bool PhysicsManager::SweepRigidbodyTest(physx::PxRigidActor* actor, const Vector3f &direction, float distance, RaycastHit& outHit, int layer)
{
    if (!actor)
        return false;

    Assert (IsNormalized (direction));

    if (distance == std::numeric_limits<float>::infinity())
        distance = PX_MAX_F32;

    m_SweepShapesTmp.Update(*actor);

    PxSweepHit hit;

    int mask = 0xffffffff;
    if (layer >= 0 && layer < kNumLayers)
        mask = m_LayerCollisionMatrix[layer];
    CastFilter filter(actor, true, mask);

    PxRigidBody& body = static_cast<PxRigidBody&>(*actor);  //###TODO: improve
    PxU32 shapeIndex;
    bool nb = PxRigidBodyExt::linearSweepSingle(body, GetDynamicsScene(), (const PxVec3&)direction, distance,
                                    PxSceneQueryFlag::eDISTANCE|PxSceneQueryFlag::eIMPACT|PxSceneQueryFlag::eUV|PxSceneQueryFlag::eNORMAL/*|PxSceneQueryFlag::eINITIAL_OVERLAP_DISABLE*/,
                                    hit, shapeIndex,
                                    PxQueryFilterData(PxSceneQueryFilterFlag::eDYNAMIC|PxSceneQueryFilterFlag::eSTATIC|PxSceneQueryFilterFlag::ePREFILTER|PxSceneQueryFilterFlag::ePOSTFILTER),
                                    &filter);

    if (nb)
    {
        PxToRaycastHit(hit, distance, outHit);
        return true;
    }

    return false;
}