diff --git a/main.go b/main.go
index 59a8839..18cfa46 100755
--- a/main.go
+++ b/main.go
@@ -38,6 +38,9 @@ func main() {
 	groundPlane := pgo.CreatePlane(p, pgo.NewPlane(0, 1, 0, 0), pMat)
 	s.AddActor(groundPlane.ToActor())
 
+	//W0/W1 are filter groups the shape belongs to, and W2/W3 are a filter group mask
+	fd := pgo.NewFilterData(1, 1, 1, 1)
+
 	//Add box1
 	v := pgo.NewVec3(0, 10, 0)
 	q := pgo.NewQuat(0, 0, 1, 0)
@@ -48,12 +51,19 @@ func main() {
 
 	box := pgo.NewBoxGeometry(0.5, 0.5, 0.5)
 	dynBox := pgo.CreateDynamic(p, tr, box.ToGeometry(), pMat, 1, shapeOffset)
+
+	ra := dynBox.ToRigidActor()
+	ra.SetSimFilterData(&fd)
 	s.AddActor(dynBox.ToActor())
 
 	//Add box2
 	v = pgo.NewVec3(0.5, 12, 0)
 	tr2 := pgo.NewTransform(v, qID)
 	dynBox2 := pgo.CreateDynamic(p, tr2, box.ToGeometry(), pMat, 1, shapeOffset)
+
+	ra = dynBox2.ToRigidActor()
+	ra.SetSimFilterData(&fd)
+
 	s.AddActor(dynBox2.ToActor())
 
 	//Add sphere
diff --git a/pgo/libs/libphysx-c.a b/pgo/libs/libphysx-c.a
index 70877f9..6681115 100755
Binary files a/pgo/libs/libphysx-c.a and b/pgo/libs/libphysx-c.a differ
diff --git a/pgo/pgo.go b/pgo/pgo.go
index 67accf7..64b1508 100755
--- a/pgo/pgo.go
+++ b/pgo/pgo.go
@@ -164,6 +164,21 @@ func CreatePhysics(f *Foundation, ts *TolerancesScale, trackOutstandingAllocatio
 	return p
 }
 
+type FilterData struct {
+	cFilterData C.struct_CPxFilterData
+}
+
+func NewFilterData(w0, w1, w2, w3 uint32) FilterData {
+	return FilterData{
+		cFilterData: C.struct_CPxFilterData{
+			word0: C.uint(w0),
+			word1: C.uint(w1),
+			word2: C.uint(w2),
+			word3: C.uint(w3),
+		},
+	}
+}
+
 type Shape struct {
 	cShape C.struct_CPxShape
 }
@@ -178,6 +193,19 @@ func (s *Shape) SetLocalPose(tr *Transform) {
 	C.CPxShape_setLocalPose(&s.cShape, &tr.cT)
 }
 
+func (s *Shape) GetSimulationFilterData() FilterData {
+	return FilterData{
+		cFilterData: C.CPxShape_getSimulationFilterData(&s.cShape),
+	}
+}
+
+func (s *Shape) SetSimulationFilterData(fd *FilterData) {
+	C.CPxShape_setSimulationFilterData(&s.cShape, &fd.cFilterData)
+}
+
+// CPxAPI CSTRUCT CPxFilterData CPxShape_getSimulationFilterData(CSTRUCT CPxShape* cs);
+// CPxAPI void CPxShape_setSimulationFilterData(CSTRUCT CPxShape* cs, CSTRUCT CPxFilterData cfd);
+
 func CreateExclusiveShape(rigidActor RigidActor, geom *Geometry, mat *Material, shapeFlags ShapeFlags) Shape {
 	return Shape{
 		cShape: C.createExclusiveShape(rigidActor.cRa, geom.cG, mat.cM, uint32(shapeFlags)),
@@ -356,6 +384,12 @@ type RigidActor struct {
 	cRa C.struct_CPxRigidActor
 }
 
+func (ra *RigidActor) SetSimFilterData(fd *FilterData) {
+	C.CPxRigidActor_setSimFilterData(&ra.cRa, &fd.cFilterData)
+}
+
+// CPxAPI void CPxRigidActor_setSimFilterData(CSTRUCT CPxRigidActor* cra, CSTRUCT CPxFilterData* cfd);
+
 type RigidStatic struct {
 	cRs *C.struct_CPxRigidStatic
 }
diff --git a/pgo/physx-c/CPxFilterData.h b/pgo/physx-c/CPxFilterData.h
new file mode 100755
index 0000000..9ad8fab
--- /dev/null
+++ b/pgo/physx-c/CPxFilterData.h
@@ -0,0 +1,26 @@
+#ifndef CPxFilterData_H
+#define CPxFilterData_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	struct CPxFilterData
+	{
+		unsigned int word0;
+		unsigned int word1;
+		unsigned int word2;
+		unsigned int word3;
+
+		//TODO: For some reason only this file breaks with CPxU32 (uint32_t). Why?
+		/*CPxU32 word0;
+		CPxU32 word1;
+		CPxU32 word2;
+		CPxU32 word3;*/
+	};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // !CPxFilterData_H
diff --git a/pgo/physx-c/CPxRigidActor.h b/pgo/physx-c/CPxRigidActor.h
index 86cbbb6..4386b1b 100755
--- a/pgo/physx-c/CPxRigidActor.h
+++ b/pgo/physx-c/CPxRigidActor.h
@@ -1,6 +1,8 @@
 #ifndef CPxRigidActor_H
 #define CPxRigidActor_H
 
+#include "CPxFilterData.h"
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -10,6 +12,9 @@ extern "C" {
 		void* obj;
 	};
 
+	//Sets the CPxFilterData on all the shapes of the actor.
+	CPxAPI void CPxRigidActor_setSimFilterData(CSTRUCT CPxRigidActor* cra, CSTRUCT CPxFilterData* cfd);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/pgo/physx-c/CPxSceneDesc.h b/pgo/physx-c/CPxSceneDesc.h
index 84ba6d3..094a800 100755
--- a/pgo/physx-c/CPxSceneDesc.h
+++ b/pgo/physx-c/CPxSceneDesc.h
@@ -14,7 +14,7 @@ extern "C" {
 	};
 
 	/// <summary>
-	/// Creates a SceneDesc with filterShader=physx::PxDefaultSimulationFilterShader
+	/// Creates a SceneDesc with a custom filterShader that uses word0/word1 as groups shapes belong to, and word2/word3 as mask on the groups.
 	/// </summary>
 	/// <param name="CPxTolerancesScale"></param>
 	/// <returns></returns>
diff --git a/pgo/physx-c/CPxShape.h b/pgo/physx-c/CPxShape.h
index 9b0992e..48ac2a4 100755
--- a/pgo/physx-c/CPxShape.h
+++ b/pgo/physx-c/CPxShape.h
@@ -2,6 +2,7 @@
 #define CPxShape_H
 
 #include "CPxTransform.h"
+#include "CPxFilterData.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -14,6 +15,8 @@ extern "C" {
 
 	CPxAPI void CPxShape_setLocalPose(CSTRUCT CPxShape* cs, CSTRUCT CPxTransform* tr);
 	CPxAPI CSTRUCT CPxTransform CPxShape_getLocalPose(CSTRUCT CPxShape* cs);
+	CPxAPI CSTRUCT CPxFilterData CPxShape_getSimulationFilterData(CSTRUCT CPxShape* cs);
+	CPxAPI void CPxShape_setSimulationFilterData(CSTRUCT CPxShape* cs, CSTRUCT CPxFilterData* cfd);
 
 #ifdef __cplusplus
 }