PhysX 3.4, APEX 1.4 release candidate update: @21542069

82 files changed, 90 insertions, 83 deletions

diff --git a/PhysX_3.4/Source/SimulationController/src/ScActorCore.cpp b/PhysX_3.4/Source/SimulationController/src/ScActorCore.cpp
index 9e547e40..8ab80698 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScActorCore.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScActorCore.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScActorElementPair.h b/PhysX_3.4/Source/SimulationController/src/ScActorElementPair.h
index 27c8c3ba..a8a36b5b 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScActorElementPair.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScActorElementPair.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScActorInteraction.h b/PhysX_3.4/Source/SimulationController/src/ScActorInteraction.h
index cb064116..f37b1307 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScActorInteraction.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScActorInteraction.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScActorPair.h b/PhysX_3.4/Source/SimulationController/src/ScActorPair.h
index c3ce1868..5491f302 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScActorPair.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScActorPair.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScActorSim.cpp b/PhysX_3.4/Source/SimulationController/src/ScActorSim.cpp
index 93bf70a3..56c5528d 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScActorSim.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScActorSim.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScActorSim.h b/PhysX_3.4/Source/SimulationController/src/ScActorSim.h
index a6e478f0..ffe93bcf 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScActorSim.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScActorSim.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScArticulationCore.cpp b/PhysX_3.4/Source/SimulationController/src/ScArticulationCore.cpp
index 964787db..707595c7 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScArticulationCore.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScArticulationCore.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScArticulationJointCore.cpp b/PhysX_3.4/Source/SimulationController/src/ScArticulationJointCore.cpp
index 87327ed6..3688a902 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScArticulationJointCore.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScArticulationJointCore.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScArticulationJointSim.cpp b/PhysX_3.4/Source/SimulationController/src/ScArticulationJointSim.cpp
index 81d50565..a53cf5d3 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScArticulationJointSim.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScArticulationJointSim.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScArticulationJointSim.h b/PhysX_3.4/Source/SimulationController/src/ScArticulationJointSim.h
index 723e1644..d93a0cd1 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScArticulationJointSim.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScArticulationJointSim.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScArticulationSim.cpp b/PhysX_3.4/Source/SimulationController/src/ScArticulationSim.cpp
index a35f4bf2..62bb9dfc 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScArticulationSim.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScArticulationSim.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScArticulationSim.h b/PhysX_3.4/Source/SimulationController/src/ScArticulationSim.h
index a86de4f1..d36bb851 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScArticulationSim.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScArticulationSim.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScBodyCore.cpp b/PhysX_3.4/Source/SimulationController/src/ScBodyCore.cpp
index e9f82106..7409eed0 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScBodyCore.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScBodyCore.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScBodyCoreKinematic.cpp b/PhysX_3.4/Source/SimulationController/src/ScBodyCoreKinematic.cpp
index 7f0eb091..f5b059e5 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScBodyCoreKinematic.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScBodyCoreKinematic.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScBodySim.cpp b/PhysX_3.4/Source/SimulationController/src/ScBodySim.cpp
index b133f65d..3a0cc9c7 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScBodySim.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScBodySim.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
@@ -956,6 +956,9 @@ void Sc::BodySim::setArticulation(Sc::ArticulationSim* a, PxReal wakeCounter, bo
 		mNodeIndex.setIndices(index.index(), bodyIndex);
 		getBodyCore().setWakeCounterFromSim(wakeCounter);
 
+		if (getFlagsFast() & PxRigidBodyFlag::eENABLE_SPECULATIVE_CCD)
+			getScene().setSpeculativeCCDArticulationLink(mNodeIndex.index());
+
 		if (!asleep)
 		{
 			setActive(true);
diff --git a/PhysX_3.4/Source/SimulationController/src/ScBodySim.h b/PhysX_3.4/Source/SimulationController/src/ScBodySim.h
index b69f5df1..24f1591a 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScBodySim.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScBodySim.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScClient.h b/PhysX_3.4/Source/SimulationController/src/ScClient.h
index e4f49772..5da63817 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScClient.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScClient.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScConstraintCore.cpp b/PhysX_3.4/Source/SimulationController/src/ScConstraintCore.cpp
index 06e42589..c618e6f2 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScConstraintCore.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScConstraintCore.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScConstraintGroupNode.cpp b/PhysX_3.4/Source/SimulationController/src/ScConstraintGroupNode.cpp
index 5c61c239..b2f8d64f 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScConstraintGroupNode.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScConstraintGroupNode.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScConstraintGroupNode.h b/PhysX_3.4/Source/SimulationController/src/ScConstraintGroupNode.h
index ddc426fa..4836c559 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScConstraintGroupNode.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScConstraintGroupNode.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScConstraintInteraction.cpp b/PhysX_3.4/Source/SimulationController/src/ScConstraintInteraction.cpp
index 5dc1bd72..5087749b 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScConstraintInteraction.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScConstraintInteraction.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScConstraintInteraction.h b/PhysX_3.4/Source/SimulationController/src/ScConstraintInteraction.h
index 9c461c2a..20b966d2 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScConstraintInteraction.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScConstraintInteraction.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScConstraintProjectionManager.cpp b/PhysX_3.4/Source/SimulationController/src/ScConstraintProjectionManager.cpp
index 9880f622..01802fe4 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScConstraintProjectionManager.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScConstraintProjectionManager.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScConstraintProjectionManager.h b/PhysX_3.4/Source/SimulationController/src/ScConstraintProjectionManager.h
index 482c6a8e..b5ae67d4 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScConstraintProjectionManager.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScConstraintProjectionManager.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScConstraintProjectionTree.cpp b/PhysX_3.4/Source/SimulationController/src/ScConstraintProjectionTree.cpp
index 5cf0a13f..306f5deb 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScConstraintProjectionTree.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScConstraintProjectionTree.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScConstraintProjectionTree.h b/PhysX_3.4/Source/SimulationController/src/ScConstraintProjectionTree.h
index 47265f14..0e805f7a 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScConstraintProjectionTree.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScConstraintProjectionTree.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScConstraintSim.cpp b/PhysX_3.4/Source/SimulationController/src/ScConstraintSim.cpp
index 3b81ebc4..d9ebf841 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScConstraintSim.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScConstraintSim.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScConstraintSim.h b/PhysX_3.4/Source/SimulationController/src/ScConstraintSim.h
index 35dc3ca4..98e20256 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScConstraintSim.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScConstraintSim.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScContactReportBuffer.h b/PhysX_3.4/Source/SimulationController/src/ScContactReportBuffer.h
index 3aabde1c..251e5926 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScContactReportBuffer.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScContactReportBuffer.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScContactStream.h b/PhysX_3.4/Source/SimulationController/src/ScContactStream.h
index db6cf648..2481b454 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScContactStream.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScContactStream.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScElementInteractionMarker.cpp b/PhysX_3.4/Source/SimulationController/src/ScElementInteractionMarker.cpp
index 2cb2a178..d669aabc 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScElementInteractionMarker.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScElementInteractionMarker.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScElementInteractionMarker.h b/PhysX_3.4/Source/SimulationController/src/ScElementInteractionMarker.h
index 01210737..58e69069 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScElementInteractionMarker.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScElementInteractionMarker.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScElementSim.cpp b/PhysX_3.4/Source/SimulationController/src/ScElementSim.cpp
index a12300e4..9d9b2a7c 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScElementSim.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScElementSim.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScElementSim.h b/PhysX_3.4/Source/SimulationController/src/ScElementSim.h
index 5513a8fa..e04c136d 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScElementSim.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScElementSim.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScElementSimInteraction.h b/PhysX_3.4/Source/SimulationController/src/ScElementSimInteraction.h
index f4769149..469a1259 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScElementSimInteraction.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScElementSimInteraction.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScInteraction.cpp b/PhysX_3.4/Source/SimulationController/src/ScInteraction.cpp
index 426f8bf1..fffc1bcc 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScInteraction.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScInteraction.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScInteraction.h b/PhysX_3.4/Source/SimulationController/src/ScInteraction.h
index 7595b668..90cd83c4 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScInteraction.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScInteraction.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScInteractionFlags.h b/PhysX_3.4/Source/SimulationController/src/ScInteractionFlags.h
index 41fd5366..d15a05a8 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScInteractionFlags.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScInteractionFlags.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScIterators.cpp b/PhysX_3.4/Source/SimulationController/src/ScIterators.cpp
index 464672ed..8273fabe 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScIterators.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScIterators.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScMaterialCore.cpp b/PhysX_3.4/Source/SimulationController/src/ScMaterialCore.cpp
index 6b7801e9..63ebeb2a 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScMaterialCore.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScMaterialCore.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScMetaData.cpp b/PhysX_3.4/Source/SimulationController/src/ScMetaData.cpp
index 97c2ecf3..b484a6f6 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScMetaData.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScMetaData.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScNPhaseCore.cpp b/PhysX_3.4/Source/SimulationController/src/ScNPhaseCore.cpp
index 368c9063..de300003 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScNPhaseCore.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScNPhaseCore.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScNPhaseCore.h b/PhysX_3.4/Source/SimulationController/src/ScNPhaseCore.h
index e9402801..1c178018 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScNPhaseCore.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScNPhaseCore.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScObjectIDTracker.h b/PhysX_3.4/Source/SimulationController/src/ScObjectIDTracker.h
index 57c8d93d..cb703db7 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScObjectIDTracker.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScObjectIDTracker.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScPhysics.cpp b/PhysX_3.4/Source/SimulationController/src/ScPhysics.cpp
index d8851645..8f273fe8 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScPhysics.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScPhysics.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScRbElementInteraction.h b/PhysX_3.4/Source/SimulationController/src/ScRbElementInteraction.h
index a334be3b..cae25488 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScRbElementInteraction.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScRbElementInteraction.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScRigidCore.cpp b/PhysX_3.4/Source/SimulationController/src/ScRigidCore.cpp
index 93987c55..4a6c6def 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScRigidCore.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScRigidCore.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScRigidSim.cpp b/PhysX_3.4/Source/SimulationController/src/ScRigidSim.cpp
index bbc715b9..dd4829bd 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScRigidSim.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScRigidSim.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScRigidSim.h b/PhysX_3.4/Source/SimulationController/src/ScRigidSim.h
index 59820260..992e3f22 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScRigidSim.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScRigidSim.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScScene.cpp b/PhysX_3.4/Source/SimulationController/src/ScScene.cpp
index 28945a12..47869390 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScScene.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScScene.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
@@ -2238,6 +2238,7 @@ private:
 	PX_NOCOPY(SpeculativeCCDContactDistanceArticulationUpdateTask)
 };
 
+
 void Sc::Scene::preRigidBodyNarrowPhase(PxBaseTask* continuation)
 {
 	PX_PROFILE_ZONE("Scene.preNarrowPhase", getContextId());
@@ -5001,7 +5002,10 @@ void Sc::Scene::addBody(BodyCore& body, void*const *shapes, PxU32 nbShapes, size
 	if (sim->getLowLevelBody().mCore->mFlags & PxRigidBodyFlag::eENABLE_SPECULATIVE_CCD)
 	{
 		if (sim->isArticulationLink())
-			mSpeculativeCDDArticulationBitMap.growAndSet(sim->getNodeIndex().index());
+		{
+			if (sim->getNodeIndex().isValid())
+				mSpeculativeCDDArticulationBitMap.growAndSet(sim->getNodeIndex().index());
+		}
 		else
 			mSpeculativeCCDRigidBodyBitMap.growAndSet(sim->getNodeIndex().index());
 	}
diff --git a/PhysX_3.4/Source/SimulationController/src/ScShapeCore.cpp b/PhysX_3.4/Source/SimulationController/src/ScShapeCore.cpp
index 71b4987c..58963ade 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScShapeCore.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScShapeCore.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScShapeInteraction.cpp b/PhysX_3.4/Source/SimulationController/src/ScShapeInteraction.cpp
index 1e1c48de..66d0a4bf 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScShapeInteraction.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScShapeInteraction.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
            
diff --git a/PhysX_3.4/Source/SimulationController/src/ScShapeInteraction.h b/PhysX_3.4/Source/SimulationController/src/ScShapeInteraction.h
index fcfc8f44..6ae2d777 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScShapeInteraction.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScShapeInteraction.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScShapeIterator.h b/PhysX_3.4/Source/SimulationController/src/ScShapeIterator.h
index 0961178c..0b8d46f9 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScShapeIterator.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScShapeIterator.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScShapeSim.cpp b/PhysX_3.4/Source/SimulationController/src/ScShapeSim.cpp
index d30064c9..06474839 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScShapeSim.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScShapeSim.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScShapeSim.h b/PhysX_3.4/Source/SimulationController/src/ScShapeSim.h
index 785de4ce..86d29f15 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScShapeSim.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScShapeSim.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScSimStateData.h b/PhysX_3.4/Source/SimulationController/src/ScSimStateData.h
index 331031e8..7211c45e 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScSimStateData.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScSimStateData.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScSimStats.cpp b/PhysX_3.4/Source/SimulationController/src/ScSimStats.cpp
index 459b81d2..382d9381 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScSimStats.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScSimStats.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScSimStats.h b/PhysX_3.4/Source/SimulationController/src/ScSimStats.h
index 1078ba70..3960c4be 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScSimStats.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScSimStats.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScSimulationController.cpp b/PhysX_3.4/Source/SimulationController/src/ScSimulationController.cpp
index 53e09b19..e907e837 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScSimulationController.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScSimulationController.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScSimulationController.h b/PhysX_3.4/Source/SimulationController/src/ScSimulationController.h
index fd6f4e68..b370745d 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScSimulationController.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScSimulationController.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. 
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScSqBoundsManager.cpp b/PhysX_3.4/Source/SimulationController/src/ScSqBoundsManager.cpp
index 02648829..77763939 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScSqBoundsManager.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScSqBoundsManager.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScSqBoundsManager.h b/PhysX_3.4/Source/SimulationController/src/ScSqBoundsManager.h
index 9d13b3df..276a7a43 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScSqBoundsManager.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScSqBoundsManager.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScStaticCore.cpp b/PhysX_3.4/Source/SimulationController/src/ScStaticCore.cpp
index b32b10ee..7b0ad933 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScStaticCore.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScStaticCore.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScStaticSim.cpp b/PhysX_3.4/Source/SimulationController/src/ScStaticSim.cpp
index 19f6493a..83546e83 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScStaticSim.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScStaticSim.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScStaticSim.h b/PhysX_3.4/Source/SimulationController/src/ScStaticSim.h
index 9f5568ae..118c442c 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScStaticSim.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScStaticSim.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScTriggerInteraction.cpp b/PhysX_3.4/Source/SimulationController/src/ScTriggerInteraction.cpp
index e75e8929..03c5362f 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScTriggerInteraction.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScTriggerInteraction.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScTriggerInteraction.h b/PhysX_3.4/Source/SimulationController/src/ScTriggerInteraction.h
index 618b6cba..028229c7 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScTriggerInteraction.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScTriggerInteraction.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScTriggerPairs.h b/PhysX_3.4/Source/SimulationController/src/ScTriggerPairs.h
index a180a0b9..ff5a72d0 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScTriggerPairs.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScTriggerPairs.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/cloth/ScClothCore.cpp b/PhysX_3.4/Source/SimulationController/src/cloth/ScClothCore.cpp
index 8cfa74d5..dfd6760d 100644
--- a/PhysX_3.4/Source/SimulationController/src/cloth/ScClothCore.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/cloth/ScClothCore.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/cloth/ScClothFabricCore.cpp b/PhysX_3.4/Source/SimulationController/src/cloth/ScClothFabricCore.cpp
index a195b337..46f06366 100644
--- a/PhysX_3.4/Source/SimulationController/src/cloth/ScClothFabricCore.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/cloth/ScClothFabricCore.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/cloth/ScClothShape.cpp b/PhysX_3.4/Source/SimulationController/src/cloth/ScClothShape.cpp
index 1d89d13f..f06c9f04 100644
--- a/PhysX_3.4/Source/SimulationController/src/cloth/ScClothShape.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/cloth/ScClothShape.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/cloth/ScClothShape.h b/PhysX_3.4/Source/SimulationController/src/cloth/ScClothShape.h
index fc3e3735..32453f16 100644
--- a/PhysX_3.4/Source/SimulationController/src/cloth/ScClothShape.h
+++ b/PhysX_3.4/Source/SimulationController/src/cloth/ScClothShape.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/cloth/ScClothSim.cpp b/PhysX_3.4/Source/SimulationController/src/cloth/ScClothSim.cpp
index 0306f2cc..9edabed1 100644
--- a/PhysX_3.4/Source/SimulationController/src/cloth/ScClothSim.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/cloth/ScClothSim.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/cloth/ScClothSim.h b/PhysX_3.4/Source/SimulationController/src/cloth/ScClothSim.h
index aa4cae21..df0ca5ed 100644
--- a/PhysX_3.4/Source/SimulationController/src/cloth/ScClothSim.h
+++ b/PhysX_3.4/Source/SimulationController/src/cloth/ScClothSim.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/particles/ScParticleBodyInteraction.cpp b/PhysX_3.4/Source/SimulationController/src/particles/ScParticleBodyInteraction.cpp
index fc8e6723..98612cb8 100644
--- a/PhysX_3.4/Source/SimulationController/src/particles/ScParticleBodyInteraction.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/particles/ScParticleBodyInteraction.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/particles/ScParticleBodyInteraction.h b/PhysX_3.4/Source/SimulationController/src/particles/ScParticleBodyInteraction.h
index 78738d02..112aa74a 100644
--- a/PhysX_3.4/Source/SimulationController/src/particles/ScParticleBodyInteraction.h
+++ b/PhysX_3.4/Source/SimulationController/src/particles/ScParticleBodyInteraction.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/particles/ScParticlePacketShape.cpp b/PhysX_3.4/Source/SimulationController/src/particles/ScParticlePacketShape.cpp
index 8dd86f0a..fde841d5 100644
--- a/PhysX_3.4/Source/SimulationController/src/particles/ScParticlePacketShape.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/particles/ScParticlePacketShape.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/particles/ScParticlePacketShape.h b/PhysX_3.4/Source/SimulationController/src/particles/ScParticlePacketShape.h
index a212d649..71db35ff 100644
--- a/PhysX_3.4/Source/SimulationController/src/particles/ScParticlePacketShape.h
+++ b/PhysX_3.4/Source/SimulationController/src/particles/ScParticlePacketShape.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/particles/ScParticleSystemCore.cpp b/PhysX_3.4/Source/SimulationController/src/particles/ScParticleSystemCore.cpp
index e7e18e3b..9eba9bf5 100644
--- a/PhysX_3.4/Source/SimulationController/src/particles/ScParticleSystemCore.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/particles/ScParticleSystemCore.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/particles/ScParticleSystemSim.cpp b/PhysX_3.4/Source/SimulationController/src/particles/ScParticleSystemSim.cpp
index 7ebf1fde..0c44d322 100644
--- a/PhysX_3.4/Source/SimulationController/src/particles/ScParticleSystemSim.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/particles/ScParticleSystemSim.cpp
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
diff --git a/PhysX_3.4/Source/SimulationController/src/particles/ScParticleSystemSim.h b/PhysX_3.4/Source/SimulationController/src/particles/ScParticleSystemSim.h
index c020ca18..03ddee0e 100644
--- a/PhysX_3.4/Source/SimulationController/src/particles/ScParticleSystemSim.h
+++ b/PhysX_3.4/Source/SimulationController/src/particles/ScParticleSystemSim.h
@@ -23,7 +23,7 @@
 // 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) 2008-2017 NVIDIA Corporation. All rights reserved.
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.