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diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactPlaneCapsule.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactPlaneCapsule.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 "GuVecCapsule.h"
+#include "GuGeometryUnion.h"
+
+#include "GuContactMethodImpl.h"
+#include "GuContactBuffer.h"
+#include "GuPersistentContactManifold.h"
+
+namespace physx
+{
+namespace Gu
+{
+bool pcmContactPlaneCapsule(GU_CONTACT_METHOD_ARGS)
+{
+	PX_UNUSED(shape0);
+	PX_UNUSED(renderOutput);
+
+	using namespace Ps::aos;
+
+	Gu::PersistentContactManifold& manifold = cache.getManifold();
+	Ps::prefetchLine(&manifold, 256);
+
+	// Get actual shape data
+	const PxCapsuleGeometry& shapeCapsule = shape1.get<const PxCapsuleGeometry>();
+
+	const PsTransformV transf0 = loadTransformA(transform1);//capsule transform
+	const PsTransformV transf1 = loadTransformA(transform0);//plane transform
+	//capsule to plane
+	const PsTransformV aToB(transf1.transformInv(transf0));
+
+	//in world space
+	const Vec3V negPlaneNormal = V3Normalize(V3Neg(QuatGetBasisVector0(transf1.q)));
+	//ML:localNormal is the local space of plane normal, however, because shape1 is capulse and shape0 is plane, we need to use the reverse of contact normal(which will be the plane normal) to make the refreshContactPoints
+	//work out the correct pentration for points
+	const Vec3V localNormal = V3UnitX();
+
+	const FloatV contactDist = FLoad(params.mContactDistance);
+
+	const FloatV radius = FLoad(shapeCapsule.radius);
+	const FloatV halfHeight = FLoad(shapeCapsule.halfHeight);
+
+	//capsule is in the local space of plane(n = (1.f, 0.f, 0.f), d=0.f)
+	const Vec3V basisVector = QuatGetBasisVector0(aToB.q);
+	const Vec3V tmp = V3Scale(basisVector, halfHeight);
+	const Vec3V s = V3Add(aToB.p, tmp);
+	const Vec3V e = V3Sub(aToB.p, tmp);
+
+	const FloatV inflatedRadius = FAdd(radius, contactDist);
+	const FloatV replaceBreakingThreshold = FMul(radius, FLoad(0.001f));
+	const FloatV projectBreakingThreshold = FMul(radius, FLoad(0.05f));
+	const PxU32 initialContacts = manifold.mNumContacts;
+
+	//manifold.refreshContactPoints(curRTrans, projectBreakingThreshold, contactDist);
+	const FloatV refreshDist = FAdd(contactDist, radius);
+	manifold.refreshContactPoints(aToB, projectBreakingThreshold, refreshDist);
+
+	const PxU32 newContacts = manifold.mNumContacts;
+	const bool bLostContacts = (newContacts != initialContacts);//((initialContacts == 0) || (newContacts != initialContacts));
+
+	//PX_UNUSED(bLostContacts);
+	if(bLostContacts || manifold.invalidate_PrimitivesPlane(aToB, radius, FLoad(0.02f)))  
+	{
+		manifold.mNumContacts = 0;
+		manifold.setRelativeTransform(aToB);
+		//calculate the distance from s to the plane
+		const FloatV signDist0  = V3GetX(s);//V3Dot(localNormal, s);
+		if(FAllGrtr(inflatedRadius, signDist0))
+		{
+			const Vec3V localPointA = aToB.transformInv(s);
+			const Vec3V localPointB = V3NegScaleSub(localNormal, signDist0, s);
+			const Vec4V localNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), signDist0);
+			//add to manifold
+			manifold.addManifoldPoint2(localPointA, localPointB, localNormalPen, replaceBreakingThreshold); 
+		}
+
+		const FloatV signDist1 = V3GetX(e);//V3Dot(localNormal, e);
+		if(FAllGrtr(inflatedRadius, signDist1))
+		{
+			const Vec3V localPointA = aToB.transformInv(e);
+			const Vec3V localPointB = V3NegScaleSub(localNormal, signDist1, e);
+			const Vec4V localNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), signDist1);
+			//add to manifold
+			manifold.addManifoldPoint2(localPointA, localPointB, localNormalPen, replaceBreakingThreshold); 
+		}
+
+		manifold.addManifoldContactsToContactBuffer(contactBuffer, negPlaneNormal, transf0, radius, contactDist);
+
+
+		return manifold.getNumContacts() > 0;
+	}
+	else
+	{
+		manifold.addManifoldContactsToContactBuffer(contactBuffer, negPlaneNormal, transf0, radius, contactDist);
+		return manifold.getNumContacts() > 0;
+	}
+}
+
+}//Gu
+}//physx