PhysX 3.4 / APEX 1.4 release candidate @21506124

7 files changed, 52 insertions, 218 deletions

diff --git a/PhysX_3.4/Source/SimulationController/src/ScContactStream.h b/PhysX_3.4/Source/SimulationController/src/ScContactStream.h
index 163f119c..db6cf648 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScContactStream.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScContactStream.h
@@ -317,21 +317,12 @@ PX_FORCE_INLINE void Sc::ContactStreamManager::fillInContactReportExtraData(PxCo
 
 PX_FORCE_INLINE void Sc::ContactStreamManager::fillInContactReportExtraData(PxContactPairPose* cpPose, PxU32 index, const RigidSim& rs, bool isCCDPass, const bool useCurrentTransform)
 {
-	if (rs.getActorType() != PxActorType::eRIGID_STATIC)
+	if(rs.getActorType() != PxActorType::eRIGID_STATIC)
 	{
 		const BodySim& bs = static_cast<const BodySim&>(rs);
 		const BodyCore& bc = bs.getBodyCore();
-
-		if (!isCCDPass)
-		{
-			if (useCurrentTransform)
-				cpPose->globalPose[index] = bc.getBody2World() * bc.getBody2Actor().getInverse();
-			else
-				cpPose->globalPose[index] = bs.getLowLevelBody().getLastCCDTransform() * bc.getBody2Actor().getInverse();
-		}
-		else
-			cpPose->globalPose[index] = bs.getLowLevelBody().getLastCCDTransform() * bc.getBody2Actor().getInverse();
-
+		const PxTransform& src = (!isCCDPass && useCurrentTransform) ? bc.getBody2World() : bs.getLowLevelBody().getLastCCDTransform();
+		cpPose->globalPose[index] = src * bc.getBody2Actor().getInverse();
 	}
 	else
 	{
diff --git a/PhysX_3.4/Source/SimulationController/src/ScScene.cpp b/PhysX_3.4/Source/SimulationController/src/ScScene.cpp
index afa02401..28945a12 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScScene.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScScene.cpp
@@ -27,7 +27,6 @@
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
-
 #define NOMINMAX
 
 #include "foundation/PxProfiler.h"
@@ -120,8 +119,7 @@ PX_PHYSX_GPU_API Bp::BPMemoryAllocator* createGpuMemoryAllocator();
 #endif
 
 extern bool gUnifiedHeightfieldCollision;
-	
-	
+
 namespace Sc {
 
 class LLArticulationPool: public Ps::Pool<Articulation, Ps::AlignedAllocator<DY_ARTICULATION_MAX_SIZE> > 
@@ -130,7 +128,6 @@ public:
 	LLArticulationPool() {}
 };
 
-
 static const char* sFilterShaderDataMemAllocId = "SceneDesc filterShaderData";
 
 }}
@@ -287,10 +284,8 @@ private:
 	ScAfterIntegrationTask& operator = (const ScAfterIntegrationTask&);
 };
 
-
 class ScSimulationControllerCallback : public PxsSimulationControllerCallback
 {
-
 	Sc::Scene* mScene; 
 public:
 
@@ -359,7 +354,6 @@ public:
 				task->setContinuation(continuation);
 				task->removeReference();
 			}
-
 		}
 	}
 
@@ -367,7 +361,6 @@ public:
 	{ 
 		return mScene->getCcdBodies().size(); 
 	}
-
 };
 
 class PxgUpdateBodyAndShapeStatusTask :  public Cm::Task
@@ -383,7 +376,6 @@ private:
 	PxU32*	mDeactivatedBodies;
 	PxI32&	mCCDBodyWriteIndex;
 	
-
 public:
 
 	PxgUpdateBodyAndShapeStatusTask(const IG::NodeIndex* const indices, PxU32 numBodies, PxsBodySim* bodySimsLL, PxU32* activatedBodies, PxU32* deactivatedBodies, 
@@ -469,7 +461,6 @@ public:
 
 	virtual void updateScBodyAndShapeSim(PxBaseTask* continuation)
 	{
-
 		IG::SimpleIslandManager* islandManager = mScene->getSimpleIslandManager();
 		PxsSimulationController* simulationController = mScene->getSimulationController();
 		PxsContext*	contextLL = mScene->getLowLevelContext();
@@ -499,8 +490,6 @@ public:
 			task->removeReference();
 		}
 		
-
-
 		PxU32* unfrozenShapeIndices = simulationController->getUnfrozenShapes();
 		PxU32* frozenShapeIndices = simulationController->getFrozenShapes();
 		const PxU32 nbFrozenShapes = simulationController->getNbFrozenShapes();
@@ -525,18 +514,14 @@ public:
 			Sc::ShapeSim* shape = reinterpret_cast<Sc::ShapeSim*>(reinterpret_cast<PxU8*>(shapeLL) - shapeOffset);
 			shape->createSqBounds();
 		}
-
-	
 	}
 
 	virtual PxU32	getNbCcdBodies()
 	{
 		return PxU32(mCcdBodyWriteIndex);
 	}
-
 };
 
-
 Sc::Scene::Scene(const PxSceneDesc& desc, PxU64 contextID) :
 	mContextId						(contextID),
 	mActiveBodies					(PX_DEBUG_EXP("sceneActiveBodies")),
@@ -577,7 +562,6 @@ Sc::Scene::Scene(const PxSceneDesc& desc, PxU64 contextID) :
 	mBatchRemoveState				(NULL),
 	mLostTouchPairs					(PX_DEBUG_EXP("sceneLostTouchPairs")),
 	mOutOfBoundsIDs					(PX_DEBUG_EXP("sceneOutOfBoundsIds")),
-	mErrorState						(0),
 	mVisualizationScale				(0.0f),
 	mVisualizationParameterChanged	(false),
 	mNbRigidStatics					(0),
@@ -909,11 +893,6 @@ Sc::Scene::Scene(const PxSceneDesc& desc, PxU64 contextID) :
 	mFilterShader = desc.filterShader;
 	mFilterCallback = desc.filterCallback;
 
-#if EXTRA_PROFILING
-	mExtraProfileFile = fopen("extraProfile.txt", "w");
-	mLineNum = 0;
-#endif
-
 #if PX_USE_CLOTH_API
 	createClothSolver();
 #endif  // PX_USE_CLOTH_API
@@ -927,7 +906,6 @@ Sc::Scene::Scene(const PxSceneDesc& desc, PxU64 contextID) :
 
 void Sc::Scene::release()
 {
-
 #if PX_USE_PARTICLE_SYSTEM_API
 	if (mParticleContext)
 	{
@@ -965,10 +943,6 @@ void Sc::Scene::release()
 		delete &core;
 	}
 
-#if EXTRA_PROFILING
-	fclose(mExtraProfileFile);
-#endif
-
 	// Free object IDs and the deleted object id map
 	postReportsCleanup();
 
@@ -992,7 +966,6 @@ void Sc::Scene::release()
 	PX_DELETE_AND_RESET(mSqBoundsManager);
 	PX_DELETE_AND_RESET(mBoundsArray);
 
-
 	for(PxU32 i=0;i<mClients.size(); i++)
 		PX_DELETE_AND_RESET(mClients[i]);
 
@@ -1035,17 +1008,12 @@ void Sc::Scene::release()
 
 	mDynamicsContext->destroy();
 
-
 	mCCDContext->destroy();
 
-	
-
 	mSimpleIslandManager->~SimpleIslandManager();
 	PX_FREE(mSimpleIslandManager);
 
 #if PX_SUPPORT_GPU_PHYSX
-
-
 	if (mGpuWranglerManagers)
 	{
 		mGpuWranglerManagers->~PxsKernelWranglerManager();
@@ -1080,7 +1048,6 @@ void Sc::Scene::release()
 		PX_FREE(mMemoryManager);
 		mMemoryManager = NULL;
 	}
-
 }
 
 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -1460,7 +1427,6 @@ void Sc::Scene::prepareCollide()
 
 	PxcClearContactCacheStats();
 }
-  
 
 void Sc::Scene::simulate(PxReal timeStep, PxBaseTask* continuation)
 {
@@ -1554,7 +1520,6 @@ void Sc::Scene::endSimulation()
 	PxcDisplayContactCacheStats();
 }
 
-
 void Sc::Scene::flush(bool sendPendingReports)
 {
 	if (sendPendingReports)
@@ -1606,7 +1571,6 @@ void Sc::Scene::flush(bool sendPendingReports)
 	mLLContext->getNpMemBlockPool().releaseUnusedBlocks();
 }
 
-
 // User callbacks
 
 void Sc::Scene::setSimulationEventCallback(PxSimulationEventCallback* callback, PxClientID client)
@@ -1660,7 +1624,6 @@ PxU32 Sc::Scene::getCCDMaxPasses() const
 	return mCCDContext->getCCDMaxPasses();
 }
 
-
 void Sc::Scene::setBroadPhaseCallback(PxBroadPhaseCallback* callback, PxClientID client)
 {
 	PX_ASSERT(client < mClients.size());
@@ -1701,7 +1664,6 @@ void Sc::Scene::removeBody(BodySim& body)	//this also notifies any connected joi
 	markReleasedBodyIDForLostTouch(body.getID());
 }
 
-
 void Sc::Scene::addConstraint(ConstraintCore& constraint, RigidCore* body0, RigidCore* body1)
 {
 	ConstraintSim* sim = mConstraintSimPool->construct(constraint, body0, body1, *this);
@@ -1710,7 +1672,6 @@ void Sc::Scene::addConstraint(ConstraintCore& constraint, RigidCore* body0, Rigi
 	mConstraints.insert(&constraint);
 }
 
-
 void Sc::Scene::removeConstraint(ConstraintCore& constraint)
 {
 	ConstraintSim* cSim = constraint.getSim();
@@ -1728,7 +1689,6 @@ void Sc::Scene::removeConstraint(ConstraintCore& constraint)
 	mConstraints.erase(&constraint);
 }
 
-
 void Sc::Scene::addArticulation(ArticulationCore& articulation, BodyCore& root)
 {
 	ArticulationSim* sim = PX_NEW(ArticulationSim)(articulation, *this, root);
@@ -1741,7 +1701,6 @@ void Sc::Scene::addArticulation(ArticulationCore& articulation, BodyCore& root)
 	mArticulations.insert(&articulation);
 }
 
-
 void Sc::Scene::removeArticulation(ArticulationCore& articulation)
 {
 	ArticulationSim* a = articulation.getSim();
@@ -1750,21 +1709,18 @@ void Sc::Scene::removeArticulation(ArticulationCore& articulation)
 	mArticulations.erase(&articulation);
 }
 
-
 void Sc::Scene::addArticulationJoint(ArticulationJointCore& joint, BodyCore& parent, BodyCore& child)
 {
 	ArticulationJointSim* sim = PX_NEW(ArticulationJointSim)(joint, *parent.getSim(), *child.getSim());
 	PX_UNUSED(sim);
 }
 
-
 void Sc::Scene::removeArticulationJoint(ArticulationJointCore& joint)
 {
 	if (joint.getSim())
 		PX_DELETE(joint.getSim());
 }
 
-
 void Sc::Scene::addBrokenConstraint(Sc::ConstraintCore* c)
 {
 	PX_ASSERT(mBrokenConstraints.find(c) == mBrokenConstraints.end());
@@ -2038,7 +1994,6 @@ void Sc::Scene::advanceStep(PxBaseTask* continuation)
 	}
 }
 
-
 //void Sc::Scene::advanceStep(PxBaseTask* continuation)
 //{
 //	PX_PROFILE_ZONE("Sim.solveQueueTasks", getContextId());
@@ -2119,7 +2074,6 @@ void Sc::Scene::collideStep(PxBaseTask* continuation)
 	mPreRigidBodyNarrowPhase.removeReference();
 }
 
-
 void Sc::Scene::clothPreprocessing(PxBaseTask* /*continuation*/)
 {
 #if PX_USE_CLOTH_API
@@ -2226,7 +2180,6 @@ public:
 
 	virtual const char* getName() const { return "DirtyShapeUpdatesTask";  }
 
-
 private:
 	PX_NOCOPY(DirtyShapeUpdatesTask)
 };
@@ -2356,11 +2309,13 @@ void Sc::Scene::preRigidBodyNarrowPhase(PxBaseTask* continuation)
 
 	DirtyShapeUpdatesTask* task = PX_PLACEMENT_NEW(pool.allocate(sizeof(DirtyShapeUpdatesTask)), DirtyShapeUpdatesTask)(cache, boundsArray);
 
+	bool hasDirtyShapes = false;
 	while ((index = dirtyShapeIter.getNext()) != Cm::BitMap::Iterator::DONE)
 	{
 		Sc::ShapeSim* shapeSim = reinterpret_cast<Sc::ShapeSim*>(mAABBManager->getUserData(index));
 		if (shapeSim)
 		{
+			hasDirtyShapes = true;
 			changedMap.growAndSet(index);
 			task->mShapes[task->mNbShapes++] = shapeSim;
 			if (task->mNbShapes == DirtyShapeUpdatesTask::MaxShapes)
@@ -2372,6 +2327,14 @@ void Sc::Scene::preRigidBodyNarrowPhase(PxBaseTask* continuation)
 		}
 	}
 
+	if (hasDirtyShapes)
+	{
+		//Setting the boundsArray and transform cache as dirty so that they get DMAd to GPU if GPU dynamics and BP are being used respectively.
+		//These bits are no longer set when we update the cached state for actors due to an optimization avoiding setting these dirty bits multiple times.
+		getBoundsArray().setChangedState();
+		getLowLevelContext()->getTransformCache().setChangedState();
+	}
+
 	if (task->mNbShapes != 0)
 	{
 		task->setContinuation(continuation);
@@ -2517,9 +2480,8 @@ void Sc::Scene::processNarrowPhaseTouchEvents()
 			}
 		}
 
-
-		getLowLevelContext()->getSimStats().mNbNewTouches = newTouchCount;
-		getLowLevelContext()->getSimStats().mNbLostTouches = lostTouchCount;
+		context->getSimStats().mNbNewTouches = newTouchCount;
+		context->getSimStats().mNbLostTouches = lostTouchCount;
 	}
 }
 
@@ -2673,8 +2635,6 @@ void Sc::Scene::processNarrowPhaseLostTouchEvents(PxBaseTask*)
 				addToLostTouchList(si->getShape0().getBodySim(), si->getShape1().getBodySim());
 		}
 	}
-
-	
 }
 
 void Sc::Scene::processLostSolverPatches(PxBaseTask* /*continuation*/)
@@ -2683,7 +2643,6 @@ void Sc::Scene::processLostSolverPatches(PxBaseTask* /*continuation*/)
 	mDynamicsContext->processLostPatches(*mSimpleIslandManager, mLostPatchManagers.begin(), mLostPatchManagers.size(), outputs);
 }
 
-
 void Sc::Scene::islandGen(PxBaseTask* continuation)
 {
 	PX_PROFILE_START_CROSSTHREAD("Basic.rigidBodySolver", getContextId());
@@ -2704,7 +2663,6 @@ void Sc::Scene::islandGen(PxBaseTask* continuation)
 
 PX_FORCE_INLINE void Sc::Scene::putObjectsToSleep(PxU32 infoFlag)
 {
-
 	const IG::IslandSim& islandSim = mSimpleIslandManager->getAccurateIslandSim();
 
 	//Set to sleep all bodies that were in awake islands that have just been put to sleep.
@@ -2730,9 +2688,6 @@ PX_FORCE_INLINE void Sc::Scene::putObjectsToSleep(PxU32 infoFlag)
 		if (articSim && !islandSim.getNode(articIndices[i]).isActive())
 			articSim->setActive(false, infoFlag);
 	}
-
-	
-
 }
 
 PX_FORCE_INLINE void Sc::Scene::putInteractionsToSleep(PxU32 infoFlag)
@@ -2945,7 +2900,6 @@ void Sc::Scene::unregisterInteractions(PxBaseTask*)
 void Sc::Scene::destroyManagers(PxBaseTask*)
 {
 	{
-
 		PX_PROFILE_ZONE("Sim.destroyManagers", getContextId());
 
 		mPostThirdPassIslandGenTask.setContinuation(mProcessLostContactsTask3.getContinuation());
@@ -2982,8 +2936,6 @@ void Sc::Scene::processLostContacts2(PxBaseTask* continuation)
 	mUnregisterInteractionsTask.setContinuation(continuation);
 	mUnregisterInteractionsTask.removeReference();
 	
-	
-	
 	{
 		PX_PROFILE_ZONE("Sim.clearIslandData", getContextId());
 		//		PxsContactManagerOutputIterator outputs = mLLContext->getNphaseImplementationContext()->getContactManagerOutputs();
@@ -3053,8 +3005,6 @@ void Sc::Scene::processLostContacts3(PxBaseTask* /*continuation*/)
 	mPostThirdPassIslandGenTask.removeReference();
 }
 
-
-
 //This is called after solver finish
 void Sc::Scene::updateSimulationController(PxBaseTask* continuation)
 {
@@ -3073,7 +3023,6 @@ void Sc::Scene::updateSimulationController(PxBaseTask* continuation)
 }
 
 void Sc::Scene::updateDynamics(PxBaseTask* continuation)
-
 {
 	mProcessLostContactsTask3.setContinuation(continuation);
 	mProcessLostContactsTask2.setContinuation(&mProcessLostContactsTask3);
@@ -3103,10 +3052,8 @@ void Sc::Scene::updateDynamics(PxBaseTask* continuation)
 	mProcessLostContactsTask3.removeReference();
 	mProcessLostContactsTask2.removeReference();
 	mProcessLostContactsTask.removeReference();
-
 }
 
-
 void Sc::Scene::updateCCDMultiPass(PxBaseTask* parentContinuation)
 {
 	getCcdBodies().forceSize_Unsafe(mSimulationControllerCallback->getNbCcdBodies());
@@ -3155,18 +3102,15 @@ void Sc::Scene::updateCCDMultiPass(PxBaseTask* parentContinuation)
 			}
 		}
 
-
 		//reset thread context in a place we know all tasks possibly accessing it, are in sync with. (see US6664)
 		mLLContext->resetThreadContexts();
 
 		mCCDContext->updateCCDBegin();
 
-		
 		mCCDBroadPhase[0].setContinuation(parentContinuation);
 		mCCDBroadPhaseAABB[0].setContinuation(&mCCDBroadPhase[0]);
 		mCCDBroadPhase[0].removeReference();
 		mCCDBroadPhaseAABB[0].removeReference();
-
 	}
 }
 
@@ -3213,7 +3157,6 @@ public:
 
 		Ps::atomicAdd(mNumFastMovingShapes, PxI32(activeShapes));
 	}
-
 };
 
 void Sc::Scene::ccdBroadPhaseAABB(PxBaseTask* continuation)
@@ -3239,10 +3182,8 @@ void Sc::Scene::ccdBroadPhaseAABB(PxBaseTask* continuation)
 			task->removeReference();
 		}
 	}
-
 }
 
-
 void Sc::Scene::ccdBroadPhase(PxBaseTask* continuation)
 {
 	PX_PROFILE_ZONE("Sim.ccdBroadPhase", getContextId());
@@ -3267,7 +3208,6 @@ void Sc::Scene::ccdBroadPhase(PxBaseTask* continuation)
 		mUpdateCCDSinglePass2[currIndex].setContinuation(&mUpdateCCDSinglePass3[currIndex]);
 		mUpdateCCDSinglePass[currIndex].setContinuation(&mUpdateCCDSinglePass2[currIndex]);
 
-
 		//Do the actual broad phase
 		PxBaseTask* continuationTask = &mUpdateCCDSinglePass[currIndex];
 		const PxU32 numCpuTasks = continuationTask->getTaskManager()->getCpuDispatcher()->getWorkerCount();
@@ -3292,7 +3232,6 @@ void Sc::Scene::ccdBroadPhase(PxBaseTask* continuation)
 	}
 }
 
-
 void Sc::Scene::updateCCDSinglePass(PxBaseTask* continuation)
 {
 	PX_PROFILE_ZONE("Sim.updateCCDSinglePass", getContextId());
@@ -3301,7 +3240,6 @@ void Sc::Scene::updateCCDSinglePass(PxBaseTask* continuation)
 	const PxU32 currentPass = mCCDContext->getCurrentCCDPass() + 1;  // 0 is reserved for discrete collision phase
 	finishBroadPhase(currentPass, continuation);
 	
-
 	if (currentPass == 1)		// reset the handle map so we only update CCD objects from here on
 	{
 		Cm::BitMapPinned& changedAABBMgrActorHandles = mAABBManager->getChangedAABBMgActorHandleMap();
@@ -3339,7 +3277,6 @@ void Sc::Scene::updateCCDSinglePassStage3(PxBaseTask* continuation)
 	mCCDContext->updateCCD(mDt, continuation, (mPublicFlags & PxSceneFlag::eDISABLE_CCD_RESWEEP), mNumFastMovingShapes);
 }
 
-
 void Sc::Scene::integrateKinematicPose()
 {
 	PX_PROFILE_ZONE("Sim.integrateKinematicPose", getContextId());
@@ -3394,7 +3331,6 @@ void Sc::Scene::updateKinematicCached()
 	}
 }
 
-
 class ConstraintProjectionTask : public Cm::Task
 {
 private:
@@ -3438,7 +3374,6 @@ public:
 		return "ScScene.constraintProjectionWork";
 	}
 
-
 public:
 	static const PxU32 sProjectingConstraintsPerTask = 256;  // just a guideline, will not match exactly most of the time
 
@@ -3554,7 +3489,6 @@ void Sc::Scene::postSolver(PxBaseTask* continuation)
 	}
 
 	//afterIntegration(continuation);
-
 }
 
 void Sc::Scene::postCCDPass(PxBaseTask* /*continuation*/)
@@ -3688,10 +3622,8 @@ void Sc::Scene::postReportsCleanup()
 	mRigidIDTracker->processPendingReleases();
 	mRigidIDTracker->clearDeletedIDMap();
 
-
 	mConstraintIDTracker->processPendingReleases();
 	mConstraintIDTracker->clearDeletedIDMap();
-
 }
 
 void Sc::Scene::syncSceneQueryBounds(SqBoundsSync& sync, SqRefFinder& finder)
@@ -3771,8 +3703,6 @@ void Sc::Scene::stepSetupCollide()
 	mInternalFlags &= ~(SceneInternalFlag::eSCENE_SIP_STATES_DIRTY_DOMINANCE | SceneInternalFlag::eSCENE_SIP_STATES_DIRTY_VISUALIZATION);
 }
 
-
-
 void Sc::Scene::processLostTouchPairs()
 {
 	PX_PROFILE_ZONE("Sc::Scene::processLostTouchPairs", getContextId());
@@ -3807,7 +3737,6 @@ void Sc::Scene::processLostTouchPairs()
 		}
 	}
 
-
 	mLostTouchPairs.clear();
 	mLostTouchPairsDeletedBodyIDs.clear();
 }
@@ -3872,7 +3801,6 @@ private:
 	ScBeforeSolverTask& operator = (const ScBeforeSolverTask&);
 };
 
-
 void Sc::Scene::beforeSolver(PxBaseTask* continuation)
 {
 	PX_PROFILE_ZONE("Sim.updateForces", getContextId());
@@ -3934,7 +3862,6 @@ void Sc::Scene::beforeSolver(PxBaseTask* continuation)
 	mBodyGravityDirty = false;
 }
 
-
 #if PX_DEBUG
 bool DEBUG_solverlock = false;
 #endif
@@ -3965,7 +3892,6 @@ public:
 	}
 };
 
-
 void Sc::Scene::afterIntegration(PxBaseTask* continuation)
 {		
 	mLLContext->getTransformCache().resetChangedState(); //Reset the changed state. If anything outside of the GPU kernels updates any shape's transforms, this will be raised again
@@ -3976,8 +3902,6 @@ void Sc::Scene::afterIntegration(PxBaseTask* continuation)
 
 	mSimulationController->udpateScBodyAndShapeSim(cache, boundArray, continuation);
 
-	
-
 	{
 		PX_PROFILE_ZONE("AfterIntegration::lockStage", getContextId());
 		mLLContext->getLock().lock();
@@ -4144,7 +4068,6 @@ void Sc::Scene::checkForceThresholdContactEvents(const PxU32 ccdPass)
 
 	const PxU32 nbThresholdElements = thresholdStream.size();
 
-
 	for (PxU32 i = 0; i< nbThresholdElements; ++i)
 	{
 		ThresholdStreamElement& elem = thresholdStream[i];
@@ -4268,7 +4191,6 @@ void Sc::Scene::visualizeEndStep()
 #endif
 }
 
-
 void Sc::Scene::collectPostSolverVelocitiesBeforeCCD()
 {
 	if (mContactReportsNeedPostSolverVelocity)
@@ -4301,7 +4223,6 @@ void Sc::Scene::collectPostSolverVelocitiesBeforeCCD()
 	}
 }
 
-
 void Sc::Scene::finalizeContactStreamAndCreateHeader(PxContactPairHeader& header, const ActorPairReport& aPair, ContactStreamManager& cs, PxU32 removedShapeTestMask)
 {
 	PxU8* stream = mNPhaseCore->getContactReportPairData(cs.bufferIndex);
@@ -4347,10 +4268,8 @@ void Sc::Scene::finalizeContactStreamAndCreateHeader(PxContactPairHeader& header
 		}
 	}
 	header.extraDataStreamSize = extraDataSize;
-
 }
 
-
 const Ps::Array<PxContactPairHeader>& Sc::Scene::getQueuedContactPairHeaders()
 {
 	// if buffered shape removals occured, then the criteria for testing the contact stream for events with removed shape pointers needs to be more strict.
@@ -4448,7 +4367,6 @@ void Sc::Scene::fireQueuedContactCallbacks(bool asPartOfFlush)
 	}
 }
 
-
 PX_FORCE_INLINE void markDeletedShapes(Sc::ObjectIDTracker& idTracker, Sc::TriggerPairExtraData& tped, PxTriggerPair& pair)
 {
 	PxTriggerPairFlags::InternalType flags = 0;
@@ -4460,7 +4378,6 @@ PX_FORCE_INLINE void markDeletedShapes(Sc::ObjectIDTracker& idTracker, Sc::Trigg
 	pair.flags = PxTriggerPairFlags(flags);
 }
 
-
 void Sc::Scene::fireTriggerCallbacks()
 {
 	// triggers
@@ -4576,7 +4493,6 @@ void Sc::Scene::fireTriggerCallbacks()
 	mTriggerBufferExtraData->clear();
 }
 
-
 namespace
 {
 	struct BrokenConstraintReportData
@@ -4600,7 +4516,6 @@ void Sc::Scene::fireBrokenConstraintCallbacks()
 	PxU32 activeClients[(PX_MAX_CLIENTS+7)/8];
 	PxMemSet(activeClients, 0, (PX_MAX_CLIENTS+7)/8);
 
-	
 	PxU16 activeClientLimit = 0;
 
 	for(PxU32 i=0;i<count;i++)
@@ -4665,7 +4580,6 @@ void Sc::Scene::fireBrokenConstraintCallbacks()
 	}
 }
 
-
 /*
 Threading: called in the context of the user thread, but only after the physics thread has finished its run
 */
@@ -4789,7 +4703,6 @@ void Sc::Scene::prepareOutOfBoundsCallbacks()
 	}
 }
 
-
 bool Sc::Scene::fireOutOfBoundsCallbacks()
 {
 	bool outputWarning = false;
@@ -4937,23 +4850,6 @@ void Sc::Scene::postCallbacksPreSync()
 	releaseConstraints(true); //release constraint blocks at the end of the frame, so user can retrieve the blocks
 }
 
-PxU32 Sc::Scene::getErrorState()
-{
-	return mErrorState; // we only signal critical errors from the HW core
-}
-
-
-void Sc::Scene::setLimits(const PxSceneLimits & limits)
-{
-	mLimits = limits;
-}
-
-
-const PxSceneLimits& Sc::Scene::getLimits() const
-{
-	return mLimits;
-}
-
 void Sc::Scene::setNbContactDataBlocks(PxU32 numBlocks)
 {
 	mLLContext->getNpMemBlockPool().setBlockCount(numBlocks);
@@ -5042,7 +4938,6 @@ void Sc::Scene::removeShapes(Sc::RigidSim& sim, Ps::InlineArray<Sc::ShapeSim*, 6
 		removeShape(*shapesBuffer[i], wakeOnLostTouch);
 }
 
-
 void Sc::Scene::addStatic(StaticCore& ro, void*const *shapes, PxU32 nbShapes, size_t shapePtrOffset, PxBounds3* uninflatedBounds)
 {
 	PX_ASSERT(ro.getActorCoreType() == PxActorType::eRIGID_STATIC);
@@ -5097,7 +4992,6 @@ void Sc::Scene::removeStatic(StaticCore& ro, Ps::InlineArray<const Sc::ShapeCore
 	}
 }
 
-
 void Sc::Scene::addBody(BodyCore& body, void*const *shapes, PxU32 nbShapes, size_t shapePtrOffset, PxBounds3* outBounds)
 {
 	// sim objects do all the necessary work of adding themselves to broad phase,
@@ -5142,7 +5036,6 @@ void Sc::Scene::removeBody(BodyCore& body, Ps::InlineArray<const Sc::ShapeCore*,
 	}
 }
 
-
 void Sc::Scene::addShape(RigidSim& owner, ShapeCore& shapeCore, PxBounds3* uninflatedBounds)
 {
 	ShapeSim* sim = mShapeSimPool->construct(owner, shapeCore);
@@ -5192,7 +5085,6 @@ void Sc::Scene::startBatchInsertion(BatchInsertionState&state)
 	state.bodySim = mBodySimPool->allocateAndPrefetch();														   
 }
 
-
 void Sc::Scene::addShapes(void *const* shapes, PxU32 nbShapes, size_t ptrOffset, RigidSim& rigidSim, ShapeSim*& prefetchedShapeSim, PxBounds3* outBounds)
 {
 	for(PxU32 i=0;i<nbShapes;i++)
@@ -5293,7 +5185,6 @@ void Sc::Scene::setDominanceGroupPair(PxDominanceGroup group1, PxDominanceGroup
 	mInternalFlags |= SceneInternalFlag::eSCENE_SIP_STATES_DIRTY_DOMINANCE;		//force an update on all interactions on matrix change -- very expensive but we have no choice!!
 }
 
-
 PxDominanceGroupPair Sc::Scene::getDominanceGroupPair(PxDominanceGroup group1, PxDominanceGroup group2) const
 {
 	PxU8 dom0 = PxU8((mDominanceBitMatrix[group1]>>group2) & 0x1 ? 1u : 0u);
@@ -5312,13 +5203,11 @@ void Sc::Scene::setSolverBatchSize(PxU32 solverBatchSize)
 	mDynamicsContext->setSolverBatchSize(solverBatchSize);
 }
 
-
 PxU32 Sc::Scene::getSolverBatchSize() const
 {
 	return mDynamicsContext->getSolverBatchSize();
 }
 
-
 void Sc::Scene::setVisualizationParameter(PxVisualizationParameter::Enum param, PxReal value)
 {
 	mVisualizationParameterChanged = true;
@@ -5331,7 +5220,6 @@ void Sc::Scene::setVisualizationParameter(PxVisualizationParameter::Enum param,
 		mVisualizationScale = value;
 }
 
-
 PxReal Sc::Scene::getVisualizationParameter(PxVisualizationParameter::Enum param) const
 {
 	PX_ASSERT(mLLContext->getVisualizationParameter(PxVisualizationParameter::eSCALE) == mVisualizationScale); // Safety check because the scale is duplicated for performance reasons
@@ -5339,7 +5227,6 @@ PxReal Sc::Scene::getVisualizationParameter(PxVisualizationParameter::Enum param
 	return mLLContext->getVisualizationParameter(param);
 }
 
-
 void Sc::Scene::setVisualizationCullingBox(const PxBounds3& box)
 {
 	mLLContext->setVisualizationCullingBox(box);
@@ -5618,7 +5505,6 @@ void Sc::Scene::clearSleepWakeBodies(void)
 	mSleepBodyListValid = true;
 }
 
-
 void Sc::Scene::onBodySleep(BodySim* body)
 {
 	//temp: TODO: Add support for other clients
@@ -5657,7 +5543,6 @@ void Sc::Scene::onBodySleep(BodySim* body)
 	}
 }
 
-
 void Sc::Scene::onBodyWakeUp(BodySim* body)
 {
 	//temp: TODO: Add support for other clients
@@ -5687,7 +5572,6 @@ void Sc::Scene::onBodyWakeUp(BodySim* body)
 	}
 }
 
-
 PX_INLINE void Sc::Scene::cleanUpSleepBodies()
 {
 	BodyCore* const* bodyArray = mSleepBodies.getEntries();
@@ -5714,16 +5598,13 @@ PX_INLINE void Sc::Scene::cleanUpSleepBodies()
 	}
 
 	mSleepBodyListValid = true;
-
 }
 
-
 PX_INLINE void Sc::Scene::cleanUpWokenBodies()
 {
 	cleanUpSleepOrWokenBodies(mWokeBodies, BodySim::BF_SLEEP_NOTIFY, mWokeBodyListValid);
 }
 
-
 PX_INLINE void Sc::Scene::cleanUpSleepOrWokenBodies(Ps::CoalescedHashSet<BodyCore*>& bodyList, PxU32 removeFlag, bool& validMarker)
 {
 	// With our current logic it can happen that a body is added to the sleep as well as the woken body list in the
@@ -5749,7 +5630,6 @@ PX_INLINE void Sc::Scene::cleanUpSleepOrWokenBodies(Ps::CoalescedHashSet<BodyCor
 	validMarker = true;
 }
 
-
 void Sc::Scene::releaseConstraints(bool endOfScene)
 {
 	PX_ASSERT(mLLContext);
@@ -5775,13 +5655,11 @@ void Sc::Scene::releaseConstraints(bool endOfScene)
 	}
 }
 
-
 PX_INLINE void Sc::Scene::clearBrokenConstraintBuffer()
 {
 	mBrokenConstraints.clear();
 }
 
-
 void Sc::Scene::updateFromVisualizationParameters()
 {
 	if (!mVisualizationParameterChanged) 		// All up to date
@@ -5795,13 +5673,6 @@ void Sc::Scene::updateFromVisualizationParameters()
 	mVisualizationParameterChanged = false;
 }
 
-
-bool Sc::Scene::isValid() const
-{
-	return (mLLContext != NULL);
-}
-
-
 void Sc::Scene::addToLostTouchList(BodySim* body1, BodySim* body2)
 {
 	PX_ASSERT(body1 != 0);
@@ -5810,7 +5681,6 @@ void Sc::Scene::addToLostTouchList(BodySim* body1, BodySim* body2)
 	mLostTouchPairs.pushBack(p);
 }
 
-
 void Sc::Scene::initDominanceMatrix()
 {
 	//init all dominance pairs such that:
@@ -5828,13 +5698,11 @@ Articulation* Sc::Scene::createLLArticulation(Sc::ArticulationSim* sim)
 	return mLLArticulationPool->construct(sim);
 }
 
-
 void Sc::Scene::destroyLLArticulation(Articulation& articulation)
 {
 	mLLArticulationPool->destroy(&articulation);
 }
 
-
 #if PX_USE_PARTICLE_SYSTEM_API
 
 void Sc::Scene::addParticleSystem(ParticleSystemCore& ps)
@@ -5855,7 +5723,6 @@ void Sc::Scene::addParticleSystem(ParticleSystemCore& ps)
 	mParticleSystems.insert(&ps);
 }
 
-
 void Sc::Scene::removeParticleSystem(ParticleSystemCore& ps, bool isRelease)
 {
 	const bool exists = mParticleSystems.erase(&ps);
@@ -5864,13 +5731,11 @@ void Sc::Scene::removeParticleSystem(ParticleSystemCore& ps, bool isRelease)
 	ps.getSim()->release(isRelease);
 }
 
-
 PxU32 Sc::Scene::getNbParticleSystems() const
 {
 	return mParticleSystems.size();
 }
 
-
 Sc::ParticleSystemCore* const* Sc::Scene::getParticleSystems()
 {
 	return mParticleSystems.getEntries();
@@ -6019,9 +5884,6 @@ Sc::ConstraintCore*const * Sc::Scene::getConstraints()
 	return mConstraints.getEntries();
 }
 
-
-
-
 // PX_AGGREGATE
 PxU32 Sc::Scene::createAggregate(void* userData, bool selfCollisions)
 {
@@ -6328,7 +6190,6 @@ public:
 	virtual const char* getName() const { return "OverlapFilterTask"; }
 };
 
-
 class OnOverlapCreatedTask : public Cm::Task
 {
 public:
@@ -6393,11 +6254,8 @@ public:
 	}
 
 	virtual const char* getName() const { return "OnOverlapCreatedTask"; }
-
 };
 
-#include <stdio.h>
-
 void Sc::Scene::preallocateContactManagers(PxBaseTask* continuation)
 {
 	//Iterate over all filter tasks and work out how many pairs we need...
@@ -6416,7 +6274,6 @@ void Sc::Scene::preallocateContactManagers(PxBaseTask* continuation)
 	{
 		OverlapFilterTask* task = mOverlapFilterTasks[a];
 		
-
 		if (task->mNbToCallback)
 		{
 			//Iterate and process callbacks. Refilter then increment the results, setting the appropriate settings
@@ -6470,12 +6327,8 @@ void Sc::Scene::preallocateContactManagers(PxBaseTask* continuation)
 
 	Bp::BroadPhasePair* bpPairs = mAABBManager->getBroadPhase()->getBroadPhasePairs();
 
-	
-
 	Cm::FlushPool& flushPool = mLLContext->getTaskPool();
 
-	
-
 	OnOverlapCreatedTask* createTask = PX_PLACEMENT_NEW(flushPool.allocate(sizeof(OnOverlapCreatedTask)), OnOverlapCreatedTask)(mNPhaseCore, p,
 			fInfo, cms, shapeInter, markerIter, bpPairs, 0);
 
diff --git a/PhysX_3.4/Source/SimulationController/src/ScShapeInteraction.cpp b/PhysX_3.4/Source/SimulationController/src/ScShapeInteraction.cpp
index 2235eb9d..1e1c48de 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScShapeInteraction.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScShapeInteraction.cpp
@@ -868,6 +868,9 @@ void Sc::ShapeInteraction::updateState(const PxU8 externalDirtyFlags)
 		// B) The contact notification or processing state has changed.
 		//    All existing managers need to be deleted and recreated with the correct flag set
 		//    These flags can only be set at creation in LL
+		//KS - added this code here because it is no longer done in destroyManager() - a side-effect of the parallelization of the interaction management code
+		if (mEdgeIndex != IG_INVALID_EDGE)
+			scene.getSimpleIslandManager()->clearEdgeRigidCM(mEdgeIndex);
 		destroyManager();
 		createManager(NULL);
 	}
diff --git a/PhysX_3.4/Source/SimulationController/src/ScShapeSim.cpp b/PhysX_3.4/Source/SimulationController/src/ScShapeSim.cpp
index 46a20a62..d30064c9 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScShapeSim.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScShapeSim.cpp
@@ -426,7 +426,7 @@ Ps::IntBool Sc::ShapeSim::updateSweptBounds()
 	Cm::getDynamicGlobalPoseAligned(rigidBody.mLastTransform, shapeCore.getShape2Actor(), bodyCore.getBody2Actor(), shape2World);
 	PxBounds3 startBounds = computeBounds(shapeCore.getGeometry(), shape2World, !physx::gUnifiedHeightfieldCollision);
 
-	Ps::IntBool isFastMoving = (startBounds.getCenter() - endOrigin).magnitudeSquared() >= ccdThreshold * ccdThreshold ? 1 : 0;;
+	const Ps::IntBool isFastMoving = (startBounds.getCenter() - endOrigin).magnitudeSquared() >= ccdThreshold * ccdThreshold ? 1 : 0;
 
 	if (isFastMoving)
 		bounds.include(startBounds);
diff --git a/PhysX_3.4/Source/SimulationController/src/ScShapeSim.h b/PhysX_3.4/Source/SimulationController/src/ScShapeSim.h
index f59e4823..785de4ce 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScShapeSim.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScShapeSim.h
@@ -133,7 +133,7 @@ namespace Sc
 						PxsShapeSim						mLLShape;
 						const ShapeCore&				mCore;
 						PxU32							mId;
-						PxU32							mSqBoundsId;						
+						PxU32							mSqBoundsId;
 
 		PX_FORCE_INLINE	void							internalAddToBroadPhase();
 		PX_FORCE_INLINE	void							internalRemoveFromBroadPhase();
diff --git a/PhysX_3.4/Source/SimulationController/src/ScSqBoundsManager.cpp b/PhysX_3.4/Source/SimulationController/src/ScSqBoundsManager.cpp
index 5ea2ebde..02648829 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScSqBoundsManager.cpp
+++ b/PhysX_3.4/Source/SimulationController/src/ScSqBoundsManager.cpp
@@ -27,26 +27,18 @@
 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
-#include "CmPhysXCommon.h"
 #include "ScSqBoundsManager.h"
 #include "ScBodySim.h"
 #include "ScShapeSim.h"
-#include "ScShapeIterator.h"
-#include "CmTransformUtils.h"
-#include "PxsTransformCache.h"
-#include <stdio.h>
 
-namespace physx
-{
-namespace Sc
-{
-
-	SqBoundsManager::SqBoundsManager() : 
-		mShapes(PX_DEBUG_EXP("SqBoundsManager::mRefs")),
-		mRefs(PX_DEBUG_EXP("SqBoundsManager::mRefs")),				
-		mBoundsIndices(PX_DEBUG_EXP("SqBoundsManager::mRefs")),
-		mRefless(PX_DEBUG_EXP("SqBoundsManager::mRefs"))
+using namespace physx;
+using namespace Sc;
 
+SqBoundsManager::SqBoundsManager() :
+	mShapes			(PX_DEBUG_EXP("SqBoundsManager::mShapes")),
+	mRefs			(PX_DEBUG_EXP("SqBoundsManager::mRefs")),				
+	mBoundsIndices	(PX_DEBUG_EXP("SqBoundsManager::mBoundsIndices")),
+	mRefless		(PX_DEBUG_EXP("SqBoundsManager::mRefless"))
 {
 }
 
@@ -56,19 +48,24 @@ void SqBoundsManager::addShape(ShapeSim& shape)
 	PX_ASSERT(!shape.getBodySim()->usingSqKinematicTarget());
 	PX_ASSERT(!shape.getBodySim()->isFrozen());
 
-	PxU32 id = mShapes.size();
+	const PxU32 id = mShapes.size();
+	PX_ASSERT(id == mRefs.size());
+	PX_ASSERT(id == mBoundsIndices.size());
+
+	shape.setSqBoundsId(id);
+
 	mShapes.pushBack(&shape);
-	mRefs.pushBack(PX_INVALID_U32);
+	mRefs.pushBack(PX_INVALID_U32);	// PT: TODO: should be INVALID_PRUNERHANDLE but cannot include SqPruner.h
 	mBoundsIndices.pushBack(shape.getElementID());
 	mRefless.insert(&shape);
-
-	shape.setSqBoundsId(id);
 }
 		
 void SqBoundsManager::removeShape(ShapeSim& shape)
 {
-	PxU32 id = shape.getSqBoundsId();
-	if(mRefs[id] == PX_INVALID_U32)
+	const PxU32 id = shape.getSqBoundsId();
+	PX_ASSERT(id!=PX_INVALID_U32);
+
+	if(mRefs[id] == PX_INVALID_U32)	// PT: TODO: should be INVALID_PRUNERHANDLE but cannot include SqPruner.h
 	{
 		PX_ASSERT(mRefless.contains(&shape));
 		mRefless.erase(&shape);
@@ -87,7 +84,6 @@ void SqBoundsManager::removeShape(ShapeSim& shape)
 	mBoundsIndices.popBack();
 }
 
-
 void SqBoundsManager::syncBounds(SqBoundsSync& sync, SqRefFinder& finder, const PxBounds3* bounds, PxU64 contextID)
 {
 	PX_PROFILE_ZONE("Sim.sceneQuerySyncBounds", contextID);
@@ -107,16 +103,11 @@ void SqBoundsManager::syncBounds(SqBoundsSync& sync, SqRefFinder& finder, const
 	ShapeSim*const * shapes = mRefless.getEntries();
 	for(PxU32 i=0, size = mRefless.size();i<size;i++)
 	{
-		PxU32 id = shapes[i]->getSqBoundsId();
-		PX_ASSERT(mRefs[id] == PX_INVALID_U32);
+		const PxU32 id = shapes[i]->getSqBoundsId();
+		PX_ASSERT(mRefs[id] == PX_INVALID_U32);	// PT: TODO: should be INVALID_PRUNERHANDLE but cannot include SqPruner.h
 		mRefs[id] = finder.find(static_cast<PxRigidBody*>(shapes[i]->getBodySim()->getPxActor()), shapes[i]->getPxShape());
 	}
 	mRefless.clear();
 
 	sync.sync(mRefs.begin(), mBoundsIndices.begin(), bounds, mShapes.size());
 }
-
-
-}
-
-}
diff --git a/PhysX_3.4/Source/SimulationController/src/ScSqBoundsManager.h b/PhysX_3.4/Source/SimulationController/src/ScSqBoundsManager.h
index 46006622..9d13b3df 100644
--- a/PhysX_3.4/Source/SimulationController/src/ScSqBoundsManager.h
+++ b/PhysX_3.4/Source/SimulationController/src/ScSqBoundsManager.h
@@ -34,43 +34,39 @@
 #include "foundation/PxBounds3.h"
 #include "PsArray.h"
 #include "PsUserAllocated.h"
-#include "CmTask.h"
 #include "PsHashSet.h"
+//#include "SqPruner.h"
 
 namespace physx
 {
 
-
-namespace Cm
+namespace Sq
 {
-	class FlushPool;
-	class EventProfiler;
+typedef PxU32 PrunerHandle;	// PT: we should get this from SqPruner.h but it cannot be included from here
 }
 
 namespace Sc
 {
-
 struct SqBoundsSync;
 struct SqRefFinder;
-class Scene;
 class ShapeSim;
 
 class SqBoundsManager : public Ps::UserAllocated
 {
 	PX_NOCOPY(SqBoundsManager)
 public:
-	SqBoundsManager();
+									SqBoundsManager();
 
-	void addShape(ShapeSim& shape);
-	void removeShape(ShapeSim& shape);
-	void syncBounds(SqBoundsSync& sync, SqRefFinder& finder, const PxBounds3* bounds, PxU64 contextID);	
+	void							addShape(ShapeSim& shape);
+	void							removeShape(ShapeSim& shape);
+	void							syncBounds(SqBoundsSync& sync, SqRefFinder& finder, const PxBounds3* bounds, PxU64 contextID);	
 
 private:
 
-	Ps::Array<ShapeSim*>	mShapes;			// 
-	Ps::Array<PxU32>		mRefs;				// SQ pruner references
-	Ps::Array<PxU32>		mBoundsIndices;		// indices into the Sc bounds array
-	Ps::CoalescedHashSet<ShapeSim*> mRefless;	// shapesims without references
+	Ps::Array<ShapeSim*>			mShapes;		// 
+	Ps::Array<Sq::PrunerHandle>		mRefs;			// SQ pruner references
+	Ps::Array<PxU32>				mBoundsIndices;	// indices into the Sc bounds array
+	Ps::CoalescedHashSet<ShapeSim*>	mRefless;		// shapesims without references
 };
 }
 }