(const Vec4V a, const Vec4V b)
-{
-	return _mm_mul_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4ScaleInv(const Vec4V a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_div_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4Div(const Vec4V a, const Vec4V b)
-{
-	return _mm_div_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4ScaleInvFast(const Vec4V a, const FloatV b)
-{
-	ASSERT_ISVALIDFLOATV(b);
-	return _mm_mul_ps(a, _mm_rcp_ps(b));
-}
-
-PX_FORCE_INLINE Vec4V V4DivFast(const Vec4V a, const Vec4V b)
-{
-	return _mm_mul_ps(a, _mm_rcp_ps(b));
-}
-
-PX_FORCE_INLINE Vec4V V4Recip(const Vec4V a)
-{
-	return _mm_div_ps(V4One(), a);
-}
-
-PX_FORCE_INLINE Vec4V V4RecipFast(const Vec4V a)
-{
-	return _mm_rcp_ps(a);
-}
-
-PX_FORCE_INLINE Vec4V V4Rsqrt(const Vec4V a)
-{
-	return _mm_div_ps(V4One(), _mm_sqrt_ps(a));
-}
-
-PX_FORCE_INLINE Vec4V V4RsqrtFast(const Vec4V a)
-{
-	return _mm_rsqrt_ps(a);
-}
-
-PX_FORCE_INLINE Vec4V V4Sqrt(const Vec4V a)
-{
-	return _mm_sqrt_ps(a);
-}
-
-PX_FORCE_INLINE Vec4V V4ScaleAdd(const Vec4V a, const FloatV b, const Vec4V c)
-{
-	ASSERT_ISVALIDFLOATV(b);
-	return V4Add(V4Scale(a, b), c);
-}
-
-PX_FORCE_INLINE Vec4V V4NegScaleSub(const Vec4V a, const FloatV b, const Vec4V c)
-{
-	ASSERT_ISVALIDFLOATV(b);
-	return V4Sub(c, V4Scale(a, b));
-}
-
-PX_FORCE_INLINE Vec4V V4MulAdd(const Vec4V a, const Vec4V b, const Vec4V c)
-{
-	return V4Add(V4Mul(a, b), c);
-}
-
-PX_FORCE_INLINE Vec4V V4NegMulSub(const Vec4V a, const Vec4V b, const Vec4V c)
-{
-	return V4Sub(c, V4Mul(a, b));
-}
-
-PX_FORCE_INLINE Vec4V V4Abs(const Vec4V a)
-{
-	return V4Max(a, V4Neg(a));
-}
-
-PX_FORCE_INLINE FloatV V4SumElements(const Vec4V a)
-{
-	const Vec4V xy = V4UnpackXY(a, a); // x,x,y,y
-	const Vec4V zw = V4UnpackZW(a, a); // z,z,w,w
-	const Vec4V xz_yw = V4Add(xy, zw); // x+z,x+z,y+w,y+w
-	const FloatV xz = V4GetX(xz_yw);   // x+z
-	const FloatV yw = V4GetZ(xz_yw);   // y+w
-	return FAdd(xz, yw);               // sum
-}
-
-PX_FORCE_INLINE FloatV V4Dot(const Vec4V a, const Vec4V b)
-{
-	const __m128 dot1 = _mm_mul_ps(a, b);                                     // x,y,z,w
-	const __m128 shuf1 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(2, 1, 0, 3)); // w,x,y,z
-	const __m128 shuf2 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(1, 0, 3, 2)); // z,w,x,y
-	const __m128 shuf3 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(0, 3, 2, 1)); // y,z,w,x
-	return _mm_add_ps(_mm_add_ps(shuf2, shuf3), _mm_add_ps(dot1, shuf1));
-
-	// PT: this version has two less instructions but we should check its accuracy
-	// aw*bw | az*bz | ay*by | ax*bx
-	// const __m128 t0 = _mm_mul_ps(a, b);
-	// ay*by | ax*bx | aw*bw | az*bz
-	// const __m128 t1 = _mm_shuffle_ps(t0, t0, _MM_SHUFFLE(1,0,3,2));
-	// ay*by + aw*bw | ax*bx + az*bz | aw*bw + ay*by | az*bz + ax*bx
-	// const __m128 t2 = _mm_add_ps(t0, t1);
-	// ax*bx + az*bz | ay*by + aw*bw | az*bz + ax*bx | aw*bw + ay*by
-	// const __m128 t3 = _mm_shuffle_ps(t2, t2, _MM_SHUFFLE(2,3,0,1));
-	// ax*bx + az*bz + ay*by + aw*bw
-	// return _mm_add_ps(t3, t2);
-	// ay*by + aw*bw + ax*bx + az*bz
-	// az*bz + ax*bx + aw*bw + ay*by
-	// aw*bw + ay*by + az*bz + ax*bx
-}
-
-PX_FORCE_INLINE FloatV V4Dot3(const Vec4V a, const Vec4V b)
-{
-	const __m128 dot1 = _mm_mul_ps(a, b);                                     // aw*bw | az*bz | ay*by | ax*bx
-	const __m128 shuf1 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(0, 0, 0, 0)); // ax*bx | ax*bx | ax*bx | ax*bx
-	const __m128 shuf2 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(1, 1, 1, 1)); // ay*by | ay*by | ay*by | ay*by
-	const __m128 shuf3 = _mm_shuffle_ps(dot1, dot1, _MM_SHUFFLE(2, 2, 2, 2)); // az*bz | az*bz | az*bz | az*bz
-	return _mm_add_ps(_mm_add_ps(shuf1, shuf2), shuf3);                       // ax*bx + ay*by + az*bz in each component
-}
-
-PX_FORCE_INLINE Vec4V V4Cross(const Vec4V a, const Vec4V b)
-{
-	const __m128 r1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 1, 0, 2)); // z,x,y,w
-	const __m128 r2 = _mm_shuffle_ps(b, b, _MM_SHUFFLE(3, 0, 2, 1)); // y,z,x,w
-	const __m128 l1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 0, 2, 1)); // y,z,x,w
-	const __m128 l2 = _mm_shuffle_ps(b, b, _MM_SHUFFLE(3, 1, 0, 2)); // z,x,y,w
-	return _mm_sub_ps(_mm_mul_ps(l1, l2), _mm_mul_ps(r1, r2));
-}
-
-PX_FORCE_INLINE FloatV V4Length(const Vec4V a)
-{
-	return _mm_sqrt_ps(V4Dot(a, a));
-}
-
-PX_FORCE_INLINE FloatV V4LengthSq(const Vec4V a)
-{
-	return V4Dot(a, a);
-}
-
-PX_FORCE_INLINE Vec4V V4Normalize(const Vec4V a)
-{
-	ASSERT_ISFINITELENGTH(a);
-	return V4ScaleInv(a, _mm_sqrt_ps(V4Dot(a, a)));
-}
-
-PX_FORCE_INLINE Vec4V V4NormalizeFast(const Vec4V a)
-{
-	ASSERT_ISFINITELENGTH(a);
-	return V4ScaleInvFast(a, _mm_sqrt_ps(V4Dot(a, a)));
-}
-
-PX_FORCE_INLINE Vec4V V4NormalizeSafe(const Vec4V a, const Vec4V unsafeReturnValue)
-{
-	const __m128 eps = V3Eps();
-	const __m128 length = V4Length(a);
-	const __m128 isGreaterThanZero = V4IsGrtr(length, eps);
-	return V4Sel(isGreaterThanZero, V4ScaleInv(a, length), unsafeReturnValue);
-}
-
-PX_FORCE_INLINE Vec4V V4Sel(const BoolV c, const Vec4V a, const Vec4V b)
-{
-	return _mm_or_ps(_mm_andnot_ps(c, b), _mm_and_ps(c, a));
-}
-
-PX_FORCE_INLINE BoolV V4IsGrtr(const Vec4V a, const Vec4V b)
-{
-	return _mm_cmpgt_ps(a, b);
-}
-
-PX_FORCE_INLINE BoolV V4IsGrtrOrEq(const Vec4V a, const Vec4V b)
-{
-	return _mm_cmpge_ps(a, b);
-}
-
-PX_FORCE_INLINE BoolV V4IsEq(const Vec4V a, const Vec4V b)
-{
-	return _mm_cmpeq_ps(a, b);
-}
-
-PX_FORCE_INLINE BoolV V4IsEqU32(const VecU32V a, const VecU32V b)
-{
-	return internalWindowsSimd::m128_I2F(
-	    _mm_cmpeq_epi32(internalWindowsSimd::m128_F2I(a), internalWindowsSimd::m128_F2I(b)));
-}
-
-PX_FORCE_INLINE Vec4V V4Max(const Vec4V a, const Vec4V b)
-{
-	return _mm_max_ps(a, b);
-}
-
-PX_FORCE_INLINE Vec4V V4Min(const Vec4V a, const Vec4V b)
-{
-	return _mm_min_ps(a, b);
-}
-
-PX_FORCE_INLINE FloatV V4ExtractMax(const Vec4V a)
-{
-	const __m128 shuf1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 1, 0, 3));
-	const __m128 shuf2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 0, 3, 2));
-	const __m128 shuf3 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 3, 2, 1));
-
-	return _mm_max_ps(_mm_max_ps(a, shuf1), _mm_max_ps(shuf2, shuf3));
-}
-
-PX_FORCE_INLINE FloatV V4ExtractMin(const Vec4V a)
-{
-	const __m128 shuf1 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 1, 0, 3));
-	const __m128 shuf2 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 0, 3, 2));
-	const __m128 shuf3 = _mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 3, 2, 1));
-
-	return _mm_min_ps(_mm_min_ps(a, shuf1), _mm_min_ps(shuf2, shuf3));
-}
-
-PX_FORCE_INLINE Vec4V V4Clamp(const Vec4V a, const Vec4V minV, const Vec4V maxV)
-{
-	return V4Max(V4Min(a, maxV), minV);
-}
-
-PX_FORCE_INLINE PxU32 V4AllGrtr(const Vec4V a, const Vec4V b)
-{
-	return internalWindowsSimd::BAllTrue4_R(V4IsGrtr(a, b));
-}
-
-PX_FORCE_INLINE PxU32 V4AllGrtrOrEq(const Vec4V a, const Vec4V b)
-{
-	return internalWindowsSimd::BAllTrue4_R(V4IsGrtrOrEq(a, b));
-}
-
-PX_FORCE_INLINE PxU32 V4AllGrtrOrEq3(const Vec4V a, const Vec4V b)
-{
-	return internalWindowsSimd::BAllTrue3_R(V4IsGrtrOrEq(a, b));
-}
-
-PX_FORCE_INLINE PxU32 V4AllEq(const Vec4V a, const Vec4V b)
-{
-	return internalWindowsSimd::BAllTrue4_R(V4IsEq(a, b));
-}
-
-PX_FORCE_INLINE PxU32 V4AnyGrtr3(const Vec4V a, const Vec4V b)
-{
-	return internalWindowsSimd::BAnyTrue3_R(V4IsGrtr(a, b));
-}
-
-PX_FORCE_INLINE Vec4V V4Round(const Vec4V a)
-{
-	// return _mm_round_ps(a, 0x0);
-	const Vec4V half = V4Load(0.5f);
-	const __m128 signBit = _mm_cvtepi32_ps(_mm_srli_epi32(_mm_cvtps_epi32(a), 31));
-	const Vec4V aRound = V4Sub(V4Add(a, half), signBit);
-	const __m128i tmp = _mm_cvttps_epi32(aRound);
-	return _mm_cvtepi32_ps(tmp);
-}
-
-PX_FORCE_INLINE Vec4V V4Sin(const Vec4V a)
-{
-	const Vec4V recipTwoPi = V4LoadA(g_PXReciprocalTwoPi.f);
-	const Vec4V twoPi = V4LoadA(g_PXTwoPi.f);
-	const Vec4V tmp = V4Mul(a, recipTwoPi);
-	const Vec4V b = V4Round(tmp);
-	const Vec4V V1 = V4NegMulSub(twoPi, b, a);
-
-	// sin(V) ~= V - V^3 / 3! + V^5 / 5! - V^7 / 7! + V^9 / 9! - V^11 / 11! + V^13 / 13! -
-	//           V^15 / 15! + V^17 / 17! - V^19 / 19! + V^21 / 21! - V^23 / 23! (for -PI <= V < PI)
-	const Vec4V V2 = V4Mul(V1, V1);
-	const Vec4V V3 = V4Mul(V2, V1);
-	const Vec4V V5 = V4Mul(V3, V2);
-	const Vec4V V7 = V4Mul(V5, V2);
-	const Vec4V V9 = V4Mul(V7, V2);
-	const Vec4V V11 = V4Mul(V9, V2);
-	const Vec4V V13 = V4Mul(V11, V2);
-	const Vec4V V15 = V4Mul(V13, V2);
-	const Vec4V V17 = V4Mul(V15, V2);
-	const Vec4V V19 = V4Mul(V17, V2);
-	const Vec4V V21 = V4Mul(V19, V2);
-	const Vec4V V23 = V4Mul(V21, V2);
-
-	const Vec4V sinCoefficients0 = V4LoadA(g_PXSinCoefficients0.f);
-	const Vec4V sinCoefficients1 = V4LoadA(g_PXSinCoefficients1.f);
-	const Vec4V sinCoefficients2 = V4LoadA(g_PXSinCoefficients2.f);
-
-	const FloatV S1 = V4GetY(sinCoefficients0);
-	const FloatV S2 = V4GetZ(sinCoefficients0);
-	const FloatV S3 = V4GetW(sinCoefficients0);
-	const FloatV S4 = V4GetX(sinCoefficients1);
-	const FloatV S5 = V4GetY(sinCoefficients1);
-	const FloatV S6 = V4GetZ(sinCoefficients1);
-	const FloatV S7 = V4GetW(sinCoefficients1);
-	const FloatV S8 = V4GetX(sinCoefficients2);
-	const FloatV S9 = V4GetY(sinCoefficients2);
-	const FloatV S10 = V4GetZ(sinCoefficients2);
-	const FloatV S11 = V4GetW(sinCoefficients2);
-
-	Vec4V Result;
-	Result = V4MulAdd(S1, V3, V1);
-	Result = V4MulAdd(S2, V5, Result);
-	Result = V4MulAdd(S3, V7, Result);
-	Result = V4MulAdd(S4, V9, Result);
-	Result = V4MulAdd(S5, V11, Result);
-	Result = V4MulAdd(S6, V13, Result);
-	Result = V4MulAdd(S7, V15, Result);
-	Result = V4MulAdd(S8, V17, Result);
-	Result = V4MulAdd(S9, V19, Result);
-	Result = V4MulAdd(S10, V21, Result);
-	Result = V4MulAdd(S11, V23, Result);
-
-	return Result;
-}
-
-PX_FORCE_INLINE Vec4V V4Cos(const Vec4V a)
-{
-	const Vec4V recipTwoPi = V4LoadA(g_PXReciprocalTwoPi.f);
-	const FloatV twoPi = V4LoadA(g_PXTwoPi.f);
-	const Vec4V tmp = V4Mul(a, recipTwoPi);
-	const Vec4V b = V4Round(tmp);
-	const Vec4V V1 = V4NegMulSub(twoPi, b, a);
-
-	// cos(V) ~= 1 - V^2 / 2! + V^4 / 4! - V^6 / 6! + V^8 / 8! - V^10 / 10! + V^12 / 12! -
-	//           V^14 / 14! + V^16 / 16! - V^18 / 18! + V^20 / 20! - V^22 / 22! (for -PI <= V < PI)
-	const Vec4V V2 = V4Mul(V1, V1);
-	const Vec4V V4 = V4Mul(V2, V2);
-	const Vec4V V6 = V4Mul(V4, V2);
-	const Vec4V V8 = V4Mul(V4, V4);
-	const Vec4V V10 = V4Mul(V6, V4);
-	const Vec4V V12 = V4Mul(V6, V6);
-	const Vec4V V14 = V4Mul(V8, V6);
-	const Vec4V V16 = V4Mul(V8, V8);
-	const Vec4V V18 = V4Mul(V10, V8);
-	const Vec4V V20 = V4Mul(V10, V10);
-	const Vec4V V22 = V4Mul(V12, V10);
-
-	const Vec4V cosCoefficients0 = V4LoadA(g_PXCosCoefficients0.f);
-	const Vec4V cosCoefficients1 = V4LoadA(g_PXCosCoefficients1.f);
-	const Vec4V cosCoefficients2 = V4LoadA(g_PXCosCoefficients2.f);
-
-	const FloatV C1 = V4GetY(cosCoefficients0);
-	const FloatV C2 = V4GetZ(cosCoefficients0);
-	const FloatV C3 = V4GetW(cosCoefficients0);
-	const FloatV C4 = V4GetX(cosCoefficients1);
-	const FloatV C5 = V4GetY(cosCoefficients1);
-	const FloatV C6 = V4GetZ(cosCoefficients1);
-	const FloatV C7 = V4GetW(cosCoefficients1);
-	const FloatV C8 = V4GetX(cosCoefficients2);
-	const FloatV C9 = V4GetY(cosCoefficients2);
-	const FloatV C10 = V4GetZ(cosCoefficients2);
-	const FloatV C11 = V4GetW(cosCoefficients2);
-
-	Vec4V Result;
-	Result = V4MulAdd(C1, V2, V4One());
-	Result = V4MulAdd(C2, V4, Result);
-	Result = V4MulAdd(C3, V6, Result);
-	Result = V4MulAdd(C4, V8, Result);
-	Result = V4MulAdd(C5, V10, Result);
-	Result = V4MulAdd(C6, V12, Result);
-	Result = V4MulAdd(C7, V14, Result);
-	Result = V4MulAdd(C8, V16, Result);
-	Result = V4MulAdd(C9, V18, Result);
-	Result = V4MulAdd(C10, V20, Result);
-	Result = V4MulAdd(C11, V22, Result);
-
-	return Result;
-}
-
-PX_FORCE_INLINE void V4Transpose(Vec4V& col0, Vec4V& col1, Vec4V& col2, Vec4V& col3)
-{
-	Vec4V tmp0 = _mm_unpacklo_ps(col0, col1);
-	Vec4V tmp2 = _mm_unpacklo_ps(col2, col3);
-	Vec4V tmp1 = _mm_unpackhi_ps(col0, col1);
-	Vec4V tmp3 = _mm_unpackhi_ps(col2, col3);
-	col0 = _mm_movelh_ps(tmp0, tmp2);
-	col1 = _mm_movehl_ps(tmp2, tmp0);
-	col2 = _mm_movelh_ps(tmp1, tmp3);
-	col3 = _mm_movehl_ps(tmp3, tmp1);
-}
-
-//////////////////////////////////
-// BoolV
-//////////////////////////////////
-
-PX_FORCE_INLINE BoolV BFFFF()
-{
-	return _mm_setzero_ps();
-}
-
-PX_FORCE_INLINE BoolV BFFFT()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0,0,0,0xFFFFFFFF};
-	const __m128 ffft=_mm_load_ps((float*)&f);
-	return ffft;*/
-	return internalWindowsSimd::m128_I2F(_mm_set_epi32(-1, 0, 0, 0));
-}
-
-PX_FORCE_INLINE BoolV BFFTF()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0,0,0xFFFFFFFF,0};
-	const __m128 fftf=_mm_load_ps((float*)&f);
-	return fftf;*/
-	return internalWindowsSimd::m128_I2F(_mm_set_epi32(0, -1, 0, 0));
-}
-
-PX_FORCE_INLINE BoolV BFFTT()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0,0,0xFFFFFFFF,0xFFFFFFFF};
-	const __m128 fftt=_mm_load_ps((float*)&f);
-	return fftt;*/
-	return internalWindowsSimd::m128_I2F(_mm_set_epi32(-1, -1, 0, 0));
-}
-
-PX_FORCE_INLINE BoolV BFTFF()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0,0xFFFFFFFF,0,0};
-	const __m128 ftff=_mm_load_ps((float*)&f);
-	return ftff;*/
-	return internalWindowsSimd::m128_I2F(_mm_set_epi32(0, 0, -1, 0));
-}
-
-PX_FORCE_INLINE BoolV BFTFT()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0,0xFFFFFFFF,0,0xFFFFFFFF};
-	const __m128 ftft=_mm_load_ps((float*)&f);
-	return ftft;*/
-	return internalWindowsSimd::m128_I2F(_mm_set_epi32(-1, 0, -1, 0));
-}
-
-PX_FORCE_INLINE BoolV BFTTF()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0,0xFFFFFFFF,0xFFFFFFFF,0};
-	const __m128 fttf=_mm_load_ps((float*)&f);
-	return fttf;*/
-	return internalWindowsSimd::m128_I2F(_mm_set_epi32(0, -1, -1, 0));
-}
-
-PX_FORCE_INLINE BoolV BFTTT()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0,0xFFFFFFFF,0xFFFFFFFF,0xFFFFFFFF};
-	const __m128 fttt=_mm_load_ps((float*)&f);
-	return fttt;*/
-	return internalWindowsSimd::m128_I2F(_mm_set_epi32(-1, -1, -1, 0));
-}
-
-PX_FORCE_INLINE BoolV BTFFF()
-{
-	// const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0,0,0};
-	// const __m128 tfff=_mm_load_ps((float*)&f);
-	// return tfff;
-	return internalWindowsSimd::m128_I2F(_mm_set_epi32(0, 0, 0, -1));
-}
-
-PX_FORCE_INLINE BoolV BTFFT()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0,0,0xFFFFFFFF};
-	const __m128 tfft=_mm_load_ps((float*)&f);
-	return tfft;*/
-	return internalWindowsSimd::m128_I2F(_mm_set_epi32(-1, 0, 0, -1));
-}
-
-PX_FORCE_INLINE BoolV BTFTF()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0,0xFFFFFFFF,0};
-	const __m128 tftf=_mm_load_ps((float*)&f);
-	return tftf;*/
-	return internalWindowsSimd::m128_I2F(_mm_set_epi32(0, -1, 0, -1));
-}
-
-PX_FORCE_INLINE BoolV BTFTT()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0,0xFFFFFFFF,0xFFFFFFFF};
-	const __m128 tftt=_mm_load_ps((float*)&f);
-	return tftt;*/
-	return internalWindowsSimd::m128_I2F(_mm_set_epi32(-1, -1, 0, -1));
-}
-
-PX_FORCE_INLINE BoolV BTTFF()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0xFFFFFFFF,0,0};
-	const __m128 ttff=_mm_load_ps((float*)&f);
-	return ttff;*/
-	return internalWindowsSimd::m128_I2F(_mm_set_epi32(0, 0, -1, -1));
-}
-
-PX_FORCE_INLINE BoolV BTTFT()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0xFFFFFFFF,0,0xFFFFFFFF};
-	const __m128 ttft=_mm_load_ps((float*)&f);
-	return ttft;*/
-	return internalWindowsSimd::m128_I2F(_mm_set_epi32(-1, 0, -1, -1));
-}
-
-PX_FORCE_INLINE BoolV BTTTF()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0xFFFFFFFF,0xFFFFFFFF,0};
-	const __m128 tttf=_mm_load_ps((float*)&f);
-	return tttf;*/
-	return internalWindowsSimd::m128_I2F(_mm_set_epi32(0, -1, -1, -1));
-}
-
-PX_FORCE_INLINE BoolV BTTTT()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0xFFFFFFFF,0xFFFFFFFF,0xFFFFFFFF};
-	const __m128 tttt=_mm_load_ps((float*)&f);
-	return tttt;*/
-	return internalWindowsSimd::m128_I2F(_mm_set_epi32(-1, -1, -1, -1));
-}
-
-PX_FORCE_INLINE BoolV BXMask()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0xFFFFFFFF,0,0,0};
-	const __m128 tfff=_mm_load_ps((float*)&f);
-	return tfff;*/
-	return internalWindowsSimd::m128_I2F(_mm_set_epi32(0, 0, 0, -1));
-}
-
-PX_FORCE_INLINE BoolV BYMask()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0,0xFFFFFFFF,0,0};
-	const __m128 ftff=_mm_load_ps((float*)&f);
-	return ftff;*/
-	return internalWindowsSimd::m128_I2F(_mm_set_epi32(0, 0, -1, 0));
-}
-
-PX_FORCE_INLINE BoolV BZMask()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0,0,0xFFFFFFFF,0};
-	const __m128 fftf=_mm_load_ps((float*)&f);
-	return fftf;*/
-	return internalWindowsSimd::m128_I2F(_mm_set_epi32(0, -1, 0, 0));
-}
-
-PX_FORCE_INLINE BoolV BWMask()
-{
-	/*const PX_ALIGN(16, PxU32 f[4])={0,0,0,0xFFFFFFFF};
-	const __m128 ffft=_mm_load_ps((float*)&f);
-	return ffft;*/
-	return internalWindowsSimd::m128_I2F(_mm_set_epi32(-1, 0, 0, 0));
-}
-
-PX_FORCE_INLINE BoolV BGetX(const BoolV f)
-{
-	return _mm_shuffle_ps(f, f, _MM_SHUFFLE(0, 0, 0, 0));
-}
-
-PX_FORCE_INLINE BoolV BGetY(const BoolV f)
-{
-	return _mm_shuffle_ps(f, f, _MM_SHUFFLE(1, 1, 1, 1));
-}
-
-PX_FORCE_INLINE BoolV BGetZ(const BoolV f)
-{
-	return _mm_shuffle_ps(f, f, _MM_SHUFFLE(2, 2, 2, 2));
-}
-
-PX_FORCE_INLINE BoolV BGetW(const BoolV f)
-{
-	return _mm_shuffle_ps(f, f, _MM_SHUFFLE(3, 3, 3, 3));
-}
-
-PX_FORCE_INLINE BoolV BSetX(const BoolV v, const BoolV f)
-{
-	return V4Sel(BFTTT(), v, f);
-}
-
-PX_FORCE_INLINE BoolV BSetY(const BoolV v, const BoolV f)
-{
-	return V4Sel(BTFTT(), v, f);
-}
-
-PX_FORCE_INLINE BoolV BSetZ(const BoolV v, const BoolV f)
-{
-	return V4Sel(BTTFT(), v, f);
-}
-
-PX_FORCE_INLINE BoolV BSetW(const BoolV v, const BoolV f)
-{
-	return V4Sel(BTTTF(), v, f);
-}
-
-template <int index>
-BoolV BSplatElement(BoolV a)
-{
-	return internalWindowsSimd::m128_I2F(
-	    _mm_shuffle_epi32(internalWindowsSimd::m128_F2I(a), _MM_SHUFFLE(index, index, index, index)));
-}
-
-PX_FORCE_INLINE BoolV BAnd(const BoolV a, const BoolV b)
-{
-	return _mm_and_ps(a, b);
-}
-
-PX_FORCE_INLINE BoolV BNot(const BoolV a)
-{
-	const BoolV bAllTrue(BTTTT());
-	return _mm_xor_ps(a, bAllTrue);
-}
-
-PX_FORCE_INLINE BoolV BAndNot(const BoolV a, const BoolV b)
-{
-	return _mm_andnot_ps(b, a);
-}
-
-PX_FORCE_INLINE BoolV BOr(const BoolV a, const BoolV b)
-{
-	return _mm_or_ps(a, b);
-}
-
-PX_FORCE_INLINE BoolV BAllTrue4(const BoolV a)
-{
-	const BoolV bTmp =
-	    _mm_and_ps(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 1, 0, 1)), _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 3, 2, 3)));
-	return _mm_and_ps(_mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(0, 0, 0, 0)),
-	                  _mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(1, 1, 1, 1)));
-}
-
-PX_FORCE_INLINE BoolV BAnyTrue4(const BoolV a)
-{
-	const BoolV bTmp =
-	    _mm_or_ps(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 1, 0, 1)), _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 3, 2, 3)));
-	return _mm_or_ps(_mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(0, 0, 0, 0)),
-	                 _mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(1, 1, 1, 1)));
-}
-
-PX_FORCE_INLINE BoolV BAllTrue3(const BoolV a)
-{
-	const BoolV bTmp =
-	    _mm_and_ps(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 1, 0, 1)), _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2)));
-	return _mm_and_ps(_mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(0, 0, 0, 0)),
-	                  _mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(1, 1, 1, 1)));
-}
-
-PX_FORCE_INLINE BoolV BAnyTrue3(const BoolV a)
-{
-	const BoolV bTmp =
-	    _mm_or_ps(_mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 1, 0, 1)), _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2)));
-	return _mm_or_ps(_mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(0, 0, 0, 0)),
-	                 _mm_shuffle_ps(bTmp, bTmp, _MM_SHUFFLE(1, 1, 1, 1)));
-}
-
-PX_FORCE_INLINE PxU32 BAllEq(const BoolV a, const BoolV b)
-{
-	const BoolV bTest = internalWindowsSimd::m128_I2F(
-	    _mm_cmpeq_epi32(internalWindowsSimd::m128_F2I(a), internalWindowsSimd::m128_F2I(b)));
-	return internalWindowsSimd::BAllTrue4_R(bTest);
-}
-
-PX_FORCE_INLINE PxU32 BAllEqTTTT(const BoolV a)
-{
-	return PxU32(_mm_movemask_ps(a)==15);
-}
-
-PX_FORCE_INLINE PxU32 BAllEqFFFF(const BoolV a)
-{
-	return PxU32(_mm_movemask_ps(a)==0);
-}
-
-PX_FORCE_INLINE PxU32 BGetBitMask(const BoolV a)
-{
-	return PxU32(_mm_movemask_ps(a));
-}
-
-//////////////////////////////////
-// MAT33V
-//////////////////////////////////
-
-PX_FORCE_INLINE Vec3V M33MulV3(const Mat33V& a, const Vec3V b)
-{
-	const FloatV x = V3GetX(b);
-	const FloatV y = V3GetY(b);
-	const FloatV z = V3GetZ(b);
-	const Vec3V v0 = V3Scale(a.col0, x);
-	const Vec3V v1 = V3Scale(a.col1, y);
-	const Vec3V v2 = V3Scale(a.col2, z);
-	const Vec3V v0PlusV1 = V3Add(v0, v1);
-	return V3Add(v0PlusV1, v2);
-}
-
-PX_FORCE_INLINE Vec3V M33TrnspsMulV3(const Mat33V& a, const Vec3V b)
-{
-	Vec3V v0 = V3Mul(a.col0, b);
-	Vec3V v1 = V3Mul(a.col1, b);
-	Vec3V v2 = V3Mul(a.col2, b);
-	V3Transpose(v0, v1, v2);
-	return V3Add(V3Add(v0, v1), v2);
-}
-
-PX_FORCE_INLINE Vec3V M33MulV3AddV3(const Mat33V& A, const Vec3V b, const Vec3V c)
-{
-	const FloatV x = V3GetX(b);
-	const FloatV y = V3GetY(b);
-	const FloatV z = V3GetZ(b);
-	Vec3V result = V3ScaleAdd(A.col0, x, c);
-	result = V3ScaleAdd(A.col1, y, result);
-	return V3ScaleAdd(A.col2, z, result);
-}
-
-PX_FORCE_INLINE Mat33V M33MulM33(const Mat33V& a, const Mat33V& b)
-{
-	return Mat33V(M33MulV3(a, b.col0), M33MulV3(a, b.col1), M33MulV3(a, b.col2));
-}
-
-PX_FORCE_INLINE Mat33V M33Add(const Mat33V& a, const Mat33V& b)
-{
-	return Mat33V(V3Add(a.col0, b.col0), V3Add(a.col1, b.col1), V3Add(a.col2, b.col2));
-}
-
-PX_FORCE_INLINE Mat33V M33Scale(const Mat33V& a, const FloatV& b)
-{
-	return Mat33V(V3Scale(a.col0, b), V3Scale(a.col1, b), V3Scale(a.col2, b));
-}
-
-PX_FORCE_INLINE Mat33V M33Sub(const Mat33V& a, const Mat33V& b)
-{
-	return Mat33V(V3Sub(a.col0, b.col0), V3Sub(a.col1, b.col1), V3Sub(a.col2, b.col2));
-}
-
-PX_FORCE_INLINE Mat33V M33Neg(const Mat33V& a)
-{
-	return Mat33V(V3Neg(a.col0), V3Neg(a.col1), V3Neg(a.col2));
-}
-
-PX_FORCE_INLINE Mat33V M33Abs(const Mat33V& a)
-{
-	return Mat33V(V3Abs(a.col0), V3Abs(a.col1), V3Abs(a.col2));
-}
-
-PX_FORCE_INLINE Mat33V M33Inverse(const Mat33V& a)
-{
-	const BoolV tfft = BTFFT();
-	const BoolV tttf = BTTTF();
-	const FloatV zero = V3Zero();
-	const Vec3V cross01 = V3Cross(a.col0, a.col1);
-	const Vec3V cross12 = V3Cross(a.col1, a.col2);
-	const Vec3V cross20 = V3Cross(a.col2, a.col0);
-	const FloatV dot = V3Dot(cross01, a.col2);
-	const FloatV invDet = _mm_rcp_ps(dot);
-	const Vec3V mergeh = _mm_unpacklo_ps(cross12, cross01);
-	const Vec3V mergel = _mm_unpackhi_ps(cross12, cross01);
-	Vec3V colInv0 = _mm_unpacklo_ps(mergeh, cross20);
-	colInv0 = _mm_or_ps(_mm_andnot_ps(tttf, zero), _mm_and_ps(tttf, colInv0));
-	const Vec3V zppd = _mm_shuffle_ps(mergeh, cross20, _MM_SHUFFLE(3, 0, 0, 2));
-	const Vec3V pbwp = _mm_shuffle_ps(cross20, mergeh, _MM_SHUFFLE(3, 3, 1, 0));
-	const Vec3V colInv1 = _mm_or_ps(_mm_andnot_ps(BTFFT(), pbwp), _mm_and_ps(BTFFT(), zppd));
-	const Vec3V xppd = _mm_shuffle_ps(mergel, cross20, _MM_SHUFFLE(3, 0, 0, 0));
-	const Vec3V pcyp = _mm_shuffle_ps(cross20, mergel, _MM_SHUFFLE(3, 1, 2, 0));
-	const Vec3V colInv2 = _mm_or_ps(_mm_andnot_ps(tfft, pcyp), _mm_and_ps(tfft, xppd));
-
-	return Mat33V(_mm_mul_ps(colInv0, invDet), _mm_mul_ps(colInv1, invDet), _mm_mul_ps(colInv2, invDet));
-}
-
-PX_FORCE_INLINE Mat33V M33Trnsps(const Mat33V& a)
-{
-	Vec3V col0 = a.col0, col1 = a.col1, col2 = a.col2;
-	V3Transpose(col0, col1, col2);
-	return Mat33V(col0, col1, col2);
-}
-
-PX_FORCE_INLINE Mat33V M33Identity()
-{
-	return Mat33V(V3UnitX(), V3UnitY(), V3UnitZ());
-}
-
-PX_FORCE_INLINE Mat33V M33Diagonal(const Vec3VArg d)
-{
-	const FloatV x = V3Mul(V3UnitX(), d);
-	const FloatV y = V3Mul(V3UnitY(), d);
-	const FloatV z = V3Mul(V3UnitZ(), d);
-	return Mat33V(x, y, z);
-}
-
-//////////////////////////////////
-// MAT34V
-//////////////////////////////////
-
-PX_FORCE_INLINE Vec3V M34MulV3(const Mat34V& a, const Vec3V b)
-{
-	const FloatV x = V3GetX(b);
-	const FloatV y = V3GetY(b);
-	const FloatV z = V3GetZ(b);
-	const Vec3V v0 = V3Scale(a.col0, x);
-	const Vec3V v1 = V3Scale(a.col1, y);
-	const Vec3V v2 = V3Scale(a.col2, z);
-	const Vec3V v0PlusV1 = V3Add(v0, v1);
-	const Vec3V v0PlusV1Plusv2 = V3Add(v0PlusV1, v2);
-	return V3Add(v0PlusV1Plusv2, a.col3);
-}
-
-PX_FORCE_INLINE Vec3V M34Mul33V3(const Mat34V& a, const Vec3V b)
-{
-	const FloatV x = V3GetX(b);
-	const FloatV y = V3GetY(b);
-	const FloatV z = V3GetZ(b);
-	const Vec3V v0 = V3Scale(a.col0, x);
-	const Vec3V v1 = V3Scale(a.col1, y);
-	const Vec3V v2 = V3Scale(a.col2, z);
-	const Vec3V v0PlusV1 = V3Add(v0, v1);
-	return V3Add(v0PlusV1, v2);
-}
-
-PX_FORCE_INLINE Vec3V M34TrnspsMul33V3(const Mat34V& a, const Vec3V b)
-{
-	Vec3V v0 = V3Mul(a.col0, b);
-	Vec3V v1 = V3Mul(a.col1, b);
-	Vec3V v2 = V3Mul(a.col2, b);
-	V3Transpose(v0, v1, v2);
-	return V3Add(V3Add(v0, v1), v2);
-}
-
-PX_FORCE_INLINE Mat34V M34MulM34(const Mat34V& a, const Mat34V& b)
-{
-	return Mat34V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2), M34MulV3(a, b.col3));
-}
-
-PX_FORCE_INLINE Mat33V M34MulM33(const Mat34V& a, const Mat33V& b)
-{
-	return Mat33V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2));
-}
-
-PX_FORCE_INLINE Mat33V M34Mul33MM34(const Mat34V& a, const Mat34V& b)
-{
-	return Mat33V(M34Mul33V3(a, b.col0), M34Mul33V3(a, b.col1), M34Mul33V3(a, b.col2));
-}
-
-PX_FORCE_INLINE Mat34V M34Add(const Mat34V& a, const Mat34V& b)
-{
-	return Mat34V(V3Add(a.col0, b.col0), V3Add(a.col1, b.col1), V3Add(a.col2, b.col2), V3Add(a.col3, b.col3));
-}
-
-PX_FORCE_INLINE Mat34V M34Inverse(const Mat34V& a)
-{
-	Mat34V aInv;
-	const BoolV tfft = BTFFT();
-	const BoolV tttf = BTTTF();
-	const FloatV zero = V3Zero();
-	const Vec3V cross01 = V3Cross(a.col0, a.col1);
-	const Vec3V cross12 = V3Cross(a.col1, a.col2);
-	const Vec3V cross20 = V3Cross(a.col2, a.col0);
-	const FloatV dot = V3Dot(cross01, a.col2);
-	const FloatV invDet = _mm_rcp_ps(dot);
-	const Vec3V mergeh = _mm_unpacklo_ps(cross12, cross01);
-	const Vec3V mergel = _mm_unpackhi_ps(cross12, cross01);
-	Vec3V colInv0 = _mm_unpacklo_ps(mergeh, cross20);
-	colInv0 = _mm_or_ps(_mm_andnot_ps(tttf, zero), _mm_and_ps(tttf, colInv0));
-	const Vec3V zppd = _mm_shuffle_ps(mergeh, cross20, _MM_SHUFFLE(3, 0, 0, 2));
-	const Vec3V pbwp = _mm_shuffle_ps(cross20, mergeh, _MM_SHUFFLE(3, 3, 1, 0));
-	const Vec3V colInv1 = _mm_or_ps(_mm_andnot_ps(BTFFT(), pbwp), _mm_and_ps(BTFFT(), zppd));
-	const Vec3V xppd = _mm_shuffle_ps(mergel, cross20, _MM_SHUFFLE(3, 0, 0, 0));
-	const Vec3V pcyp = _mm_shuffle_ps(cross20, mergel, _MM_SHUFFLE(3, 1, 2, 0));
-	const Vec3V colInv2 = _mm_or_ps(_mm_andnot_ps(tfft, pcyp), _mm_and_ps(tfft, xppd));
-	aInv.col0 = _mm_mul_ps(colInv0, invDet);
-	aInv.col1 = _mm_mul_ps(colInv1, invDet);
-	aInv.col2 = _mm_mul_ps(colInv2, invDet);
-	aInv.col3 = M34Mul33V3(aInv, V3Neg(a.col3));
-	return aInv;
-}
-
-PX_FORCE_INLINE Mat33V M34Trnsps33(const Mat34V& a)
-{
-	Vec3V col0 = a.col0, col1 = a.col1, col2 = a.col2;
-	V3Transpose(col0, col1, col2);
-	return Mat33V(col0, col1, col2);
-}
-
-//////////////////////////////////
-// MAT44V
-//////////////////////////////////
-
-PX_FORCE_INLINE Vec4V M44MulV4(const Mat44V& a, const Vec4V b)
-{
-	const FloatV x = V4GetX(b);
-	const FloatV y = V4GetY(b);
-	const FloatV z = V4GetZ(b);
-	const FloatV w = V4GetW(b);
-
-	const Vec4V v0 = V4Scale(a.col0, x);
-	const Vec4V v1 = V4Scale(a.col1, y);
-	const Vec4V v2 = V4Scale(a.col2, z);
-	const Vec4V v3 = V4Scale(a.col3, w);
-	const Vec4V v0PlusV1 = V4Add(v0, v1);
-	const Vec4V v0PlusV1Plusv2 = V4Add(v0PlusV1, v2);
-	return V4Add(v0PlusV1Plusv2, v3);
-}
-
-PX_FORCE_INLINE Vec4V M44TrnspsMulV4(const Mat44V& a, const Vec4V b)
-{
-	Vec4V v0 = V4Mul(a.col0, b);
-	Vec4V v1 = V4Mul(a.col1, b);
-	Vec4V v2 = V4Mul(a.col2, b);
-	Vec4V v3 = V4Mul(a.col3, b);
-	V4Transpose(v0, v1, v2, v3);
-	return V4Add(V4Add(v0, v1), V4Add(v2, v3));
-}
-
-PX_FORCE_INLINE Mat44V M44MulM44(const Mat44V& a, const Mat44V& b)
-{
-	return Mat44V(M44MulV4(a, b.col0), M44MulV4(a, b.col1), M44MulV4(a, b.col2), M44MulV4(a, b.col3));
-}
-
-PX_FORCE_INLINE Mat44V M44Add(const Mat44V& a, const Mat44V& b)
-{
-	return Mat44V(V4Add(a.col0, b.col0), V4Add(a.col1, b.col1), V4Add(a.col2, b.col2), V4Add(a.col3, b.col3));
-}
-
-PX_FORCE_INLINE Mat44V M44Trnsps(const Mat44V& a)
-{
-	Vec4V col0 = a.col0, col1 = a.col1, col2 = a.col2, col3 = a.col3;
-	V4Transpose(col0, col1, col2, col3);
-	return Mat44V(col0, col1, col2, col3);
-}
-
-PX_FORCE_INLINE Mat44V M44Inverse(const Mat44V& a)
-{
-	__m128 minor0, minor1, minor2, minor3;
-	__m128 row0, row1, row2, row3;
-	__m128 det, tmp1;
-
-	tmp1 = V4Zero();
-	row1 = V4Zero();
-	row3 = V4Zero();
-
-	row0 = a.col0;
-	row1 = _mm_shuffle_ps(a.col1, a.col1, _MM_SHUFFLE(1, 0, 3, 2));
-	row2 = a.col2;
-	row3 = _mm_shuffle_ps(a.col3, a.col3, _MM_SHUFFLE(1, 0, 3, 2));
-
-	tmp1 = _mm_mul_ps(row2, row3);
-	tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0xB1);
-	minor0 = _mm_mul_ps(row1, tmp1);
-	minor1 = _mm_mul_ps(row0, tmp1);
-	tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0x4E);
-	minor0 = _mm_sub_ps(_mm_mul_ps(row1, tmp1), minor0);
-	minor1 = _mm_sub_ps(_mm_mul_ps(row0, tmp1), minor1);
-	minor1 = _mm_shuffle_ps(minor1, minor1, 0x4E);
-
-	tmp1 = _mm_mul_ps(row1, row2);
-	tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0xB1);
-	minor0 = _mm_add_ps(_mm_mul_ps(row3, tmp1), minor0);
-	minor3 = _mm_mul_ps(row0, tmp1);
-	tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0x4E);
-	minor0 = _mm_sub_ps(minor0, _mm_mul_ps(row3, tmp1));
-	minor3 = _mm_sub_ps(_mm_mul_ps(row0, tmp1), minor3);
-	minor3 = _mm_shuffle_ps(minor3, minor3, 0x4E);
-
-	tmp1 = _mm_mul_ps(_mm_shuffle_ps(row1, row1, 0x4E), row3);
-	tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0xB1);
-	row2 = _mm_shuffle_ps(row2, row2, 0x4E);
-	minor0 = _mm_add_ps(_mm_mul_ps(row2, tmp1), minor0);
-	minor2 = _mm_mul_ps(row0, tmp1);
-	tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0x4E);
-	minor0 = _mm_sub_ps(minor0, _mm_mul_ps(row2, tmp1));
-	minor2 = _mm_sub_ps(_mm_mul_ps(row0, tmp1), minor2);
-	minor2 = _mm_shuffle_ps(minor2, minor2, 0x4E);
-
-	tmp1 = _mm_mul_ps(row0, row1);
-	tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0xB1);
-	minor2 = _mm_add_ps(_mm_mul_ps(row3, tmp1), minor2);
-	minor3 = _mm_sub_ps(_mm_mul_ps(row2, tmp1), minor3);
-	tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0x4E);
-	minor2 = _mm_sub_ps(_mm_mul_ps(row3, tmp1), minor2);
-	minor3 = _mm_sub_ps(minor3, _mm_mul_ps(row2, tmp1));
-
-	tmp1 = _mm_mul_ps(row0, row3);
-	tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0xB1);
-	minor1 = _mm_sub_ps(minor1, _mm_mul_ps(row2, tmp1));
-	minor2 = _mm_add_ps(_mm_mul_ps(row1, tmp1), minor2);
-	tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0x4E);
-	minor1 = _mm_add_ps(_mm_mul_ps(row2, tmp1), minor1);
-	minor2 = _mm_sub_ps(minor2, _mm_mul_ps(row1, tmp1));
-
-	tmp1 = _mm_mul_ps(row0, row2);
-	tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0xB1);
-	minor1 = _mm_add_ps(_mm_mul_ps(row3, tmp1), minor1);
-	minor3 = _mm_sub_ps(minor3, _mm_mul_ps(row1, tmp1));
-	tmp1 = _mm_shuffle_ps(tmp1, tmp1, 0x4E);
-	minor1 = _mm_sub_ps(minor1, _mm_mul_ps(row3, tmp1));
-	minor3 = _mm_add_ps(_mm_mul_ps(row1, tmp1), minor3);
-
-	det = _mm_mul_ps(row0, minor0);
-	det = _mm_add_ps(_mm_shuffle_ps(det, det, 0x4E), det);
-	det = _mm_add_ss(_mm_shuffle_ps(det, det, 0xB1), det);
-	tmp1 = _mm_rcp_ss(det);
-#if 0
-	det = _mm_sub_ss(_mm_add_ss(tmp1, tmp1), _mm_mul_ss(det, _mm_mul_ss(tmp1, tmp1)));
-	det = _mm_shuffle_ps(det, det, 0x00);
-#else
-	det = _mm_shuffle_ps(tmp1, tmp1, _MM_SHUFFLE(0, 0, 0, 0));
-#endif
-
-	minor0 = _mm_mul_ps(det, minor0);
-	minor1 = _mm_mul_ps(det, minor1);
-	minor2 = _mm_mul_ps(det, minor2);
-	minor3 = _mm_mul_ps(det, minor3);
-	Mat44V invTrans(minor0, minor1, minor2, minor3);
-	return M44Trnsps(invTrans);
-}
-
-PX_FORCE_INLINE Vec4V V4LoadXYZW(const PxF32& x, const PxF32& y, const PxF32& z, const PxF32& w)
-{
-	return _mm_set_ps(w, z, y, x);
-}
-
-PX_FORCE_INLINE VecU32V V4U32Sel(const BoolV c, const VecU32V a, const VecU32V b)
-{
-	return internalWindowsSimd::m128_I2F(
-	    _mm_or_si128(_mm_andnot_si128(internalWindowsSimd::m128_F2I(c), internalWindowsSimd::m128_F2I(b)),
-	                 _mm_and_si128(internalWindowsSimd::m128_F2I(c), internalWindowsSimd::m128_F2I(a))));
-}
-
-PX_FORCE_INLINE VecU32V V4U32or(VecU32V a, VecU32V b)
-{
-	return internalWindowsSimd::m128_I2F(_mm_or_si128(internalWindowsSimd::m128_F2I(a), internalWindowsSimd::m128_F2I(b)));
-}
-
-PX_FORCE_INLINE VecU32V V4U32xor(VecU32V a, VecU32V b)
-{
-	return internalWindowsSimd::m128_I2F(
-	    _mm_xor_si128(internalWindowsSimd::m128_F2I(a), internalWindowsSimd::m128_F2I(b)));
-}
-
-PX_FORCE_INLINE VecU32V V4U32and(VecU32V a, VecU32V b)
-{
-	return internalWindowsSimd::m128_I2F(
-	    _mm_and_si128(internalWindowsSimd::m128_F2I(a), internalWindowsSimd::m128_F2I(b)));
-}
-
-PX_FORCE_INLINE VecU32V V4U32Andc(VecU32V a, VecU32V b)
-{
-	return internalWindowsSimd::m128_I2F(
-	    _mm_andnot_si128(internalWindowsSimd::m128_F2I(b), internalWindowsSimd::m128_F2I(a)));
-}
-
-PX_FORCE_INLINE VecI32V U4Load(const PxU32 i)
-{
-	return _mm_load1_ps((PxF32*)&i);
-}
-
-PX_FORCE_INLINE VecU32V U4LoadU(const PxU32* i)
-{
-	return _mm_loadu_ps((PxF32*)i);
-}
-
-PX_FORCE_INLINE VecU32V U4LoadA(const PxU32* i)
-{
-	ASSERT_ISALIGNED16(i);
-	return _mm_load_ps((PxF32*)i);
-}
-
-PX_FORCE_INLINE VecI32V I4Load(const PxI32 i)
-{
-	return _mm_load1_ps((PxF32*)&i);
-}
-
-PX_FORCE_INLINE VecI32V I4LoadU(const PxI32* i)
-{
-	return _mm_loadu_ps((PxF32*)i);
-}
-
-PX_FORCE_INLINE VecI32V I4LoadA(const PxI32* i)
-{
-	ASSERT_ISALIGNED16(i);
-	return _mm_load_ps((PxF32*)i);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Add(const VecI32VArg a, const VecI32VArg b)
-{
-	return internalWindowsSimd::m128_I2F(
-	    _mm_add_epi32(internalWindowsSimd::m128_F2I(a), internalWindowsSimd::m128_F2I(b)));
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Sub(const VecI32VArg a, const VecI32VArg b)
-{
-	return internalWindowsSimd::m128_I2F(
-	    _mm_sub_epi32(internalWindowsSimd::m128_F2I(a), internalWindowsSimd::m128_F2I(b)));
-}
-
-PX_FORCE_INLINE BoolV VecI32V_IsGrtr(const VecI32VArg a, const VecI32VArg b)
-{
-	return internalWindowsSimd::m128_I2F(
-	    _mm_cmpgt_epi32(internalWindowsSimd::m128_F2I(a), internalWindowsSimd::m128_F2I(b)));
-}
-
-PX_FORCE_INLINE BoolV VecI32V_IsEq(const VecI32VArg a, const VecI32VArg b)
-{
-	return internalWindowsSimd::m128_I2F(
-	    _mm_cmpeq_epi32(internalWindowsSimd::m128_F2I(a), internalWindowsSimd::m128_F2I(b)));
-}
-
-PX_FORCE_INLINE VecI32V V4I32Sel(const BoolV c, const VecI32V a, const VecI32V b)
-{
-	return V4U32Sel(c, a, b);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Zero()
-{
-	return V4Zero();
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_One()
-{
-	return I4Load(1);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Two()
-{
-	return I4Load(2);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_MinusOne()
-{
-	return I4Load(-1);
-}
-
-PX_FORCE_INLINE VecU32V U4Zero()
-{
-	return U4Load(0);
-}
-
-PX_FORCE_INLINE VecU32V U4One()
-{
-	return U4Load(1);
-}
-
-PX_FORCE_INLINE VecU32V U4Two()
-{
-	return U4Load(2);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Sel(const BoolV c, const VecI32VArg a, const VecI32VArg b)
-{
-	PX_ASSERT(_VecMathTests::allElementsEqualBoolV(c, BTTTT()) ||
-			  _VecMathTests::allElementsEqualBoolV(c, BFFFF()));
-	return _mm_or_ps(_mm_andnot_ps(c, b), _mm_and_ps(c, a));
-}
-
-PX_FORCE_INLINE VecShiftV VecI32V_PrepareShift(const VecI32VArg shift)
-{
-	VecShiftV preparedShift;
-	preparedShift.shift = _mm_or_ps(_mm_andnot_ps(BTFFF(), VecI32V_Zero()), _mm_and_ps(BTFFF(), shift)); 
-	return preparedShift;
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_LeftShift(const VecI32VArg a, const VecShiftVArg count)
-{
-	return internalWindowsSimd::m128_I2F(
-	    _mm_sll_epi32(internalWindowsSimd::m128_F2I(a), internalWindowsSimd::m128_F2I(count.shift)));
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_RightShift(const VecI32VArg a, const VecShiftVArg count)
-{
-	return internalWindowsSimd::m128_I2F(
-	    _mm_srl_epi32(internalWindowsSimd::m128_F2I(a), internalWindowsSimd::m128_F2I(count.shift)));
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_And(const VecI32VArg a, const VecI32VArg b)
-{
-	return _mm_and_ps(a, b);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Or(const VecI32VArg a, const VecI32VArg b)
-{
-	return _mm_or_ps(a, b);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_GetX(const VecI32VArg a)
-{
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(0, 0, 0, 0));
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_GetY(const VecI32VArg a)
-{
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(1, 1, 1, 1));
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_GetZ(const VecI32VArg a)
-{
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(2, 2, 2, 2));
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_GetW(const VecI32VArg a)
-{
-	return _mm_shuffle_ps(a, a, _MM_SHUFFLE(3, 3, 3, 3));
-}
-
-PX_FORCE_INLINE void PxI32_From_VecI32V(const VecI32VArg a, PxI32* i)
-{
-	_mm_store_ss((PxF32*)i, a);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_From_BoolV(const BoolVArg a)
-{
-	return a;
-}
-
-PX_FORCE_INLINE VecU32V VecU32V_From_BoolV(const BoolVArg a)
-{
-	return a;
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_Merge(const VecI32VArg a, const VecI32VArg b, const VecI32VArg c, const VecI32VArg d)
-{
-	const __m128 xw = _mm_move_ss(b, a); // y, y, y, x
-	const __m128 yz = _mm_move_ss(c, d); // z, z, z, w
-	return _mm_shuffle_ps(xw, yz, _MM_SHUFFLE(0, 2, 1, 0));
-}
-
-PX_FORCE_INLINE void V4U32StoreAligned(VecU32V val, VecU32V* address)
-{
-	*address = val;
-}
-
-PX_FORCE_INLINE Vec4V V4Andc(const Vec4V a, const VecU32V b)
-{
-	VecU32V result32(a);
-	result32 = V4U32Andc(result32, b);
-	return Vec4V(result32);
-}
-
-PX_FORCE_INLINE VecU32V V4IsGrtrV32u(const Vec4V a, const Vec4V b)
-{
-	return V4IsGrtr(a, b);
-}
-
-PX_FORCE_INLINE VecU16V V4U16LoadAligned(VecU16V* addr)
-{
-	return *addr;
-}
-
-PX_FORCE_INLINE VecU16V V4U16LoadUnaligned(VecU16V* addr)
-{
-	return *addr;
-}
-
-// unsigned compares are not supported on x86
-PX_FORCE_INLINE VecU16V V4U16CompareGt(VecU16V a, VecU16V b)
-{
-	// _mm_cmpgt_epi16 doesn't work for unsigned values unfortunately
-	// return m128_I2F(_mm_cmpgt_epi16(internalWindowsSimd::m128_F2I(a), internalWindowsSimd::m128_F2I(b)));
-	VecU16V result;
-	result.m128_u16[0] = PxU16((a).m128_u16[0] > (b).m128_u16[0]);
-	result.m128_u16[1] = PxU16((a).m128_u16[1] > (b).m128_u16[1]);
-	result.m128_u16[2] = PxU16((a).m128_u16[2] > (b).m128_u16[2]);
-	result.m128_u16[3] = PxU16((a).m128_u16[3] > (b).m128_u16[3]);
-	result.m128_u16[4] = PxU16((a).m128_u16[4] > (b).m128_u16[4]);
-	result.m128_u16[5] = PxU16((a).m128_u16[5] > (b).m128_u16[5]);
-	result.m128_u16[6] = PxU16((a).m128_u16[6] > (b).m128_u16[6]);
-	result.m128_u16[7] = PxU16((a).m128_u16[7] > (b).m128_u16[7]);
-	return result;
-}
-
-PX_FORCE_INLINE VecU16V V4I16CompareGt(VecU16V a, VecU16V b)
-{
-	return internalWindowsSimd::m128_I2F(
-	    _mm_cmpgt_epi16(internalWindowsSimd::m128_F2I(a), internalWindowsSimd::m128_F2I(b)));
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_From_VecU32V(VecU32V a)
-{
-	Vec4V result = V4LoadXYZW(PxF32(a.m128_u32[0]), PxF32(a.m128_u32[1]), PxF32(a.m128_u32[2]), PxF32(a.m128_u32[3]));
-	return result;
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_From_VecI32V(VecI32V a)
-{
-	return _mm_cvtepi32_ps(internalWindowsSimd::m128_F2I(a));
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_From_Vec4V(Vec4V a)
-{
-	return internalWindowsSimd::m128_I2F(_mm_cvttps_epi32(a));
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_ReinterpretFrom_VecU32V(VecU32V a)
-{
-	return Vec4V(a);
-}
-
-PX_FORCE_INLINE Vec4V Vec4V_ReinterpretFrom_VecI32V(VecI32V a)
-{
-	return Vec4V(a);
-}
-
-PX_FORCE_INLINE VecU32V VecU32V_ReinterpretFrom_Vec4V(Vec4V a)
-{
-	return VecU32V(a);
-}
-
-PX_FORCE_INLINE VecI32V VecI32V_ReinterpretFrom_Vec4V(Vec4V a)
-{
-	return VecI32V(a);
-}
-
-template <int index>
-PX_FORCE_INLINE VecU32V V4U32SplatElement(VecU32V a)
-{
-	return internalWindowsSimd::m128_I2F(
-	    _mm_shuffle_epi32(internalWindowsSimd::m128_F2I(a), _MM_SHUFFLE(index, index, index, index)));
-}
-
-template <int index>
-PX_FORCE_INLINE Vec4V V4SplatElement(Vec4V a)
-{
-	return internalWindowsSimd::m128_I2F(
-	    _mm_shuffle_epi32(internalWindowsSimd::m128_F2I(a), _MM_SHUFFLE(index, index, index, index)));
-}
-
-PX_FORCE_INLINE VecU32V U4LoadXYZW(PxU32 x, PxU32 y, PxU32 z, PxU32 w)
-{
-	VecU32V result;
-	result.m128_u32[0] = x;
-	result.m128_u32[1] = y;
-	result.m128_u32[2] = z;
-	result.m128_u32[3] = w;
-	return result;
-}
-
-PX_FORCE_INLINE Vec4V V4ConvertFromI32V(const VecI32V in)
-{
-	return _mm_cvtepi32_ps(internalWindowsSimd::m128_F2I(in));
-}
-
-#endif // PSFOUNDATION_PSWINDOWSINLINEAOS_H
diff --git a/PxShared/src/foundation/include/windows/PsWindowsIntrinsics.h b/PxShared/src/foundation/include/windows/PsWindowsIntrinsics.h
deleted file mode 100644
index ca1e9c5..0000000
--- a/PxShared/src/foundation/include/windows/PsWindowsIntrinsics.h
+++ /dev/null
@@ -1,190 +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 PSFOUNDATION_PSWINDOWSINTRINSICS_H
-#define PSFOUNDATION_PSWINDOWSINTRINSICS_H
-
-#include "Ps.h"
-#include "foundation/PxAssert.h"
-
-// this file is for internal intrinsics - that is, intrinsics that are used in
-// cross platform code but do not appear in the API
-
-#if !PX_WINDOWS_FAMILY
-#error "This file should only be included by Windows builds!!"
-#endif
-
-#pragma warning(push)
-//'symbol' is not defined as a preprocessor macro, replacing with '0' for 'directives'
-#pragma warning(disable : 4668)
-#if PX_VC == 10
-#pragma warning(disable : 4987) // nonstandard extension used: 'throw (...)'
-#endif
-#include <intrin.h>
-#pragma warning(pop)
-
-#pragma warning(push)
-#pragma warning(disable : 4985) // 'symbol name': attributes not present on previous declaration
-#include <math.h>
-#pragma warning(pop)
-
-#include <float.h>
-#include <mmintrin.h>
-
-#pragma intrinsic(_BitScanForward)
-#pragma intrinsic(_BitScanReverse)
-
-namespace physx
-{
-namespace shdfnd
-{
-
-/*
-* Implements a memory barrier
-*/
-PX_FORCE_INLINE void memoryBarrier()
-{
-	_ReadWriteBarrier();
-	/* long Barrier;
-	__asm {
-	    xchg Barrier, eax
-	}*/
-}
-
-/*!
-Returns the index of the highest set bit. Not valid for zero arg.
-*/
-PX_FORCE_INLINE uint32_t highestSetBitUnsafe(uint32_t v)
-{
-	unsigned long retval;
-	_BitScanReverse(&retval, v);
-	return retval;
-}
-
-/*!
-Returns the index of the highest set bit. Undefined for zero arg.
-*/
-PX_FORCE_INLINE uint32_t lowestSetBitUnsafe(uint32_t v)
-{
-	unsigned long retval;
-	_BitScanForward(&retval, v);
-	return retval;
-}
-
-/*!
-Returns the number of leading zeros in v. Returns 32 for v=0.
-*/
-PX_FORCE_INLINE uint32_t countLeadingZeros(uint32_t v)
-{
-	if(v)
-	{
-		unsigned long bsr = (unsigned long)-1;
-		_BitScanReverse(&bsr, v);
-		return 31 - bsr;
-	}
-	else
-		return 32;
-}
-
-/*!
-Prefetch aligned cache size around \c ptr+offset.
-*/
-#if !PX_ARM
-PX_FORCE_INLINE void prefetchLine(const void* ptr, uint32_t offset = 0)
-{
-	// cache line on X86/X64 is 64-bytes so a 128-byte prefetch would require 2 prefetches.
-	// However, we can only dispatch a limited number of prefetch instructions so we opt to prefetch just 1 cache line
-	/*_mm_prefetch(((const char*)ptr + offset), _MM_HINT_T0);*/
-	// We get slightly better performance prefetching to non-temporal addresses instead of all cache levels
-	_mm_prefetch(((const char*)ptr + offset), _MM_HINT_NTA);
-}
-#else
-PX_FORCE_INLINE void prefetchLine(const void* ptr, uint32_t offset = 0)
-{
-	// arm does have 32b cache line size
-	__prefetch(((const char*)ptr + offset));
-}
-#endif
-
-/*!
-Prefetch \c count bytes starting at \c ptr.
-*/
-#if !PX_ARM
-PX_FORCE_INLINE void prefetch(const void* ptr, uint32_t count = 1)
-{
-	const char* cp = (char*)ptr;
-	uint64_t p = size_t(ptr);
-	uint64_t startLine = p >> 6, endLine = (p + count - 1) >> 6;
-	uint64_t lines = endLine - startLine + 1;
-	do
-	{
-		prefetchLine(cp);
-		cp += 64;
-	} while(--lines);
-}
-#else
-PX_FORCE_INLINE void prefetch(const void* ptr, uint32_t count = 1)
-{
-	const char* cp = (char*)ptr;
-	uint32_t p = size_t(ptr);
-	uint32_t startLine = p >> 5, endLine = (p + count - 1) >> 5;
-	uint32_t lines = endLine - startLine + 1;
-	do
-	{
-		prefetchLine(cp);
-		cp += 32;
-	} while(--lines);
-}
-#endif
-
-//! \brief platform-specific reciprocal
-PX_CUDA_CALLABLE PX_FORCE_INLINE float recipFast(float a)
-{
-	return 1.0f / a;
-}
-
-//! \brief platform-specific fast reciprocal square root
-PX_CUDA_CALLABLE PX_FORCE_INLINE float recipSqrtFast(float a)
-{
-	return 1.0f / ::sqrtf(a);
-}
-
-//! \brief platform-specific floor
-PX_CUDA_CALLABLE PX_FORCE_INLINE float floatFloor(float x)
-{
-	return ::floorf(x);
-}
-
-#define NS_EXPECT_TRUE(x) x
-#define NS_EXPECT_FALSE(x) x
-
-} // namespace shdfnd
-} // namespace physx
-
-#endif // #ifndef PSFOUNDATION_PSWINDOWSINTRINSICS_H
diff --git a/PxShared/src/foundation/include/windows/PsWindowsLoadLibrary.h b/PxShared/src/foundation/include/windows/PsWindowsLoadLibrary.h
deleted file mode 100644
index adfd8e4..0000000
--- a/PxShared/src/foundation/include/windows/PsWindowsLoadLibrary.h
+++ /dev/null
@@ -1,72 +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 PS_WINDOWS_FOUNDATION_LOADLIBRARY_H
-#define PS_WINDOWS_FOUNDATION_LOADLIBRARY_H
-
-#include "foundation/PxPreprocessor.h"
-#include "windows/PsWindowsInclude.h"
-#include "foundation/windows/PxWindowsFoundationDelayLoadHook.h"
-
-namespace physx
-{
-namespace shdfnd
-{
-	EXTERN_C IMAGE_DOS_HEADER __ImageBase;
-
-	PX_INLINE FARPROC WINAPI foundationDliNotePreLoadLibrary(const char* libraryName, const physx::PxFoundationDelayLoadHook* delayLoadHook)
-	{	
-		if(!delayLoadHook)
-		{
-			return (FARPROC)::LoadLibraryA(libraryName);
-		}
-		else
-		{
-			if(strstr(libraryName, "PxFoundation"))
-			{
-				if(strstr(libraryName, "DEBUG"))
-					return (FARPROC)::LoadLibraryA(delayLoadHook->getPxFoundationDEBUGDllName());
-
-				if(strstr(libraryName, "CHECKED"))
-					return (FARPROC)::LoadLibraryA(delayLoadHook->getPxFoundationCHECKEDDllName());
-
-				if(strstr(libraryName, "PROFILE"))
-					return (FARPROC)::LoadLibraryA(delayLoadHook->getPxFoundationPROFILEDllName());
-
-				return (FARPROC)::LoadLibraryA(delayLoadHook->getPxFoundationDllName());
-			}
-		}
-		return NULL;
-    }
-} // namespace shdfnd
-} // namespace physx
-
-
-#endif	// PS_WINDOWS_FOUNDATION_LOADLIBRARY_H
diff --git a/PxShared/src/foundation/include/windows/PsWindowsTrigConstants.h b/PxShared/src/foundation/include/windows/PsWindowsTrigConstants.h
deleted file mode 100644
index dda3e3b..0000000
--- a/PxShared/src/foundation/include/windows/PsWindowsTrigConstants.h
+++ /dev/null
@@ -1,87 +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 PSFOUNDATION_PSWINDOWSTRIGCONSTANTS_H
-#define PSFOUNDATION_PSWINDOWSTRIGCONSTANTS_H
-
-#define PX_GLOBALCONST extern const __declspec(selectany)
-
-__declspec(align(16)) struct PX_VECTORF32
-{
-	float f[4];
-};
-
-//#define PX_PI               3.141592654f
-//#define PX_2PI              6.283185307f
-//#define PX_1DIVPI           0.318309886f
-//#define PX_1DIV2PI          0.159154943f
-//#define PX_PIDIV2           1.570796327f
-//#define PX_PIDIV4           0.785398163f
-
-PX_GLOBALCONST PX_VECTORF32 g_PXSinCoefficients0 = { { 1.0f, -0.166666667f, 8.333333333e-3f, -1.984126984e-4f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXSinCoefficients1 = { { 2.755731922e-6f, -2.505210839e-8f, 1.605904384e-10f, -7.647163732e-13f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXSinCoefficients2 = { { 2.811457254e-15f, -8.220635247e-18f, 1.957294106e-20f, -3.868170171e-23f } };
-PX_GLOBALCONST PX_VECTORF32 g_PXCosCoefficients0 = { { 1.0f, -0.5f, 4.166666667e-2f, -1.388888889e-3f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXCosCoefficients1 = { { 2.480158730e-5f, -2.755731922e-7f, 2.087675699e-9f, -1.147074560e-11f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXCosCoefficients2 = { { 4.779477332e-14f, -1.561920697e-16f, 4.110317623e-19f, -8.896791392e-22f } };
-PX_GLOBALCONST PX_VECTORF32 g_PXTanCoefficients0 = { { 1.0f, 0.333333333f, 0.133333333f, 5.396825397e-2f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXTanCoefficients1 = { { 2.186948854e-2f, 8.863235530e-3f, 3.592128167e-3f, 1.455834485e-3f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXTanCoefficients2 = { { 5.900274264e-4f, 2.391290764e-4f, 9.691537707e-5f, 3.927832950e-5f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXASinCoefficients0 = { { -0.05806367563904f, -0.41861972469416f, 0.22480114791621f, 2.17337241360606f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXASinCoefficients1 = { { 0.61657275907170f, 4.29696498283455f, -1.18942822255452f, -6.53784832094831f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXASinCoefficients2 = { { -1.36926553863413f, -4.48179294237210f, 1.41810672941833f, 5.48179257935713f } };
-PX_GLOBALCONST PX_VECTORF32 g_PXATanCoefficients0 = { { 1.0f, 0.333333334f, 0.2f, 0.142857143f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXATanCoefficients1 = { { 1.111111111e-1f, 9.090909091e-2f, 7.692307692e-2f, 6.666666667e-2f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXATanCoefficients2 = { { 5.882352941e-2f, 5.263157895e-2f, 4.761904762e-2f, 4.347826087e-2f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXSinEstCoefficients = { { 1.0f, -1.66521856991541e-1f, 8.199913018755e-3f, -1.61475937228e-4f } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXCosEstCoefficients = { { 1.0f, -4.95348008918096e-1f, 3.878259962881e-2f, -9.24587976263e-4f } };
-PX_GLOBALCONST PX_VECTORF32 g_PXTanEstCoefficients = { { 2.484f, -1.954923183e-1f, 2.467401101f, PxInvPi } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXATanEstCoefficients = { { 7.689891418951e-1f, 1.104742493348f, 8.661844266006e-1f, PxPiDivTwo } };
-PX_GLOBALCONST PX_VECTORF32
-g_PXASinEstCoefficients = { { -1.36178272886711f, 2.37949493464538f, -8.08228565650486e-1f, 2.78440142746736e-1f } };
-PX_GLOBALCONST PX_VECTORF32 g_PXASinEstConstants = { { 1.00000011921f, PxPiDivTwo, 0.0f, 0.0f } };
-PX_GLOBALCONST PX_VECTORF32 g_PXPiConstants0 = { { PxPi, PxTwoPi, PxInvPi, PxInvTwoPi } };
-PX_GLOBALCONST PX_VECTORF32 g_PXReciprocalTwoPi = { { PxInvTwoPi, PxInvTwoPi, PxInvTwoPi, PxInvTwoPi } };
-PX_GLOBALCONST PX_VECTORF32 g_PXTwoPi = { { PxTwoPi, PxTwoPi, PxTwoPi, PxTwoPi } };
-
-#endif