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diff --git a/PhysX_3.4/Source/GeomUtils/src/GuDebug.cpp b/PhysX_3.4/Source/GeomUtils/src/GuDebug.cpp
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+++ b/PhysX_3.4/Source/GeomUtils/src/GuDebug.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 "GuDebug.h"
+#include "GuHeightFieldUtil.h"
+#include "GuTriangleMesh.h"
+#include "GuConvexMesh.h"
+#include "PxVisualizationParameter.h"
+#include "PxBoxGeometry.h"
+#include "PxSphereGeometry.h"
+#include "PxPlaneGeometry.h"
+#include "PxCapsuleGeometry.h"
+#include "PxConvexMeshGeometry.h"
+#include "PxGeometryQuery.h"
+#include "PxMeshQuery.h"
+
+using namespace physx;
+using namespace Gu;
+
+#if PX_ENABLE_DEBUG_VISUALIZATION
+
+static void visualizeSphere(const PxSphereGeometry& geometry,	Cm::RenderOutput& out, const PxTransform& absPose)
+{
+	const PxU32 scolor = PxU32(PxDebugColor::eARGB_MAGENTA);
+
+	out << scolor << absPose << Cm::DebugCircle(100, geometry.radius);
+
+	PxMat44 rotPose(absPose);
+	Ps::swap(rotPose.column1, rotPose.column2);
+	rotPose.column1 = -rotPose.column1;
+	out << scolor << rotPose << Cm::DebugCircle(100, geometry.radius);
+
+	Ps::swap(rotPose.column0, rotPose.column2);
+	rotPose.column0 = -rotPose.column0;
+	out << scolor << rotPose << Cm::DebugCircle(100, geometry.radius);
+}
+
+static void visualizePlane(const PxPlaneGeometry& /*geometry*/, Cm::RenderOutput& out, const PxTransform& absPose)
+{
+	const PxU32 scolor = PxU32(PxDebugColor::eARGB_MAGENTA);
+
+	PxMat44 rotPose(absPose);
+	Ps::swap(rotPose.column1, rotPose.column2);
+	rotPose.column1 = -rotPose.column1;
+
+	Ps::swap(rotPose.column0, rotPose.column2);
+	rotPose.column0 = -rotPose.column0;
+	for(PxReal radius = 2.0f; radius < 20.0f ; radius += 2.0f)
+		out << scolor << rotPose << Cm::DebugCircle(100, radius*radius);
+}
+
+static void visualizeCapsule(const PxCapsuleGeometry& geometry, Cm::RenderOutput& out, const PxTransform& absPose)
+{
+	out << PxU32(PxDebugColor::eARGB_MAGENTA);
+	out.outputCapsule(geometry.radius, geometry.halfHeight, absPose);
+}
+
+static void visualizeBox(const PxBoxGeometry& geometry, Cm::RenderOutput& out, const PxTransform& absPose)
+{
+	out << PxU32(PxDebugColor::eARGB_MAGENTA);
+	out << absPose << Cm::DebugBox(geometry.halfExtents);
+}
+
+static void visualizeConvexMesh(const PxConvexMeshGeometry& geometry, Cm::RenderOutput& out, const PxTransform& absPose)
+{
+	(static_cast<const ConvexMesh*>(geometry.convexMesh))->debugVisualize(out, absPose, geometry.scale);
+}
+
+static void visualizeTriangleMesh(const PxTriangleMeshGeometry& geometry, Cm::RenderOutput& out, const PxTransform& absPose, 
+						   const PxBounds3& cullbox, const PxU64 mask, const PxReal fscale,  const PxU32 numMaterials)
+{
+	(static_cast<const TriangleMesh*>(geometry.triangleMesh))->debugVisualize(out, absPose, geometry.scale, cullbox, mask, fscale, numMaterials);
+}
+
+static void visualizeHeightField(const PxHeightFieldGeometry& hfGeometry,
+	Cm::RenderOutput& out, const PxTransform& absPose, const PxBounds3& cullbox,
+	const PxU64 mask)
+{
+	const HeightField* heightfield = static_cast<const HeightField*>(hfGeometry.heightField);
+	const bool cscale = !!(mask & (PxU64(1) << PxVisualizationParameter::eCULL_BOX));
+
+	const PxDebugColor::Enum colors[] = 
+	{
+		PxDebugColor::eARGB_BLACK,		
+		PxDebugColor::eARGB_RED,		
+		PxDebugColor::eARGB_GREEN,		
+		PxDebugColor::eARGB_BLUE,		
+		PxDebugColor::eARGB_YELLOW,	
+		PxDebugColor::eARGB_MAGENTA,	
+		PxDebugColor::eARGB_CYAN,		
+		PxDebugColor::eARGB_WHITE,		
+		PxDebugColor::eARGB_GREY,		
+		PxDebugColor::eARGB_DARKRED,	
+		PxDebugColor::eARGB_DARKGREEN,	
+		PxDebugColor::eARGB_DARKBLUE,	
+	};
+	const PxU32 colorCount = sizeof(colors)/sizeof(PxDebugColor::Enum);
+
+	if (mask & (PxU64(1) << PxVisualizationParameter::eCOLLISION_SHAPES))
+	{
+
+		// PT: TODO: the debug viz for HFs is minimal at the moment...
+		PxU32 scolor = PxU32(PxDebugColor::eARGB_YELLOW);
+		const PxMat44 midt = PxMat44(PxIdentity);
+
+		HeightFieldUtil hfUtil(hfGeometry);
+
+		const PxU32 nbRows = heightfield->getNbRowsFast();
+		const PxU32 nbColumns = heightfield->getNbColumnsFast();
+		const PxU32 nbVerts = nbRows * nbColumns;
+		const PxU32 nbTriangles = 2 * nbVerts;
+
+		out << midt << scolor;	// PT: no need to output the same matrix/color for each triangle
+
+		if(cscale)
+		{
+			const PxTransform pose0((cullbox.maximum + cullbox.minimum)*0.5f);
+			const PxBoxGeometry boxGeometry((cullbox.maximum - cullbox.minimum)*0.5f);
+
+			const PxTransform pose1(absPose);
+
+			PxU32* results = reinterpret_cast<PxU32*>(PX_ALLOC(sizeof(PxU32)*nbTriangles, "tmp triangle indices"));
+
+			bool overflow = false;
+			PxU32 nbTouchedTris = PxMeshQuery::findOverlapHeightField(boxGeometry, pose0, hfGeometry, pose1, results, nbTriangles, 0, overflow);
+		
+			PxDebugLine* segments = out.reserveSegments(nbTouchedTris*3);
+
+			for (PxU32 i=0; i<nbTouchedTris; i++)
+			{
+				const PxU32 index= results[i];
+				PxTriangle currentTriangle;
+				PxMeshQuery::getTriangle(hfGeometry, pose1, index, currentTriangle);
+
+				//The check has been done in the findOverlapHeightField
+				//if(heightfield->isValidTriangle(index) && heightfield->getTriangleMaterial(index) != PxHeightFieldMaterial::eHOLE)
+				{
+					const PxU16 localMaterialIndex = heightfield->getTriangleMaterialIndex(index);
+					scolor = colors[localMaterialIndex % colorCount];
+
+					segments[0] = PxDebugLine(currentTriangle.verts[0], currentTriangle.verts[1], scolor);
+					segments[1] = PxDebugLine(currentTriangle.verts[1], currentTriangle.verts[2], scolor);
+					segments[2] = PxDebugLine(currentTriangle.verts[2], currentTriangle.verts[0], scolor);
+					segments+=3;
+				}
+			}
+			PX_FREE(results);
+		}
+		else
+		{
+
+			// PT: transform vertices only once
+			PxVec3* tmpVerts = reinterpret_cast<PxVec3*>(PX_ALLOC(sizeof(PxVec3)*nbVerts, "PxVec3"));
+			// PT: TODO: optimize the following line
+			for(PxU32 i=0;i<nbVerts;i++)
+				tmpVerts[i] = absPose.transform(hfUtil.hf2shapep(heightfield->getVertex(i)));
+
+			for(PxU32 i=0; i<nbTriangles; i++)
+			{
+				// PT: TODO: optimize away the useless divisions/modulos in the lines below
+				if(heightfield->isValidTriangle(i) && heightfield->getTriangleMaterial(i) != PxHeightFieldMaterial::eHOLE)
+				{
+					PxU32 vi0, vi1, vi2;
+					heightfield->getTriangleVertexIndices(i, vi0, vi1, vi2);
+					const PxU16 localMaterialIndex = heightfield->getTriangleMaterialIndex(i);
+					out << colors[localMaterialIndex % colorCount];
+
+					const PxVec3& vw0 = tmpVerts[vi0];
+					const PxVec3& vw1 = tmpVerts[vi1];
+					const PxVec3& vw2 = tmpVerts[vi2];
+				
+					out.outputSegment(vw0, vw1);
+					out.outputSegment(vw1, vw2);
+					out.outputSegment(vw2, vw0);
+				}
+			}
+			PX_FREE(tmpVerts);
+		}
+	}	
+}
+
+namespace physx
+{
+namespace Gu
+{
+
+void Debug::visualize(const PxGeometry& geometry,
+					  Cm::RenderOutput& out, 
+					  const PxTransform& absPose, 
+					  const PxBounds3& cullbox,
+					  const PxU64 mask, 
+					  const PxReal fscale, 
+					  const PxU32 numMaterials)
+{
+	
+	const bool cull((mask & (PxU64(1) << PxVisualizationParameter::eCULL_BOX)) != 0);
+	const bool collisionShapes((mask & (PxU64(1) << PxVisualizationParameter::eCOLLISION_SHAPES)) != 0);
+
+	if(cull && !cullbox.intersects(PxGeometryQuery::getWorldBounds(geometry, absPose, 0.0f)))
+		return;
+
+	// triangle meshes can render active edges, but for other types we can just early out if there are no collision shapes
+	if(!collisionShapes && geometry.getType() != PxGeometryType::eTRIANGLEMESH)
+		return;
+
+	switch(geometry.getType())
+	{
+	case PxGeometryType::eSPHERE:
+		visualizeSphere(static_cast<const PxSphereGeometry&>(geometry), out, absPose);
+		break;
+	case PxGeometryType::eBOX:
+		visualizeBox(static_cast<const PxBoxGeometry&>(geometry), out, absPose);
+		break;
+	case PxGeometryType::ePLANE:
+		visualizePlane(static_cast<const PxPlaneGeometry&>(geometry), out, absPose);
+		break;
+	case PxGeometryType::eCAPSULE:
+		visualizeCapsule(static_cast<const PxCapsuleGeometry&>(geometry), out, absPose);
+		break;
+	case PxGeometryType::eCONVEXMESH:
+		visualizeConvexMesh(static_cast<const PxConvexMeshGeometry&>(geometry), out, absPose);
+		break;
+	case PxGeometryType::eTRIANGLEMESH:
+		visualizeTriangleMesh(static_cast<const PxTriangleMeshGeometry&>(geometry), out, absPose, cullbox, mask, fscale, numMaterials);
+		break;
+	case PxGeometryType::eHEIGHTFIELD:
+		visualizeHeightField(static_cast<const PxHeightFieldGeometry&>(geometry), out, absPose, cullbox, mask);
+		break;
+	case PxGeometryType::eINVALID:
+		break;
+	case PxGeometryType::eGEOMETRY_COUNT:
+		break;
+	}
+}
+}
+}
+
+#endif