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diff --git a/PhysX_3.4/Source/SimulationController/src/ScRigidSim.cpp b/PhysX_3.4/Source/SimulationController/src/ScRigidSim.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 "ScScene.h"
+#include "ScRigidSim.h"
+#include "ScShapeSim.h"
+#include "ScObjectIDTracker.h"
+#include "ScShapeIterator.h"
+#include "PsFoundation.h"
+
+using namespace physx;
+
+/*
+	PT:
+
+	The BP group ID comes from a Cm::IDPool, and RigidSim is the only class releasing the ID.
+
+	The rigid tracker ID comes from a Cm::IDPool internal to an ObjectIDTracker, and RigidSim
+	is the only class using it.
+
+	Thus we should:
+	- promote the BP group ID stuff to a "tracker" object
+	- use the BP group ID as a rigid ID
+*/
+
+Sc::RigidSim::RigidSim(Scene& scene, RigidCore& core) :
+	ActorSim(scene, core)
+{
+	mRigidId	= scene.getRigidIDTracker().createID();
+
+#if PX_CHECKED
+#if PX_USE_16_BIT_HANDLES
+	PX_CHECK_MSG(getBroadphaseGroupId() < BP_INVALID_BP_HANDLE, "The total of actors in the scene plus the number of adds cannot exceed 65535 between simulate()/fetchResult() calls.  The sdk will can now proceed with unexpected outcomes. \n");
+#endif
+#endif
+}
+
+Sc::RigidSim::~RigidSim()
+{
+	Sc::Scene& scScene = getScene();
+	scScene.getRigidIDTracker().releaseID(mRigidId);
+}
+
+void Sc::RigidSim::notifyShapesOfTransformChange()
+{
+	for(ElementSim* e = getElements_(); e!=0; e = e->mNextInActor)
+	{
+		if(e->getElementType() == ElementType::eSHAPE)
+			static_cast<Sc::ShapeSim*>(e)->onVolumeOrTransformChange(true);
+	}
+}
+
+Sc::ShapeSim& Sc::RigidSim::getSimForShape(Sc::ShapeCore& core) const
+{
+	// DS: looks painful to traverse a linked list this way
+	Sc::ShapeIterator iterator(*this);
+	Sc::ShapeSim* sim;
+	while((sim = iterator.getNext())!=NULL)
+	{
+		if(&sim->getCore() == &core)
+			return *sim;
+	}
+	PX_ASSERT(0); // should never fail
+	return *reinterpret_cast<Sc::ShapeSim*>(1);
+}
+
+PxActor* Sc::RigidSim::getPxActor() const
+{
+	return getRigidCore().getPxActor();
+}