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diff --git a/PhysX_3.4/Samples/SampleCharacterCloth/SampleCharacterCloth_Main.cpp b/PhysX_3.4/Samples/SampleCharacterCloth/SampleCharacterCloth_Main.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 "PxPhysXConfig.h"
+
+#if PX_USE_CLOTH_API
+
+#include "SampleCharacterCloth.h"
+
+#include "SampleAllocatorSDKClasses.h"
+#include "SampleCharacterClothCameraController.h"
+#include "SampleCharacterClothInputEventIds.h"
+#include "SampleCharacterClothSettings.h"
+#include "SampleCharacterClothFlag.h"
+#include "SamplePlatform.h"
+
+#include "RenderMaterial.h"
+#include "RenderBaseActor.h"
+
+#include "characterkinematic/PxCapsuleController.h"
+#include "characterkinematic/PxControllerManager.h"
+#include "PxPhysicsAPI.h"
+
+#include "SampleCharacterClothInputEventIds.h"
+#include <SampleUserInputIds.h>
+#include <SampleUserInput.h>
+#include <SampleUserInputDefines.h>
+
+REGISTER_SAMPLE(SampleCharacterCloth, "SampleCharacterCloth")
+
+using namespace SampleFramework;
+using namespace SampleRenderer;
+using namespace PxToolkit;
+
+///////////////////////////////////////////////////////////////////////////////
+
+SampleCharacterCloth::SampleCharacterCloth(PhysXSampleApplication& app)
+	: PhysXSample				(app, 2)
+	, mCCTCamera				(NULL)
+	, mController				(NULL)
+	, mControllerManager		(NULL)
+	, mCCTDisplacement			(0.0f)
+	, mCCTDisplacementPrevStep	(0.0f)
+	, mCCTTimeStep				(0.0f)
+	, mCape                   	(NULL)
+#if PX_SUPPORT_GPU_PHYSX || PX_XBOXONE
+	, mUseGPU               	(true)
+#endif
+{
+	mCreateGroundPlane  = false;
+	//mStepperType = FIXED_STEPPER;
+	mControllerInitialPosition = PxVec3(0.0, 3.0f, 0.0);
+
+	mCCTActive = false;
+
+	mNbVerts	= 0;
+	mNbTris		= 0;
+	mVerts		= NULL;
+	mTris		= NULL;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+SampleCharacterCloth::~SampleCharacterCloth()
+{
+	DELETESINGLE(mCCTCamera);
+
+	SAMPLE_FREE(mTris);
+	SAMPLE_FREE(mVerts);
+
+	const size_t nbPlatforms = mPlatforms.size();
+	for(PxU32 i = 0;i < nbPlatforms;i++)
+		mPlatforms[i]->release();
+
+//	releaseFlags();
+}
+
+///////////////////////////////////////////////////////////////////////////////
+// create render materials used for render objects.
+// The newly created materials are appended to PhysXSample::mRenderMaterials array
+void SampleCharacterCloth::createRenderMaterials()
+{
+	getRenderer()->setAmbientColor(RendererColor(100, 100, 100));
+
+	// create render materials used in this sample
+	mSnowMaterial = SAMPLE_NEW(RenderMaterial)(*getRenderer(), PxVec3(0.70f, 0.70f, 0.8f), 1.0f, false, 0, NULL);
+	mRenderMaterials.push_back(mSnowMaterial);
+
+	mFlagMaterial = createRenderMaterialFromTextureFile("nvidia_flag_d.bmp");
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+void SampleCharacterCloth::customizeSample(SampleSetup& setup)
+{
+	setup.mName	= "SampleCharacterCloth";
+}
+
+///////////////////////////////////////////////////////////////////////////////
+void SampleCharacterCloth::collectInputEvents(std::vector<const InputEvent*>& inputEvents)
+{
+	PhysXSample::collectInputEvents(inputEvents);
+	getApplication().getPlatform()->getSampleUserInput()->unregisterInputEvent(SPAWN_DEBUG_OBJECT);
+
+	//digital keyboard events
+	DIGITAL_INPUT_EVENT_DEF(RESET_SCENE,			WKEY_R,		XKEY_R,		X1KEY_R,	PS3KEY_R,	PS4KEY_R,	AKEY_UNKNOWN,	OSXKEY_R,	IKEY_UNKNOWN,	LINUXKEY_R,	WIIUKEY_UNKNOWN);
+	DIGITAL_INPUT_EVENT_DEF(CHANGE_CLOTH_CONTENT,	WKEY_M,		XKEY_M,		X1KEY_M,	PS3KEY_M,	PS4KEY_M,	AKEY_UNKNOWN,	OSXKEY_M,	IKEY_UNKNOWN,	LINUXKEY_M,	WIIUKEY_UNKNOWN);
+
+	//digital mouse events
+
+    //touch events
+    TOUCH_INPUT_EVENT_DEF(RESET_SCENE,		"Reset",			ABUTTON_5,		IBUTTON_5);
+}
+
+///////////////////////////////////////////////////////////////////////////////
+void SampleCharacterCloth::onDigitalInputEvent(const InputEvent& ie, bool val)
+{
+	if(val)
+	{
+		switch (ie.m_Id)
+		{
+		case RESET_SCENE:
+			{
+				resetScene();
+			}
+			break;
+		case CHANGE_CLOTH_CONTENT:
+			mClothFlagCountIndex = (mClothFlagCountIndex+1)% (mClothFlagCountIndexMax+1);
+			releaseFlags();
+			createFlags();
+			break;
+
+#if PX_SUPPORT_GPU_PHYSX || PX_XBOXONE
+		case TOGGLE_CPU_GPU:
+			toggleGPU();
+			return;
+			break;
+#endif
+		}
+	}
+
+	PhysXSample::onDigitalInputEvent(ie,val);
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+void SampleCharacterCloth::helpRender(PxU32 x, PxU32 y, PxU8 textAlpha)
+{
+	Renderer* renderer = getRenderer();
+	const PxU32 yInc = 18;
+	const PxReal scale = 0.5f;
+	const PxReal shadowOffset = 6.0f;
+	const RendererColor textColor(255, 255, 255, textAlpha);
+	const bool isMouseSupported = getApplication().getPlatform()->getSampleUserInput()->mouseSupported();
+	const bool isPadSupported = getApplication().getPlatform()->getSampleUserInput()->gamepadSupported();
+	const char* msg;
+
+	if (isMouseSupported && isPadSupported)
+		renderer->print(x, y += yInc, "Use mouse or right stick to rotate the camera", scale, shadowOffset, textColor);
+	else if (isMouseSupported)
+		renderer->print(x, y += yInc, "Use mouse to rotate the camera", scale, shadowOffset, textColor);
+	else if (isPadSupported)
+		renderer->print(x, y += yInc, "Use right stick to rotate the camera", scale, shadowOffset, textColor);
+	if (isPadSupported)
+		renderer->print(x, y += yInc, "Use left stick to move",scale, shadowOffset, textColor);
+	msg = mApplication.inputMoveInfoMsg("Press "," to move", CAMERA_MOVE_FORWARD,CAMERA_MOVE_BACKWARD, CAMERA_MOVE_LEFT, CAMERA_MOVE_RIGHT);
+	if(msg)
+		renderer->print(x, y += yInc, msg,scale, shadowOffset, textColor);
+	msg = mApplication.inputInfoMsg("Press "," to move fast", CAMERA_SHIFT_SPEED, -1);
+	if(msg)
+		renderer->print(x, y += yInc, msg, scale, shadowOffset, textColor);
+	msg = mApplication.inputInfoMsg("Press "," to jump", CAMERA_JUMP, -1);
+	if(msg)
+		renderer->print(x, y += yInc, msg,scale, shadowOffset, textColor);
+
+	msg = mApplication.inputInfoMsg("Press "," to toggle visualization", TOGGLE_VISUALIZATION, -1);
+	if(msg)
+		renderer->print(x, y += yInc, msg,scale, shadowOffset, textColor);
+
+	msg = mApplication.inputInfoMsg("Press "," to reset scene", RESET_SCENE, -1);
+	if(msg)
+		renderer->print(x, y += yInc, msg,scale, shadowOffset, textColor);
+
+	msg = mApplication.inputInfoMsg("Press "," to change flag count", CHANGE_CLOTH_CONTENT,-1);
+	if(msg)
+		renderer->print(x, y += yInc, msg,scale, shadowOffset, textColor);
+
+#if PX_SUPPORT_GPU_PHYSX || PX_XBOXONE
+	msg = mApplication.inputInfoMsg("Press "," to toggle CPU/GPU", TOGGLE_CPU_GPU, -1);
+	if(msg)
+		renderer->print(x, y += yInc, msg,scale, shadowOffset, textColor);
+#endif
+}
+
+void SampleCharacterCloth::descriptionRender(PxU32 x, PxU32 y, PxU8 textAlpha)
+{
+	bool print=(textAlpha!=0.0f);
+
+	if(print)
+	{
+		Renderer* renderer = getRenderer();
+		const PxU32 yInc = 24;
+		const PxReal scale = 0.5f;
+		const PxReal shadowOffset = 6.0f;
+		const RendererColor textColor(255, 255, 255, textAlpha);
+
+		char line0[256]="This sample demonstrates the PhysX cloth feature.  In particular, the ";
+		char line1[256]="setup and simulation of a cape attached to an animated character is";
+		char line2[256]="presented. This involves generating an approximate description of the";  
+		char line3[256]="character's geometry, cloth instantiation, the binding of the cloth to a";
+		char line4[256]="skinned character, and the setup of simulation parameters and values";
+		char line5[256]="controlling the different phases of the cloth solver.  To clarify the";
+		char line6[256]="process, and to offer some variety, a flag is also created and simulated.";
+#if PX_WINDOWS
+		char line7[256]="Finally, the sample illustrates the steps required to enable GPU";
+		char line8[256]="acceleration of PhysX cloth.";
+#endif
+
+		renderer->print(x, y+=yInc, line0, scale, shadowOffset, textColor);
+		renderer->print(x, y+=yInc, line1, scale, shadowOffset, textColor);
+		renderer->print(x, y+=yInc, line2, scale, shadowOffset, textColor);
+		renderer->print(x, y+=yInc, line3, scale, shadowOffset, textColor);
+		renderer->print(x, y+=yInc, line4, scale, shadowOffset, textColor);
+		renderer->print(x, y+=yInc, line5, scale, shadowOffset, textColor);
+		renderer->print(x, y+=yInc, line6, scale, shadowOffset, textColor);
+#if PX_WINDOWS
+		renderer->print(x, y+=yInc, line7, scale, shadowOffset, textColor);
+		renderer->print(x, y+=yInc, line8, scale, shadowOffset, textColor);
+#endif
+	}
+}
+
+///////////////////////////////////////////////////////////////////////////////
+void SampleCharacterCloth::customizeRender()
+{
+#if PX_SUPPORT_GPU_PHYSX || PX_XBOXONE
+	SampleRenderer::Renderer* renderer = getRenderer();
+
+	const PxU32 yInc = 20;
+	const PxReal scale = 0.5f;
+	const PxReal shadowOffset = 6.0f;
+	PxU32 width, height;
+	renderer->getWindowSize(width, height);
+
+	PxU32 y = height-2*yInc;
+	PxU32 x = width - 360;
+
+	{
+		const RendererColor textColor(255, 0, 0, 255);
+		const char* message[4] = { "Flag count: Moderate", "Flag count: Medium", "Flag count: High", "Flag count: Very High" };
+		renderer->print(x, y, message[mClothFlagCountIndex], scale, shadowOffset, textColor);
+	}
+
+	{
+		y -= yInc;
+		const RendererColor textColor(255, 0, 0, 255);
+
+		char buf[2048];
+		sprintf(buf, mUseGPU ? "Running on GPU" : "Running on CPU");
+
+		if(PX_SUPPORT_GPU_PHYSX && mUseGPU)
+			sprintf(buf + strlen(buf), " (%s)", getActiveScene().getTaskManager()->getGpuDispatcher()->getCudaContextManager()->getDeviceName());
+
+		renderer->print(x, y, buf, scale, shadowOffset, textColor);
+	}
+
+	{
+		y -= yInc;
+
+		char fpsText[512];
+		sprintf(fpsText, "Average PhysX time: %3.3f ms", 1000.0f * mAverageSimulationTime);
+	
+		const RendererColor textColor(255, 255, 255, 255);
+		renderer->print(x, y, fpsText, scale, shadowOffset, textColor);	
+	}
+
+#endif
+}
+
+///////////////////////////////////////////////////////////////////////////////
+void SampleCharacterCloth::onInit()
+{
+	mNbThreads = PxMax(PxI32(shdfnd::Thread::getNbPhysicalCores())-1, 0);
+
+	// try to get gpu support
+	mCreateCudaCtxManager = true;
+
+	PhysXSample::onInit();
+
+	PxSceneWriteLock scopedLock(*mScene);
+
+	mApplication.setMouseCursorHiding(true);
+	mApplication.setMouseCursorRecentering(true);
+
+	mClothFlagCountIndex = 0;
+	mClothFlagCountIndexMax = 3;
+
+	// create materials and render setup
+	createRenderMaterials();
+	
+	// build static heightfield landscape
+	buildHeightField();
+
+	// create CCT controller 
+	createCCTController();
+
+	// create the stickman character
+	createCharacter();
+
+	// create a cape for the stickman
+	createCape();
+
+	// create flags
+	createFlags();
+	
+	// reset scene
+	resetScene();
+
+	// apply global physx settings
+	getActiveScene().setGravity(PxVec3(0,-10.0f,0));
+}
+
+///////////////////////////////////////////////////////////////////////////////
+void SampleCharacterCloth::resetScene()
+{	
+	PxSceneWriteLock scopedLock(*mScene);
+
+	// reset cct 
+	PxVec3 pos = mControllerInitialPosition;
+	mController->setPosition(PxExtendedVec3(pos.x, pos.y, pos.z));
+
+	// compute global pose and local positions
+	PxExtendedVec3 posExt = mController->getPosition();
+	PxTransform pose = mController->getActor()->getGlobalPose();
+	pose.p = PxVec3(PxReal(posExt.x), PxReal(posExt.y), PxReal(posExt.z)) - PxVec3(0.0f, 1.5, 0.0f);
+
+	mCharacter.setGlobalPose(pose);
+
+	resetCharacter();
+	resetCape();
+
+	// reset platforms
+	const size_t nbPlatforms = mPlatforms.size();
+	for(PxU32 i = 0;i < nbPlatforms;i++)
+		mPlatforms[i]->reset();
+
+	// reset camera
+	mCCTCamera->setView(0.0f, 0.0f);
+
+	// reset stats
+	mFrameCount = 0;
+	mAccumulatedSimulationTime = 0.0f;
+	mAverageSimulationTime = 0.0f;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+void SampleCharacterCloth::onShutdown()
+{
+	{
+		PxSceneWriteLock scopedLock(*mScene);
+		DELETESINGLE(mCCTCamera);
+		SAFE_RELEASE(mControllerManager);
+	}
+	PhysXSample::onShutdown();
+}
+
+///////////////////////////////////////////////////////////////////////////////
+void SampleCharacterCloth::onTickPreRender(float dtime)
+{
+	PhysXSample::onTickPreRender(dtime);
+}
+
+///////////////////////////////////////////////////////////////////////////////
+// called after each substep is done (can be called more than once per frame)
+void SampleCharacterCloth::onSubstep(float dtime)
+{
+	PxSceneWriteLock scopedLock(*mScene);
+
+	updatePlatforms(dtime);
+	updateCCT(dtime);
+	updateCharacter(dtime);
+	updateCape(dtime);
+	updateFlags(dtime);
+
+#if PX_SUPPORT_GPU_PHYSX || PX_XBOXONE
+	// update the GPU flag (may have been disabled if CUDA error, not enough shared memory, etc)
+	mUseGPU = mCape->getClothFlags() & (PxClothFlag::eCUDA);
+#endif
+}
+
+///////////////////////////////////////////////////////////////////////////////
+void SampleCharacterCloth::onTickPostRender(float dtime)
+{
+	PhysXSample::onTickPostRender(dtime);
+
+	mFrameCount++;
+	mAccumulatedSimulationTime += getSimulationTime();
+	PxReal delta = PxReal(mTimer.peekElapsedSeconds());
+	if (delta > 1.0f)
+	{
+		mAverageSimulationTime = mAccumulatedSimulationTime / PxReal(mFrameCount);
+		mFrameCount = 0;
+		mAccumulatedSimulationTime = 0.0f;
+		mTimer.getElapsedSeconds();
+	}
+}
+
+///////////////////////////////////////////////////////////////////////////////
+void SampleCharacterCloth::onPointerInputEvent(const SampleFramework::InputEvent& ie, physx::PxU32 x, physx::PxU32 y, physx::PxReal dx, physx::PxReal dy, bool val)
+{
+	PhysXSample::onPointerInputEvent(ie,x,y,dx,dy,val);
+}
+
+#endif // PX_USE_CLOTH_API
+
+