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diff --git a/physx/documentation/PhysXGuide/Index.html b/physx/documentation/PhysXGuide/Index.html
index a7884bbcb..0ea01572c 100644
--- a/physx/documentation/PhysXGuide/Index.html
+++ b/physx/documentation/PhysXGuide/Index.html
@@ -150,7 +150,7 @@
   <div class="section" id="nvidia-physx-sdk-release-documentation">
 <h1>NVIDIA PhysX SDK 4.1 Documentation<a class="headerlink" href="#nvidia-physx-sdk-release-documentation" title="Permalink to this headline">¶</a></h1>
 <img alt="_images/PhysXLogoBlack.png" src="_images/PhysXLogoBlack.png" />
-<p>Built April 21, 2021</p>
+<p>Built April 23, 2021</p>
 <p>Contents:</p>
 <div class="toctree-wrapper compound">
 <ul>
diff --git a/physx/documentation/PhysXGuide/Manual/Index.html b/physx/documentation/PhysXGuide/Manual/Index.html
index fcb46ecb9..f14f3de8f 100644
--- a/physx/documentation/PhysXGuide/Manual/Index.html
+++ b/physx/documentation/PhysXGuide/Manual/Index.html
@@ -187,7 +187,7 @@
   <div class="section" id="user-s-guide">
 <h1>User's Guide<a class="headerlink" href="#user-s-guide" title="Permalink to this headline">¶</a></h1>
 <img alt="../_images/PhysXLogoBlack1.png" src="../_images/PhysXLogoBlack1.png" />
-<p>Built April 21, 2021</p>
+<p>Built April 23, 2021</p>
 <p>Contents:</p>
 <div class="toctree-wrapper compound">
 <ul>
diff --git a/physx/documentation/PhysXGuide/objects.inv b/physx/documentation/PhysXGuide/objects.inv
index 9691f25b1..cfa513ffe 100644
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diff --git a/physx/documentation/PhysXGuide/searchindex.js b/physx/documentation/PhysXGuide/searchindex.js
index a6a37f0ab..8b970503b 100644
--- a/physx/documentation/PhysXGuide/searchindex.js
+++ b/physx/documentation/PhysXGuide/searchindex.js
@@ -1 +1 @@
-Search.setIndex({objtypes:{},titles:["Migrating From PhysX SDK 3.3 to 3.4","Threading","Articulations","Migrating From PhysX SDK 2.x to 3.x","Migrating From PhysX SDK 3.2 to 3.3","Joints","NVIDIA PhysX SDK 4.1 Documentation","Snippets","Geometry Queries","Best Practices Guide","GPU Rigid Bodies","Scene Origin","Simulation Statistics","Migrating From PhysX SDK 3.4 to 4.0","Geometry","Simulation","Vehicles","Rigid Body Dynamics","Debug Visualization","Character Controllers","User's Guide","PhysX Visual Debugger (PVD)","Startup and Shutdown","Scene Queries","Serialization","Extending Serialization","Advanced Collision Detection","Welcome to PhysX","The PhysX API","Building with PhysX","Rigid Body Collision","PhysX License","Rigid Body Overview"],terms:{disguis:16,decad:19,refer:6,benefici:[29,15],geomsweptagainst:8,issleep:[17,3,4],eimpuls:17,dictat:19,repeatedli:8,pxpruningstructur:[0,6,20,9],smoother:[26,16],typenam:[28,15],getsiz:14,pxfilterflag:[26,30,16,3,4],pxvehicledrivetankwheelord:4,tireforceappcmoffset:16,minimpuls:5,pxcreatebatchqueri:4,hash_map:3,crash:[1,30,24,9,29],hardwar:[1,9],accumul:[23,32,16,17],field:[28,19,2],swing:[5,2,16],especi:[1,16,4,11,23,26,9,29,30],space:[2,16,3,4,5,19,28,8,9,23,27,17,30,14],contactpatch:[0,26],fragil:15,maximum:[2,16,3,4,5,19,8,9,10,23,26,17,15,29,30,14],technolog:[16,3,27],act:[2,16,21,4,5,17,26],depict:16,exceed:[5,8,2],convexbox:30,look:[16,3,5,19,9,23,25,32,15,12,30],substitut:[31,3],optimum:16,nvcloth:13,srcbinfil:24,deem:15,pxjointconcretetyp:5,nxspringanddampereffector:3,pxmeshoverlaputil:[0,4],e8th_from_front_right:4,hull:[0,10,14,9],getinboundjoint:2,setdriv:[5,2],minvelocityit:17,down:[0,28,19,6,26,20],task:[6,20,9,3],write:[1,2,16,15,4,19,9,22,24,25,32],stale:23,snippetcustomjoint:5,timestep:[3,16,4,5,19,17],pxrepxinstantiationarg:25,homogen:28,restdist:26,quitissignal:4,etank_wheel_4th_from_front_left:4,destructor:[5,24],last:[0,16,4,19,8,32,23,26,17,13],getrenderbuff:[18,3],lost:[14,21,4,17,24,26,10],version:[0,14,3,4,28,19,9,23,26,27,7,29,13],tunnel:[19,26,13,14],epsilon:26,nxphysic:3,mycontactmodif:26,varieti:[5,16],unregisterrepxseri:25,degrad:[23,30],highend:25,e7th_from_front_left:4,echannel_gear_ratio:[16,4],pxsetasserthandl:28,pxsetphysxcookingdelayloadhook:22,vertex:[6,10,9],removeobstacl:19,macro:[28,13,22],reserv:[3,28,23,24,26,31],unnecessarili:[19,26],pxident:[14,16,4,28,9,17,24],style:[5,17,26,3],translat:[2,3,5,8,11,17,24,9],intervent:19,swept:[23,8,16,4],pxjointangularlimitpair:[5,4],collid:[16,15,19,17,3,26,30,14],roli:17,idbuff:24,common:[2,14,4,5,19,6,20,9,17,25,28,13],linearmotionveloc:17,meshshap:30,hitcount:8,setcontactoffset:[26,9,3],primarili:28,eanalog_input_steer_right:[16,4],gettirelatslip:4,isspher:3,process:[2,14,4,5,10,20,8,9,17,25,26,32,28,30],four:[1,8,29,16],nxusertriggerreport:3,regim:16,pleas:[0,16,3,4,5,9,22,23,24,26,11,17,12,18,13,14],insid:[16,15,28,8,22,3,26,30,14],ideal:[5,19,30,16],unlock:[20,2],diff:16,physxsampl:14,thought:[16,9],alreadi:[1,14,16,5,19,9,23,24,21,7,30],nxshape:3,load:[14,3,4,6,9,17,24,20],reorgan:4,prep:10,barycentr:8,helloworld:6,px_physics_vers:[28,13,21,22],heurist:25,pxlocationhit:4,acceler:[26,6,2,9],evenli:16,getcurrentgear:16,pxinitvehiclesdk:[16,4],unregisterseri:25,createrenderobjectfromshap:14,nbcontact:26,"6dof":2,plugin:5,nxutillib:20,flt_max:5,hadblock:23,linearcapsulesweep:3,zangl:2,tricki:15,repeat:[16,9],zonestart:21,pxcontactpoint:[26,4],pattern:[1,16,5,11,28,25],plai:[5,17,30,16,19],plan:21,createcontrol:19,eanalog_input_thrust_right:4,remaind:16,pxmateri:[14,16,28,17,24,30],epost_solver_veloc:26,sethalfforwardext:19,estatic_aabb_tre:20,setdigitalsteerleft:16,internalfaceindex1:26,myccdcontactmodif:26,"18m":9,capac:[10,15,9],detach:[28,30,21],host:10,addloopjoint:2,pxfoundationvers:13,mtd:[8,9],angularimpuls:26,zoneend:21,which:[3,5,9,13,16,28,19,22,23,24,25,29,10,0,1,2,4,8,12,14,15,32,17,26,27,30],samplecustomgrav:[17,19],been:[0,1,2,16,3,4,5,19,8,9,22,23,24,26,17,15,12,30,13,14],confus:[19,4],pxoverlapcallback:[23,4],halfforwardext:19,glpushmatrix:28,solvehint:5,pxraycasthitbuff:4,capsuledesc:3,obb:14,sink:[26,14],below:[0,1,2,16,3,4,5,19,7,8,9,22,23,26,17,15,10,14],getdebugrender:3,restitut:[2,5,19,6,26,20],eremoved_shape_trigg:[0,1,30],obj:25,sinc:[0,1,14,3,4,5,19,28,9,23,24,26,21,17,27,15,18,32],filter:[2,5,19,6,8,26,10,20],pxraycastcallback:[23,4],plastic:3,built:[21,19,6,9,13,23,24,26,27,7,29,20],sacrific:[17,2],interlud:16,engin:[3,5,19,20,9,32,7,30,27],esteer_right_control:4,getfootposit:19,exact:[2,16,3,17,19,8,9,23,24,26,10],build:[28,6,2],irrespect:[17,10],setanalogaccel:16,discov:16,command:[24,13,29,7],pxtriangl:8,classifi:24,xmlreader:25,eany_hit:[20,4],stretch:[14,9,4],rai:[23,26,8,27,3],edefault:[8,23,26,30,3],entri:[28,2,30,16],jitteri:[20,32],abil:[5,16],chanc:[23,1,26,11],impos:[15,16],comment:17,chang:[2,5,19,6,9,28,26,27,20],rag:[5,1,2,24],queryflag:16,einitial_overlap:4,squish:17,customtypemetadataobject:25,pxgeometryqueri:[6,14],eenable_swept_integr:4,spread:16,signifi:5,along:[0,2,16,3,4,5,19,8,23,24,25,26,17,30,13,14],raw:16,setackermanngeometrydata:16,wheelcoord:16,sever:[2,15,16,4,19,8,9,10,23,25,17,30],main:[0,1,2,15,16,4,19,8,32,23,24,27,30],unknown:[19,3],prefer:[1,14,15,4,18,9,22,28,29],best:[6,26],createcach:2,normalisedtireload:16,"boolean":[23,1,8,16,3],setlinearveloc:[17,15,4],optim:[1,2,16,3,5,8,9,23,24,26,21,29,30],px_profile_stop_crossthread:13,race:[5,1,29,16],rigidactor:28,phor:16,remedi:16,autobox:16,special:[27,2,16,3,4,5,19,28,8,23,24,25,26,21,17,30,31,14],ps3:3,numer:[19,8,9,3,16],relax:16,altern:[0,14,16,4,5,19,9,22,17,24,26,21,28,15,30,13],cooker:[14,4],relat:[2,16,3,4,19,8,11,23,24,26,17,30],simpli:[0,2,16,3,4,5,19,8,9,22,23,32,17,15,18,30,13],numshap:30,ba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\ No newline at end of file
+Search.setIndex({objects:{},filenames:["Manual/License","Manual/AdvancedCollisionDetection","Manual/BestPractices","Manual/Statistics","Manual/MigrationFrom28","Manual/Startup","Index","Manual/DebugVisualization","Manual/OriginShift","Manual/CharacterControllers","Manual/API","Manual/Threading","Manual/Introduction","Manual/GeometryQueries","Manual/HelloWorld","Manual/VisualDebugger","Manual/Index","Manual/RigidBodyCollision","Manual/RigidBodyOverview","Manual/MigrationTo33","Manual/Serialization","Manual/Geometry","Manual/GPURigidBodies","Manual/Vehicles","Manual/RigidBodyDynamics","Manual/MigrationTo34","Manual/Articulations","Manual/MigrationTo40","Manual/SceneQueries","Manual/Simulation","Manual/Joints","Manual/ExtendingSerialization","Manual/BuildingWithPhysX"],titleterms:{convent:4,debugg:[14,15,19,25],edynam:28,state:[23,24],car:23,curv:23,unlock:30,thread:[23,2,29,11],solver:[24,30],data:[1,2,29,20,21,11,15,30],version:[23,20],scratch:[2,29],"16k":29,epostfilt:28,loop:18,estim:23,stack:2,buffer:[2,29,11],prealloc:2,pcm:1,closest:28,detail:23,what:[22,14],slowli:23,invers:26,licens:0,appli:24,wall:9,collis:[1,4,17],pitfal:13,nxutillib:4,vehicl:[19,23],eprefilt:28,raycast:[1,23,4,28,13],configur:[30,32],unit:[23,10],connect:[15,10],implement:11,quantiz:2,point:21,immedi:24,manifold:1,pxvehicletiredata:23,applic:[10,20],beyond:23,bewar:2,fix:[28,30],snippetvehiclemultithread:23,share:2,migrat:[27,19,4,25],rigid:[17,2,24,18,22],charact:[19,2,9],pxvehicledrive4w:23,through:9,particl:[27,25],never:23,visual:[2,7,19,25,12,14,15,30],custom:[15,30,31,32],pile:2,stream:[15,2],detect:[1,4],forc:[24,30],deprec:[27,25],snippetvehicle4w:23,repx:[19,31,20],bodi:[17,2,24,18,22],mode:[24,28,23,9],pxscene:2,invis:9,releas:[17,2],mass:[24,30],friction:[23,4,24],bottleneck:2,singl:28,quickli:23,hit:[28,9],refer:[23,25,10,20],shift:8,pxvehicleantirollbar:23,snippetseri:20,requir:20,descript:4,region:17,walkabl:9,everyth:20,scale:[21,30],prepar:30,scene:[2,17,4,19,8,28,25,11,29],remov:[4,11],load:5,project:[26,30,32],other:[29,20],"case":[9,20],first:[23,20],breakag:30,deform:[21,4],troubleshoot:[23,9,20],collect:20,redistribut:[4,32],cast:[4,10],trigger:[1,17],shut:5,file:[15,32],under:23,anti:23,upgrad:20,climb:[23,9],pruner:2,drivabl:23,pxvehiclenodr:23,disabl:[23,2],actuat:30,flush:2,place:29,pose:[23,4],tire:23,chang:[4,24],quickhul:21,multipl:[23,28,11],type:[21,23,4,10],setupwheelssimulationdata:23,pxsceneflag:25,restitut:24,"class":[19,4,10,31],implic:[1,2],extra:1,batch:[19,28],anisotrop:4,kinemat:[17,2,9,24],guid:[12,23,2,16],overlap:[13,28,2,9,4],offset:9,preprocess:30,precis:13,world:12,geometri:[21,13,9,20],physxfound:5,height:[21,13],interfac:3,popul:17,filter:[17,23,4,28],foundat:5,graviti:24,how:28,edynamic_aabb_tre:28,startup:[5,4],extract:1,lock:[24,30,11],properti:24,core:[27,19,25],profil:[15,2],torqu:[23,24],check:2,distanc:30,math:[19,10],pxshare:27,level:[23,20],drive:[26,30],gauss:24,cpudispatch:11,behavior:[1,2,9,30],proper:2,differenti:23,insert:[17,2],helloworld:14,more:23,pxdelayloadhook:5,compart:4,actor:[24,4,9],heighfield:17,cmake:[27,32],soft:30,differ:10,deseri:20,sampl:2,swap:23,basic:[4,14,15,28,30],sim:29,pxfilterdata:28,order:23,tank:23,multithread:[4,11],interact:[17,9],ani:28,recoveri:9,sequenc:29,graphic:9,origin:8,gener:[21,23,28,25,32],unstabl:2,narrow:2,extend:[15,31],environ:2,taskmanag:[19,11],extens:[27,5,4,19],step:[4,9],time:[4,9],basetask:11,pvd:[15,29,20],system:[2,31],hard:30,sluggish:23,earli:2,width:4,thi:12,veri:2,jitteri:23,sdk:[27,5,4,19,23,25,6,15],pxgeometryqueri:13,render:[12,4],distribut:27,pxextens:25,common:20,pxvehicleenginedata:23,capsul:[21,13,9],createshap:25,perform:[1,2,9,22],identifi:2,penetr:[13,2],pxmeshqueri:13,pxvehiclesuspensiondata:23,unnatur:23,contact:[21,1,23,25],snippetvehicletank:23,tempor:24,coordin:[26,2],usag:[2,7,3],issu:[2,9],pair:2,corner:23,tweak:2,binari:[19,31,20],hierarchi:4,nvidia:6,serial:[19,4,29,31,20],rebuild:2,cach:[28,9,20],limit:[21,1,2,29,30],metadata:31,report:[1,4,10,30],debug:[4,2,7],articul:26,creat:[17,28,9,26],maxim:26,box:[21,13],dll:5,vertex:21,skin:4,cook:[2,5,4,20,21,25],clutch:23,involv:11,pxscenequeryupdatemod:28,part:9,domin:24,phase:[17,2],callback:[2,17,4,28,9,29],pxpruningstructur:28,tabl:30,"function":[13,28,30],auto:9,bar:23,ground:2,acceler:[22,23],preset:32,estat:28,onli:21,initi:[13,23],shutdown:[5,4],featur:4,modif:[21,1],asynchron:11,mesh:[21,17,2,13],spin:[23,2],api:[27,4,20,19,25,31,10],creation:[23,4],from:[27,19,4,25,11],iter:24,compon:5,engin:23,tessel:9,doubl:11,code:[23,20],surfac:[23,24],slope:23,manag:[30,4,9,10,20],pxvehicleackermanngeometrydata:23,obstacl:9,eno_block:28,face:21,semant:11,index:4,test:[4,2],alloc:2,steep:23,intern:9,sphere:[21,13],queri:[2,17,4,19,23,28,25,13],ackermann:23,pxvehicledrivenw:23,pxrigidactor:25,forward:23,object:[2,18,20,9,10,11,12,28],dynam:[26,2,9,24],design:4,down:[5,23],over:[23,9],pxvehiclewheeldata:23,kill:2,goe:[23,9],turn:23,snippetconvert:20,extrapol: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1,pxjointangularlimitpair:[19,30],ratio:[26,23,24,30],consum:1,kinet:24,best:[1,6],els:[23,28,19,4,24],channel:23,clock:23,pointer:[27,1,17,4,21,19,23,28,10,30,31,25],object:6,badli:[23,3],setmassandpreservenaturalfrequ:23,pxvehicledrivetankwheelord:19,px_check:[29,31],drivesimdata4w:23,seek_set:20,getnbbroadphaseregion:17,"3x3":[4,24],assumpt:[1,23],diff4w:23,vehactor:23,getwakecount:24,e4th_from_front_right:19,getsuspensiondata:23,due:[1,23,2,20,8,9,12,13,28,24,30],wherea:24,possibl:[4,3,9,13,17,18,21,22,28,24,30,0,1,2,5,23,11,26,20,19,29,32],eresolve_contact:19,port:[4,15,9],amort:[2,6,16],experi:[23,2],about:[1,2,16,26,7,21,9,10,6],imperfect:[23,9],need:[9,12,13,17,4,21,24,28,30,27,1,2,5,23,10,11,15,26,20,19,25,29,31,32],computelinearangularimpuls:1,wherev:26,emax_num_drivetank_analog_input:19,setmetadata:20,edeleted_shape_1:25,px_max_sweep_dist:[13,28],edebug:15,pxvec2:10,wheelgraphposx:23,pxvec4:10,actor1:[19,30],pxpi:[21,23,30],sample_alloc:17,acquir:11,const_cast:23,pxcreatebatchqueri:19,unregistercustomclassrepxseri:31,exclud:[28,24],repeat:[23,2],snippetloadcollect:16,iscomplet:29,setanalogst:23,gnbqueryhitsperwheel:23,bear:[23,30],facilit:[26,28,20],isrigiddynam:25,appar:1,acapsuleshap:[21,4],explanatori:29,similarli:[1,17,4,19,23,9,11,13,28,15,30,26],gpudynamicsconfig:22,game:[1,23,2,17,20,8,9,11,12,14,29,26],dynamictreerebuildratehint:[2,28],snippethelloworld:6,under:[1,2,16,19,22,9,25,12,30,32],camberangl:23,eeasi:9,e9th_from_front_left:19,pxbaseflag:31,swing1:[26,30],swing2:26,sphere:[22,2,9],vital:[12,23],granular:11,pxvehicledrivetank:19,surfacemateri:23,getvisualdebugg:19,regardless:[17,21,19,28,24,10,9],densejacobian:26,econstrain:9,pxbatchconstraint:24,pxvehicledrive4wwheelord:[19,23],getnumwheelgraph:19,nextcontact:1,snippetnodr:23,submitbatch:19,pxheightfieldgeometri:[21,2],pxcontrollerfilt:9,occup:28,setupsimdata:23,eno_boundary_edg:21,corrupt:11,pxraycastcallback:[19,28],eremoved_shape_oth:17,setupdrivablesurfac:23,latslip:23,handler:[15,10],pxcomputeunconstrainedveloc:24,lane:24,overview:6,parentpos:26,emit:[21,1,22],"_lignv3ptiq":23,efast:19,pack:26,decis:[23,2],setglobalpos:24,fail:[1,2,5,20,21,23,9,11,24,30],startpos:23,analyt:[26,23,24],minehead:17,interrupt:[0,17],tolerancelength:24,process:[1,2,22,17,18,31,21,19,24,10,26,13,30,16],adher:30,algorithm:[1,6],actormemory128:20,jump:9,getcontrol:9,contact:6,represent:[26,20,21,23,10,12,30],well:[1,26],address:[4,8,9,31],flushsimul:[2,24,29],maxraycasthit:19,howev:[0,1,23,2,22,17,4,7,20,21,19,8,9,10,29,11,12,13,24,30,26],drivetorqu:23,stl:4,settiredata:23,leav:[1,20,23,9,11,28],explain:[21,23,11],pvddatastream:15,dead:30,pxvisualdebuggerflag:19,vanilla:23,event:[0,1,2,16,17,4,19,9,25,27,30],entrant:11,center:[1,2,21,23,9,13,24,30],deal:[1,2,9,18,20],brief:[22,6,16],getwheelrotationangl:23,convexmemory128:20,smallest:23},envversion:43,objtypes:{},titles:["PhysX License","Advanced Collision Detection","Best Practices Guide","Simulation Statistics","Migrating From PhysX SDK 2.x to 3.x","Startup and Shutdown","NVIDIA PhysX SDK 4.1 Documentation","Debug Visualization","Scene Origin","Character Controllers","The PhysX API","Threading","Welcome to PhysX","Geometry Queries","Snippets","PhysX Visual Debugger (PVD)","User's Guide","Rigid Body Collision","Rigid Body Overview","Migrating From PhysX SDK 3.2 to 3.3","Serialization","Geometry","GPU Rigid Bodies","Vehicles","Rigid Body Dynamics","Migrating From PhysX SDK 3.3 to 3.4","Articulations","Migrating From PhysX SDK 3.4 to 4.0","Scene Queries","Simulation","Joints","Extending Serialization","Building with PhysX"]})
\ No newline at end of file
diff --git a/physx/source/lowleveldynamics/src/DyTGSContactPrep.cpp b/physx/source/lowleveldynamics/src/DyTGSContactPrep.cpp
index 1874da270..7ce675ddf 100644
--- a/physx/source/lowleveldynamics/src/DyTGSContactPrep.cpp
+++ b/physx/source/lowleveldynamics/src/DyTGSContactPrep.cpp
@@ -2179,9 +2179,9 @@ PxU32 setupSolverConstraintStep(
 
 		PxReal velTarget = 0.f;
 		if (isKinematic0)
-			velTarget += vel0 * s.velMultiplier;
+			velTarget -= vel0;
 		if (isKinematic1)
-			velTarget -= vel1 * s.velMultiplier;
+			velTarget += vel1;
 
 
 		setSolverConstantsStep(s.error, s.biasScale, s.velTarget, s.maxBias, s.velMultiplier, s.impulseMultiplier, recipResponse, c,
diff --git a/physx/version.txt b/physx/version.txt
index abc7734da..e9f27438e 100644
--- a/physx/version.txt
+++ b/physx/version.txt
@@ -1 +1 @@
-4.1.2.29873463
\ No newline at end of file
+4.1.2.29882248
\ No newline at end of file