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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.  
+
+
+
+extern PxPhysics*				gPhysics;
+extern PxDefaultCpuDispatcher*	gDispatcher;
+extern PxMaterial*				gMaterial;
+
+#ifdef RENDER_SNIPPET
+void renderScene(physx::PxScene *, physx::PxRigidActor * frame, const physx::PxVec3 & color);
+#endif
+
+class NestedScene : public PxSimulationEventCallback
+{
+public:
+	NestedScene(PxRigidDynamic* containingActor) : mContainingActor(containingActor), lastLVel(PxZero), lastAVel(PxZero)
+	{
+		//create contained scene
+		PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
+		sceneDesc.cpuDispatcher = gDispatcher;
+		sceneDesc.filterShader	= PxDefaultSimulationFilterShader;
+		sceneDesc.simulationEventCallback = this;	
+		sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
+		mScene = gPhysics->createScene(sceneDesc);
+
+		//create the static environment of the contained scene out of the containing actor's geometry
+		//this could be any other arbitrary geometry too though
+
+
+		{
+			//the truck bed
+			PxShape* shape = gPhysics->createShape(PxBoxGeometry(1.8f, 0.25f, 4.5f), *gMaterial);
+			PxRigidStatic * staticActor = gPhysics->createRigidStatic(PxTransform(PxVec3(0.0f, 1.0f, 0.0f)));
+			staticActor->attachShape(*shape);
+			mScene->addActor(*staticActor);
+
+		}
+
+		{
+
+			//the cabin of the truck
+			PxShape* shape = gPhysics->createShape(PxBoxGeometry(1.7f, 0.5f, 0.9f), *gMaterial);
+			PxRigidStatic * staticActor = gPhysics->createRigidStatic(PxTransform(PxVec3(0.0f, 1.75f, 2.5f)));
+			staticActor->attachShape(*shape);
+			mScene->addActor(*staticActor);
+		}
+
+
+		{
+			//some detail thingie on the cabin
+			PxShape* shape = gPhysics->createShape(PxSphereGeometry(0.5f), *gMaterial);
+			PxRigidStatic * staticActor = gPhysics->createRigidStatic(PxTransform(PxVec3(0.6f, 2.25f, 2.75f)));
+			staticActor->attachShape(*shape);
+			mScene->addActor(*staticActor);
+		}
+
+		{
+			//a trigger shape around the truck bed.  If shapes leave this, they move to the main scene.
+			PxShape* shape = gPhysics->createShape(PxBoxGeometry(1.8f, 3.0f, 4.5f), *gMaterial);
+			shape->setFlag(PxShapeFlag::eSIMULATION_SHAPE, false);
+			shape->setFlag(PxShapeFlag::eTRIGGER_SHAPE, true);
+			PxRigidStatic * staticActor = gPhysics->createRigidStatic(PxTransform(PxVec3(0.0f, 1.0f, 0.0f)));
+			staticActor->attachShape(*shape);
+			mScene->addActor(*staticActor);
+
+		}
+
+
+
+
+
+	}
+
+	~NestedScene()
+	{
+
+	}
+
+
+	void createBoxStack()
+	{
+		//create a box stack inside the scene
+
+		createStack(PxTransform(PxVec3(0.0f, 3.0f, 0.0f)), 3, 0.4f);
+
+		//TODO
+	}
+
+	void simulate(PxScene * , PxF32 timeStep)
+	{
+		//1) mirror reference actor accelerations into scene
+
+		if (!mContainingActor->isSleeping())
+		{
+			PxVec3 lvel = mContainingActor->getLinearVelocity();
+			PxVec3 avel = mContainingActor->getAngularVelocity();
+
+			//note that this is actually -acc.
+			PxVec3 lacc = lastLVel - lvel;
+			//PxVec3 aacc = lastAVel - avel;
+
+			lastLVel = lvel;
+			lastAVel = avel;
+	
+
+			//special sauce:
+			//filter out vertical movement due to suspension travel, otherwise the ride is too bumpy
+			lacc.y = 0.0f;
+			//decrease the rest of the acceleration by a bit
+			lacc *= 0.7f;
+
+
+			if (lacc.magnitudeSquared() > 0.01f)	//let things sleep if the accel is too small
+			{
+				PxU32 nbActors = mScene->getNbActors(PxActorTypeFlag::eRIGID_DYNAMIC);
+				if(nbActors)
+				{
+					std::vector<PxActor*> actors(nbActors);
+					mScene->getActors(PxActorTypeFlag::eRIGID_DYNAMIC, &actors[0], nbActors);
+
+					for(PxU32 i=0;i<nbActors;i++)
+					{
+						actors[i]->is<PxRigidBody>()->addForce(lacc, PxForceMode::eVELOCITY_CHANGE);
+					}
+				}
+			}
+
+
+
+		}
+		else
+		{
+			lastLVel = PxVec3(PxZero);
+			lastAVel = PxVec3(PxZero);
+		}
+
+		//2) simulate scene
+		mScene->simulate(timeStep);
+		mScene->fetchResults(true);
+
+		//move actors that have dropped off the truck out into the main scene
+
+		for(PxU32 i=0;i<removalQueue.size();i++)
+		{
+			mScene->removeActor(*removalQueue[i]);
+
+			//transform to the parent frame:
+			PxTransform localPose = removalQueue[i]->getGlobalPose();
+			PxTransform parentFrame = mContainingActor->getGlobalPose();
+			removalQueue[i]->setGlobalPose(parentFrame * localPose);
+			mContainingActor->getScene()->addActor(*removalQueue[i]);
+		
+		}
+		removalQueue.clear();
+
+		
+
+	}
+
+	void render()
+	{
+#ifdef RENDER_SNIPPET
+		renderScene(mScene, mContainingActor, PxVec3(0.54f, 0.85f, 0.1f));
+#endif
+	}
+
+	//simulation event callback -- we only need trigger:
+	void onConstraintBreak(PxConstraintInfo* , PxU32 )		{  }
+	void onWake(PxActor** , PxU32 )							{ }
+	void onSleep(PxActor** , PxU32 )						{  }
+	void onContact(const PxContactPairHeader& , const PxContactPair* , PxU32 ) { }
+	void onTrigger(PxTriggerPair* pairs, PxU32 count)		
+	{
+		for(PxU32 i=0; i < count; i++)
+		{
+			// ignore pairs when shapes have been deleted
+			if (pairs[i].status & PxPairFlag::eNOTIFY_TOUCH_LOST)
+			{
+				//we're not allowed to make changes in the callback, so save it for later
+				removalQueue.push_back(pairs[i].otherActor);
+			}
+
+		}
+
+	}
+	void onAdvance(const PxRigidBody*const*, const PxTransform*, const PxU32) {}
+
+private:
+
+	void createStack(const PxTransform& t, PxU32 size, PxReal halfExtent)
+	{
+		PxShape* shape = gPhysics->createShape(PxBoxGeometry(halfExtent, halfExtent, halfExtent), *gMaterial);
+
+		PxFilterData simFilterData;
+		simFilterData.word0 = snippetvehicle::COLLISION_FLAG_OBSTACLE;
+		simFilterData.word1 = snippetvehicle::COLLISION_FLAG_OBSTACLE_AGAINST;
+		shape->setSimulationFilterData(simFilterData);
+
+		for(PxU32 i=0; i<size;i++)
+		{
+			for(PxU32 j=0;j<size-i;j++)
+			{
+				PxTransform localTm(PxVec3(PxReal(j*2) - PxReal(size-i), PxReal(i*2+1), 0) * halfExtent);
+				PxRigidDynamic* body = gPhysics->createRigidDynamic(t.transform(localTm));
+				body->attachShape(*shape);
+				PxRigidBodyExt::updateMassAndInertia(*body, 10.0f);
+				mScene->addActor(*body);
+			}
+		}
+		shape->release();
+	}
+
+
+
+	PxScene* mScene;
+	PxRigidDynamic* mContainingActor;
+	PxVec3 lastLVel;
+	PxVec3 lastAVel;
+	std::vector<PxRigidActor*> removalQueue;
+};
+