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diff --git a/PhysX_3.4/Source/LowLevelDynamics/src/DyArticulationReference.h b/PhysX_3.4/Source/LowLevelDynamics/src/DyArticulationReference.h
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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.  
+
+
+
+#ifndef DY_ARTICULATION_REFERENCE_H
+#define DY_ARTICULATION_REFERENCE_H
+
+// a per-row struct where we put extra data for debug and setup - ultimately this will move to be just
+// debug only
+
+
+
+#include "DyArticulationUtils.h"
+#include "DyArticulationScalar.h"
+#include "DyArticulationFnsScalar.h"
+#include "DySpatial.h"
+
+#if DY_ARTICULATION_DEBUG_VERIFY
+
+namespace physx
+{
+
+PX_FORCE_INLINE Cm::SpatialVector propagateVelocity(const FsRow& row, 
+													const FsJointVectors& jv,
+													const PxVec3& SZ, 
+													const Cm::SpatialVector& v,
+													const FsRowAux& aux)
+{
+	typedef ArticulationFnsScalar Fns;
+
+	Cm::SpatialVector w = Fns::translateMotion(-getParentOffset(jv), v);
+	PxVec3 DSZ = Fns::multiply(row.D, SZ);
+
+	PxVec3 n = Fns::axisDot(getDSI(row), w) + DSZ;
+	Cm::SpatialVector result = w - Cm::SpatialVector(getJointOffset(jv).cross(n),n);
+#if DY_ARTICULATION_DEBUG_VERIFY
+	Cm::SpatialVector check = ArticulationRef::propagateVelocity(row, jv, SZ, v, aux);
+	PX_ASSERT((result-check).magnitude()<1e-5*PxMax(check.magnitude(), 1.0f));
+#endif
+	return result;
+}
+
+PX_FORCE_INLINE Cm::SpatialVector propagateImpulse(const FsRow& row, 
+												   const FsJointVectors& jv,
+												   PxVec3& SZ, 
+												   const Cm::SpatialVector& Z,
+												   const FsRowAux& aux)
+{
+	typedef ArticulationFnsScalar Fns;
+
+	SZ = Z.angular + Z.linear.cross(getJointOffset(jv));
+	Cm::SpatialVector result = Fns::translateForce(getParentOffset(jv), Z - Fns::axisMultiply(getDSI(row), SZ));
+#if DY_ARTICULATION_DEBUG_VERIFY
+	PxVec3 SZcheck;
+	Cm::SpatialVector check = ArticulationRef::propagateImpulse(row, jv, SZcheck, Z, aux);
+	PX_ASSERT((result-check).magnitude()<1e-5*PxMax(check.magnitude(), 1.0f));
+	PX_ASSERT((SZ-SZcheck).magnitude()<1e-5*PxMax(SZcheck.magnitude(), 1.0f));
+#endif
+	return result;
+}
+
+}
+#endif
+
+#endif //DY_ARTICULATION_REFERENCE_H