Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

7 files changed, 694 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/common/GuBarycentricCoordinates.cpp b/PhysX_3.4/Source/GeomUtils/src/common/GuBarycentricCoordinates.cpp
new file mode 100644
index 00000000..c7972a98
--- /dev/null
+++ b/PhysX_3.4/Source/GeomUtils/src/common/GuBarycentricCoordinates.cpp
@@ -0,0 +1,87 @@
+// 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) 2008-2016 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+
+
+#include "GuBarycentricCoordinates.h"
+
+using namespace physx;
+using namespace Ps::aos;
+
+void Gu::barycentricCoordinates(const Vec3VArg p, const Vec3VArg a, const Vec3VArg b, FloatV& v)
+{
+	const Vec3V v0 = V3Sub(a, p);
+	const Vec3V v1 = V3Sub(b, p);
+	const Vec3V d = V3Sub(v1, v0);
+	const FloatV denominator = V3Dot(d, d);
+	const FloatV numerator = V3Dot(V3Neg(v0), d);
+	v = FDiv(numerator, denominator);
+}
+
+void Gu::barycentricCoordinates(const Ps::aos::Vec3VArg p, const Ps::aos::Vec3VArg a, const Ps::aos::Vec3VArg b, const Ps::aos::Vec3VArg c, Ps::aos::FloatV& v, Ps::aos::FloatV& w)
+{
+	const Vec3V ab = V3Sub(b, a);
+	const Vec3V ac = V3Sub(c, a);
+
+	const Vec3V n = V3Cross(ab, ac);
+
+	const VecCrossV crossA = V3PrepareCross(V3Sub(a, p));
+	const VecCrossV crossB = V3PrepareCross(V3Sub(b, p));
+	const VecCrossV crossC = V3PrepareCross(V3Sub(c, p));
+	const Vec3V bCrossC = V3Cross(crossB, crossC);
+	const Vec3V cCrossA = V3Cross(crossC, crossA);
+	const Vec3V aCrossB = V3Cross(crossA, crossB);
+
+	const FloatV va = V3Dot(n, bCrossC);//edge region of BC, signed area rbc, u = S(rbc)/S(abc) for a
+	const FloatV vb = V3Dot(n, cCrossA);//edge region of AC, signed area rac, v = S(rca)/S(abc) for b
+	const FloatV vc = V3Dot(n, aCrossB);//edge region of AB, signed area rab, w = S(rab)/S(abc) for c
+	const FloatV totalArea =FAdd(va, FAdd(vb, vc));
+	const FloatV zero = FZero();
+	const FloatV denom = FSel(FIsEq(totalArea, zero), zero, FRecip(totalArea));
+	v = FMul(vb, denom);
+	w = FMul(vc, denom);
+	
+}
+
+/*
+	v0 = b - a;
+	v1 = c - a;
+	v2 = p - a;
+*/
+void Gu::barycentricCoordinates(const Vec3VArg v0, const Vec3VArg v1, const Vec3VArg v2, FloatV& v, FloatV& w)
+{
+	const FloatV d00 = V3Dot(v0, v0);
+	const FloatV d01 = V3Dot(v0, v1);
+	const FloatV d11 = V3Dot(v1, v1);
+	const FloatV d20 = V3Dot(v2, v0);
+	const FloatV d21 = V3Dot(v2, v1);
+	const FloatV denom = FRecip(FSub(FMul(d00,d11), FMul(d01, d01)));
+	v = FMul(FSub(FMul(d11, d20), FMul(d01, d21)), denom);
+	w = FMul(FSub(FMul(d00, d21), FMul(d01, d20)), denom);
+}
+
diff --git a/PhysX_3.4/Source/GeomUtils/src/common/GuBarycentricCoordinates.h b/PhysX_3.4/Source/GeomUtils/src/common/GuBarycentricCoordinates.h
new file mode 100644
index 00000000..fb4178af
--- /dev/null
+++ b/PhysX_3.4/Source/GeomUtils/src/common/GuBarycentricCoordinates.h
@@ -0,0 +1,93 @@
+// 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) 2008-2016 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 GU_BARYCENTRIC_COORDINATES_H
+#define GU_BARYCENTRIC_COORDINATES_H
+
+#include "PxPhysXCommonConfig.h"
+#include "CmPhysXCommon.h"
+#include "PsVecMath.h"
+
+namespace physx
+{
+namespace Gu
+{
+	//calculate the barycentric coorinates for a point in a segment
+	void barycentricCoordinates(const Ps::aos::Vec3VArg p, 
+		const Ps::aos::Vec3VArg a, 
+		const Ps::aos::Vec3VArg b, 
+		Ps::aos::FloatV& v);
+
+	//calculate the barycentric coorinates for a point in a triangle
+	void barycentricCoordinates(const Ps::aos::Vec3VArg p, 
+		const Ps::aos::Vec3VArg a, 
+		const Ps::aos::Vec3VArg b, 
+		const Ps::aos::Vec3VArg c, 
+		Ps::aos::FloatV& v, 
+		Ps::aos::FloatV& w);
+
+	void barycentricCoordinates(const Ps::aos::Vec3VArg v0, 
+		const Ps::aos::Vec3VArg v1, 
+		const Ps::aos::Vec3VArg v2,  
+		Ps::aos::FloatV& v, 
+		Ps::aos::FloatV& w);
+
+	PX_INLINE Ps::aos::BoolV isValidTriangleBarycentricCoord(const Ps::aos::FloatVArg v, const Ps::aos::FloatVArg w)
+	{
+		using namespace Ps::aos;
+		const FloatV zero = FNeg(FEps());
+		const FloatV one = FAdd(FOne(), FEps());
+
+		const BoolV con0 = BAnd(FIsGrtrOrEq(v, zero), FIsGrtrOrEq(one, v));
+		const BoolV con1 = BAnd(FIsGrtrOrEq(w, zero), FIsGrtrOrEq(one, w));
+		const BoolV con2 = FIsGrtr(one, FAdd(v, w));
+		return BAnd(con0, BAnd(con1, con2));
+	}
+
+	PX_INLINE Ps::aos::BoolV isValidTriangleBarycentricCoord2(const Ps::aos::Vec4VArg vwvw)
+	{
+		using namespace Ps::aos;
+		const Vec4V eps = V4Splat(FEps());
+		const Vec4V zero =V4Neg(eps);
+		const Vec4V one = V4Add(V4One(), eps);
+
+		const Vec4V v0v1v0v1 = V4PermXZXZ(vwvw);
+		const Vec4V w0w1w0w1 = V4PermYWYW(vwvw);
+
+		const BoolV con0 = BAnd(V4IsGrtrOrEq(v0v1v0v1, zero), V4IsGrtrOrEq(one, v0v1v0v1));
+		const BoolV con1 = BAnd(V4IsGrtrOrEq(w0w1w0w1, zero), V4IsGrtrOrEq(one, w0w1w0w1));
+		const BoolV con2 = V4IsGrtr(one, V4Add(v0v1v0v1, w0w1w0w1));
+		return BAnd(con0, BAnd(con1, con2));
+	}
+
+} // namespace Gu
+
+}
+
+#endif
diff --git a/PhysX_3.4/Source/GeomUtils/src/common/GuBoxConversion.h b/PhysX_3.4/Source/GeomUtils/src/common/GuBoxConversion.h
new file mode 100644
index 00000000..e125e682
--- /dev/null
+++ b/PhysX_3.4/Source/GeomUtils/src/common/GuBoxConversion.h
@@ -0,0 +1,121 @@
+// 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) 2008-2016 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 GU_BOX_CONVERSION_H
+#define GU_BOX_CONVERSION_H
+
+#include "GuBox.h"
+#include "PsMathUtils.h"
+#include "CmMatrix34.h"
+#include "PsVecMath.h"
+
+namespace physx
+{
+	// PT: builds rot from quat. WARNING: writes 4 bytes after 'dst.rot'.
+	PX_FORCE_INLINE void buildFrom(Gu::Box& dst, const PxQuat& q)
+	{
+		using namespace Ps::aos;
+		const QuatV qV = V4LoadU(&q.x);
+		Vec3V column0, column1, column2;
+		QuatGetMat33V(qV, column0, column1, column2);
+		// PT: TODO: investigate if these overlapping stores are a problem
+		V4StoreU(Vec4V_From_Vec3V(column0), &dst.rot.column0.x);
+		V4StoreU(Vec4V_From_Vec3V(column1), &dst.rot.column1.x);
+		V4StoreU(Vec4V_From_Vec3V(column2), &dst.rot.column2.x);
+	}
+
+	PX_FORCE_INLINE void buildFrom(Gu::Box& dst, const PxVec3& center, const PxVec3& extents, const PxQuat& q)
+	{
+		using namespace Ps::aos;
+		// PT: writes 4 bytes after 'rot' but it's safe since we then write 'center' just afterwards
+		buildFrom(dst, q);
+		dst.center	= center;
+		dst.extents	= extents;
+	}
+
+	PX_FORCE_INLINE void buildMatrixFromBox(Cm::Matrix34& mat34, const Gu::Box& box)
+	{
+		mat34.m	= box.rot;
+		mat34.p	= box.center;
+	}
+
+	// SD: function is now the same as FastVertex2ShapeScaling::transformQueryBounds
+	// PT: lots of LHS in that one. TODO: revisit...
+	PX_INLINE Gu::Box transform(const Cm::Matrix34& transfo, const Gu::Box& box)
+	{
+		Gu::Box ret;
+		PxMat33& obbBasis = ret.rot;
+
+		obbBasis.column0 = transfo.rotate(box.rot.column0 * box.extents.x);
+		obbBasis.column1 = transfo.rotate(box.rot.column1 * box.extents.y);
+		obbBasis.column2 = transfo.rotate(box.rot.column2 * box.extents.z);
+
+		ret.center = transfo.transform(box.center);
+		ret.extents = Ps::optimizeBoundingBox(obbBasis);
+		return ret;
+	}
+
+	PX_INLINE Gu::Box transformBoxOrthonormal(const Gu::Box& box, const PxTransform& t)
+	{
+		Gu::Box ret;
+		PxMat33& obbBasis = ret.rot;
+		obbBasis.column0 = t.rotate(box.rot.column0);
+		obbBasis.column1 = t.rotate(box.rot.column1);
+		obbBasis.column2 = t.rotate(box.rot.column2);
+		ret.center = t.transform(box.center);
+		ret.extents = box.extents;
+		return ret;
+	}
+
+	/**
+	\brief recomputes the OBB after an arbitrary transform by a 4x4 matrix.
+	\param	mtx		[in] the transform matrix
+	\param	obb		[out] the transformed OBB
+	*/
+	PX_INLINE	void rotate(const Gu::Box& src, const Cm::Matrix34& mtx, Gu::Box& obb)
+	{
+		// The extents remain constant
+		obb.extents = src.extents;
+		// The center gets x-formed
+		obb.center = mtx.transform(src.center);
+		// Combine rotations
+		obb.rot = mtx.m * src.rot;
+	}
+
+// PT: TODO: move this to a better place
+	PX_FORCE_INLINE void getInverse(PxMat33& dstRot, PxVec3& dstTrans, const PxMat33& srcRot, const PxVec3& srcTrans)
+	{
+		const PxMat33 invRot = srcRot.getInverse();
+		dstTrans = invRot.transform(-srcTrans);
+		dstRot = invRot;
+	}
+
+}
+
+#endif
diff --git a/PhysX_3.4/Source/GeomUtils/src/common/GuEdgeCache.h b/PhysX_3.4/Source/GeomUtils/src/common/GuEdgeCache.h
new file mode 100644
index 00000000..8efad75a
--- /dev/null
+++ b/PhysX_3.4/Source/GeomUtils/src/common/GuEdgeCache.h
@@ -0,0 +1,85 @@
+// 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) 2008-2016 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 GU_EDGECACHE_H
+#define GU_EDGECACHE_H
+
+#include "foundation/PxMemory.h"
+#include "CmPhysXCommon.h"
+#include "PsHash.h"
+
+namespace physx
+{
+namespace Gu
+{
+	class EdgeCache
+	{
+#define NUM_EDGES_IN_CACHE 64		//must be power of 2.	32 lines result in 10% extra work (due to cache misses), 64 lines in 6% extra work, 128 lines in 4%.
+	public:
+		EdgeCache()
+		{
+			PxMemZero(cacheLines, NUM_EDGES_IN_CACHE*sizeof(CacheLine));
+		}
+
+		PxU32 hash(PxU32 key)	const
+		{
+			return (NUM_EDGES_IN_CACHE - 1) & Ps::hash(key);		//Only a 16 bit hash would be needed here.
+		}
+
+		bool isInCache(PxU8 vertex0, PxU8 vertex1)
+		{
+			PX_ASSERT(vertex1 >= vertex0);
+			PxU16 key = PxU16((vertex0 << 8) | vertex1);
+			PxU32 h = hash(key);
+			CacheLine& cl = cacheLines[h];
+			if (cl.fullKey == key)
+			{
+				return true;
+			}
+			else	//cache the line now as it's about to be processed
+			{
+				cl.fullKey = key;
+				return false;
+			}
+		}
+
+	private:
+		struct CacheLine
+		{
+			PxU16 fullKey;
+		};
+		CacheLine cacheLines[NUM_EDGES_IN_CACHE];
+#undef NUM_EDGES_IN_CACHE
+	};
+}
+
+}
+
+#endif
+
diff --git a/PhysX_3.4/Source/GeomUtils/src/common/GuEdgeListData.h b/PhysX_3.4/Source/GeomUtils/src/common/GuEdgeListData.h
new file mode 100644
index 00000000..dea26f16
--- /dev/null
+++ b/PhysX_3.4/Source/GeomUtils/src/common/GuEdgeListData.h
@@ -0,0 +1,153 @@
+// 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) 2008-2016 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 GU_EDGE_LIST_DATA_H
+#define GU_EDGE_LIST_DATA_H
+
+#include "foundation/PxSimpleTypes.h"
+#include "CmPhysXCommon.h"
+
+namespace physx
+{
+namespace Gu
+{
+
+/*!
+NOTICE!
+
+This is a data-code separated version of PxPhysics::EdgeList.
+
+It is to be shared between high and low level code, so make sure both are recompiled
+if any change is done here.
+*/
+
+// Flags
+enum EdgeType
+{
+	PX_EDGE_UNDEFINED,
+
+	PX_EDGE_BOUNDARY,		//!< Edge belongs to a single triangle
+	PX_EDGE_INTERNAL,		//!< Edge belongs to exactly two triangles
+	PX_EDGE_SINGULAR,		//!< Edge belongs to three or more triangles
+
+	PX_EDGE_FORCE_DWORD	= 0x7fffffff
+};
+
+enum EdgeFlag
+{
+	PX_EDGE_ACTIVE	= (1<<0)
+};
+
+
+// Data
+
+
+//! Basic edge-data
+struct EdgeData
+{
+	PxU32	Ref0;	//!< First vertex reference	
+	PxU32	Ref1;	//!< Second vertex reference
+};
+PX_COMPILE_TIME_ASSERT(sizeof(Gu::EdgeData) == 8);
+
+
+//! Basic edge-data using 8-bit references
+struct Edge8Data
+{
+	PxU8	Ref0;	//!< First vertex reference
+	PxU8	Ref1;	//!< Second vertex reference
+};
+PX_COMPILE_TIME_ASSERT(sizeof(Gu::Edge8Data) == 2);
+
+
+//! A count/offset pair = an edge descriptor
+struct EdgeDescData
+{
+	PxU16	Flags;
+	PxU16	Count;
+	PxU32	Offset;
+};
+PX_COMPILE_TIME_ASSERT(sizeof(Gu::EdgeDescData) == 8);
+
+
+//! Edge<->triangle mapping
+struct EdgeTriangleData
+{
+	PxU32	mLink[3];
+};
+PX_COMPILE_TIME_ASSERT(sizeof(Gu::EdgeTriangleData) == 12);
+
+
+struct EdgeListData
+{
+	// The edge list
+	PxU32					mNbEdges;			//!< Number of edges in the list
+	Gu::EdgeData*			mEdges;				//!< List of edges
+	// Faces to edges
+	PxU32					mNbFaces;			//!< Number of faces for which we have data
+	Gu::EdgeTriangleData*	mEdgeFaces;			//!< Array of edge-triangles referencing mEdges
+	// Edges to faces
+	Gu::EdgeDescData*		mEdgeToTriangles;	//!< An EdgeDesc structure for each edge
+	PxU32*					mFacesByEdges;		//!< A pool of face indices
+};
+#if PX_P64_FAMILY
+PX_COMPILE_TIME_ASSERT(sizeof(Gu::EdgeListData) == 48);
+#else
+PX_COMPILE_TIME_ASSERT(sizeof(Gu::EdgeListData) == 24);
+#endif
+
+
+// Accessors
+
+enum
+{
+	MSH_EDGE_LINK_MASK		= 0x0fffffff,
+	MSH_ACTIVE_EDGE_MASK	= 0x80000000,
+	MSH_ACTIVE_VERTEX_MASK	= 0x40000000
+};
+
+class EdgeTriangleAC
+{
+public:
+	PX_INLINE static PxU32			GetEdge01(const Gu::EdgeTriangleData& data)					{ return data.mLink[0] & MSH_EDGE_LINK_MASK;	}
+	PX_INLINE static PxU32			GetEdge12(const Gu::EdgeTriangleData& data)					{ return data.mLink[1] & MSH_EDGE_LINK_MASK;	}
+	PX_INLINE static PxU32			GetEdge20(const Gu::EdgeTriangleData& data)					{ return data.mLink[2] & MSH_EDGE_LINK_MASK;	}
+	PX_INLINE static PxU32			GetEdge(const Gu::EdgeTriangleData& data, PxU32 i)			{ return data.mLink[i] & MSH_EDGE_LINK_MASK;	}
+
+	PX_INLINE static Ps::IntBool	HasActiveEdge01(const Gu::EdgeTriangleData& data)			{ return Ps::IntBool(data.mLink[0] & MSH_ACTIVE_EDGE_MASK);	}
+	PX_INLINE static Ps::IntBool	HasActiveEdge12(const Gu::EdgeTriangleData& data)			{ return Ps::IntBool(data.mLink[1] & MSH_ACTIVE_EDGE_MASK);	}
+	PX_INLINE static Ps::IntBool	HasActiveEdge20(const Gu::EdgeTriangleData& data)			{ return Ps::IntBool(data.mLink[2] & MSH_ACTIVE_EDGE_MASK);	}
+	PX_INLINE static Ps::IntBool	HasActiveEdge(const Gu::EdgeTriangleData& data, PxU32 i)	{ return Ps::IntBool(data.mLink[i] & MSH_ACTIVE_EDGE_MASK);	}
+};
+
+} // namespace Gu
+
+}
+
+#endif
diff --git a/PhysX_3.4/Source/GeomUtils/src/common/GuSeparatingAxes.cpp b/PhysX_3.4/Source/GeomUtils/src/common/GuSeparatingAxes.cpp
new file mode 100644
index 00000000..79d2de3c
--- /dev/null
+++ b/PhysX_3.4/Source/GeomUtils/src/common/GuSeparatingAxes.cpp
@@ -0,0 +1,64 @@
+// 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) 2008-2016 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+
+#include "GuSeparatingAxes.h"
+
+using namespace physx;
+
+union FloatInt
+{
+	float	f;
+	PxU32	i;
+};
+
+bool Gu::SeparatingAxes::addAxis(const PxVec3& axis)
+{
+	PxU32 numAxes = getNumAxes();
+	const PxVec3* PX_RESTRICT axes = getAxes();
+	const PxVec3* PX_RESTRICT axes_end = axes + numAxes;
+	while(axes<axes_end)
+	{
+		if(PxAbs(axis.dot(*axes))>0.9999f)
+			return false;
+		axes++;
+	}
+
+#ifdef SEP_AXIS_FIXED_MEMORY
+	if(mNbAxes<SEP_AXIS_FIXED_MEMORY)
+	{
+		mAxes[mNbAxes++] = axis;
+		return true;
+	}
+
+	return false;
+#else
+	mAxes.pushBack(axis);
+	return true;
+#endif
+}
diff --git a/PhysX_3.4/Source/GeomUtils/src/common/GuSeparatingAxes.h b/PhysX_3.4/Source/GeomUtils/src/common/GuSeparatingAxes.h
new file mode 100644
index 00000000..208a9e1a
--- /dev/null
+++ b/PhysX_3.4/Source/GeomUtils/src/common/GuSeparatingAxes.h
@@ -0,0 +1,91 @@
+// 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) 2008-2016 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 GU_SEPARATINGAXES_H
+#define GU_SEPARATINGAXES_H
+
+#include "foundation/PxVec3.h"
+#include "PxPhysXCommonConfig.h"
+
+namespace physx
+{
+namespace Gu
+{
+	// PT: this is a number of axes. Multiply by sizeof(PxVec3) for size in bytes.
+	#define SEP_AXIS_FIXED_MEMORY	256
+
+	// This class holds a list of potential separating axes.
+	// - the orientation is irrelevant so V and -V should be the same vector
+	// - the scale is irrelevant so V and n*V should be the same vector
+	// - a given separating axis should appear only once in the class
+#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_PHYSX_COMMON_API SeparatingAxes
+	{
+	public:
+		PX_INLINE SeparatingAxes() : mNbAxes(0)	{}
+
+		bool addAxis(const PxVec3& axis);
+
+		PX_FORCE_INLINE const PxVec3* getAxes() const
+		{
+			return mAxes;
+		}
+
+		PX_FORCE_INLINE PxU32 getNumAxes() const
+		{
+			return mNbAxes;
+		}
+
+		PX_FORCE_INLINE void reset()
+		{
+			mNbAxes = 0;
+		}
+
+	private:
+		PxU32	mNbAxes;
+		PxVec3	mAxes[SEP_AXIS_FIXED_MEMORY];
+	};
+#if PX_VC 
+     #pragma warning(pop) 
+#endif
+
+	enum PxcSepAxisType
+	{
+		SA_NORMAL0,		// Normal of object 0
+		SA_NORMAL1,		// Normal of object 1
+		SA_EE			// Cross product of edges
+	};
+
+}
+}
+
+#endif