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diff --git a/PhysX_3.4/Samples/SampleBase/RenderBaseActor.cpp b/PhysX_3.4/Samples/SampleBase/RenderBaseActor.cpp
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+// This code contains NVIDIA Confidential Information and is disclosed to you
+// under a form of NVIDIA software license agreement provided separately to you.
+//
+// Notice
+// NVIDIA Corporation and its licensors retain all intellectual property and
+// proprietary rights in and to this software and related documentation and
+// any modifications thereto. Any use, reproduction, disclosure, or
+// distribution of this software and related documentation without an express
+// license agreement from NVIDIA Corporation is strictly prohibited.
+//
+// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
+// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
+// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
+// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+//
+// Information and code furnished is believed to be accurate and reliable.
+// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
+// information or for any infringement of patents or other rights of third parties that may
+// result from its use. No license is granted by implication or otherwise under any patent
+// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
+// This code supersedes and replaces all information previously supplied.
+// NVIDIA Corporation products are not authorized for use as critical
+// components in life support devices or systems without express written approval of
+// NVIDIA Corporation.
+//
+// Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+
+#include "SamplePreprocessor.h"
+#include "RenderBaseActor.h"
+#include "RenderMaterial.h"
+#include "RendererShape.h"
+#include "Renderer.h"
+#include "RendererMemoryMacros.h"
+#include "extensions/PxShapeExt.h"
+#include "RaycastCCD.h"
+#include "RenderPhysX3Debug.h"
+#include "PxRigidDynamic.h"
+#include "PxArticulationLink.h"
+
+#include "geometry/PxSphereGeometry.h"
+#include "geometry/PxBoxGeometry.h"
+#include "RenderSphereActor.h"
+#include "RenderCapsuleActor.h"
+
+using namespace physx;
+using namespace SampleRenderer;
+
+static const bool gRaycastCCD = true;
+
+RenderBaseActor::RenderBaseActor() :
+	mRendererShape		(NULL),
+	mPhysicsShape		(NULL),
+	mDynamicActor		(NULL),
+	mArticulationLink	(NULL),
+	mMaterial			(NULL),
+	mEnableCCD			(false),
+	mEnableRender		(true),
+	mEnableDebugRender	(true),
+	mEnableCameraCull	(false)
+{
+	mTransform			= PxTransform(PxIdentity);
+	mWorldBounds		= PxBounds3(PxVec3(0),PxVec3(0));
+
+	mCCDWitness			= PxVec3(0);
+	mCCDWitnessOffset	= PxVec3(0);
+
+	mPhysicsToGraphicsRot = PxQuat(PxIdentity);
+
+	updateScale();
+}
+
+RenderBaseActor::RenderBaseActor(const RenderBaseActor& src) : RenderBaseObject(src)
+{
+	mEnableCCD			= src.mEnableCCD;
+	mEnableRender		= src.mEnableRender;
+	mEnableDebugRender	= src.mEnableDebugRender;
+	mEnableCameraCull	= src.mEnableCameraCull;
+
+	mTransform			= src.getTransform();
+	mWorldBounds		= PxBounds3(PxVec3(0.0f), PxVec3(0.0f));
+	mPhysicsShape		= NULL;	// PT: the physics shape is not cloned for now
+	mDynamicActor		= NULL;	// PT: the physics actor is not cloned for now
+	mArticulationLink	= NULL;	// PT: the articulation link is not cloned for now
+	mMaterial			= src.getRenderMaterial();
+	mRendererShape		= NULL;
+	setRenderShape(src.getRenderShape());
+
+	mPhysicsToGraphicsRot	= src.mPhysicsToGraphicsRot;
+	mCCDWitness				= src.mCCDWitness;
+	mCCDWitnessOffset		= src.mCCDWitnessOffset;
+
+	mScaling				= src.mScaling;
+
+	updateScale();
+}
+
+RenderBaseActor::~RenderBaseActor()
+{
+	deleteRenderShape();
+	mMaterial		= NULL;	// PT: we don't own this
+	mPhysicsShape	= NULL;	// PT: we don't own this
+	mDynamicActor	= NULL;	// PT: we don't own this
+}
+
+void RenderBaseActor::update(float deltaTime)
+{
+	// Setup render transform from physics transform, if physics object exists
+	if(mPhysicsShape)
+	{
+		if(!mArticulationLink && ( !mDynamicActor || mDynamicActor->isSleeping()))
+			return;
+
+		PxTransform newPose = PxShapeExt::getGlobalPose(*mPhysicsShape, *mPhysicsActor);
+		PxVec3 newShapeCenter = getShapeCenter(mPhysicsActor, mPhysicsShape, mCCDWitnessOffset);
+
+		bool updateCCDWitness = true;
+		if(gRaycastCCD && mEnableCCD)
+			updateCCDWitness = doRaycastCCD(mPhysicsActor, mPhysicsShape, newPose, newShapeCenter, mCCDWitness, mCCDWitnessOffset);
+
+		// Copy physics pose to graphics pose
+		setTransform(PxTransform(newPose.p, newPose.q * mPhysicsToGraphicsRot));
+
+		if(updateCCDWitness)
+			mCCDWitness = newShapeCenter;
+		
+		setWorldBounds(PxShapeExt::getWorldBounds(*mPhysicsShape, *mPhysicsActor));
+	}
+}
+
+void RenderBaseActor::render(Renderer& renderer, RenderMaterial* material, bool wireFrame)
+{
+	if(!mEnableRender)
+		return;
+
+	RenderMaterial* m = mMaterial ? mMaterial : material;
+	PX_ASSERT(m);
+
+	mRendererMeshContext.cullMode			= m->mDoubleSided ? RendererMeshContext::NONE : RendererMeshContext::CLOCKWISE;
+	mRendererMeshContext.fillMode			= wireFrame ? RendererMeshContext::LINE : RendererMeshContext::SOLID;
+	mRendererMeshContext.material			= m->mRenderMaterial;
+	mRendererMeshContext.materialInstance	= m->mRenderMaterialInstance;
+	mRendererMeshContext.mesh				= mRendererShape->getMesh();
+	mRendererMeshContext.transform			= &mScaledTransform;
+
+	renderer.queueMeshForRender(mRendererMeshContext);
+}
+
+PxBounds3 RenderBaseActor::getWorldBounds() const
+{
+	return mWorldBounds;
+}
+
+void RenderBaseActor::setWorldBounds(const PxBounds3& bounds)
+{
+	mWorldBounds = bounds;
+}
+
+void RenderBaseActor::updateScale()
+{
+	if (!mScaling.isIdentity())
+	{
+		PxMat33 q = PxMat33(mTransform.q) * mScaling.toMat33();
+		mScaledTransform = PxMat44(q, mTransform.p);
+		mRendererMeshContext.negativeScale = mScaling.hasNegativeDeterminant();
+	}
+	else
+	{
+		mScaledTransform = PxMat44(mTransform);
+	}
+}
+
+void RenderBaseActor::setPhysicsShape(PxShape* shape, PxRigidActor* actor)
+{
+	mPhysicsShape = shape;
+	mPhysicsActor = actor;
+
+	if(shape)
+	{
+		mCCDWitness = getShapeCenter(actor, shape, mCCDWitnessOffset);
+
+		const PxTransform newPose = PxShapeExt::getGlobalPose(*shape, *actor);
+		setTransform(PxTransform(newPose.p, newPose.q * mPhysicsToGraphicsRot));
+
+		PxRigidActor& ra = *actor;
+		mDynamicActor = ra.is<PxRigidDynamic>();
+		mArticulationLink = ra.is<PxArticulationLink>();
+		mWorldBounds = PxShapeExt::getWorldBounds(*mPhysicsShape, *mPhysicsActor);
+	}
+	else
+	{
+		mDynamicActor = NULL;
+	}
+}
+
+void RenderBaseActor::setRenderMaterial(RenderMaterial* material)
+{
+	mMaterial = material;
+}
+
+void RenderBaseActor::setRenderShape(RendererShape* shape)
+{
+	PX_ASSERT(!mRendererShape);
+	mRendererShape = shape;
+
+	if(shape)
+	{
+		// PT: we use the user-data as a ref-counter
+		size_t refCount = size_t(mRendererShape->m_userData);
+		refCount++;
+		mRendererShape->m_userData = (void*)refCount;
+	}
+}
+
+void RenderBaseActor::deleteRenderShape()
+{
+	if(mRendererShape)
+	{
+		// PT: we use the user-data as a ref-counter
+		size_t refCount = size_t(mRendererShape->m_userData);
+		refCount--;
+		if(!refCount)
+		{
+			DELETESINGLE(mRendererShape);
+		}
+		else
+		{
+			mRendererShape->m_userData = (void*)refCount;
+			mRendererShape = NULL;
+		}
+	}
+}
+
+void RenderBaseActor::drawDebug(RenderPhysX3Debug* debug)
+{
+//	return;
+
+	if(!mPhysicsShape)
+		return;
+
+	if(0 && mEnableCCD)
+	{
+		const PxBounds3 bounds = PxShapeExt::getWorldBounds(*mPhysicsShape, *mPhysicsActor);
+		const PxReal scale = (bounds.maximum - bounds.minimum).magnitude();
+
+		const PxTransform pose = PxShapeExt::getGlobalPose(*mPhysicsShape, *mPhysicsActor);
+		debug->addLine(pose.p, pose.p+PxVec3(scale, 0.0f, 0.0f), RendererColor(0, 255, 0));
+		debug->addLine(pose.p, pose.p+PxVec3(0.0f, scale, 0.0f), RendererColor(0, 255, 0));
+		debug->addLine(pose.p, pose.p+PxVec3(0.0f, 0.0f, scale), RendererColor(0, 255, 0));
+
+		const PxVec3 shapeCenter = getShapeCenter(mPhysicsActor, mPhysicsShape, mCCDWitnessOffset);
+//shdfnd::printFormatted("Render: %f | %f | %f\n", shapeCenter.x, shapeCenter.y, shapeCenter.z);
+
+		debug->addLine(shapeCenter, shapeCenter+PxVec3(scale, 0.0f, 0.0f), RendererColor(255, 0, 0));
+		debug->addLine(shapeCenter, shapeCenter+PxVec3(0.0f, scale, 0.0f), RendererColor(255, 0, 0));
+		debug->addLine(shapeCenter, shapeCenter+PxVec3(0.0f, 0.0f, scale), RendererColor(255, 0, 0));
+		return;
+	}
+
+/*
+	BasicRandom rnd(42);
+
+	const PxTransform globalShapePose = PxShapeExt::getGlobalPose(*mPhysicsShape);
+
+	const RendererColor colorPurple(255, 0, 255);
+	for(PxU32 i=0;i<50;i++)
+	{
+		PxVec3 dir;
+		rnd.unitRandomPt(dir);
+
+		PxVec3 localCenter;
+		const PxReal internalRadius = computeInternalRadius(mPhysicsShape, dir, localCenter, mCCDWitnessOffset);
+
+		const PxVec3 center = globalShapePose.transform(localCenter);
+
+		debug->addLine(center, center+dir*internalRadius, colorPurple);
+	}*/
+}