NvCloth 1.1.3 Release. (23014067)v1.1.3

38 files changed, 124 insertions, 307 deletions

diff --git a/PxShared/include/foundation/PxFoundation.h b/PxShared/include/foundation/PxFoundation.h
index 8642c16..aae84a9 100644
--- a/PxShared/include/foundation/PxFoundation.h
+++ b/PxShared/include/foundation/PxFoundation.h
@@ -126,7 +126,18 @@ PxCreateFoundation(physx::PxU32 version, physx::PxAllocatorCallback& allocator,
 
 @see PxCreateFoundation()
 */
+#if PX_CLANG
+#if PX_LINUX
+	#pragma clang diagnostic push
+	#pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
+#endif // PX_LINUX
+#endif // PX_CLANG
 PX_C_EXPORT PX_FOUNDATION_API physx::PxFoundation& PX_CALL_CONV PxGetFoundation();
+#if PX_CLANG
+#if PX_LINUX
+	#pragma clang diagnostic pop
+#endif // PX_LINUX
+#endif // PX_CLANG
 
 namespace physx
 {
diff --git a/PxShared/include/foundation/PxMemory.h b/PxShared/include/foundation/PxMemory.h
index b0191e3..6a8a6ed 100644
--- a/PxShared/include/foundation/PxMemory.h
+++ b/PxShared/include/foundation/PxMemory.h
@@ -81,7 +81,7 @@ PX_FORCE_INLINE void* PxMemSet(void* dest, PxI32 c, PxU32 count)
 
 \return Pointer to destination memory block
 */
-PX_FORCE_INLINE void* PxMemCopy(void* PX_RESTRICT dest, const void* PX_RESTRICT src, PxU32 count)
+PX_FORCE_INLINE void* PxMemCopy(void* dest, const void* src, PxU32 count)
 {
 	return physx::intrinsics::memCopy(dest, src, count);
 }
diff --git a/PxShared/include/foundation/PxPreprocessor.h b/PxShared/include/foundation/PxPreprocessor.h
index 9b6e0f4..ddbf258 100644
--- a/PxShared/include/foundation/PxPreprocessor.h
+++ b/PxShared/include/foundation/PxPreprocessor.h
@@ -47,7 +47,9 @@ All definitions have a value of 1 or 0, use '#if' instead of '#ifdef'.
 Compiler defines, see http://sourceforge.net/p/predef/wiki/Compilers/
 */
 #if defined(_MSC_VER)
-#if _MSC_VER >= 1900
+#if _MSC_VER >= 1910
+#define PX_VC 15
+#elif _MSC_VER >= 1900
 #define PX_VC 14
 #elif _MSC_VER >= 1800
 #define PX_VC 12
@@ -488,7 +490,8 @@ struct PxPackValidation
 	long long a;
 };
 #endif
-#if !PX_APPLE_FAMILY && !PX_EMSCRIPTEN
+// clang (as of version 3.9) cannot align doubles on 8 byte boundary  when compiling for Intel 32 bit target
+#if !PX_APPLE_FAMILY && !PX_EMSCRIPTEN && !(PX_CLANG && PX_X86)
 PX_COMPILE_TIME_ASSERT(PX_OFFSET_OF(PxPackValidation, a) == 8);
 #endif
 
diff --git a/PxShared/include/foundation/PxSimpleTypes.h b/PxShared/include/foundation/PxSimpleTypes.h
index 6ecba13..655fbb3 100644
--- a/PxShared/include/foundation/PxSimpleTypes.h
+++ b/PxShared/include/foundation/PxSimpleTypes.h
@@ -56,7 +56,7 @@
 #if PX_VC // we could use inttypes.h starting with VC12
 #define PX_PRIu64 "I64u"
 #else
-#if !PX_PS4 && !PX_APPLE_FAMILY
+#if !PX_PS4 && !PX_APPLE_FAMILY && !PX_SWITCH
 #define __STDC_FORMAT_MACROS
 #endif
 #include <inttypes.h>
diff --git a/PxShared/include/foundation/unix/PxUnixIntrinsics.h b/PxShared/include/foundation/unix/PxUnixIntrinsics.h
index 351c83c..5f492bc 100644
--- a/PxShared/include/foundation/unix/PxUnixIntrinsics.h
+++ b/PxShared/include/foundation/unix/PxUnixIntrinsics.h
@@ -37,11 +37,12 @@
 #error "This file should only be included by Unix builds!!"
 #endif
 
-#if PX_LINUX && !defined(__CUDACC__)
-	// Linux and CUDA compilation does not work with std::isfnite, as it is not marked as CUDA callable	
-	#ifndef isfinite
-		#define isfinite	std::isfinite
-	#endif
+#if (PX_LINUX || PX_ANDROID) && !defined(__CUDACC__) && !PX_EMSCRIPTEN
+    // Linux/android and CUDA compilation does not work with std::isfnite, as it is not marked as CUDA callable
+    #include <cmath>
+    #ifndef isfinite
+        using std::isfinite;
+    #endif
 #endif
 
 #include <math.h>
@@ -125,7 +126,10 @@ PX_CUDA_CALLABLE PX_FORCE_INLINE float selectMax(float a, float b)
 //! \brief platform-specific finiteness check (not INF or NAN)
 PX_CUDA_CALLABLE PX_FORCE_INLINE bool isFinite(float a)
 {
-	return !!isfinite(a);
+	//std::isfinite not recommended as of Feb 2017, since it doesn't work with g++/clang's floating point optimization.
+    union localU { PxU32 i; float f; } floatUnion;
+    floatUnion.f = a;
+    return !((floatUnion.i & 0x7fffffff) >= 0x7f800000);
 }
 
 //! \brief platform-specific finiteness check (not INF or NAN)
@@ -153,7 +157,7 @@ PX_FORCE_INLINE void* memSet(void* dest, int32_t c, uint32_t count)
 /*!
 Copies \c count bytes from \c src to \c dst. User memMove if regions overlap.
 */
-PX_FORCE_INLINE void* memCopy(void* PX_RESTRICT dest, const void* PX_RESTRICT src, uint32_t count)
+PX_FORCE_INLINE void* memCopy(void* dest, const void* src, uint32_t count)
 {
 	return memcpy(dest, src, count);
 }
diff --git a/PxShared/include/foundation/windows/PxWindowsIntrinsics.h b/PxShared/include/foundation/windows/PxWindowsIntrinsics.h
index 766558e..3cc63b5 100644
--- a/PxShared/include/foundation/windows/PxWindowsIntrinsics.h
+++ b/PxShared/include/foundation/windows/PxWindowsIntrinsics.h
@@ -158,7 +158,7 @@ PX_FORCE_INLINE void* memSet(void* dest, int32_t c, uint32_t count)
 /*!
 Copies \c count bytes from \c src to \c dst. User memMove if regions overlap.
 */
-PX_FORCE_INLINE void* memCopy(void* PX_RESTRICT dest, const void* PX_RESTRICT src, uint32_t count)
+PX_FORCE_INLINE void* memCopy(void* dest, const void* src, uint32_t count)
 {
 	return memcpy(dest, src, count);
 }
diff --git a/PxShared/src/compiler/cmake/Android/CMakeLists.txt b/PxShared/src/compiler/cmake/Android/CMakeLists.txt
index 9aa00f9..08757c1 100644
--- a/PxShared/src/compiler/cmake/Android/CMakeLists.txt
+++ b/PxShared/src/compiler/cmake/Android/CMakeLists.txt
@@ -31,7 +31,7 @@ SET(CMAKE_CXX_FLAGS_CHECKED "-O3")
 SET(CMAKE_CXX_FLAGS_PROFILE "-O3")
 SET(CMAKE_CXX_FLAGS_RELEASE "-O3")
 
-SET(PXSHARED_ANDROID_COMPILE_DEFS _LIB;__STDC_LIMIT_MACROS;)
+SET(PXSHARED_ANDROID_COMPILE_DEFS ANDROID;_LIB;__STDC_LIMIT_MACROS;)
 SET(PXSHARED_ANDROID_DEBUG_COMPILE_DEFS _DEBUG;PX_DEBUG=1;PX_CHECKED=1)
 SET(PXSHARED_ANDROID_CHECKED_COMPILE_DEFS NDEBUG;PX_CHECKED=1)
 SET(PXSHARED_ANDROID_PROFILE_COMPILE_DEFS NDEBUG;PX_PROFILE=1)
diff --git a/PxShared/src/compiler/cmake/Android/PsFastXml.cmake b/PxShared/src/compiler/cmake/Android/PsFastXml.cmake
index 81d356e..f5dce60 100644
--- a/PxShared/src/compiler/cmake/Android/PsFastXml.cmake
+++ b/PxShared/src/compiler/cmake/Android/PsFastXml.cmake
@@ -10,28 +10,12 @@ SET(LL_SOURCE_DIR ${PXSHARED_SOURCE_DIR}/fastxml)
 SET(PSFASTXML_COMPILE_DEFS 
 	# Common to all configurations
 	${PXSHARED_ANDROID_COMPILE_DEFS};PX_FOUNDATION_DLL=0;PxShared_STATIC_LIB;
-)
-
-if(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "debug")
-	LIST(APPEND PSFASTXML_COMPILE_DEFS 
-		${PXSHARED_ANDROID_DEBUG_COMPILE_DEFS}
-	)
-elseif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "checked")
-	LIST(APPEND PSFASTXML_COMPILE_DEFS 
-		${PXSHARED_ANDROID_CHECKED_COMPILE_DEFS}
-	)
-elseif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "profile")
-	LIST(APPEND PSFASTXML_COMPILE_DEFS 
-		${PXSHARED_ANDROID_PROFILE_COMPILE_DEFS}
-	)
-elseif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL release)
-	LIST(APPEND PSFASTXML_COMPILE_DEFS 
-		${PXSHARED_ANDROID_RELEASE_COMPILE_DEFS}
-	)
-else(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "debug")
-	MESSAGE(FATAL_ERROR "Unknown configuration ${CMAKE_BUILD_TYPE}")
-endif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "debug")
 
+	$<$<CONFIG:debug>:${PXSHARED_ANDROID_DEBUG_COMPILE_DEFS};>
+	$<$<CONFIG:checked>:${PXSHARED_ANDROID_CHECKED_COMPILE_DEFS};>
+	$<$<CONFIG:profile>:${PXSHARED_ANDROID_PROFILE_COMPILE_DEFS};>
+	$<$<CONFIG:release>:${PXSHARED_ANDROID_RELEASE_COMPILE_DEFS};>
+)
 
 # include PsFastXml common
 INCLUDE(../common/PsFastXml.cmake)
diff --git a/PxShared/src/compiler/cmake/Android/PxFoundation.cmake b/PxShared/src/compiler/cmake/Android/PxFoundation.cmake
index c23a327..d069e41 100644
--- a/PxShared/src/compiler/cmake/Android/PxFoundation.cmake
+++ b/PxShared/src/compiler/cmake/Android/PxFoundation.cmake
@@ -30,28 +30,12 @@ SET(PXFOUNDATION_PLATFORM_INCLUDES
 SET(PXFOUNDATION_COMPILE_DEFS
 	# Common to all configurations
 	${PXSHARED_ANDROID_COMPILE_DEFS};PxShared_STATIC_LIB;
-)
-
-if(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "debug")
-	LIST(APPEND PXFOUNDATION_COMPILE_DEFS
-		${PXSHARED_ANDROID_DEBUG_COMPILE_DEFS}
-	)
-elseif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "checked")
-	LIST(APPEND PXFOUNDATION_COMPILE_DEFS
-		${PXSHARED_ANDROID_CHECKED_COMPILE_DEFS}
-	)
-elseif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "profile")
-	LIST(APPEND PXFOUNDATION_COMPILE_DEFS
-		${PXSHARED_ANDROID_PROFILE_COMPILE_DEFS}
-	)
-elseif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL release)
-	LIST(APPEND PXFOUNDATION_COMPILE_DEFS
-		${PXSHARED_ANDROID_RELEASE_COMPILE_DEFS}
-	)
-else(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "debug")
-	MESSAGE(FATAL_ERROR "Unknown configuration ${CMAKE_BUILD_TYPE}")
-endif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "debug")
 
+	$<$<CONFIG:debug>:${PXSHARED_ANDROID_DEBUG_COMPILE_DEFS};>
+	$<$<CONFIG:checked>:${PXSHARED_ANDROID_CHECKED_COMPILE_DEFS};>
+	$<$<CONFIG:profile>:${PXSHARED_ANDROID_PROFILE_COMPILE_DEFS};>
+	$<$<CONFIG:release>:${PXSHARED_ANDROID_RELEASE_COMPILE_DEFS};>
+)
 
 # include PxFoundation common
 INCLUDE(../common/PxFoundation.cmake)
diff --git a/PxShared/src/compiler/cmake/Android/PxPvdSDK.cmake b/PxShared/src/compiler/cmake/Android/PxPvdSDK.cmake
index f517efc..ea39cdb 100644
--- a/PxShared/src/compiler/cmake/Android/PxPvdSDK.cmake
+++ b/PxShared/src/compiler/cmake/Android/PxPvdSDK.cmake
@@ -12,27 +12,12 @@ SET(PXPVDSDK_LIBTYPE STATIC)
 SET(PXPVDSDK_COMPILE_DEFS 
 	# Common to all configurations
 	${PXSHARED_ANDROID_COMPILE_DEFS};PxShared_STATIC_LIB;
-)
 
-if(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "debug")
-	LIST(APPEND PXPVDSDK_COMPILE_DEFS 
-		${PXSHARED_ANDROID_DEBUG_COMPILE_DEFS}
-	)
-elseif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "checked")
-	LIST(APPEND PXPVDSDK_COMPILE_DEFS 
-		${PXSHARED_ANDROID_CHECKED_COMPILE_DEFS}
-	)
-elseif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "profile")
-	LIST(APPEND PXPVDSDK_COMPILE_DEFS 
-		${PXSHARED_ANDROID_PROFILE_COMPILE_DEFS}
-	)
-elseif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL release)
-	LIST(APPEND PXPVDSDK_COMPILE_DEFS 
-		${PXSHARED_ANDROID_RELEASE_COMPILE_DEFS}
-	)
-else(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "debug")
-	MESSAGE(FATAL_ERROR "Unknown configuration ${CMAKE_BUILD_TYPE}")
-endif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "debug")
+	$<$<CONFIG:debug>:${PXSHARED_ANDROID_DEBUG_COMPILE_DEFS};>
+	$<$<CONFIG:checked>:${PXSHARED_ANDROID_CHECKED_COMPILE_DEFS};>
+	$<$<CONFIG:profile>:${PXSHARED_ANDROID_PROFILE_COMPILE_DEFS};>
+	$<$<CONFIG:release>:${PXSHARED_ANDROID_RELEASE_COMPILE_DEFS};>
+)
 
 # include PxPvdSDK common
 INCLUDE(../common/PxPvdSDK.cmake)
diff --git a/PxShared/src/compiler/cmake/Android/PxTask.cmake b/PxShared/src/compiler/cmake/Android/PxTask.cmake
index e02aefd..eabe075 100644
--- a/PxShared/src/compiler/cmake/Android/PxTask.cmake
+++ b/PxShared/src/compiler/cmake/Android/PxTask.cmake
@@ -8,27 +8,12 @@ SET(LL_SOURCE_DIR ${PXSHARED_SOURCE_DIR}/task)
 
 SET(PXTASK_COMPILE_DEFS 
 	${PXSHARED_ANDROID_COMPILE_DEFS};PxShared_STATIC_LIB;
-)
 
-if(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "debug")
-	LIST(APPEND PXTASK_COMPILE_DEFS
-		${PXSHARED_ANDROID_DEBUG_COMPILE_DEFS}
-	)
-elseif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "checked")
-	LIST(APPEND PXTASK_COMPILE_DEFS
-		${PXSHARED_ANDROID_CHECKED_COMPILE_DEFS}
-	)
-elseif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "profile")
-	LIST(APPEND PXTASK_COMPILE_DEFS
-		${PXSHARED_ANDROID_PROFILE_COMPILE_DEFS}
-	)
-elseif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL release)
-	LIST(APPEND PXTASK_COMPILE_DEFS
-		${PXSHARED_ANDROID_RELEASE_COMPILE_DEFS}
-	)
-else(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "debug")
-	MESSAGE(FATAL_ERROR "Unknown configuration ${CMAKE_BUILD_TYPE}")
-endif(${CMAKE_BUILD_TYPE_LOWERCASE} STREQUAL "debug")
+	$<$<CONFIG:debug>:${PXSHARED_ANDROID_DEBUG_COMPILE_DEFS};>
+	$<$<CONFIG:checked>:${PXSHARED_ANDROID_CHECKED_COMPILE_DEFS};>
+	$<$<CONFIG:profile>:${PXSHARED_ANDROID_PROFILE_COMPILE_DEFS};>
+	$<$<CONFIG:release>:${PXSHARED_ANDROID_RELEASE_COMPILE_DEFS};>
+)
 
 SET(PXTASK_LIBTYPE OBJECT)
 
diff --git a/PxShared/src/compiler/cmake/IOS/CMakeLists.txt b/PxShared/src/compiler/cmake/IOS/CMakeLists.txt
index 4e2f814..7b05731 100644
--- a/PxShared/src/compiler/cmake/IOS/CMakeLists.txt
+++ b/PxShared/src/compiler/cmake/IOS/CMakeLists.txt
@@ -13,7 +13,7 @@ IF (NOT ${TARGET_BUILD_PLATFORM} IN_LIST PLATFORM_LIST)
 	MESSAGE(FATAL_ERROR "Invalid platform:" ${TARGET_BUILD_PLATFORM})
 ENDIF()
 
-SET(CMAKE_CXX_FLAGS "-std=c++11 -fno-rtti -fno-exceptions -ffast-math -ffunction-sections -fdata-sections -Werror -ferror-limit=0 -Wall -Wextra -fstrict-aliasing -Wstrict-aliasing=2 -Weverything -Wno-documentation-deprecated-sync -Wno-documentation-unknown-command -Wno-float-equal -Wno-padded -Wno-weak-vtables -Wno-cast-align -Wno-conversion -Wno-missing-noreturn -Wno-missing-variable-declarations -Wno-shift-sign-overflow -Wno-covered-switch-default -Wno-exit-time-destructors -Wno-global-constructors -Wno-missing-prototypes -Wno-unreachable-code -Wno-unused-macros -Wno-unused-member-function -Wno-used-but-marked-unused -Wno-weak-template-vtables -Wno-deprecated -Wno-non-virtual-dtor -Wno-invalid-noreturn -Wno-return-type-c-linkage -Wno-reserved-id-macro -Wno-c++98-compat-pedantic -Wno-unused-local-typedef -Wno-old-style-cast -Wno-newline-eof -Wno-unused-private-field -Wno-undefined-reinterpret-cast -Wno-invalid-offsetof -gdwarf-2")
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fno-rtti -fno-exceptions -ffunction-sections -fdata-sections -Werror -ferror-limit=0 -Wall -Wextra -fstrict-aliasing -Wstrict-aliasing=2 -Weverything -Wno-documentation-deprecated-sync -Wno-documentation-unknown-command -Wno-float-equal -Wno-padded -Wno-weak-vtables -Wno-cast-align -Wno-conversion -Wno-missing-noreturn -Wno-missing-variable-declarations -Wno-shift-sign-overflow -Wno-covered-switch-default -Wno-exit-time-destructors -Wno-global-constructors -Wno-missing-prototypes -Wno-unreachable-code -Wno-unused-macros -Wno-unused-member-function -Wno-used-but-marked-unused -Wno-weak-template-vtables -Wno-deprecated -Wno-non-virtual-dtor -Wno-invalid-noreturn -Wno-return-type-c-linkage -Wno-reserved-id-macro -Wno-c++98-compat-pedantic -Wno-unused-local-typedef -Wno-old-style-cast -Wno-newline-eof -Wno-unused-private-field -Wno-undefined-reinterpret-cast -Wno-invalid-offsetof -gdwarf-2")
 
 SET(CMAKE_SHARED_LINKER_FLAGS "")
 
@@ -22,43 +22,6 @@ SET(CMAKE_CXX_FLAGS_CHECKED "-O3 -g")
 SET(CMAKE_CXX_FLAGS_PROFILE "-O3 -g")
 SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -g")
 
-SET(CMAKE_OSX_DEPLOYMENT_TARGET "")
-
-SET(CMAKE_OSX_ARCHITECTURES "armv7 armv7s arm64")
-
-SET(IOS_PLATFORM_LOCATION "iPhoneOS.platform")
-
-# Setup iOS developer location unless specified manually with CMAKE_IOS_DEVELOPER_ROOT
-EXEC_PROGRAM(/usr/bin/xcode-select ARGS -print-path OUTPUT_VARIABLE CMAKE_XCODE_DEVELOPER_DIR)
-SET(XCODE_ROOT "${CMAKE_XCODE_DEVELOPER_DIR}/Platforms/${IOS_PLATFORM_LOCATION}/Developer")
-IF(NOT DEFINED CMAKE_IOS_DEVELOPER_ROOT)
-	IF(EXISTS ${XCODE_ROOT})
-		SET(CMAKE_IOS_DEVELOPER_ROOT ${XCODE_ROOT})
-	ENDIF(EXISTS ${XCODE_ROOT})
-ENDIF(NOT DEFINED CMAKE_IOS_DEVELOPER_ROOT)
-SET(CMAKE_IOS_DEVELOPER_ROOT ${CMAKE_IOS_DEVELOPER_ROOT} CACHE PATH "Location of iOS Platform")
-
-# Find and use the most recent iOS sdk unless specified manually with CMAKE_IOS_SDK_ROOT
-IF(NOT DEFINED CMAKE_IOS_SDK_ROOT)
-	FILE(GLOB _CMAKE_IOS_SDKS "${CMAKE_IOS_DEVELOPER_ROOT}/SDKs/*")
-	IF(_CMAKE_IOS_SDKS) 
-		LIST(SORT _CMAKE_IOS_SDKS)
-		LIST(REVERSE _CMAKE_IOS_SDKS)
-		LIST(GET _CMAKE_IOS_SDKS 0 CMAKE_IOS_SDK_ROOT)
-	ELSE(_CMAKE_IOS_SDKS)
-		MESSAGE(FATAL_ERROR "No iOS SDK's found in default search path ${CMAKE_IOS_DEVELOPER_ROOT}. Manually set CMAKE_IOS_SDK_ROOT or install the iOS SDK.")
-	ENDIF(_CMAKE_IOS_SDKS)
-	MESSAGE(STATUS "Toolchain using default iOS SDK: ${CMAKE_IOS_SDK_ROOT}")
-ENDIF(NOT DEFINED CMAKE_IOS_SDK_ROOT)
-SET(CMAKE_IOS_SDK_ROOT ${CMAKE_IOS_SDK_ROOT} CACHE PATH "Location of the selected iOS SDK")
-
-# Set the sysroot default to the most recent SDK
-SET(CMAKE_OSX_SYSROOT ${CMAKE_IOS_SDK_ROOT} CACHE PATH "Sysroot used for iOS support")
-
-SET(CMAKE_XCODE_ATTRIBUTE_SUPPORTED_PLATFORMS "iphoneos")
-SET(CMAKE_XCODE_ATTRIBUTE_SDKROOT ${CMAKE_IOS_SDK_ROOT})
-SET(CMAKE_XCODE_ATTRIBUTE_IPHONEOS_DEPLOYMENT_TARGET "7.0")
-
 SET(PXSHARED_IOS_COMPILE_DEFS _LIB;DISABLE_CUDA_PHYSX;DISABLE_COMPUTE_PHYSX)
 SET(PXSHARED_IOS_DEBUG_COMPILE_DEFS _DEBUG;PX_DEBUG=1;PX_CHECKED=1)
 SET(PXSHARED_IOS_CHECKED_COMPILE_DEFS NDEBUG;PX_CHECKED=1)
diff --git a/PxShared/src/compiler/cmake/Linux/CMakeLists.txt b/PxShared/src/compiler/cmake/Linux/CMakeLists.txt
index ea25a8b..543a7b1 100644
--- a/PxShared/src/compiler/cmake/Linux/CMakeLists.txt
+++ b/PxShared/src/compiler/cmake/Linux/CMakeLists.txt
@@ -17,16 +17,18 @@ ENDIF()
 IF (${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "x86_64-unknown-linux-gnu" OR ${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "x86_64-linux-gnu")
 	IF ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
 	  # using Clang	  
-	  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fno-rtti -fno-exceptions -ffast-math -ffunction-sections -fdata-sections -Werror -ferror-limit=0 -Wall -Wextra -fstrict-aliasing -Wstrict-aliasing=2 -Weverything -Wno-documentation-deprecated-sync -Wno-documentation-unknown-command -Wno-float-equal -Wno-padded -Wno-weak-vtables -Wno-cast-align -Wno-conversion -Wno-missing-noreturn -Wno-missing-variable-declarations -Wno-shift-sign-overflow -Wno-covered-switch-default -Wno-exit-time-destructors -Wno-global-constructors -Wno-missing-prototypes -Wno-unreachable-code -Wno-unused-macros -Wno-unused-member-function -Wno-used-but-marked-unused -Wno-weak-template-vtables -Wno-deprecated -Wno-non-virtual-dtor -Wno-invalid-noreturn -Wno-return-type-c-linkage -Wno-reserved-id-macro -Wno-c++98-compat-pedantic -Wno-unused-local-typedef -Wno-old-style-cast -Wno-newline-eof -Wno-unused-private-field -Wno-undefined-func-template -Wno-format-nonliteral -Wno-implicit-fallthrough -Wno-undefined-reinterpret-cast -Wno-disabled-macro-expansion")
+	  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fno-rtti -fno-exceptions -ffunction-sections -fdata-sections -Werror -ferror-limit=0 -Wall -Wextra -fstrict-aliasing -Wstrict-aliasing=2 -Weverything -Wno-documentation-deprecated-sync -Wno-documentation-unknown-command -Wno-float-equal -Wno-padded -Wno-weak-vtables -Wno-cast-align -Wno-conversion -Wno-missing-noreturn -Wno-missing-variable-declarations -Wno-shift-sign-overflow -Wno-covered-switch-default -Wno-exit-time-destructors -Wno-global-constructors -Wno-missing-prototypes -Wno-unreachable-code -Wno-unused-macros -Wno-unused-member-function -Wno-used-but-marked-unused -Wno-weak-template-vtables -Wno-deprecated -Wno-non-virtual-dtor -Wno-invalid-noreturn -Wno-return-type-c-linkage -Wno-reserved-id-macro -Wno-c++98-compat-pedantic -Wno-unused-local-typedef -Wno-old-style-cast -Wno-newline-eof -Wno-unused-private-field -Wno-undefined-func-template -Wno-format-nonliteral -Wno-implicit-fallthrough -Wno-undefined-reinterpret-cast -Wno-disabled-macro-expansion -Wno-return-type-c-linkage")
 	ELSEIF ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
 	  # using GCC
 	  SET(LIBPATH_SUFFIX "x64")
-	  SET(CMAKE_CXX_FLAGS "-Werror -m64 -fPIC -msse2 -mfpmath=sse -ffast-math -fno-exceptions -fno-rtti -fvisibility=hidden -fvisibility-inlines-hidden -Wall -Wextra -fno-strict-aliasing -fdiagnostics-show-option -Wno-invalid-offsetof -Wno-uninitialized -Wno-missing-field-initializers")	  
+	  SET(CMAKE_CXX_FLAGS "-Werror -m64 -fPIC -msse2 -mfpmath=sse -fno-exceptions -fno-rtti -fvisibility=hidden -fvisibility-inlines-hidden -Wall -Wextra -fno-strict-aliasing -fdiagnostics-show-option -Wno-invalid-offsetof -Wno-uninitialized -Wno-missing-field-initializers")	  
 	ENDIF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")	
 ELSEIF(${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "arm-unknown-linux-gnueabihf")
-	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -mfpu=neon -fno-rtti -fno-exceptions -ffast-math -ffunction-sections -fdata-sections -Werror -ferror-limit=0 -Wall -Wextra -fstrict-aliasing -Wstrict-aliasing=2 -Weverything -Wno-documentation-deprecated-sync -Wno-documentation-unknown-command -Wno-float-equal -Wno-padded -Wno-weak-vtables -Wno-cast-align -Wno-conversion -Wno-missing-noreturn -Wno-missing-variable-declarations -Wno-shift-sign-overflow -Wno-covered-switch-default -Wno-exit-time-destructors -Wno-global-constructors -Wno-missing-prototypes -Wno-unreachable-code -Wno-unused-macros -Wno-unused-member-function -Wno-used-but-marked-unused -Wno-weak-template-vtables -Wno-deprecated -Wno-non-virtual-dtor -Wno-old-style-cast -Wno-return-type-c-linkage -Wno-format-nonliteral -Wno-implicit-fallthrough -Wno-disabled-macro-expansion")
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -mfpu=neon -fno-rtti -fno-exceptions -ffunction-sections -fdata-sections -Werror -ferror-limit=0 -Wall -Wextra -fstrict-aliasing -Wstrict-aliasing=2 -Weverything -Wno-documentation-deprecated-sync -Wno-documentation-unknown-command -Wno-float-equal -Wno-padded -Wno-weak-vtables -Wno-cast-align -Wno-conversion -Wno-missing-noreturn -Wno-missing-variable-declarations -Wno-shift-sign-overflow -Wno-covered-switch-default -Wno-exit-time-destructors -Wno-global-constructors -Wno-missing-prototypes -Wno-unreachable-code -Wno-unused-macros -Wno-unused-member-function -Wno-used-but-marked-unused -Wno-weak-template-vtables -Wno-deprecated -Wno-non-virtual-dtor -Wno-old-style-cast -Wno-return-type-c-linkage -Wno-format-nonliteral -Wno-implicit-fallthrough -Wno-disabled-macro-expansion -Wno-return-type-c-linkage")
 ELSEIF(${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "aarch64-unknown-linux-gnueabi")
-	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fno-rtti -fno-exceptions -ffast-math -ffunction-sections -fdata-sections -Werror -ferror-limit=0 -Wall -Wextra -fstrict-aliasing -Wstrict-aliasing=2 -Weverything -Wno-documentation-deprecated-sync -Wno-documentation-unknown-command -Wno-float-equal -Wno-padded -Wno-weak-vtables -Wno-cast-align -Wno-conversion -Wno-missing-noreturn -Wno-missing-variable-declarations -Wno-shift-sign-overflow -Wno-covered-switch-default -Wno-exit-time-destructors -Wno-global-constructors -Wno-missing-prototypes -Wno-unreachable-code -Wno-unused-macros -Wno-unused-member-function -Wno-used-but-marked-unused -Wno-weak-template-vtables -Wno-deprecated -Wno-non-virtual-dtor -Wno-old-style-cast -Wno-return-type-c-linkage -Wno-format-nonliteral -Wno-unused-local-typedef -Wno-implicit-fallthrough -Wno-disabled-macro-expansion")
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fno-rtti -fno-exceptions -ffunction-sections -fdata-sections -Werror -ferror-limit=0 -Wall -Wextra -fstrict-aliasing -Wstrict-aliasing=2 -Weverything -Wno-documentation-deprecated-sync -Wno-documentation-unknown-command -Wno-float-equal -Wno-padded -Wno-weak-vtables -Wno-cast-align -Wno-conversion -Wno-missing-noreturn -Wno-missing-variable-declarations -Wno-shift-sign-overflow -Wno-covered-switch-default -Wno-exit-time-destructors -Wno-global-constructors -Wno-missing-prototypes -Wno-unreachable-code -Wno-unused-macros -Wno-unused-member-function -Wno-used-but-marked-unused -Wno-weak-template-vtables -Wno-deprecated -Wno-non-virtual-dtor -Wno-old-style-cast -Wno-return-type-c-linkage -Wno-format-nonliteral -Wno-unused-local-typedef -Wno-implicit-fallthrough -Wno-disabled-macro-expansion -Wno-return-type-c-linkage")
+ELSEIF(${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "i686-unknown-linux-gnu")
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Xclang -malign-double -fpack-struct=16 -fno-rtti -fno-exceptions -ffunction-sections -fdata-sections -Werror -ferror-limit=0 -Wall -Wextra -fstrict-aliasing -Wstrict-aliasing=2 -Weverything -Wno-documentation-deprecated-sync -Wno-documentation-unknown-command -Wno-float-equal -Wno-padded -Wno-weak-vtables -Wno-cast-align -Wno-conversion -Wno-missing-noreturn -Wno-missing-variable-declarations -Wno-shift-sign-overflow -Wno-covered-switch-default -Wno-exit-time-destructors -Wno-global-constructors -Wno-missing-prototypes -Wno-unreachable-code -Wno-unused-macros -Wno-unused-member-function -Wno-used-but-marked-unused -Wno-weak-template-vtables -Wno-deprecated -Wno-non-virtual-dtor -Wno-invalid-noreturn -Wno-return-type-c-linkage -Wno-reserved-id-macro -Wno-c++98-compat-pedantic -Wno-unused-local-typedef -Wno-old-style-cast -Wno-newline-eof -Wno-unused-private-field -Wno-undefined-reinterpret-cast -Wno-undefined-func-template -Wno-double-promotion -Wno-return-type-c-linkage")
 ELSE(${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "x86_64-unknown-linux-gnu" OR ${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "x86_64-linux-gnu")
 	MESSAGE(FATAL_ERROR "Unknown CMAKE_LIBRARY_ARCHITECTURE ${CMAKE_LIBRARY_ARCHITECTURE}")
 ENDIF(${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "x86_64-unknown-linux-gnu" OR ${CMAKE_LIBRARY_ARCHITECTURE} STREQUAL "x86_64-linux-gnu")
diff --git a/PxShared/src/foundation/include/PsArray.h b/PxShared/src/foundation/include/PsArray.h
index 8433fbe..2121c30 100644
--- a/PxShared/src/foundation/include/PsArray.h
+++ b/PxShared/src/foundation/include/PsArray.h
@@ -35,17 +35,6 @@
 #include "PsAllocator.h"
 #include "PsBasicTemplates.h"
 
-#if PX_LIBCPP
-#include <type_traits>
-#else
-#include <tr1/type_traits>
-#endif
-
-#if PX_VC == 9 || PX_VC == 10
-#pragma warning(push)
-#pragma warning(disable : 4347) // behavior change: 'function template' is called instead of 'function'
-#endif
-
 namespace physx
 {
 namespace shdfnd
@@ -158,15 +147,6 @@ class Array : protected Alloc
 		return operator=<Alloc>(t);
 	}
 
-	PX_FORCE_INLINE static bool isArrayOfPOD()
-	{
-#if PX_LIBCPP
-		return std::is_trivially_copyable<T>::value;
-#else
-		return std::tr1::is_pod<T>::value;
-#endif
-	}
-
 	/*!
 	Array indexing operator.
 	\param i
@@ -338,14 +318,7 @@ class Array : protected Alloc
 		PX_ASSERT(mSize);
 		T t = mData[mSize - 1];
 
-		if(!isArrayOfPOD())
-		{
-			mData[--mSize].~T();
-		}
-		else
-		{
-			--mSize;
-		}
+		mData[--mSize].~T();
 
 		return t;
 	}
@@ -379,10 +352,7 @@ class Array : protected Alloc
 		PX_ASSERT(i < mSize);
 		mData[i] = mData[--mSize];
 
-		if(!isArrayOfPOD())
-		{
-			mData[mSize].~T();
-		}
+		mData[mSize].~T();
 	}
 
 	PX_INLINE void replaceWithLast(Iterator i)
@@ -424,24 +394,14 @@ class Array : protected Alloc
 	{
 		PX_ASSERT(i < mSize);
 
-		if(isArrayOfPOD())
-		{
-			if(i + 1 != mSize)
-			{
-				physx::intrinsics::memMove(mData + i, mData + i + 1, (mSize - i - 1) * sizeof(T));
-			}
-		}
-		else
-		{
-			T* it = mData + i;
+		T* it = mData + i;
+		it->~T();
+		while (++i < mSize)
+		{								
+			new (it) T(mData[i]);
+			++it;
 			it->~T();
-			while (++i < mSize)
-			{								
-				new (it) T(mData[i]);
-				++it;
-				it->~T();
-			} 
-		}
+		} 
 		--mSize;
 	}
 
@@ -460,31 +420,19 @@ class Array : protected Alloc
 		PX_ASSERT(begin < mSize);
 		PX_ASSERT((begin + count) <= mSize);
 
-		if(!isArrayOfPOD())
-		{
-			for(uint32_t i = 0; i < count; i++)
-			{
-				mData[begin + i].~T(); // call the destructor on the ones being removed first.
-			}
-		}
+		for(uint32_t i = 0; i < count; i++)
+			mData[begin + i].~T(); // call the destructor on the ones being removed first.
 
 		T* dest = &mData[begin];                       // location we are copying the tail end objects to
 		T* src = &mData[begin + count];                // start of tail objects
 		uint32_t move_count = mSize - (begin + count); // compute remainder that needs to be copied down
 
-		if(isArrayOfPOD())
-		{
-			physx::intrinsics::memMove(dest, src, move_count * sizeof(T));
-		}
-		else
+		for(uint32_t i = 0; i < move_count; i++)
 		{
-			for(uint32_t i = 0; i < move_count; i++)
-			{
-				new (dest) T(*src); // copy the old one to the new location
-				src->~T();          // call the destructor on the old location
-				dest++;
-				src++;
-			}
+			new (dest) T(*src); // copy the old one to the new location
+			src->~T();          // call the destructor on the old location
+			dest++;
+			src++;
 		}
 		mSize -= count;
 	}
@@ -624,29 +572,10 @@ definition for serialized classes is complete in checked builds.
 		Alloc::deallocate(mem);
 	}
 
-	static PX_INLINE bool isZeroInit(const T& object)
-	{
-		if (!isArrayOfPOD())
-			return false;
-		char ZeroBuffOnStack[sizeof(object)] = {};
-		// bgaldrikian - casting to void* to avoid compiler error:
-		// error : first operand of this 'memcmp' call is a pointer to dynamic class [...]; vtable pointer will be compared [-Werror,-Wdynamic-class-memaccess]
-		// even though POD check prevents memcmp from being used on a dynamic class
-		return memcmp(reinterpret_cast<const void*>(&object), ZeroBuffOnStack, sizeof(object)) == 0;
-	}
-
 	static PX_INLINE void create(T* first, T* last, const T& a)
 	{
-		if(isZeroInit(a))
-		{
-			if(last > first)
-				physx::intrinsics::memZero(first, uint32_t((last - first) * sizeof(T)));
-		}
-		else
-		{
-			for(; first < last; ++first)
-				::new (first) T(a);
-		}
+		for(; first < last; ++first)
+			::new (first) T(a);
 	}
 
 	static PX_INLINE void copy(T* first, T* last, const T* src)
@@ -654,24 +583,14 @@ definition for serialized classes is complete in checked builds.
 		if(last <= first)
 			return;
 
-		if(isArrayOfPOD())
-		{
-			physx::intrinsics::memCopy(first, src, uint32_t((last - first) * sizeof(T)));
-		}
-		else
-		{
-			for(; first < last; ++first, ++src)
-				::new (first) T(*src);
-		}
+		for(; first < last; ++first, ++src)
+			::new (first) T(*src);
 	}
 
 	static PX_INLINE void destroy(T* first, T* last)
 	{
-		if(!isArrayOfPOD())
-		{
-			for(; first < last; ++first)
-				first->~T();
-		}
+		for(; first < last; ++first)
+			first->~T();
 	}
 
 	/*!
@@ -799,8 +718,4 @@ PX_INLINE void swap(Array<T, Alloc>& x, Array<T, Alloc>& y)
 } // namespace shdfnd
 } // namespace physx
 
-#if PX_VC == 9 || PX_VC == 10
-#pragma warning(pop)
-#endif
-
 #endif // #ifndef PSFOUNDATION_PSARRAY_H
diff --git a/PxShared/src/foundation/include/PsMathUtils.h b/PxShared/src/foundation/include/PsMathUtils.h
index 794419b..789cf3f 100644
--- a/PxShared/src/foundation/include/PsMathUtils.h
+++ b/PxShared/src/foundation/include/PsMathUtils.h
@@ -493,9 +493,6 @@ PX_FORCE_INLINE void normalToTangents(const PxVec3& normal, PxVec3& tangent0, Px
 	tangent1 = normal.cross(tangent0);
 }
 
-// todo: what is this function doing?
-PX_FOUNDATION_API PxQuat computeQuatFromNormal(const PxVec3& n);
-
 /**
 \brief computes a oriented bounding box around the scaled basis.
 \param basis Input = skewed basis, Output = (normalized) orthogonal basis.
diff --git a/PxShared/src/foundation/include/PsMutex.h b/PxShared/src/foundation/include/PsMutex.h
index 7c93796..23033d0 100644
--- a/PxShared/src/foundation/include/PsMutex.h
+++ b/PxShared/src/foundation/include/PsMutex.h
@@ -82,7 +82,7 @@ class PX_FOUNDATION_API MutexImpl
 	/**
 	Size of this class.
 	*/
-	static const uint32_t& getSize();
+	static uint32_t getSize();
 };
 
 template <typename Alloc = ReflectionAllocator<MutexImpl> >
diff --git a/PxShared/src/foundation/include/PsSList.h b/PxShared/src/foundation/include/PsSList.h
index f811c37..961010b 100644
--- a/PxShared/src/foundation/include/PsSList.h
+++ b/PxShared/src/foundation/include/PsSList.h
@@ -91,7 +91,7 @@ struct PX_FOUNDATION_API SListImpl
 	void push(SListEntry* entry);
 	SListEntry* pop();
 	SListEntry* flush();
-	static const uint32_t& getSize();
+	static uint32_t getSize();
 };
 
 template <typename Alloc = ReflectionAllocator<SListImpl> >
diff --git a/PxShared/src/foundation/include/PsSync.h b/PxShared/src/foundation/include/PsSync.h
index 8b99731..1fd72f5 100644
--- a/PxShared/src/foundation/include/PsSync.h
+++ b/PxShared/src/foundation/include/PsSync.h
@@ -70,9 +70,9 @@ class PX_FOUNDATION_API SyncImpl
 	void reset();
 
 	/**
-   Size of this class.
-   */
-	static const uint32_t& getSize();
+	Size of this class.
+	*/
+	static uint32_t getSize();
 };
 
 /*!
diff --git a/PxShared/src/foundation/include/PsThread.h b/PxShared/src/foundation/include/PsThread.h
index 4e7c104..ec9f999 100644
--- a/PxShared/src/foundation/include/PsThread.h
+++ b/PxShared/src/foundation/include/PsThread.h
@@ -206,9 +206,9 @@ class PX_FOUNDATION_API ThreadImpl
 	static uint32_t getNbPhysicalCores();
 
 	/**
-   Size of this class.
-   */
-	static const uint32_t& getSize();
+	Size of this class.
+	*/
+	static uint32_t getSize();
 };
 
 /**
diff --git a/PxShared/src/foundation/include/PsUtilities.h b/PxShared/src/foundation/include/PsUtilities.h
index 32fe4ec..cd0f200 100644
--- a/PxShared/src/foundation/include/PsUtilities.h
+++ b/PxShared/src/foundation/include/PsUtilities.h
@@ -122,7 +122,7 @@ PX_CUDA_CALLABLE PX_FORCE_INLINE void order(T& x, T& y, E1& xe1, E1& ye1)
 	}
 }
 
-#if PX_GCC_FAMILY && !PX_EMSCRIPTEN
+#if PX_GCC_FAMILY && !PX_EMSCRIPTEN && !PX_LINUX
 __attribute__((noreturn))
 #endif
     PX_INLINE void debugBreak()
@@ -132,7 +132,11 @@ __attribute__((noreturn))
 #elif PX_ANDROID
 	raise(SIGTRAP); // works better than __builtin_trap. Proper call stack and can be continued.
 #elif PX_LINUX
-	asm("int $3");
+	#if (PX_X64 || PX_X64)
+		asm("int $3");
+	#else
+		raise(SIGTRAP);
+	#endif
 #elif PX_GCC_FAMILY
 	__builtin_trap();
 #else
diff --git a/PxShared/src/foundation/include/PsVecMathAoSScalar.h b/PxShared/src/foundation/include/PsVecMathAoSScalar.h
index beb6cdc..b7fe8e4 100644
--- a/PxShared/src/foundation/include/PsVecMathAoSScalar.h
+++ b/PxShared/src/foundation/include/PsVecMathAoSScalar.h
@@ -34,9 +34,6 @@
 #error Scalar version should not be included when using vector intrinsics.
 #endif
 
-// Remove this define when all platforms use simd solver.
-#define PX_SUPPORT_SIMD
-
 struct VecI16V;
 struct VecU16V;
 struct VecI32V;
diff --git a/PxShared/src/foundation/include/unix/PsUnixInlineAoS.h b/PxShared/src/foundation/include/unix/PsUnixInlineAoS.h
index e54f2c8..74002d5 100644
--- a/PxShared/src/foundation/include/unix/PsUnixInlineAoS.h
+++ b/PxShared/src/foundation/include/unix/PsUnixInlineAoS.h
@@ -34,9 +34,6 @@
 #error Vector intrinsics should not be included when using scalar implementation.
 #endif
 
-// Remove this define when all platforms use simd solver.
-#define PX_SUPPORT_SIMD
-
 #if PX_INTEL_FAMILY
 #include "sse2/PsUnixSse2InlineAoS.h"
 #elif PX_NEON
diff --git a/PxShared/src/foundation/include/unix/PsUnixIntrinsics.h b/PxShared/src/foundation/include/unix/PsUnixIntrinsics.h
index 4c6c892..e15b3b5 100644
--- a/PxShared/src/foundation/include/unix/PsUnixIntrinsics.h
+++ b/PxShared/src/foundation/include/unix/PsUnixIntrinsics.h
@@ -34,7 +34,7 @@
 #include "foundation/PxAssert.h"
 #include <math.h>
 
-#if PX_ANDROID
+#if PX_ANDROID || (PX_LINUX && !(PX_X64 || PX_X64)) // x86[_64] Linux uses inline assembly for debug break
 #include <signal.h> // for Ns::debugBreak() { raise(SIGTRAP); }
 #endif
 
diff --git a/PxShared/src/foundation/include/unix/neon/PsUnixNeonInlineAoS.h b/PxShared/src/foundation/include/unix/neon/PsUnixNeonInlineAoS.h
index a97f821..4df3ff6 100644
--- a/PxShared/src/foundation/include/unix/neon/PsUnixNeonInlineAoS.h
+++ b/PxShared/src/foundation/include/unix/neon/PsUnixNeonInlineAoS.h
@@ -53,9 +53,6 @@
 
 #define VECMATH_AOS_EPSILON (1e-3f)
 
-// Remove this define when all platforms use simd solver.
-#define PX_SUPPORT_SIMD
-
 //////////////////////////////////////////////////////////////////////
 //Test that Vec3V and FloatV are legal
 //////////////////////////////////
diff --git a/PxShared/src/foundation/include/unix/sse2/PsUnixSse2InlineAoS.h b/PxShared/src/foundation/include/unix/sse2/PsUnixSse2InlineAoS.h
index 0355538..cdb20fa 100644
--- a/PxShared/src/foundation/include/unix/sse2/PsUnixSse2InlineAoS.h
+++ b/PxShared/src/foundation/include/unix/sse2/PsUnixSse2InlineAoS.h
@@ -34,9 +34,6 @@
 #error Vector intrinsics should not be included when using scalar implementation.
 #endif
 
-// Remove this define when all platforms use simd solver.
-#define PX_SUPPORT_SIMD
-
 #ifdef __SSE4_2__
 #include "smmintrin.h"
 #endif
diff --git a/PxShared/src/foundation/include/windows/PsWindowsInlineAoS.h b/PxShared/src/foundation/include/windows/PsWindowsInlineAoS.h
index 14a311f..5fd1b8d 100644
--- a/PxShared/src/foundation/include/windows/PsWindowsInlineAoS.h
+++ b/PxShared/src/foundation/include/windows/PsWindowsInlineAoS.h
@@ -34,9 +34,6 @@
 #error Vector intrinsics should not be included when using scalar implementation.
 #endif
 
-// Remove this define when all platforms use simd solver.
-#define PX_SUPPORT_SIMD
-
 #include "../PsVecMathSSE.h"
 
 //////////////////////////////////////////////////////////////////////
diff --git a/PxShared/src/foundation/src/PsString.cpp b/PxShared/src/foundation/src/PsString.cpp
index adb29d6..8204051 100644
--- a/PxShared/src/foundation/src/PsString.cpp
+++ b/PxShared/src/foundation/src/PsString.cpp
@@ -37,7 +37,7 @@
 #pragma warning(disable : 4996) // unsafe string functions
 #endif
 
-#if PX_PS4 || PX_APPLE_FAMILY
+#if PX_PS4 || PX_APPLE_FAMILY || (PX_LINUX && PX_X86 && PX_CLANG)
 #pragma clang diagnostic push
 // error : format string is not a string literal
 #pragma clang diagnostic ignored "-Wformat-nonliteral"
@@ -176,7 +176,7 @@ void printFormatted(const char* format, ...)
 }
 }
 
-#if PX_PS4 || PX_APPLE_FAMILY
+#if PX_PS4 || PX_APPLE_FAMILY || (PX_LINUX && PX_X86 && PX_CLANG)
 #pragma clang diagnostic pop
 #endif
 
diff --git a/PxShared/src/foundation/src/unix/PsUnixMutex.cpp b/PxShared/src/foundation/src/unix/PsUnixMutex.cpp
index 092ec1e..23b6549 100644
--- a/PxShared/src/foundation/src/unix/PsUnixMutex.cpp
+++ b/PxShared/src/foundation/src/unix/PsUnixMutex.cpp
@@ -113,10 +113,9 @@ void MutexImpl::unlock()
 	PX_UNUSED(err);
 }
 
-const uint32_t gSize = sizeof(MutexUnixImpl);
-const uint32_t& MutexImpl::getSize()
+uint32_t MutexImpl::getSize()
 {
-	return gSize;
+	return sizeof(MutexUnixImpl);
 }
 
 class ReadWriteLockImpl
diff --git a/PxShared/src/foundation/src/unix/PsUnixSList.cpp b/PxShared/src/foundation/src/unix/PsUnixSList.cpp
index 5dd8ac3..c2da1bb 100644
--- a/PxShared/src/foundation/src/unix/PsUnixSList.cpp
+++ b/PxShared/src/foundation/src/unix/PsUnixSList.cpp
@@ -147,11 +147,9 @@ SListEntry* SListImpl::flush()
 	return result;
 }
 
-static const uint32_t gSize = sizeof(SListDetail);
-
-const uint32_t& SListImpl::getSize()
+uint32_t SListImpl::getSize()
 {
-	return gSize;
+	return sizeof(SListDetail);
 }
 
 } // namespace shdfnd
diff --git a/PxShared/src/foundation/src/unix/PsUnixSync.cpp b/PxShared/src/foundation/src/unix/PsUnixSync.cpp
index aedbbe0..a488743 100644
--- a/PxShared/src/foundation/src/unix/PsUnixSync.cpp
+++ b/PxShared/src/foundation/src/unix/PsUnixSync.cpp
@@ -61,10 +61,9 @@ _SyncImpl* getSync(SyncImpl* impl)
 }
 }
 
-static const uint32_t gSize = sizeof(_SyncImpl);
-const uint32_t& SyncImpl::getSize()
+uint32_t SyncImpl::getSize()
 {
-	return gSize;
+	return sizeof(_SyncImpl);
 }
 
 struct PxUnixScopeLock
diff --git a/PxShared/src/foundation/src/unix/PsUnixThread.cpp b/PxShared/src/foundation/src/unix/PsUnixThread.cpp
index cb369e0..749ae1d 100644
--- a/PxShared/src/foundation/src/unix/PsUnixThread.cpp
+++ b/PxShared/src/foundation/src/unix/PsUnixThread.cpp
@@ -135,10 +135,9 @@ void* PxThreadStart(void* arg)
 }
 }
 
-static const uint32_t gSize = sizeof(_ThreadImpl);
-const uint32_t& ThreadImpl::getSize()
+uint32_t ThreadImpl::getSize()
 {
-	return gSize;
+	return sizeof(_ThreadImpl);
 }
 
 ThreadImpl::Id ThreadImpl::getId()
@@ -314,10 +313,16 @@ uint32_t ThreadImpl::setAffinityMask(uint32_t mask)
 	return uint32_t(prevMask);
 }
 
+#if PX_PS4
+int32_t setNamePS4(pthread_t, const char*);
+#endif
+
 void ThreadImpl::setName(const char* name)
 {
-#if(defined(ANDROID) && (__ANDROID_API__ > 8))
+#if (defined(ANDROID) && (__ANDROID_API__ > 8))
 	pthread_setname_np(getThread(this)->thread, name);
+#elif PX_PS4
+	setNamePS4(getThread(this)->thread, name);
 #else
 	// not implemented because most unix APIs expect setName()
 	// to be called from the thread's context. Example see next comment:
diff --git a/PxShared/src/foundation/src/windows/PsWindowsMutex.cpp b/PxShared/src/foundation/src/windows/PsWindowsMutex.cpp
index 6174b96..e62de47 100644
--- a/PxShared/src/foundation/src/windows/PsWindowsMutex.cpp
+++ b/PxShared/src/foundation/src/windows/PsWindowsMutex.cpp
@@ -99,11 +99,9 @@ void MutexImpl::unlock()
 	LeaveCriticalSection(&getMutex(this)->mLock);
 }
 
-static const uint32_t gSize = sizeof(MutexWinImpl);
-
-const uint32_t& MutexImpl::getSize()
+uint32_t MutexImpl::getSize()
 {
-	return gSize;
+	return sizeof(MutexWinImpl);
 }
 
 class ReadWriteLockImpl
diff --git a/PxShared/src/foundation/src/windows/PsWindowsSList.cpp b/PxShared/src/foundation/src/windows/PsWindowsSList.cpp
index 146785e..5e57b8f 100644
--- a/PxShared/src/foundation/src/windows/PsWindowsSList.cpp
+++ b/PxShared/src/foundation/src/windows/PsWindowsSList.cpp
@@ -68,11 +68,9 @@ SListEntry* SListImpl::flush()
 	return reinterpret_cast<SListEntry*>(InterlockedFlushSList(getDetail(this)));
 }
 
-static const uint32_t gSize = sizeof(SLIST_HEADER);
-
-const uint32_t& SListImpl::getSize()
+uint32_t SListImpl::getSize()
 {
-	return gSize;
+	return sizeof(SLIST_HEADER);
 }
 
 } // namespace shdfnd
diff --git a/PxShared/src/foundation/src/windows/PsWindowsSocket.cpp b/PxShared/src/foundation/src/windows/PsWindowsSocket.cpp
index bd253b9..8654a7e 100644
--- a/PxShared/src/foundation/src/windows/PsWindowsSocket.cpp
+++ b/PxShared/src/foundation/src/windows/PsWindowsSocket.cpp
@@ -95,8 +95,8 @@ class SocketImpl
 SocketImpl::SocketImpl(bool isBlocking)
 : mSocket(INVALID_SOCKET)
 , mListenSocket(INVALID_SOCKET)
-, mPort(0)
 , mHost(NULL)
+, mPort(0)
 , mIsConnected(false)
 , mIsBlocking(isBlocking)
 , mListenMode(false)
diff --git a/PxShared/src/foundation/src/windows/PsWindowsSync.cpp b/PxShared/src/foundation/src/windows/PsWindowsSync.cpp
index 5ce8122..81ae0e5 100644
--- a/PxShared/src/foundation/src/windows/PsWindowsSync.cpp
+++ b/PxShared/src/foundation/src/windows/PsWindowsSync.cpp
@@ -44,10 +44,9 @@ HANDLE& getSync(SyncImpl* impl)
 }
 }
 
-static const uint32_t gSize = sizeof(HANDLE);
-const uint32_t& SyncImpl::getSize()
+uint32_t SyncImpl::getSize()
 {
-	return gSize;
+	return sizeof(HANDLE);
 }
 
 SyncImpl::SyncImpl()
diff --git a/PxShared/src/foundation/src/windows/PsWindowsThread.cpp b/PxShared/src/foundation/src/windows/PsWindowsThread.cpp
index 18ad5ee..9c5728a 100644
--- a/PxShared/src/foundation/src/windows/PsWindowsThread.cpp
+++ b/PxShared/src/foundation/src/windows/PsWindowsThread.cpp
@@ -104,10 +104,9 @@ DWORD WINAPI PxThreadStart(LPVOID arg)
 uint32_t gPhysicalCoreCount = 0;
 }
 
-static const uint32_t gSize = sizeof(_ThreadImpl);
-const uint32_t& ThreadImpl::getSize()
+uint32_t ThreadImpl::getSize()
 {
-	return gSize;
+	return sizeof(_ThreadImpl);
 }
 
 ThreadImpl::Id ThreadImpl::getId()
diff --git a/PxShared/src/pvd/src/PxProfileEvents.h b/PxShared/src/pvd/src/PxProfileEvents.h
index 25f09d7..c8a9989 100644
--- a/PxShared/src/pvd/src/PxProfileEvents.h
+++ b/PxShared/src/pvd/src/PxProfileEvents.h
@@ -103,7 +103,7 @@ namespace physx { namespace profile {
 		};
 	};
 
-#if (PX_PS4) || (PX_APPLE_FAMILY)
+#if (PX_PS4) || (PX_APPLE_FAMILY) || (PX_LINUX && PX_X86 && PX_CLANG)
 #pragma clang diagnostic push
 #pragma clang diagnostic ignored "-Wimplicit-fallthrough"
 #endif
@@ -162,7 +162,7 @@ namespace physx { namespace profile {
 		return EventStreamCompressionFlags::U32;
 	}
 
-#if (PX_PS4) || (PX_APPLE_FAMILY)
+#if (PX_PS4) || (PX_APPLE_FAMILY) || (PX_LINUX && PX_X86 && PX_CLANG)
 #pragma clang diagnostic pop
 #endif
 
diff --git a/PxShared/src/task/src/TaskManager.cpp b/PxShared/src/task/src/TaskManager.cpp
index c6210bd..1551216 100644
--- a/PxShared/src/task/src/TaskManager.cpp
+++ b/PxShared/src/task/src/TaskManager.cpp
@@ -694,7 +694,7 @@ bool PxTaskMgr::dispatchTask( PxTaskID taskID, bool gpuGroupStart )
         break;
     }
 
-    tt.mType = PxTaskType::TT_COMPLETED;
+	mTaskTable[taskID].mType = PxTaskType::TT_COMPLETED;
     return gpuGroupStart;
 }