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diff --git a/PhysX_3.4/Samples/SampleBase/TestMotionGenerator.cpp b/PhysX_3.4/Samples/SampleBase/TestMotionGenerator.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 "TestMotionGenerator.h"
+
+//----------------------------------------------------------------------------//
+MotionGenerator::MotionGenerator() 
+:	mLinear(0.0f),
+	mAngular(0.0f),
+	mTransform(PxTransform(PxIdentity))
+{
+}
+
+//----------------------------------------------------------------------------//
+MotionGenerator::MotionGenerator(const PxTransform &pose, const PxVec3& linear, const PxVec3& angular) 
+:	mLinear(linear),
+	mAngular(angular),
+	mTransform(pose)
+{
+}
+
+//----------------------------------------------------------------------------//
+PxVec3 MotionGenerator::getLinearVelocity( float time )
+{
+	float t = time - (int(time) & ~0xf);
+	const float scale = 0.25f * PxPi;
+
+	if(t > 0 && t < 2)
+		return -scale * sinf(t * 0.5f * PxPi) * mLinear;
+
+	if(t > 8 && t < 10)
+		return +scale * sinf(t * 0.5f * PxPi) * mLinear;
+
+	return PxVec3(0.0f);
+}
+
+//----------------------------------------------------------------------------//
+PxVec3 MotionGenerator::getAngularVelocity( float time )
+{
+	float t = time - (int(time) & ~0xf);
+
+	if(t > 4 && t < 6)
+		return +PxPi * mAngular;
+
+	if(t > 12 && t < 14)
+		return -PxPi * mAngular;
+
+	return PxVec3(0.0f);
+}
+
+static PxQuat computeQuatFromAngularVelocity(const PxVec3 &omega)
+{
+	PxReal angle = omega.magnitude();
+
+	if (angle < 1e-5f) 
+	{
+		return PxQuat(PxIdentity);
+	} else {
+		PxReal s = sin( 0.5f * angle ) / angle;
+		PxReal x = omega[0] * s;
+		PxReal y = omega[1] * s;
+		PxReal z = omega[2] * s;
+		PxReal w = cos( 0.5f * angle );
+		return PxQuat(x,y,z,w);
+	}
+}
+//----------------------------------------------------------------------------//
+const PxTransform& MotionGenerator::update(float time, float dt)
+{
+	PxVec3 dw = dt * getAngularVelocity(time);
+	PxQuat dq = computeQuatFromAngularVelocity(dw);
+
+	mTransform.q = (dq * mTransform.q).getNormalized();
+	mTransform.p += dt * getLinearVelocity(time);
+	
+	return mTransform;
+}
+
+
+
+
+