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diff --git a/APEX_1.4/common/include/ApexMath.h b/APEX_1.4/common/include/ApexMath.h
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+++ b/APEX_1.4/common/include/ApexMath.h
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+/*
+ * Copyright (c) 2008-2015, NVIDIA CORPORATION.  All rights reserved.
+ *
+ * NVIDIA CORPORATION and its licensors retain all intellectual property
+ * and proprietary rights in and to this software, related documentation
+ * and any modifications thereto.  Any use, reproduction, disclosure or
+ * distribution of this software and related documentation without an express
+ * license agreement from NVIDIA CORPORATION is strictly prohibited.
+ */
+
+
+#ifndef APEX_MATH_H
+#define APEX_MATH_H
+
+#include "PxMat44.h"
+#include "PsMathUtils.h"
+
+#include "PsVecMath.h"
+namespace nvidia
+{
+
+#define APEX_ALIGN_UP(offset, alignment) (((offset) + (alignment)-1) & ~((alignment)-1))
+
+/**
+ * computes weight * _origin + (1.0f - weight) * _target
+ */
+PX_INLINE PxMat44 interpolateMatrix(float weight, const PxMat44& _origin, const PxMat44& _target)
+{
+	// target: normalize, save scale, transform to quat
+	PxMat33 target(_target.column0.getXYZ(),
+					_target.column1.getXYZ(),
+					_target.column2.getXYZ());
+	PxVec3 axis0 = target.column0;
+	PxVec3 axis1 = target.column1;
+	PxVec3 axis2 = target.column2;
+	const PxVec4 targetScale(axis0.normalize(), axis1.normalize(), axis2.normalize(), 1.0f);
+	target.column0 = axis0;
+	target.column1 = axis1;
+	target.column2 = axis2;
+	const PxQuat targetQ = PxQuat(target);
+
+	// origin: normalize, save scale, transform to quat
+	PxMat33 origin(_origin.column0.getXYZ(),
+					_origin.column1.getXYZ(),
+					_origin.column2.getXYZ());
+	const PxVec4 originScale(axis0.normalize(), axis1.normalize(), axis2.normalize(), 1.0f);
+	origin.column0 = axis0;
+	origin.column1 = axis1;
+	origin.column2 = axis2;
+	const PxQuat originQ = PxQuat(origin);
+
+	// interpolate
+	PxQuat relativeQ = physx::shdfnd::slerp(1.0f - weight, originQ, targetQ);
+	PxMat44 relative(relativeQ);
+	relative.setPosition(weight * _origin.getPosition() + (1.0f - weight) * _target.getPosition());
+
+	PxMat44 _relative = relative;
+	const PxVec4 scale = weight * originScale + (1.0f - weight) * targetScale;
+	_relative.scale(scale);
+
+	return _relative;
+}
+
+bool operator != (const PxMat44& a, const PxMat44& b);
+
+}
+
+
+#endif // APEX_MATH_H