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General

    Added:
        Support for Visual Studio 2019 has been added, cmake 3.14 is required.
    Changed:
        Android binary output directory name contains Android ABI string.

Vehicles

    Added:
        PxVehicleWheelsSimFlags and corresponding set/get methods have been added to PxVehicleWheelsSimData. The flag eLIMIT_SUSPENSION_EXPANSION_VELOCITY can be used to avoid suspension forces being applied if the suspension can not expand fast enough to push the wheel onto the ground in a simulation step. This helps to reduce artifacts like the vehicle sticking to the ground if extreme damping ratios are chosen.
    Fixed:
        The PxVehicleDrive::setToRestState() was not clearing all cached data, which could sometimes make vehicles misbehave after calls to this function.

Cooking

    Added:
        Added error message when not at least four valid vertices exist after vertices cleanup.

Serialization

    Fixed:
        Binary serialization of kinematic rigid dynamic actors was failing unless they were part of a scene.

Rigid body

    Fixed
        Out of shared memory failure with GPU articulations.
        Inconsistent results when setting joint drive targets with GPU articulations compared to CPU articulations.
        Assert when simulating a scene with > 64k rigid bodies and joints.
        Error in PxActor::getConnectors() method when there are multiple connector types.
        Setting joint positions on articulations did not update world-space link poses and velocities.
        Improved TGS articulation joint drive solver.
        Improved robustness of articulation spherical joints.
        Joint forces/positions/velocities set through the PxArticulationCache are correctly applied when using GPU articulations.
        Fixed rare crash in MBP when the system contains out-of-bounds objects.

Links:
- Release notes (https://gameworksdocs.nvidia.com/PhysX/4.1/release_notes.html)
- PhysX 4 @ github (https://github.com/NVIDIAGameWorks/PhysX)


Just compiled and tested this new SDK with GeeXLab (https://www.geeks3d.com/geexlab/) and it looks good.