Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

9 files changed, 1157 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/LowLevel/API/include/PxsMaterialCore.h b/PhysX_3.4/Source/LowLevel/API/include/PxsMaterialCore.h
new file mode 100644
index 00000000..20562783
--- /dev/null
+++ b/PhysX_3.4/Source/LowLevel/API/include/PxsMaterialCore.h
@@ -0,0 +1,166 @@
+// 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 PXS_MATERIAL_H
+#define PXS_MATERIAL_H
+
+#include "foundation/PxVec3.h"
+#include "PxMaterial.h"
+#include "PsUserAllocated.h"
+#include "CmPhysXCommon.h"
+#include "PxMetaData.h"
+#include "PsUtilities.h"
+
+namespace physx
+{
+
+#define	MATERIAL_INVALID_HANDLE	0xffffffff
+
+	//PX_ALIGN_PREFIX(16) struct PxsMaterialData 
+	//{
+	//	PxReal					dynamicFriction;
+	//	PxReal					staticFriction;
+	//	PxReal					restitution;
+	//	PxReal					dynamicFrictionV;
+	//	PxReal					staticFrictionV;
+	//	PxVec3					dirOfAnisotropy;//might need to get rid of this
+	//	PxCombineMode::Enum		frictionCombineMode;
+	//	PxCombineMode::Enum		restitutionCombineMode;
+
+	//	PxMaterialFlags			flags;
+	//	PxU8					paddingFromFlags[2];
+	//	PxU32					pads;
+
+	//	PxsMaterialData()
+	//	:	dynamicFriction(0.0)
+	//	,	staticFriction(0.0f)
+	//	,	restitution(0.0f)
+	//	,	dynamicFrictionV(0.0f)
+	//	,	staticFrictionV(0.0f)
+	//	,	dirOfAnisotropy(1,0,0)
+	//	,	frictionCombineMode(PxCombineMode::eAVERAGE)
+	//	,	restitutionCombineMode(PxCombineMode::eAVERAGE)
+	//	{}
+
+	//	PX_FORCE_INLINE PxCombineMode::Enum getFrictionCombineMode() const
+	//	{
+	//		return frictionCombineMode;
+	//	}
+
+	//	
+	//	PX_FORCE_INLINE PxCombineMode::Enum getRestitutionCombineMode() const
+	//	{
+	//		return restitutionCombineMode;
+	//	}
+
+	//	PX_FORCE_INLINE void setFrictionCombineMode(PxCombineMode::Enum frictionFlags)
+	//	{
+	//		frictionCombineMode = frictionFlags;
+	//	}
+
+	//	PX_FORCE_INLINE void setRestitutionCombineMode(PxCombineMode::Enum restitutionFlags)
+	//	{
+	//		restitutionCombineMode = restitutionFlags;
+	//	}
+
+	//}PX_ALIGN_SUFFIX(16);
+
+	PX_ALIGN_PREFIX(16) struct PxsMaterialData 
+	{
+		PxReal					dynamicFriction;				//4
+		PxReal					staticFriction;					//8
+		PxReal					restitution;					//12
+		PxMaterialFlags			flags;							//14
+		PxU8					fricRestCombineMode;			//15
+		PxU8					padding;						//16
+
+		PxsMaterialData()
+		:	dynamicFriction(0.0)
+		,	staticFriction(0.0f)
+		,	restitution(0.0f)
+		,	fricRestCombineMode((PxCombineMode::eAVERAGE << 4) | PxCombineMode::eAVERAGE)
+		{}
+
+		PxsMaterialData(const PxEMPTY) {}
+
+		PX_CUDA_CALLABLE PX_FORCE_INLINE PxCombineMode::Enum getFrictionCombineMode() const
+		{
+			return PxCombineMode::Enum(fricRestCombineMode >> 4);
+		}
+
+		PX_CUDA_CALLABLE PX_FORCE_INLINE PxCombineMode::Enum getRestitutionCombineMode() const
+		{
+			return PxCombineMode::Enum(fricRestCombineMode & 0xf);
+		}
+
+		PX_FORCE_INLINE void setFrictionCombineMode(PxCombineMode::Enum frictionFlags)
+		{
+			fricRestCombineMode = Ps::to8((fricRestCombineMode & 0xf) | (frictionFlags << 4));
+		}
+
+		PX_FORCE_INLINE void setRestitutionCombineMode(PxCombineMode::Enum restitutionFlags)
+		{
+			fricRestCombineMode = Ps::to8((fricRestCombineMode & 0xf0) | (restitutionFlags));
+		}
+
+	}PX_ALIGN_SUFFIX(16);
+
+
+	class PxsMaterialCore : public PxsMaterialData, public Ps::UserAllocated
+	{
+	public:
+					
+											PxsMaterialCore(const PxsMaterialData& desc): PxsMaterialData(desc), mNxMaterial(0), mMaterialIndex(MATERIAL_INVALID_HANDLE)
+											{
+											}
+
+											PxsMaterialCore(): mNxMaterial(0), mMaterialIndex(MATERIAL_INVALID_HANDLE)
+											{
+											}
+
+											PxsMaterialCore(const PxEMPTY) : PxsMaterialData(PxEmpty) {}
+
+											~PxsMaterialCore()
+											{
+											}
+
+	PX_FORCE_INLINE	void					setNxMaterial(PxMaterial* m)					{ mNxMaterial = m;		}
+	PX_FORCE_INLINE	PxMaterial*				getNxMaterial()					const			{ return mNxMaterial;	}
+	PX_FORCE_INLINE	void					setMaterialIndex(const PxU32 materialIndex)		{ mMaterialIndex = materialIndex; }
+	PX_FORCE_INLINE	PxU32					getMaterialIndex()				const			{ return mMaterialIndex; }
+
+	protected:
+					PxMaterial*				mNxMaterial;
+					PxU32					mMaterialIndex; //handle assign by the handle manager
+	};
+
+} //namespace phyxs
+
+#endif
diff --git a/PhysX_3.4/Source/LowLevel/API/include/PxsMaterialManager.h b/PhysX_3.4/Source/LowLevel/API/include/PxsMaterialManager.h
new file mode 100644
index 00000000..c3e6bd9e
--- /dev/null
+++ b/PhysX_3.4/Source/LowLevel/API/include/PxsMaterialManager.h
@@ -0,0 +1,149 @@
+// 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 PXS_MATERIALMANAGER
+#define PXS_MATERIALMANAGER
+
+#include "PxsMaterialCore.h"
+#include "PsAlignedMalloc.h"
+
+namespace physx
+{
+	struct PxsMaterialInfo
+	{
+		PxU16 mMaterialIndex0;
+		PxU16 mMaterialIndex1;
+	};
+
+	class PxsMaterialManager 
+	{
+	public:
+		PxsMaterialManager()
+		{
+			const PxU32 matCount = 128;
+			materials = reinterpret_cast<PxsMaterialCore*>(physx::shdfnd::AlignedAllocator<16>().allocate(sizeof(PxsMaterialCore)*matCount,  __FILE__, __LINE__));
+			maxMaterials = matCount;
+			for(PxU32 i=0; i<matCount; ++i)
+			{
+				materials[i].setMaterialIndex(MATERIAL_INVALID_HANDLE);
+			}
+		}
+
+		~PxsMaterialManager()
+		{
+			physx::shdfnd::AlignedAllocator<16>().deallocate(materials);
+		}
+
+		void setMaterial(PxsMaterialCore* mat)
+		{
+			const PxU32 materialIndex = mat->getMaterialIndex();
+			resize(materialIndex+1);
+			materials[materialIndex] = *mat;
+		}
+
+		void updateMaterial(PxsMaterialCore* mat)
+		{
+			materials[mat->getMaterialIndex()] =*mat;
+		}
+
+		void removeMaterial(PxsMaterialCore* mat)
+		{
+			mat->setMaterialIndex(MATERIAL_INVALID_HANDLE);
+		}
+
+		PX_FORCE_INLINE PxsMaterialCore* getMaterial(const PxU32 index)const
+		{
+			PX_ASSERT(index <  maxMaterials);
+			return &materials[index];
+		}
+
+		PxU32 getMaxSize()const 
+		{
+			return maxMaterials;
+		}
+
+		void resize(PxU32 minValueForMax)
+		{			
+			if(maxMaterials>=minValueForMax)
+				return;
+
+			const PxU32 numMaterials = maxMaterials;
+			
+			maxMaterials = (minValueForMax+31)&~31;
+			PxsMaterialCore* mat = reinterpret_cast<PxsMaterialCore*>(physx::shdfnd::AlignedAllocator<16>().allocate(sizeof(PxsMaterialCore)*maxMaterials,  __FILE__, __LINE__));
+			for(PxU32 i=0; i<numMaterials; ++i)
+			{
+				mat[i] = materials[i];
+			}
+			for(PxU32 i = numMaterials; i < maxMaterials; ++i)
+			{
+				mat[i].setMaterialIndex(MATERIAL_INVALID_HANDLE);
+			}
+
+			physx::shdfnd::AlignedAllocator<16>().deallocate(materials);
+
+			materials = mat;
+		}
+
+		PxsMaterialCore* materials;//make sure materials's start address is 16 bytes align
+		PxU32 maxMaterials;
+		PxU32 mPad[2];
+	};
+
+	class PxsMaterialManagerIterator
+	{
+	
+	public:
+		PxsMaterialManagerIterator(PxsMaterialManager& manager) : mManager(manager), mIndex(0)
+		{
+		}
+
+		bool getNextMaterial(PxsMaterialCore*& materialCore)
+		{
+			const PxU32 maxSize = mManager.getMaxSize();
+			PxU32 index = mIndex;
+			while(index < maxSize && mManager.getMaterial(index)->getMaterialIndex() == MATERIAL_INVALID_HANDLE)
+				index++;
+			materialCore = NULL;
+			if(index < maxSize)
+				materialCore = mManager.getMaterial(index++);
+			mIndex = index;
+			return materialCore!=NULL;
+		}
+
+	private:
+		PxsMaterialManagerIterator& operator=(const PxsMaterialManagerIterator&);
+		PxsMaterialManager&	mManager;
+		PxU32				mIndex;
+	};
+
+}
+
+#endif
diff --git a/PhysX_3.4/Source/LowLevel/API/include/PxvConfig.h b/PhysX_3.4/Source/LowLevel/API/include/PxvConfig.h
new file mode 100644
index 00000000..cbac7a7c
--- /dev/null
+++ b/PhysX_3.4/Source/LowLevel/API/include/PxvConfig.h
@@ -0,0 +1,47 @@
+// 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 PXD_CONFIG_H
+#define PXD_CONFIG_H
+
+/*! \file internal top level include file for lowlevel. */
+
+#include "CmPhysXCommon.h"
+#include "PxPhysXConfig.h"
+
+/************************************************************************/
+/* Compiler workarounds                                                 */
+/************************************************************************/
+#if PX_VC
+#pragma warning(disable: 4355 )	// "this" used in base member initializer list
+#pragma warning(disable: 4146 ) // unary minus operator applied to unsigned type.
+#endif
+
+#endif
diff --git a/PhysX_3.4/Source/LowLevel/API/include/PxvContext.h b/PhysX_3.4/Source/LowLevel/API/include/PxvContext.h
new file mode 100644
index 00000000..b37dbaf3
--- /dev/null
+++ b/PhysX_3.4/Source/LowLevel/API/include/PxvContext.h
@@ -0,0 +1,73 @@
+// 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 PXV_CONTEXT_H
+#define PXV_CONTEXT_H
+
+#include "task/PxTask.h"
+#include "PxvGlobals.h"
+#include "PxvSimStats.h"
+
+namespace physx
+{
+
+class PxsContext;
+
+class PxContactModifyCallback;
+class PxsRigidBody;
+struct PxsBodyCore;
+class PxvParticleSystemSim;
+class BroadPhase;
+
+class PxsContactManager;
+struct PxvManagerDescRigidRigid;
+struct PxvContactManagerTouchEvent;
+
+/*!
+\file
+Context handling
+*/
+
+/************************************************************************/
+/* Context handling, types                                              */
+/************************************************************************/
+
+enum PxvContextProperty
+{
+	/**
+	Float value for sweep epsilon distance.  Default is 0. (not a good idea to leave unchanged)
+	*/
+	PXD_CONTEXT_SWEEP_EPSILON_DISTANCE
+
+};
+
+}
+
+#endif
diff --git a/PhysX_3.4/Source/LowLevel/API/include/PxvDynamics.h b/PhysX_3.4/Source/LowLevel/API/include/PxvDynamics.h
new file mode 100644
index 00000000..a5085994
--- /dev/null
+++ b/PhysX_3.4/Source/LowLevel/API/include/PxvDynamics.h
@@ -0,0 +1,157 @@
+// 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 PXV_DYNAMICS_H
+#define PXV_DYNAMICS_H
+
+#include "foundation/PxVec3.h"
+#include "foundation/PxQuat.h"
+#include "foundation/PxTransform.h"
+#include "foundation/PxSimpleTypes.h"
+#include "PsIntrinsics.h"
+#include "PxRigidDynamic.h"
+
+namespace physx
+{
+
+/*!
+\file
+Dynamics interface.
+*/
+
+/************************************************************************/
+/* Atoms                                                                */
+/************************************************************************/
+
+class PxsContext;
+class PxsRigidBody;
+class PxShape;
+class PxGeometry;
+struct PxsShapeCore;
+
+
+struct PxsRigidCore
+{
+//= ATTENTION! =====================================================================================
+// Changing the data layout of this class breaks the binary serialization format.  See comments for 
+// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
+// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
+// accordingly.
+//==================================================================================================
+
+	PxsRigidCore()	:		mFlags(0), mIdtBody2Actor(0)			{}
+	PxsRigidCore(const PxEMPTY) : mFlags(PxEmpty)					{}
+
+	PX_ALIGN_PREFIX(16)
+	PxTransform			body2World PX_ALIGN_SUFFIX(16);
+	PxRigidBodyFlags	mFlags;					// API body flags
+	PxU8				mIdtBody2Actor;			// PT: true if PxsBodyCore::body2Actor is identity
+	PxU16				solverIterationCounts;	//vel iters are in low word and pos iters in high word.
+
+	PX_FORCE_INLINE	PxU32 isKinematic() const
+	{
+		return mFlags & PxRigidBodyFlag::eKINEMATIC;
+	}
+
+	PX_FORCE_INLINE PxU32 hasCCD() const
+	{
+		return mFlags & PxRigidBodyFlag::eENABLE_CCD;
+	}
+
+	PX_FORCE_INLINE	PxU32 hasCCDFriction() const
+	{
+		return mFlags & PxRigidBodyFlag::eENABLE_CCD_FRICTION;
+	}
+};
+PX_COMPILE_TIME_ASSERT(sizeof(PxsRigidCore) == 32);
+
+
+struct PxsBodyCore: public PxsRigidCore
+{
+//= ATTENTION! =====================================================================================
+// Changing the data layout of this class breaks the binary serialization format.  See comments for 
+// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
+// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
+// accordingly.
+//==================================================================================================
+
+	PxsBodyCore() : PxsRigidCore()							{}
+	PxsBodyCore(const PxEMPTY) : PxsRigidCore(PxEmpty)		{}
+
+	PX_FORCE_INLINE	const PxTransform& getBody2Actor()	const	{ return body2Actor;	}
+	PX_FORCE_INLINE	void setBody2Actor(const PxTransform& t)
+	{
+		mIdtBody2Actor = PxU8(t.p.isZero() && t.q.isIdentity());
+
+		body2Actor = t;
+	}
+	protected:
+	PxTransform				body2Actor;
+	public:
+	PxReal					ccdAdvanceCoefficient;		//64
+
+	PxVec3					linearVelocity;
+	PxReal					maxPenBias;
+
+	PxVec3					angularVelocity;
+	PxReal					contactReportThreshold;		//96
+    
+	PxReal					maxAngularVelocitySq;
+	PxReal					maxLinearVelocitySq;
+	PxReal					linearDamping;
+	PxReal					angularDamping;				//112
+
+	PxVec3					inverseInertia;
+	PxReal					inverseMass;				//128
+	
+	PxReal					maxContactImpulse;			
+	PxReal					sleepThreshold;				   
+	PxReal					freezeThreshold;			
+	PxReal					wakeCounter;				//144 this is authoritative wakeCounter
+
+	PxReal					solverWakeCounter;			//this is calculated by the solver when it performs sleepCheck. It is committed to wakeCounter in ScAfterIntegrationTask if the body is still awake.
+	PxU32					numCountedInteractions;
+	PxU32					numBodyInteractions;		//Used by adaptive force to keep track of the total number of body interactions
+	PxU16					isFastMoving;				//This could be a single bit but it's a u32 at the moment for simplicity's sake
+	PxRigidDynamicLockFlags	lockFlags;					//160 This could be a u8 but it is a u32 for simplicity's sake. All fits into 16 byte alignment
+
+	PX_FORCE_INLINE	bool	shouldCreateContactReports()	const
+	{
+		const PxU32* binary = reinterpret_cast<const PxU32*>(&contactReportThreshold);
+		return *binary != 0x7f7fffff;	// PX_MAX_REAL
+	}
+};
+
+PX_COMPILE_TIME_ASSERT(sizeof(PxsBodyCore) == 160);
+
+
+}
+
+#endif
diff --git a/PhysX_3.4/Source/LowLevel/API/include/PxvGeometry.h b/PhysX_3.4/Source/LowLevel/API/include/PxvGeometry.h
new file mode 100644
index 00000000..5ddf3ab8
--- /dev/null
+++ b/PhysX_3.4/Source/LowLevel/API/include/PxvGeometry.h
@@ -0,0 +1,94 @@
+// 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 PXV_GEOMETRY_H
+#define PXV_GEOMETRY_H
+
+#include "foundation/PxTransform.h"
+#include "PxvConfig.h"
+
+namespace physx
+{
+
+class PxsRigidBody;
+class PxvParticleSystem;
+
+namespace Gu
+{
+	struct ConvexHullData;
+	class TriangleMesh;
+	struct HeightFieldData;
+}
+
+}
+
+/*!
+\file
+Geometry interface
+*/
+
+/************************************************************************/
+/* Shapes                                                               */
+/************************************************************************/
+
+// moved to
+#include "GuGeometryUnion.h"
+
+namespace physx
+{
+
+struct PxsShapeCore
+{
+//= ATTENTION! =====================================================================================
+// Changing the data layout of this class breaks the binary serialization format.  See comments for 
+// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
+// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
+// accordingly.
+//==================================================================================================
+
+// PX_SERIALIZATION
+	PxsShapeCore()									{}
+	PxsShapeCore(const PxEMPTY) : geometry(PxEmpty)	{}
+//~PX_SERIALIZATION
+
+	PX_ALIGN_PREFIX(16)
+	PxTransform					transform PX_ALIGN_SUFFIX(16);
+	PxReal						contactOffset;
+	PxU8						mShapeFlags;			// !< API shape flags	// PT: TODO: use PxShapeFlags here. Needs to move flags to separate file.
+	PxU8						mOwnsMaterialIdxMemory;	// PT: for de-serialization to avoid deallocating material index list. Moved there from Sc::ShapeCore (since one byte was free).
+	PxU16						materialIndex;
+	Gu::GeometryUnion			geometry;
+};
+
+PX_COMPILE_TIME_ASSERT( (sizeof(PxsShapeCore)&0xf) == 0);
+
+}
+
+#endif
diff --git a/PhysX_3.4/Source/LowLevel/API/include/PxvGlobals.h b/PhysX_3.4/Source/LowLevel/API/include/PxvGlobals.h
new file mode 100644
index 00000000..43353965
--- /dev/null
+++ b/PhysX_3.4/Source/LowLevel/API/include/PxvGlobals.h
@@ -0,0 +1,118 @@
+// 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 PXD_INIT_H
+#define PXD_INIT_H
+
+#include "PxvConfig.h"
+#include "PsBasicTemplates.h"
+
+namespace physx
+{
+
+/*!
+\file
+PhysX Low-level, Memory management
+*/
+
+/************************************************************************/
+/* Error Handling                                                       */
+/************************************************************************/
+
+
+enum PxvErrorCode
+{
+	PXD_ERROR_NO_ERROR = 0,
+	PXD_ERROR_INVALID_PARAMETER,
+	PXD_ERROR_INVALID_PARAMETER_SIZE,
+	PXD_ERROR_INTERNAL_ERROR,
+	PXD_ERROR_NOT_IMPLEMENTED,
+	PXD_ERROR_NO_CONTEXT,
+	PXD_ERROR_NO_TASK_MANAGER,
+	PXD_ERROR_WARNING
+};
+
+class PxShape;
+class PxRigidActor;
+struct PxsShapeCore;
+struct PxsRigidCore;
+
+struct PxvOffsetTable
+{
+	PX_FORCE_INLINE PxvOffsetTable() {}
+
+	PX_FORCE_INLINE const PxShape* convertPxsShape2Px(const PxsShapeCore* pxs) const
+	{
+		return shdfnd::pointerOffset<const PxShape*>(pxs, pxsShapeCore2PxShape); 
+	}
+
+	PX_FORCE_INLINE const PxRigidActor* convertPxsRigidCore2PxRigidBody(const PxsRigidCore* pxs) const
+	{
+		return shdfnd::pointerOffset<const PxRigidActor*>(pxs, pxsRigidCore2PxRigidBody); 
+	}
+
+	PX_FORCE_INLINE const PxRigidActor* convertPxsRigidCore2PxRigidStatic(const PxsRigidCore* pxs) const
+	{
+		return shdfnd::pointerOffset<const PxRigidActor*>(pxs, pxsRigidCore2PxRigidStatic); 
+	}
+
+	ptrdiff_t	pxsShapeCore2PxShape;
+	ptrdiff_t	pxsRigidCore2PxRigidBody;
+	ptrdiff_t	pxsRigidCore2PxRigidStatic;
+};
+extern PxvOffsetTable gPxvOffsetTable;
+
+/*!
+Initialize low-level implementation.
+*/
+
+void PxvInit(const PxvOffsetTable& offsetTable);
+
+
+/*!
+Shut down low-level implementation.
+*/
+void PxvTerm();
+
+/*!
+Initialize low-level implementation.
+*/
+
+void PxvRegisterHeightFields();
+
+void PxvRegisterLegacyHeightFields();
+
+#if PX_SUPPORT_GPU_PHYSX
+class PxPhysXGpu* PxvGetPhysXGpu(bool createIfNeeded);
+#endif
+
+}
+
+#endif
diff --git a/PhysX_3.4/Source/LowLevel/API/include/PxvManager.h b/PhysX_3.4/Source/LowLevel/API/include/PxvManager.h
new file mode 100644
index 00000000..da8750be
--- /dev/null
+++ b/PhysX_3.4/Source/LowLevel/API/include/PxvManager.h
@@ -0,0 +1,239 @@
+// 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 PXV_MANAGER_H
+#define PXV_MANAGER_H
+
+#include "foundation/PxVec3.h"
+#include "foundation/PxQuat.h"
+#include "foundation/PxTransform.h"
+#include "foundation/PxMemory.h"
+#include "PxvConfig.h"
+#include "PxvGeometry.h"
+
+namespace physx
+{
+
+class PxvContact;
+
+/*!
+\file
+Manager interface
+*/
+
+/************************************************************************/
+/* Managers                                                             */
+/************************************************************************/
+
+class PxsContactManager;
+class PxsContext;
+
+struct PxsRigidCore;
+struct PxsShapeCore;
+
+
+
+/*!
+Type of PXD_MANAGER_CCD_MODE property
+*/
+enum PxvContactManagerCCDMode
+{
+	PXD_MANAGER_CCD_NONE,
+	PXD_MANAGER_CCD_LINEAR
+};
+
+
+/*!
+Manager descriptor
+*/
+struct PxvManagerDescRigidRigid
+{
+	/*!
+	Manager user data
+
+	\sa PXD_MANAGER_USER_DATA
+	*/
+	//void* userData;
+
+	/*!
+	Dominance setting for one way interactions.
+	A dominance of 0 means the corresp. body will 
+	not be pushable by the other body in the constraint.
+	\sa PXD_MANAGER_DOMINANCE0
+	*/
+	PxU8		dominance0;
+	
+	/*!
+	Dominance setting for one way interactions.
+	A dominance of 0 means the corresp. body will 
+	not be pushable by the other body in the constraint.
+	\sa PXD_MANAGER_DOMINANCE1
+	*/
+	PxU8 	dominance1;
+
+	/*!
+	PxsRigidBodies
+	*/
+	PxsRigidBody*	rigidBody0;
+	PxsRigidBody*	rigidBody1;
+
+	/*!
+	Shape Core structures
+	*/
+
+	const PxsShapeCore*	shapeCore0;
+	const PxsShapeCore*	shapeCore1;
+
+	/*!
+	Body Core structures
+	*/
+
+	PxsRigidCore*	rigidCore0;
+	PxsRigidCore*	rigidCore1;
+
+	/*!
+	Enable contact information reporting.
+
+	*/
+	int		reportContactInfo;
+
+	/*!
+	Enable contact impulse threshold reporting.
+
+	*/
+	int		hasForceThreshold;
+
+	/*!
+	Enable generated contacts to be changeable
+
+	*/
+	int		contactChangeable;
+
+	/*!
+	Disable strong friction
+
+	*/
+	//int		disableStrongFriction;
+
+	/*!
+	Contact resolution rest distance.
+
+	*/
+	PxReal		restDistance;
+
+	/*!
+	Disable contact response
+
+	*/
+	int		disableResponse;
+
+	/*!
+	Disable discrete contact generation
+
+	*/
+	int		disableDiscreteContact;
+
+	/*!
+	Disable CCD contact generation
+
+	*/
+	int		disableCCDContact;
+
+	/*!
+	Is connected to an articulation (1 - first body, 2 - second body)
+
+	*/
+	int		hasArticulations;
+
+	/*!
+	is connected to a dynamic (1 - first body, 2 - second body)
+	*/
+	int		hasDynamics;
+
+	/*!
+	Is the pair touching? Use when re-creating the manager with prior knowledge about touch status.
+	
+	positive: pair is touching
+	0:        touch state unknown (this is a new pair)
+	negative: pair is not touching
+
+	Default is 0
+	*/
+	int		hasTouch;
+
+	/*!
+	Identifies whether body 1 is kinematic. We can treat kinematics as statics and embed velocity into constraint
+	because kinematic bodies' velocities will not change
+	*/
+	bool    body1Kinematic;
+
+	/*
+	Index entries into the transform cache for shape 0
+	*/
+
+	PxU32 transformCache0;
+
+	/*
+	Index entries into the transform cache for shape 1
+	*/
+
+	PxU32 transformCache1;
+
+
+	PxvManagerDescRigidRigid()
+	{
+		PxMemSet(this, 0, sizeof(PxvManagerDescRigidRigid));
+
+		dominance0 = 1u;
+		dominance1 = 1u;
+	}
+};
+
+
+/*!
+Report struct for contact manager touch reports
+*/
+struct PxvContactManagerTouchEvent
+{
+	/*!
+	Manager handle
+	*/
+	PxsContactManager* manager;
+
+	/*!
+	Manager userdata
+	*/
+	void* userData;
+};
+
+}
+
+#endif
+
diff --git a/PhysX_3.4/Source/LowLevel/API/include/PxvSimStats.h b/PhysX_3.4/Source/LowLevel/API/include/PxvSimStats.h
new file mode 100644
index 00000000..4fba92f1
--- /dev/null
+++ b/PhysX_3.4/Source/LowLevel/API/include/PxvSimStats.h
@@ -0,0 +1,114 @@
+// 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 PXV_SIM_STATS_H
+#define PXV_SIM_STATS_H
+
+#include "foundation/PxAssert.h"
+#include "foundation/PxMemory.h"
+#include "CmPhysXCommon.h"
+#include "PxGeometry.h"
+
+namespace physx
+{
+
+/*!
+\file
+Context handling
+*/
+
+/************************************************************************/
+/* Context handling, types                                              */
+/************************************************************************/
+
+/*!
+Description: contains statistics for the simulation.
+*/
+struct PxvSimStats
+{
+	PxvSimStats() { clearAll(); }
+	void clearAll() { PxMemZero(this, sizeof(PxvSimStats)); }		// set counters to zero
+
+	PX_FORCE_INLINE void incCCDPairs(PxGeometryType::Enum g0, PxGeometryType::Enum g1)
+	{
+		PX_ASSERT(g0 <= g1);  // That's how they should be sorted
+		mNbCCDPairs[g0][g1]++;
+	}
+
+	PX_FORCE_INLINE void decCCDPairs(PxGeometryType::Enum g0, PxGeometryType::Enum g1)
+	{
+		PX_ASSERT(g0 <= g1);  // That's how they should be sorted
+		PX_ASSERT(mNbCCDPairs[g0][g1]);
+		mNbCCDPairs[g0][g1]--;
+	}
+
+	PX_FORCE_INLINE void incModifiedContactPairs(PxGeometryType::Enum g0, PxGeometryType::Enum g1)
+	{
+		PX_ASSERT(g0 <= g1);  // That's how they should be sorted
+		mNbModifiedContactPairs[g0][g1]++;
+	}
+
+	PX_FORCE_INLINE void decModifiedContactPairs(PxGeometryType::Enum g0, PxGeometryType::Enum g1)
+	{
+		PX_ASSERT(g0 <= g1);  // That's how they should be sorted
+		PX_ASSERT(mNbModifiedContactPairs[g0][g1]);
+		mNbModifiedContactPairs[g0][g1]--;
+	}
+
+	// PT: those guys are now persistent and shouldn't be cleared each frame
+	PxU32	mNbDiscreteContactPairs	[PxGeometryType::eGEOMETRY_COUNT][PxGeometryType::eGEOMETRY_COUNT];
+	PxU32	mNbCCDPairs				[PxGeometryType::eGEOMETRY_COUNT][PxGeometryType::eGEOMETRY_COUNT];
+
+	PxU32	mNbModifiedContactPairs	[PxGeometryType::eGEOMETRY_COUNT][PxGeometryType::eGEOMETRY_COUNT];
+
+	PxU32	mNbDiscreteContactPairsTotal;		// PT: sum of mNbDiscreteContactPairs, i.e. number of pairs reaching narrow phase
+	PxU32	mNbDiscreteContactPairsWithCacheHits;
+	PxU32	mNbDiscreteContactPairsWithContacts;
+	PxU32	mNbActiveConstraints;
+	PxU32	mNbActiveDynamicBodies;
+	PxU32	mNbActiveKinematicBodies;
+
+	PxU32	mNbAxisSolverConstraints;
+	PxU32	mTotalCompressedContactSize;
+	PxU32	mTotalConstraintSize;
+	PxU32	mPeakConstraintBlockAllocations;
+
+	PxU32	mNbNewPairs;
+	PxU32	mNbLostPairs;
+
+	PxU32	mNbNewTouches;
+	PxU32	mNbLostTouches;
+
+	PxU32	mNbPartitions;
+};
+
+}
+
+#endif