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(1)
Removed the PhysX SDK from Fulcrum download, mainly because I'm not sure
if I am allowed to distribute it and also gives the user the freedom to download
any version of the SDK, although 2.8.3 is recommended.

(2) 
Fixed Triangle Mesh command so it works on objects with no index data.

(3)
Added releaseMeshes() command to fix memory leak, see documentation.

(4)
Altered raycast to the following(see documentation):
int raycast(float originX, float originY, float originZ, float directionX, float directionY, float directionZ, int staticDynamicAll = 3);  

(5)
Added following commands:

void  releaseMeshes();  
void  wakeUp(int actorID);
float getControllerPositionX(int id);
float getControllerPositionY(int id);
float getControllerPositionZ(int id);
void  raycastAddGroup(int group);
void  raycastRemoveGroup(int group);
void  raycastClearAllGroups();
void  raycastSetMaxDistance(float distance);
float raycastGetMaxDistance();
bool  isSleeping(int actorID);
float getSleepLinearVelocity(int actorID);
float getSleepAngularVelocity(int actorID);
void  setDefaultSleepLinVelSquared(float linVelSquared);
void  setDefaultSleepAngVelSquared(float angVelSquared);
float getDefaultBounceThreshold();
void  setDefaultBounceThreshold(float threshold);
float getDefaultSleepEnergy();
void  setDefaultSleepEnergy(float energy);

dbMakeMeshFromObject() // This creates a single mesh from your object
dbMakeObject() // Use above mesh to create a new object(with one mesh) set texture to 0(not needed)
physics::makeTriangleMesh() // Use new object
dbDeleteObject() // You wont need the new object after the collision mesh has been created.

 bool physics::makeTriangleMesh(int id)
{
   if (!dbObjectExist(id))
   {
       char* buf = new char[256];
       strcpy(buf, "Could not create triangle mesh as object ");
       strcat(buf, dbStr(id));
       strcat(buf, " does not exist.");
          
	   MessageBox(NULL, buf, "Error - physics::makeTriangleMesh()", 0);
       // delete *buf after its use is over
       delete []buf;
       return false;
   }

   // Get pointer to GDK object (gives access to internal data)
   sObject* anObject = dbGetObject(id);
   // Get object position and rotation
   NxVec3 localPose = NxVec3(0, 0, 0);
   //NxVec3 localPose = NxVec3(dbObjectSizeX(id,1), dbObjectSizeY(id,1), dbObjectSizeZ(id,1)); //strange results
   NxVec3 globalPose = NxVec3(dbObjectPositionX(id), dbObjectPositionY(id) , dbObjectPositionZ(id));
   // Each object may have more than 1 mesh(limb), get an array of all the meshes in object 
   int totalMeshes = anObject->iMeshCount;

   // Note, following code in function can create triangle mesh from objects with more than one mesh
   // but currently with undesirable results so it has been capped to one mesh for now.
   if (totalMeshes > 1)
   {
      char* buf = new char[512];
      strcpy(buf, "Object ");
      strcat(buf, dbStr(id));
      strcat(buf, " has more than one mesh, use dbMakeMeshFromObject(), dbMakeObject() and dbPositionObject() then and pass the new objects ID number into physics::makeTriangleMesh()");
          
	  MessageBox(NULL, buf, "Error - physics::makeTriangleMesh()", 0);
      // delete *buf after its use is over
      delete []buf;
      return false;
   }
   sMesh** aMeshList = anObject->ppMeshList;

   // Loop through every mesh in object
   for (int i = 0; i < totalMeshes; i++)
   {
       // VERTICES
       // Get amount of vertices in mesh
	   int totalVertices = aMeshList[i]->dwVertexCount;
       // Create array of vectors to hold all vertex data for mesh
       NxVec3* vertices = new NxVec3[totalVertices];
       // Create pointer to vertex data of object mesh
       BYTE* vertexData = anObject->ppMeshList[i]->pVertexData; 
	   // Get FVF size
	   DWORD FVFSize = aMeshList[i]->dwFVFSize;  
	   // Use loop to populate physX vertex data with our object mesh vertex data
       for(int j = 0; (unsigned int)j < totalVertices; j++)
	   {
		  NxVec3* pos = (NxVec3*)vertexData;
		  vertices[j].x = pos->x;
		  vertices[j].y = pos->y;
		  vertices[j].z = pos->z;
		  vertexData += FVFSize;
	   }

	   // INDICES 
       // Get amount of indices in mesh
	   DWORD totalIndices = aMeshList[i]->dwIndexCount;
	   // Triangle meshes need indices
       if (totalIndices == 0)
       {
          char* buf = new char[512];
          strcpy(buf, "Object ");
          strcat(buf, dbStr(id));
          strcat(buf, " has no indices, try physics::makeConvexMesh(), if that is not what is required try dbMakeMeshFromObject(), dbMakeObject() and dbPositionObject() then pass the new objects ID number into physics::makeTriangleMesh(), the new object can then be deleted.");
          
		  MessageBox(NULL, buf, "Error - physics::makeTriangleMesh()", 0);
          // delete *buf after its use is over
          delete []buf;
          return false;
       }
       // Create array to hold indices in mesh
       NxU32* indices = new NxU32[totalIndices]; 
	   // Get array of indices from mesh
	   WORD* indexArray = aMeshList[i]->pIndices;     
       // Use loop to populate physX index array with our object mesh index array
	   for(int i = 0; (unsigned int)i < totalIndices; i++)
	   {
		  indices[i] = indexArray[i];
	   }

	   // CREATE MESH
	   actors[id] = PhysX::makeTriangleMesh(itsPhysicsSDK, itsScene, totalVertices, vertices, totalIndices, indices, localPose, globalPose);
	   actors[id]->userData = (void*)(id);
	   // Release memory
	   delete vertices;
	   delete indices;
   }
   return true;
}

   // Note, following code in function can create triangle mesh from objects with more than one mesh
   // but currently with undesirable results so it has been capped to one mesh for now.
   if (totalMeshes > 1)
   {
      char* buf = new char[512];
      strcpy(buf, "Object ");
      strcat(buf, dbStr(id));
      strcat(buf, " has more than one mesh, use dbMakeMeshFromObject(), dbMakeObject() and dbPositionObject() then and pass the new objects ID number into physics::makeTriangleMesh()");
	  MessageBox(NULL, buf, "Error - physics::makeTriangleMesh()", 0);
      // delete *buf after its use is over
      delete []buf;
      return false;
   }

#include "DarkGDK.h"
#include "physics.h"

void createWorld();
void createGround();
void createCharacter();
void createStairs();
void createBalls();
void createWall();
void createUprights();
void colourObjects();
void reset();

void moveCharacterControllerWithMouseAndKeys();
void displayData();

// Object numbers
int groundID = 1;
int characterID = 2;
int stairsFirstStepID = 3;
int numberOfSteps = 50;   //3-52
int firstBallID = 53;    
int numberOfBalls = 100;   //53-152
int firstWallBlockID = 153;
int numberOfWallBlocks = 200; //154-352
int upright1ID = 353;
int upright2ID = 354;
int upright3ID = 355;
int upright4ID = 356;
int terrainID = 357;


physics myPhysics;

void DarkGDK ( void )
{   
	// PHYSICS
	myPhysics.start(true, 0.5, 0.5, 0.5);
	myPhysics.setGravity(0, -15, 0);

	createWorld();

	dbSyncOn   ( );
	dbSyncRate ( 60 );
	dbPositionCamera ( 0, 0, -10 );
	dbMakeLight(1);
	dbPositionLight(1, 0, 100, 100);
	
	//TERRAIN
	dbLoadImage ( "texture.jpg", 1 );
	dbLoadImage ( "detail.jpg",  2 );	
	dbSetupTerrain ( );
	dbMakeObjectTerrain ( terrainID );
	dbSetTerrainHeightMap ( terrainID, "map.bmp" );
	dbSetTerrainScale ( terrainID, 3.0f, 0.6f, 3.0f );
	dbSetTerrainLight ( terrainID, 1.0f, -0.25f, 0.0f, 1.0f, 1.0f, 0.78f, 0.5f );
	dbSetTerrainTexture ( terrainID, 1, 2 );
	dbBuildTerrain ( terrainID );
	dbPositionObject(terrainID, -200, -100, -200);

	myPhysics.makeTriangleMesh(terrainID);

	myPhysics.simulate();

	while ( LoopGDK ( ) )
	{
		if(dbSpaceKey()) reset();
   
	    myPhysics.update();
        moveCharacterControllerWithMouseAndKeys();  // Put after update(), more so if you are applying forces
  		
		displayData();
		dbUpdateTerrain();
		dbSync ( );
	}

	myPhysics.stop();
	return;
}

void createWorld()
{
   createGround();
   createCharacter();
   createStairs();
   createBalls();
   createWall();
   createUprights();
   colourObjects();
}

void createGround()
{
	dbMakeObjectBox(groundID, 200, 0, 200);
	myPhysics.makeBox(groundID, false, 0);
}

void createCharacter()
{
    // This is where you would load in your character model, I will use a box
    dbMakeObjectBox(characterID, 1, 3, 1);
    // I will offset the box as if it had been loaded in with its base(not centre)
    // at (0, 0, 0), this is what the character controller expects and how most models
    // are positioned in their local space
    dbOffsetLimb(characterID, 0, 0, 1.5, 0);  // Half of height(3), 1.5
    dbPositionObject(characterID, 90, 0.1, 0); // place just above ground 
    myPhysics.makeCharacterController(characterID, 1.0, 45.0);
}

void createStairs()
{
	for(int i = stairsFirstStepID; i < stairsFirstStepID + numberOfSteps; i++)
	{
	    dbMakeObjectBox(i, 50, 1, 20);
	    dbPositionObject(i, 0, i - stairsFirstStepID + 0.5, 30 + i);
		myPhysics.makeBox(i, false, 0);
	}
}

void createBalls()
{
    for(int i = firstBallID; i < firstBallID + numberOfBalls; i++)
	{ 
	    dbMakeObjectSphere(i, 4, 20, 20);
	    dbPositionObject(i, 35 - dbRnd(i - firstBallID + 40), 100 + dbRnd(200), 45 + dbRnd(10));
		myPhysics.makeSphere(i, true, 10.0f);
		myPhysics.applyForce(i, 0, 0, 15);
	}
}

void createWall()
{
	int x;
	int y;
	int blockCount = firstWallBlockID;
    for(x = 0; x < 20; x++)
	{
		for(y = 0; y < 10; y++)
		{
		   // 200 blocks, 20 * 10
	       dbMakeObjectBox(blockCount, 2, 2, 2);
	       dbPositionObject(blockCount, x * 2 - 20, y * 2 + 1, -30);
		   myPhysics.makeBox(blockCount, true, 1.0f);
           blockCount++;
		}
	}
}

void createUprights()
{
	// First two convex meshes are static, therefore
	// desity value is not used, just set to zero.
	// Convex meshes have a maximum of 256 polygons.
    dbMakeObjectCylinder(upright1ID, 20);
	dbPositionObject(upright1ID, 75, 10, 75);
    myPhysics.makeConvexMesh(upright1ID, false, 0);

    dbMakeObjectCylinder(upright2ID, 20);
	dbPositionObject(upright2ID, -75, 10, 75);
	myPhysics.makeConvexMesh(upright2ID, false, 0);

	// Next two convex meshes are dynamic
	// Convex meshes have a maximum of 256 polygons.
    dbMakeObjectCylinder(upright3ID, 5);
	dbPositionObject(upright3ID, -10, 2.5, 0);
	myPhysics.makeConvexMesh(upright3ID, true, 1.0f);

    dbMakeObjectCylinder(upright4ID, 5);
	dbPositionObject(upright4ID, 10, 2.5, 0);
	myPhysics.makeConvexMesh(upright4ID, true, 1.0f);
}

void colourObjects()
{
	for(int i = groundID; i < upright4ID + 1; i++)
	{
		if(i != 2)
       dbColorObject(i, dbRGB(dbRND(255), dbRND(255), dbRND(255)));
	}
}

void reset()
{
	// You would not really delete everything and create everything again for a reset,
	// but it is simpler and also a good way to test the release commands.
    dbDeleteObject(groundID);
	myPhysics.releaseActor(groundID);

	dbDeleteObject(characterID);
	myPhysics.releaseController(characterID);

    for(int i = stairsFirstStepID; i < upright4ID + 1 ; i++)
	{
        dbDeleteObject(i);
		myPhysics.releaseActor(i);
	}

	// Start again
	createWorld();
}

void displayData()
{
	dbText(0, 0, "Fulcrum Physics v1.1 demo (powered by PhysX)");
	dbText(0, 30, "Use mouse and arrow keys to move, Space key to reset.");
	dbText(0, 60, "FPS: ");
	dbText(150, 60, dbStr(dbScreenFPS()));
	dbText(0, 75, "Poly Count: ");
	dbText(150, 75, dbStr(dbStatistic(1)));
}

void moveCharacterControllerWithMouseAndKeys()
{
    float speed = 0;

// KEYS
	if (dbUpKey())    
	{
		speed = 0.2;
	}
	if (dbDownKey()) 
	{
		speed = -0.2;
	}

// Move controller
// Controller is not controlled by physics so you need to add gravity yourself
    float gravity = -0.5;
    float angleY = dbObjectAngleY(characterID);
    float moveX = dbSin(angleY);    // Calculate X component 
    float moveZ = dbCos(angleY);	// Calculate Z component
    myPhysics.moveCharacterController(characterID, moveX * speed, gravity, moveZ * speed); 

// MOUSE
	static float YAngle = 0;
	YAngle = YAngle + dbMouseMoveY() / 5;
    static float XAngle = 0;
	XAngle = XAngle + dbMouseMoveX() / 5;

// CAMERA
	dbYRotateObject(characterID, dbCurveValue(XAngle, dbObjectAngleY(characterID), 10));
    dbXRotateCamera(dbCurveValue(YAngle, dbCameraAngleX(), 10));
    dbSetCameraToFollow(dbObjectPositionX(characterID), dbObjectPositionY(characterID), dbObjectPositionZ(characterID), dbObjectAngleY(characterID) - 15, 5, 3 + (dbCameraAngleX() / 20), 1, 0);
	dbYRotateCamera(dbObjectAngleY(characterID));
}

1>------ Build started: Project: FulcrumPhysX, Configuration: Debug Win32 ------
1>Linking...
1>   Creating library Debug\FulcrumPhysX.lib and object Debug\FulcrumPhysX.exp
1>Main.obj : error LNK2019: unresolved external symbol "public: void __thiscall physics::stop(void)" (?stop@physics@@QAEXXZ) referenced in function "void __cdecl DarkGDK(void)" (?DarkGDK@@YAXXZ)
1>Main.obj : error LNK2019: unresolved external symbol "public: void __thiscall physics::update(void)" (?update@physics@@QAEXXZ) referenced in function "void __cdecl DarkGDK(void)" (?DarkGDK@@YAXXZ)
1>Main.obj : error LNK2019: unresolved external symbol "public: void __thiscall physics::simulate(void)" (?simulate@physics@@QAEXXZ) referenced in function "void __cdecl DarkGDK(void)" (?DarkGDK@@YAXXZ)
1>Main.obj : error LNK2019: unresolved external symbol "public: bool __thiscall physics::makeTriangleMesh(int)" (?makeTriangleMesh@physics@@QAE_NH@Z) referenced in function "void __cdecl DarkGDK(void)" (?DarkGDK@@YAXXZ)
1>Main.obj : error LNK2019: unresolved external symbol "public: void __thiscall physics::setGravity(float,float,float)" (?setGravity@physics@@QAEXMMM@Z) referenced in function "void __cdecl DarkGDK(void)" (?DarkGDK@@YAXXZ)
1>Main.obj : error LNK2019: unresolved external symbol "public: bool __thiscall physics::start(bool,float,float,float)" (?start@physics@@QAE_N_NMMM@Z) referenced in function "void __cdecl DarkGDK(void)" (?DarkGDK@@YAXXZ)
1>Main.obj : error LNK2019: unresolved external symbol "public: bool __thiscall physics::makeBox(int,bool,float)" (?makeBox@physics@@QAE_NH_NM@Z) referenced in function "void __cdecl createGround(void)" (?createGround@@YAXXZ)
1>Main.obj : error LNK2019: unresolved external symbol "public: bool __thiscall physics::makeCharacterController(int,float,float)" (?makeCharacterController@physics@@QAE_NHMM@Z) referenced in function "void __cdecl createCharacter(void)" (?createCharacter@@YAXXZ)
1>Main.obj : error LNK2019: unresolved external symbol "public: void __thiscall physics::applyForce(int,float,float,float)" (?applyForce@physics@@QAEXHMMM@Z) referenced in function "void __cdecl createBalls(void)" (?createBalls@@YAXXZ)
1>Main.obj : error LNK2019: unresolved external symbol "public: bool __thiscall physics::makeSphere(int,bool,float)" (?makeSphere@physics@@QAE_NH_NM@Z) referenced in function "void __cdecl createBalls(void)" (?createBalls@@YAXXZ)
1>Main.obj : error LNK2019: unresolved external symbol "public: bool __thiscall physics::makeConvexMesh(int,bool,float)" (?makeConvexMesh@physics@@QAE_NH_NM@Z) referenced in function "void __cdecl createUprights(void)" (?createUprights@@YAXXZ)
1>Main.obj : error LNK2019: unresolved external symbol "public: void __thiscall physics::releaseController(int)" (?releaseController@physics@@QAEXH@Z) referenced in function "void __cdecl reset(void)" (?reset@@YAXXZ)
1>Main.obj : error LNK2019: unresolved external symbol "public: void __thiscall physics::releaseActor(int)" (?releaseActor@physics@@QAEXH@Z) referenced in function "void __cdecl reset(void)" (?reset@@YAXXZ)
1>Main.obj : error LNK2019: unresolved external symbol "public: void __thiscall physics::moveCharacterController(int,float,float,float)" (?moveCharacterController@physics@@QAEXHMMM@Z) referenced in function "void __cdecl moveCharacterControllerWithMouseAndKeys(void)" (?moveCharacterControllerWithMouseAndKeys@@YAXXZ)
1>Main.obj : error LNK2019: unresolved external symbol "public: __thiscall physics::physics(void)" (??0physics@@QAE@XZ) referenced in function "void __cdecl `dynamic initializer for 'myPhysics''(void)" (??__EmyPhysics@@YAXXZ)
1>Main.obj : error LNK2019: unresolved external symbol "public: __thiscall physics::~physics(void)" (??1physics@@QAE@XZ) referenced in function "void __cdecl `dynamic atexit destructor for 'myPhysics''(void)" (??__FmyPhysics@@YAXXZ)
1>Debug\FulcrumPhysX.exe : fatal error LNK1120: 16 unresolved externals
1>Build log was saved at "file://c:\Users\Johan\Documents\Programmering\FulcrumPhysX\FulcrumPhysX\Debug\BuildLog.htm"
1>FulcrumPhysX - 17 error(s), 0 warning(s)
========== Build: 0 succeeded, 1 failed, 0 up-to-date, 0 skipped ==========

dbMakeObjectBox(characterID, 1, 3, 1);

dbLoadObject("MyCharacter.x",characterID);

	SetCurrentDirectory ( "media" );
//Load character
	dbLoadObject("Colonel-X.x", characterID);

    dbPositionObject(characterID, 90, 0.1, 0); // place just above ground 
    myPhysics.makeCharacterController(characterID, 1.0, 45.0);
	dbScaleObject(characterID, 50.0, 50.0, 50.0);
	dbYRotateObject( characterID, 180);