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diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtCollection.cpp b/PhysX_3.4/Source/PhysXExtensions/src/ExtCollection.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 "PxBase.h"
+#include "PsArray.h"
+#include "PxShape.h"
+#include "PxConvexMesh.h"
+#include "PxTriangleMesh.h"
+#include "PxHeightField.h"
+#include "PxMaterial.h"
+#include "PxJoint.h"
+#include "PxConstraintExt.h"
+#include "PxArticulation.h"
+#include "PxAggregate.h"
+#include "PxPhysics.h"
+#include "PxScene.h"
+#include "PxPruningStructure.h"
+#include "PxCollectionExt.h"
+
+
+using namespace physx;
+
+void PxCollectionExt::releaseObjects(PxCollection& collection, bool releaseExclusiveShapes)
+{
+	shdfnd::Array<PxBase*> releasableObjects;
+
+	for (PxU32 i = 0; i < collection.getNbObjects(); ++i)
+	{	
+		PxBase* s = &collection.getObject(i);
+		// pruning structure must be released before its actors
+		if(s->is<PxPruningStructure>())
+		{
+			if(!releasableObjects.empty())
+			{
+				PxBase* first = releasableObjects[0];
+				releasableObjects.pushBack(first);
+				releasableObjects[0] = s;
+			}
+		}
+		else
+		{
+			if (s->isReleasable() && (releaseExclusiveShapes || !s->is<PxShape>() || !s->is<PxShape>()->isExclusive()))
+				releasableObjects.pushBack(s);
+		}
+	}
+
+	for (PxU32 i = 0; i < releasableObjects.size(); ++i)
+		releasableObjects[i]->release();		
+
+	while (collection.getNbObjects() > 0)
+		collection.remove(collection.getObject(0));
+}
+
+
+void PxCollectionExt::remove(PxCollection& collection, PxType concreteType, PxCollection* to)
+{	
+	shdfnd::Array<PxBase*> removeObjects;
+	
+	for (PxU32 i = 0; i < collection.getNbObjects(); i++)
+	{
+		PxBase& object = collection.getObject(i);
+		if(concreteType == object.getConcreteType())
+		{
+			if(to)
+			   to->add(object);	
+
+			removeObjects.pushBack(&object);
+		}
+	}
+
+	for (PxU32 i = 0; i < removeObjects.size(); ++i)
+		collection.remove(*removeObjects[i]);
+}
+
+PxCollection* PxCollectionExt::createCollection(PxPhysics& physics)
+{
+	PxCollection* collection = PxCreateCollection();
+	if (!collection)
+		return NULL;
+
+	// Collect convexes
+	{
+		shdfnd::Array<PxConvexMesh*> objects(physics.getNbConvexMeshes());
+		const PxU32 nb = physics.getConvexMeshes(objects.begin(), objects.size());
+		PX_ASSERT(nb == objects.size());
+		PX_UNUSED(nb);
+
+		for(PxU32 i=0;i<objects.size();i++)
+			collection->add(*objects[i]);
+	}
+
+	// Collect triangle meshes
+	{
+		shdfnd::Array<PxTriangleMesh*> objects(physics.getNbTriangleMeshes());
+		const PxU32 nb = physics.getTriangleMeshes(objects.begin(), objects.size());
+
+		PX_ASSERT(nb == objects.size());
+		PX_UNUSED(nb);
+
+		for(PxU32 i=0;i<objects.size();i++)
+			collection->add(*objects[i]);
+	}
+
+	// Collect heightfields
+	{
+		shdfnd::Array<PxHeightField*> objects(physics.getNbHeightFields());
+		const PxU32 nb = physics.getHeightFields(objects.begin(), objects.size());
+
+		PX_ASSERT(nb == objects.size());
+		PX_UNUSED(nb);
+
+		for(PxU32 i=0;i<objects.size();i++)
+			collection->add(*objects[i]);
+	}
+
+	// Collect materials
+	{
+		shdfnd::Array<PxMaterial*> objects(physics.getNbMaterials());
+		const PxU32 nb = physics.getMaterials(objects.begin(), objects.size());
+
+		PX_ASSERT(nb == objects.size());
+		PX_UNUSED(nb);
+
+		for(PxU32 i=0;i<objects.size();i++)
+			collection->add(*objects[i]);
+	}
+
+#if PX_USE_CLOTH_API
+	// Collect cloth fabrics
+	{
+		shdfnd::Array<PxClothFabric*> objects(physics.getNbClothFabrics());
+		const PxU32 nb = physics.getClothFabrics(objects.begin(), objects.size());
+
+		PX_ASSERT(nb == objects.size());
+		PX_UNUSED(nb);
+
+		for(PxU32 i=0;i<objects.size();i++)
+			collection->add(*objects[i]);
+	}
+#endif
+
+	// Collect shapes
+	{
+		shdfnd::Array<PxShape*> objects(physics.getNbShapes());
+		const PxU32 nb = physics.getShapes(objects.begin(), objects.size());
+
+		PX_ASSERT(nb == objects.size());
+		PX_UNUSED(nb);
+
+		for(PxU32 i=0;i<objects.size();i++)
+			collection->add(*objects[i]);
+	}
+	return collection;
+}
+
+PxCollection* PxCollectionExt::createCollection(PxScene& scene)
+{
+	PxCollection* collection = PxCreateCollection();
+	if (!collection)
+		return NULL;
+
+	// Collect actors
+	{
+		PxActorTypeFlags selectionFlags = PxActorTypeFlag::eRIGID_STATIC | PxActorTypeFlag::eRIGID_DYNAMIC;
+
+#if PX_USE_PARTICLE_SYSTEM_API
+		selectionFlags |= PxActorTypeFlag::ePARTICLE_SYSTEM | PxActorTypeFlag::ePARTICLE_FLUID;
+#endif
+#if PX_USE_CLOTH_API
+		selectionFlags |= PxActorTypeFlag::eCLOTH;
+#endif
+
+		shdfnd::Array<PxActor*> objects(scene.getNbActors(selectionFlags));
+		const PxU32 nb = scene.getActors(selectionFlags, objects.begin(), objects.size());
+
+		PX_ASSERT(nb==objects.size());
+		PX_UNUSED(nb);
+
+		for(PxU32 i=0;i<objects.size();i++)
+			collection->add(*objects[i]);
+	}
+
+
+	// Collect constraints
+	{
+		shdfnd::Array<PxConstraint*> objects(scene.getNbConstraints());
+		const PxU32 nb = scene.getConstraints(objects.begin(), objects.size());
+
+		PX_ASSERT(nb==objects.size());
+		PX_UNUSED(nb);
+
+		for(PxU32 i=0;i<objects.size();i++)
+		{
+			PxU32 typeId;
+			PxJoint* joint = reinterpret_cast<PxJoint*>(objects[i]->getExternalReference(typeId));
+			if(typeId == PxConstraintExtIDs::eJOINT)
+				collection->add(*joint);
+		}
+	}
+
+	// Collect articulations
+	{
+		shdfnd::Array<PxArticulation*> objects(scene.getNbArticulations());
+		const PxU32 nb = scene.getArticulations(objects.begin(), objects.size());
+
+		PX_ASSERT(nb==objects.size());
+		PX_UNUSED(nb);
+
+		for(PxU32 i=0;i<objects.size();i++)
+			collection->add(*objects[i]);
+	}
+
+	// Collect aggregates
+	{
+		shdfnd::Array<PxAggregate*> objects(scene.getNbAggregates());
+		const PxU32 nb = scene.getAggregates(objects.begin(), objects.size());
+
+		PX_ASSERT(nb==objects.size());
+		PX_UNUSED(nb);
+
+		for(PxU32 i=0;i<objects.size();i++)
+			collection->add(*objects[i]);
+	}
+
+	return collection;
+}