AnimSys2: Bugfix for copying transforms on bones with keyframes.

The calls were missing BONE_UNKEYED flags, so the options looked like they were not working.

CMakeLists.txt

@@ -61,10 +61,12 @@ OPTION(WITH_VERSE		"Enable Verse  (http://verse.blender.org)"		OFF)
 OPTION(WITH_ELBEEM		"Enable Elbeem (Fluid Simulation)"			ON)
 OPTION(WITH_QUICKTIME		"Enable Quicktime Support"				OFF)
 OPTION(WITH_OPENEXR		"Enable OpenEXR Support (http://www.openexr.com)"	ON)
+OPTION(WITH_DDS			"Enable DDS Support"                                   	ON)
+OPTION(WITH_FFMPEG		"Enable FFMPeg Support (http://ffmpeg.mplayerhq.hu/)"	OFF)
 OPTION(WITH_FFMPEG		"Enable FFMPeg Support (http://ffmpeg.mplayerhq.hu/)"	OFF)
 OPTION(WITH_OPENAL		"Enable OpenAL Support (http://www.openal.org)"		ON)
 OPTION(WITH_OPENMP		"Enable OpenMP (has to be supported by the compiler)"	OFF)
-OPTION(WITH_WEBPLUGIN		"Enable Web Plugin (Mozilla-Unix only)"			OFF)
+OPTION(WITH_WEBPLUGIN		"Enable Web Plugin (Unix only)"				OFF)
 
 IF(NOT WITH_GAMEENGINE AND WITH_PLAYER)
   MESSAGE("WARNING: WITH_PLAYER needs WITH_GAMEENGINE")
@@ -86,14 +88,16 @@ INCLUDE(CMake/macros.cmake)
 #Platform specifics
 
 IF(UNIX)
-  INCLUDE(${CMAKE_ROOT}/Modules/FindOpenAL.cmake)
-  IF(OPENAL_FOUND)
-    SET(WITH_OPENAL ON)
-    SET(OPENAL_LIB ${OPENAL_LIBRARY})
-    SET(OPENAL_INC ${OPENAL_INCLUDE_DIR})
-  ELSE(OPENAL_FOUND)
-    SET(WITH_OPENAL OFF)
-  ENDIF(OPENAL_FOUND)
+  IF(WITH_OPENAL)
+    INCLUDE(${CMAKE_ROOT}/Modules/FindOpenAL.cmake)
+    IF(OPENAL_FOUND)
+      SET(WITH_OPENAL ON)
+      SET(OPENAL_LIB ${OPENAL_LIBRARY})
+      SET(OPENAL_INC ${OPENAL_INCLUDE_DIR})
+    ELSE(OPENAL_FOUND)
+      SET(WITH_OPENAL OFF)
+    ENDIF(OPENAL_FOUND)
+  ENDIF(WITH_OPENAL)
 
   FIND_LIBRARY(ALUT_LIBRARY
     NAMES alut
@@ -327,7 +331,7 @@ IF(WIN32)
   SET(WINTAB_INC ${LIBDIR}/wintab/include) 
 
   IF(CMAKE_CL_64)
-  SET(PLATFORM_LINKFLAGS "/MACHINE:X64 /NODEFAULTLIB:libc.lib;MSVCRT.lib ")
+  SET(PLATFORM_LINKFLAGS "/MANIFEST:NO /MANIFESTUAC:NO /MACHINE:X64 /NODEFAULTLIB:libc.lib;MSVCRT.lib ")
   ELSE(CMAKE_CL_64)
   SET(PLATFORM_LINKFLAGS "/NODEFAULTLIB:libc.lib ")
   ENDIF(CMAKE_CL_64)
@@ -428,6 +432,17 @@ SET(FTGL_INC ${FTGL}/include)
 SET(FTGL_LIB extern_ftgl)
 
 
+#-----------------------------------------------------------------------------
+# Blender WebPlugin
+
+IF(WITH_WEBPLUGIN) 
+  SET(GECKO_DIR "${CMAKE_SOURCE_DIR}/../gecko-sdk/" CACHE PATH "Gecko SDK path")
+  SET(WEBPLUGIN_SANDBOX_MODE "apparmor" CACHE STRING "WEB Plugin sandbox mode, can be apparmor, privsep, none")
+
+  SET(WITH_PLAYER ON)
+ENDIF(WITH_WEBPLUGIN)
+
+
 #-----------------------------------------------------------------------------
 # Configure OpenGL.
 INCLUDE(${CMAKE_ROOT}/Modules/FindOpenGL.cmake)
@@ -457,12 +472,6 @@ SUBDIRS(
 # Blender Application
 SUBDIRS(source/creator)
 
-#-----------------------------------------------------------------------------
-# Blender WebPlugin
-IF(WITH_WEBPLUGIN) 
-  SET(MOZILLA_DIR "${CMAKE_SOURCE_DIR}/../gecko-sdk/" CACHE PATH "Gecko SDK path")
-  SET(WITH_PLAYER ON)
-ENDIF(WITH_WEBPLUGIN)
 
 #-----------------------------------------------------------------------------
 # Blender Player

SConstruct

@@ -42,6 +42,8 @@ import tools.Blender
 import tools.btools
 import tools.bcolors
 
+EnsureSConsVersion(1,0,0)
+
 BlenderEnvironment = tools.Blender.BlenderEnvironment
 btools = tools.btools
 B = tools.Blender
@@ -55,8 +57,8 @@ nsis_build = None
 ##### BEGIN SETUP #####
 
 B.possible_types = ['core', 'common', 'blender', 'intern',
-                    'international', 'game', 'game2',
-                    'player', 'player2', 'system']
+					'international', 'game', 'game2',
+					'player', 'player2', 'system']
 
 B.binarykind = ['blender' , 'blenderplayer']
 ##################################
@@ -65,15 +67,15 @@ B.binarykind = ['blender' , 'blenderplayer']
 # XX cheating for BF_FANCY, we check for BF_FANCY before args are validated
 use_color = ARGUMENTS.get('BF_FANCY', '1')
 if platform=='win32':
-    use_color = None
+	use_color = None
 
 if not use_color=='1':
-    B.bc.disable()
-    
+	B.bc.disable()
+	
  #on defaut white Os X terminal, some colors are totally unlegible
 if platform=='darwin':
-    B.bc.OKGREEN = '\033[34m'
-    B.bc.WARNING = '\033[36m'
+	B.bc.OKGREEN = '\033[34m'
+	B.bc.WARNING = '\033[36m'
 
 # arguments
 print B.bc.HEADER+'Command-line arguments'+B.bc.ENDC
@@ -96,231 +98,247 @@ quickie = B.arguments.get('BF_QUICK', None)
 quickdebug = B.arguments.get('BF_QUICKDEBUG', None)
 
 if quickdebug:
-    B.quickdebug=string.split(quickdebug, ',')
+	B.quickdebug=string.split(quickdebug, ',')
 else:
-    B.quickdebug=[]
+	B.quickdebug=[]
 
 if quickie:
-    B.quickie=string.split(quickie,',')
+	B.quickie=string.split(quickie,',')
 else:
-    B.quickie=[]
-    
+	B.quickie=[]
+	
 toolset = B.arguments.get('BF_TOOLSET', None)
 if toolset:
-    print "Using " + toolset
-    if toolset=='mstoolkit':
-        env = BlenderEnvironment(ENV = os.environ)
-        env.Tool('mstoolkit', ['tools'])
-    else:
-        env = BlenderEnvironment(tools=[toolset], ENV = os.environ)
-        if env:
-            btools.SetupSpawn(env)
+	print "Using " + toolset
+	if toolset=='mstoolkit':
+		env = BlenderEnvironment(ENV = os.environ)
+		env.Tool('mstoolkit', ['tools'])
+	else:
+		env = BlenderEnvironment(tools=[toolset], ENV = os.environ)
+		#if env:
+		#	btools.SetupSpawn(env)
 else:
-    env = BlenderEnvironment(ENV = os.environ)
+	env = BlenderEnvironment(ENV = os.environ)
 
 if not env:
-    print "Could not create a build environment"
-    Exit()
+	print "Could not create a build environment"
+	Exit()
 
 
 cc = B.arguments.get('CC', None)
 cxx = B.arguments.get('CXX', None)
 if cc:
-    env['CC'] = cc
+	env['CC'] = cc
 if cxx:
-    env['CXX'] = cxx
+	env['CXX'] = cxx
 
 if env['CC'] in ['cl', 'cl.exe'] and sys.platform=='win32':
-    platform = 'win32-vc'
+	platform = 'win32-vc'
 elif env['CC'] in ['gcc'] and sys.platform=='win32':
-    platform = 'win32-mingw'
+	platform = 'win32-mingw'
 
 env.SConscriptChdir(0)
 
 crossbuild = B.arguments.get('BF_CROSS', None)
 if crossbuild and platform!='win32':
-    platform = 'linuxcross'
+	platform = 'linuxcross'
 
 env['OURPLATFORM'] = platform
 
 configfile = 'config'+os.sep+platform+'-config.py'
 
 if os.path.exists(configfile):
-    print B.bc.OKGREEN + "Using config file: " + B.bc.ENDC + configfile
+	print B.bc.OKGREEN + "Using config file: " + B.bc.ENDC + configfile
 else:
-    print B.bc.FAIL + configfile + " doesn't exist" + B.bc.ENDC
+	print B.bc.FAIL + configfile + " doesn't exist" + B.bc.ENDC
 
 if crossbuild and env['PLATFORM'] != 'win32':
-    print B.bc.HEADER+"Preparing for crossbuild"+B.bc.ENDC
-    env.Tool('crossmingw', ['tools'])
-    # todo: determine proper libs/includes etc.
-    # Needed for gui programs, console programs should do without it
-    env.Append(LINKFLAGS=['-mwindows'])
+	print B.bc.HEADER+"Preparing for crossbuild"+B.bc.ENDC
+	env.Tool('crossmingw', ['tools'])
+	# todo: determine proper libs/includes etc.
+	# Needed for gui programs, console programs should do without it
+	env.Append(LINKFLAGS=['-mwindows'])
 
 userconfig = B.arguments.get('BF_CONFIG', 'user-config.py')
 # first read platform config. B.arguments will override
 optfiles = [configfile]
 if os.path.exists(userconfig):
-    print B.bc.OKGREEN + "Using user-config file: " + B.bc.ENDC + userconfig
-    optfiles += [userconfig]
+	print B.bc.OKGREEN + "Using user-config file: " + B.bc.ENDC + userconfig
+	optfiles += [userconfig]
 else:
-    print B.bc.WARNING + userconfig + " not found, no user overrides" + B.bc.ENDC
+	print B.bc.WARNING + userconfig + " not found, no user overrides" + B.bc.ENDC
 
 opts = btools.read_opts(optfiles, B.arguments)
 opts.Update(env)
 
 if not env['BF_FANCY']:
-    B.bc.disable()
+	B.bc.disable()
+
+SetOption('num_jobs', int(env['BF_NUMJOBS']))
+print "Build with %d parallel jobs" % (GetOption('num_jobs'))
 
 # disable elbeem (fluidsim) compilation?
 if env['BF_NO_ELBEEM'] == 1:
-    env['CPPFLAGS'].append('-DDISABLE_ELBEEM')
-    env['CXXFLAGS'].append('-DDISABLE_ELBEEM')
-    env['CCFLAGS'].append('-DDISABLE_ELBEEM')
+	env['CPPFLAGS'].append('-DDISABLE_ELBEEM')
+	env['CXXFLAGS'].append('-DDISABLE_ELBEEM')
+	env['CCFLAGS'].append('-DDISABLE_ELBEEM')
 
 if env['WITH_BF_OPENMP'] == 1:
-        if env['OURPLATFORM']=='win32-vc':
-                env['CCFLAGS'].append('/openmp')
-                env['CPPFLAGS'].append('/openmp')
-                env['CXXFLAGS'].append('/openmp')
-        else:
-            if env['CC'][-3:] == 'icc': # to be able to handle CC=/opt/bla/icc case
-                env.Append(LINKFLAGS=['-openmp', '-static-intel'])
-                env['CCFLAGS'].append('-openmp')
-                env['CPPFLAGS'].append('-openmp')
-                env['CXXFLAGS'].append('-openmp')
-            else:
-                env.Append(CCFLAGS=['-fopenmp']) 
-                env.Append(CPPFLAGS=['-fopenmp'])
-                env.Append(CXXFLAGS=['-fopenmp'])
-                # env.Append(LINKFLAGS=['-fprofile-generate'])
+		if env['OURPLATFORM']=='win32-vc':
+				env['CCFLAGS'].append('/openmp')
+				env['CPPFLAGS'].append('/openmp')
+				env['CXXFLAGS'].append('/openmp')
+		else:
+			if env['CC'][-3:] == 'icc': # to be able to handle CC=/opt/bla/icc case
+				env.Append(LINKFLAGS=['-openmp', '-static-intel'])
+				env['CCFLAGS'].append('-openmp')
+				env['CPPFLAGS'].append('-openmp')
+				env['CXXFLAGS'].append('-openmp')
+			else:
+				env.Append(CCFLAGS=['-fopenmp']) 
+				env.Append(CPPFLAGS=['-fopenmp'])
+				env.Append(CXXFLAGS=['-fopenmp'])
+				# env.Append(LINKFLAGS=['-fprofile-generate'])
 
 #check for additional debug libnames
 
 if env.has_key('BF_DEBUG_LIBS'):
-    B.quickdebug += env['BF_DEBUG_LIBS']
+	B.quickdebug += env['BF_DEBUG_LIBS']
 
 printdebug = B.arguments.get('BF_LISTDEBUG', 0)
 
 # see if this linux distro has libalut
 
 if env['OURPLATFORM'] == 'linux2' :
-    if env['WITH_BF_OPENAL']:
-        mylib_test_source_file = """
-        #include "AL/alut.h"
-        int main(int argc, char **argv)
-        {
-            alutGetMajorVersion();
-            return 0;
-        }
-        """
+	if env['WITH_BF_OPENAL']:
+		mylib_test_source_file = """
+		#include "AL/alut.h"
+		int main(int argc, char **argv)
+		{
+			alutGetMajorVersion();
+			return 0;
+		}
+		"""
 
-        def CheckFreeAlut(context,env):
-            context.Message( B.bc.OKGREEN + "Linux platform detected:\n  checking for FreeAlut... " + B.bc.ENDC )
-            env['LIBS'] = 'alut'
-            result = context.TryLink(mylib_test_source_file, '.c')
-            context.Result(result)
-            return result
+		def CheckFreeAlut(context,env):
+			context.Message( B.bc.OKGREEN + "Linux platform detected:\n  checking for FreeAlut... " + B.bc.ENDC )
+			env['LIBS'] = 'alut'
+			result = context.TryLink(mylib_test_source_file, '.c')
+			context.Result(result)
+			return result
 
-        env2 = env.Copy( LIBPATH = env['BF_OPENAL'] ) 
-        sconf_temp = mkdtemp()
-        conf = Configure( env2, {'CheckFreeAlut' : CheckFreeAlut}, sconf_temp, '/dev/null' )
-        if conf.CheckFreeAlut( env2 ):
-            env['BF_OPENAL_LIB'] += ' alut'
-        del env2
-        root = ''
-        for root, dirs, files in os.walk(sconf_temp, topdown=False):
-            for name in files:
-                os.remove(os.path.join(root, name))
-            for name in dirs:
-                os.rmdir(os.path.join(root, name))
-        if root: os.rmdir(root)
+		env2 = env.Clone( LIBPATH = env['BF_OPENAL'] ) 
+		sconf_temp = mkdtemp()
+		conf = Configure( env2, {'CheckFreeAlut' : CheckFreeAlut}, sconf_temp, '/dev/null' )
+		if conf.CheckFreeAlut( env2 ):
+			env['BF_OPENAL_LIB'] += ' alut'
+		del env2
+		root = ''
+		for root, dirs, files in os.walk(sconf_temp, topdown=False):
+			for name in files:
+				os.remove(os.path.join(root, name))
+			for name in dirs:
+				os.rmdir(os.path.join(root, name))
+		if root: os.rmdir(root)
 
 if len(B.quickdebug) > 0 and printdebug != 0:
-    print B.bc.OKGREEN + "Buildings these libs with debug symbols:" + B.bc.ENDC
-    for l in B.quickdebug:
-        print "\t" + l
+	print B.bc.OKGREEN + "Buildings these libs with debug symbols:" + B.bc.ENDC
+	for l in B.quickdebug:
+		print "\t" + l
 
 # remove stdc++ from LLIBS if we are building a statc linked CXXFLAGS
 if env['WITH_BF_STATICCXX']:
-    if 'stdc++' in env['LLIBS']:
-        env['LLIBS'] = env['LLIBS'].replace('stdc++', ' ')
-    else:
-        print '\tcould not remove stdc++ library from LLIBS, WITH_BF_STATICCXX may not work for your platform'
+	if 'stdc++' in env['LLIBS']:
+		env['LLIBS'].remove('stdc++')
+	else:
+		print '\tcould not remove stdc++ library from LLIBS, WITH_BF_STATICCXX may not work for your platform'
 
 # check target for blenderplayer. Set WITH_BF_PLAYER if found on cmdline
 if 'blenderplayer' in B.targets:
-    env['WITH_BF_PLAYER'] = True
+	env['WITH_BF_PLAYER'] = True
 
 if 'blendernogame' in B.targets:
-    env['WITH_BF_GAMEENGINE'] = False
+	env['WITH_BF_GAMEENGINE'] = False
 
 if 'blenderlite' in B.targets:
-    env['WITH_BF_GAMEENGINE'] = False
-    env['WITH_BF_OPENAL'] = False
-    env['WITH_BF_OPENEXR'] = False
-    env['WITH_BF_ICONV'] = False
-    env['WITH_BF_INTERNATIONAL'] = False
-    env['WITH_BF_OPENJPEG'] = False
-    env['WITH_BF_FFMPEG'] = False
-    env['WITH_BF_QUICKTIME'] = False
-    env['WITH_BF_YAFRAY'] = False
-    env['WITH_BF_REDCODE'] = False
-    env['WITH_BF_FTGL'] = False
-    env['WITH_BF_DDS'] = False
-    env['WITH_BF_ZLIB'] = False
-    env['WITH_BF_SDL'] = False
-    env['WITH_BF_JPEG'] = False
-    env['WITH_BF_PNG'] = False
-    env['WITH_BF_ODE'] = False
-    env['WITH_BF_BULLET'] = False
-    env['WITH_BF_BINRELOC'] = False
-    env['BF_BUILDINFO'] = False
-    env['BF_NO_ELBEEM'] = True
-    
-
+	env['WITH_BF_GAMEENGINE'] = False
+	env['WITH_BF_OPENAL'] = False
+	env['WITH_BF_OPENEXR'] = False
+	env['WITH_BF_ICONV'] = False
+	env['WITH_BF_INTERNATIONAL'] = False
+	env['WITH_BF_OPENJPEG'] = False
+	env['WITH_BF_FFMPEG'] = False
+	env['WITH_BF_QUICKTIME'] = False
+	env['WITH_BF_YAFRAY'] = False
+	env['WITH_BF_REDCODE'] = False
+	env['WITH_BF_FTGL'] = False
+	env['WITH_BF_DDS'] = False
+	env['WITH_BF_ZLIB'] = False
+	env['WITH_BF_SDL'] = False
+	env['WITH_BF_JPEG'] = False
+	env['WITH_BF_PNG'] = False
+	env['WITH_BF_ODE'] = False
+	env['WITH_BF_BULLET'] = False
+	env['WITH_BF_BINRELOC'] = False
+	env['BF_BUILDINFO'] = False
+	env['BF_NO_ELBEEM'] = True
+	env['WITH_BF_PYTHON'] = False
 
 # lastly we check for root_build_dir ( we should not do before, otherwise we might do wrong builddir
 #B.root_build_dir = B.arguments.get('BF_BUILDDIR', '..'+os.sep+'build'+os.sep+platform+os.sep)
 B.root_build_dir = env['BF_BUILDDIR']
-env['BUILDDIR'] = B.root_build_dir
+B.doc_build_dir = env['BF_DOCDIR']
 if not B.root_build_dir[-1]==os.sep:
-    B.root_build_dir += os.sep
-    
+	B.root_build_dir += os.sep
+if not B.doc_build_dir[-1]==os.sep:
+	B.doc_build_dir += os.sep
+	
 # We do a shortcut for clean when no quicklist is given: just delete
 # builddir without reading in SConscripts
 do_clean = None
 if 'clean' in B.targets:
-    do_clean = True
+	do_clean = True
 
 if not quickie and do_clean:
-    if os.path.exists(B.root_build_dir):
-        print B.bc.HEADER+'Cleaning...'+B.bc.ENDC
-        dirs = os.listdir(B.root_build_dir)
-        for entry in dirs:
-            if os.path.isdir(B.root_build_dir + entry) == 1:
-                print "clean dir %s"%(B.root_build_dir+entry)
-                shutil.rmtree(B.root_build_dir+entry)
-            else: # remove file
-                print "remove file %s"%(B.root_build_dir+entry)
-                os.remove(B.root_build_dir+entry)
-        for confile in ['extern/ffmpeg/config.mak', 'extern/x264/config.mak',
-                'extern/xvidcore/build/generic/platform.inc']:
-            if os.path.exists(confile):
-                print "clean file %s"%confile
-                os.remove(confile)
-        print B.bc.OKGREEN+'...done'+B.bc.ENDC
-    else:
-        print B.bc.HEADER+'Already Clean, nothing to do.'+B.bc.ENDC
-    Exit()
+	if os.path.exists(B.doc_build_dir):
+		print B.bc.HEADER+'Cleaning doc dir...'+B.bc.ENDC
+		dirs = os.listdir(B.doc_build_dir)
+		for entry in dirs:
+			if os.path.isdir(B.doc_build_dir + entry) == 1:
+				print "clean dir %s"%(B.doc_build_dir+entry)
+				shutil.rmtree(B.doc_build_dir+entry)
+			else: # remove file
+				print "remove file %s"%(B.doc_build_dir+entry)
+				os.remove(B.root_build_dir+entry)
+	if os.path.exists(B.root_build_dir):
+		print B.bc.HEADER+'Cleaning build dir...'+B.bc.ENDC
+		dirs = os.listdir(B.root_build_dir)
+		for entry in dirs:
+			if os.path.isdir(B.root_build_dir + entry) == 1:
+				print "clean dir %s"%(B.root_build_dir+entry)
+				shutil.rmtree(B.root_build_dir+entry)
+			else: # remove file
+				print "remove file %s"%(B.root_build_dir+entry)
+				os.remove(B.root_build_dir+entry)
+		for confile in ['extern/ffmpeg/config.mak', 'extern/x264/config.mak',
+				'extern/xvidcore/build/generic/platform.inc']:
+			if os.path.exists(confile):
+				print "clean file %s"%confile
+				os.remove(confile)
+		print B.bc.OKGREEN+'...done'+B.bc.ENDC
+	else:
+		print B.bc.HEADER+'Already Clean, nothing to do.'+B.bc.ENDC
+	Exit()
 
 if not os.path.isdir ( B.root_build_dir):
-    os.makedirs ( B.root_build_dir )
-    os.makedirs ( B.root_build_dir + 'source' )
-    os.makedirs ( B.root_build_dir + 'intern' )
-    os.makedirs ( B.root_build_dir + 'extern' )
-    os.makedirs ( B.root_build_dir + 'lib' )
-    os.makedirs ( B.root_build_dir + 'bin' )
+	os.makedirs ( B.root_build_dir )
+	os.makedirs ( B.root_build_dir + 'source' )
+	os.makedirs ( B.root_build_dir + 'intern' )
+	os.makedirs ( B.root_build_dir + 'extern' )
+	os.makedirs ( B.root_build_dir + 'lib' )
+	os.makedirs ( B.root_build_dir + 'bin' )
+if not os.path.isdir(B.doc_build_dir):
+	os.makedirs ( B.doc_build_dir )
 
 Help(opts.GenerateHelpText(env))
 
@@ -328,10 +346,10 @@ Help(opts.GenerateHelpText(env))
 # commands, do 'scons BF_QUIET=0'
 bf_quietoutput = B.arguments.get('BF_QUIET', '1')
 if env['BF_QUIET']:
-    B.set_quiet_output(env)
+	B.set_quiet_output(env)
 else:
-    if toolset=='msvc':
-        B.msvc_hack(env)
+	if toolset=='msvc':
+		B.msvc_hack(env)
 
 print B.bc.HEADER+'Building in '+B.bc.ENDC+B.root_build_dir
 env.SConsignFile(B.root_build_dir+'scons-signatures')
@@ -353,20 +371,21 @@ SConscript(B.root_build_dir+'/source/SConscript')
 # libraries to give as objects to linking phase
 mainlist = []
 for tp in B.possible_types:
-    if not tp == 'player' and not tp == 'player2':
-        mainlist += B.create_blender_liblist(env, tp)
+	if not tp == 'player' and not tp == 'player2':
+		mainlist += B.create_blender_liblist(env, tp)
 
 if B.arguments.get('BF_PRIORITYLIST', '0')=='1':
-    B.propose_priorities()
+	B.propose_priorities()
 
 dobj = B.buildinfo(env, "dynamic") + B.resources
 thestatlibs, thelibincs = B.setup_staticlibs(env)
 thesyslibs = B.setup_syslibs(env)
 
-env.BlenderProg(B.root_build_dir, "blender", dobj + mainlist + thestatlibs, [], thesyslibs, [B.root_build_dir+'/lib'] + thelibincs, 'blender')
+if 'blender' in B.targets or not env['WITH_BF_NOBLENDER']:
+	env.BlenderProg(B.root_build_dir, "blender", dobj + mainlist + thestatlibs, [], thesyslibs, [B.root_build_dir+'/lib'] + thelibincs, 'blender')
 if env['WITH_BF_PLAYER']:
-    playerlist = B.create_blender_liblist(env, 'player')
-    env.BlenderProg(B.root_build_dir, "blenderplayer", dobj + playerlist + thestatlibs, [], thesyslibs, [B.root_build_dir+'/lib'] + thelibincs, 'blenderplayer')
+	playerlist = B.create_blender_liblist(env, 'player')
+	env.BlenderProg(B.root_build_dir, "blenderplayer", dobj + playerlist + thestatlibs, [], thesyslibs, [B.root_build_dir+'/lib'] + thelibincs, 'blenderplayer')
 
 ##### Now define some targets
 
@@ -376,19 +395,19 @@ if env['WITH_BF_PLAYER']:
 #-- binaries
 blenderinstall = []
 if  env['OURPLATFORM']=='darwin':
-    for prg in B.program_list:
-        bundle = '%s.app' % prg[0]
-        bundledir = os.path.dirname(bundle)
-        for dp, dn, df in os.walk(bundle):
-            if 'CVS' in dn:
-                dn.remove('CVS')
-            if '.svn' in dn:
-                dn.remove('.svn')
-            dir=env['BF_INSTALLDIR']+dp[len(bundledir):]
-            source=[dp+os.sep+f for f in df]
-            blenderinstall.append(env.Install(dir=dir,source=source))
+	for prg in B.program_list:
+		bundle = '%s.app' % prg[0]
+		bundledir = os.path.dirname(bundle)
+		for dp, dn, df in os.walk(bundle):
+			if 'CVS' in dn:
+				dn.remove('CVS')
+			if '.svn' in dn:
+				dn.remove('.svn')
+			dir=env['BF_INSTALLDIR']+dp[len(bundledir):]
+			source=[dp+os.sep+f for f in df]
+			blenderinstall.append(env.Install(dir=dir,source=source))
 else:
-    blenderinstall = env.Install(dir=env['BF_INSTALLDIR'], source=B.program_list)
+	blenderinstall = env.Install(dir=env['BF_INSTALLDIR'], source=B.program_list)
 
 #-- .blender
 #- dont do .blender and scripts for darwin, it is already in the bundle
@@ -397,30 +416,41 @@ dottargetlist = []
 scriptinstall = []
 
 if  env['OURPLATFORM']!='darwin':
-        for dp, dn, df in os.walk('bin/.blender'):
-            if 'CVS' in dn:
-                dn.remove('CVS')
-            if '.svn' in dn:
-                dn.remove('.svn')
-            for f in df:
-                dotblendlist.append(dp+os.sep+f)
-                dottargetlist.append(env['BF_INSTALLDIR']+dp[3:]+os.sep+f)
+		for dp, dn, df in os.walk('bin/.blender'):
+			if 'CVS' in dn:
+				dn.remove('CVS')
+			if '.svn' in dn:
+				dn.remove('.svn')
+			
+			for f in df:
+				if not env['WITH_BF_INTERNATIONAL']:
+					if 'locale' in dp:
+						continue
+					if f == '.Blanguages':
+						continue
+				if not env['WITH_BF_FREETYPE']:
+					if f.endswith('.ttf'):
+						continue
+				
+				dotblendlist.append(os.path.join(dp, f))
+				dottargetlist.append(env['BF_INSTALLDIR']+dp[3:]+os.sep+f)
 
-        dotblenderinstall = []
-        for targetdir,srcfile in zip(dottargetlist, dotblendlist):
-            td, tf = os.path.split(targetdir)
-            dotblenderinstall.append(env.Install(dir=td, source=srcfile))
-        
-        #-- .blender/scripts    
-        scriptpath='release/scripts'
-        for dp, dn, df in os.walk(scriptpath):
-            if 'CVS' in dn:
-                dn.remove('CVS')
-            if '.svn' in dn:
-                dn.remove('.svn')
-            dir=env['BF_INSTALLDIR']+'/.blender/scripts'+dp[len(scriptpath):]
-            source=[dp+os.sep+f for f in df]
-            scriptinstall.append(env.Install(dir=dir,source=source))
+		dotblenderinstall = []
+		for targetdir,srcfile in zip(dottargetlist, dotblendlist):
+			td, tf = os.path.split(targetdir)
+			dotblenderinstall.append(env.Install(dir=td, source=srcfile))
+		
+		if env['WITH_BF_PYTHON']:
+			#-- .blender/scripts	
+			scriptpath='release/scripts'
+			for dp, dn, df in os.walk(scriptpath):
+				if 'CVS' in dn:
+					dn.remove('CVS')
+				if '.svn' in dn:
+					dn.remove('.svn')
+				dir=env['BF_INSTALLDIR']+'/.blender/scripts'+dp[len(scriptpath):]
+				source=[dp+os.sep+f for f in df]
+				scriptinstall.append(env.Install(dir=dir,source=source))
 
 #-- icons
 if env['OURPLATFORM']=='linux2':
@@ -442,18 +472,25 @@ if env['OURPLATFORM']=='linux2':
 		td, tf = os.path.split(targetdir)
 		iconinstall.append(env.Install(dir=td, source=srcfile))
 
+# dlls for linuxcross
+# TODO - add more libs, for now this lets blenderlite run
+if env['OURPLATFORM']=='linuxcross':
+	dir=env['BF_INSTALLDIR']
+	source = ['../lib/windows/pthreads/lib/pthreadGC2.dll']
+	scriptinstall.append(env.Install(dir=dir, source=source))
+
 #-- plugins
 pluglist = []
 plugtargetlist = []
 for tp, tn, tf in os.walk('release/plugins'):
-    if 'CVS' in tn:
-        tn.remove('CVS')
-    if '.svn' in tn:
-        tn.remove('.svn')
-    for f in tf:
-        print ">>>", env['BF_INSTALLDIR'], tp, f
-        pluglist.append(tp+os.sep+f)
-        plugtargetlist.append(env['BF_INSTALLDIR']+tp[7:]+os.sep+f)
+	if 'CVS' in tn:
+		tn.remove('CVS')
+	if '.svn' in tn:
+		tn.remove('.svn')
+	for f in tf:
+		print ">>>", env['BF_INSTALLDIR'], tp, f
+		pluglist.append(tp+os.sep+f)
+		plugtargetlist.append(env['BF_INSTALLDIR']+tp[7:]+os.sep+f)
 
 # header files for plugins
 pluglist.append('source/blender/blenpluginapi/documentation.h')
@@ -473,59 +510,58 @@ plugtargetlist.append(env['BF_INSTALLDIR'] + os.sep + 'plugins' + os.sep + 'incl
 
 plugininstall = []
 for targetdir,srcfile in zip(plugtargetlist, pluglist):
-    td, tf = os.path.split(targetdir)
-    plugininstall.append(env.Install(dir=td, source=srcfile))
+	td, tf = os.path.split(targetdir)
+	plugininstall.append(env.Install(dir=td, source=srcfile))
 
 textlist = []
 texttargetlist = []
 for tp, tn, tf in os.walk('release/text'):
-    if 'CVS' in tn:
-        tn.remove('CVS')
-    if '.svn' in tn:
-        tn.remove('.svn')
-    for f in tf:
-        textlist.append(tp+os.sep+f)
+	if 'CVS' in tn:
+		tn.remove('CVS')
+	if '.svn' in tn:
+		tn.remove('.svn')
+	for f in tf:
+		textlist.append(tp+os.sep+f)
 
 textinstall = env.Install(dir=env['BF_INSTALLDIR'], source=textlist)
 
 if  env['OURPLATFORM']=='darwin':
-        allinstall = [blenderinstall, plugininstall, textinstall]
+		allinstall = [blenderinstall, plugininstall, textinstall]
 elif env['OURPLATFORM']=='linux2':
-        allinstall = [blenderinstall, dotblenderinstall, scriptinstall, plugininstall, textinstall, iconinstall]
+		allinstall = [blenderinstall, dotblenderinstall, scriptinstall, plugininstall, textinstall, iconinstall]
 else:
-        allinstall = [blenderinstall, dotblenderinstall, scriptinstall, plugininstall, textinstall]
+		allinstall = [blenderinstall, dotblenderinstall, scriptinstall, plugininstall, textinstall]
 
 if env['OURPLATFORM'] in ('win32-vc', 'win32-mingw'):
-    dllsources = ['${LCGDIR}/gettext/lib/gnu_gettext.dll',
-                        '${LCGDIR}/png/lib/libpng.dll',
-                        '#release/windows/extra/python25.zip',
-                        '#release/windows/extra/zlib.pyd',
-                        '${LCGDIR}/sdl/lib/SDL.dll',
-                        '${LCGDIR}/zlib/lib/zlib.dll',
-                        '${LCGDIR}/tiff/lib/libtiff.dll']
-    if env['BF_DEBUG']:
-        dllsources.append('${LCGDIR}/python/lib/${BF_PYTHON_LIB}_d.dll')
-    else:
-        dllsources.append('${LCGDIR}/python/lib/${BF_PYTHON_LIB}.dll')
-    if env['OURPLATFORM'] == 'win32-mingw':
-        dllsources += ['${LCGDIR}/pthreads/lib/pthreadGC2.dll']
-    else:
-        dllsources += ['${LCGDIR}/pthreads/lib/pthreadVC2.dll']
-    if env['WITH_BF_ICONV']:
-        dllsources += ['${LCGDIR}/iconv/lib/iconv.dll']
-    if env['WITH_BF_FFMPEG']:
-        dllsources += ['${LCGDIR}/ffmpeg/lib/avcodec-51.dll',
-                        '${LCGDIR}/ffmpeg/lib/avformat-52.dll',
-                        '${LCGDIR}/ffmpeg/lib/avdevice-52.dll',
-                        '${LCGDIR}/ffmpeg/lib/avutil-49.dll',
-                        '${LCGDIR}/ffmpeg/lib/libfaad-0.dll',
-                        '${LCGDIR}/ffmpeg/lib/libfaac-0.dll',
-                        '${LCGDIR}/ffmpeg/lib/libmp3lame-0.dll',
-                        '${LCGDIR}/ffmpeg/lib/libx264-59.dll',
-                        '${LCGDIR}/ffmpeg/lib/xvidcore.dll',
-                        '${LCGDIR}/ffmpeg/lib/swscale-0.dll']
-    windlls = env.Install(dir=env['BF_INSTALLDIR'], source = dllsources)
-    allinstall += windlls
+	dllsources = ['${LCGDIR}/gettext/lib/gnu_gettext.dll',
+						'${BF_PNG_LIBPATH}/libpng.dll',
+						'${BF_ZLIB_LIBPATH}/zlib.dll',
+						'${BF_TIFF_LIBPATH}/${BF_TIFF_LIB}.dll']
+	dllsources += ['${BF_PTHREADS_LIBPATH}/${BF_PTHREADS_LIB}.dll']
+	if env['WITH_BF_SDL']:
+		dllsources.append('${BF_SDL_LIBPATH}/SDL.dll')
+	if env['WITH_BF_PYTHON']:
+		dllsources.append('#release/windows/extra/python25.zip')
+		dllsources.append('#release/windows/extra/zlib.pyd')
+		if env['BF_DEBUG']:
+			dllsources.append('${BF_PYTHON_LIBPATH}/${BF_PYTHON_LIB}_d.dll')
+		else:
+			dllsources.append('${BF_PYTHON_LIBPATH}/${BF_PYTHON_LIB}.dll')
+	if env['WITH_BF_ICONV']:
+		dllsources += ['${BF_ICONV_LIBPATH}/iconv.dll']
+	if env['WITH_BF_FFMPEG']:
+		dllsources += ['${LCGDIR}/ffmpeg/lib/avcodec-51.dll',
+						'${LCGDIR}/ffmpeg/lib/avformat-52.dll',
+						'${LCGDIR}/ffmpeg/lib/avdevice-52.dll',
+						'${LCGDIR}/ffmpeg/lib/avutil-49.dll',
+						'${LCGDIR}/ffmpeg/lib/libfaad-0.dll',
+						'${LCGDIR}/ffmpeg/lib/libfaac-0.dll',
+						'${LCGDIR}/ffmpeg/lib/libmp3lame-0.dll',
+						'${LCGDIR}/ffmpeg/lib/libx264-59.dll',
+						'${LCGDIR}/ffmpeg/lib/xvidcore.dll',
+						'${LCGDIR}/ffmpeg/lib/swscale-0.dll']
+	windlls = env.Install(dir=env['BF_INSTALLDIR'], source = dllsources)
+	allinstall += windlls
 
 installtarget = env.Alias('install', allinstall)
 bininstalltarget = env.Alias('install-bin', blenderinstall)
@@ -534,13 +570,17 @@ nsisaction = env.Action(btools.NSIS_Installer, btools.NSIS_print)
 nsiscmd = env.Command('nsisinstaller', None, nsisaction)
 nsisalias = env.Alias('nsis', nsiscmd)
 
+if 'blender' in B.targets:
+	blenderexe= env.Alias('blender', B.program_list)
+	Depends(blenderexe,installtarget)
+
 if env['WITH_BF_PLAYER']:
-    blenderplayer = env.Alias('blenderplayer', B.program_list)
-    Depends(blenderplayer,installtarget)
+	blenderplayer = env.Alias('blenderplayer', B.program_list)
+	Depends(blenderplayer,installtarget)
 
 if not env['WITH_BF_GAMEENGINE']:
-    blendernogame = env.Alias('blendernogame', B.program_list)
-    Depends(blendernogame,installtarget)
+	blendernogame = env.Alias('blendernogame', B.program_list)
+	Depends(blendernogame,installtarget)
 
 if 'blenderlite' in B.targets:
 	blenderlite = env.Alias('blenderlite', B.program_list)
@@ -551,7 +591,7 @@ Depends(nsiscmd, allinstall)
 Default(B.program_list)
 
 if not env['WITHOUT_BF_INSTALL']:
-        Default(installtarget)
+		Default(installtarget)
 
 #------------ RELEASE
 # TODO: zipup the installation
@@ -560,5 +600,7 @@ if not env['WITHOUT_BF_INSTALL']:
 # TODO: build stubs and link into blenderplayer
 
 #------------ EPYDOC
-# TODO: run epydoc
+if env['WITH_BF_DOCS']:
+	SConscript('source/blender/python/api2_2x/doc/SConscript')
+	SConscript('source/gameengine/PyDoc/SConscript')
 

bin/.blender/.Blanguages

@@ -20,4 +20,4 @@ Romanian:ro
 Arabic:ar
 Bulgarian:bg
 Greek:el
-Korean:kr
+Korean:ko

blenderplayer/CMakeLists.txt

@@ -104,6 +104,7 @@ IF(UNIX)
     bf_blenlib 
     bf_cineon 
     bf_openexr 
+    bf_dds
     bf_ftfont 
     extern_ftgl 
     bf_readblenfile 

config/darwin-config.py

@@ -8,7 +8,7 @@
 import commands
 
 # IMPORTANT NOTE : OFFICIAL BUILDS SHOULD BE DONE WITH SDKs
-USE_SDK='true'
+USE_SDK=True
 
 BF_PYTHON_VERSION = '2.3'
 
@@ -38,15 +38,15 @@ else:
 
 
 # enable ffmpeg  support
-WITH_BF_FFMPEG = 'true'  # -DWITH_FFMPEG
+WITH_BF_FFMPEG = True  # -DWITH_FFMPEG
 BF_FFMPEG = "#extern/ffmpeg"
 BF_FFMPEG_INC = '${BF_FFMPEG}/include'
-if USE_SDK=='true':
+if USE_SDK==True:
 	BF_FFMPEG_EXTRA = '-isysroot '+MACOSX_SDK+' -mmacosx-version-min='+MAC_MIN_VERS
 #BF_FFMPEG_LIBPATH='${BF_FFMPEG}/lib'
 #BF_FFMPEG_LIB = 'avformat.a avcodec.a avutil.a'
 
-WITH_BF_VERSE = 'false'
+WITH_BF_VERSE = False
 BF_VERSE = "#extern/verse/dist"
 BF_VERSE_LIBPATH = "${BF_BUILDDIR}/extern/verse/dist"
 BF_VERSE_INCLUDE = BF_VERSE
@@ -76,9 +76,9 @@ WITH_BF_OPENMP = '0'
 
 # Note : should be true, but openal simply dont work on intel
 if MAC_PROC == 'i386':
-	WITH_BF_OPENAL = 'false'
+	WITH_BF_OPENAL = False
 else:
-	WITH_BF_OPENAL = 'true'
+	WITH_BF_OPENAL = True
 #different lib must be used  following version of gcc
 # for gcc 3.3
 #BF_OPENAL = LIBDIR + '/openal'
@@ -88,7 +88,7 @@ if MAC_PROC == 'powerpc':
 else :
 	BF_OPENAL = LIBDIR + '/openal'
 
-WITH_BF_STATICOPENAL = 'false'
+WITH_BF_STATICOPENAL = False
 BF_OPENAL_INC = '${BF_OPENAL}/include'
 BF_OPENAL_LIB = 'openal'
 BF_OPENAL_LIBPATH = '${BF_OPENAL}/lib'
@@ -97,20 +97,20 @@ BF_OPENAL_LIB_STATIC = '${BF_OPENAL}/lib/libopenal.a'
 
 # Warning, this static lib configuration is untested! users of this OS please confirm.
 BF_CXX = '/usr'
-WITH_BF_STATICCXX = 'false'
+WITH_BF_STATICCXX = False
 BF_CXX_LIB_STATIC = '${BF_CXX}/lib/libstdc++.a'
 
-WITH_BF_SDL = 'true'
+WITH_BF_SDL = True
 BF_SDL = LIBDIR + '/sdl' #$(shell sdl-config --prefix)
 BF_SDL_INC = '${BF_SDL}/include' #$(shell $(BF_SDL)/bin/sdl-config --cflags)
 BF_SDL_LIB = 'SDL' #BF_SDL #$(shell $(BF_SDL)/bin/sdl-config --libs) -lSDL_mixer
 BF_SDL_LIBPATH = '${BF_SDL}/lib'
 
-WITH_BF_FMOD = 'false'
+WITH_BF_FMOD = False
 BF_FMOD = LIBDIR + '/fmod'
 
-WITH_BF_OPENEXR = 'true'
-WITH_BF_STATICOPENEXR = 'false'
+WITH_BF_OPENEXR = True
+WITH_BF_STATICOPENEXR = False
 BF_OPENEXR = '${LCGDIR}/openexr'
 BF_OPENEXR_INC = '${BF_OPENEXR}/include ${BF_OPENEXR}/include/OpenEXR'
 BF_OPENEXR_LIB = ' Iex Half IlmImf Imath IlmThread'
@@ -118,15 +118,15 @@ BF_OPENEXR_LIBPATH = '${BF_OPENEXR}/lib'
 # Warning, this static lib configuration is untested! users of this OS please confirm.
 BF_OPENEXR_LIB_STATIC = '${BF_OPENEXR}/lib/libHalf.a ${BF_OPENEXR}/lib/libIlmImf.a ${BF_OPENEXR}/lib/libIex.a ${BF_OPENEXR}/lib/libImath.a ${BF_OPENEXR}/lib/libIlmThread.a'
 
-WITH_BF_DDS = 'true'
+WITH_BF_DDS = True
 
-WITH_BF_JPEG = 'true'
+WITH_BF_JPEG = True
 BF_JPEG = LIBDIR + '/jpeg'
 BF_JPEG_INC = '${BF_JPEG}/include'
 BF_JPEG_LIB = 'jpeg'
 BF_JPEG_LIBPATH = '${BF_JPEG}/lib'
 
-WITH_BF_PNG = 'true'
+WITH_BF_PNG = True
 BF_PNG = LIBDIR + '/png'
 BF_PNG_INC = '${BF_PNG}/include'
 BF_PNG_LIB = 'png'
@@ -135,32 +135,32 @@ BF_PNG_LIBPATH = '${BF_PNG}/lib'
 BF_TIFF = LIBDIR + '/tiff'
 BF_TIFF_INC = '${BF_TIFF}/include'
 
-WITH_BF_ZLIB = 'true'
+WITH_BF_ZLIB = True
 BF_ZLIB = '/usr'
 BF_ZLIB_INC = '${BF_ZLIB}/include'
 BF_ZLIB_LIB = 'z'
 
-WITH_BF_INTERNATIONAL = 'true'
+WITH_BF_INTERNATIONAL = True
 
 BF_GETTEXT = LIBDIR + '/gettext'
 BF_GETTEXT_INC = '${BF_GETTEXT}/include'
 BF_GETTEXT_LIB = 'intl'
 BF_GETTEXT_LIBPATH = '${BF_GETTEXT}/lib'
 
-WITH_BF_FTGL = 'true'
+WITH_BF_FTGL = True
 BF_FTGL = '#extern/bFTGL'
 BF_FTGL_INC = '${BF_FTGL}/include'
 BF_FTGL_LIB = 'extern_ftgl'
 
-WITH_BF_GAMEENGINE='true'
-WITH_BF_PLAYER='true'
+WITH_BF_GAMEENGINE=True
+WITH_BF_PLAYER=True
 
-WITH_BF_ODE = 'false'
+WITH_BF_ODE = False
 BF_ODE = LIBDIR + '/ode'
 BF_ODE_INC = '${BF_ODE}/include'
 BF_ODE_LIB = '${BF_ODE}/lib/libode.a'
 
-WITH_BF_BULLET = 'true'
+WITH_BF_BULLET = True
 BF_BULLET = '#extern/bullet2/src'
 BF_BULLET_INC = '${BF_BULLET}'
 BF_BULLET_LIB = 'extern_bullet'
@@ -169,9 +169,9 @@ BF_SOLID = '#extern/solid'
 BF_SOLID_INC = '${BF_SOLID}'
 BF_SOLID_LIB = 'extern_solid'
 
-WITH_BF_YAFRAY = 'true'
+WITH_BF_YAFRAY = True
 
-#WITH_BF_NSPR = 'true'
+#WITH_BF_NSPR = True
 #BF_NSPR = $(LIBDIR)/nspr
 #BF_NSPR_INC = -I$(BF_NSPR)/include -I$(BF_NSPR)/include/nspr
 #BF_NSPR_LIB = 
@@ -186,7 +186,7 @@ WITH_BF_YAFRAY = 'true'
 # if this is not set.
 #
 # Be paranoid regarding library creation (do not update archives)
-#BF_PARANOID = 'true'
+#BF_PARANOID = True
 
 # enable freetype2 support for text objects
 BF_FREETYPE = LIBDIR + '/freetype'
@@ -194,16 +194,16 @@ BF_FREETYPE_INC = '${BF_FREETYPE}/include ${BF_FREETYPE}/include/freetype2'
 BF_FREETYPE_LIB = 'freetype'
 BF_FREETYPE_LIBPATH = '${BF_FREETYPE}/lib'
 
-WITH_BF_QUICKTIME = 'true' # -DWITH_QUICKTIME
+WITH_BF_QUICKTIME = True # -DWITH_QUICKTIME
 
-WITH_BF_ICONV = 'true'
+WITH_BF_ICONV = True
 BF_ICONV = LIBDIR + "/iconv"
 BF_ICONV_INC = '${BF_ICONV}/include'
 BF_ICONV_LIB = 'iconv'
 #BF_ICONV_LIBPATH = '${BF_ICONV}/lib'
 
 # Mesa Libs should go here if your using them as well....
-WITH_BF_STATICOPENGL = 'true'
+WITH_BF_STATICOPENGL = True
 BF_OPENGL_LIB = 'GL GLU'
 BF_OPENGL_LIBPATH = '/System/Library/Frameworks/OpenGL.framework/Libraries'
 BF_OPENGL_LINKFLAGS = '-framework OpenGL'
@@ -216,16 +216,16 @@ CXXFLAGS = [ '-pipe','-fPIC','-funsigned-char', '-fpascal-strings']
 PLATFORM_LINKFLAGS = '-fexceptions -framework CoreServices -framework Foundation -framework IOKit -framework AppKit -framework Carbon -framework AGL -framework AudioUnit -framework AudioToolbox -framework CoreAudio -framework QuickTime'
 
 #note to build succesfully on 10.3.9 SDK you need to patch  10.3.9 by adding the SystemStubs.a lib from 10.4
-LLIBS = 'stdc++ SystemStubs'
+LLIBS = ['stdc++', 'SystemStubs']
 
 # some flags shuffling for different Os versions
 if MAC_MIN_VERS == '10.3':
 	CFLAGS = ['-fuse-cxa-atexit']+CFLAGS
 	CXXFLAGS = ['-fuse-cxa-atexit']+CXXFLAGS
 	PLATFORM_LINKFLAGS = '-fuse-cxa-atexit '+PLATFORM_LINKFLAGS
-	LLIBS = LLIBS + ' crt3.o'
+	LLIBS.append('crt3.o')
 	
-if USE_SDK=='true':
+if USE_SDK==True:
 	SDK_FLAGS=['-isysroot', MACOSX_SDK,'-mmacosx-version-min='+MAC_MIN_VERS]	
 	PLATFORM_LINKFLAGS = '-mmacosx-version-min='+MAC_MIN_VERS+ ' -Wl,-syslibroot,' + MACOSX_SDK+" "+PLATFORM_LINKFLAGS
 	CCFLAGS=SDK_FLAGS+CCFLAGS
@@ -243,7 +243,7 @@ else:
 	REL_CFLAGS = ['-O2']
 	REL_CCFLAGS = ['-O2']
 
-##BF_DEPEND = 'true'
+##BF_DEPEND = True
 ##
 ##AR = ar
 ##ARFLAGS = ruv
@@ -251,20 +251,22 @@ else:
 ##
 CC = 'gcc'
 CXX = 'g++'
-C_WARN = ' -Wall  -Wno-long-double -Wdeclaration-after-statement '
+C_WARN = ['-Wdeclaration-after-statement']
 
-CC_WARN = ' -Wall  -Wno-long-double'
+CC_WARN = ['-Wall', '-Wno-long-double']
 
 ##FIX_STUBS_WARNINGS = -Wno-unused
 
 ##LOPTS = --dynamic
 ##DYNLDFLAGS = -shared $(LDFLAGS)
 
-BF_PROFILE_FLAGS = ' -pg -g '
-BF_PROFILE = 'false'
+BF_PROFILE_CCFLAGS = ['-pg', '-g ']
+BF_PROFILE_LINKFLAGS = ['-pg']
+BF_PROFILE = False
 
-BF_DEBUG = 'false'
-BF_DEBUG_FLAGS = '-g'
+BF_DEBUG = False
+BF_DEBUG_CCFLAGS = ['-g']
 
 BF_BUILDDIR='../build/darwin'
 BF_INSTALLDIR='../install/darwin'
+BF_DOCDIR='../install/doc'

config/irix6-config.py

@@ -0,0 +1,231 @@
+import os
+
+LCGDIR = os.getcwd()+"/../lib/irix-6.5-mips"
+LIBDIR = LCGDIR
+print LCGDIR
+
+WITH_BF_VERSE = 'false'
+BF_VERSE_INCLUDE = "#extern/verse/dist"
+
+BF_PYTHON = LCGDIR+'/python'
+BF_PYTHON_VERSION = '2.5'
+WITH_BF_STATICPYTHON = 'true'
+BF_PYTHON_INC = '${BF_PYTHON}/include/python${BF_PYTHON_VERSION}'
+BF_PYTHON_BINARY = '${BF_PYTHON}/bin/python${BF_PYTHON_VERSION}'
+BF_PYTHON_LIB = 'python${BF_PYTHON_VERSION}' #BF_PYTHON+'/lib/python'+BF_PYTHON_VERSION+'/config/libpython'+BF_PYTHON_VERSION+'.a'
+BF_PYTHON_LINKFLAGS = ['-Xlinker', '-export-dynamic']
+BF_PYTHON_LIB_STATIC = '${BF_PYTHON}/lib/python2.5/config/libpython${BF_PYTHON_VERSION}.a'
+
+WITH_BF_OPENAL = 'true'
+WITH_BF_STATICOPENAL = 'true'
+BF_OPENAL = LCGDIR+'/openal'
+BF_OPENAL_INC = '${BF_OPENAL}/include'
+BF_OPENAL_LIB = 'openal'
+BF_OPENAL_LIB_STATIC = '${BF_OPENAL}/lib/libopenal.a'
+BF_OPENAL_LIBPATH = LIBDIR + '/lib'
+
+# some distros have a separate libalut
+# if you get linker complaints, you need to uncomment the line below
+# BF_OPENAL_LIB = 'openal alut'  
+# BF_OPENAL_LIB_STATIC = '${BF_OPENAL}/lib/libopenal.a ${BF_OPENAL}/lib/libalut.a'
+
+BF_CXX = '/usr'
+WITH_BF_STATICCXX = 'false'
+BF_CXX_LIB_STATIC = '${BF_CXX}/lib/libstdc++.a'
+
+WITH_BF_SDL = 'true'
+BF_SDL = LCGDIR+'/SDL' #$(shell sdl-config --prefix)
+BF_SDL_INC = '${BF_SDL}/include/SDL' #$(shell $(BF_SDL)/bin/sdl-config --cflags)
+BF_SDL_LIB = 'SDL audio iconv charset' #BF_SDL #$(shell $(BF_SDL)/bin/sdl-config --libs) -lSDL_mixer
+BF_SDL_LIBPATH = '${BF_SDL}/lib'
+
+WITH_BF_FMOD = 'false'
+BF_FMOD = LIBDIR + '/fmod'
+
+WITH_BF_OPENEXR = 'false'
+WITH_BF_STATICOPENEXR = 'false'
+BF_OPENEXR = '/usr'
+# when compiling with your own openexr lib you might need to set...
+# BF_OPENEXR_INC = '${BF_OPENEXR}/include/OpenEXR ${BF_OPENEXR}/include'
+
+BF_OPENEXR_INC = '${BF_OPENEXR}/include/OpenEXR'
+BF_OPENEXR_LIB = 'Half IlmImf Iex Imath '
+BF_OPENEXR_LIB_STATIC = '${BF_OPENEXR}/lib/libHalf.a ${BF_OPENEXR}/lib/libIlmImf.a ${BF_OPENEXR}/lib/libIex.a ${BF_OPENEXR}/lib/libImath.a ${BF_OPENEXR}/lib/libIlmThread.a'
+# BF_OPENEXR_LIBPATH = '${BF_OPENEXR}/lib'
+
+
+WITH_BF_DDS = 'false'
+
+WITH_BF_JPEG = 'false'
+BF_JPEG = LCGDIR+'/jpeg'
+BF_JPEG_INC = '${BF_JPEG}/include'
+BF_JPEG_LIB = 'jpeg'
+BF_JPEG_LIBPATH = '${BF_JPEG}/lib'
+
+WITH_BF_PNG = 'false'
+BF_PNG = LCGDIR+"/png"
+BF_PNG_INC = '${BF_PNG}/include'
+BF_PNG_LIB = 'png'
+BF_PNG_LIBPATH = '${BF_PNG}/lib'
+
+BF_TIFF = '/usr/nekoware'
+BF_TIFF_INC = '${BF_TIFF}/include'
+
+WITH_BF_ZLIB = 'true'
+BF_ZLIB = LCGDIR+"/zlib"
+BF_ZLIB_INC = '${BF_ZLIB}/include'
+BF_ZLIB_LIB = 'z'
+BF_ZLIB_LIBPATH = '${BF_ZLIB}/lib'
+
+WITH_BF_INTERNATIONAL = 'true'
+
+BF_GETTEXT = LCGDIR+'/gettext'
+BF_GETTEXT_INC = '${BF_GETTEXT}/include'
+BF_GETTEXT_LIB = 'gettextpo intl'
+BF_GETTEXT_LIBPATH = '${BF_GETTEXT}/lib'
+
+WITH_BF_FTGL = 'true'
+BF_FTGL = '#extern/bFTGL'
+BF_FTGL_INC = '${BF_FTGL}/include'
+BF_FTGL_LIB = 'extern_ftgl'
+
+WITH_BF_GAMEENGINE='false'
+
+WITH_BF_ODE = 'false'
+BF_ODE = LIBDIR + '/ode'
+BF_ODE_INC = BF_ODE + '/include'
+BF_ODE_LIB = BF_ODE + '/lib/libode.a'
+
+WITH_BF_BULLET = 'true'
+BF_BULLET = '#extern/bullet2/src'
+BF_BULLET_INC = '${BF_BULLET}'
+BF_BULLET_LIB = 'extern_bullet'
+
+BF_SOLID = '#extern/solid'
+BF_SOLID_INC = '${BF_SOLID}'
+BF_SOLID_LIB = 'extern_solid'
+
+WITH_BF_YAFRAY = 'true'
+
+#WITH_BF_NSPR = 'true'
+#BF_NSPR = $(LIBDIR)/nspr
+#BF_NSPR_INC = -I$(BF_NSPR)/include -I$(BF_NSPR)/include/nspr
+#BF_NSPR_LIB = 
+
+# Uncomment the following line to use Mozilla inplace of netscape
+#CPPFLAGS += -DMOZ_NOT_NET
+# Location of MOZILLA/Netscape header files...
+#BF_MOZILLA = $(LIBDIR)/mozilla
+#BF_MOZILLA_INC = -I$(BF_MOZILLA)/include/mozilla/nspr -I$(BF_MOZILLA)/include/mozilla -I$(BF_MOZILLA)/include/mozilla/xpcom -I$(BF_MOZILLA)/include/mozilla/idl
+#BF_MOZILLA_LIB =
+# Will fall back to look in BF_MOZILLA_INC/nspr and BF_MOZILLA_LIB
+# if this is not set.
+#
+# Be paranoid regarding library creation (do not update archives)
+#BF_PARANOID = 'true'
+
+# enable freetype2 support for text objects
+BF_FREETYPE = LCGDIR+'/freetype'
+BF_FREETYPE_INC = '${BF_FREETYPE}/include ${BF_FREETYPE}/include/freetype2'
+BF_FREETYPE_LIB = 'freetype'
+BF_FREETYPE_LIBPATH = '${BF_FREETYPE}/lib'
+
+WITH_BF_QUICKTIME = 'false' # -DWITH_QUICKTIME
+BF_QUICKTIME = '/usr/local'
+BF_QUICKTIME_INC = '${BF_QUICKTIME}/include'
+
+WITH_BF_ICONV = 'true'
+BF_ICONV = LIBDIR + "/iconv"
+BF_ICONV_INC = '${BF_ICONV}/include'
+BF_ICONV_LIB = 'iconv charset'
+BF_ICONV_LIBPATH = '${BF_ICONV}/lib'
+
+WITH_BF_BINRELOC = 'false'
+
+# enable ffmpeg  support
+WITH_BF_FFMPEG = 'true'  # -DWITH_FFMPEG
+# Uncomment the following two lines to use system's ffmpeg
+BF_FFMPEG = LCGDIR+'/ffmpeg'
+BF_FFMPEG_LIB = 'avformat avcodec swscale avutil faad faac vorbis x264 ogg mp3lame z'
+BF_FFMPEG_INC = '${BF_FFMPEG}/include'
+BF_FFMPEG_LIBPATH='${BF_FFMPEG}/lib'
+
+# enable ogg, vorbis and theora in ffmpeg
+WITH_BF_OGG = 'false'  # -DWITH_OGG 
+BF_OGG = '/usr'
+BF_OGG_INC = '${BF_OGG}/include'
+BF_OGG_LIB = 'ogg vorbis theoraenc theoradec'
+
+WITH_BF_OPENJPEG = 'false' 
+BF_OPENJPEG = '#extern/libopenjpeg'
+BF_OPENJPEG_LIB = ''
+BF_OPENJPEG_INC = '${BF_OPENJPEG}/include'
+BF_OPENJPEG_LIBPATH='${BF_OPENJPEG}/lib'
+
+WITH_BF_REDCODE = 'false'  
+BF_REDCODE = '#extern/libredcode'
+BF_REDCODE_LIB = ''
+BF_REDCODE_INC = '${BF_REDCODE}/include'
+BF_REDCODE_LIBPATH='${BF_REDCODE}/lib'
+
+# Mesa Libs should go here if your using them as well....
+WITH_BF_STATICOPENGL = 'false'
+BF_OPENGL = '/usr'
+BF_OPENGL_INC = '${BF_OPENGL}/include'
+BF_OPENGL_LIB = 'GL GLU X11 Xi Xext'
+BF_OPENGL_LIBPATH = '/usr/X11R6/lib'
+BF_OPENGL_LIB_STATIC = '${BF_OPENGL}/libGL.a ${BF_OPENGL}/libGLU.a ${BF_OPENGL}/libXxf86vm.a ${BF_OPENGL}/libX11.a ${BF_OPENGL}/libXi.a ${BF_OPENGL}/libXext.a ${BF_OPENGL}/libXxf86vm.a'
+
+
+CC = 'c99'
+CXX = 'CC'
+
+
+CCFLAGS = ['-pipe','-fPIC', '-n32']
+
+CPPFLAGS = ['-DXP_UNIX']
+CXXFLAGS = ['-pipe','-fPIC', '-n32']
+REL_CFLAGS = ['-O2']
+REL_CCFLAGS = ['-O2']
+##BF_DEPEND = 'true'
+##
+##AR = ar
+##ARFLAGS = ruv
+##ARFLAGSQUIET = ru
+##
+C_WARN = '-no_prelink -ptused'
+
+CC_WARN = '-no_prelink -ptused'
+
+##FIX_STUBS_WARNINGS = -Wno-unused
+
+LLIBS = 'c m dl pthread dmedia movie'
+##LOPTS = --dynamic
+##DYNLDFLAGS = -shared $(LDFLAGS)
+
+BF_PROFILE_FLAGS = ['-pg','-g']
+BF_PROFILE = 'false'
+
+BF_DEBUG = 'false'
+BF_DEBUG_FLAGS = '-g'
+
+BF_BUILDDIR = '../build/irix6'
+BF_INSTALLDIR='../install/irix6'
+BF_DOCDIR='../install/doc'
+
+#Link against pthread
+LDIRS = []
+LDIRS.append(BF_FREETYPE_LIBPATH)
+LDIRS.append(BF_PNG_LIBPATH)
+LDIRS.append(BF_ZLIB_LIBPATH)
+LDIRS.append(BF_SDL_LIBPATH)
+LDIRS.append(BF_OPENAL_LIBPATH)
+LDIRS.append(BF_ICONV_LIBPATH)
+
+PLATFORM_LINKFLAGS = []
+for x in LDIRS:
+    PLATFORM_LINKFLAGS.append("-L"+x)
+    
+PLATFORM_LINKFLAGS += ['-L${LCGDIR}/jpeg/lib' , '-L/usr/lib32',  '-n32', '-v', '-no_prelink']
+print PLATFORM_LINKFLAGS
+LINKFLAGS= PLATFORM_LINKFLAGS

config/linux2-config.py

@@ -1,20 +1,20 @@
 LCGDIR = '../lib/linux2'
 LIBDIR = "${LCGDIR}"
 
-WITH_BF_VERSE = 'false'
+WITH_BF_VERSE = False
 BF_VERSE_INCLUDE = "#extern/verse/dist"
 
 BF_PYTHON = '/usr'
 BF_PYTHON_VERSION = '2.5'
-WITH_BF_STATICPYTHON = 'false'
+WITH_BF_STATICPYTHON = False
 BF_PYTHON_INC = '${BF_PYTHON}/include/python${BF_PYTHON_VERSION}'
 BF_PYTHON_BINARY = '${BF_PYTHON}/bin/python${BF_PYTHON_VERSION}'
 BF_PYTHON_LIB = 'python${BF_PYTHON_VERSION}' #BF_PYTHON+'/lib/python'+BF_PYTHON_VERSION+'/config/libpython'+BF_PYTHON_VERSION+'.a'
 BF_PYTHON_LINKFLAGS = ['-Xlinker', '-export-dynamic']
 BF_PYTHON_LIB_STATIC = '${BF_PYTHON}/lib/libpython${BF_PYTHON_VERSION}.a'
 
-WITH_BF_OPENAL = 'true'
-WITH_BF_STATICOPENAL = 'false'
+WITH_BF_OPENAL = True
+WITH_BF_STATICOPENAL = False
 BF_OPENAL = '/usr'
 BF_OPENAL_INC = '${BF_OPENAL}/include'
 BF_OPENAL_LIB = 'openal'
@@ -26,19 +26,19 @@ BF_OPENAL_LIB_STATIC = '${BF_OPENAL}/lib/libopenal.a'
 # BF_OPENAL_LIB_STATIC = '${BF_OPENAL}/lib/libopenal.a ${BF_OPENAL}/lib/libalut.a'
 
 BF_CXX = '/usr'
-WITH_BF_STATICCXX = 'false'
+WITH_BF_STATICCXX = False
 BF_CXX_LIB_STATIC = '${BF_CXX}/lib/libstdc++.a'
 
-WITH_BF_SDL = 'true'
+WITH_BF_SDL = True
 BF_SDL = '/usr' #$(shell sdl-config --prefix)
 BF_SDL_INC = '${BF_SDL}/include/SDL' #$(shell $(BF_SDL)/bin/sdl-config --cflags)
 BF_SDL_LIB = 'SDL' #BF_SDL #$(shell $(BF_SDL)/bin/sdl-config --libs) -lSDL_mixer
 
-WITH_BF_FMOD = 'false'
+WITH_BF_FMOD = False
 BF_FMOD = LIBDIR + '/fmod'
 
-WITH_BF_OPENEXR = 'true'
-WITH_BF_STATICOPENEXR = 'false'
+WITH_BF_OPENEXR = True
+WITH_BF_STATICOPENEXR = False
 BF_OPENEXR = '/usr'
 # when compiling with your own openexr lib you might need to set...
 # BF_OPENEXR_INC = '${BF_OPENEXR}/include/OpenEXR ${BF_OPENEXR}/include'
@@ -49,14 +49,14 @@ BF_OPENEXR_LIB_STATIC = '${BF_OPENEXR}/lib/libHalf.a ${BF_OPENEXR}/lib/libIlmImf
 # BF_OPENEXR_LIBPATH = '${BF_OPENEXR}/lib'
 
 
-WITH_BF_DDS = 'true'
+WITH_BF_DDS = True
 
-WITH_BF_JPEG = 'true'
+WITH_BF_JPEG = True
 BF_JPEG = '/usr'
 BF_JPEG_INC = '${BF_JPEG}/include'
 BF_JPEG_LIB = 'jpeg'
 
-WITH_BF_PNG = 'true'
+WITH_BF_PNG = True
 BF_PNG = '/usr'
 BF_PNG_INC = '${BF_PNG}/include'
 BF_PNG_LIB = 'png'
@@ -64,31 +64,31 @@ BF_PNG_LIB = 'png'
 BF_TIFF = '/usr'
 BF_TIFF_INC = '${BF_TIFF}/include'
 
-WITH_BF_ZLIB = 'true'
+WITH_BF_ZLIB = True
 BF_ZLIB = '/usr'
 BF_ZLIB_INC = '${BF_ZLIB}/include'
 BF_ZLIB_LIB = 'z'
 
-WITH_BF_INTERNATIONAL = 'true'
+WITH_BF_INTERNATIONAL = True
 
 BF_GETTEXT = '/usr'
 BF_GETTEXT_INC = '${BF_GETTEXT}/include'
 BF_GETTEXT_LIB = 'gettextlib'
 BF_GETTEXT_LIBPATH = '${BF_GETTEXT}/lib'
 
-WITH_BF_FTGL = 'true'
+WITH_BF_FTGL = True
 BF_FTGL = '#extern/bFTGL'
 BF_FTGL_INC = '${BF_FTGL}/include'
 BF_FTGL_LIB = 'extern_ftgl'
 
-WITH_BF_GAMEENGINE='false'
+WITH_BF_GAMEENGINE=False
 
-WITH_BF_ODE = 'false'
+WITH_BF_ODE = False
 BF_ODE = LIBDIR + '/ode'
 BF_ODE_INC = BF_ODE + '/include'
 BF_ODE_LIB = BF_ODE + '/lib/libode.a'
 
-WITH_BF_BULLET = 'true'
+WITH_BF_BULLET = True
 BF_BULLET = '#extern/bullet2/src'
 BF_BULLET_INC = '${BF_BULLET}'
 BF_BULLET_LIB = 'extern_bullet'
@@ -97,9 +97,9 @@ BF_SOLID = '#extern/solid'
 BF_SOLID_INC = '${BF_SOLID}'
 BF_SOLID_LIB = 'extern_solid'
 
-WITH_BF_YAFRAY = 'true'
+WITH_BF_YAFRAY = True
 
-#WITH_BF_NSPR = 'true'
+#WITH_BF_NSPR = True
 #BF_NSPR = $(LIBDIR)/nspr
 #BF_NSPR_INC = -I$(BF_NSPR)/include -I$(BF_NSPR)/include/nspr
 #BF_NSPR_LIB = 
@@ -114,27 +114,27 @@ WITH_BF_YAFRAY = 'true'
 # if this is not set.
 #
 # Be paranoid regarding library creation (do not update archives)
-#BF_PARANOID = 'true'
+#BF_PARANOID = True
 
 # enable freetype2 support for text objects
 BF_FREETYPE = '/usr'
 BF_FREETYPE_INC = '${BF_FREETYPE}/include ${BF_FREETYPE}/include/freetype2'
 BF_FREETYPE_LIB = 'freetype'
 
-WITH_BF_QUICKTIME = 'false' # -DWITH_QUICKTIME
+WITH_BF_QUICKTIME = False # -DWITH_QUICKTIME
 BF_QUICKTIME = '/usr/local'
 BF_QUICKTIME_INC = '${BF_QUICKTIME}/include'
 
-WITH_BF_ICONV = 'false'
+WITH_BF_ICONV = False
 BF_ICONV = LIBDIR + "/iconv"
 BF_ICONV_INC = '${BF_ICONV}/include'
 BF_ICONV_LIB = 'iconv'
 BF_ICONV_LIBPATH = '${BF_ICONV}/lib'
 
-WITH_BF_BINRELOC = 'true'
+WITH_BF_BINRELOC = True
 
 # enable ffmpeg  support
-WITH_BF_FFMPEG = 'true'  # -DWITH_FFMPEG
+WITH_BF_FFMPEG = True  # -DWITH_FFMPEG
 BF_FFMPEG = '#extern/ffmpeg'
 BF_FFMPEG_LIB = ''
 # Uncomment the following two lines to use system's ffmpeg
@@ -143,31 +143,31 @@ BF_FFMPEG_LIB = ''
 BF_FFMPEG_INC = '${BF_FFMPEG}/include'
 BF_FFMPEG_LIBPATH='${BF_FFMPEG}/lib'
 
-WITH_BF_OPENJPEG = 'true' 
+# enable ogg, vorbis and theora in ffmpeg
+WITH_BF_OGG = False  # -DWITH_OGG 
+BF_OGG = '/usr'
+BF_OGG_INC = '${BF_OGG}/include'
+BF_OGG_LIB = 'ogg vorbis theoraenc theoradec'
+
+WITH_BF_OPENJPEG = True 
 BF_OPENJPEG = '#extern/libopenjpeg'
 BF_OPENJPEG_LIB = ''
-# Uncomment the following two lines to use system's ffmpeg
-# BF_FFMPEG = '/usr'
-# BF_FFMPEG_LIB = 'avformat avcodec swscale avutil'
 BF_OPENJPEG_INC = '${BF_OPENJPEG}/include'
 BF_OPENJPEG_LIBPATH='${BF_OPENJPEG}/lib'
 
-WITH_BF_REDCODE = 'false'  
+WITH_BF_REDCODE = False  
 BF_REDCODE = '#extern/libredcode'
 BF_REDCODE_LIB = ''
-# Uncomment the following two lines to use system's ffmpeg
-# BF_FFMPEG = '/usr'
-# BF_FFMPEG_LIB = 'avformat avcodec swscale avutil'
 BF_REDCODE_INC = '${BF_REDCODE}/include'
 BF_REDCODE_LIBPATH='${BF_REDCODE}/lib'
 
 # Mesa Libs should go here if your using them as well....
-WITH_BF_STATICOPENGL = 'false'
+WITH_BF_STATICOPENGL = False
 BF_OPENGL = '/usr'
 BF_OPENGL_INC = '${BF_OPENGL}/include'
 BF_OPENGL_LIB = 'GL GLU X11 Xi'
 BF_OPENGL_LIBPATH = '/usr/X11R6/lib'
-BF_OPENGL_LIB_STATIC = '${BF_OPENGL}/libGL.a ${BF_OPENGL}/libGLU.a ${BF_OPENGL}/libXxf86vm.a ${BF_OPENGL}/libX11.a ${BF_OPENGL}/libXi.a ${BF_OPENGL}/libXext.a ${BF_OPENGL}/libXxf86vm.a'
+BF_OPENGL_LIB_STATIC = '${BF_OPENGL_LIBPATH}/libGL.a ${BF_OPENGL_LIBPATH}/libGLU.a ${BF_OPENGL_LIBPATH}/libXxf86vm.a ${BF_OPENGL_LIBPATH}/libX11.a ${BF_OPENGL_LIBPATH}/libXi.a ${BF_OPENGL_LIBPATH}/libXext.a ${BF_OPENGL_LIBPATH}/libXxf86vm.a'
 
 ##
 CC = 'gcc'
@@ -179,32 +179,34 @@ CCFLAGS = ['-pipe','-fPIC','-funsigned-char','-fno-strict-aliasing']
 
 CPPFLAGS = ['-DXP_UNIX']
 CXXFLAGS = ['-pipe','-fPIC','-funsigned-char','-fno-strict-aliasing']
-REL_CFLAGS = ['-O3']
-REL_CCFLAGS = ['-O3']
-##BF_DEPEND = 'true'
+REL_CFLAGS = ['-O2']
+REL_CCFLAGS = ['-O2']
+##BF_DEPEND = True
 ##
 ##AR = ar
 ##ARFLAGS = ruv
 ##ARFLAGSQUIET = ru
 ##
-C_WARN = '-Wall -Wno-char-subscripts -Wdeclaration-after-statement'
+C_WARN = ['-Wno-char-subscripts', '-Wdeclaration-after-statement']
 
-CC_WARN = '-Wall'
+CC_WARN = ['-Wall']
 
 ##FIX_STUBS_WARNINGS = -Wno-unused
 
-LLIBS = 'util c m dl pthread stdc++'
+LLIBS = ['util', 'c', 'm', 'dl', 'pthread', 'stdc++']
 ##LOPTS = --dynamic
 ##DYNLDFLAGS = -shared $(LDFLAGS)
 
-BF_PROFILE_FLAGS = ['-pg','-g']
-BF_PROFILE = 'false'
+BF_PROFILE = False
+BF_PROFILE_CCFLAGS = ['-pg','-g']
+BF_PROFILE_LINKFLAGS = ['-pg']
 
-BF_DEBUG = 'false'
-BF_DEBUG_FLAGS = '-g'
+BF_DEBUG = False
+BF_DEBUG_CCFLAGS = ['-g']
 
 BF_BUILDDIR = '../build/linux2'
 BF_INSTALLDIR='../install/linux2'
+BF_DOCDIR='../install/doc'
 
 
 #Link against pthread

config/linuxcross-config.py

@@ -1,10 +1,10 @@
-LCGDIR = '../lib/windows'
+LCGDIR = '#../lib/windows'
 LIBDIR = '${LCGDIR}'
 
-WITH_BF_VERSE = 'false'
+WITH_BF_VERSE = False
 BF_VERSE_INCLUDE = "#extern/verse/dist"
 
-WITH_BF_YAFRAY = 'true'
+WITH_BF_YAFRAY = True
 
 BF_PYTHON = LIBDIR + '/python'
 BF_PYTHON_VERSION = '2.5'
@@ -13,8 +13,8 @@ BF_PYTHON_BINARY = 'python'
 BF_PYTHON_LIB = 'python25'
 BF_PYTHON_LIBPATH = '${BF_PYTHON}/lib'
 
-WITH_BF_OPENAL = 'true'
-WITH_BF_STATICOPENAL = 'false'
+WITH_BF_OPENAL = True
+WITH_BF_STATICOPENAL = False
 BF_OPENAL = LIBDIR + '/openal'
 BF_OPENAL_INC = '${BF_OPENAL}/include'
 BF_OPENAL_LIB = 'openal_static'
@@ -24,10 +24,10 @@ BF_OPENAL_LIB_STATIC = '${BF_OPENAL}/lib/libopenal.a'
 
 # Warning, this static lib configuration is untested! users of this OS please confirm.
 BF_CXX = '/usr'
-WITH_BF_STATICCXX = 'false'
+WITH_BF_STATICCXX = False
 BF_CXX_LIB_STATIC = '${BF_CXX}/lib/libstdc++.a'
 
-WITH_BF_SDL = 'true'
+WITH_BF_SDL = True
 BF_SDL = LIBDIR + '/sdl'
 BF_SDL_INC = '${BF_SDL}/include'
 BF_SDL_LIB = 'SDL'
@@ -38,11 +38,11 @@ BF_PTHREADS_INC = '${BF_PTHREADS}/include'
 BF_PTHREADS_LIB = 'pthreadGC2'
 BF_PTHREADS_LIBPATH = '${BF_PTHREADS}/lib'
 
-WITH_BF_FMOD = 'false'
+WITH_BF_FMOD = False
 BF_FMOD = LIBDIR + '/fmod'
 
-WITH_BF_OPENEXR = 'true'
-WITH_BF_STATICOPENEXR = 'false'
+WITH_BF_OPENEXR = True
+WITH_BF_STATICOPENEXR = False
 BF_OPENEXR = LIBDIR + '/gcc/openexr'
 BF_OPENEXR_INC = '${BF_OPENEXR}/include ${BF_OPENEXR}/include/OpenEXR'
 BF_OPENEXR_LIB = ' Half IlmImf Iex '
@@ -50,15 +50,15 @@ BF_OPENEXR_LIBPATH = '${BF_OPENEXR}/lib'
 # Warning, this static lib configuration is untested! users of this OS please confirm.
 BF_OPENEXR_LIB_STATIC = '${BF_OPENEXR}/lib/libHalf.a ${BF_OPENEXR}/lib/libIlmImf.a ${BF_OPENEXR}/lib/libIex.a ${BF_OPENEXR}/lib/libImath.a ${BF_OPENEXR}/lib/libIlmThread.a'
 
-WITH_BF_DDS = 'true'
+WITH_BF_DDS = True
 
-WITH_BF_JPEG = 'true'
+WITH_BF_JPEG = True
 BF_JPEG = LIBDIR + '/jpeg'
 BF_JPEG_INC = '${BF_JPEG}/include'
 BF_JPEG_LIB = 'jpeg'
 BF_JPEG_LIBPATH = '${BF_JPEG}/lib'
 
-WITH_BF_PNG = 'true'
+WITH_BF_PNG = True
 BF_PNG = LIBDIR + '/png'
 BF_PNG_INC = '${BF_PNG}/include'
 BF_PNG_LIB = 'png'
@@ -67,32 +67,32 @@ BF_PNG_LIBPATH = '${BF_PNG}/lib'
 BF_TIFF = LIBDIR + '/tiff'
 BF_TIFF_INC = '${BF_TIFF}/include'
 
-WITH_BF_ZLIB = 'true'
+WITH_BF_ZLIB = True
 BF_ZLIB = LIBDIR + '/zlib'
 BF_ZLIB_INC = '${BF_ZLIB}/include'
 #BF_ZLIB_LIB = 'z'
 BF_ZLIB_LIBPATH = '${BF_ZLIB}/lib'
 
-WITH_BF_INTERNATIONAL = 'true'
+WITH_BF_INTERNATIONAL = True
 
 BF_GETTEXT = LIBDIR + '/gettext'
 BF_GETTEXT_INC = '${BF_GETTEXT}/include'
 BF_GETTEXT_LIB = 'gnu_gettext'
 BF_GETTEXT_LIBPATH = '${BF_GETTEXT}/lib'
 
-WITH_BF_FTGL = 'true'
+WITH_BF_FTGL = True
 BF_FTGL = LIBDIR + '/ftgl'
 BF_FTGL_INC = '${BF_FTGL}/include'
 BF_FTGL_LIB = 'extern_ftgl'
 
-WITH_BF_GAMEENGINE = 'false'
+WITH_BF_GAMEENGINE = False
 
-WITH_BF_ODE = 'true'
+WITH_BF_ODE = True
 BF_ODE = LIBDIR + '/ode'
 BF_ODE_INC = BF_ODE + '/include'
 BF_ODE_LIB = BF_ODE + '/lib/libode.a'
 
-WITH_BF_BULLET = 'true'
+WITH_BF_BULLET = True
 BF_BULLET = '#extern/bullet2/src'
 BF_BULLET_INC = '${BF_BULLET}'
 BF_BULLET_LIB = 'extern_bullet'
@@ -101,24 +101,27 @@ BF_SOLID = '#extern/solid'
 BF_SOLID_INC = '${BF_SOLID}'
 BF_SOLID_LIB = 'extern_solid'
 
+BF_WINTAB = LIBDIR + '/wintab'
+BF_WINTAB_INC = '${BF_WINTAB}/INCLUDE'
+
 # enable freetype2 support for text objects
 BF_FREETYPE = LIBDIR + '/gcc/freetype'
 BF_FREETYPE_INC = '${BF_FREETYPE}/include ${BF_FREETYPE}/include/freetype2'
 BF_FREETYPE_LIB = 'freetype'
 BF_FREETYPE_LIBPATH = '${BF_FREETYPE}/lib'
 
-WITH_BF_QUICKTIME = 'false' # -DWITH_QUICKTIME
+WITH_BF_QUICKTIME = False # -DWITH_QUICKTIME
 BF_QUICKTIME = '/usr/local'
 BF_QUICKTIME_INC = '${BF_QUICKTIME}/include'
 
-WITH_BF_ICONV = 'false'
+WITH_BF_ICONV = False
 BF_ICONV = LIBDIR + "/iconv"
 BF_ICONV_INC = '${BF_ICONV}/include'
 BF_ICONV_LIB = 'iconv'
 BF_ICONV_LIBPATH = '${BF_ICONV}/lib'
 
 # Mesa Libs should go here if your using them as well....
-WITH_BF_STATICOPENGL = 'false'
+WITH_BF_STATICOPENGL = False
 BF_OPENGL = 'C:\\MingW'
 BF_OPENGL_INC = '${BF_OPENGL}/include'
 BF_OPENGL_LIBINC = '${BF_OPENGL}/lib'
@@ -143,8 +146,13 @@ CC_WARN = [ '-Wall' ]
 
 LLIBS = [ '-ldxguid', '-lgdi32', '-lmsvcrt', '-lwinmm', '-lmingw32', '-lm', '-lws2_32', '-lz'] #'-lutil', '-lc', '-lm', '-ldl', '-lpthread' ]
 
-BF_DEBUG = 'false'
-BF_DEBUG_FLAGS= ''
+BF_DEBUG = False
+BF_DEBUG_CCFLAGS= []
+
+BF_PROFILE = False
+BF_PROFILE_CCFLAGS = ['-pg','-g']
+BF_PROFILE_LINKFLAGS = ['-pg']
 
 BF_BUILDDIR = '../build/linuxcross'
 BF_INSTALLDIR='../install/linuxcross'
+BF_DOCDIR='../install/doc'

config/openbsd3-config.py

@@ -8,40 +8,40 @@ BF_PYTHON_BINARY = '${BF_PYTHON}/bin/python${BF_PYTHON_VERSION}'
 BF_PYTHON_LIB = 'python${BF_PYTHON_VERSION}'
 BF_PYTHON_LIBPATH = '${BF_PYTHON}/lib/python${BF_PYTHON_VERSION}/config'
 
-WITH_BF_OPENAL = 'false'
-# WITH_BF_STATICOPENAL = 'false'
+WITH_BF_OPENAL = False
+# WITH_BF_STATICOPENAL = False
 #BF_OPENAL = LIBDIR + '/openal'
 #BF_OPENAL_INC = '${BF_OPENAL}/include'
 #BF_OPENAL_LIB = 'openal'
 #BF_OPENAL_LIBPATH = '${BF_OPENAL}/lib'
 #BF_OPENAL_LIB_STATIC = '${BF_OPENAL}/lib/libopenal.a'
 
-WITH_BF_SDL = 'true'
+WITH_BF_SDL = True
 BF_SDL = '/usr/local' #$(shell sdl-config --prefix)
 BF_SDL_INC = '${BF_SDL}/include/SDL' #$(shell $(BF_SDL)/bin/sdl-config --cflags)
 BF_SDL_LIB = 'SDL' #BF_SDL #$(shell $(BF_SDL)/bin/sdl-config --libs) -lSDL_mixer
 BF_SDL_LIBPATH = '${BF_SDL}/lib'
 
-WITH_BF_FMOD = 'false'
+WITH_BF_FMOD = False
 BF_FMOD = LIBDIR + '/fmod'
 
-WITH_BF_OPENEXR = 'false'
-WITH_BF_STATICOPENEXR = 'false'
+WITH_BF_OPENEXR = False
+WITH_BF_STATICOPENEXR = False
 BF_OPENEXR = '/usr/local'
 BF_OPENEXR_INC = '${BF_OPENEXR}/include/OpenEXR'
 BF_OPENEXR_LIB = 'Half IlmImf Iex Imath '
 # Warning, this static lib configuration is untested! users of this OS please confirm.
 BF_OPENEXR_LIB_STATIC = '${BF_OPENEXR}/lib/libHalf.a ${BF_OPENEXR}/lib/libIlmImf.a ${BF_OPENEXR}/lib/libIex.a ${BF_OPENEXR}/lib/libImath.a ${BF_OPENEXR}/lib/libIlmThread.a'
 
-WITH_BF_DDS = 'true'
+WITH_BF_DDS = True
 
-WITH_BF_JPEG = 'true'
+WITH_BF_JPEG = True
 BF_JPEG = '/usr/local'
 BF_JPEG_INC = '${BF_JPEG}/include'
 BF_JPEG_LIB = 'jpeg'
 BF_JPEG_LIBPATH = '${BF_JPEG}/lib'
 
-WITH_BF_PNG = 'true'
+WITH_BF_PNG = True
 BF_PNG = '/usr/local'
 BF_PNG_INC = '${BF_PNG}/include/libpng'
 BF_PNG_LIB = 'png'
@@ -50,31 +50,31 @@ BF_PNG_LIBPATH = '${BF_PNG}/lib'
 BF_TIFF = '/usr/local'
 BF_TIFF_INC = '${BF_TIFF}/include'
 
-WITH_BF_ZLIB = 'true'
+WITH_BF_ZLIB = True
 BF_ZLIB = '/usr/local'
 BF_ZLIB_INC = '${BF_ZLIB}/include'
 BF_ZLIB_LIB = 'z'
 
-WITH_BF_INTERNATIONAL = 'true'
+WITH_BF_INTERNATIONAL = True
 
 BF_GETTEXT = '/usr/local'
 BF_GETTEXT_INC = '${BF_GETTEXT}/include'
 BF_GETTEXT_LIB = 'intl iconv'
 BF_GETTEXT_LIBPATH = '${BF_GETTEXT}/lib'
 
-WITH_BF_FTGL = 'true'
+WITH_BF_FTGL = True
 BF_FTGL = '#extern/bFTGL'
 BF_FTGL_INC = '${BF_FTGL}/include'
 BF_FTGL_LIB = 'extern_ftgl'
 
-WITH_BF_GAMEENGINE='false'
+WITH_BF_GAMEENGINE=False
 
-WITH_BF_ODE = 'false'
+WITH_BF_ODE = False
 BF_ODE = LIBDIR + '/ode'
 BF_ODE_INC = '${BF_ODE}/include'
 BF_ODE_LIB = '${BF_ODE}/lib/libode.a'
 
-WITH_BF_BULLET = 'true'
+WITH_BF_BULLET = True
 BF_BULLET = '#extern/bullet2/src'
 BF_BULLET_INC = '${BF_BULLET}'
 BF_BULLET_LIB = 'extern_bullet'
@@ -83,9 +83,9 @@ BF_SOLID = '#extern/solid'
 BF_SOLID_INC = '${BF_SOLID}'
 BF_SOLID_LIB = 'extern_solid'
 
-WITH_BF_YAFRAY = 'true'
+WITH_BF_YAFRAY = True
 
-#WITH_BF_NSPR = 'true'
+#WITH_BF_NSPR = True
 #BF_NSPR = $(LIBDIR)/nspr
 #BF_NSPR_INC = -I$(BF_NSPR)/include -I$(BF_NSPR)/include/nspr
 #BF_NSPR_LIB = 
@@ -100,7 +100,7 @@ WITH_BF_YAFRAY = 'true'
 # if this is not set.
 #
 # Be paranoid regarding library creation (do not update archives)
-#BF_PARANOID = 'true'
+#BF_PARANOID = True
 
 # enable freetype2 support for text objects
 BF_FREETYPE = '/usr/X11R6'
@@ -108,16 +108,16 @@ BF_FREETYPE_INC = '${BF_FREETYPE}/include ${BF_FREETYPE}/include/freetype2'
 BF_FREETYPE_LIB = 'freetype'
 BF_FREETYPE_LIBPATH = '${BF_FREETYPE}/lib'
 
-WITH_BF_QUICKTIME = 'false' # -DWITH_QUICKTIME
+WITH_BF_QUICKTIME = False # -DWITH_QUICKTIME
 
-WITH_BF_ICONV = 'false'
+WITH_BF_ICONV = False
 BF_ICONV = LIBDIR + "/iconv"
 BF_ICONV_INC = '${BF_ICONV}/include'
 BF_ICONV_LIB = 'iconv'
 BF_ICONV_LIBPATH = '${BF_ICONV}/lib'
 
 # Mesa Libs should go here if your using them as well....
-WITH_BF_STATICOPENGL = 'true'
+WITH_BF_STATICOPENGL = True
 BF_OPENGL = '/usr/X11R6'
 BF_OPENGL_INC = '${BF_OPENGL}/include'
 BF_OPENGL_LIB = 'GL GLU X11 Xi'
@@ -137,7 +137,7 @@ CCFLAGS = ['-pipe','-fPIC','-funsigned-char','-fno-strict-aliasing']
 CXXFLAGS = ['-pipe','-fPIC','-funsigned-char','-fno-strict-aliasing']
 REL_CFLAGS = ['-O2']
 REL_CCFLAGS = ['-O2']
-##BF_DEPEND = 'true'
+##BF_DEPEND = True
 ##
 ##AR = ar
 ##ARFLAGS = ruv
@@ -145,21 +145,23 @@ REL_CCFLAGS = ['-O2']
 ##
 CC = 'gcc'
 CXX = 'g++'
-C_WARN = '-Wall -Wdeclaration-after-statement'
+C_WARN = ['-Wdeclaration-after-statement']
 
-CC_WARN = '-Wall'
+CC_WARN = ['-Wall']
 
 ##FIX_STUBS_WARNINGS = -Wno-unused
 
-LLIBS = 'm stdc++ pthread util'
+LLIBS = ['m', 'stdc++', 'pthread', 'util']
 ##LOPTS = --dynamic
 ##DYNLDFLAGS = -shared $(LDFLAGS)
 
-BF_PROFILE_FLAGS = ' -pg -g '
-BF_PROFILE = 'false'
+BF_PROFILE = False
+BF_PROFILE_CCFLAGS = ['-pg','-g']
+BF_PROFILE_LINKFLAGS = ['-pg']
 
-BF_DEBUG = 'false'
-BF_DEBUG_FLAGS = '-g'
+BF_DEBUG = False
+BF_DEBUG_CCFLAGS = ['-g']
 
 BF_BUILDDIR='../build/openbsd3'
 BF_INSTALLDIR='../install/openbsd3'
+BF_DOCDIR='../install/doc'

config/sunos5-config.py

@@ -8,8 +8,8 @@ BF_PYTHON_BINARY = '${BF_PYTHON}/bin/python${BF_PYTHON_VERSION}'
 BF_PYTHON_LIB = 'python${BF_PYTHON_VERSION}' #BF_PYTHON+'/lib/python'+BF_PYTHON_VERSION+'/config/libpython'+BF_PYTHON_VERSION+'.a'
 BF_PYTHON_LINKFLAGS = ['-Xlinker', '-export-dynamic']
 
-WITH_BF_OPENAL = 'true'
-WITH_BF_STATICOPENAL = 'false'
+WITH_BF_OPENAL = True
+WITH_BF_STATICOPENAL = False
 BF_OPENAL = '/usr/local'
 BF_OPENAL_INC = '${BF_OPENAL}/include'
 BF_OPENAL_LIBPATH = '${BF_OPENAL}/lib'
@@ -19,20 +19,20 @@ BF_OPENAL_LIB_STATIC = '${BF_OPENAL}/lib/libopenal.a'
 
 # Warning, this static lib configuration is untested! users of this OS please confirm.
 BF_CXX = '/usr'
-WITH_BF_STATICCXX = 'false'
+WITH_BF_STATICCXX = False
 BF_CXX_LIB_STATIC = '${BF_CXX}/lib/libstdc++.a'
 
-WITH_BF_SDL = 'true'
+WITH_BF_SDL = True
 BF_SDL = '/usr/local' #$(shell sdl-config --prefix)
 BF_SDL_INC = '${BF_SDL}/include/SDL' #$(shell $(BF_SDL)/bin/sdl-config --cflags)
 BF_SDL_LIBPATH = '${BF_SDL}/lib'
 BF_SDL_LIB = 'SDL' #BF_SDL #$(shell $(BF_SDL)/bin/sdl-config --libs) -lSDL_mixer
 
-WITH_BF_FMOD = 'false'
+WITH_BF_FMOD = False
 BF_FMOD = LIBDIR + '/fmod'
 
-WITH_BF_OPENEXR = 'true'
-WITH_BF_STATICOPENEXR = 'false'
+WITH_BF_OPENEXR = True
+WITH_BF_STATICOPENEXR = False
 BF_OPENEXR = '/usr/local'
 BF_OPENEXR_INC = ['${BF_OPENEXR}/include', '${BF_OPENEXR}/include/OpenEXR' ]
 BF_OPENEXR_LIBPATH = '${BF_OPENEXR}/lib'
@@ -40,15 +40,15 @@ BF_OPENEXR_LIB = 'Half IlmImf Iex Imath '
 # Warning, this static lib configuration is untested! users of this OS please confirm.
 BF_OPENEXR_LIB_STATIC = '${BF_OPENEXR}/lib/libHalf.a ${BF_OPENEXR}/lib/libIlmImf.a ${BF_OPENEXR}/lib/libIex.a ${BF_OPENEXR}/lib/libImath.a ${BF_OPENEXR}/lib/libIlmThread.a'
 
-WITH_BF_DDS = 'true'
+WITH_BF_DDS = True
 
-WITH_BF_JPEG = 'true'
+WITH_BF_JPEG = True
 BF_JPEG = '/usr/local'
 BF_JPEG_INC = '${BF_JPEG}/include'
 BF_JPEG_LIBPATH = '${BF_JPEG}/lib'
 BF_JPEG_LIB = 'jpeg'
 
-WITH_BF_PNG = 'true'
+WITH_BF_PNG = True
 BF_PNG = '/usr/local'
 BF_PNG_INC = '${BF_PNG}/include'
 BF_PNG_LIBPATH = '${BF_PNG}/lib'
@@ -57,32 +57,32 @@ BF_PNG_LIB = 'png'
 BF_TIFF = '/usr/local'
 BF_TIFF_INC = '${BF_TIFF}/include'
 
-WITH_BF_ZLIB = 'true'
+WITH_BF_ZLIB = True
 BF_ZLIB = '/usr'
 BF_ZLIB_INC = '${BF_ZLIB}/include'
 BF_ZLIB_LIBPATH = '${BF_ZLIB}/lib'
 BF_ZLIB_LIB = 'z'
 
-WITH_BF_INTERNATIONAL = 'true'
+WITH_BF_INTERNATIONAL = True
 
 BF_GETTEXT = '/usr/local'
 BF_GETTEXT_INC = '${BF_GETTEXT}/include'
 BF_GETTEXT_LIB = 'gettextlib'
 BF_GETTEXT_LIBPATH = '${BF_GETTEXT}/lib'
 
-WITH_BF_FTGL = 'true'
+WITH_BF_FTGL = True
 BF_FTGL = '#extern/bFTGL'
 BF_FTGL_INC = '${BF_FTGL}/include'
 BF_FTGL_LIB = 'extern_ftgl'
 
-WITH_BF_GAMEENGINE='false'
+WITH_BF_GAMEENGINE=False
 
-WITH_BF_ODE = 'false'
+WITH_BF_ODE = False
 BF_ODE = LIBDIR + '/ode'
 BF_ODE_INC = BF_ODE + '/include'
 BF_ODE_LIB = BF_ODE + '/lib/libode.a'
 
-WITH_BF_BULLET = 'true'
+WITH_BF_BULLET = True
 BF_BULLET = '#extern/bullet2/src'
 BF_BULLET_INC = '${BF_BULLET}'
 BF_BULLET_LIB = 'extern_bullet'
@@ -91,9 +91,9 @@ BF_SOLID = '#extern/solid'
 BF_SOLID_INC = '${BF_SOLID}'
 BF_SOLID_LIB = 'extern_solid'
 
-WITH_BF_YAFRAY = 'true'
+WITH_BF_YAFRAY = True
 
-#WITH_BF_NSPR = 'true'
+#WITH_BF_NSPR = True
 #BF_NSPR = $(LIBDIR)/nspr
 #BF_NSPR_INC = -I$(BF_NSPR)/include -I$(BF_NSPR)/include/nspr
 #BF_NSPR_LIB = 
@@ -108,7 +108,7 @@ WITH_BF_YAFRAY = 'true'
 # if this is not set.
 #
 # Be paranoid regarding library creation (do not update archives)
-#BF_PARANOID = 'true'
+#BF_PARANOID = True
 
 # enable freetype2 support for text objects
 BF_FREETYPE = '/usr/local'
@@ -116,25 +116,25 @@ BF_FREETYPE_INC = '${BF_FREETYPE}/include ${BF_FREETYPE}/include/freetype2'
 BF_FREETYPE_LIBPATH = '${BF_FREETYPE}/lib'
 BF_FREETYPE_LIB = 'freetype'
 
-WITH_BF_QUICKTIME = 'false' # -DWITH_QUICKTIME
+WITH_BF_QUICKTIME = False # -DWITH_QUICKTIME
 BF_QUICKTIME = '/usr/local'
 BF_QUICKTIME_INC = '${BF_QUICKTIME}/include'
 
-WITH_BF_ICONV = 'true'
+WITH_BF_ICONV = True
 BF_ICONV = "/usr"
 BF_ICONV_INC = '${BF_ICONV}/include'
 BF_ICONV_LIB = 'iconv'
 BF_ICONV_LIBPATH = '${BF_ICONV}/lib'
 
 # enable ffmpeg  support
-WITH_BF_FFMPEG = 'false'  # -DWITH_FFMPEG
+WITH_BF_FFMPEG = False  # -DWITH_FFMPEG
 BF_FFMPEG = '/usr/local'
 BF_FFMPEG_INC = '${BF_FFMPEG}/include'
 BF_FFMPEG_LIBPATH='${BF_FFMPEG}/lib'
 BF_FFMPEG_LIB = 'avformat avcodec avutil'
 
 # Mesa Libs should go here if your using them as well....
-WITH_BF_STATICOPENGL = 'false'
+WITH_BF_STATICOPENGL = False
 BF_OPENGL = '/usr/openwin'
 BF_OPENGL_INC = '${BF_OPENGL}/include'
 BF_OPENGL_LIB = 'GL GLU X11 Xi'
@@ -153,30 +153,32 @@ CPPFLAGS = ['-DXP_UNIX', '-DSUN_OGL_NO_VERTEX_MACROS']
 CXXFLAGS = ['-pipe','-fPIC','-funsigned-char','-fno-strict-aliasing']
 REL_CFLAGS = ['-O2']
 REL_CCFLAGS = ['-O2']
-##BF_DEPEND = 'true'
+##BF_DEPEND = True
 ##
 ##AR = ar
 ##ARFLAGS = ruv
 ##ARFLAGSQUIET = ru
 ##
-C_WARN = '-Wall -Wno-char-subscripts -Wdeclaration-after-statement'
+C_WARN = ['-Wno-char-subscripts', '-Wdeclaration-after-statement']
 
-CC_WARN = '-Wall'
+CC_WARN = ['-Wall']
 
 ##FIX_STUBS_WARNINGS = -Wno-unused
 
-LLIBS = 'c m dl pthread stdc++'
+LLIBS = ['c', 'm', 'dl', 'pthread', 'stdc++']
 ##LOPTS = --dynamic
 ##DYNLDFLAGS = -shared $(LDFLAGS)
 
-BF_PROFILE_FLAGS = ['-pg','-g']
-BF_PROFILE = 'false'
+BF_PROFILE_CCFLAGS = ['-pg', '-g ']
+BF_PROFILE_LINKFLAGS = ['-pg']
+BF_PROFILE = False
 
-BF_DEBUG = 'false'
-BF_DEBUG_FLAGS = ''
+BF_DEBUG = False
+BF_DEBUG_CCFLAGS = []
 
 BF_BUILDDIR = '../build/sunos5'
 BF_INSTALLDIR='../install/sunos5'
+BF_DOCDIR='../install/doc'
 
 
-PLATFORM_LINKFLAGS = ['']
+PLATFORM_LINKFLAGS = []

config/win32-mingw-config.py

@@ -1,7 +1,7 @@
 LCGDIR = '#../lib/windows'
 LIBDIR = "${LCGDIR}"
 
-WITH_BF_VERSE = 'false'
+WITH_BF_VERSE = False
 BF_VERSE_INCLUDE = "#extern/verse/dist"
 
 BF_PYTHON = LIBDIR + '/python'
@@ -9,10 +9,10 @@ BF_PYTHON_VERSION = '2.5'
 BF_PYTHON_INC = '${BF_PYTHON}/include/python${BF_PYTHON_VERSION}'
 BF_PYTHON_BINARY = 'python'
 BF_PYTHON_LIB = 'python25'
-BF_PYTHON_LIBPATH = '${BF_PYTHON}/lib'
+BF_PYTHON_LIBPATH = '${BF_PYTHON}/lib/lib25_vs2005'
 
-WITH_BF_OPENAL = 'true'
-WITH_BF_STATICOPENAL = 'false'
+WITH_BF_OPENAL = True
+WITH_BF_STATICOPENAL = False
 BF_OPENAL = LIBDIR + '/openal'
 BF_OPENAL_INC = '${BF_OPENAL}/include'
 BF_OPENAL_LIB = 'dxguid openal_static'
@@ -20,12 +20,12 @@ BF_OPENAL_LIBPATH = '${BF_OPENAL}/lib'
 # Warning, this static lib configuration is untested! users of this OS please confirm.
 BF_OPENAL_LIB_STATIC = '${BF_OPENAL}/lib/libopenal.a'
 
-WITH_BF_FFMPEG = 'false'
+WITH_BF_FFMPEG = False
 BF_FFMPEG_LIB = 'avformat swscale avcodec avutil xvidcore x264'
 BF_FFMPEG_LIBPATH = LIBDIR + '/gcc/ffmpeg/lib'
 BF_FFMPEG_INC =  LIBDIR + '/gcc/ffmpeg/include'
 
-WITH_BF_SDL = 'true'
+WITH_BF_SDL = True
 BF_SDL = LIBDIR + '/sdl'
 BF_SDL_INC = '${BF_SDL}/include'
 BF_SDL_LIB = 'SDL'
@@ -36,11 +36,11 @@ BF_PTHREADS_INC = '${BF_PTHREADS}/include'
 BF_PTHREADS_LIB = 'pthreadGC2'
 BF_PTHREADS_LIBPATH = '${BF_PTHREADS}/lib'
 
-WITH_BF_FMOD = 'false'
+WITH_BF_FMOD = False
 BF_FMOD = LIBDIR + '/fmod'
 
-WITH_BF_OPENEXR = 'true'
-WITH_BF_STATICOPENEXR = 'false'
+WITH_BF_OPENEXR = True
+WITH_BF_STATICOPENEXR = False
 BF_OPENEXR = LIBDIR + '/gcc/openexr'
 BF_OPENEXR_INC = '${BF_OPENEXR}/include ${BF_OPENEXR}/include/OpenEXR'
 BF_OPENEXR_LIB = ' Half IlmImf Iex '
@@ -48,15 +48,15 @@ BF_OPENEXR_LIBPATH = '${BF_OPENEXR}/lib'
 # Warning, this static lib configuration is untested! users of this OS please confirm.
 BF_OPENEXR_LIB_STATIC = '${BF_OPENEXR}/lib/libHalf.a ${BF_OPENEXR}/lib/libIlmImf.a ${BF_OPENEXR}/lib/libIex.a ${BF_OPENEXR}/lib/libImath.a ${BF_OPENEXR}/lib/libIlmThread.a'
 
-WITH_BF_DDS = 'true'
+WITH_BF_DDS = True
 
-WITH_BF_JPEG = 'true'
+WITH_BF_JPEG = True
 BF_JPEG = LIBDIR + '/jpeg'
 BF_JPEG_INC = '${BF_JPEG}/include'
 BF_JPEG_LIB = 'jpeg'
 BF_JPEG_LIBPATH = '${BF_JPEG}/lib'
 
-WITH_BF_PNG = 'true'
+WITH_BF_PNG = True
 BF_PNG = LIBDIR + '/png'
 BF_PNG_INC = '${BF_PNG}/include'
 BF_PNG_LIB = 'png'
@@ -64,32 +64,34 @@ BF_PNG_LIBPATH = '${BF_PNG}/lib'
 
 BF_TIFF = LIBDIR + '/tiff'
 BF_TIFF_INC = '${BF_TIFF}/include'
+BF_TIFF_LIB = 'libtiff'
+BF_TIFF_LIBPATH = '${BF_TIFF}/lib'
 
-WITH_BF_ZLIB = 'true'
+WITH_BF_ZLIB = True
 BF_ZLIB = LIBDIR + '/zlib'
 BF_ZLIB_INC = '${BF_ZLIB}/include'
 BF_ZLIB_LIBPATH = '${BF_ZLIB}/lib'
 
-WITH_BF_INTERNATIONAL = 'true'
+WITH_BF_INTERNATIONAL = True
 
 BF_GETTEXT = LIBDIR + '/gettext'
 BF_GETTEXT_INC = '${BF_GETTEXT}/include'
 BF_GETTEXT_LIB = 'gnu_gettext'
 BF_GETTEXT_LIBPATH = '${BF_GETTEXT}/lib'
 
-WITH_BF_FTGL = 'true'
+WITH_BF_FTGL = True
 BF_FTGL = LIBDIR + '/ftgl'
 BF_FTGL_INC = '${BF_FTGL}/include'
 BF_FTGL_LIB = 'extern_ftgl'
 
-WITH_BF_GAMEENGINE = 'false'
+WITH_BF_GAMEENGINE = False
 
-WITH_BF_ODE = 'true'
+WITH_BF_ODE = True
 BF_ODE = LIBDIR + '/ode'
 BF_ODE_INC = BF_ODE + '/include'
 BF_ODE_LIB = BF_ODE + '/lib/libode.a'
 
-WITH_BF_BULLET = 'true'
+WITH_BF_BULLET = True
 BF_BULLET = '#extern/bullet2/src'
 BF_BULLET_INC = '${BF_BULLET}'
 BF_BULLET_LIB = 'extern_bullet'
@@ -101,9 +103,9 @@ BF_SOLID_LIB = 'extern_solid'
 BF_WINTAB = LIBDIR + '/wintab'
 BF_WINTAB_INC = '${BF_WINTAB}/INCLUDE'
 
-WITH_BF_YAFRAY = 'true'
+WITH_BF_YAFRAY = True
 
-#WITH_BF_NSPR = 'true'
+#WITH_BF_NSPR = True
 #BF_NSPR = $(LIBDIR)/nspr
 #BF_NSPR_INC = -I$(BF_NSPR)/include -I$(BF_NSPR)/include/nspr
 #BF_NSPR_LIB = 
@@ -123,18 +125,18 @@ BF_FREETYPE_INC = '${BF_FREETYPE}/include ${BF_FREETYPE}/include/freetype2'
 BF_FREETYPE_LIB = 'freetype'
 BF_FREETYPE_LIBPATH = '${BF_FREETYPE}/lib'
 
-WITH_BF_QUICKTIME = 'false' # -DWITH_QUICKTIME
+WITH_BF_QUICKTIME = False # -DWITH_QUICKTIME
 BF_QUICKTIME = '/usr/local'
 BF_QUICKTIME_INC = '${BF_QUICKTIME}/include'
 
-WITH_BF_ICONV = 'false'
+WITH_BF_ICONV = False
 BF_ICONV = LIBDIR + "/iconv"
 BF_ICONV_INC = '${BF_ICONV}/include'
 BF_ICONV_LIB = 'iconv'
 BF_ICONV_LIBPATH = '${BF_ICONV}/lib'
 
 # Mesa Libs should go here if your using them as well....
-WITH_BF_STATICOPENGL = 'false'
+WITH_BF_STATICOPENGL = False
 BF_OPENGL = 'C:\\MingW'
 BF_OPENGL_INC = '${BF_OPENGL}/include'
 BF_OPENGL_LIBINC = '${BF_OPENGL}/lib'
@@ -153,17 +155,19 @@ CXXFLAGS = ['-pipe', '-mwindows', '-funsigned-char', '-fno-strict-aliasing' ]
 REL_CFLAGS = [ '-O2' ]
 REL_CCFLAGS = [ '-O2' ]
 
-C_WARN = [ '-Wall' , '-Wno-char-subscripts', '-Wdeclaration-after-statement' ]
+C_WARN = [ '-Wno-char-subscripts', '-Wdeclaration-after-statement' ]
 
 CC_WARN = [ '-Wall' ]
 
 LLIBS = ['-lshell32', '-lshfolder', '-lgdi32', '-lmsvcrt', '-lwinmm', '-lmingw32', '-lm', '-lws2_32', '-lz', '-lstdc++']
 
-BF_DEBUG = 'false'
-BF_DEBUG_FLAGS= '-g'
+BF_DEBUG = False
+BF_DEBUG_CCFLAGS= ['-g']
 
-BF_PROFILE_FLAGS = ['-pg','-g']
-BF_PROFILE = 'false'
+BF_PROFILE_CCFLAGS = ['-pg', '-g ']
+BF_PROFILE_LINKFLAGS = ['-pg']
+BF_PROFILE = False
 
 BF_BUILDDIR = '..\\build\\win32-mingw'
 BF_INSTALLDIR='..\\install\\win32-mingw'
+BF_DOCDIR = '..\\install\\doc'

config/win32-vc-config.py

@@ -1,11 +1,11 @@
 LCGDIR = '#../lib/windows'
 LIBDIR = '${LCGDIR}'
 
-WITH_BF_VERSE = 'false'
+WITH_BF_VERSE = False
 BF_VERSE_INCLUDE = "#extern/verse/dist"
 
 # enable ffmpeg  support
-WITH_BF_FFMPEG = 'false'  # -DWITH_FFMPEG
+WITH_BF_FFMPEG = True  # -DWITH_FFMPEG
 BF_FFMPEG = LIBDIR +'/ffmpeg'
 BF_FFMPEG_INC = '${BF_FFMPEG}/include'
 BF_FFMPEG_LIBPATH='${BF_FFMPEG}/lib'
@@ -18,8 +18,8 @@ BF_PYTHON_BINARY = 'python'
 BF_PYTHON_LIB = 'python25'
 BF_PYTHON_LIBPATH = '${BF_PYTHON}/lib'
 
-WITH_BF_OPENAL = 'true'
-WITH_BF_STATICOPENAL = 'false'
+WITH_BF_OPENAL = True
+WITH_BF_STATICOPENAL = False
 BF_OPENAL = LIBDIR + '/openal'
 BF_OPENAL_INC = '${BF_OPENAL}/include ${BF_OPENAL}/include/AL '
 BF_OPENAL_LIB = 'dxguid openal_static'
@@ -29,16 +29,16 @@ BF_OPENAL_LIB_STATIC = '${BF_OPENAL}/lib/libopenal.a'
 
 # TODO - are these useful on win32?
 # BF_CXX = '/usr'
-# WITH_BF_STATICCXX = 'false'
+# WITH_BF_STATICCXX = False
 # BF_CXX_LIB_STATIC = '${BF_CXX}/lib/libstdc++.a'
 
-WITH_BF_ICONV = 'true'
+WITH_BF_ICONV = True
 BF_ICONV = LIBDIR + '/iconv'
 BF_ICONV_INC = '${BF_ICONV}/include'
 BF_ICONV_LIB = 'iconv'
 BF_ICONV_LIBPATH = '${BF_ICONV}/lib'
 
-WITH_BF_SDL = 'true'
+WITH_BF_SDL = True
 BF_SDL = LIBDIR + '/sdl'
 BF_SDL_INC = '${BF_SDL}/include'
 BF_SDL_LIB = 'SDL.lib'
@@ -49,27 +49,27 @@ BF_PTHREADS_INC = '${BF_PTHREADS}/include'
 BF_PTHREADS_LIB = 'pthreadVC2'
 BF_PTHREADS_LIBPATH = '${BF_PTHREADS}/lib'
 
-WITH_BF_FMOD = 'false'
+WITH_BF_FMOD = False
 BF_FMOD = LIBDIR + '/fmod'
 
-WITH_BF_OPENEXR = 'true'
-WITH_BF_STATICOPENEXR = 'false'
+WITH_BF_OPENEXR = True
+WITH_BF_STATICOPENEXR = False
 BF_OPENEXR = LIBDIR + '/openexr'
 BF_OPENEXR_INC = '${BF_OPENEXR}/include ${BF_OPENEXR}/include/IlmImf ${BF_OPENEXR}/include/Iex ${BF_OPENEXR}/include/Imath '
 BF_OPENEXR_LIB = ' Iex Half IlmImf Imath IlmThread '
-BF_OPENEXR_LIBPATH = '${BF_OPENEXR}/lib_msvc'
+BF_OPENEXR_LIBPATH = '${BF_OPENEXR}/lib_vs2008'
 # Warning, this static lib configuration is untested! users of this OS please confirm.
 BF_OPENEXR_LIB_STATIC = '${BF_OPENEXR}/lib/libHalf.a ${BF_OPENEXR}/lib/libIlmImf.a ${BF_OPENEXR}/lib/libIex.a ${BF_OPENEXR}/lib/libImath.a ${BF_OPENEXR}/lib/libIlmThread.a'
 
-WITH_BF_DDS = 'true'
+WITH_BF_DDS = True
 
-WITH_BF_JPEG = 'true'
+WITH_BF_JPEG = True
 BF_JPEG = LIBDIR + '/jpeg'
 BF_JPEG_INC = '${BF_JPEG}/include'
 BF_JPEG_LIB = 'libjpeg'
 BF_JPEG_LIBPATH = '${BF_JPEG}/lib'
 
-WITH_BF_PNG = 'true'
+WITH_BF_PNG = True
 BF_PNG = LIBDIR + '/png'
 BF_PNG_INC = '${BF_PNG}/include'
 BF_PNG_LIB = 'libpng_st'
@@ -77,33 +77,36 @@ BF_PNG_LIBPATH = '${BF_PNG}/lib'
 
 BF_TIFF = LIBDIR + '/tiff'
 BF_TIFF_INC = '${BF_TIFF}/include'
+BF_TIFF_LIB = 'libtiff'
+BF_TIFF_LIBPATH = '${BF_TIFF}/lib'
 
-WITH_BF_ZLIB = 'true'
+WITH_BF_ZLIB = True
 BF_ZLIB = LIBDIR + '/zlib'
 BF_ZLIB_INC = '${BF_ZLIB}/include'
 BF_ZLIB_LIB = 'libz'
 BF_ZLIB_LIBPATH = '${BF_ZLIB}/lib'
 
-WITH_BF_INTERNATIONAL = 'true'
+WITH_BF_INTERNATIONAL = True
 
 BF_GETTEXT = LIBDIR + '/gettext'
 BF_GETTEXT_INC = '${BF_GETTEXT}/include'
 BF_GETTEXT_LIB = 'gnu_gettext'
 BF_GETTEXT_LIBPATH = '${BF_GETTEXT}/lib'
 
-WITH_BF_FTGL = 'true'
+WITH_BF_FTGL = True
 BF_FTGL = LIBDIR + '/ftgl'
 BF_FTGL_INC = '${BF_FTGL}/include'
 BF_FTGL_LIB = 'extern_ftgl'
 
-WITH_BF_GAMEENGINE = 'false'
+WITH_BF_GAMEENGINE = True
+WITH_BF_PLAYER = True
 
-WITH_BF_ODE = 'true'
+WITH_BF_ODE = True
 BF_ODE = LIBDIR + '/ode'
 BF_ODE_INC = BF_ODE + '/include'
 BF_ODE_LIB = BF_ODE + '/lib/libode.a'
 
-WITH_BF_BULLET = 'true'
+WITH_BF_BULLET = True
 BF_BULLET = '#extern/bullet2/src'
 BF_BULLET_INC = '${BF_BULLET}'
 BF_BULLET_LIB = 'extern_bullet'
@@ -115,11 +118,11 @@ BF_SOLID_LIB = 'extern_solid'
 BF_WINTAB = LIBDIR + '/wintab'
 BF_WINTAB_INC = '${BF_WINTAB}/INCLUDE'
 
-WITH_BF_YAFRAY = 'true'
+WITH_BF_YAFRAY = True
 
-WITH_BF_BINRELOC = 'false'
+WITH_BF_BINRELOC = False
 
-#WITH_BF_NSPR = 'true'
+#WITH_BF_NSPR = True
 #BF_NSPR = $(LIBDIR)/nspr
 #BF_NSPR_INC = -I$(BF_NSPR)/include -I$(BF_NSPR)/include/nspr
 #BF_NSPR_LIB = 
@@ -134,21 +137,27 @@ WITH_BF_BINRELOC = 'false'
 # if this is not set.
 #
 # Be paranoid regarding library creation (do not update archives)
-#BF_PARANOID = 'true'
+#BF_PARANOID = True
 
 # enable freetype2 support for text objects
+BF_WITH_FREETYPE = True
 BF_FREETYPE = LIBDIR + '/freetype'
 BF_FREETYPE_INC = '${BF_FREETYPE}/include ${BF_FREETYPE}/include/freetype2'
 BF_FREETYPE_LIB = 'freetype2ST'
 BF_FREETYPE_LIBPATH = '${BF_FREETYPE}/lib'
 
-WITH_BF_QUICKTIME = 'true' # -DWITH_QUICKTIME
+WITH_BF_QUICKTIME = True # -DWITH_QUICKTIME
 BF_QUICKTIME = LIBDIR + '/QTDevWin'
 BF_QUICKTIME_INC = '${BF_QUICKTIME}/CIncludes'
 BF_QUICKTIME_LIB = 'qtmlClient'
 BF_QUICKTIME_LIBPATH = '${BF_QUICKTIME}/Libraries'
 
-WITH_BF_STATICOPENGL = 'false'
+WITH_BF_OPENJPEG = True 
+
+WITH_BF_REDCODE = False  
+BF_REDCODE_INC = '#extern'
+
+WITH_BF_STATICOPENGL = False
 BF_OPENGL_INC = '${BF_OPENGL}/include'
 BF_OPENGL_LIBINC = '${BF_OPENGL}/lib'
 BF_OPENGL_LIB = 'opengl32 glu32'
@@ -158,30 +167,41 @@ BF_OPENGL_LIB_STATIC = [ '${BF_OPENGL}/lib/libGL.a', '${BF_OPENGL}/lib/libGLU.a'
 CC = 'cl.exe'
 CXX = 'cl.exe'
 
-CCFLAGS = ['/nologo', '/Og', '/Ot', '/Ob1', '/Op', '/G6','/EHsc', '/J', '/W3', '/Gd', '/MT']
+CCFLAGS = ['/nologo', '/Ob1', '/J', '/W3', '/Gd', '/MT']
+CXXFLAGS = ['/EHsc']
 
-BF_DEBUG_FLAGS = ['/Zi', '/FR${TARGET}.sbr']
+BF_DEBUG_CCFLAGS = ['/Zi', '/FR${TARGET}.sbr']
 
 CPPFLAGS = ['-DWIN32','-D_CONSOLE', '-D_LIB', '-DFTGL_LIBRARY_STATIC', '-D_CRT_SECURE_NO_DEPRECATE']
 REL_CFLAGS = ['-O2', '-DNDEBUG']
 REL_CCFLAGS = ['-O2', '-DNDEBUG']
+REL_CXXFLAGS = ['-O2', '-DNDEBUG']
+
 C_WARN = []
 CC_WARN = []
+CXX_WARN = []
 
-LLIBS = 'ws2_32 vfw32 winmm kernel32 user32 gdi32 comdlg32 advapi32 shfolder shell32 ole32 oleaut32 uuid'
+LLIBS = ['ws2_32', 'vfw32', 'winmm', 'kernel32', 'user32', 'gdi32', 'comdlg32', 'advapi32', 'shfolder', 'shell32', 'ole32', 'oleaut32', 'uuid']
 
 PLATFORM_LINKFLAGS = '''
-                        /SUBSYSTEM:CONSOLE 
-                        /MACHINE:IX86 
-                        /ENTRY:mainCRTStartup 
-                        /INCREMENTAL:NO 
-                        /NODEFAULTLIB:"msvcprt.lib" 
-                        /NODEFAULTLIB:"glut32.lib" 
-                        /NODEFAULTLIB:"libc.lib"
-                        /NODEFAULTLIB:"libcd.lib"
-                        /NODEFAULTLIB:"libcpd.lib" 
-                        /NODEFAULTLIB:"libcp.lib" 
-                    '''
-                        
+                       /SUBSYSTEM:CONSOLE
+                       /MACHINE:IX86
+                       /ENTRY:mainCRTStartup
+                       /INCREMENTAL:NO
+                       /NODEFAULTLIB:"msvcprt.lib"
+                       /NODEFAULTLIB:"glut32.lib"
+                       /NODEFAULTLIB:"libc.lib"
+                       /NODEFAULTLIB:"libcd.lib"
+                       /NODEFAULTLIB:"libcpd.lib"
+                       /NODEFAULTLIB:"libcp.lib"
+                       /LARGEADDRESSAWARE
+                   '''
+
+# # Todo
+# BF_PROFILE_CCFLAGS = ['-pg', '-g ']
+# BF_PROFILE_LINKFLAGS = ['-pg']
+# BF_PROFILE = False
+
 BF_BUILDDIR = '..\\build\\win32-vc'
 BF_INSTALLDIR='..\\install\\win32-vc'
+BF_DOCDIR='..\\install\\doc'

doc/blender-scons.txt

@@ -1,9 +1,5 @@
 $Id$
 
-    Note: The current official release of SCons is 0.98, but
-    our system still works for 0.97. However, this will be fixed
-    soon.
-
     Blenders SCons build scripts
     ============================
 
@@ -30,8 +26,9 @@ $Id$
     ----------------
 
     To build Blender with the SCons scripts you need a full Python
-    install, version 2.4 or later (http://www.python.org) and a SCons
-    installation, version v0.97 (http://www.scons.org).
+    install, version 2.4 or later (http://www.python.org). We already provide
+    a scons-local installation, which can be found in the scons/ subdirectory.
+    This document uses the scons-local installation for its examples.
 
     Check from the page
     http://www.blender.org/development/building-blender/getting-dependencies/
@@ -42,9 +39,14 @@ $Id$
     In the base directory of the sources (from now on called $BLENDERHOME)
     you'll see a file named SConstruct. This is the entry point for the
     SCons build system. In a terminal, change to this directory. To just
-    build, issue the command 'scons':
+    build, start the SCons entry script on Windows (will be used for the remainder
+    of this document):
 
-        % scons
+        % python scons\scons.py
+
+    On a Unix-compatible system it would be
+
+        % python ./scons/scons.py
 
     This will start the build process with default values. Depending
     on your platform you may see colour in your output (non-Windows
@@ -53,11 +55,19 @@ $Id$
     build are configured.
 
     The build uses BF_BUILDDIR to build into and BF_INSTALLDIR to
-    finally copy all needed files to get a proper setup. These
-    variabbles have default values for every platform in
+    finally copy all needed files to get a proper setup. The BF_DOCDIR is
+    used to generate Blender Python documentation files to. These
+    variables have default values for every platform in
     $BLENDERHOME/config/(platform)-config.py. After the build successfully
     completes, you can find everything you need in BF_INSTALLDIR.
 
+    If you want to create the installer package of Blender on Windows you'll
+    need to install nullsoft scriptable install system from http://nsis.sf.net.
+    As an extra dependency, you need the MoreInfo plugin too. The creation of
+    the installer is tied into the build process and can be triggered with:
+
+        % python scons\scons.py nsis
+
 
     Configuring the build
     ---------------------
@@ -73,20 +83,21 @@ $Id$
         (TBD: add cygwin, solaris and freebsd support)
 
     These files you will normally not change. If you need to override
-    a default value, make a copy of the proper configuration to
-    $BLENDERHOME/user-config.py. This file you can modify to your
-    likings. Any value set here will override the ones from the
-    (platform)-config.py.
+    a default value, make a file called  $BLENDERHOME/user-config.py, and copy
+    settings from the config/(platform)-config.py that you want to change. Don't
+    copy the entire file (unless explicitely stated in the configuration file),
+    because you may not get updated options you don't change yourself, which may
+    result in build errors.
 
     You can use BF_CONFIG argument to override the default user-config.py
     check. This is just like the user-config.py, but just with another name:
 
-        % scons BF_CONFIG=myownsettings
+        % python scons\scons.py BF_CONFIG=myownsettings
 
     If you want to quickly test a new setting, you can give the option
     also on the command-line:
 
-        % scons BF_BUILDDIR=../mybuilddir WITH_BF_OPENEXR=0
+        % python scons\scons.py BF_BUILDDIR=../mybuilddir WITH_BF_OPENEXR=0
 
     This command sets the build directory to BF_BUILDDIR and disables
     OpenEXR support.
@@ -94,7 +105,7 @@ $Id$
     If you need to know what can be set through the command-line, run
     scons with -h:
 
-        % scons -h
+        % python scons\scons.py -h
 
     This command will print a long list with settable options and what
     every option means. Many of the default values will be empty, and
@@ -115,11 +126,11 @@ $Id$
     you need to see the full command-line for compiles, then you can
     change that behaviour. Also the use of colours can be changed:
 
-        % scons BF_FANCY=0
+        % python scons\scons.py BF_FANCY=0
 
     This will disable the use of colours.
 
-        % scons BF_QUIET=0
+        % python scons\scons.py BF_QUIET=0
 
     This will give the old, noisy output. Every command-line per
     compile is printed out in its full glory. This is very useful when
@@ -130,11 +141,11 @@ $Id$
     Compiling Only Some Libraries
     -----------------------------
     
-    Scons now has support for specifying a list of libraries that are
+    Our implementation now has support for specifying a list of libraries that are
     exclusively compiled, ignoring all other libraries.  This is invoked 
     with the BF_QUICK arguments; for example:
     
-        % scons BF_QUICK=src,bf_blenkernel
+        % python scons\scons.py BF_QUICK=src,bf_blenkernel
     
     Note that this not the same as passing a list of folders as in the 
     makefile's "quicky" command.  In Scons, all of Blender's code modules
@@ -154,7 +165,7 @@ $Id$
     
     BF_QUICKDEBUG is similar to BF_QUICK:
     
-        % scons BF_QUICKDEBUG=src,bf_blenkernel,some-other-lib
+        % python scons\scons.py BF_QUICKDEBUG=src,bf_blenkernel,some-other-lib
     
     To use BF_DEBUG_LIBS, put something like the following in you user-config.py:
     
@@ -166,18 +177,6 @@ $Id$
     debug symbols.  Also note that BF_QUICKDEBUG and BF_DEBUG_LIBS are combined;
     for example, setting BF_QUICKDEBUG won't overwrite the contents of BF_DEBUG_LIBS.
 
-
-    Not installing
-    --------------
-
-    If you dont want to install the build result, you can use the following option either
-    on the commandline or in your user-config.py :
-
-        WITHOUT_BF_INSTALL='true'
-
-    by default, this is set to 'false', and so the build is installed
-
-
     Supported toolset
     -----------------
 
@@ -193,15 +192,8 @@ $Id$
     On Windows with all of the three toolset installed you need to
     specify what toolset to use
 
-        % scons BF_TOOLSET=msvc
-        % scons BF_TOOLSET=mstoolkit
-        % scons BF_TOOLSET=mingw
-
-    If you have only the toolkit installed, you will also need to give
-    BF_TOOLSET=mstoolkit on the command-line, to make sure everything is
-    setup properly. Currently there is no good mechanism to automatically
-    determine wether the found 'cl.exe' is from the toolkit or from a
-    complete install.
+        % python scons\scons.py BF_TOOLSET=msvc
+        % python scons\scons.py BF_TOOLSET=mingw
 
     LINUX and OS X
 
@@ -214,30 +206,26 @@ $Id$
 
     Build Blender with the defaults:
 
-        % scons
+        % python scons\scons.py
 
     Build Blender, but disable OpenEXR support:
 
-        % scons WITH_BF_OPENEXR=0
+        % python scons\scons.py WITH_BF_OPENEXR=0
 
     Build Blender, enable debug symbols:
 
-        % scons BF_DEBUG=1
+        % python scons\scons.py BF_DEBUG=1
 
     Build Blender, install to different directory:
 
-        % scons BF_INSTALLDIR=/tmp/testbuild
+        % python scons\scons.py BF_INSTALLDIR=../myown/installdir
 
-    Build Blender in /tmp/obj and install to /usr/local:
+    Build Blender in ../myown/builddir and install to ../myown/installdir:
 
-        % scons BF_BUILDDIR=/tmp/obj BF_INSTALLDIR=/usr/local
+        % python scons\scons.py BF_BUILDDIR=../myown/builddir BF_INSTALLDIR=../myown/installdir
 
     Clean BF_BUILDDIR:
 
-        % scons clean
-
-    Clean out the installed files:
-
-        % scons -c
+        % python scons\scons.py clean
 
     /Nathan Letwory (jesterKing)

extern/Makefile

@@ -57,10 +57,7 @@ ifeq ($(WITH_BINRELOC), true)
     DIRS += binreloc
 endif
 
-TARGET =
-ifneq ($(OS),irix)
-  TARGET=solid
-endif
+TARGET = solid
 
 all::
 	@[ -d $(OCGDIR)/extern ] || mkdir -p $(OCGDIR)/extern

extern/SConscript

@@ -31,3 +31,6 @@ if env['WITH_BF_REDCODE'] and env['BF_REDCODE_LIB'] == '':
 
 if env['OURPLATFORM'] == 'linux2':
     SConscript(['binreloc/SConscript']);
+
+# FFTW not needed atm - dg
+# SConscript(['fftw/SConscript'])

extern/bFTGL/SConscript

@@ -4,24 +4,6 @@ import os
 
 Import('env')
 
-# Import the C flags set in the SConstruct file
-#Import ('cflags')
-#Import ('defines')
-#Import ('user_options_dict')
-
-#if sys.platform=='linux2' or sys.platform=='linux-i386':
-#	ftgl_env.Append (CCFLAGS = ['-O2', '-ansi'])
-#elif sys.platform=='win32':
-	#ftgl_env.Append (CCFLAGS = ['/O2'])
-#elif sys.platform=='sunos':
-#	ftgl_env.Append (CCFLAGS = ['Xc', '-v', '-fast'])
-#elif sys.platform=='darwin':
-#	ftgl_env.Append (CCFLAGS = ['-O2', '-pipe', '-fPIC', '-funsigned-char', '-ffast-math'])
-#else:
-#	ftgl_env.Append (CCFLAGS = cflags)
-
-#ftgl_env.Append (CPPDEFINES = defines)
-
 incs = 'include src ' + env['BF_FREETYPE_INC'] + ' ' + env['BF_OPENGL_INC']
 defs = ''
 

extern/bFTGL/make/msvc_9_0/ftgl_static_lib.vcproj

@@ -0,0 +1,537 @@
+<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+	ProjectType="Visual C++"
+	Version="9,00"
+	Name="EXT_ftgl_static_lib"
+	ProjectGUID="{F9850C15-FF0A-429E-9D47-89FB433C9BD8}"
+	RootNamespace="ftgl_static_lib"
+	TargetFrameworkVersion="131072"
+	>
+	<Platforms>
+		<Platform
+			Name="Win32"
+		/>
+	</Platforms>
+	<ToolFiles>
+	</ToolFiles>
+	<Configurations>
+		<Configuration
+			Name="Blender Debug|Win32"
+			OutputDirectory="..\..\..\..\..\build\msvc_9\extern\ftgl\debug"
+			IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\ftgl\debug"
+			ConfigurationType="4"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+			UseOfMFC="0"
+			ATLMinimizesCRunTimeLibraryUsage="false"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				AdditionalIncludeDirectories="..\..\include;..\..\..\..\..\lib\windows\freetype\include"
+				PreprocessorDefinitions="_DEBUG;WIN32;_LIB;FTGL_LIBRARY_STATIC"
+				BasicRuntimeChecks="3"
+				RuntimeLibrary="1"
+				UsePrecompiledHeader="0"
+				PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\ftgl\debug\ftgl_static_lib.pch"
+				AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\ftgl\debug\"
+				ObjectFile="..\..\..\..\..\build\msvc_9\extern\ftgl\debug\"
+				ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\ftgl\debug\"
+				WarningLevel="2"
+				SuppressStartupBanner="true"
+				DebugInformationFormat="3"
+				CompileAs="0"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="_DEBUG"
+				Culture="1033"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\debug\ftgl_static.lib"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+				Description="Copying FTGL files library (debug target) to lib tree."
+				CommandLine="ECHO Copying header files&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\ftgl\include\ MKDIR ..\..\..\..\..\build\msvc_9\extern\ftgl\include&#x0D;&#x0A;XCOPY /Y ..\..\include\*.h ..\..\..\..\..\build\msvc_9\extern\ftgl\include&#x0D;&#x0A;ECHO Done&#x0D;&#x0A;"
+			/>
+		</Configuration>
+		<Configuration
+			Name="Blender Release|Win32"
+			OutputDirectory="..\..\..\..\..\build\msvc_9\extern\ftgl"
+			IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\ftgl"
+			ConfigurationType="4"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+			UseOfMFC="0"
+			ATLMinimizesCRunTimeLibraryUsage="false"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="2"
+				InlineFunctionExpansion="1"
+				AdditionalIncludeDirectories="..\..\include;..\..\..\..\..\lib\windows\freetype\include"
+				PreprocessorDefinitions="NDEBUG;WIN32;_LIB;FTGL_LIBRARY_STATIC"
+				StringPooling="true"
+				RuntimeLibrary="0"
+				EnableFunctionLevelLinking="true"
+				UsePrecompiledHeader="0"
+				PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\ftgl\ftgl_static_lib.pch"
+				AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\ftgl\"
+				ObjectFile="..\..\..\..\..\build\msvc_9\extern\ftgl\"
+				ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\ftgl\"
+				WarningLevel="2"
+				SuppressStartupBanner="true"
+				CompileAs="0"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="NDEBUG"
+				Culture="1033"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\ftgl_static.lib"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+				Description="Copying FTGL files library to lib tree."
+				CommandLine="ECHO Copying header files&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\ftgl\include\ MKDIR ..\..\..\..\..\build\msvc_9\extern\ftgl\include&#x0D;&#x0A;XCOPY /Y ..\..\include\*.h ..\..\..\..\..\build\msvc_9\extern\ftgl\include&#x0D;&#x0A;ECHO Done&#x0D;&#x0A;"
+			/>
+		</Configuration>
+		<Configuration
+			Name="3D Plugin Release|Win32"
+			OutputDirectory="..\..\..\..\..\build\msvc_9\extern\ftgl\mtdll"
+			IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\ftgl\mtdll"
+			ConfigurationType="4"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+			UseOfMFC="0"
+			ATLMinimizesCRunTimeLibraryUsage="false"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="2"
+				InlineFunctionExpansion="1"
+				AdditionalIncludeDirectories="..\..\include;..\..\..\..\..\lib\windows\freetype\include"
+				PreprocessorDefinitions="NDEBUG;WIN32;_LIB;FTGL_LIBRARY_STATIC"
+				StringPooling="true"
+				RuntimeLibrary="2"
+				EnableFunctionLevelLinking="true"
+				UsePrecompiledHeader="0"
+				PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\ftgl\mtdll\ftgl_static_lib.pch"
+				AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\ftgl\mtdll\"
+				ObjectFile="..\..\..\..\..\build\msvc_9\extern\ftgl\mtdll\"
+				ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\ftgl\mtdll\"
+				WarningLevel="2"
+				SuppressStartupBanner="true"
+				CompileAs="0"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="NDEBUG"
+				Culture="1033"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\mtdll\ftgl_static.lib"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+				Description="Copying FTGL files library to lib tree."
+				CommandLine="ECHO Copying header files&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\ftgl\include\ MKDIR ..\..\..\..\..\build\msvc_9\extern\ftgl\include&#x0D;&#x0A;XCOPY /Y ..\..\include\*.h ..\..\..\..\..\build\msvc_9\extern\ftgl\include&#x0D;&#x0A;ECHO Done&#x0D;&#x0A;"
+			/>
+		</Configuration>
+		<Configuration
+			Name="3D Plugin Debug|Win32"
+			OutputDirectory="..\..\..\..\..\build\msvc_9\extern\ftgl\mtdll\debug"
+			IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\ftgl\mtdll\debug"
+			ConfigurationType="4"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+			UseOfMFC="0"
+			ATLMinimizesCRunTimeLibraryUsage="false"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				AdditionalIncludeDirectories="..\..\include;..\..\..\..\..\lib\windows\freetype\include"
+				PreprocessorDefinitions="_DEBUG;WIN32;_LIB;FTGL_LIBRARY_STATIC"
+				BasicRuntimeChecks="3"
+				RuntimeLibrary="3"
+				UsePrecompiledHeader="0"
+				PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\ftgl\mtdll\debug\ftgl_static_lib.pch"
+				AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\ftgl\mtdll\debug\"
+				ObjectFile="..\..\..\..\..\build\msvc_9\extern\ftgl\mtdll\debug\"
+				ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\ftgl\mtdll\debug\"
+				WarningLevel="2"
+				SuppressStartupBanner="true"
+				DebugInformationFormat="3"
+				CompileAs="0"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="_DEBUG"
+				Culture="1033"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\mtdll\debug\ftgl_static.lib"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+				Description="Copying FTGL files library (debug target) to lib tree."
+				CommandLine="ECHO Copying header files&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\ftgl\include\ MKDIR ..\..\..\..\..\build\msvc_9\extern\ftgl\include&#x0D;&#x0A;XCOPY /Y ..\..\include\*.h ..\..\..\..\..\build\msvc_9\extern\ftgl\include&#x0D;&#x0A;ECHO Done&#x0D;&#x0A;"
+			/>
+		</Configuration>
+	</Configurations>
+	<References>
+	</References>
+	<Files>
+		<Filter
+			Name="Source Files"
+			Filter="cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
+			>
+			<File
+				RelativePath="..\..\src\FTBitmapGlyph.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\FTCharmap.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\FTContour.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\FTExtrdGlyph.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\FTFace.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\FTFont.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\FTGLBitmapFont.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\FTGLExtrdFont.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\FTGLOutlineFont.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\FTGLPixmapFont.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\FTGLPolygonFont.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\FTGLTextureFont.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\FTGlyph.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\FTGlyphContainer.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\FTLibrary.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\FTOutlineGlyph.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\FTPixmapGlyph.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\FTPoint.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\FTPolyGlyph.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\FTSize.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\FTTextureGlyph.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\FTVectoriser.cpp"
+				>
+			</File>
+		</Filter>
+		<Filter
+			Name="Header Files"
+			Filter="h;hpp;hxx;hm;inl"
+			>
+			<File
+				RelativePath="..\..\include\FTBBox.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTBitmapGlyph.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTCharmap.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTCharToGlyphIndexMap.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTContour.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTExtrdGlyph.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTFace.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTFont.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTGL.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTGLBitmapFont.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTGLExtrdFont.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTGLOutlineFont.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTGLPixmapFont.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTGLPolygonFont.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTGLTextureFont.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTGlyph.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTGlyphContainer.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTLibrary.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTList.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTOutlineGlyph.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTPixmapGlyph.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTPoint.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTPolyGlyph.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTSize.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTTextureGlyph.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTVector.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\FTVectoriser.h"
+				>
+			</File>
+		</Filter>
+	</Files>
+	<Globals>
+	</Globals>
+</VisualStudioProject>

extern/bullet2/CMakeLists.txt

@@ -31,6 +31,7 @@ FILE(GLOB SRC
   src/BulletCollision/BroadphaseCollision/*.cpp
   src/BulletCollision/CollisionShapes/*.cpp
   src/BulletCollision/NarrowPhaseCollision/*.cpp
+  src/BulletCollision/Gimpact/*.cpp
   src/BulletCollision//CollisionDispatch/*.cpp
   src/BulletDynamics/ConstraintSolver/*.cpp
   src/BulletDynamics/Vehicle/*.cpp

extern/bullet2/Makefile

@@ -37,6 +37,7 @@ LinearMath \
 BulletCollision/BroadphaseCollision \
 BulletCollision/CollisionShapes \
 BulletCollision/NarrowPhaseCollision \
+BulletCollision/Gimpact \
 BulletCollision//CollisionDispatch \
 BulletDynamics/ConstraintSolver \
 BulletDynamics/Vehicle \

extern/bullet2/make/msvc_7_0/Bullet_vc7.vcproj

@@ -53,6 +53,7 @@ IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\NarrowPhaseCollision MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\NarrowPhaseCollision
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\CollisionDispatch MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionDispatch
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\CollisionShapes MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionShapes
+IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\Gimpact MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\Gimpact
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics\ConstraintSolver MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\ConstraintSolver
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics\Dynamics MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Dynamics
@@ -61,13 +62,14 @@ IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\LinearMath MKDIR
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletSoftBody MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletSoftBody
 
 XCOPY /Y ..\..\src\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include
-XCOPY /Y ..\..\src\LinearMath\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\LinearMath
 XCOPY /Y ..\..\src\BulletSoftBody\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletSoftBody
+XCOPY /Y ..\..\src\LinearMath\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\LinearMath
 XCOPY /Y ..\..\src\BulletCollision\BroadphaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\BroadphaseCollision
 XCOPY /Y ..\..\src\BulletCollision\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\NarrowPhaseCollision
 XCOPY /Y ..\..\src\BulletCollision\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\NarrowPhaseCollision
 XCOPY /Y ..\..\src\BulletCollision\CollisionDispatch\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionDispatch
 XCOPY /Y ..\..\src\BulletCollision\CollisionShapes\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionShapes
+XCOPY /Y ..\..\src\BulletCollision\Gimpact\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\Gimpact
 XCOPY /Y ..\..\src\BulletDynamics\ConstraintSolver\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\ConstraintSolver
 XCOPY /Y ..\..\src\BulletDynamics\Dynamics\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Dynamics
 XCOPY /Y ..\..\src\BulletDynamics\Vehicle\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Vehicle
@@ -135,19 +137,23 @@ IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\NarrowPhaseCollision MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\NarrowPhaseCollision
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\CollisionDispatch MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionDispatch
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\CollisionShapes MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionShapes
+IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\Gimpact MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\Gimpact
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics\ConstraintSolver MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\ConstraintSolver
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics\Dynamics MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Dynamics
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics\Vehicle MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Vehicle
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\LinearMath MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\LinearMath
+IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletSoftBody MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletSoftBody
 
 XCOPY /Y ..\..\src\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include
+XCOPY /Y ..\..\src\BulletSoftBody\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletSoftBody
 XCOPY /Y ..\..\src\LinearMath\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\LinearMath
 XCOPY /Y ..\..\src\BulletCollision\BroadphaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\BroadphaseCollision
 XCOPY /Y ..\..\src\BulletCollision\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\NarrowPhaseCollision
 XCOPY /Y ..\..\src\BulletCollision\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\NarrowPhaseCollision
 XCOPY /Y ..\..\src\BulletCollision\CollisionDispatch\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionDispatch
 XCOPY /Y ..\..\src\BulletCollision\CollisionShapes\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionShapes
+XCOPY /Y ..\..\src\BulletCollision\Gimpact\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\Gimpact
 XCOPY /Y ..\..\src\BulletDynamics\ConstraintSolver\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\ConstraintSolver
 XCOPY /Y ..\..\src\BulletDynamics\Dynamics\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Dynamics
 XCOPY /Y ..\..\src\BulletDynamics\Vehicle\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Vehicle
@@ -213,19 +219,23 @@ IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\NarrowPhaseCollision MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\NarrowPhaseCollision
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\CollisionDispatch MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionDispatch
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\CollisionShapes MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionShapes
+IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\Gimpact MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\Gimpact
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics\ConstraintSolver MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\ConstraintSolver
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics\Dynamics MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Dynamics
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics\Vehicle MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Vehicle
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\LinearMath MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\LinearMath
+IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletSoftBody MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletSoftBody
 
 XCOPY /Y ..\..\src\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include
+XCOPY /Y ..\..\src\BulletSoftBody\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletSoftBody
 XCOPY /Y ..\..\src\LinearMath\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\LinearMath
 XCOPY /Y ..\..\src\BulletCollision\BroadphaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\BroadphaseCollision
 XCOPY /Y ..\..\src\BulletCollision\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\NarrowPhaseCollision
 XCOPY /Y ..\..\src\BulletCollision\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\NarrowPhaseCollision
 XCOPY /Y ..\..\src\BulletCollision\CollisionDispatch\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionDispatch
 XCOPY /Y ..\..\src\BulletCollision\CollisionShapes\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionShapes
+XCOPY /Y ..\..\src\BulletCollision\Gimpact\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\Gimpact
 XCOPY /Y ..\..\src\BulletDynamics\ConstraintSolver\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\ConstraintSolver
 XCOPY /Y ..\..\src\BulletDynamics\Dynamics\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Dynamics
 XCOPY /Y ..\..\src\BulletDynamics\Vehicle\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Vehicle
@@ -293,19 +303,23 @@ IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\NarrowPhaseCollision MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\NarrowPhaseCollision
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\CollisionDispatch MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionDispatch
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\CollisionShapes MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionShapes
+IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\Gimpact MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\Gimpact
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics\ConstraintSolver MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\ConstraintSolver
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics\Dynamics MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Dynamics
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics\Vehicle MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Vehicle
 IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\LinearMath MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\LinearMath
+IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletSoftBody MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletSoftBody
 
 XCOPY /Y ..\..\src\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include
+XCOPY /Y ..\..\src\BulletSoftBody\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletSoftBody
 XCOPY /Y ..\..\src\LinearMath\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\LinearMath
 XCOPY /Y ..\..\src\BulletCollision\BroadphaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\BroadphaseCollision
 XCOPY /Y ..\..\src\BulletCollision\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\NarrowPhaseCollision
 XCOPY /Y ..\..\src\BulletCollision\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\NarrowPhaseCollision
 XCOPY /Y ..\..\src\BulletCollision\CollisionDispatch\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionDispatch
 XCOPY /Y ..\..\src\BulletCollision\CollisionShapes\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionShapes
+XCOPY /Y ..\..\src\BulletCollision\Gimpact\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\Gimpact
 XCOPY /Y ..\..\src\BulletDynamics\ConstraintSolver\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\ConstraintSolver
 XCOPY /Y ..\..\src\BulletDynamics\Dynamics\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Dynamics
 XCOPY /Y ..\..\src\BulletDynamics\Vehicle\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Vehicle
@@ -962,6 +976,124 @@ ECHO Done
 						RelativePath="..\..\src\BulletCollision\CollisionShapes\btUniformScalingShape.h">
 					</File>
 				</Filter>
+				<Filter
+					Name="Gimpact"
+					Filter="">
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\btBoxCollision.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\btClipPolygon.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\btContactProcessing.cpp">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\btContactProcessing.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\btGenericPoolAllocator.cpp">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\btGenericPoolAllocator.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\btGeometryOperations.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\btGImpactBvh.cpp">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\btGImpactBvh.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\btGImpactCollisionAlgorithm.cpp">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\btGImpactCollisionAlgorithm.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\btGImpactMassUtil.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\btGImpactQuantizedBvh.cpp">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\btGImpactQuantizedBvh.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\btGImpactShape.cpp">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\btGImpactShape.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\btQuantization.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\btTriangleShapeEx.cpp">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\btTriangleShapeEx.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\gim_array.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\gim_basic_geometry_operations.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\gim_bitset.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\gim_box_collision.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\gim_box_set.cpp">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\gim_box_set.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\gim_clip_polygon.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\gim_contact.cpp">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\gim_contact.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\gim_geom_types.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\gim_geometry.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\gim_hash_table.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\gim_linear_math.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\gim_math.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\gim_memory.cpp">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\gim_memory.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\gim_radixsort.h">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\gim_tri_collision.cpp">
+					</File>
+					<File
+						RelativePath="..\..\src\BulletCollision\Gimpact\gim_tri_collision.h">
+					</File>
+				</Filter>
 			</Filter>
 			<Filter
 				Name="LinearMath"

extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h

@@ -46,6 +46,7 @@ IMPLICIT_CONVEX_SHAPES_START_HERE,
 CONCAVE_SHAPES_START_HERE,
 	//keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
 	TRIANGLE_MESH_SHAPE_PROXYTYPE,
+	SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE,
 	///used for demo integration FAST/Swift collision library and Bullet
 	FAST_CONCAVE_MESH_PROXYTYPE,
 	//terrain

extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp

@@ -119,7 +119,7 @@ void	Process(const btDbvtNode* n)
 //
 btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache)
 {
-m_deferedcollide	=	true;//false;
+m_deferedcollide	=	false;
 m_needcleanup		=	true;
 m_releasepaircache	=	(paircache!=0)?false:true;
 m_prediction		=	1/(btScalar)2;
@@ -164,7 +164,7 @@ btBroadphaseProxy*				btDbvtBroadphase::createProxy(	const btVector3& aabbMin,
 																void* userPtr,
 																short int collisionFilterGroup,
 																short int collisionFilterMask,
-																btDispatcher* dispatcher,
+																btDispatcher* /*dispatcher*/,
 																void* /*multiSapProxy*/)
 {
 btDbvtProxy*		proxy=new(btAlignedAlloc(sizeof(btDbvtProxy),16)) btDbvtProxy(	userPtr,
@@ -180,6 +180,7 @@ if(!m_deferedcollide)
 	btDbvtTreeCollider	collider(this);
 	collider.proxy=proxy;
 	btDbvt::collideTV(m_sets[0].m_root,proxy->aabb,collider);
+	btDbvt::collideTV(m_sets[1].m_root,proxy->aabb,collider);
 	}
 return(proxy);
 }

extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h

@@ -86,7 +86,6 @@ int						m_gid;						// Gen id
 bool					m_releasepaircache;			// Release pair cache on delete
 bool					m_deferedcollide;			// Defere dynamic/static collision to collide call
 bool					m_needcleanup;				// Need to run cleanup?
-bool					m_initialize;				// Initialization
 #if DBVT_BP_PROFILE
 btClock					m_clock;
 struct	{

extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp

@@ -17,7 +17,9 @@ subject to the following restrictions:
 #include "btCollisionObject.h"
 
 btCollisionObject::btCollisionObject()
-	:	m_broadphaseHandle(0),
+	:	m_anisotropicFriction(1.f,1.f,1.f),
+	m_hasAnisotropicFriction(false),
+		m_broadphaseHandle(0),
 		m_collisionShape(0),
 		m_rootCollisionShape(0),
 		m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT),

extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h

@@ -49,6 +49,9 @@ protected:
 	//without destroying the continuous interpolated motion (which uses this interpolation velocities)
 	btVector3	m_interpolationLinearVelocity;
 	btVector3	m_interpolationAngularVelocity;
+	btVector3		m_anisotropicFriction;
+	bool	m_hasAnisotropicFriction;
+
 	btBroadphaseProxy*		m_broadphaseHandle;
 	btCollisionShape*		m_collisionShape;
 	
@@ -119,6 +122,20 @@ public:
 		return  ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE) )==0);
 	}
 
+	const btVector3& getAnisotropicFriction() const
+	{
+		return m_anisotropicFriction;
+	}
+	void	setAnisotropicFriction(const btVector3& anisotropicFriction)
+	{
+		m_anisotropicFriction = anisotropicFriction;
+		m_hasAnisotropicFriction = (anisotropicFriction[0]!=1.f) || (anisotropicFriction[1]!=1.f) || (anisotropicFriction[2]!=1.f);
+	}
+	bool	hasAnisotropicFriction() const
+	{
+		return m_hasAnisotropicFriction;
+	}
+
 
 	SIMD_FORCE_INLINE bool		isStaticObject() const {
 		return (m_collisionFlags & CF_STATIC_OBJECT) != 0;
@@ -143,7 +160,7 @@ public:
 
 	virtual ~btCollisionObject();
 
-	void	setCollisionShape(btCollisionShape* collisionShape)
+	virtual void	setCollisionShape(btCollisionShape* collisionShape)
 	{
 		m_collisionShape = collisionShape;
 		m_rootCollisionShape = collisionShape;

extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h

@@ -48,6 +48,8 @@ struct	btDefaultCollisionConstructionInfo
 class	btDefaultCollisionConfiguration : public btCollisionConfiguration
 {
 
+protected:
+
 	int	m_persistentManifoldPoolSize;
 	
 	btStackAlloc*	m_stackAlloc;
@@ -56,6 +58,7 @@ class	btDefaultCollisionConfiguration : public btCollisionConfiguration
 	btPoolAllocator*	m_persistentManifoldPool;
 	bool	m_ownsPersistentManifoldPool;
 
+
 	btPoolAllocator*	m_collisionAlgorithmPool;
 	bool	m_ownsCollisionAlgorithmPool;
 

extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp

@@ -105,7 +105,7 @@ void	btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* col
 		for (i=0;i<colWorld->getCollisionObjectArray().size();i++)
 		{
 			btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
-			if (collisionObject->mergesSimulationIslands())
+			if (!collisionObject->isStaticOrKinematicObject())
 			{
 				collisionObject->setIslandTag( m_unionFind.find(index) );
 				collisionObject->setCompanionId(-1);

extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp

@@ -117,5 +117,5 @@ const btVector3& btScaledBvhTriangleMeshShape::getLocalScaling() const
 void	btScaledBvhTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
 {
 	///don't make this a movable object!
-	btAssert(0);
+//	btAssert(0);
 }

extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h

@@ -39,7 +39,7 @@ public:
 	virtual int	getShapeType() const
 	{
 		//use un-used 'FAST_CONCAVE_MESH_PROXYTYPE' for now, later add SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE to btBroadphaseProxy.h
-		return FAST_CONCAVE_MESH_PROXYTYPE;
+		return SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
 	}
 
 	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
@@ -49,6 +49,16 @@ public:
 
 	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
 
+	btBvhTriangleMeshShape*	getChildShape()
+	{
+		return m_bvhTriMeshShape;
+	}
+
+	const btBvhTriangleMeshShape*	getChildShape() const
+	{
+		return m_bvhTriMeshShape;
+	}
+
 	//debugging
 	virtual const char*	getName()const {return "SCALEDBVHTRIANGLEMESH";}
 

extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.h

@@ -44,6 +44,12 @@ public:
 
 	btScalar	getRadius() const { return m_implicitShapeDimensions.getX() * m_localScaling.getX();}
 
+	void	setUnscaledRadius(btScalar	radius)
+	{
+		m_implicitShapeDimensions.setX(radius);
+		btConvexInternalShape::setMargin(radius);
+	}
+
 	//debugging
 	virtual const char*	getName()const {return "SPHERE";}
 

extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp

@@ -16,6 +16,7 @@ subject to the following restrictions:
 #include "btTriangleIndexVertexArray.h"
 
 btTriangleIndexVertexArray::btTriangleIndexVertexArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,int numVertices,btScalar* vertexBase,int vertexStride)
+: m_hasAabb(0)
 {
 	btIndexedMesh mesh;
 

extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp

@@ -19,7 +19,8 @@ subject to the following restrictions:
 
 btTriangleMesh::btTriangleMesh (bool use32bitIndices,bool use4componentVertices)
 :m_use32bitIndices(use32bitIndices),
-m_use4componentVertices(use4componentVertices)
+m_use4componentVertices(use4componentVertices),
+m_weldingThreshold(0.0)
 {
 	btIndexedMesh meshIndex;
 	meshIndex.m_numTriangles = 0;
@@ -60,49 +61,66 @@ m_use4componentVertices(use4componentVertices)
 
 }
 
+void	btTriangleMesh::addIndex(int index)
+{
+	if (m_use32bitIndices)
+	{
+		m_32bitIndices.push_back(index);
+		m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_32bitIndices[0];
+	} else
+	{
+		m_16bitIndices.push_back(index);
+		m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_16bitIndices[0];
+	}
+}
+
+int	btTriangleMesh::findOrAddVertex(const btVector3& vertex)
+{
+	//return index of new/existing vertex
+	//todo: could use acceleration structure for this
+	if (m_use4componentVertices)
+	{
+		for (int i=0;i< m_4componentVertices.size();i++)
+		{
+			if ((m_4componentVertices[i]-vertex).length2() <= m_weldingThreshold)
+			{
+				return i;
+			}
+		}
+		m_indexedMeshes[0].m_numVertices++;
+		m_4componentVertices.push_back(vertex);
+		m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_4componentVertices[0];
+
+		return m_4componentVertices.size()-1;
+		
+	} else
+	{
+		
+		for (int i=0;i< m_3componentVertices.size();i+=3)
+		{
+			btVector3 vtx(m_3componentVertices[i],m_3componentVertices[i+1],m_3componentVertices[i+2]);
+			if ((vtx-vertex).length2() <= m_weldingThreshold)
+			{
+				return i/3;
+			}
+		}
+		m_3componentVertices.push_back(vertex.getX());
+		m_3componentVertices.push_back(vertex.getY());
+		m_3componentVertices.push_back(vertex.getZ());
+		m_indexedMeshes[0].m_numVertices++;
+		m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0];
+		return (m_3componentVertices.size()/3)-1;
+	}
+
+}
 		
 void	btTriangleMesh::addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2)
 {
 	m_indexedMeshes[0].m_numTriangles++;
-	m_indexedMeshes[0].m_numVertices+=3;
-
-	if (m_use4componentVertices)
-	{
-		m_4componentVertices.push_back(vertex0);
-		m_4componentVertices.push_back(vertex1);
-		m_4componentVertices.push_back(vertex2);
-		m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_4componentVertices[0];
-	} else
-	{
-		m_3componentVertices.push_back(vertex0.getX());
-		m_3componentVertices.push_back(vertex0.getY());
-		m_3componentVertices.push_back(vertex0.getZ());
-
-		m_3componentVertices.push_back(vertex1.getX());
-		m_3componentVertices.push_back(vertex1.getY());
-		m_3componentVertices.push_back(vertex1.getZ());
-
-		m_3componentVertices.push_back(vertex2.getX());
-		m_3componentVertices.push_back(vertex2.getY());
-		m_3componentVertices.push_back(vertex2.getZ());
-		m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0];
-	}
-
-	if (m_use32bitIndices)
-	{
-		int curIndex = m_32bitIndices.size();
-		m_32bitIndices.push_back(curIndex++);
-		m_32bitIndices.push_back(curIndex++);
-		m_32bitIndices.push_back(curIndex++);
-		m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_32bitIndices[0];
-	} else
-	{
-		short curIndex = static_cast<short>(m_16bitIndices.size());
-		m_16bitIndices.push_back(curIndex++);
-		m_16bitIndices.push_back(curIndex++);
-		m_16bitIndices.push_back(curIndex++);
-		m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_16bitIndices[0];
-	}
+		
+	addIndex(findOrAddVertex(vertex0));
+	addIndex(findOrAddVertex(vertex1));
+	addIndex(findOrAddVertex(vertex2));
 }
 
 int btTriangleMesh::getNumTriangles() const

extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h

@@ -25,6 +25,7 @@ subject to the following restrictions:
 ///It allows either 32bit or 16bit indices, and 4 (x-y-z-w) or 3 (x-y-z) component vertices.
 ///If you want to share triangle/index data between graphics mesh and collision mesh (btBvhTriangleMeshShape), you can directly use btTriangleIndexVertexArray or derive your own class from btStridingMeshInterface.
 ///Performance of btTriangleMesh and btTriangleIndexVertexArray used in a btBvhTriangleMeshShape is the same.
+///It has a brute-force option to weld together closeby vertices.
 class btTriangleMesh : public btTriangleIndexVertexArray
 {
 	btAlignedObjectArray<btVector3>	m_4componentVertices;
@@ -34,11 +35,16 @@ class btTriangleMesh : public btTriangleIndexVertexArray
 	btAlignedObjectArray<unsigned short int>		m_16bitIndices;
 	bool	m_use32bitIndices;
 	bool	m_use4componentVertices;
-
+	
 
 	public:
+		btScalar	m_weldingThreshold;
+
 		btTriangleMesh (bool use32bitIndices=true,bool use4componentVertices=true);
 
+		int		findOrAddVertex(const btVector3& vertex);
+		void	addIndex(int index);
+
 		bool	getUse32bitIndices() const
 		{
 			return m_use32bitIndices;

extern/bullet2/src/BulletCollision/Gimpact/btBoxCollision.h

@@ -0,0 +1,651 @@
+#ifndef BT_BOX_COLLISION_H_INCLUDED
+#define BT_BOX_COLLISION_H_INCLUDED
+
+/*! \file gim_box_collision.h
+\author Francisco Len N<>jera
+*/
+/*
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "LinearMath/btTransform.h"
+
+/*! \defgroup BOUND_AABB_OPERATIONS
+*/
+//! @{
+
+///Swap numbers
+#define BT_SWAP_NUMBERS(a,b){ \
+    a = a+b; \
+    b = a-b; \
+    a = a-b; \
+}\
+
+
+#define BT_MAX(a,b) (a<b?b:a)
+#define BT_MIN(a,b) (a>b?b:a)
+
+#define BT_GREATER(x, y)	fabsf(x) > (y)
+
+#define BT_MAX3(a,b,c) BT_MAX(a,BT_MAX(b,c))
+#define BT_MIN3(a,b,c) BT_MIN(a,BT_MIN(b,c))
+
+
+
+
+
+
+enum eBT_PLANE_INTERSECTION_TYPE
+{
+	BT_CONST_BACK_PLANE = 0,
+	BT_CONST_COLLIDE_PLANE,
+	BT_CONST_FRONT_PLANE
+};
+
+//SIMD_FORCE_INLINE bool test_cross_edge_box(
+//	const btVector3 & edge,
+//	const btVector3 & absolute_edge,
+//	const btVector3 & pointa,
+//	const btVector3 & pointb, const btVector3 & extend,
+//	int dir_index0,
+//	int dir_index1
+//	int component_index0,
+//	int component_index1)
+//{
+//	// dir coords are -z and y
+//
+//	const btScalar dir0 = -edge[dir_index0];
+//	const btScalar dir1 = edge[dir_index1];
+//	btScalar pmin = pointa[component_index0]*dir0 + pointa[component_index1]*dir1;
+//	btScalar pmax = pointb[component_index0]*dir0 + pointb[component_index1]*dir1;
+//	//find minmax
+//	if(pmin>pmax)
+//	{
+//		BT_SWAP_NUMBERS(pmin,pmax);
+//	}
+//	//find extends
+//	const btScalar rad = extend[component_index0] * absolute_edge[dir_index0] +
+//					extend[component_index1] * absolute_edge[dir_index1];
+//
+//	if(pmin>rad || -rad>pmax) return false;
+//	return true;
+//}
+//
+//SIMD_FORCE_INLINE bool test_cross_edge_box_X_axis(
+//	const btVector3 & edge,
+//	const btVector3 & absolute_edge,
+//	const btVector3 & pointa,
+//	const btVector3 & pointb, btVector3 & extend)
+//{
+//
+//	return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,2,1,1,2);
+//}
+//
+//
+//SIMD_FORCE_INLINE bool test_cross_edge_box_Y_axis(
+//	const btVector3 & edge,
+//	const btVector3 & absolute_edge,
+//	const btVector3 & pointa,
+//	const btVector3 & pointb, btVector3 & extend)
+//{
+//
+//	return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,0,2,2,0);
+//}
+//
+//SIMD_FORCE_INLINE bool test_cross_edge_box_Z_axis(
+//	const btVector3 & edge,
+//	const btVector3 & absolute_edge,
+//	const btVector3 & pointa,
+//	const btVector3 & pointb, btVector3 & extend)
+//{
+//
+//	return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,1,0,0,1);
+//}
+
+
+#define TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,i_dir_0,i_dir_1,i_comp_0,i_comp_1)\
+{\
+	const btScalar dir0 = -edge[i_dir_0];\
+	const btScalar dir1 = edge[i_dir_1];\
+	btScalar pmin = pointa[i_comp_0]*dir0 + pointa[i_comp_1]*dir1;\
+	btScalar pmax = pointb[i_comp_0]*dir0 + pointb[i_comp_1]*dir1;\
+	if(pmin>pmax)\
+	{\
+		BT_SWAP_NUMBERS(pmin,pmax); \
+	}\
+	const btScalar abs_dir0 = absolute_edge[i_dir_0];\
+	const btScalar abs_dir1 = absolute_edge[i_dir_1];\
+	const btScalar rad = _extend[i_comp_0] * abs_dir0 + _extend[i_comp_1] * abs_dir1;\
+	if(pmin>rad || -rad>pmax) return false;\
+}\
+
+
+#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
+{\
+	TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,2,1,1,2);\
+}\
+
+#define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
+{\
+	TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,0,2,2,0);\
+}\
+
+#define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
+{\
+	TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,1,0,0,1);\
+}\
+
+
+//! Returns the dot product between a vec3f and the col of a matrix
+SIMD_FORCE_INLINE btScalar bt_mat3_dot_col(
+const btMatrix3x3 & mat, const btVector3 & vec3, int colindex)
+{
+	return vec3[0]*mat[0][colindex] + vec3[1]*mat[1][colindex] + vec3[2]*mat[2][colindex];
+}
+
+
+//!  Class for transforming a model1 to the space of model0
+ATTRIBUTE_ALIGNED16	(class) BT_BOX_BOX_TRANSFORM_CACHE
+{
+public:
+    btVector3  m_T1to0;//!< Transforms translation of model1 to model 0
+	btMatrix3x3 m_R1to0;//!< Transforms Rotation of model1 to model 0, equal  to R0' * R1
+	btMatrix3x3 m_AR;//!< Absolute value of m_R1to0
+
+	SIMD_FORCE_INLINE void calc_absolute_matrix()
+	{
+//		static const btVector3 vepsi(1e-6f,1e-6f,1e-6f);
+//		m_AR[0] = vepsi + m_R1to0[0].absolute();
+//		m_AR[1] = vepsi + m_R1to0[1].absolute();
+//		m_AR[2] = vepsi + m_R1to0[2].absolute();
+
+		int i,j;
+
+        for(i=0;i<3;i++)
+        {
+            for(j=0;j<3;j++ )
+            {
+            	m_AR[i][j] = 1e-6f + fabsf(m_R1to0[i][j]);
+            }
+        }
+
+	}
+
+	BT_BOX_BOX_TRANSFORM_CACHE()
+	{
+	}
+
+
+
+	//! Calc the transformation relative  1 to 0. Inverts matrics by transposing
+	SIMD_FORCE_INLINE void calc_from_homogenic(const btTransform & trans0,const btTransform & trans1)
+	{
+
+		btTransform temp_trans = trans0.inverse();
+		temp_trans = temp_trans * trans1;
+
+		m_T1to0 = temp_trans.getOrigin();
+		m_R1to0 = temp_trans.getBasis();
+
+
+		calc_absolute_matrix();
+	}
+
+	//! Calcs the full invertion of the matrices. Useful for scaling matrices
+	SIMD_FORCE_INLINE void calc_from_full_invert(const btTransform & trans0,const btTransform & trans1)
+	{
+		m_R1to0 = trans0.getBasis().inverse();
+		m_T1to0 = m_R1to0 * (-trans0.getOrigin());
+
+		m_T1to0 += m_R1to0*trans1.getOrigin();
+		m_R1to0 *= trans1.getBasis();
+
+		calc_absolute_matrix();
+	}
+
+	SIMD_FORCE_INLINE btVector3 transform(const btVector3 & point) const
+	{
+		return btVector3(m_R1to0[0].dot(point) + m_T1to0.x(),
+			m_R1to0[1].dot(point) + m_T1to0.y(),
+			m_R1to0[2].dot(point) + m_T1to0.z());
+	}
+};
+
+
+#define BOX_PLANE_EPSILON 0.000001f
+
+//! Axis aligned box
+ATTRIBUTE_ALIGNED16	(class) btAABB
+{
+public:
+	btVector3 m_min;
+	btVector3 m_max;
+
+	btAABB()
+	{}
+
+
+	btAABB(const btVector3 & V1,
+			 const btVector3 & V2,
+			 const btVector3 & V3)
+	{
+		m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]);
+		m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]);
+		m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]);
+
+		m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]);
+		m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]);
+		m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]);
+	}
+
+	btAABB(const btVector3 & V1,
+			 const btVector3 & V2,
+			 const btVector3 & V3,
+			 btScalar margin)
+	{
+		m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]);
+		m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]);
+		m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]);
+
+		m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]);
+		m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]);
+		m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]);
+
+		m_min[0] -= margin;
+		m_min[1] -= margin;
+		m_min[2] -= margin;
+		m_max[0] += margin;
+		m_max[1] += margin;
+		m_max[2] += margin;
+	}
+
+	btAABB(const btAABB &other):
+		m_min(other.m_min),m_max(other.m_max)
+	{
+	}
+
+	btAABB(const btAABB &other,btScalar margin ):
+		m_min(other.m_min),m_max(other.m_max)
+	{
+		m_min[0] -= margin;
+		m_min[1] -= margin;
+		m_min[2] -= margin;
+		m_max[0] += margin;
+		m_max[1] += margin;
+		m_max[2] += margin;
+	}
+
+	SIMD_FORCE_INLINE void invalidate()
+	{
+		m_min[0] = SIMD_INFINITY;
+		m_min[1] = SIMD_INFINITY;
+		m_min[2] = SIMD_INFINITY;
+		m_max[0] = -SIMD_INFINITY;
+		m_max[1] = -SIMD_INFINITY;
+		m_max[2] = -SIMD_INFINITY;
+	}
+
+	SIMD_FORCE_INLINE void increment_margin(btScalar margin)
+	{
+		m_min[0] -= margin;
+		m_min[1] -= margin;
+		m_min[2] -= margin;
+		m_max[0] += margin;
+		m_max[1] += margin;
+		m_max[2] += margin;
+	}
+
+	SIMD_FORCE_INLINE void copy_with_margin(const btAABB &other, btScalar margin)
+	{
+		m_min[0] = other.m_min[0] - margin;
+		m_min[1] = other.m_min[1] - margin;
+		m_min[2] = other.m_min[2] - margin;
+
+		m_max[0] = other.m_max[0] + margin;
+		m_max[1] = other.m_max[1] + margin;
+		m_max[2] = other.m_max[2] + margin;
+	}
+
+	template<typename CLASS_POINT>
+	SIMD_FORCE_INLINE void calc_from_triangle(
+							const CLASS_POINT & V1,
+							const CLASS_POINT & V2,
+							const CLASS_POINT & V3)
+	{
+		m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]);
+		m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]);
+		m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]);
+
+		m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]);
+		m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]);
+		m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]);
+	}
+
+	template<typename CLASS_POINT>
+	SIMD_FORCE_INLINE void calc_from_triangle_margin(
+							const CLASS_POINT & V1,
+							const CLASS_POINT & V2,
+							const CLASS_POINT & V3, btScalar margin)
+	{
+		m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]);
+		m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]);
+		m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]);
+
+		m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]);
+		m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]);
+		m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]);
+
+		m_min[0] -= margin;
+		m_min[1] -= margin;
+		m_min[2] -= margin;
+		m_max[0] += margin;
+		m_max[1] += margin;
+		m_max[2] += margin;
+	}
+
+	//! Apply a transform to an AABB
+	SIMD_FORCE_INLINE void appy_transform(const btTransform & trans)
+	{
+		btVector3 center = (m_max+m_min)*0.5f;
+		btVector3 extends = m_max - center;
+		// Compute new center
+		center = trans(center);
+
+		btVector3 textends(extends.dot(trans.getBasis().getRow(0).absolute()),
+ 				 extends.dot(trans.getBasis().getRow(1).absolute()),
+				 extends.dot(trans.getBasis().getRow(2).absolute()));
+
+		m_min = center - textends;
+		m_max = center + textends;
+	}
+
+
+	//! Apply a transform to an AABB
+	SIMD_FORCE_INLINE void appy_transform_trans_cache(const BT_BOX_BOX_TRANSFORM_CACHE & trans)
+	{
+		btVector3 center = (m_max+m_min)*0.5f;
+		btVector3 extends = m_max - center;
+		// Compute new center
+		center = trans.transform(center);
+
+		btVector3 textends(extends.dot(trans.m_R1to0.getRow(0).absolute()),
+ 				 extends.dot(trans.m_R1to0.getRow(1).absolute()),
+				 extends.dot(trans.m_R1to0.getRow(2).absolute()));
+
+		m_min = center - textends;
+		m_max = center + textends;
+	}
+
+	//! Merges a Box
+	SIMD_FORCE_INLINE void merge(const btAABB & box)
+	{
+		m_min[0] = BT_MIN(m_min[0],box.m_min[0]);
+		m_min[1] = BT_MIN(m_min[1],box.m_min[1]);
+		m_min[2] = BT_MIN(m_min[2],box.m_min[2]);
+
+		m_max[0] = BT_MAX(m_max[0],box.m_max[0]);
+		m_max[1] = BT_MAX(m_max[1],box.m_max[1]);
+		m_max[2] = BT_MAX(m_max[2],box.m_max[2]);
+	}
+
+	//! Merges a point
+	template<typename CLASS_POINT>
+	SIMD_FORCE_INLINE void merge_point(const CLASS_POINT & point)
+	{
+		m_min[0] = BT_MIN(m_min[0],point[0]);
+		m_min[1] = BT_MIN(m_min[1],point[1]);
+		m_min[2] = BT_MIN(m_min[2],point[2]);
+
+		m_max[0] = BT_MAX(m_max[0],point[0]);
+		m_max[1] = BT_MAX(m_max[1],point[1]);
+		m_max[2] = BT_MAX(m_max[2],point[2]);
+	}
+
+	//! Gets the extend and center
+	SIMD_FORCE_INLINE void get_center_extend(btVector3 & center,btVector3 & extend)  const
+	{
+		center = (m_max+m_min)*0.5f;
+		extend = m_max - center;
+	}
+
+	//! Finds the intersecting box between this box and the other.
+	SIMD_FORCE_INLINE void find_intersection(const btAABB & other, btAABB & intersection)  const
+	{
+		intersection.m_min[0] = BT_MAX(other.m_min[0],m_min[0]);
+		intersection.m_min[1] = BT_MAX(other.m_min[1],m_min[1]);
+		intersection.m_min[2] = BT_MAX(other.m_min[2],m_min[2]);
+
+		intersection.m_max[0] = BT_MIN(other.m_max[0],m_max[0]);
+		intersection.m_max[1] = BT_MIN(other.m_max[1],m_max[1]);
+		intersection.m_max[2] = BT_MIN(other.m_max[2],m_max[2]);
+	}
+
+
+	SIMD_FORCE_INLINE bool has_collision(const btAABB & other) const
+	{
+		if(m_min[0] > other.m_max[0] ||
+		   m_max[0] < other.m_min[0] ||
+		   m_min[1] > other.m_max[1] ||
+		   m_max[1] < other.m_min[1] ||
+		   m_min[2] > other.m_max[2] ||
+		   m_max[2] < other.m_min[2])
+		{
+			return false;
+		}
+		return true;
+	}
+
+	/*! \brief Finds the Ray intersection parameter.
+	\param aabb Aligned box
+	\param vorigin A vec3f with the origin of the ray
+	\param vdir A vec3f with the direction of the ray
+	*/
+	SIMD_FORCE_INLINE bool collide_ray(const btVector3 & vorigin,const btVector3 & vdir)  const
+	{
+		btVector3 extents,center;
+		this->get_center_extend(center,extents);;
+
+		btScalar Dx = vorigin[0] - center[0];
+		if(BT_GREATER(Dx, extents[0]) && Dx*vdir[0]>=0.0f)	return false;
+		btScalar Dy = vorigin[1] - center[1];
+		if(BT_GREATER(Dy, extents[1]) && Dy*vdir[1]>=0.0f)	return false;
+		btScalar Dz = vorigin[2] - center[2];
+		if(BT_GREATER(Dz, extents[2]) && Dz*vdir[2]>=0.0f)	return false;
+
+
+		btScalar f = vdir[1] * Dz - vdir[2] * Dy;
+		if(btFabs(f) > extents[1]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[1])) return false;
+		f = vdir[2] * Dx - vdir[0] * Dz;
+		if(btFabs(f) > extents[0]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[0]))return false;
+		f = vdir[0] * Dy - vdir[1] * Dx;
+		if(btFabs(f) > extents[0]*btFabs(vdir[1]) + extents[1]*btFabs(vdir[0]))return false;
+		return true;
+	}
+
+
+	SIMD_FORCE_INLINE void projection_interval(const btVector3 & direction, btScalar &vmin, btScalar &vmax) const
+	{
+		btVector3 center = (m_max+m_min)*0.5f;
+		btVector3 extend = m_max-center;
+
+		btScalar _fOrigin =  direction.dot(center);
+		btScalar _fMaximumExtent = extend.dot(direction.absolute());
+		vmin = _fOrigin - _fMaximumExtent;
+		vmax = _fOrigin + _fMaximumExtent;
+	}
+
+	SIMD_FORCE_INLINE eBT_PLANE_INTERSECTION_TYPE plane_classify(const btVector4 &plane) const
+	{
+		btScalar _fmin,_fmax;
+		this->projection_interval(plane,_fmin,_fmax);
+
+		if(plane[3] > _fmax + BOX_PLANE_EPSILON)
+		{
+			return BT_CONST_BACK_PLANE; // 0
+		}
+
+		if(plane[3]+BOX_PLANE_EPSILON >=_fmin)
+		{
+			return BT_CONST_COLLIDE_PLANE; //1
+		}
+		return BT_CONST_FRONT_PLANE;//2
+	}
+
+	SIMD_FORCE_INLINE bool overlapping_trans_conservative(const btAABB & box, btTransform & trans1_to_0) const
+	{
+		btAABB tbox = box;
+		tbox.appy_transform(trans1_to_0);
+		return has_collision(tbox);
+	}
+
+	SIMD_FORCE_INLINE bool overlapping_trans_conservative2(const btAABB & box,
+		const BT_BOX_BOX_TRANSFORM_CACHE & trans1_to_0) const
+	{
+		btAABB tbox = box;
+		tbox.appy_transform_trans_cache(trans1_to_0);
+		return has_collision(tbox);
+	}
+
+	//! transcache is the transformation cache from box to this AABB
+	SIMD_FORCE_INLINE bool overlapping_trans_cache(
+		const btAABB & box,const BT_BOX_BOX_TRANSFORM_CACHE & transcache, bool fulltest) const
+	{
+
+		//Taken from OPCODE
+		btVector3 ea,eb;//extends
+		btVector3 ca,cb;//extends
+		get_center_extend(ca,ea);
+		box.get_center_extend(cb,eb);
+
+
+		btVector3 T;
+		btScalar t,t2;
+		int i;
+
+		// Class I : A's basis vectors
+		for(i=0;i<3;i++)
+		{
+			T[i] =  transcache.m_R1to0[i].dot(cb) + transcache.m_T1to0[i] - ca[i];
+			t = transcache.m_AR[i].dot(eb) + ea[i];
+			if(BT_GREATER(T[i], t))	return false;
+		}
+		// Class II : B's basis vectors
+		for(i=0;i<3;i++)
+		{
+			t = bt_mat3_dot_col(transcache.m_R1to0,T,i);
+			t2 = bt_mat3_dot_col(transcache.m_AR,ea,i) + eb[i];
+			if(BT_GREATER(t,t2))	return false;
+		}
+		// Class III : 9 cross products
+		if(fulltest)
+		{
+			int j,m,n,o,p,q,r;
+			for(i=0;i<3;i++)
+			{
+				m = (i+1)%3;
+				n = (i+2)%3;
+				o = i==0?1:0;
+				p = i==2?1:2;
+				for(j=0;j<3;j++)
+				{
+					q = j==2?1:2;
+					r = j==0?1:0;
+					t = T[n]*transcache.m_R1to0[m][j] - T[m]*transcache.m_R1to0[n][j];
+					t2 = ea[o]*transcache.m_AR[p][j] + ea[p]*transcache.m_AR[o][j] +
+						eb[r]*transcache.m_AR[i][q] + eb[q]*transcache.m_AR[i][r];
+					if(BT_GREATER(t,t2))	return false;
+				}
+			}
+		}
+		return true;
+	}
+
+	//! Simple test for planes.
+	SIMD_FORCE_INLINE bool collide_plane(
+		const btVector4 & plane) const
+	{
+		eBT_PLANE_INTERSECTION_TYPE classify = plane_classify(plane);
+		return (classify == BT_CONST_COLLIDE_PLANE);
+	}
+
+	//! test for a triangle, with edges
+	SIMD_FORCE_INLINE bool collide_triangle_exact(
+		const btVector3 & p1,
+		const btVector3 & p2,
+		const btVector3 & p3,
+		const btVector4 & triangle_plane) const
+	{
+		if(!collide_plane(triangle_plane)) return false;
+
+		btVector3 center,extends;
+		this->get_center_extend(center,extends);
+
+		const btVector3 v1(p1 - center);
+		const btVector3 v2(p2 - center);
+		const btVector3 v3(p3 - center);
+
+		//First axis
+		btVector3 diff(v2 - v1);
+		btVector3 abs_diff = diff.absolute();
+		//Test With X axis
+		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v1,v3,extends);
+		//Test With Y axis
+		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v1,v3,extends);
+		//Test With Z axis
+		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v1,v3,extends);
+
+
+		diff = v3 - v2;
+		abs_diff = diff.absolute();
+		//Test With X axis
+		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v2,v1,extends);
+		//Test With Y axis
+		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v2,v1,extends);
+		//Test With Z axis
+		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v2,v1,extends);
+
+		diff = v1 - v3;
+		abs_diff = diff.absolute();
+		//Test With X axis
+		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v3,v2,extends);
+		//Test With Y axis
+		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v3,v2,extends);
+		//Test With Z axis
+		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v3,v2,extends);
+
+		return true;
+	}
+};
+
+
+//! Compairison of transformation objects
+SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btTransform & t2)
+{
+	if(!(t1.getOrigin() == t2.getOrigin()) ) return false;
+
+	if(!(t1.getBasis().getRow(0) == t2.getBasis().getRow(0)) ) return false;
+	if(!(t1.getBasis().getRow(1) == t2.getBasis().getRow(1)) ) return false;
+	if(!(t1.getBasis().getRow(2) == t2.getBasis().getRow(2)) ) return false;
+	return true;
+}
+
+
+//! @}
+
+#endif // GIM_BOX_COLLISION_H_INCLUDED

extern/bullet2/src/BulletCollision/Gimpact/btClipPolygon.h

@@ -0,0 +1,186 @@
+#ifndef BT_CLIP_POLYGON_H_INCLUDED
+#define BT_CLIP_POLYGON_H_INCLUDED
+
+/*! \file btClipPolygon.h
+\author Francisco Len N<>jera
+*/
+/*
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "LinearMath/btTransform.h"
+#include "LinearMath/btGeometryUtil.h"
+
+/*! \addtogroup GEOMETRIC_OPERATIONS
+*/
+//! @{
+
+SIMD_FORCE_INLINE btScalar bt_distance_point_plane(const btVector4 & plane,const btVector3 &point)
+{
+	return point.dot(plane) - plane[3];
+}
+
+/*! Vector blending
+Takes two vectors a, b, blends them together*/
+SIMD_FORCE_INLINE void bt_vec_blend(btVector3 &vr, const btVector3 &va,const btVector3 &vb, btScalar blend_factor)
+{
+	vr = (1-blend_factor)*va + blend_factor*vb;
+}
+
+//! This function calcs the distance from a 3D plane
+SIMD_FORCE_INLINE void bt_plane_clip_polygon_collect(
+						const btVector3 & point0,
+						const btVector3 & point1,
+						btScalar dist0,
+						btScalar dist1,
+						btVector3 * clipped,
+						int & clipped_count)
+{
+	bool _prevclassif = (dist0>SIMD_EPSILON);
+	bool _classif = (dist1>SIMD_EPSILON);
+	if(_classif!=_prevclassif)
+	{
+		btScalar blendfactor = -dist0/(dist1-dist0);
+		bt_vec_blend(clipped[clipped_count],point0,point1,blendfactor);
+		clipped_count++;
+	}
+	if(!_classif)
+	{
+		clipped[clipped_count] = point1;
+		clipped_count++;
+	}
+}
+
+
+//! Clips a polygon by a plane
+/*!
+*\return The count of the clipped counts
+*/
+SIMD_FORCE_INLINE int bt_plane_clip_polygon(
+						const btVector4 & plane,
+						const btVector3 * polygon_points,
+						int polygon_point_count,
+						btVector3 * clipped)
+{
+    int clipped_count = 0;
+
+
+    //clip first point
+	btScalar firstdist = bt_distance_point_plane(plane,polygon_points[0]);;
+	if(!(firstdist>SIMD_EPSILON))
+	{
+		clipped[clipped_count] = polygon_points[0];
+		clipped_count++;
+	}
+
+	btScalar olddist = firstdist;
+	for(int i=1;i<polygon_point_count;i++)
+	{
+		btScalar dist = bt_distance_point_plane(plane,polygon_points[i]);
+
+		bt_plane_clip_polygon_collect(
+						polygon_points[i-1],polygon_points[i],
+						olddist,
+						dist,
+						clipped,
+						clipped_count);
+
+
+		olddist = dist;
+	}
+
+	//RETURN TO FIRST  point
+
+	bt_plane_clip_polygon_collect(
+					polygon_points[polygon_point_count-1],polygon_points[0],
+					olddist,
+					firstdist,
+					clipped,
+					clipped_count);
+
+	return clipped_count;
+}
+
+//! Clips a polygon by a plane
+/*!
+*\param clipped must be an array of 16 points.
+*\return The count of the clipped counts
+*/
+SIMD_FORCE_INLINE int bt_plane_clip_triangle(
+						const btVector4 & plane,
+						const btVector3 & point0,
+						const btVector3 & point1,
+						const btVector3& point2,
+						btVector3 * clipped // an allocated array of 16 points at least
+						)
+{
+    int clipped_count = 0;
+
+    //clip first point0
+	btScalar firstdist = bt_distance_point_plane(plane,point0);;
+	if(!(firstdist>SIMD_EPSILON))
+	{
+		clipped[clipped_count] = point0;
+		clipped_count++;
+	}
+
+	// point 1
+	btScalar olddist = firstdist;
+	btScalar dist = bt_distance_point_plane(plane,point1);
+
+	bt_plane_clip_polygon_collect(
+					point0,point1,
+					olddist,
+					dist,
+					clipped,
+					clipped_count);
+
+	olddist = dist;
+
+
+	// point 2
+	dist = bt_distance_point_plane(plane,point2);
+
+	bt_plane_clip_polygon_collect(
+					point1,point2,
+					olddist,
+					dist,
+					clipped,
+					clipped_count);
+	olddist = dist;
+
+
+
+	//RETURN TO FIRST  point0
+	bt_plane_clip_polygon_collect(
+					point2,point0,
+					olddist,
+					firstdist,
+					clipped,
+					clipped_count);
+
+	return clipped_count;
+}
+
+
+
+
+//! @}
+
+#endif // GIM_TRI_COLLISION_H_INCLUDED

extern/bullet2/src/BulletCollision/Gimpact/btContactProcessing.cpp

@@ -0,0 +1,181 @@
+
+/*
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+#include "btContactProcessing.h"
+
+#define MAX_COINCIDENT 8
+
+struct CONTACT_KEY_TOKEN
+{
+	unsigned int m_key;
+	int m_value;
+	CONTACT_KEY_TOKEN()
+    {
+    }
+
+    CONTACT_KEY_TOKEN(unsigned int key,int token)
+    {
+    	m_key = key;
+    	m_value =  token;
+    }
+
+    CONTACT_KEY_TOKEN(const CONTACT_KEY_TOKEN& rtoken)
+    {
+    	m_key = rtoken.m_key;
+    	m_value = rtoken.m_value;
+    }
+
+    inline bool operator <(const CONTACT_KEY_TOKEN& other) const
+	{
+		return (m_key < other.m_key);
+	}
+
+	inline bool operator >(const CONTACT_KEY_TOKEN& other) const
+	{
+		return (m_key > other.m_key);
+	}
+
+};
+
+class CONTACT_KEY_TOKEN_COMP
+{
+	public:
+
+		bool operator() ( const CONTACT_KEY_TOKEN& a, const CONTACT_KEY_TOKEN& b )
+		{
+			return ( a < b );
+		}
+};
+
+
+void btContactArray::merge_contacts(
+	const btContactArray & contacts, bool normal_contact_average)
+{
+	clear();
+
+	int i;
+	if(contacts.size()==0) return;
+
+
+	if(contacts.size()==1)
+	{
+		push_back(contacts[0]);
+		return;
+	}
+
+	btAlignedObjectArray<CONTACT_KEY_TOKEN> keycontacts;
+
+	keycontacts.reserve(contacts.size());
+
+	//fill key contacts
+
+	for ( i = 0;i<contacts.size() ;i++ )
+	{
+		keycontacts.push_back(CONTACT_KEY_TOKEN(contacts[i].calc_key_contact(),i));
+	}
+
+	//sort keys
+	keycontacts.quickSort(CONTACT_KEY_TOKEN_COMP());
+
+	// Merge contacts
+	int coincident_count=0;
+	btVector3 coincident_normals[MAX_COINCIDENT];
+
+	unsigned int last_key = keycontacts[0].m_key;
+	unsigned int key = 0;
+
+	push_back(contacts[keycontacts[0].m_value]);
+
+	BT_CONTACT * pcontact = &(*this)[0];
+
+	for( i=1;i<keycontacts.size();i++)
+	{
+	    key = keycontacts[i].m_key;
+		const BT_CONTACT * scontact = &contacts[keycontacts[i].m_value];
+
+		if(last_key ==  key)//same points
+		{
+			//merge contact
+			if(pcontact->m_depth - CONTACT_DIFF_EPSILON > scontact->m_depth)//)
+			{
+				*pcontact = *scontact;
+                coincident_count = 0;
+			}
+			else if(normal_contact_average)
+			{
+				if(btFabs(pcontact->m_depth - scontact->m_depth)<CONTACT_DIFF_EPSILON)
+                {
+                    if(coincident_count<MAX_COINCIDENT)
+                    {
+                    	coincident_normals[coincident_count] = scontact->m_normal;
+                        coincident_count++;
+                    }
+                }
+			}
+		}
+		else
+		{//add new contact
+
+		    if(normal_contact_average && coincident_count>0)
+		    {
+		    	pcontact->interpolate_normals(coincident_normals,coincident_count);
+		        coincident_count = 0;
+		    }
+
+		    push_back(*scontact);
+		    pcontact = &(*this)[this->size()-1];
+        }
+		last_key = key;
+	}
+}
+
+void btContactArray::merge_contacts_unique(const btContactArray & contacts)
+{
+	clear();
+
+	if(contacts.size()==0) return;
+
+	if(contacts.size()==1)
+	{
+		push_back(contacts[0]);
+		return;
+	}
+
+	BT_CONTACT average_contact = contacts[0];
+
+	for (int i=1;i<contacts.size() ;i++ )
+	{
+		average_contact.m_point += contacts[i].m_point;
+		average_contact.m_normal += contacts[i].m_normal * contacts[i].m_depth;
+	}
+
+	//divide
+	btScalar divide_average = 1.0f/((btScalar)contacts.size());
+
+	average_contact.m_point *= divide_average;
+
+	average_contact.m_normal *= divide_average;
+
+	average_contact.m_depth = average_contact.m_normal.length();
+
+	average_contact.m_normal /= average_contact.m_depth;
+
+}
+

extern/bullet2/src/BulletCollision/Gimpact/btContactProcessing.h

@@ -0,0 +1,149 @@
+#ifndef BT_CONTACT_H_INCLUDED
+#define BT_CONTACT_H_INCLUDED
+
+/*! \file gim_contact.h
+\author Francisco Len N<>jera
+*/
+/*
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "LinearMath/btTransform.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "btTriangleShapeEx.h"
+
+
+/*! \defgroup CONTACTS
+\brief
+Functions for managing and sorting contacts resulting from a collision query.
+*/
+//! @{
+
+/**
+Configuration var for applying interpolation of  contact normals
+*/
+#define NORMAL_CONTACT_AVERAGE 1
+
+#define CONTACT_DIFF_EPSILON 0.00001f
+
+/// Structure for collision results
+class BT_CONTACT
+{
+public:
+    btVector3 m_point;
+    btVector3 m_normal;
+    btScalar m_depth;//Positive value indicates interpenetration
+    btScalar m_distance;//Padding not for use
+    int m_feature1;//Face number
+    int m_feature2;//Face number
+public:
+    BT_CONTACT()
+    {
+    }
+
+    BT_CONTACT(const BT_CONTACT & contact):
+				m_point(contact.m_point),
+				m_normal(contact.m_normal),
+				m_depth(contact.m_depth),
+				m_feature1(contact.m_feature1),
+				m_feature2(contact.m_feature2)
+    {
+    }
+
+    BT_CONTACT(const btVector3 &point,const btVector3 & normal,
+    	 			btScalar depth, int feature1, int feature2):
+				m_point(point),
+				m_normal(normal),
+				m_depth(depth),
+				m_feature1(feature1),
+				m_feature2(feature2)
+    {
+    }
+
+	//! Calcs key for coord classification
+    SIMD_FORCE_INLINE unsigned int calc_key_contact() const
+    {
+    	int _coords[] = {
+    		(int)(m_point[0]*1000.0f+1.0f),
+    		(int)(m_point[1]*1333.0f),
+    		(int)(m_point[2]*2133.0f+3.0f)};
+		unsigned int _hash=0;
+		unsigned int *_uitmp = (unsigned int *)(&_coords[0]);
+		_hash = *_uitmp;
+		_uitmp++;
+		_hash += (*_uitmp)<<4;
+		_uitmp++;
+		_hash += (*_uitmp)<<8;
+		return _hash;
+    }
+
+    SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,int normal_count)
+    {
+    	btVector3 vec_sum(m_normal);
+		for(int i=0;i<normal_count;i++)
+		{
+			vec_sum += normals[i];
+		}
+
+		btScalar vec_sum_len = vec_sum.length2();
+		if(vec_sum_len <CONTACT_DIFF_EPSILON) return;
+
+		//GIM_INV_SQRT(vec_sum_len,vec_sum_len); // 1/sqrt(vec_sum_len)
+
+		m_normal = vec_sum/btSqrt(vec_sum_len);
+    }
+
+};
+
+
+class btContactArray:public btAlignedObjectArray<BT_CONTACT>
+{
+public:
+	btContactArray()
+	{
+		reserve(64);
+	}
+
+	SIMD_FORCE_INLINE void push_contact(
+		const btVector3 &point,const btVector3 & normal,
+		btScalar depth, int feature1, int feature2)
+	{
+		push_back( BT_CONTACT(point,normal,depth,feature1,feature2) );
+	}
+
+	SIMD_FORCE_INLINE void push_triangle_contacts(
+		const BT_TRIANGLE_CONTACT & tricontact,
+		int feature1,int feature2)
+	{
+		for(int i = 0;i<tricontact.m_point_count ;i++ )
+		{
+			push_contact(
+				tricontact.m_points[i],
+				tricontact.m_separating_normal,
+				tricontact.m_penetration_depth,feature1,feature2);
+		}
+	}
+
+	void merge_contacts(const btContactArray & contacts, bool normal_contact_average = true);
+
+	void merge_contacts_unique(const btContactArray & contacts);
+};
+
+//! @}
+#endif // GIM_CONTACT_H_INCLUDED

extern/bullet2/src/BulletCollision/Gimpact/btGImpactBvh.cpp

@@ -0,0 +1,499 @@
+/*! \file gim_box_set.h
+\author Francisco Len N<>jera
+*/
+/*
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+#include "btGImpactBvh.h"
+#include "LinearMath/btQuickprof.h"
+
+#ifdef TRI_COLLISION_PROFILING
+
+btClock g_tree_clock;
+
+float g_accum_tree_collision_time = 0;
+int g_count_traversing = 0;
+
+
+void bt_begin_gim02_tree_time()
+{
+	g_tree_clock.reset();
+}
+
+void bt_end_gim02_tree_time()
+{
+	g_accum_tree_collision_time += g_tree_clock.getTimeMicroseconds();
+	g_count_traversing++;
+}
+
+//! Gets the average time in miliseconds of tree collisions
+float btGImpactBvh::getAverageTreeCollisionTime()
+{
+	if(g_count_traversing == 0) return 0;
+
+	float avgtime = g_accum_tree_collision_time;
+	avgtime /= (float)g_count_traversing;
+
+	g_accum_tree_collision_time = 0;
+	g_count_traversing = 0;
+	return avgtime;
+
+//	float avgtime = g_count_traversing;
+//	g_count_traversing = 0;
+//	return avgtime;
+
+}
+
+#endif //TRI_COLLISION_PROFILING
+
+/////////////////////// btBvhTree /////////////////////////////////
+
+int btBvhTree::_calc_splitting_axis(
+	BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex)
+{
+
+	int i;
+
+	btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.));
+	btVector3 variance(btScalar(0.),btScalar(0.),btScalar(0.));
+	int numIndices = endIndex-startIndex;
+
+	for (i=startIndex;i<endIndex;i++)
+	{
+		btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
+					 primitive_boxes[i].m_bound.m_min);
+		means+=center;
+	}
+	means *= (btScalar(1.)/(btScalar)numIndices);
+
+	for (i=startIndex;i<endIndex;i++)
+	{
+		btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
+					 primitive_boxes[i].m_bound.m_min);
+		btVector3 diff2 = center-means;
+		diff2 = diff2 * diff2;
+		variance += diff2;
+	}
+	variance *= (btScalar(1.)/	((btScalar)numIndices-1)	);
+
+	return variance.maxAxis();
+}
+
+
+int btBvhTree::_sort_and_calc_splitting_index(
+	BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,
+	int endIndex, int splitAxis)
+{
+	int i;
+	int splitIndex =startIndex;
+	int numIndices = endIndex - startIndex;
+
+	// average of centers
+	btScalar splitValue = 0.0f;
+
+	btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.));
+	for (i=startIndex;i<endIndex;i++)
+	{
+		btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
+					 primitive_boxes[i].m_bound.m_min);
+		means+=center;
+	}
+	means *= (btScalar(1.)/(btScalar)numIndices);
+
+	splitValue = means[splitAxis];
+
+
+	//sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
+	for (i=startIndex;i<endIndex;i++)
+	{
+		btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
+					 primitive_boxes[i].m_bound.m_min);
+		if (center[splitAxis] > splitValue)
+		{
+			//swap
+			primitive_boxes.swap(i,splitIndex);
+			//swapLeafNodes(i,splitIndex);
+			splitIndex++;
+		}
+	}
+
+	//if the splitIndex causes unbalanced trees, fix this by using the center in between startIndex and endIndex
+	//otherwise the tree-building might fail due to stack-overflows in certain cases.
+	//unbalanced1 is unsafe: it can cause stack overflows
+	//bool unbalanced1 = ((splitIndex==startIndex) || (splitIndex == (endIndex-1)));
+
+	//unbalanced2 should work too: always use center (perfect balanced trees)
+	//bool unbalanced2 = true;
+
+	//this should be safe too:
+	int rangeBalancedIndices = numIndices/3;
+	bool unbalanced = ((splitIndex<=(startIndex+rangeBalancedIndices)) || (splitIndex >=(endIndex-1-rangeBalancedIndices)));
+
+	if (unbalanced)
+	{
+		splitIndex = startIndex+ (numIndices>>1);
+	}
+
+	bool unbal = (splitIndex==startIndex) || (splitIndex == (endIndex));
+	btAssert(!unbal);
+
+	return splitIndex;
+
+}
+
+
+void btBvhTree::_build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex)
+{
+	int curIndex = m_num_nodes;
+	m_num_nodes++;
+
+	btAssert((endIndex-startIndex)>0);
+
+	if ((endIndex-startIndex)==1)
+	{
+	    //We have a leaf node
+	    setNodeBound(curIndex,primitive_boxes[startIndex].m_bound);
+		m_node_array[curIndex].setDataIndex(primitive_boxes[startIndex].m_data);
+
+		return;
+	}
+	//calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'.
+
+	//split axis
+	int splitIndex = _calc_splitting_axis(primitive_boxes,startIndex,endIndex);
+
+	splitIndex = _sort_and_calc_splitting_index(
+			primitive_boxes,startIndex,endIndex,
+			splitIndex//split axis
+			);
+
+
+	//calc this node bounding box
+
+	btAABB node_bound;
+	node_bound.invalidate();
+
+	for (int i=startIndex;i<endIndex;i++)
+	{
+		node_bound.merge(primitive_boxes[i].m_bound);
+	}
+
+	setNodeBound(curIndex,node_bound);
+
+
+	//build left branch
+	_build_sub_tree(primitive_boxes, startIndex, splitIndex );
+
+
+	//build right branch
+	 _build_sub_tree(primitive_boxes, splitIndex ,endIndex);
+
+	m_node_array[curIndex].setEscapeIndex(m_num_nodes - curIndex);
+
+
+}
+
+//! stackless build tree
+void btBvhTree::build_tree(
+	BT_BVH_DATA_ARRAY & primitive_boxes)
+{
+	// initialize node count to 0
+	m_num_nodes = 0;
+	// allocate nodes
+	m_node_array.resize(primitive_boxes.size()*2);
+
+	_build_sub_tree(primitive_boxes, 0, primitive_boxes.size());
+}
+
+////////////////////////////////////class btGImpactBvh
+
+void btGImpactBvh::refit()
+{
+	int nodecount = getNodeCount();
+	while(nodecount--)
+	{
+		if(isLeafNode(nodecount))
+		{
+			btAABB leafbox;
+			m_primitive_manager->get_primitive_box(getNodeData(nodecount),leafbox);
+			setNodeBound(nodecount,leafbox);
+		}
+		else
+		{
+			//const BT_BVH_TREE_NODE * nodepointer = get_node_pointer(nodecount);
+			//get left bound
+			btAABB bound;
+			bound.invalidate();
+
+			btAABB temp_box;
+
+			int child_node = getLeftNode(nodecount);
+			if(child_node)
+			{
+				getNodeBound(child_node,temp_box);
+				bound.merge(temp_box);
+			}
+
+			child_node = getRightNode(nodecount);
+			if(child_node)
+			{
+				getNodeBound(child_node,temp_box);
+				bound.merge(temp_box);
+			}
+
+			setNodeBound(nodecount,bound);
+		}
+	}
+}
+
+//! this rebuild the entire set
+void btGImpactBvh::buildSet()
+{
+	//obtain primitive boxes
+	BT_BVH_DATA_ARRAY primitive_boxes;
+	primitive_boxes.resize(m_primitive_manager->get_primitive_count());
+
+	for (int i = 0;i<primitive_boxes.size() ;i++ )
+	{
+		 m_primitive_manager->get_primitive_box(i,primitive_boxes[i].m_bound);
+		 primitive_boxes[i].m_data = i;
+	}
+
+	m_box_tree.build_tree(primitive_boxes);
+}
+
+//! returns the indices of the primitives in the m_primitive_manager
+bool btGImpactBvh::boxQuery(const btAABB & box, btAlignedObjectArray<int> & collided_results) const
+{
+	int curIndex = 0;
+	int numNodes = getNodeCount();
+
+	while (curIndex < numNodes)
+	{
+		btAABB bound;
+		getNodeBound(curIndex,bound);
+
+		//catch bugs in tree data
+
+		bool aabbOverlap = bound.has_collision(box);
+		bool isleafnode = isLeafNode(curIndex);
+
+		if (isleafnode && aabbOverlap)
+		{
+			collided_results.push_back(getNodeData(curIndex));
+		}
+
+		if (aabbOverlap || isleafnode)
+		{
+			//next subnode
+			curIndex++;
+		}
+		else
+		{
+			//skip node
+			curIndex+= getEscapeNodeIndex(curIndex);
+		}
+	}
+	if(collided_results.size()>0) return true;
+	return false;
+}
+
+
+
+//! returns the indices of the primitives in the m_primitive_manager
+bool btGImpactBvh::rayQuery(
+	const btVector3 & ray_dir,const btVector3 & ray_origin ,
+	btAlignedObjectArray<int> & collided_results) const
+{
+	int curIndex = 0;
+	int numNodes = getNodeCount();
+
+	while (curIndex < numNodes)
+	{
+		btAABB bound;
+		getNodeBound(curIndex,bound);
+
+		//catch bugs in tree data
+
+		bool aabbOverlap = bound.collide_ray(ray_origin,ray_dir);
+		bool isleafnode = isLeafNode(curIndex);
+
+		if (isleafnode && aabbOverlap)
+		{
+			collided_results.push_back(getNodeData( curIndex));
+		}
+
+		if (aabbOverlap || isleafnode)
+		{
+			//next subnode
+			curIndex++;
+		}
+		else
+		{
+			//skip node
+			curIndex+= getEscapeNodeIndex(curIndex);
+		}
+	}
+	if(collided_results.size()>0) return true;
+	return false;
+}
+
+
+SIMD_FORCE_INLINE bool _node_collision(
+	btGImpactBvh * boxset0, btGImpactBvh * boxset1,
+	const BT_BOX_BOX_TRANSFORM_CACHE & trans_cache_1to0,
+	int node0 ,int node1, bool complete_primitive_tests)
+{
+	btAABB box0;
+	boxset0->getNodeBound(node0,box0);
+	btAABB box1;
+	boxset1->getNodeBound(node1,box1);
+
+	return box0.overlapping_trans_cache(box1,trans_cache_1to0,complete_primitive_tests );
+//	box1.appy_transform_trans_cache(trans_cache_1to0);
+//	return box0.has_collision(box1);
+
+}
+
+
+//stackless recursive collision routine
+static void _find_collision_pairs_recursive(
+	btGImpactBvh * boxset0, btGImpactBvh * boxset1,
+	btPairSet * collision_pairs,
+	const BT_BOX_BOX_TRANSFORM_CACHE & trans_cache_1to0,
+	int node0, int node1, bool complete_primitive_tests)
+{
+
+
+
+	if( _node_collision(
+		boxset0,boxset1,trans_cache_1to0,
+		node0,node1,complete_primitive_tests) ==false) return;//avoid colliding internal nodes
+
+	if(boxset0->isLeafNode(node0))
+	{
+		if(boxset1->isLeafNode(node1))
+		{
+			// collision result
+			collision_pairs->push_pair(
+				boxset0->getNodeData(node0),boxset1->getNodeData(node1));
+			return;
+		}
+		else
+		{
+
+			//collide left recursive
+
+			_find_collision_pairs_recursive(
+								boxset0,boxset1,
+								collision_pairs,trans_cache_1to0,
+								node0,boxset1->getLeftNode(node1),false);
+
+			//collide right recursive
+			_find_collision_pairs_recursive(
+								boxset0,boxset1,
+								collision_pairs,trans_cache_1to0,
+								node0,boxset1->getRightNode(node1),false);
+
+
+		}
+	}
+	else
+	{
+		if(boxset1->isLeafNode(node1))
+		{
+
+			//collide left recursive
+			_find_collision_pairs_recursive(
+								boxset0,boxset1,
+								collision_pairs,trans_cache_1to0,
+								boxset0->getLeftNode(node0),node1,false);
+
+
+			//collide right recursive
+
+			_find_collision_pairs_recursive(
+								boxset0,boxset1,
+								collision_pairs,trans_cache_1to0,
+								boxset0->getRightNode(node0),node1,false);
+
+
+		}
+		else
+		{
+			//collide left0 left1
+
+
+
+			_find_collision_pairs_recursive(
+				boxset0,boxset1,
+				collision_pairs,trans_cache_1to0,
+				boxset0->getLeftNode(node0),boxset1->getLeftNode(node1),false);
+
+			//collide left0 right1
+
+			_find_collision_pairs_recursive(
+				boxset0,boxset1,
+				collision_pairs,trans_cache_1to0,
+				boxset0->getLeftNode(node0),boxset1->getRightNode(node1),false);
+
+
+			//collide right0 left1
+
+			_find_collision_pairs_recursive(
+				boxset0,boxset1,
+				collision_pairs,trans_cache_1to0,
+				boxset0->getRightNode(node0),boxset1->getLeftNode(node1),false);
+
+			//collide right0 right1
+
+			_find_collision_pairs_recursive(
+				boxset0,boxset1,
+				collision_pairs,trans_cache_1to0,
+				boxset0->getRightNode(node0),boxset1->getRightNode(node1),false);
+
+		}// else if node1 is not a leaf
+	}// else if node0 is not a leaf
+}
+
+
+void btGImpactBvh::find_collision(btGImpactBvh * boxset0, const btTransform & trans0,
+		btGImpactBvh * boxset1, const btTransform & trans1,
+		btPairSet & collision_pairs)
+{
+
+	if(boxset0->getNodeCount()==0 || boxset1->getNodeCount()==0 ) return;
+
+	BT_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0;
+
+	trans_cache_1to0.calc_from_homogenic(trans0,trans1);
+
+#ifdef TRI_COLLISION_PROFILING
+	bt_begin_gim02_tree_time();
+#endif //TRI_COLLISION_PROFILING
+
+	_find_collision_pairs_recursive(
+		boxset0,boxset1,
+		&collision_pairs,trans_cache_1to0,0,0,true);
+#ifdef TRI_COLLISION_PROFILING
+	bt_end_gim02_tree_time();
+#endif //TRI_COLLISION_PROFILING
+
+}
+

extern/bullet2/src/BulletCollision/Gimpact/btGImpactBvh.h

@@ -0,0 +1,401 @@
+#ifndef GIM_BOX_SET_H_INCLUDED
+#define GIM_BOX_SET_H_INCLUDED
+
+/*! \file gim_box_set.h
+\author Francisco Len N<>jera
+*/
+/*
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#include "LinearMath/btAlignedObjectArray.h"
+
+#include "btBoxCollision.h"
+#include "btTriangleShapeEx.h"
+
+
+
+/*! \defgroup BOX_TREES
+
+
+
+*/
+//! @{
+
+
+//! Overlapping pair
+struct BT_PAIR
+{
+    int m_index1;
+    int m_index2;
+    BT_PAIR()
+    {}
+
+    BT_PAIR(const BT_PAIR & p)
+    {
+    	m_index1 = p.m_index1;
+    	m_index2 = p.m_index2;
+	}
+
+	BT_PAIR(int index1, int index2)
+    {
+    	m_index1 = index1;
+    	m_index2 = index2;
+	}
+};
+
+//! A pairset array
+class btPairSet: public btAlignedObjectArray<BT_PAIR>
+{
+public:
+	btPairSet()
+	{
+		reserve(32);
+	}
+	inline void push_pair(int index1,int index2)
+	{
+		push_back(BT_PAIR(index1,index2));
+	}
+
+	inline void push_pair_inv(int index1,int index2)
+	{
+		push_back(BT_PAIR(index2,index1));
+	}
+};
+
+
+
+struct BT_BVH_DATA
+{
+	btAABB m_bound;
+	int m_data;
+};
+
+//! Node Structure for trees
+class BT_BVH_TREE_NODE
+{
+public:
+	btAABB m_bound;
+protected:
+	int	m_escapeIndexOrDataIndex;
+public:
+	BT_BVH_TREE_NODE()
+	{
+		m_escapeIndexOrDataIndex = 0;
+	}
+
+	SIMD_FORCE_INLINE bool isLeafNode() const
+	{
+		//skipindex is negative (internal node), triangleindex >=0 (leafnode)
+		return (m_escapeIndexOrDataIndex>=0);
+	}
+
+	SIMD_FORCE_INLINE int getEscapeIndex() const
+	{
+		//btAssert(m_escapeIndexOrDataIndex < 0);
+		return -m_escapeIndexOrDataIndex;
+	}
+
+	SIMD_FORCE_INLINE void setEscapeIndex(int index)
+	{
+		m_escapeIndexOrDataIndex = -index;
+	}
+
+	SIMD_FORCE_INLINE int getDataIndex() const
+	{
+		//btAssert(m_escapeIndexOrDataIndex >= 0);
+
+		return m_escapeIndexOrDataIndex;
+	}
+
+	SIMD_FORCE_INLINE void setDataIndex(int index)
+	{
+		m_escapeIndexOrDataIndex = index;
+	}
+
+};
+
+
+class BT_BVH_DATA_ARRAY:public btAlignedObjectArray<BT_BVH_DATA>
+{
+};
+
+
+class BT_BVH_TREE_NODE_ARRAY:public btAlignedObjectArray<BT_BVH_TREE_NODE>
+{
+};
+
+
+
+
+//! Basic Box tree structure
+class btBvhTree
+{
+protected:
+	int m_num_nodes;
+	BT_BVH_TREE_NODE_ARRAY m_node_array;
+protected:
+	int _sort_and_calc_splitting_index(
+		BT_BVH_DATA_ARRAY & primitive_boxes,
+		 int startIndex,  int endIndex, int splitAxis);
+
+	int _calc_splitting_axis(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
+
+	void _build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
+public:
+	btBvhTree()
+	{
+		m_num_nodes = 0;
+	}
+
+	//! prototype functions for box tree management
+	//!@{
+	void build_tree(BT_BVH_DATA_ARRAY & primitive_boxes);
+
+	SIMD_FORCE_INLINE void clearNodes()
+	{
+		m_node_array.clear();
+		m_num_nodes = 0;
+	}
+
+	//! node count
+	SIMD_FORCE_INLINE int getNodeCount() const
+	{
+		return m_num_nodes;
+	}
+
+	//! tells if the node is a leaf
+	SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const
+	{
+		return m_node_array[nodeindex].isLeafNode();
+	}
+
+	SIMD_FORCE_INLINE int getNodeData(int nodeindex) const
+	{
+		return m_node_array[nodeindex].getDataIndex();
+	}
+
+	SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const
+	{
+		bound = m_node_array[nodeindex].m_bound;
+	}
+
+	SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound)
+	{
+		m_node_array[nodeindex].m_bound = bound;
+	}
+
+	SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const
+	{
+		return nodeindex+1;
+	}
+
+	SIMD_FORCE_INLINE int getRightNode(int nodeindex) const
+	{
+		if(m_node_array[nodeindex+1].isLeafNode()) return nodeindex+2;
+		return nodeindex+1 + m_node_array[nodeindex+1].getEscapeIndex();
+	}
+
+	SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const
+	{
+		return m_node_array[nodeindex].getEscapeIndex();
+	}
+
+	SIMD_FORCE_INLINE const BT_BVH_TREE_NODE * get_node_pointer(int index = 0) const
+	{
+		return &m_node_array[index];
+	}
+
+	//!@}
+};
+
+
+//! Prototype Base class for primitive classification
+/*!
+This class is a wrapper for primitive collections.
+This tells relevant info for the Bounding Box set classes, which take care of space classification.
+This class can manage Compound shapes and trimeshes, and if it is managing trimesh then the  Hierarchy Bounding Box classes will take advantage of primitive Vs Box overlapping tests for getting optimal results and less Per Box compairisons.
+*/
+class btPrimitiveManagerBase
+{
+public:
+
+	//! determines if this manager consist on only triangles, which special case will be optimized
+	virtual bool is_trimesh() const = 0;
+	virtual int get_primitive_count() const = 0;
+	virtual void get_primitive_box(int prim_index ,btAABB & primbox) const = 0;
+	//! retrieves only the points of the triangle, and the collision margin
+	virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const= 0;
+};
+
+
+//! Structure for containing Boxes
+/*!
+This class offers an structure for managing a box tree of primitives.
+Requires a Primitive prototype (like btPrimitiveManagerBase )
+*/
+class btGImpactBvh
+{
+protected:
+	btBvhTree m_box_tree;
+	btPrimitiveManagerBase * m_primitive_manager;
+
+protected:
+	//stackless refit
+	void refit();
+public:
+
+	//! this constructor doesn't build the tree. you must call	buildSet
+	btGImpactBvh()
+	{
+		m_primitive_manager = NULL;
+	}
+
+	//! this constructor doesn't build the tree. you must call	buildSet
+	btGImpactBvh(btPrimitiveManagerBase * primitive_manager)
+	{
+		m_primitive_manager = primitive_manager;
+	}
+
+	SIMD_FORCE_INLINE btAABB getGlobalBox()  const
+	{
+		btAABB totalbox;
+		getNodeBound(0, totalbox);
+		return totalbox;
+	}
+
+	SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase * primitive_manager)
+	{
+		m_primitive_manager = primitive_manager;
+	}
+
+	SIMD_FORCE_INLINE btPrimitiveManagerBase * getPrimitiveManager() const
+	{
+		return m_primitive_manager;
+	}
+
+
+//! node manager prototype functions
+///@{
+
+	//! this attemps to refit the box set.
+	SIMD_FORCE_INLINE void update()
+	{
+		refit();
+	}
+
+	//! this rebuild the entire set
+	void buildSet();
+
+	//! returns the indices of the primitives in the m_primitive_manager
+	bool boxQuery(const btAABB & box, btAlignedObjectArray<int> & collided_results) const;
+
+	//! returns the indices of the primitives in the m_primitive_manager
+	SIMD_FORCE_INLINE bool boxQueryTrans(const btAABB & box,
+		 const btTransform & transform, btAlignedObjectArray<int> & collided_results) const
+	{
+		btAABB transbox=box;
+		transbox.appy_transform(transform);
+		return boxQuery(transbox,collided_results);
+	}
+
+	//! returns the indices of the primitives in the m_primitive_manager
+	bool rayQuery(
+		const btVector3 & ray_dir,const btVector3 & ray_origin ,
+		btAlignedObjectArray<int> & collided_results) const;
+
+	//! tells if this set has hierarcht
+	SIMD_FORCE_INLINE bool hasHierarchy() const
+	{
+		return true;
+	}
+
+	//! tells if this set is a trimesh
+	SIMD_FORCE_INLINE bool isTrimesh()  const
+	{
+		return m_primitive_manager->is_trimesh();
+	}
+
+	//! node count
+	SIMD_FORCE_INLINE int getNodeCount() const
+	{
+		return m_box_tree.getNodeCount();
+	}
+
+	//! tells if the node is a leaf
+	SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const
+	{
+		return m_box_tree.isLeafNode(nodeindex);
+	}
+
+	SIMD_FORCE_INLINE int getNodeData(int nodeindex) const
+	{
+		return m_box_tree.getNodeData(nodeindex);
+	}
+
+	SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound)  const
+	{
+		m_box_tree.getNodeBound(nodeindex, bound);
+	}
+
+	SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound)
+	{
+		m_box_tree.setNodeBound(nodeindex, bound);
+	}
+
+
+	SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const
+	{
+		return m_box_tree.getLeftNode(nodeindex);
+	}
+
+	SIMD_FORCE_INLINE int getRightNode(int nodeindex) const
+	{
+		return m_box_tree.getRightNode(nodeindex);
+	}
+
+	SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const
+	{
+		return m_box_tree.getEscapeNodeIndex(nodeindex);
+	}
+
+	SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex,btPrimitiveTriangle & triangle) const
+	{
+		m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex),triangle);
+	}
+
+
+	SIMD_FORCE_INLINE const BT_BVH_TREE_NODE * get_node_pointer(int index = 0) const
+	{
+		return m_box_tree.get_node_pointer(index);
+	}
+
+//! @}
+
+	static float getAverageTreeCollisionTime();
+
+
+	static void find_collision(btGImpactBvh * boxset1, const btTransform & trans1,
+		btGImpactBvh * boxset2, const btTransform & trans2,
+		btPairSet & collision_pairs);
+};
+
+
+#endif // GIM_BOXPRUNING_H_INCLUDED

extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp

@@ -0,0 +1,896 @@
+/*
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+/*
+Author: Francisco Len N<>jera
+Concave-Concave Collision
+
+*/
+
+#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
+#include "LinearMath/btIDebugDraw.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionShapes/btBoxShape.h"
+#include "btGImpactCollisionAlgorithm.h"
+#include "btContactProcessing.h"
+#include "LinearMath/btQuickprof.h"
+
+
+//! Class for accessing the plane equation
+class btPlaneShape : public btStaticPlaneShape
+{
+public:
+
+	btPlaneShape(const btVector3& v, float f)
+		:btStaticPlaneShape(v,f)
+	{
+	}
+
+	void get_plane_equation(btVector4 &equation)
+	{
+		equation[0] = m_planeNormal[0];
+		equation[1] = m_planeNormal[1];
+		equation[2] = m_planeNormal[2];
+		equation[3] = m_planeConstant;
+	}
+
+
+	void get_plane_equation_transformed(const btTransform & trans,btVector4 &equation)
+	{
+		equation[0] = trans.getBasis().getRow(0).dot(m_planeNormal);
+		equation[1] = trans.getBasis().getRow(1).dot(m_planeNormal);
+		equation[2] = trans.getBasis().getRow(2).dot(m_planeNormal);
+		equation[3] = trans.getOrigin().dot(m_planeNormal) + m_planeConstant;
+	}
+};
+
+
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+#ifdef TRI_COLLISION_PROFILING
+
+btClock g_triangle_clock;
+
+float g_accum_triangle_collision_time = 0;
+int g_count_triangle_collision = 0;
+
+void bt_begin_gim02_tri_time()
+{
+	g_triangle_clock.reset();
+}
+
+void bt_end_gim02_tri_time()
+{
+	g_accum_triangle_collision_time += g_triangle_clock.getTimeMicroseconds();
+	g_count_triangle_collision++;
+}
+#endif //TRI_COLLISION_PROFILING
+//! Retrieving shapes shapes
+/*!
+Declared here due of insuficent space on Pool allocators
+*/
+//!@{
+class GIM_ShapeRetriever
+{
+public:
+	btGImpactShapeInterface * m_gim_shape;
+	btTriangleShapeEx m_trishape;
+	btTetrahedronShapeEx m_tetrashape;
+
+public:
+	class ChildShapeRetriever
+	{
+	public:
+		GIM_ShapeRetriever * m_parent;
+		virtual btCollisionShape * getChildShape(int index)
+		{
+			return m_parent->m_gim_shape->getChildShape(index);
+		}
+	};
+
+	class TriangleShapeRetriever:public ChildShapeRetriever
+	{
+	public:
+
+		virtual btCollisionShape * getChildShape(int index)
+		{
+			m_parent->m_gim_shape->getBulletTriangle(index,m_parent->m_trishape);
+			return &m_parent->m_trishape;
+		}
+	};
+
+	class TetraShapeRetriever:public ChildShapeRetriever
+	{
+	public:
+
+		virtual btCollisionShape * getChildShape(int index)
+		{
+			m_parent->m_gim_shape->getBulletTetrahedron(index,m_parent->m_tetrashape);
+			return &m_parent->m_tetrashape;
+		}
+	};
+public:
+	ChildShapeRetriever m_child_retriever;
+	TriangleShapeRetriever m_tri_retriever;
+	TetraShapeRetriever  m_tetra_retriever;
+	ChildShapeRetriever * m_current_retriever;
+
+	GIM_ShapeRetriever(btGImpactShapeInterface * gim_shape)
+	{
+		m_gim_shape = gim_shape;
+		//select retriever
+		if(m_gim_shape->needsRetrieveTriangles())
+		{
+			m_current_retriever = &m_tri_retriever;
+		}
+		else if(m_gim_shape->needsRetrieveTetrahedrons())
+		{
+			m_current_retriever = &m_tetra_retriever;
+		}
+		else
+		{
+			m_current_retriever = &m_child_retriever;
+		}
+
+		m_current_retriever->m_parent = this;
+	}
+
+	btCollisionShape * getChildShape(int index)
+	{
+		return m_current_retriever->getChildShape(index);
+	}
+
+
+};
+
+
+
+//!@}
+
+
+#ifdef TRI_COLLISION_PROFILING
+
+//! Gets the average time in miliseconds of tree collisions
+float btGImpactCollisionAlgorithm::getAverageTreeCollisionTime()
+{
+	return btGImpactBoxSet::getAverageTreeCollisionTime();
+
+}
+
+//! Gets the average time in miliseconds of triangle collisions
+float btGImpactCollisionAlgorithm::getAverageTriangleCollisionTime()
+{
+	if(g_count_triangle_collision == 0) return 0;
+
+	float avgtime = g_accum_triangle_collision_time;
+	avgtime /= (float)g_count_triangle_collision;
+
+	g_accum_triangle_collision_time = 0;
+	g_count_triangle_collision = 0;
+
+	return avgtime;
+}
+
+#endif //TRI_COLLISION_PROFILING
+
+
+
+btGImpactCollisionAlgorithm::btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+: btCollisionAlgorithm(ci)
+{
+	m_manifoldPtr = NULL;
+	m_convex_algorithm = NULL;
+}
+
+btGImpactCollisionAlgorithm::~btGImpactCollisionAlgorithm()
+{
+	clearCache();
+}
+
+
+
+
+
+void btGImpactCollisionAlgorithm::addContactPoint(btCollisionObject * body0,
+				btCollisionObject * body1,
+				const btVector3 & point,
+				const btVector3 & normal,
+				btScalar distance)
+{
+	m_resultOut->setShapeIdentifiers(m_part0,m_triface0,m_part1,m_triface1);
+	checkManifold(body0,body1);
+	m_resultOut->addContactPoint(normal,point,distance);
+}
+
+
+void btGImpactCollisionAlgorithm::shape_vs_shape_collision(
+					  btCollisionObject * body0,
+					  btCollisionObject * body1,
+					  btCollisionShape * shape0,
+					  btCollisionShape * shape1)
+{
+
+	btCollisionShape* tmpShape0 = body0->getCollisionShape();
+	btCollisionShape* tmpShape1 = body1->getCollisionShape();
+	
+	body0->internalSetTemporaryCollisionShape(shape0);
+	body1->internalSetTemporaryCollisionShape(shape1);
+
+	{
+		btCollisionAlgorithm* algor = newAlgorithm(body0,body1);
+		// post :	checkManifold is called
+
+		m_resultOut->setShapeIdentifiers(m_part0,m_triface0,m_part1,m_triface1);
+
+		algor->processCollision(body0,body1,*m_dispatchInfo,m_resultOut);
+
+		algor->~btCollisionAlgorithm();
+		m_dispatcher->freeCollisionAlgorithm(algor);
+	}
+
+	body0->internalSetTemporaryCollisionShape(tmpShape0);
+	body1->internalSetTemporaryCollisionShape(tmpShape1);
+}
+
+void btGImpactCollisionAlgorithm::convex_vs_convex_collision(
+					  btCollisionObject * body0,
+					  btCollisionObject * body1,
+					  btCollisionShape * shape0,
+					  btCollisionShape * shape1)
+{
+
+	btCollisionShape* tmpShape0 = body0->getCollisionShape();
+	btCollisionShape* tmpShape1 = body1->getCollisionShape();
+	
+	body0->internalSetTemporaryCollisionShape(shape0);
+	body1->internalSetTemporaryCollisionShape(shape1);
+
+
+	m_resultOut->setShapeIdentifiers(m_part0,m_triface0,m_part1,m_triface1);
+
+	checkConvexAlgorithm(body0,body1);
+	m_convex_algorithm->processCollision(body0,body1,*m_dispatchInfo,m_resultOut);
+
+	body0->internalSetTemporaryCollisionShape(tmpShape0);
+	body1->internalSetTemporaryCollisionShape(tmpShape1);
+
+}
+
+
+
+
+void btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs(
+					  const btTransform & trans0,
+					  const btTransform & trans1,
+					  btGImpactShapeInterface * shape0,
+					  btGImpactShapeInterface * shape1,btPairSet & pairset)
+{
+	if(shape0->hasBoxSet() && shape1->hasBoxSet())
+	{
+		btGImpactBoxSet::find_collision(shape0->getBoxSet(),trans0,shape1->getBoxSet(),trans1,pairset);
+	}
+	else
+	{
+		btAABB boxshape0;
+		btAABB boxshape1;
+		int i = shape0->getNumChildShapes();
+
+		while(i--)
+		{
+			shape0->getChildAabb(i,trans0,boxshape0.m_min,boxshape0.m_max);
+
+			int j = shape1->getNumChildShapes();
+			while(j--)
+			{
+				shape1->getChildAabb(i,trans1,boxshape1.m_min,boxshape1.m_max);
+
+				if(boxshape1.has_collision(boxshape0))
+				{
+					pairset.push_pair(i,j);
+				}
+			}
+		}
+	}
+
+
+}
+
+
+void btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs(
+					  const btTransform & trans0,
+					  const btTransform & trans1,
+					  btGImpactShapeInterface * shape0,
+					  btCollisionShape * shape1,
+					  btAlignedObjectArray<int> & collided_primitives)
+{
+
+	btAABB boxshape;
+
+
+	if(shape0->hasBoxSet())
+	{
+		btTransform trans1to0 = trans0.inverse();
+		trans1to0 *= trans1;
+
+		shape1->getAabb(trans1to0,boxshape.m_min,boxshape.m_max);
+
+		shape0->getBoxSet()->boxQuery(boxshape, collided_primitives);
+	}
+	else
+	{
+		shape1->getAabb(trans1,boxshape.m_min,boxshape.m_max);
+
+		btAABB boxshape0;
+		int i = shape0->getNumChildShapes();
+
+		while(i--)
+		{
+			shape0->getChildAabb(i,trans0,boxshape0.m_min,boxshape0.m_max);
+
+			if(boxshape.has_collision(boxshape0))
+			{
+				collided_primitives.push_back(i);
+			}
+		}
+
+	}
+
+}
+
+
+void btGImpactCollisionAlgorithm::collide_gjk_triangles(btCollisionObject * body0,
+				  btCollisionObject * body1,
+				  btGImpactMeshShapePart * shape0,
+				  btGImpactMeshShapePart * shape1,
+				  const int * pairs, int pair_count)
+{
+	btTriangleShapeEx tri0;
+	btTriangleShapeEx tri1;
+
+	shape0->lockChildShapes();
+	shape1->lockChildShapes();
+
+	const int * pair_pointer = pairs;
+
+	while(pair_count--)
+	{
+
+		m_triface0 = *(pair_pointer);
+		m_triface1 = *(pair_pointer+1);
+		pair_pointer+=2;
+
+
+
+		shape0->getBulletTriangle(m_triface0,tri0);
+		shape1->getBulletTriangle(m_triface1,tri1);
+
+
+		//collide two convex shapes
+		if(tri0.overlap_test_conservative(tri1))
+		{
+			convex_vs_convex_collision(body0,body1,&tri0,&tri1);
+		}
+
+	}
+
+	shape0->unlockChildShapes();
+	shape1->unlockChildShapes();
+}
+
+void btGImpactCollisionAlgorithm::collide_sat_triangles(btCollisionObject * body0,
+					  btCollisionObject * body1,
+					  btGImpactMeshShapePart * shape0,
+					  btGImpactMeshShapePart * shape1,
+					  const int * pairs, int pair_count)
+{
+	btTransform orgtrans0 = body0->getWorldTransform();
+	btTransform orgtrans1 = body1->getWorldTransform();
+
+	btPrimitiveTriangle ptri0;
+	btPrimitiveTriangle ptri1;
+	BT_TRIANGLE_CONTACT contact_data;
+
+	shape0->lockChildShapes();
+	shape1->lockChildShapes();
+
+	const int * pair_pointer = pairs;
+
+	while(pair_count--)
+	{
+
+		m_triface0 = *(pair_pointer);
+		m_triface1 = *(pair_pointer+1);
+		pair_pointer+=2;
+
+
+		shape0->getPrimitiveTriangle(m_triface0,ptri0);
+		shape1->getPrimitiveTriangle(m_triface1,ptri1);
+
+		#ifdef TRI_COLLISION_PROFILING
+		bt_begin_gim02_tri_time();
+		#endif
+
+		ptri0.applyTransform(orgtrans0);
+		ptri1.applyTransform(orgtrans1);
+
+
+		//build planes
+		ptri0.buildTriPlane();
+		ptri1.buildTriPlane();
+		// test conservative
+
+
+
+		if(ptri0.overlap_test_conservative(ptri1))
+		{
+			if(ptri0.find_triangle_collision_clip_method(ptri1,contact_data))
+			{
+
+				int j = contact_data.m_point_count;
+				while(j--)
+				{
+
+					addContactPoint(body0, body1,
+								contact_data.m_points[j],
+								contact_data.m_separating_normal,
+								-contact_data.m_penetration_depth);
+				}
+			}
+		}
+
+		#ifdef TRI_COLLISION_PROFILING
+		bt_end_gim02_tri_time();
+		#endif
+
+	}
+
+	shape0->unlockChildShapes();
+	shape1->unlockChildShapes();
+
+}
+
+
+void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
+						btCollisionObject * body0,
+					   	btCollisionObject * body1,
+					  	btGImpactShapeInterface * shape0,
+					  	btGImpactShapeInterface * shape1)
+{
+
+	if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
+	{
+		btGImpactMeshShape * meshshape0 = static_cast<btGImpactMeshShape *>(shape0);
+		m_part0 = meshshape0->getMeshPartCount();
+
+		while(m_part0--)
+		{
+			gimpact_vs_gimpact(body0,body1,meshshape0->getMeshPart(m_part0),shape1);
+		}
+
+		return;
+	}
+
+	if(shape1->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
+	{
+		btGImpactMeshShape * meshshape1 = static_cast<btGImpactMeshShape *>(shape1);
+		m_part1 = meshshape1->getMeshPartCount();
+
+		while(m_part1--)
+		{
+
+			gimpact_vs_gimpact(body0,body1,shape0,meshshape1->getMeshPart(m_part1));
+
+		}
+
+		return;
+	}
+
+
+	btTransform orgtrans0 = body0->getWorldTransform();
+	btTransform orgtrans1 = body1->getWorldTransform();
+
+	btPairSet pairset;
+
+	gimpact_vs_gimpact_find_pairs(orgtrans0,orgtrans1,shape0,shape1,pairset);
+
+	if(pairset.size()== 0) return;
+
+	if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART &&
+		shape1->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART)
+	{
+		btGImpactMeshShapePart * shapepart0 = static_cast<btGImpactMeshShapePart * >(shape0);
+		btGImpactMeshShapePart * shapepart1 = static_cast<btGImpactMeshShapePart * >(shape1);
+		//specialized function
+		#ifdef BULLET_TRIANGLE_COLLISION
+		collide_gjk_triangles(body0,body1,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size());
+		#else
+		collide_sat_triangles(body0,body1,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size());
+		#endif
+
+		return;
+	}
+
+	//general function
+
+	shape0->lockChildShapes();
+	shape1->lockChildShapes();
+
+	GIM_ShapeRetriever retriever0(shape0);
+	GIM_ShapeRetriever retriever1(shape1);
+
+	bool child_has_transform0 = shape0->childrenHasTransform();
+	bool child_has_transform1 = shape1->childrenHasTransform();
+
+	int i = pairset.size();
+	while(i--)
+	{
+		BT_PAIR * pair = &pairset[i];
+		m_triface0 = pair->m_index1;
+		m_triface1 = pair->m_index2;
+		btCollisionShape * colshape0 = retriever0.getChildShape(m_triface0);
+		btCollisionShape * colshape1 = retriever1.getChildShape(m_triface1);
+
+		if(child_has_transform0)
+		{
+			body0->setWorldTransform(orgtrans0*shape0->getChildTransform(m_triface0));
+		}
+
+		if(child_has_transform1)
+		{
+			body1->setWorldTransform(orgtrans1*shape1->getChildTransform(m_triface1));
+		}
+
+		//collide two convex shapes
+		convex_vs_convex_collision(body0,body1,colshape0,colshape1);
+
+
+		if(child_has_transform0)
+		{
+			body0->setWorldTransform(orgtrans0);
+		}
+
+		if(child_has_transform1)
+		{
+			body1->setWorldTransform(orgtrans1);
+		}
+
+	}
+
+	shape0->unlockChildShapes();
+	shape1->unlockChildShapes();
+}
+
+void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0,
+				  btCollisionObject * body1,
+				  btGImpactShapeInterface * shape0,
+				  btCollisionShape * shape1,bool swapped)
+{
+	if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
+	{
+		btGImpactMeshShape * meshshape0 = static_cast<btGImpactMeshShape *>(shape0);
+		m_part0 = meshshape0->getMeshPartCount();
+
+		while(m_part0--)
+		{
+
+			gimpact_vs_shape(body0,
+				  body1,
+				  meshshape0->getMeshPart(m_part0),
+				  shape1,swapped);
+
+		}
+
+		return;
+	}
+
+	#ifdef GIMPACT_VS_PLANE_COLLISION
+	if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART &&
+		shape1->getShapeType() == STATIC_PLANE_PROXYTYPE)
+	{
+		btGImpactMeshShapePart * shapepart = static_cast<btGImpactMeshShapePart *>(shape0);
+		btStaticPlaneShape * planeshape = static_cast<btStaticPlaneShape * >(shape1);
+		gimpacttrimeshpart_vs_plane_collision(body0,body1,shapepart,planeshape,swapped);
+		return;
+	}
+
+	#endif
+
+
+
+	if(shape1->isCompound())
+	{
+		btCompoundShape * compoundshape = static_cast<btCompoundShape *>(shape1);
+		gimpact_vs_compoundshape(body0,body1,shape0,compoundshape,swapped);
+		return;
+	}
+	else if(shape1->isConcave())
+	{
+		btConcaveShape * concaveshape = static_cast<btConcaveShape *>(shape1);
+		gimpact_vs_concave(body0,body1,shape0,concaveshape,swapped);
+		return;
+	}
+
+
+	btTransform orgtrans0 = body0->getWorldTransform();
+
+	btTransform orgtrans1 = body1->getWorldTransform();
+
+	btAlignedObjectArray<int> collided_results;
+
+	gimpact_vs_shape_find_pairs(orgtrans0,orgtrans1,shape0,shape1,collided_results);
+
+	if(collided_results.size() == 0) return;
+
+
+	shape0->lockChildShapes();
+
+	GIM_ShapeRetriever retriever0(shape0);
+
+
+	bool child_has_transform0 = shape0->childrenHasTransform();
+
+
+	int i = collided_results.size();
+
+	while(i--)
+	{
+		int child_index = collided_results[i];
+        if(swapped)
+    		m_triface1 = child_index;
+        else
+            m_triface0 = child_index;
+
+		btCollisionShape * colshape0 = retriever0.getChildShape(child_index);
+
+		if(child_has_transform0)
+		{
+			body0->setWorldTransform(orgtrans0*shape0->getChildTransform(child_index));
+		}
+
+		//collide two shapes
+		if(swapped)
+		{
+			shape_vs_shape_collision(body1,body0,shape1,colshape0);
+		}
+		else
+		{
+			shape_vs_shape_collision(body0,body1,colshape0,shape1);
+		}
+
+		//restore transforms
+		if(child_has_transform0)
+		{
+			body0->setWorldTransform(orgtrans0);
+		}
+
+	}
+
+	shape0->unlockChildShapes();
+
+}
+
+void btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(btCollisionObject * body0,
+				  btCollisionObject * body1,
+				  btGImpactShapeInterface * shape0,
+				  btCompoundShape * shape1,bool swapped)
+{
+	btTransform orgtrans1 = body1->getWorldTransform();
+
+	int i = shape1->getNumChildShapes();
+	while(i--)
+	{
+
+		btCollisionShape * colshape1 = shape1->getChildShape(i);
+		btTransform childtrans1 = orgtrans1*shape1->getChildTransform(i);
+
+		body1->setWorldTransform(childtrans1);
+
+		//collide child shape
+		gimpact_vs_shape(body0, body1,
+					  shape0,colshape1,swapped);
+
+
+		//restore transforms
+		body1->setWorldTransform(orgtrans1);
+	}
+}
+
+void btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision(
+					  btCollisionObject * body0,
+					  btCollisionObject * body1,
+					  btGImpactMeshShapePart * shape0,
+					  btStaticPlaneShape * shape1,bool swapped)
+{
+
+
+	btTransform orgtrans0 = body0->getWorldTransform();
+	btTransform orgtrans1 = body1->getWorldTransform();
+
+	btPlaneShape * planeshape = static_cast<btPlaneShape *>(shape1);
+	btVector4 plane;
+	planeshape->get_plane_equation_transformed(orgtrans1,plane);
+
+	//test box against plane
+
+	btAABB tribox;
+	shape0->getAabb(orgtrans0,tribox.m_min,tribox.m_max);
+	tribox.increment_margin(planeshape->getMargin());
+
+	if( tribox.plane_classify(plane)!= BT_CONST_COLLIDE_PLANE) return;
+
+	shape0->lockChildShapes();
+
+	btScalar margin = shape0->getMargin() + planeshape->getMargin();
+
+	btVector3 vertex;
+	int vi = shape0->getVertexCount();
+	while(vi--)
+	{
+		shape0->getVertex(vi,vertex);
+		vertex = orgtrans0(vertex);
+
+		btScalar distance = vertex.dot(plane) - plane[3] - margin;
+
+		if(distance<0.0)//add contact
+		{
+			if(swapped)
+			{
+				addContactPoint(body1, body0,
+					vertex,
+					-plane,
+					distance);
+			}
+			else
+			{
+				addContactPoint(body0, body1,
+					vertex,
+					plane,
+					distance);
+			}
+		}
+	}
+
+	shape0->unlockChildShapes();
+}
+
+
+
+
+class btGImpactTriangleCallback: public btTriangleCallback
+{
+public:
+	btGImpactCollisionAlgorithm * algorithm;
+	btCollisionObject * body0;
+	btCollisionObject * body1;
+	btGImpactShapeInterface * gimpactshape0;
+	bool swapped;
+	btScalar margin;
+
+	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
+	{
+		btTriangleShapeEx tri1(triangle[0],triangle[1],triangle[2]);
+		tri1.setMargin(margin);
+        if(swapped)
+        {
+            algorithm->setPart0(partId);
+            algorithm->setFace0(triangleIndex);
+        }
+        else
+        {
+            algorithm->setPart1(partId);
+            algorithm->setFace1(triangleIndex);
+        }
+		algorithm->gimpact_vs_shape(
+							body0,body1,gimpactshape0,&tri1,swapped);
+	}
+};
+
+
+
+
+void btGImpactCollisionAlgorithm::gimpact_vs_concave(
+				  btCollisionObject * body0,
+				  btCollisionObject * body1,
+				  btGImpactShapeInterface * shape0,
+				  btConcaveShape * shape1,bool swapped)
+{
+	//create the callback
+	btGImpactTriangleCallback tricallback;
+	tricallback.algorithm = this;
+	tricallback.body0 = body0;
+	tricallback.body1 = body1;
+	tricallback.gimpactshape0 = shape0;
+	tricallback.swapped = swapped;
+	tricallback.margin = shape1->getMargin();
+
+	//getting the trimesh AABB
+	btTransform gimpactInConcaveSpace;
+
+	gimpactInConcaveSpace = body1->getWorldTransform().inverse() * body0->getWorldTransform();
+
+	btVector3 minAABB,maxAABB;
+	shape0->getAabb(gimpactInConcaveSpace,minAABB,maxAABB);
+
+	shape1->processAllTriangles(&tricallback,minAABB,maxAABB);
+
+}
+
+
+
+void btGImpactCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+    clearCache();
+
+    m_resultOut = resultOut;
+	m_dispatchInfo = &dispatchInfo;
+    btGImpactShapeInterface * gimpactshape0;
+    btGImpactShapeInterface * gimpactshape1;
+
+	if (body0->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE)
+	{
+		gimpactshape0 = static_cast<btGImpactShapeInterface *>(body0->getCollisionShape());
+
+		if( body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
+		{
+			gimpactshape1 = static_cast<btGImpactShapeInterface *>(body1->getCollisionShape());
+
+			gimpact_vs_gimpact(body0,body1,gimpactshape0,gimpactshape1);
+		}
+		else
+		{
+			gimpact_vs_shape(body0,body1,gimpactshape0,body1->getCollisionShape(),false);
+		}
+
+	}
+	else if (body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
+	{
+		gimpactshape1 = static_cast<btGImpactShapeInterface *>(body1->getCollisionShape());
+
+		gimpact_vs_shape(body1,body0,gimpactshape1,body0->getCollisionShape(),true);
+	}
+}
+
+
+btScalar btGImpactCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+	return 1.f;
+
+}
+
+///////////////////////////////////// REGISTERING ALGORITHM //////////////////////////////////////////////
+
+btGImpactCollisionAlgorithm::CreateFunc g_gimpact_cf;
+
+//! Use this function for register the algorithm externally
+void btGImpactCollisionAlgorithm::registerAlgorithm(btCollisionDispatcher * dispatcher)
+{
+
+	int i;
+
+	for ( i = 0;i < MAX_BROADPHASE_COLLISION_TYPES ;i++ )
+	{
+		dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,i ,&g_gimpact_cf);
+	}
+
+	for ( i = 0;i < MAX_BROADPHASE_COLLISION_TYPES ;i++ )
+	{
+		dispatcher->registerCollisionCreateFunc(i,GIMPACT_SHAPE_PROXYTYPE ,&g_gimpact_cf);
+	}
+
+}

extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h

@@ -0,0 +1,306 @@
+/*! \file btGImpactShape.h
+\author Francisco Len N<>jera
+*/
+/*
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BVH_CONCAVE_COLLISION_ALGORITHM_H
+#define BVH_CONCAVE_COLLISION_ALGORITHM_H
+
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
+#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
+class btDispatcher;
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+
+#include "LinearMath/btAlignedObjectArray.h"
+
+#include "btGImpactShape.h"
+#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
+#include "BulletCollision/CollisionShapes/btCompoundShape.h"
+#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h"
+#include "LinearMath/btIDebugDraw.h"
+
+
+
+//! Collision Algorithm for GImpact Shapes
+/*!
+For register this algorithm in Bullet, proceed as following:
+ \code
+btCollisionDispatcher * dispatcher = static_cast<btCollisionDispatcher *>(m_dynamicsWorld ->getDispatcher());
+btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher);
+ \endcode
+*/
+class btGImpactCollisionAlgorithm : public btCollisionAlgorithm
+{
+protected:
+	btCollisionAlgorithm * m_convex_algorithm;
+    btPersistentManifold * m_manifoldPtr;
+	btManifoldResult* m_resultOut;
+	const btDispatcherInfo * m_dispatchInfo;
+	int m_triface0;
+	int m_part0;
+	int m_triface1;
+	int m_part1;
+
+
+	//! Creates a new contact point
+	SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(btCollisionObject* body0,btCollisionObject* body1)
+	{
+		m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);		
+		return m_manifoldPtr;
+	}
+
+	SIMD_FORCE_INLINE void destroyConvexAlgorithm()
+	{
+		if(m_convex_algorithm)
+		{
+			m_convex_algorithm->~btCollisionAlgorithm();
+			m_dispatcher->freeCollisionAlgorithm( m_convex_algorithm);
+			m_convex_algorithm = NULL;
+		}
+	}
+
+	SIMD_FORCE_INLINE void destroyContactManifolds()
+	{
+		if(m_manifoldPtr == NULL) return;
+		m_dispatcher->releaseManifold(m_manifoldPtr);
+		m_manifoldPtr = NULL;
+	}
+
+	SIMD_FORCE_INLINE void clearCache()
+	{
+		destroyContactManifolds();
+		destroyConvexAlgorithm();
+
+		m_triface0 = -1;
+		m_part0 = -1;
+		m_triface1 = -1;
+		m_part1 = -1;
+	}
+
+	SIMD_FORCE_INLINE btPersistentManifold* getLastManifold()
+	{
+		return m_manifoldPtr;
+	}
+
+
+	// Call before process collision
+	SIMD_FORCE_INLINE void checkManifold(btCollisionObject* body0,btCollisionObject* body1)
+	{
+		if(getLastManifold() == 0)
+		{
+			newContactManifold(body0,body1);
+		}
+
+		m_resultOut->setPersistentManifold(getLastManifold());
+	}
+
+	// Call before process collision
+	SIMD_FORCE_INLINE btCollisionAlgorithm * newAlgorithm(btCollisionObject* body0,btCollisionObject* body1)
+	{
+		checkManifold(body0,body1);
+
+		btCollisionAlgorithm * convex_algorithm = m_dispatcher->findAlgorithm(
+				body0,body1,getLastManifold());
+		return convex_algorithm ;
+	}
+
+	// Call before process collision
+	SIMD_FORCE_INLINE void checkConvexAlgorithm(btCollisionObject* body0,btCollisionObject* body1)
+	{
+		if(m_convex_algorithm) return;
+		m_convex_algorithm = newAlgorithm(body0,body1);
+	}
+
+
+
+
+	void addContactPoint(btCollisionObject * body0,
+					btCollisionObject * body1,
+					const btVector3 & point,
+					const btVector3 & normal,
+					btScalar distance);
+
+//! Collision routines
+//!@{
+
+	void collide_gjk_triangles(btCollisionObject * body0,
+				  btCollisionObject * body1,
+				  btGImpactMeshShapePart * shape0,
+				  btGImpactMeshShapePart * shape1,
+				  const int * pairs, int pair_count);
+
+	void collide_sat_triangles(btCollisionObject * body0,
+					  btCollisionObject * body1,
+					  btGImpactMeshShapePart * shape0,
+					  btGImpactMeshShapePart * shape1,
+					  const int * pairs, int pair_count);
+
+
+
+
+	void shape_vs_shape_collision(
+					  btCollisionObject * body0,
+					  btCollisionObject * body1,
+					  btCollisionShape * shape0,
+					  btCollisionShape * shape1);
+
+	void convex_vs_convex_collision(btCollisionObject * body0,
+					  btCollisionObject * body1,
+					  btCollisionShape * shape0,
+					  btCollisionShape * shape1);
+
+
+
+	void gimpact_vs_gimpact_find_pairs(
+					  const btTransform & trans0,
+					  const btTransform & trans1,
+					  btGImpactShapeInterface * shape0,
+					  btGImpactShapeInterface * shape1,btPairSet & pairset);
+
+	void gimpact_vs_shape_find_pairs(
+					  const btTransform & trans0,
+					  const btTransform & trans1,
+					  btGImpactShapeInterface * shape0,
+					  btCollisionShape * shape1,
+					  btAlignedObjectArray<int> & collided_primitives);
+
+
+	void gimpacttrimeshpart_vs_plane_collision(
+					  btCollisionObject * body0,
+					  btCollisionObject * body1,
+					  btGImpactMeshShapePart * shape0,
+					  btStaticPlaneShape * shape1,bool swapped);
+
+
+public:
+
+	btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
+
+	virtual ~btGImpactCollisionAlgorithm();
+
+	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	btScalar	calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	{
+		if (m_manifoldPtr)
+			manifoldArray.push_back(m_manifoldPtr);
+	}
+
+
+	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	{
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		{
+			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btGImpactCollisionAlgorithm));
+			return new(mem) btGImpactCollisionAlgorithm(ci,body0,body1);
+		}
+	};
+
+	//! Use this function for register the algorithm externally
+	static void registerAlgorithm(btCollisionDispatcher * dispatcher);
+
+	//! Gets the average time in miliseconds of tree collisions
+	static float getAverageTreeCollisionTime();
+
+	//! Gets the average time in miliseconds of triangle collisions
+	static float getAverageTriangleCollisionTime();
+
+
+	//! Collides two gimpact shapes
+	/*!
+	\pre shape0 and shape1 couldn't be btGImpactMeshShape objects
+	*/
+
+
+	void gimpact_vs_gimpact(btCollisionObject * body0,
+					  btCollisionObject * body1,
+					  btGImpactShapeInterface * shape0,
+					  btGImpactShapeInterface * shape1);
+
+	void gimpact_vs_shape(btCollisionObject * body0,
+					  btCollisionObject * body1,
+					  btGImpactShapeInterface * shape0,
+					  btCollisionShape * shape1,bool swapped);
+
+	void gimpact_vs_compoundshape(btCollisionObject * body0,
+					  btCollisionObject * body1,
+					  btGImpactShapeInterface * shape0,
+					  btCompoundShape * shape1,bool swapped);
+
+	void gimpact_vs_concave(
+					  btCollisionObject * body0,
+					  btCollisionObject * body1,
+					  btGImpactShapeInterface * shape0,
+					  btConcaveShape * shape1,bool swapped);
+
+
+
+
+		/// Accessor/Mutator pairs for Part and triangleID
+    void 	setFace0(int value) 
+    { 
+    	m_triface0 = value; 
+    }
+    int getFace0() 
+    { 
+    	return m_triface0; 
+    }
+    void setFace1(int value) 
+    { 
+    	m_triface1 = value; 
+    }
+    int getFace1() 
+    { 
+    	return m_triface1; 
+    }
+    void setPart0(int value) 
+    { 
+    	m_part0 = value; 
+    }
+    int getPart0() 
+    { 
+    	return m_part0; 
+    }
+    void setPart1(int value) 
+    { 
+    	m_part1 = value; 
+		}
+    int getPart1() 
+    { 
+    	return m_part1; 
+    }
+
+};
+
+
+//algorithm details
+//#define BULLET_TRIANGLE_COLLISION 1
+#define GIMPACT_VS_PLANE_COLLISION 1
+
+
+
+#endif //BVH_CONCAVE_COLLISION_ALGORITHM_H

extern/bullet2/src/BulletCollision/Gimpact/btGImpactMassUtil.h

@@ -0,0 +1,60 @@
+/*! \file btGImpactMassUtil.h
+\author Francisco Len N<>jera
+*/
+/*
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#ifndef GIMPACT_MASS_UTIL_H
+#define GIMPACT_MASS_UTIL_H
+
+#include "LinearMath/btTransform.h"
+
+
+
+SIMD_FORCE_INLINE btVector3 gim_inertia_add_transformed(
+	const btVector3 & source_inertia, const btVector3 & added_inertia, const btTransform & transform)
+{
+	btMatrix3x3  rotatedTensor = transform.getBasis().scaled(added_inertia) * transform.getBasis().transpose();
+
+	btScalar x2 = transform.getOrigin()[0];
+	x2*= x2;
+	btScalar y2 = transform.getOrigin()[1];
+	y2*= y2;
+	btScalar z2 = transform.getOrigin()[2];
+	z2*= z2;
+
+	btScalar ix = rotatedTensor[0][0]*(y2+z2);
+	btScalar iy = rotatedTensor[1][1]*(x2+z2);
+	btScalar iz = rotatedTensor[2][2]*(x2+y2);
+
+	return btVector3(source_inertia[0]+ix,source_inertia[1]+iy,source_inertia[2] + iz);
+}
+
+SIMD_FORCE_INLINE btVector3 gim_get_point_inertia(const btVector3 & point, btScalar mass)
+{
+	btScalar x2 = point[0]*point[0];
+	btScalar y2 = point[1]*point[1];
+	btScalar z2 = point[2]*point[2];
+	return btVector3(mass*(y2+z2),mass*(x2+z2),mass*(x2+y2));
+}
+
+
+#endif //GIMPACT_MESH_SHAPE_H

extern/bullet2/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp

@@ -0,0 +1,529 @@
+/*! \file gim_box_set.h
+\author Francisco Len N<>jera
+*/
+/*
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "btGImpactQuantizedBvh.h"
+#include "LinearMath/btQuickprof.h"
+
+#ifdef TRI_COLLISION_PROFILING
+btClock g_q_tree_clock;
+
+
+float g_q_accum_tree_collision_time = 0;
+int g_q_count_traversing = 0;
+
+
+void bt_begin_gim02_q_tree_time()
+{
+	g_q_tree_clock.reset();
+}
+
+void bt_end_gim02_q_tree_time()
+{
+	g_q_accum_tree_collision_time += g_q_tree_clock.getTimeMicroseconds();
+	g_q_count_traversing++;
+}
+
+
+//! Gets the average time in miliseconds of tree collisions
+float btGImpactQuantizedBvh::getAverageTreeCollisionTime()
+{
+	if(g_q_count_traversing == 0) return 0;
+
+	float avgtime = g_q_accum_tree_collision_time;
+	avgtime /= (float)g_q_count_traversing;
+
+	g_q_accum_tree_collision_time = 0;
+	g_q_count_traversing = 0;
+	return avgtime;
+
+//	float avgtime = g_q_count_traversing;
+//	g_q_count_traversing = 0;
+//	return avgtime;
+
+}
+
+#endif //TRI_COLLISION_PROFILING
+
+/////////////////////// btQuantizedBvhTree /////////////////////////////////
+
+void btQuantizedBvhTree::calc_quantization(
+	BT_BVH_DATA_ARRAY & primitive_boxes, btScalar boundMargin)
+{
+	//calc globa box
+	btAABB global_bound;
+	global_bound.invalidate();
+
+	for (int i=0;i<primitive_boxes.size() ;i++ )
+	{
+		global_bound.merge(primitive_boxes[i].m_bound);
+	}
+
+	bt_calc_quantization_parameters(
+		m_global_bound.m_min,m_global_bound.m_max,m_bvhQuantization,global_bound.m_min,global_bound.m_max,boundMargin);
+
+}
+
+
+
+int btQuantizedBvhTree::_calc_splitting_axis(
+	BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex)
+{
+
+	int i;
+
+	btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.));
+	btVector3 variance(btScalar(0.),btScalar(0.),btScalar(0.));
+	int numIndices = endIndex-startIndex;
+
+	for (i=startIndex;i<endIndex;i++)
+	{
+		btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
+					 primitive_boxes[i].m_bound.m_min);
+		means+=center;
+	}
+	means *= (btScalar(1.)/(btScalar)numIndices);
+
+	for (i=startIndex;i<endIndex;i++)
+	{
+		btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
+					 primitive_boxes[i].m_bound.m_min);
+		btVector3 diff2 = center-means;
+		diff2 = diff2 * diff2;
+		variance += diff2;
+	}
+	variance *= (btScalar(1.)/	((btScalar)numIndices-1)	);
+
+	return variance.maxAxis();
+}
+
+
+int btQuantizedBvhTree::_sort_and_calc_splitting_index(
+	BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,
+	int endIndex, int splitAxis)
+{
+	int i;
+	int splitIndex =startIndex;
+	int numIndices = endIndex - startIndex;
+
+	// average of centers
+	btScalar splitValue = 0.0f;
+
+	btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.));
+	for (i=startIndex;i<endIndex;i++)
+	{
+		btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
+					 primitive_boxes[i].m_bound.m_min);
+		means+=center;
+	}
+	means *= (btScalar(1.)/(btScalar)numIndices);
+
+	splitValue = means[splitAxis];
+
+
+	//sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
+	for (i=startIndex;i<endIndex;i++)
+	{
+		btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
+					 primitive_boxes[i].m_bound.m_min);
+		if (center[splitAxis] > splitValue)
+		{
+			//swap
+			primitive_boxes.swap(i,splitIndex);
+			//swapLeafNodes(i,splitIndex);
+			splitIndex++;
+		}
+	}
+
+	//if the splitIndex causes unbalanced trees, fix this by using the center in between startIndex and endIndex
+	//otherwise the tree-building might fail due to stack-overflows in certain cases.
+	//unbalanced1 is unsafe: it can cause stack overflows
+	//bool unbalanced1 = ((splitIndex==startIndex) || (splitIndex == (endIndex-1)));
+
+	//unbalanced2 should work too: always use center (perfect balanced trees)
+	//bool unbalanced2 = true;
+
+	//this should be safe too:
+	int rangeBalancedIndices = numIndices/3;
+	bool unbalanced = ((splitIndex<=(startIndex+rangeBalancedIndices)) || (splitIndex >=(endIndex-1-rangeBalancedIndices)));
+
+	if (unbalanced)
+	{
+		splitIndex = startIndex+ (numIndices>>1);
+	}
+
+	bool unbal = (splitIndex==startIndex) || (splitIndex == (endIndex));
+	btAssert(!unbal);
+
+	return splitIndex;
+
+}
+
+
+void btQuantizedBvhTree::_build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex)
+{
+	int curIndex = m_num_nodes;
+	m_num_nodes++;
+
+	btAssert((endIndex-startIndex)>0);
+
+	if ((endIndex-startIndex)==1)
+	{
+	    //We have a leaf node
+	    setNodeBound(curIndex,primitive_boxes[startIndex].m_bound);
+		m_node_array[curIndex].setDataIndex(primitive_boxes[startIndex].m_data);
+
+		return;
+	}
+	//calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'.
+
+	//split axis
+	int splitIndex = _calc_splitting_axis(primitive_boxes,startIndex,endIndex);
+
+	splitIndex = _sort_and_calc_splitting_index(
+			primitive_boxes,startIndex,endIndex,
+			splitIndex//split axis
+			);
+
+
+	//calc this node bounding box
+
+	btAABB node_bound;
+	node_bound.invalidate();
+
+	for (int i=startIndex;i<endIndex;i++)
+	{
+		node_bound.merge(primitive_boxes[i].m_bound);
+	}
+
+	setNodeBound(curIndex,node_bound);
+
+
+	//build left branch
+	_build_sub_tree(primitive_boxes, startIndex, splitIndex );
+
+
+	//build right branch
+	 _build_sub_tree(primitive_boxes, splitIndex ,endIndex);
+
+	m_node_array[curIndex].setEscapeIndex(m_num_nodes - curIndex);
+
+
+}
+
+//! stackless build tree
+void btQuantizedBvhTree::build_tree(
+	BT_BVH_DATA_ARRAY & primitive_boxes)
+{
+	calc_quantization(primitive_boxes);
+	// initialize node count to 0
+	m_num_nodes = 0;
+	// allocate nodes
+	m_node_array.resize(primitive_boxes.size()*2);
+
+	_build_sub_tree(primitive_boxes, 0, primitive_boxes.size());
+}
+
+////////////////////////////////////class btGImpactQuantizedBvh
+
+void btGImpactQuantizedBvh::refit()
+{
+	int nodecount = getNodeCount();
+	while(nodecount--)
+	{
+		if(isLeafNode(nodecount))
+		{
+			btAABB leafbox;
+			m_primitive_manager->get_primitive_box(getNodeData(nodecount),leafbox);
+			setNodeBound(nodecount,leafbox);
+		}
+		else
+		{
+			//const BT_BVH_TREE_NODE * nodepointer = get_node_pointer(nodecount);
+			//get left bound
+			btAABB bound;
+			bound.invalidate();
+
+			btAABB temp_box;
+
+			int child_node = getLeftNode(nodecount);
+			if(child_node)
+			{
+				getNodeBound(child_node,temp_box);
+				bound.merge(temp_box);
+			}
+
+			child_node = getRightNode(nodecount);
+			if(child_node)
+			{
+				getNodeBound(child_node,temp_box);
+				bound.merge(temp_box);
+			}
+
+			setNodeBound(nodecount,bound);
+		}
+	}
+}
+
+//! this rebuild the entire set
+void btGImpactQuantizedBvh::buildSet()
+{
+	//obtain primitive boxes
+	BT_BVH_DATA_ARRAY primitive_boxes;
+	primitive_boxes.resize(m_primitive_manager->get_primitive_count());
+
+	for (int i = 0;i<primitive_boxes.size() ;i++ )
+	{
+		 m_primitive_manager->get_primitive_box(i,primitive_boxes[i].m_bound);
+		 primitive_boxes[i].m_data = i;
+	}
+
+	m_box_tree.build_tree(primitive_boxes);
+}
+
+//! returns the indices of the primitives in the m_primitive_manager
+bool btGImpactQuantizedBvh::boxQuery(const btAABB & box, btAlignedObjectArray<int> & collided_results) const
+{
+	int curIndex = 0;
+	int numNodes = getNodeCount();
+
+	//quantize box
+
+	unsigned short quantizedMin[3];
+	unsigned short quantizedMax[3];
+
+	m_box_tree.quantizePoint(quantizedMin,box.m_min);
+	m_box_tree.quantizePoint(quantizedMax,box.m_max);
+
+
+	while (curIndex < numNodes)
+	{
+
+		//catch bugs in tree data
+
+		bool aabbOverlap = m_box_tree.testQuantizedBoxOverlapp(curIndex, quantizedMin,quantizedMax);
+		bool isleafnode = isLeafNode(curIndex);
+
+		if (isleafnode && aabbOverlap)
+		{
+			collided_results.push_back(getNodeData(curIndex));
+		}
+
+		if (aabbOverlap || isleafnode)
+		{
+			//next subnode
+			curIndex++;
+		}
+		else
+		{
+			//skip node
+			curIndex+= getEscapeNodeIndex(curIndex);
+		}
+	}
+	if(collided_results.size()>0) return true;
+	return false;
+}
+
+
+
+//! returns the indices of the primitives in the m_primitive_manager
+bool btGImpactQuantizedBvh::rayQuery(
+	const btVector3 & ray_dir,const btVector3 & ray_origin ,
+	btAlignedObjectArray<int> & collided_results) const
+{
+	int curIndex = 0;
+	int numNodes = getNodeCount();
+
+	while (curIndex < numNodes)
+	{
+		btAABB bound;
+		getNodeBound(curIndex,bound);
+
+		//catch bugs in tree data
+
+		bool aabbOverlap = bound.collide_ray(ray_origin,ray_dir);
+		bool isleafnode = isLeafNode(curIndex);
+
+		if (isleafnode && aabbOverlap)
+		{
+			collided_results.push_back(getNodeData( curIndex));
+		}
+
+		if (aabbOverlap || isleafnode)
+		{
+			//next subnode
+			curIndex++;
+		}
+		else
+		{
+			//skip node
+			curIndex+= getEscapeNodeIndex(curIndex);
+		}
+	}
+	if(collided_results.size()>0) return true;
+	return false;
+}
+
+
+SIMD_FORCE_INLINE bool _quantized_node_collision(
+	btGImpactQuantizedBvh * boxset0, btGImpactQuantizedBvh * boxset1,
+	const BT_BOX_BOX_TRANSFORM_CACHE & trans_cache_1to0,
+	int node0 ,int node1, bool complete_primitive_tests)
+{
+	btAABB box0;
+	boxset0->getNodeBound(node0,box0);
+	btAABB box1;
+	boxset1->getNodeBound(node1,box1);
+
+	return box0.overlapping_trans_cache(box1,trans_cache_1to0,complete_primitive_tests );
+//	box1.appy_transform_trans_cache(trans_cache_1to0);
+//	return box0.has_collision(box1);
+
+}
+
+
+//stackless recursive collision routine
+static void _find_quantized_collision_pairs_recursive(
+	btGImpactQuantizedBvh * boxset0, btGImpactQuantizedBvh * boxset1,
+	btPairSet * collision_pairs,
+	const BT_BOX_BOX_TRANSFORM_CACHE & trans_cache_1to0,
+	int node0, int node1, bool complete_primitive_tests)
+{
+
+
+
+	if( _quantized_node_collision(
+		boxset0,boxset1,trans_cache_1to0,
+		node0,node1,complete_primitive_tests) ==false) return;//avoid colliding internal nodes
+
+	if(boxset0->isLeafNode(node0))
+	{
+		if(boxset1->isLeafNode(node1))
+		{
+			// collision result
+			collision_pairs->push_pair(
+				boxset0->getNodeData(node0),boxset1->getNodeData(node1));
+			return;
+		}
+		else
+		{
+
+			//collide left recursive
+
+			_find_quantized_collision_pairs_recursive(
+								boxset0,boxset1,
+								collision_pairs,trans_cache_1to0,
+								node0,boxset1->getLeftNode(node1),false);
+
+			//collide right recursive
+			_find_quantized_collision_pairs_recursive(
+								boxset0,boxset1,
+								collision_pairs,trans_cache_1to0,
+								node0,boxset1->getRightNode(node1),false);
+
+
+		}
+	}
+	else
+	{
+		if(boxset1->isLeafNode(node1))
+		{
+
+			//collide left recursive
+			_find_quantized_collision_pairs_recursive(
+								boxset0,boxset1,
+								collision_pairs,trans_cache_1to0,
+								boxset0->getLeftNode(node0),node1,false);
+
+
+			//collide right recursive
+
+			_find_quantized_collision_pairs_recursive(
+								boxset0,boxset1,
+								collision_pairs,trans_cache_1to0,
+								boxset0->getRightNode(node0),node1,false);
+
+
+		}
+		else
+		{
+			//collide left0 left1
+
+
+
+			_find_quantized_collision_pairs_recursive(
+				boxset0,boxset1,
+				collision_pairs,trans_cache_1to0,
+				boxset0->getLeftNode(node0),boxset1->getLeftNode(node1),false);
+
+			//collide left0 right1
+
+			_find_quantized_collision_pairs_recursive(
+				boxset0,boxset1,
+				collision_pairs,trans_cache_1to0,
+				boxset0->getLeftNode(node0),boxset1->getRightNode(node1),false);
+
+
+			//collide right0 left1
+
+			_find_quantized_collision_pairs_recursive(
+				boxset0,boxset1,
+				collision_pairs,trans_cache_1to0,
+				boxset0->getRightNode(node0),boxset1->getLeftNode(node1),false);
+
+			//collide right0 right1
+
+			_find_quantized_collision_pairs_recursive(
+				boxset0,boxset1,
+				collision_pairs,trans_cache_1to0,
+				boxset0->getRightNode(node0),boxset1->getRightNode(node1),false);
+
+		}// else if node1 is not a leaf
+	}// else if node0 is not a leaf
+}
+
+
+void btGImpactQuantizedBvh::find_collision(btGImpactQuantizedBvh * boxset0, const btTransform & trans0,
+		btGImpactQuantizedBvh * boxset1, const btTransform & trans1,
+		btPairSet & collision_pairs)
+{
+
+	if(boxset0->getNodeCount()==0 || boxset1->getNodeCount()==0 ) return;
+
+	BT_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0;
+
+	trans_cache_1to0.calc_from_homogenic(trans0,trans1);
+
+#ifdef TRI_COLLISION_PROFILING
+	bt_begin_gim02_q_tree_time();
+#endif //TRI_COLLISION_PROFILING
+
+	_find_quantized_collision_pairs_recursive(
+		boxset0,boxset1,
+		&collision_pairs,trans_cache_1to0,0,0,true);
+#ifdef TRI_COLLISION_PROFILING
+	bt_end_gim02_q_tree_time();
+#endif //TRI_COLLISION_PROFILING
+
+}
+
+

extern/bullet2/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h

@@ -0,0 +1,379 @@
+#ifndef GIM_QUANTIZED_SET_H_INCLUDED
+#define GIM_QUANTIZED_SET_H_INCLUDED
+
+/*! \file btGImpactQuantizedBvh.h
+\author Francisco Len N<>jera
+*/
+/*
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "btGImpactBvh.h"
+#include "btQuantization.h"
+
+
+
+/*! \defgroup BOX_TREES
+
+
+
+*/
+//! @{
+
+
+///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
+///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
+ATTRIBUTE_ALIGNED16	(struct) BT_QUANTIZED_BVH_NODE
+{
+	//12 bytes
+	unsigned short int	m_quantizedAabbMin[3];
+	unsigned short int	m_quantizedAabbMax[3];
+	//4 bytes
+	int	m_escapeIndexOrDataIndex;
+
+	BT_QUANTIZED_BVH_NODE()
+	{
+		m_escapeIndexOrDataIndex = 0;
+	}
+
+	SIMD_FORCE_INLINE bool isLeafNode() const
+	{
+		//skipindex is negative (internal node), triangleindex >=0 (leafnode)
+		return (m_escapeIndexOrDataIndex>=0);
+	}
+
+	SIMD_FORCE_INLINE int getEscapeIndex() const
+	{
+		//btAssert(m_escapeIndexOrDataIndex < 0);
+		return -m_escapeIndexOrDataIndex;
+	}
+
+	SIMD_FORCE_INLINE void setEscapeIndex(int index)
+	{
+		m_escapeIndexOrDataIndex = -index;
+	}
+
+	SIMD_FORCE_INLINE int getDataIndex() const
+	{
+		//btAssert(m_escapeIndexOrDataIndex >= 0);
+
+		return m_escapeIndexOrDataIndex;
+	}
+
+	SIMD_FORCE_INLINE void setDataIndex(int index)
+	{
+		m_escapeIndexOrDataIndex = index;
+	}
+
+	SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp(
+		unsigned short * quantizedMin,unsigned short * quantizedMax) const
+	{
+		if(m_quantizedAabbMin[0] > quantizedMax[0] ||
+		   m_quantizedAabbMax[0] < quantizedMin[0] ||
+		   m_quantizedAabbMin[1] > quantizedMax[1] ||
+		   m_quantizedAabbMax[1] < quantizedMin[1] ||
+		   m_quantizedAabbMin[2] > quantizedMax[2] ||
+		   m_quantizedAabbMax[2] < quantizedMin[2])
+		{
+			return false;
+		}
+		return true;
+	}
+
+};
+
+
+
+class BT_QUANTIZED_BVH_NODE_ARRAY:public btAlignedObjectArray<BT_QUANTIZED_BVH_NODE>
+{
+};
+
+
+
+
+//! Basic Box tree structure
+class btQuantizedBvhTree
+{
+protected:
+	int m_num_nodes;
+	BT_QUANTIZED_BVH_NODE_ARRAY m_node_array;
+	btAABB m_global_bound;
+	btVector3 m_bvhQuantization;
+protected:
+	void calc_quantization(BT_BVH_DATA_ARRAY & primitive_boxes, btScalar boundMargin = btScalar(1.0) );
+
+	int _sort_and_calc_splitting_index(
+		BT_BVH_DATA_ARRAY & primitive_boxes,
+		 int startIndex,  int endIndex, int splitAxis);
+
+	int _calc_splitting_axis(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
+
+	void _build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
+public:
+	btQuantizedBvhTree()
+	{
+		m_num_nodes = 0;
+	}
+
+	//! prototype functions for box tree management
+	//!@{
+	void build_tree(BT_BVH_DATA_ARRAY & primitive_boxes);
+
+	SIMD_FORCE_INLINE void quantizePoint(
+		unsigned short * quantizedpoint, const btVector3 & point) const
+	{
+		bt_quantize_clamp(quantizedpoint,point,m_global_bound.m_min,m_global_bound.m_max,m_bvhQuantization);
+	}
+
+
+	SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp(
+		int node_index,
+		unsigned short * quantizedMin,unsigned short * quantizedMax) const
+	{
+		return m_node_array[node_index].testQuantizedBoxOverlapp(quantizedMin,quantizedMax);
+	}
+
+	SIMD_FORCE_INLINE void clearNodes()
+	{
+		m_node_array.clear();
+		m_num_nodes = 0;
+	}
+
+	//! node count
+	SIMD_FORCE_INLINE int getNodeCount() const
+	{
+		return m_num_nodes;
+	}
+
+	//! tells if the node is a leaf
+	SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const
+	{
+		return m_node_array[nodeindex].isLeafNode();
+	}
+
+	SIMD_FORCE_INLINE int getNodeData(int nodeindex) const
+	{
+		return m_node_array[nodeindex].getDataIndex();
+	}
+
+	SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const
+	{
+		bound.m_min = bt_unquantize(
+			m_node_array[nodeindex].m_quantizedAabbMin,
+			m_global_bound.m_min,m_bvhQuantization);
+
+		bound.m_max = bt_unquantize(
+			m_node_array[nodeindex].m_quantizedAabbMax,
+			m_global_bound.m_min,m_bvhQuantization);
+	}
+
+	SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound)
+	{
+		bt_quantize_clamp(	m_node_array[nodeindex].m_quantizedAabbMin,
+							bound.m_min,
+							m_global_bound.m_min,
+							m_global_bound.m_max,
+							m_bvhQuantization);
+
+		bt_quantize_clamp(	m_node_array[nodeindex].m_quantizedAabbMax,
+							bound.m_max,
+							m_global_bound.m_min,
+							m_global_bound.m_max,
+							m_bvhQuantization);
+	}
+
+	SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const
+	{
+		return nodeindex+1;
+	}
+
+	SIMD_FORCE_INLINE int getRightNode(int nodeindex) const
+	{
+		if(m_node_array[nodeindex+1].isLeafNode()) return nodeindex+2;
+		return nodeindex+1 + m_node_array[nodeindex+1].getEscapeIndex();
+	}
+
+	SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const
+	{
+		return m_node_array[nodeindex].getEscapeIndex();
+	}
+
+	SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE * get_node_pointer(int index = 0) const
+	{
+		return &m_node_array[index];
+	}
+
+	//!@}
+};
+
+
+
+//! Structure for containing Boxes
+/*!
+This class offers an structure for managing a box tree of primitives.
+Requires a Primitive prototype (like btPrimitiveManagerBase )
+*/
+class btGImpactQuantizedBvh
+{
+protected:
+	btQuantizedBvhTree m_box_tree;
+	btPrimitiveManagerBase * m_primitive_manager;
+
+protected:
+	//stackless refit
+	void refit();
+public:
+
+	//! this constructor doesn't build the tree. you must call	buildSet
+	btGImpactQuantizedBvh()
+	{
+		m_primitive_manager = NULL;
+	}
+
+	//! this constructor doesn't build the tree. you must call	buildSet
+	btGImpactQuantizedBvh(btPrimitiveManagerBase * primitive_manager)
+	{
+		m_primitive_manager = primitive_manager;
+	}
+
+	SIMD_FORCE_INLINE btAABB getGlobalBox()  const
+	{
+		btAABB totalbox;
+		getNodeBound(0, totalbox);
+		return totalbox;
+	}
+
+	SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase * primitive_manager)
+	{
+		m_primitive_manager = primitive_manager;
+	}
+
+	SIMD_FORCE_INLINE btPrimitiveManagerBase * getPrimitiveManager() const
+	{
+		return m_primitive_manager;
+	}
+
+
+//! node manager prototype functions
+///@{
+
+	//! this attemps to refit the box set.
+	SIMD_FORCE_INLINE void update()
+	{
+		refit();
+	}
+
+	//! this rebuild the entire set
+	void buildSet();
+
+	//! returns the indices of the primitives in the m_primitive_manager
+	bool boxQuery(const btAABB & box, btAlignedObjectArray<int> & collided_results) const;
+
+	//! returns the indices of the primitives in the m_primitive_manager
+	SIMD_FORCE_INLINE bool boxQueryTrans(const btAABB & box,
+		 const btTransform & transform, btAlignedObjectArray<int> & collided_results) const
+	{
+		btAABB transbox=box;
+		transbox.appy_transform(transform);
+		return boxQuery(transbox,collided_results);
+	}
+
+	//! returns the indices of the primitives in the m_primitive_manager
+	bool rayQuery(
+		const btVector3 & ray_dir,const btVector3 & ray_origin ,
+		btAlignedObjectArray<int> & collided_results) const;
+
+	//! tells if this set has hierarcht
+	SIMD_FORCE_INLINE bool hasHierarchy() const
+	{
+		return true;
+	}
+
+	//! tells if this set is a trimesh
+	SIMD_FORCE_INLINE bool isTrimesh()  const
+	{
+		return m_primitive_manager->is_trimesh();
+	}
+
+	//! node count
+	SIMD_FORCE_INLINE int getNodeCount() const
+	{
+		return m_box_tree.getNodeCount();
+	}
+
+	//! tells if the node is a leaf
+	SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const
+	{
+		return m_box_tree.isLeafNode(nodeindex);
+	}
+
+	SIMD_FORCE_INLINE int getNodeData(int nodeindex) const
+	{
+		return m_box_tree.getNodeData(nodeindex);
+	}
+
+	SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound)  const
+	{
+		m_box_tree.getNodeBound(nodeindex, bound);
+	}
+
+	SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound)
+	{
+		m_box_tree.setNodeBound(nodeindex, bound);
+	}
+
+
+	SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const
+	{
+		return m_box_tree.getLeftNode(nodeindex);
+	}
+
+	SIMD_FORCE_INLINE int getRightNode(int nodeindex) const
+	{
+		return m_box_tree.getRightNode(nodeindex);
+	}
+
+	SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const
+	{
+		return m_box_tree.getEscapeNodeIndex(nodeindex);
+	}
+
+	SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex,btPrimitiveTriangle & triangle) const
+	{
+		m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex),triangle);
+	}
+
+
+	SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE * get_node_pointer(int index = 0) const
+	{
+		return m_box_tree.get_node_pointer(index);
+	}
+
+//! @}
+
+	static float getAverageTreeCollisionTime();
+
+
+	static void find_collision(btGImpactQuantizedBvh * boxset1, const btTransform & trans1,
+		btGImpactQuantizedBvh * boxset2, const btTransform & trans2,
+		btPairSet & collision_pairs);
+};
+
+
+#endif // GIM_BOXPRUNING_H_INCLUDED

extern/bullet2/src/BulletCollision/Gimpact/btGImpactShape.cpp

@@ -0,0 +1,183 @@
+/*
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#include "btGImpactShape.h"
+#include "btGImpactMassUtil.h"
+
+
+#define CALC_EXACT_INERTIA 1
+
+void btGImpactCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+	lockChildShapes();
+#ifdef CALC_EXACT_INERTIA
+	inertia.setValue(0.f,0.f,0.f);
+
+	int i = this->getNumChildShapes();
+	btScalar shapemass = mass/btScalar(i);
+
+	while(i--)
+	{
+		btVector3 temp_inertia;
+		m_childShapes[i]->calculateLocalInertia(shapemass,temp_inertia);
+		if(childrenHasTransform())
+		{
+			inertia = gim_inertia_add_transformed( inertia,temp_inertia,m_childTransforms[i]);
+		}
+		else
+		{
+			inertia = gim_inertia_add_transformed( inertia,temp_inertia,btTransform::getIdentity());
+		}
+
+	}
+
+#else
+
+	// Calc box inertia
+
+	btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0];
+	btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1];
+	btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2];
+	const btScalar x2 = lx*lx;
+	const btScalar y2 = ly*ly;
+	const btScalar z2 = lz*lz;
+	const btScalar scaledmass = mass * btScalar(0.08333333);
+
+	inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
+
+#endif
+	unlockChildShapes();
+}
+
+
+
+void btGImpactMeshShapePart::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+	lockChildShapes();
+
+
+#ifdef CALC_EXACT_INERTIA
+	inertia.setValue(0.f,0.f,0.f);
+
+	int i = this->getVertexCount();
+	btScalar pointmass = mass/btScalar(i);
+
+	while(i--)
+	{
+		btVector3 pointintertia;
+		this->getVertex(i,pointintertia);
+		pointintertia = gim_get_point_inertia(pointintertia,pointmass);
+		inertia+=pointintertia;
+	}
+
+#else
+
+	// Calc box inertia
+
+	btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0];
+	btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1];
+	btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2];
+	const btScalar x2 = lx*lx;
+	const btScalar y2 = ly*ly;
+	const btScalar z2 = lz*lz;
+	const btScalar scaledmass = mass * btScalar(0.08333333);
+
+	inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
+
+#endif
+
+	unlockChildShapes();
+}
+
+void btGImpactMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+
+#ifdef CALC_EXACT_INERTIA
+	inertia.setValue(0.f,0.f,0.f);
+
+	int i = this->getMeshPartCount();
+	btScalar partmass = mass/btScalar(i);
+
+	while(i--)
+	{
+		btVector3 partinertia;
+		getMeshPart(i)->calculateLocalInertia(partmass,partinertia);
+		inertia+=partinertia;
+	}
+
+#else
+
+	// Calc box inertia
+
+	btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0];
+	btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1];
+	btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2];
+	const btScalar x2 = lx*lx;
+	const btScalar y2 = ly*ly;
+	const btScalar z2 = lz*lz;
+	const btScalar scaledmass = mass * btScalar(0.08333333);
+
+	inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
+
+#endif
+}
+
+void btGImpactMeshShape::rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const
+{
+}
+
+
+void btGImpactMeshShapePart::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+{
+	lockChildShapes();
+	btAABB box;
+	box.m_min = aabbMin;
+	box.m_max = aabbMax;
+
+	btAlignedObjectArray<int> collided;
+	m_box_set.boxQuery(box,collided);
+
+	if(collided.size()==0)
+	{
+		unlockChildShapes();
+		return;
+	}
+
+	int part = (int)getPart();
+	btPrimitiveTriangle triangle;
+	int i = collided.size();
+	while(i--)
+	{
+		this->getPrimitiveTriangle(collided[i],triangle);
+		callback->processTriangle(triangle.m_vertices,part,collided[i]);
+	}
+	unlockChildShapes();
+
+}
+
+void btGImpactMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+{
+	int i = m_mesh_parts.size();
+	while(i--)
+	{
+		m_mesh_parts[i]->processAllTriangles(callback,aabbMin,aabbMax);
+	}
+}

extern/bullet2/src/BulletCollision/Gimpact/btGenericPoolAllocator.cpp

@@ -0,0 +1,283 @@
+/*! \file btGenericPoolAllocator.cpp
+\author Francisco Len N<>jera. email projectileman@yahoo.com
+
+General purpose allocator class
+*/
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "btGenericPoolAllocator.h"
+
+
+
+/// *************** btGenericMemoryPool ******************///////////
+
+size_t btGenericMemoryPool::allocate_from_free_nodes(size_t num_elements)
+{
+	size_t ptr = BT_UINT_MAX;
+
+	if(m_free_nodes_count == 0) return BT_UINT_MAX;
+	// find an avaliable free node with the correct size
+	size_t revindex = m_free_nodes_count;
+
+	while(revindex-- && ptr == BT_UINT_MAX)
+	{
+		if(m_allocated_sizes[m_free_nodes[revindex]]>=num_elements)
+		{
+			ptr = revindex;
+		}
+	}
+	if(ptr == BT_UINT_MAX) return BT_UINT_MAX; // not found
+
+
+	revindex = ptr;
+	ptr = m_free_nodes[revindex];
+	// post: ptr contains the node index, and revindex the index in m_free_nodes
+
+	size_t  finalsize = m_allocated_sizes[ptr];
+	finalsize -= num_elements;
+
+	m_allocated_sizes[ptr] = num_elements;
+
+	// post: finalsize>=0, m_allocated_sizes[ptr] has the requested size
+
+	if(finalsize>0) // preserve free node, there are some free memory
+	{
+		m_free_nodes[revindex] = ptr + num_elements;
+		m_allocated_sizes[ptr + num_elements] = finalsize;
+	}
+	else // delete free node
+	{
+		// swap with end
+		m_free_nodes[revindex] = m_free_nodes[m_free_nodes_count-1];
+		m_free_nodes_count--;
+	}
+
+	return ptr;
+}
+
+size_t btGenericMemoryPool::allocate_from_pool(size_t num_elements)
+{
+	if(m_allocated_count+num_elements>m_max_element_count) return BT_UINT_MAX;
+
+	size_t ptr = m_allocated_count;
+
+	m_allocated_sizes[m_allocated_count] = num_elements;
+	m_allocated_count+=num_elements;
+
+	return ptr;
+}
+
+
+void btGenericMemoryPool::init_pool(size_t element_size, size_t element_count)
+{
+	m_allocated_count = 0;
+	m_free_nodes_count = 0;
+
+	m_element_size = element_size;
+	m_max_element_count = element_count;
+
+
+
+
+	m_pool = (unsigned char *) btAlignedAlloc(m_element_size*m_max_element_count,16);
+	m_free_nodes = (size_t *) btAlignedAlloc(sizeof(size_t)*m_max_element_count,16);
+	m_allocated_sizes = (size_t *) btAlignedAlloc(sizeof(size_t)*m_max_element_count,16);
+
+	for (size_t i = 0;i< m_max_element_count;i++ )
+	{
+		m_allocated_sizes[i] = 0;
+	}
+}
+
+void btGenericMemoryPool::end_pool()
+{
+	btAlignedFree(m_pool);
+	btAlignedFree(m_free_nodes);
+	btAlignedFree(m_allocated_sizes);
+	m_allocated_count = 0;
+	m_free_nodes_count = 0;
+}
+
+
+//! Allocates memory in pool
+/*!
+\param size_bytes size in bytes of the buffer
+*/
+void * btGenericMemoryPool::allocate(size_t size_bytes)
+{
+
+	size_t module = size_bytes%m_element_size;
+	size_t element_count = size_bytes/m_element_size;
+	if(module>0) element_count++;
+
+	size_t alloc_pos = allocate_from_free_nodes(element_count);
+	// a free node is found
+	if(alloc_pos != BT_UINT_MAX)
+	{
+		return get_element_data(alloc_pos);
+	}
+	// allocate directly on pool
+	alloc_pos = allocate_from_pool(element_count);
+
+	if(alloc_pos == BT_UINT_MAX) return NULL; // not space
+	return get_element_data(alloc_pos);
+}
+
+bool btGenericMemoryPool::freeMemory(void * pointer)
+{
+	unsigned char * pointer_pos = (unsigned char *)pointer;
+	unsigned char * pool_pos = (unsigned char *)m_pool;
+	// calc offset
+	if(pointer_pos<pool_pos) return false;//other pool
+	size_t offset = size_t(pointer_pos - pool_pos);
+	if(offset>=get_pool_capacity()) return false;// far away
+
+	// find free position
+	m_free_nodes[m_free_nodes_count] = offset/m_element_size;
+	m_free_nodes_count++;
+	return true;
+}
+
+
+/// *******************! btGenericPoolAllocator *******************!///
+
+
+btGenericPoolAllocator::~btGenericPoolAllocator()
+{
+	// destroy pools
+	size_t i;
+	for (i=0;i<m_pool_count;i++)
+	{
+		m_pools[i]->end_pool();
+		btAlignedFree(m_pools[i]);
+	}
+}
+
+
+// creates a pool
+btGenericMemoryPool * btGenericPoolAllocator::push_new_pool()
+{
+	if(m_pool_count >= BT_DEFAULT_MAX_POOLS) return NULL;
+
+	btGenericMemoryPool * newptr = (btGenericMemoryPool *)btAlignedAlloc(sizeof(btGenericMemoryPool),16);
+
+	m_pools[m_pool_count] = newptr;
+
+	m_pools[m_pool_count]->init_pool(m_pool_element_size,m_pool_element_count);
+
+	m_pool_count++;
+	return newptr;
+}
+
+void * btGenericPoolAllocator::failback_alloc(size_t size_bytes)
+{
+
+	btGenericMemoryPool * pool = NULL;
+
+
+	if(size_bytes<=get_pool_capacity())
+	{
+		pool = 	push_new_pool();
+	}
+
+	if(pool==NULL) // failback
+	{
+		return btAlignedAlloc(size_bytes,16);
+	}
+
+	return pool->allocate(size_bytes);
+}
+
+bool btGenericPoolAllocator::failback_free(void * pointer)
+{
+	btAlignedFree(pointer);
+	return true;
+}
+
+
+//! Allocates memory in pool
+/*!
+\param size_bytes size in bytes of the buffer
+*/
+void * btGenericPoolAllocator::allocate(size_t size_bytes)
+{
+	void * ptr = NULL;
+
+	size_t i = 0;
+	while(i<m_pool_count && ptr == NULL)
+	{
+		ptr = m_pools[i]->allocate(size_bytes);
+		++i;
+	}
+
+	if(ptr) return ptr;
+
+	return failback_alloc(size_bytes);
+}
+
+bool btGenericPoolAllocator::freeMemory(void * pointer)
+{
+	bool result = false;
+
+	size_t i = 0;
+	while(i<m_pool_count && result == false)
+	{
+		result = m_pools[i]->freeMemory(pointer);
+		++i;
+	}
+
+	if(result) return true;
+
+	return failback_free(pointer);
+}
+
+/// ************** STANDARD ALLOCATOR ***************************///
+
+
+#define BT_DEFAULT_POOL_SIZE 32768
+#define BT_DEFAULT_POOL_ELEMENT_SIZE 8
+
+// main allocator
+class BT_STANDARD_ALLOCATOR: public btGenericPoolAllocator
+{
+public:
+	BT_STANDARD_ALLOCATOR():btGenericPoolAllocator(BT_DEFAULT_POOL_ELEMENT_SIZE,BT_DEFAULT_POOL_SIZE)
+	{
+	}
+};
+
+// global allocator
+BT_STANDARD_ALLOCATOR g_main_allocator;
+
+
+void * btPoolAlloc(size_t size)
+{
+	return g_main_allocator.allocate(size);
+}
+
+void * btPoolRealloc(void *ptr, size_t oldsize, size_t newsize)
+{
+	void * newptr = btPoolAlloc(newsize);
+    size_t copysize = oldsize<newsize?oldsize:newsize;
+    memcpy(newptr,ptr,copysize);
+    btPoolFree(ptr);
+    return newptr;
+}
+
+void btPoolFree(void *ptr)
+{
+	g_main_allocator.freeMemory(ptr);
+}

extern/bullet2/src/BulletCollision/Gimpact/btGenericPoolAllocator.h

@@ -0,0 +1,168 @@
+/*! \file btGenericPoolAllocator.h
+\author Francisco Len N<>jera. email projectileman@yahoo.com
+
+General purpose allocator class
+*/
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_GENERIC_POOL_ALLOCATOR_H
+#define BT_GENERIC_POOL_ALLOCATOR_H
+
+#include <limits.h>
+#include <stdio.h>
+#include <memory.h>
+#include "LinearMath/btAlignedAllocator.h"
+
+#define BT_UINT_MAX UINT_MAX
+#define BT_DEFAULT_MAX_POOLS 16
+
+
+//! Generic Pool class
+class btGenericMemoryPool
+{
+public:
+	unsigned char * m_pool; //[m_element_size*m_max_element_count];
+	size_t * m_free_nodes; //[m_max_element_count];//! free nodes
+	size_t * m_allocated_sizes;//[m_max_element_count];//! Number of elements allocated per node
+	size_t m_allocated_count;
+	size_t m_free_nodes_count;
+protected:
+	size_t m_element_size;
+	size_t m_max_element_count;
+
+	size_t allocate_from_free_nodes(size_t num_elements);
+	size_t allocate_from_pool(size_t num_elements);
+
+public:
+
+	void init_pool(size_t element_size, size_t element_count);
+
+	void end_pool();
+
+
+	btGenericMemoryPool(size_t element_size, size_t element_count)
+	{
+		init_pool(element_size, element_count);
+	}
+
+	~btGenericMemoryPool()
+	{
+		end_pool();
+	}
+
+
+	inline size_t get_pool_capacity()
+	{
+		return m_element_size*m_max_element_count;
+	}
+
+	inline size_t gem_element_size()
+	{
+		return m_element_size;
+	}
+
+	inline size_t get_max_element_count()
+	{
+		return m_max_element_count;
+	}
+
+	inline size_t get_allocated_count()
+	{
+		return m_allocated_count;
+	}
+
+	inline size_t get_free_positions_count()
+	{
+		return m_free_nodes_count;
+	}
+
+	inline void * get_element_data(size_t element_index)
+	{
+		return &m_pool[element_index*m_element_size];
+	}
+
+	//! Allocates memory in pool
+	/*!
+	\param size_bytes size in bytes of the buffer
+	*/
+	void * allocate(size_t size_bytes);
+
+	bool freeMemory(void * pointer);
+};
+
+
+
+
+//! Generic Allocator with pools
+/*!
+General purpose Allocator which can create Memory Pools dynamiacally as needed.
+*/
+class btGenericPoolAllocator
+{
+protected:
+	size_t m_pool_element_size;
+	size_t m_pool_element_count;
+public:
+	btGenericMemoryPool * m_pools[BT_DEFAULT_MAX_POOLS];
+	size_t m_pool_count;
+
+
+	inline size_t get_pool_capacity()
+	{
+		return m_pool_element_size*m_pool_element_count;
+	}
+
+
+protected:
+	// creates a pool
+	btGenericMemoryPool * push_new_pool();
+
+	void * failback_alloc(size_t size_bytes);
+
+	bool failback_free(void * pointer);
+public:
+
+	btGenericPoolAllocator(size_t pool_element_size, size_t pool_element_count)
+	{
+		m_pool_count = 0;
+		m_pool_element_size = pool_element_size;
+		m_pool_element_count = pool_element_count;
+	}
+
+	virtual ~btGenericPoolAllocator();
+
+	//! Allocates memory in pool
+	/*!
+	\param size_bytes size in bytes of the buffer
+	*/
+	void * allocate(size_t size_bytes);
+
+	bool freeMemory(void * pointer);
+};
+
+
+
+/*! \defgroup POOL_MEMORY_FUNCTIONS
+standar managed Memory functions. Memory pools are used.
+*/
+//! @{
+void * btPoolAlloc(size_t size);
+void * btPoolRealloc(void *ptr, size_t oldsize, size_t newsize);
+void btPoolFree(void *ptr);
+//! @}
+
+
+#endif

extern/bullet2/src/BulletCollision/Gimpact/btGeometryOperations.h

@@ -0,0 +1,216 @@
+#ifndef BT_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED
+#define BT_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED
+
+/*! \file btGeometryOperations.h
+*\author Francisco Len N<>jera
+
+*/
+/*
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "btBoxCollision.h"
+
+
+
+/*! \defgroup GEOMETRIC_OPERATIONS
+*/
+//! @{
+
+
+#define PLANEDIREPSILON 0.0000001f
+#define PARALELENORMALS 0.000001f
+
+
+#define BT_CLAMP(number,minval,maxval) (number<minval?minval:(number>maxval?maxval:number))
+
+/// Calc a plane from a triangle edge an a normal. plane is a vec4f
+SIMD_FORCE_INLINE void bt_edge_plane(const btVector3 & e1,const btVector3 &  e2, const btVector3 & normal,btVector4 & plane)
+{
+	btVector3 planenormal = (e2-e1).cross(normal);
+	planenormal.normalize();
+	plane.setValue(planenormal[0],planenormal[1],planenormal[2],e2.dot(planenormal));
+}
+
+
+
+//***************** SEGMENT and LINE FUNCTIONS **********************************///
+
+/*! Finds the closest point(cp) to (v) on a segment (e1,e2)
+ */
+SIMD_FORCE_INLINE void bt_closest_point_on_segment(
+	btVector3 & cp, const btVector3 & v,
+	const btVector3  &e1,const btVector3 &e2)
+{
+    btVector3 n = e2-e1;
+    cp = v - e1;
+	btScalar _scalar = cp.dot(n)/n.dot(n);
+	if(_scalar <0.0f)
+	{
+	    cp = e1;
+	}
+	else if(_scalar >1.0f)
+	{
+	    cp = e2;
+	}
+	else
+	{
+		cp = _scalar*n + e1;
+	}
+}
+
+
+//! line plane collision
+/*!
+*\return
+	-0  if the ray never intersects
+	-1 if the ray collides in front
+	-2 if the ray collides in back
+*/
+
+SIMD_FORCE_INLINE int bt_line_plane_collision(
+	const btVector4 & plane,
+	const btVector3 & vDir,
+	const btVector3 & vPoint,
+	btVector3 & pout,
+	btScalar &tparam,
+	btScalar tmin, btScalar tmax)
+{
+
+	btScalar _dotdir = vDir.dot(plane);
+
+	if(btFabs(_dotdir)<PLANEDIREPSILON)
+	{
+		tparam = tmax;
+	    return 0;
+	}
+
+	btScalar _dis = bt_distance_point_plane(plane,vPoint);
+	char returnvalue = _dis<0.0f? 2:1;
+	tparam = -_dis/_dotdir;
+
+	if(tparam<tmin)
+	{
+		returnvalue = 0;
+		tparam = tmin;
+	}
+	else if(tparam>tmax)
+	{
+		returnvalue = 0;
+		tparam = tmax;
+	}
+	pout = tparam*vDir + vPoint;
+	return returnvalue;
+}
+
+
+//! Find closest points on segments
+SIMD_FORCE_INLINE void bt_segment_collision(
+	const btVector3 & vA1,
+	const btVector3 & vA2,
+	const btVector3 & vB1,
+	const btVector3 & vB2,
+	btVector3 & vPointA,
+	btVector3 & vPointB)
+{
+    btVector3 AD = vA2 - vA1;
+    btVector3 BD = vB2 - vB1;
+    btVector3 N = AD.cross(BD);
+    btScalar tp = N.length2();
+
+    btVector4 _M;//plane
+
+    if(tp<SIMD_EPSILON)//ARE PARALELE
+    {
+    	//project B over A
+    	bool invert_b_order = false;
+    	_M[0] = vB1.dot(AD);
+    	_M[1] = vB2.dot(AD);
+
+    	if(_M[0]>_M[1])
+    	{
+    		invert_b_order  = true;
+    		BT_SWAP_NUMBERS(_M[0],_M[1]);
+    	}
+    	_M[2] = vA1.dot(AD);
+    	_M[3] = vA2.dot(AD);
+    	//mid points
+    	N[0] = (_M[0]+_M[1])*0.5f;
+    	N[1] = (_M[2]+_M[3])*0.5f;
+
+    	if(N[0]<N[1])
+    	{
+    		if(_M[1]<_M[2])
+    		{
+    			vPointB = invert_b_order?vB1:vB2;
+    			vPointA = vA1;
+    		}
+    		else if(_M[1]<_M[3])
+    		{
+    			vPointB = invert_b_order?vB1:vB2;
+    			bt_closest_point_on_segment(vPointA,vPointB,vA1,vA2);
+    		}
+    		else
+    		{
+    			vPointA = vA2;
+    			bt_closest_point_on_segment(vPointB,vPointA,vB1,vB2);
+    		}
+    	}
+    	else
+    	{
+    		if(_M[3]<_M[0])
+    		{
+    			vPointB = invert_b_order?vB2:vB1;
+    			vPointA = vA2;
+    		}
+    		else if(_M[3]<_M[1])
+    		{
+    			vPointA = vA2;
+    			bt_closest_point_on_segment(vPointB,vPointA,vB1,vB2);
+    		}
+    		else
+    		{
+    			vPointB = invert_b_order?vB1:vB2;
+    			bt_closest_point_on_segment(vPointA,vPointB,vA1,vA2);
+    		}
+    	}
+    	return;
+    }
+
+    N = N.cross(BD);
+    _M.setValue(N[0],N[1],N[2],vB1.dot(N));
+
+	// get point A as the plane collision point
+    bt_line_plane_collision(_M,AD,vA1,vPointA,tp,btScalar(0), btScalar(1));
+
+    /*Closest point on segment*/
+    vPointB = vPointA - vB1;
+	tp = vPointB.dot(BD);
+	tp/= BD.dot(BD);
+	tp = BT_CLAMP(tp,0.0f,1.0f);
+
+	vPointB = tp*BD + vB1;
+}
+
+
+
+//! @}
+
+
+#endif // GIM_VECTOR_H_INCLUDED

extern/bullet2/src/BulletCollision/Gimpact/btQuantization.h

@@ -0,0 +1,92 @@
+#ifndef BT_QUANTIZATION_H_INCLUDED
+#define BT_QUANTIZATION_H_INCLUDED
+
+/*! \file btQuantization.h
+*\author Francisco Len N<>jera
+
+*/
+/*
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "LinearMath/btTransform.h"
+
+
+
+/*! \defgroup GEOMETRIC_OPERATIONS
+*/
+//! @{
+
+
+
+SIMD_FORCE_INLINE void bt_calc_quantization_parameters(
+	btVector3 & outMinBound,
+	btVector3 & outMaxBound,
+	btVector3 & bvhQuantization,
+	const btVector3& srcMinBound,const btVector3& srcMaxBound,
+	btScalar quantizationMargin)
+{
+	//enlarge the AABB to avoid division by zero when initializing the quantization values
+	btVector3 clampValue(quantizationMargin,quantizationMargin,quantizationMargin);
+	outMinBound = srcMinBound - clampValue;
+	outMaxBound = srcMaxBound + clampValue;
+	btVector3 aabbSize = outMaxBound - outMinBound;
+	bvhQuantization = btVector3(btScalar(65535.0),
+								btScalar(65535.0),
+								btScalar(65535.0)) / aabbSize;
+}
+
+
+SIMD_FORCE_INLINE void bt_quantize_clamp(
+	unsigned short* out,
+	const btVector3& point,
+	const btVector3 & min_bound,
+	const btVector3 & max_bound,
+	const btVector3 & bvhQuantization)
+{
+
+	btVector3 clampedPoint(point);
+	clampedPoint.setMax(min_bound);
+	clampedPoint.setMin(max_bound);
+
+	btVector3 v = (clampedPoint - min_bound) * bvhQuantization;
+	out[0] = (unsigned short)(v.getX()+0.5f);
+	out[1] = (unsigned short)(v.getY()+0.5f);
+	out[2] = (unsigned short)(v.getZ()+0.5f);
+}
+
+
+SIMD_FORCE_INLINE btVector3 bt_unquantize(
+	const unsigned short* vecIn,
+	const btVector3 & offset,
+	const btVector3 & bvhQuantization)
+{
+	btVector3	vecOut;
+	vecOut.setValue(
+		(btScalar)(vecIn[0]) / (bvhQuantization.getX()),
+		(btScalar)(vecIn[1]) / (bvhQuantization.getY()),
+		(btScalar)(vecIn[2]) / (bvhQuantization.getZ()));
+	vecOut += offset;
+	return vecOut;
+}
+
+//! @}
+
+
+#endif // GIM_VECTOR_H_INCLUDED

extern/bullet2/src/BulletCollision/Gimpact/btTriangleShapeEx.cpp

@@ -0,0 +1,218 @@
+/*! \file btGImpactTriangleShape.h
+\author Francisco Len N<>jera
+*/
+/*
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "btTriangleShapeEx.h"
+
+
+
+void BT_TRIANGLE_CONTACT::merge_points(const btVector4 & plane,
+                                       btScalar margin, const btVector3 * points, int point_count)
+{
+    m_point_count = 0;
+    m_penetration_depth= -1000.0f;
+
+    int point_indices[MAX_TRI_CLIPPING];
+
+	int _k;
+
+    for ( _k=0;_k<point_count;_k++)
+    {
+        btScalar _dist = - bt_distance_point_plane(plane,points[_k]) + margin;
+
+        if (_dist>=0.0f)
+        {
+            if (_dist>m_penetration_depth)
+            {
+                m_penetration_depth = _dist;
+                point_indices[0] = _k;
+                m_point_count=1;
+            }
+            else if ((_dist+SIMD_EPSILON)>=m_penetration_depth)
+            {
+                point_indices[m_point_count] = _k;
+                m_point_count++;
+            }
+        }
+    }
+
+    for ( _k=0;_k<m_point_count;_k++)
+    {
+        m_points[_k] = points[point_indices[_k]];
+    }
+}
+
+///class btPrimitiveTriangle
+bool btPrimitiveTriangle::overlap_test_conservative(const btPrimitiveTriangle& other)
+{
+    btScalar total_margin = m_margin + other.m_margin;
+    // classify points on other triangle
+    btScalar dis0 = bt_distance_point_plane(m_plane,other.m_vertices[0]) - total_margin;
+
+    btScalar dis1 = bt_distance_point_plane(m_plane,other.m_vertices[1]) - total_margin;
+
+    btScalar dis2 = bt_distance_point_plane(m_plane,other.m_vertices[2]) - total_margin;
+
+    if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false;
+
+    // classify points on this triangle
+    dis0 = bt_distance_point_plane(other.m_plane,m_vertices[0]) - total_margin;
+
+    dis1 = bt_distance_point_plane(other.m_plane,m_vertices[1]) - total_margin;
+
+    dis2 = bt_distance_point_plane(other.m_plane,m_vertices[2]) - total_margin;
+
+    if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false;
+
+    return true;
+}
+
+int btPrimitiveTriangle::clip_triangle(btPrimitiveTriangle & other, btVector3 * clipped_points )
+{
+    // edge 0
+
+    btVector3 temp_points[MAX_TRI_CLIPPING];
+
+
+    btVector4 edgeplane;
+
+    get_edge_plane(0,edgeplane);
+
+
+    int clipped_count = bt_plane_clip_triangle(
+                            edgeplane,other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],temp_points);
+
+    if (clipped_count == 0) return 0;
+
+    btVector3 temp_points1[MAX_TRI_CLIPPING];
+
+
+    // edge 1
+    get_edge_plane(1,edgeplane);
+
+
+    clipped_count = bt_plane_clip_polygon(edgeplane,temp_points,clipped_count,temp_points1);
+
+    if (clipped_count == 0) return 0;
+
+    // edge 2
+    get_edge_plane(2,edgeplane);
+
+    clipped_count = bt_plane_clip_polygon(
+                        edgeplane,temp_points1,clipped_count,clipped_points);
+
+    return clipped_count;
+}
+
+bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangle & other, BT_TRIANGLE_CONTACT & contacts)
+{
+    btScalar margin = m_margin + other.m_margin;
+
+    btVector3 clipped_points[MAX_TRI_CLIPPING];
+    int clipped_count;
+    //create planes
+    // plane v vs U points
+
+    BT_TRIANGLE_CONTACT contacts1;
+
+    contacts1.m_separating_normal = m_plane;
+
+
+    clipped_count = clip_triangle(other,clipped_points);
+
+    if (clipped_count == 0 )
+    {
+        return false;//Reject
+    }
+
+    //find most deep interval face1
+    contacts1.merge_points(contacts1.m_separating_normal,margin,clipped_points,clipped_count);
+    if (contacts1.m_point_count == 0) return false; // too far
+    //Normal pointing to this triangle
+    contacts1.m_separating_normal *= -1.f;
+
+
+    //Clip tri1 by tri2 edges
+    BT_TRIANGLE_CONTACT contacts2;
+    contacts2.m_separating_normal = other.m_plane;
+
+    clipped_count = other.clip_triangle(*this,clipped_points);
+
+    if (clipped_count == 0 )
+    {
+        return false;//Reject
+    }
+
+    //find most deep interval face1
+    contacts2.merge_points(contacts2.m_separating_normal,margin,clipped_points,clipped_count);
+    if (contacts2.m_point_count == 0) return false; // too far
+
+
+
+
+    ////check most dir for contacts
+    if (contacts2.m_penetration_depth<contacts1.m_penetration_depth)
+    {
+        contacts.copy_from(contacts2);
+    }
+    else
+    {
+        contacts.copy_from(contacts1);
+    }
+    return true;
+}
+
+
+
+///class btTriangleShapeEx: public btTriangleShape
+
+bool btTriangleShapeEx::overlap_test_conservative(const btTriangleShapeEx& other)
+{
+    btScalar total_margin = getMargin() + other.getMargin();
+
+    btVector4 plane0;
+    buildTriPlane(plane0);
+    btVector4 plane1;
+    other.buildTriPlane(plane1);
+
+    // classify points on other triangle
+    btScalar dis0 = bt_distance_point_plane(plane0,other.m_vertices1[0]) - total_margin;
+
+    btScalar dis1 = bt_distance_point_plane(plane0,other.m_vertices1[1]) - total_margin;
+
+    btScalar dis2 = bt_distance_point_plane(plane0,other.m_vertices1[2]) - total_margin;
+
+    if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false;
+
+    // classify points on this triangle
+    dis0 = bt_distance_point_plane(plane1,m_vertices1[0]) - total_margin;
+
+    dis1 = bt_distance_point_plane(plane1,m_vertices1[1]) - total_margin;
+
+    dis2 = bt_distance_point_plane(plane1,m_vertices1[2]) - total_margin;
+
+    if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false;
+
+    return true;
+}
+
+

extern/bullet2/src/BulletCollision/Gimpact/btTriangleShapeEx.h

@@ -0,0 +1,180 @@
+/*! \file btGImpactShape.h
+\author Francisco Len N<>jera
+*/
+/*
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#ifndef TRIANGLE_SHAPE_EX_H
+#define TRIANGLE_SHAPE_EX_H
+
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+#include "BulletCollision/CollisionShapes/btTriangleShape.h"
+#include "btBoxCollision.h"
+#include "btClipPolygon.h"
+#include "btGeometryOperations.h"
+
+
+#define MAX_TRI_CLIPPING 16
+
+//! Structure for collision
+struct BT_TRIANGLE_CONTACT
+{
+    btScalar m_penetration_depth;
+    int m_point_count;
+    btVector4 m_separating_normal;
+    btVector3 m_points[MAX_TRI_CLIPPING];
+
+	SIMD_FORCE_INLINE void copy_from(const BT_TRIANGLE_CONTACT& other)
+	{
+		m_penetration_depth = other.m_penetration_depth;
+		m_separating_normal = other.m_separating_normal;
+		m_point_count = other.m_point_count;
+		int i = m_point_count;
+		while(i--)
+		{
+			m_points[i] = other.m_points[i];
+		}
+	}
+
+	BT_TRIANGLE_CONTACT()
+	{
+	}
+
+	BT_TRIANGLE_CONTACT(const BT_TRIANGLE_CONTACT& other)
+	{
+		copy_from(other);
+	}
+
+    //! classify points that are closer
+    void merge_points(const btVector4 & plane,
+    				btScalar margin, const btVector3 * points, int point_count);
+
+};
+
+
+
+class btPrimitiveTriangle
+{
+public:
+	btVector3 m_vertices[3];
+	btVector4 m_plane;
+	btScalar m_margin;
+	btScalar m_dummy;
+	btPrimitiveTriangle():m_margin(0.01f)
+	{
+
+	}
+
+
+	SIMD_FORCE_INLINE void buildTriPlane()
+	{
+		btVector3 normal = (m_vertices[1]-m_vertices[0]).cross(m_vertices[2]-m_vertices[0]);
+		normal.normalize();
+		m_plane.setValue(normal[0],normal[1],normal[2],m_vertices[0].dot(normal));
+	}
+
+	//! Test if triangles could collide
+	bool overlap_test_conservative(const btPrimitiveTriangle& other);
+
+	//! Calcs the plane which is paralele to the edge and perpendicular to the triangle plane
+	/*!
+	\pre this triangle must have its plane calculated.
+	*/
+	SIMD_FORCE_INLINE void get_edge_plane(int edge_index, btVector4 &plane)  const
+    {
+		const btVector3 & e0 = m_vertices[edge_index];
+		const btVector3 & e1 = m_vertices[(edge_index+1)%3];
+		bt_edge_plane(e0,e1,m_plane,plane);
+    }
+
+    void applyTransform(const btTransform& t)
+	{
+		m_vertices[0] = t(m_vertices[0]);
+		m_vertices[1] = t(m_vertices[1]);
+		m_vertices[2] = t(m_vertices[2]);
+	}
+
+	//! Clips the triangle against this
+	/*!
+	\pre clipped_points must have MAX_TRI_CLIPPING size, and this triangle must have its plane calculated.
+	\return the number of clipped points
+	*/
+    int clip_triangle(btPrimitiveTriangle & other, btVector3 * clipped_points );
+
+	//! Find collision using the clipping method
+	/*!
+	\pre this triangle and other must have their triangles calculated
+	*/
+    bool find_triangle_collision_clip_method(btPrimitiveTriangle & other, BT_TRIANGLE_CONTACT & contacts);
+};
+
+
+
+//! Helper class for colliding Bullet Triangle Shapes
+/*!
+This class implements a better getAabb method than the previous btTriangleShape class
+*/
+class btTriangleShapeEx: public btTriangleShape
+{
+public:
+
+	btTriangleShapeEx():btTriangleShape(btVector3(0,0,0),btVector3(0,0,0),btVector3(0,0,0))
+	{
+	}
+
+	btTriangleShapeEx(const btVector3& p0,const btVector3& p1,const btVector3& p2):	btTriangleShape(p0,p1,p2)
+	{
+	}
+
+	btTriangleShapeEx(const btTriangleShapeEx & other):	btTriangleShape(other.m_vertices1[0],other.m_vertices1[1],other.m_vertices1[2])
+	{
+	}
+
+	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax)const
+	{
+		btVector3 tv0 = t(m_vertices1[0]);
+		btVector3 tv1 = t(m_vertices1[1]);
+		btVector3 tv2 = t(m_vertices1[2]);
+
+		btAABB trianglebox(tv0,tv1,tv2,m_collisionMargin);
+		aabbMin = trianglebox.m_min;
+		aabbMax = trianglebox.m_max;
+	}
+
+	void applyTransform(const btTransform& t)
+	{
+		m_vertices1[0] = t(m_vertices1[0]);
+		m_vertices1[1] = t(m_vertices1[1]);
+		m_vertices1[2] = t(m_vertices1[2]);
+	}
+
+	SIMD_FORCE_INLINE void buildTriPlane(btVector4 & plane) const
+	{
+		btVector3 normal = (m_vertices1[1]-m_vertices1[0]).cross(m_vertices1[2]-m_vertices1[0]);
+		normal.normalize();
+		plane.setValue(normal[0],normal[1],normal[2],m_vertices1[0].dot(normal));
+	}
+
+	bool overlap_test_conservative(const btTriangleShapeEx& other);
+};
+
+
+#endif //TRIANGLE_MESH_SHAPE_H

extern/bullet2/src/BulletCollision/Gimpact/gim_array.h

@@ -0,0 +1,332 @@
+#ifndef GIM_ARRAY_H_INCLUDED
+#define GIM_ARRAY_H_INCLUDED
+/*! \file gim_array.h
+\author Francisco Len N<>jera
+*/
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of EITHER:
+   (1) The GNU Lesser General Public License as published by the Free
+       Software Foundation; either version 2.1 of the License, or (at
+       your option) any later version. The text of the GNU Lesser
+       General Public License is included with this library in the
+       file GIMPACT-LICENSE-LGPL.TXT.
+   (2) The BSD-style license that is included with this library in
+       the file GIMPACT-LICENSE-BSD.TXT.
+   (3) The zlib/libpng license that is included with this library in
+       the file GIMPACT-LICENSE-ZLIB.TXT.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
+ GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+#include "gim_memory.h"
+
+/*! \addtogroup CONTAINERS
+\brief
+Abstract class for template containers
+*/
+//! @{
+
+#define GIM_ARRAY_GROW_INCREMENT 2
+#define GIM_ARRAY_GROW_FACTOR 2
+
+//!	Very simple array container with fast access and simd memory
+template<typename T>
+class gim_array
+{
+public:
+//! properties
+//!@{
+    T *m_data;
+    GUINT m_size;
+    GUINT m_allocated_size;
+//!@}
+//! protected operations
+//!@{
+
+    inline void destroyData()
+	{
+	    m_allocated_size = 0;
+		if(m_data==NULL) return;
+		gim_free(m_data);
+		m_data = NULL;
+	}
+
+	inline bool resizeData(GUINT newsize)
+	{
+		if(newsize==0)
+		{
+			destroyData();
+			return true;
+		}
+
+		if(m_size>0)
+		{
+            m_data = (T*)gim_realloc(m_data,m_size*sizeof(T),newsize*sizeof(T));
+		}
+		else
+		{
+		    m_data = (T*)gim_alloc(newsize*sizeof(T));
+		}
+		m_allocated_size = newsize;
+		return true;
+	}
+
+	inline bool growingCheck()
+	{
+		if(m_allocated_size<=m_size)
+		{
+		    GUINT requestsize = m_size;
+		    m_size = m_allocated_size;
+			if(resizeData((requestsize+GIM_ARRAY_GROW_INCREMENT)*GIM_ARRAY_GROW_FACTOR)==false) return false;
+		}
+		return true;
+	}
+
+//!@}
+//! public operations
+//!@{
+    inline  bool reserve(GUINT size)
+    {
+        if(m_allocated_size>=size) return false;
+        return resizeData(size);
+    }
+
+    inline void clear_range(GUINT start_range)
+    {
+        while(m_size>start_range)
+        {
+            m_data[--m_size].~T();
+        }
+    }
+
+    inline void clear()
+    {
+        if(m_size==0)return;
+        clear_range(0);
+    }
+
+    inline void clear_memory()
+    {
+        clear();
+        destroyData();
+    }
+
+    gim_array()
+    {
+        m_data = 0;
+        m_size = 0;
+        m_allocated_size = 0;
+    }
+
+    gim_array(GUINT reservesize)
+    {
+        m_data = 0;
+        m_size = 0;
+
+        m_allocated_size = 0;
+        reserve(reservesize);
+    }
+
+    ~gim_array()
+    {
+        clear_memory();
+    }
+
+    inline GUINT size() const
+    {
+        return m_size;
+    }
+
+    inline GUINT max_size() const
+    {
+        return m_allocated_size;
+    }
+
+    inline T & operator[](size_t i)
+	{
+		return m_data[i];
+	}
+	inline  const T & operator[](size_t i) const
+	{
+		return m_data[i];
+	}
+
+    inline T * pointer(){ return m_data;}
+    inline const T * pointer() const
+    { return m_data;}
+
+
+    inline T * get_pointer_at(GUINT i)
+	{
+		return m_data + i;
+	}
+
+	inline const T * get_pointer_at(GUINT i) const
+	{
+		return m_data + i;
+	}
+
+	inline T & at(GUINT i)
+	{
+		return m_data[i];
+	}
+
+	inline const T & at(GUINT i) const
+	{
+		return m_data[i];
+	}
+
+	inline T & front()
+	{
+		return *m_data;
+	}
+
+	inline const T & front() const
+	{
+		return *m_data;
+	}
+
+	inline T & back()
+	{
+		return m_data[m_size-1];
+	}
+
+	inline const T & back() const
+	{
+		return m_data[m_size-1];
+	}
+
+
+	inline void swap(GUINT i, GUINT j)
+	{
+	    gim_swap_elements(m_data,i,j);
+	}
+
+	inline void push_back(const T & obj)
+	{
+	    this->growingCheck();
+	    m_data[m_size] = obj;
+	    m_size++;
+	}
+
+	//!Simply increase the m_size, doesn't call the new element constructor
+	inline void push_back_mem()
+	{
+	    this->growingCheck();
+	    m_size++;
+	}
+
+	inline void push_back_memcpy(const T & obj)
+	{
+	    this->growingCheck();
+	    irr_simd_memcpy(&m_data[m_size],&obj,sizeof(T));
+	    m_size++;
+	}
+
+	inline void pop_back()
+	{
+	    m_size--;
+        m_data[m_size].~T();
+	}
+
+	//!Simply decrease the m_size, doesn't call the deleted element destructor
+	inline void pop_back_mem()
+	{
+	    m_size--;
+	}
+
+    //! fast erase
+	inline void erase(GUINT index)
+	{
+	    if(index<m_size-1)
+	    {
+	        swap(index,m_size-1);
+	    }
+	    pop_back();
+	}
+
+	inline void erase_sorted_mem(GUINT index)
+	{
+	    m_size--;
+	    for(GUINT i = index;i<m_size;i++)
+	    {
+	        gim_simd_memcpy(m_data+i,m_data+i+1,sizeof(T));
+	    }
+	}
+
+	inline void erase_sorted(GUINT index)
+	{
+	    m_data[index].~T();
+	    erase_sorted_mem(index);
+	}
+
+	inline void insert_mem(GUINT index)
+	{
+	    this->growingCheck();
+	    for(GUINT i = m_size;i>index;i--)
+	    {
+	        gim_simd_memcpy(m_data+i,m_data+i-1,sizeof(T));
+	    }
+	    m_size++;
+	}
+
+	inline void insert(const T & obj,GUINT index)
+	{
+	    insert_mem(index);
+	    m_data[index] = obj;
+	}
+
+	inline void resize(GUINT size, bool call_constructor = true)
+	{
+
+	    if(size>m_size)
+	    {
+            reserve(size);
+            if(call_constructor)
+            {
+            	T obj;
+                while(m_size<size)
+                {
+                    m_data[m_size] = obj;
+                    m_size++;
+                }
+            }
+            else
+            {
+            	m_size = size;
+            }
+	    }
+	    else if(size<m_size)
+	    {
+	        if(call_constructor) clear_range(size);
+	        m_size = size;
+	    }
+	}
+
+	inline void refit()
+	{
+	    resizeData(m_size);
+	}
+//!@}
+};
+
+
+//! @}
+
+
+
+#endif // GIM_CONTAINERS_H_INCLUDED

extern/bullet2/src/BulletCollision/Gimpact/gim_basic_geometry_operations.h

@@ -0,0 +1,547 @@
+#ifndef GIM_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED
+#define GIM_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED
+
+/*! \file gim_basic_geometry_operations.h
+*\author Francisco Len N<>jera
+type independant geometry routines
+
+*/
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of EITHER:
+   (1) The GNU Lesser General Public License as published by the Free
+       Software Foundation; either version 2.1 of the License, or (at
+       your option) any later version. The text of the GNU Lesser
+       General Public License is included with this library in the
+       file GIMPACT-LICENSE-LGPL.TXT.
+   (2) The BSD-style license that is included with this library in
+       the file GIMPACT-LICENSE-BSD.TXT.
+   (3) The zlib/libpng license that is included with this library in
+       the file GIMPACT-LICENSE-ZLIB.TXT.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
+ GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+
+#include "gim_linear_math.h"
+
+
+
+/*! \defgroup GEOMETRIC_OPERATIONS
+*/
+//! @{
+
+
+#define PLANEDIREPSILON 0.0000001f
+#define PARALELENORMALS 0.000001f
+
+
+#define TRIANGLE_NORMAL(v1,v2,v3,n)\
+{\
+	vec3f _dif1,_dif2;\
+    VEC_DIFF(_dif1,v2,v1);\
+    VEC_DIFF(_dif2,v3,v1);\
+    VEC_CROSS(n,_dif1,_dif2);\
+    VEC_NORMALIZE(n);\
+}\
+
+#define TRIANGLE_NORMAL_FAST(v1,v2,v3,n){\
+    vec3f _dif1,_dif2; \
+    VEC_DIFF(_dif1,v2,v1); \
+    VEC_DIFF(_dif2,v3,v1); \
+    VEC_CROSS(n,_dif1,_dif2); \
+}\
+
+/// plane is a vec4f
+#define TRIANGLE_PLANE(v1,v2,v3,plane) {\
+    TRIANGLE_NORMAL(v1,v2,v3,plane);\
+    plane[3] = VEC_DOT(v1,plane);\
+}\
+
+/// plane is a vec4f
+#define TRIANGLE_PLANE_FAST(v1,v2,v3,plane) {\
+    TRIANGLE_NORMAL_FAST(v1,v2,v3,plane);\
+    plane[3] = VEC_DOT(v1,plane);\
+}\
+
+/// Calc a plane from an edge an a normal. plane is a vec4f
+#define EDGE_PLANE(e1,e2,n,plane) {\
+    vec3f _dif; \
+    VEC_DIFF(_dif,e2,e1); \
+    VEC_CROSS(plane,_dif,n); \
+    VEC_NORMALIZE(plane); \
+    plane[3] = VEC_DOT(e1,plane);\
+}\
+
+#define DISTANCE_PLANE_POINT(plane,point) (VEC_DOT(plane,point) - plane[3])
+
+#define PROJECT_POINT_PLANE(point,plane,projected) {\
+	GREAL _dis;\
+	_dis = DISTANCE_PLANE_POINT(plane,point);\
+	VEC_SCALE(projected,-_dis,plane);\
+	VEC_SUM(projected,projected,point);	\
+}\
+
+//! Verifies if a point is in the plane hull
+template<typename CLASS_POINT,typename CLASS_PLANE>
+SIMD_FORCE_INLINE bool POINT_IN_HULL(
+	const CLASS_POINT& point,const CLASS_PLANE * planes,GUINT plane_count)
+{
+	GREAL _dis;
+	for (GUINT _i = 0;_i< plane_count;++_i)
+	{
+		_dis = DISTANCE_PLANE_POINT(planes[_i],point);
+	    if(_dis>0.0f) return false;
+	}
+	return true;
+}
+
+template<typename CLASS_POINT,typename CLASS_PLANE>
+SIMD_FORCE_INLINE void PLANE_CLIP_SEGMENT(
+	const CLASS_POINT& s1,
+	const CLASS_POINT &s2,const CLASS_PLANE &plane,CLASS_POINT &clipped)
+{
+	GREAL _dis1,_dis2;
+	_dis1 = DISTANCE_PLANE_POINT(plane,s1);
+	VEC_DIFF(clipped,s2,s1);
+	_dis2 = VEC_DOT(clipped,plane);
+	VEC_SCALE(clipped,-_dis1/_dis2,clipped);
+	VEC_SUM(clipped,clipped,s1);
+}
+
+enum ePLANE_INTERSECTION_TYPE
+{
+	G_BACK_PLANE = 0,
+	G_COLLIDE_PLANE,
+	G_FRONT_PLANE
+};
+
+enum eLINE_PLANE_INTERSECTION_TYPE
+{
+	G_FRONT_PLANE_S1 = 0,
+	G_FRONT_PLANE_S2,
+	G_BACK_PLANE_S1,
+	G_BACK_PLANE_S2,
+	G_COLLIDE_PLANE_S1,
+	G_COLLIDE_PLANE_S2
+};
+
+//! Confirms if the plane intersect the edge or nor
+/*!
+intersection type must have the following values
+<ul>
+<li> 0 : Segment in front of plane, s1 closest
+<li> 1 : Segment in front of plane, s2 closest
+<li> 2 : Segment in back of plane, s1 closest
+<li> 3 : Segment in back of plane, s2 closest
+<li> 4 : Segment collides plane, s1 in back
+<li> 5 : Segment collides plane, s2 in back
+</ul>
+*/
+
+template<typename CLASS_POINT,typename CLASS_PLANE>
+SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT2(
+	const CLASS_POINT& s1,
+	const CLASS_POINT &s2,
+	const CLASS_PLANE &plane,CLASS_POINT &clipped)
+{
+	GREAL _dis1 = DISTANCE_PLANE_POINT(plane,s1);
+	GREAL _dis2 = DISTANCE_PLANE_POINT(plane,s2);
+	if(_dis1 >-G_EPSILON && _dis2 >-G_EPSILON)
+	{
+	    if(_dis1<_dis2) return G_FRONT_PLANE_S1;
+	    return G_FRONT_PLANE_S2;
+	}
+	else if(_dis1 <G_EPSILON && _dis2 <G_EPSILON)
+	{
+	    if(_dis1>_dis2) return G_BACK_PLANE_S1;
+	    return G_BACK_PLANE_S2;
+	}
+
+	VEC_DIFF(clipped,s2,s1);
+	_dis2 = VEC_DOT(clipped,plane);
+	VEC_SCALE(clipped,-_dis1/_dis2,clipped);
+	VEC_SUM(clipped,clipped,s1);
+	if(_dis1<_dis2) return G_COLLIDE_PLANE_S1;
+	return G_COLLIDE_PLANE_S2;
+}
+
+//! Confirms if the plane intersect the edge or not
+/*!
+clipped1 and clipped2 are the vertices behind the plane.
+clipped1 is the closest
+
+intersection_type must have the following values
+<ul>
+<li> 0 : Segment in front of plane, s1 closest
+<li> 1 : Segment in front of plane, s2 closest
+<li> 2 : Segment in back of plane, s1 closest
+<li> 3 : Segment in back of plane, s2 closest
+<li> 4 : Segment collides plane, s1 in back
+<li> 5 : Segment collides plane, s2 in back
+</ul>
+*/
+template<typename CLASS_POINT,typename CLASS_PLANE>
+SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT_CLOSEST(
+	const CLASS_POINT& s1,
+	const CLASS_POINT &s2,
+	const CLASS_PLANE &plane,
+	CLASS_POINT &clipped1,CLASS_POINT &clipped2)
+{
+	eLINE_PLANE_INTERSECTION_TYPE intersection_type = PLANE_CLIP_SEGMENT2(s1,s2,plane,clipped1);
+	switch(intersection_type)
+	{
+	case G_FRONT_PLANE_S1:
+		VEC_COPY(clipped1,s1);
+	    VEC_COPY(clipped2,s2);
+		break;
+	case G_FRONT_PLANE_S2:
+		VEC_COPY(clipped1,s2);
+	    VEC_COPY(clipped2,s1);
+		break;
+	case G_BACK_PLANE_S1:
+		VEC_COPY(clipped1,s1);
+	    VEC_COPY(clipped2,s2);
+		break;
+	case G_BACK_PLANE_S2:
+		VEC_COPY(clipped1,s2);
+	    VEC_COPY(clipped2,s1);
+		break;
+	case G_COLLIDE_PLANE_S1:
+		VEC_COPY(clipped2,s1);
+		break;
+	case G_COLLIDE_PLANE_S2:
+		VEC_COPY(clipped2,s2);
+		break;
+	}
+	return intersection_type;
+}
+
+
+//! Finds the 2 smallest cartesian coordinates of a plane normal
+#define PLANE_MINOR_AXES(plane, i0, i1) VEC_MINOR_AXES(plane, i0, i1)
+
+//! Ray plane collision in one way
+/*!
+Intersects plane in one way only. The ray must face the plane (normals must be in opossite directions).<br/>
+It uses the PLANEDIREPSILON constant.
+*/
+template<typename T,typename CLASS_POINT,typename CLASS_PLANE>
+SIMD_FORCE_INLINE bool RAY_PLANE_COLLISION(
+	const CLASS_PLANE & plane,
+	const CLASS_POINT & vDir,
+	const CLASS_POINT & vPoint,
+	CLASS_POINT & pout,T &tparam)
+{
+	GREAL _dis,_dotdir;
+	_dotdir = VEC_DOT(plane,vDir);
+	if(_dotdir<PLANEDIREPSILON)
+	{
+	    return false;
+	}
+	_dis = DISTANCE_PLANE_POINT(plane,vPoint);
+	tparam = -_dis/_dotdir;
+	VEC_SCALE(pout,tparam,vDir);
+	VEC_SUM(pout,vPoint,pout);
+	return true;
+}
+
+//! line collision
+/*!
+*\return
+	-0  if the ray never intersects
+	-1 if the ray collides in front
+	-2 if the ray collides in back
+*/
+template<typename T,typename CLASS_POINT,typename CLASS_PLANE>
+SIMD_FORCE_INLINE GUINT LINE_PLANE_COLLISION(
+	const CLASS_PLANE & plane,
+	const CLASS_POINT & vDir,
+	const CLASS_POINT & vPoint,
+	CLASS_POINT & pout,
+	T &tparam,
+	T tmin, T tmax)
+{
+	GREAL _dis,_dotdir;
+	_dotdir = VEC_DOT(plane,vDir);
+	if(btFabs(_dotdir)<PLANEDIREPSILON)
+	{
+		tparam = tmax;
+	    return 0;
+	}
+	_dis = DISTANCE_PLANE_POINT(plane,vPoint);
+	char returnvalue = _dis<0.0f?2:1;
+	tparam = -_dis/_dotdir;
+
+	if(tparam<tmin)
+	{
+		returnvalue = 0;
+		tparam = tmin;
+	}
+	else if(tparam>tmax)
+	{
+		returnvalue = 0;
+		tparam = tmax;
+	}
+
+	VEC_SCALE(pout,tparam,vDir);
+	VEC_SUM(pout,vPoint,pout);
+	return returnvalue;
+}
+
+/*! \brief Returns the Ray on which 2 planes intersect if they do.
+    Written by Rodrigo Hernandez on ODE convex collision
+
+  \param p1 Plane 1
+  \param p2 Plane 2
+  \param p Contains the origin of the ray upon returning if planes intersect
+  \param d Contains the direction of the ray upon returning if planes intersect
+  \return true if the planes intersect, 0 if paralell.
+
+*/
+template<typename CLASS_POINT,typename CLASS_PLANE>
+SIMD_FORCE_INLINE bool INTERSECT_PLANES(
+		const CLASS_PLANE &p1,
+		const CLASS_PLANE &p2,
+		CLASS_POINT &p,
+		CLASS_POINT &d)
+{
+	VEC_CROSS(d,p1,p2);
+  	GREAL denom = VEC_DOT(d, d);
+  	if(GIM_IS_ZERO(denom)) return false;
+	vec3f _n;
+	_n[0]=p1[3]*p2[0] - p2[3]*p1[0];
+	_n[1]=p1[3]*p2[1] - p2[3]*p1[1];
+	_n[2]=p1[3]*p2[2] - p2[3]*p1[2];
+	VEC_CROSS(p,_n,d);
+	p[0]/=denom;
+	p[1]/=denom;
+	p[2]/=denom;
+	return true;
+}
+
+//***************** SEGMENT and LINE FUNCTIONS **********************************///
+
+/*! Finds the closest point(cp) to (v) on a segment (e1,e2)
+ */
+template<typename CLASS_POINT>
+SIMD_FORCE_INLINE void CLOSEST_POINT_ON_SEGMENT(
+	CLASS_POINT & cp, const CLASS_POINT & v,
+	const CLASS_POINT &e1,const CLASS_POINT &e2)
+{
+    vec3f _n;
+    VEC_DIFF(_n,e2,e1);
+    VEC_DIFF(cp,v,e1);
+	GREAL _scalar = VEC_DOT(cp, _n);
+	_scalar/= VEC_DOT(_n, _n);
+	if(_scalar <0.0f)
+	{
+	    VEC_COPY(cp,e1);
+	}
+	else if(_scalar >1.0f)
+	{
+	    VEC_COPY(cp,e2);
+	}
+	else
+	{
+        VEC_SCALE(cp,_scalar,_n);
+        VEC_SUM(cp,cp,e1);
+	}
+}
+
+
+/*! \brief Finds the line params where these lines intersect.
+
+\param dir1 Direction of line 1
+\param point1 Point of line 1
+\param dir2 Direction of line 2
+\param point2 Point of line 2
+\param t1 Result Parameter for line 1
+\param t2 Result Parameter for line 2
+\param dointersect  0  if the lines won't intersect, else 1
+
+*/
+template<typename T,typename CLASS_POINT>
+SIMD_FORCE_INLINE bool LINE_INTERSECTION_PARAMS(
+	const CLASS_POINT & dir1,
+	CLASS_POINT & point1,
+	const CLASS_POINT & dir2,
+	CLASS_POINT &  point2,
+	T& t1,T& t2)
+{
+    GREAL det;
+	GREAL e1e1 = VEC_DOT(dir1,dir1);
+	GREAL e1e2 = VEC_DOT(dir1,dir2);
+	GREAL e2e2 = VEC_DOT(dir2,dir2);
+	vec3f p1p2;
+    VEC_DIFF(p1p2,point1,point2);
+    GREAL p1p2e1 = VEC_DOT(p1p2,dir1);
+	GREAL p1p2e2 = VEC_DOT(p1p2,dir2);
+	det = e1e2*e1e2 - e1e1*e2e2;
+	if(GIM_IS_ZERO(det)) return false;
+	t1 = (e1e2*p1p2e2 - e2e2*p1p2e1)/det;
+	t2 = (e1e1*p1p2e2 - e1e2*p1p2e1)/det;
+	return true;
+}
+
+//! Find closest points on segments
+template<typename CLASS_POINT>
+SIMD_FORCE_INLINE void SEGMENT_COLLISION(
+	const CLASS_POINT & vA1,
+	const CLASS_POINT & vA2,
+	const CLASS_POINT & vB1,
+	const CLASS_POINT & vB2,
+	CLASS_POINT & vPointA,
+	CLASS_POINT & vPointB)
+{
+    CLASS_POINT _AD,_BD,_N;
+    vec4f _M;//plane
+    VEC_DIFF(_AD,vA2,vA1);
+    VEC_DIFF(_BD,vB2,vB1);
+    VEC_CROSS(_N,_AD,_BD);
+    GREAL _tp = VEC_DOT(_N,_N);
+    if(_tp<G_EPSILON)//ARE PARALELE
+    {
+    	//project B over A
+    	bool invert_b_order = false;
+    	_M[0] = VEC_DOT(vB1,_AD);
+    	_M[1] = VEC_DOT(vB2,_AD);
+    	if(_M[0]>_M[1])
+    	{
+    		invert_b_order  = true;
+    		GIM_SWAP_NUMBERS(_M[0],_M[1]);
+    	}
+    	_M[2] = VEC_DOT(vA1,_AD);
+    	_M[3] = VEC_DOT(vA2,_AD);
+    	//mid points
+    	_N[0] = (_M[0]+_M[1])*0.5f;
+    	_N[1] = (_M[2]+_M[3])*0.5f;
+
+    	if(_N[0]<_N[1])
+    	{
+    		if(_M[1]<_M[2])
+    		{
+    			vPointB = invert_b_order?vB1:vB2;
+    			vPointA = vA1;
+    		}
+    		else if(_M[1]<_M[3])
+    		{
+    			vPointB = invert_b_order?vB1:vB2;
+    			CLOSEST_POINT_ON_SEGMENT(vPointA,vPointB,vA1,vA2);
+    		}
+    		else
+    		{
+    			vPointA = vA2;
+    			CLOSEST_POINT_ON_SEGMENT(vPointB,vPointA,vB1,vB2);
+    		}
+    	}
+    	else
+    	{
+    		if(_M[3]<_M[0])
+    		{
+    			vPointB = invert_b_order?vB2:vB1;
+    			vPointA = vA2;
+    		}
+    		else if(_M[3]<_M[1])
+    		{
+    			vPointA = vA2;
+    			CLOSEST_POINT_ON_SEGMENT(vPointB,vPointA,vB1,vB2);
+    		}
+    		else
+    		{
+    			vPointB = invert_b_order?vB1:vB2;
+    			CLOSEST_POINT_ON_SEGMENT(vPointA,vPointB,vA1,vA2);
+    		}
+    	}
+    	return;
+    }
+
+
+    VEC_CROSS(_M,_N,_BD);
+    _M[3] = VEC_DOT(_M,vB1);
+
+    LINE_PLANE_COLLISION(_M,_AD,vA1,vPointA,_tp,btScalar(0), btScalar(1));
+    /*Closest point on segment*/
+    VEC_DIFF(vPointB,vPointA,vB1);
+	_tp = VEC_DOT(vPointB, _BD);
+	_tp/= VEC_DOT(_BD, _BD);
+	_tp = GIM_CLAMP(_tp,0.0f,1.0f);
+    VEC_SCALE(vPointB,_tp,_BD);
+    VEC_SUM(vPointB,vPointB,vB1);
+}
+
+
+
+
+//! Line box intersection in one dimension
+/*!
+
+*\param pos Position of the ray
+*\param dir Projection of the Direction of the ray
+*\param bmin Minimum bound of the box
+*\param bmax Maximum bound of the box
+*\param tfirst the minimum projection. Assign to 0 at first.
+*\param tlast the maximum projection. Assign to INFINITY at first.
+*\return true if there is an intersection.
+*/
+template<typename T>
+SIMD_FORCE_INLINE bool BOX_AXIS_INTERSECT(T pos, T dir,T bmin, T bmax, T & tfirst, T & tlast)
+{
+	if(GIM_IS_ZERO(dir))
+	{
+        return !(pos < bmin || pos > bmax);
+	}
+	GREAL a0 = (bmin - pos) / dir;
+	GREAL a1 = (bmax - pos) / dir;
+	if(a0 > a1)   GIM_SWAP_NUMBERS(a0, a1);
+	tfirst = GIM_MAX(a0, tfirst);
+	tlast = GIM_MIN(a1, tlast);
+	if (tlast < tfirst) return false;
+	return true;
+}
+
+
+//! Sorts 3 componets
+template<typename T>
+SIMD_FORCE_INLINE void SORT_3_INDICES(
+		const T * values,
+		GUINT * order_indices)
+{
+	//get minimum
+	order_indices[0] = values[0] < values[1] ? (values[0] < values[2] ? 0 : 2) : (values[1] < values[2] ? 1 : 2);
+
+	//get second and third
+	GUINT i0 = (order_indices[0] + 1)%3;
+	GUINT i1 = (i0 + 1)%3;
+
+	if(values[i0] < values[i1])
+	{
+		order_indices[1] = i0;
+		order_indices[2] = i1;
+	}
+	else
+	{
+		order_indices[1] = i1;
+		order_indices[2] = i0;
+	}
+}
+
+
+
+//! @}
+
+
+#endif // GIM_VECTOR_H_INCLUDED

extern/bullet2/src/BulletCollision/Gimpact/gim_bitset.h

@@ -0,0 +1,129 @@
+#ifndef GIM_BITSET_H_INCLUDED
+#define GIM_BITSET_H_INCLUDED
+/*! \file gim_bitset.h
+\author Francisco Len N<>jera
+*/
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of EITHER:
+   (1) The GNU Lesser General Public License as published by the Free
+       Software Foundation; either version 2.1 of the License, or (at
+       your option) any later version. The text of the GNU Lesser
+       General Public License is included with this library in the
+       file GIMPACT-LICENSE-LGPL.TXT.
+   (2) The BSD-style license that is included with this library in
+       the file GIMPACT-LICENSE-BSD.TXT.
+   (3) The zlib/libpng license that is included with this library in
+       the file GIMPACT-LICENSE-ZLIB.TXT.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
+ GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+#include "gim_array.h"
+
+/*! \addtogroup CONTAINERS
+\brief
+Abstract class for template containers
+*/
+//! @{
+
+#define GUINT_BIT_COUNT 32
+#define GUINT_EXPONENT 5
+
+class gim_bitset
+{
+public:
+    gim_array<GUINT> m_container;
+
+    gim_bitset()
+    {
+
+    }
+
+    gim_bitset(GUINT bits_count)
+    {
+        resize(bits_count);
+    }
+
+    ~gim_bitset()
+    {
+    }
+
+	inline bool resize(GUINT newsize)
+	{
+		GUINT oldsize = m_container.size();
+		m_container.resize(newsize/GUINT_BIT_COUNT + 1,false);
+		while(oldsize<m_container.size())
+		{
+			m_container[oldsize] = 0;
+		}
+		return true;
+	}
+
+	inline GUINT size()
+	{
+		return m_container.size()*GUINT_BIT_COUNT;
+	}
+
+	inline void set_all()
+	{
+		for(GUINT i = 0;i<m_container.size();++i)
+		{
+			m_container[i] = 0xffffffff;
+		}
+	}
+
+	inline void clear_all()
+	{
+	    for(GUINT i = 0;i<m_container.size();++i)
+		{
+			m_container[i] = 0;
+		}
+	}
+
+	inline void set(GUINT bit_index)
+	{
+		if(bit_index>=size())
+		{
+			resize(bit_index);
+		}
+		m_container[bit_index >> GUINT_EXPONENT] |= (1 << (bit_index & (GUINT_BIT_COUNT-1)));
+	}
+
+	///Return 0 or 1
+	inline char get(GUINT bit_index)
+	{
+		if(bit_index>=size())
+		{
+			return 0;
+		}
+		char value = m_container[bit_index >> GUINT_EXPONENT] &
+					 (1 << (bit_index & (GUINT_BIT_COUNT-1)));
+		return value;
+	}
+
+	inline void clear(GUINT bit_index)
+	{
+	    m_container[bit_index >> GUINT_EXPONENT] &= ~(1 << (bit_index & (GUINT_BIT_COUNT-1)));
+	}
+};
+
+
+//! @}
+
+
+
+#endif // GIM_CONTAINERS_H_INCLUDED

extern/bullet2/src/BulletCollision/Gimpact/gim_box_collision.h

@@ -0,0 +1,594 @@
+#ifndef GIM_BOX_COLLISION_H_INCLUDED
+#define GIM_BOX_COLLISION_H_INCLUDED
+
+/*! \file gim_box_collision.h
+\author Francisco Len N<>jera
+*/
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of EITHER:
+   (1) The GNU Lesser General Public License as published by the Free
+       Software Foundation; either version 2.1 of the License, or (at
+       your option) any later version. The text of the GNU Lesser
+       General Public License is included with this library in the
+       file GIMPACT-LICENSE-LGPL.TXT.
+   (2) The BSD-style license that is included with this library in
+       the file GIMPACT-LICENSE-BSD.TXT.
+   (3) The zlib/libpng license that is included with this library in
+       the file GIMPACT-LICENSE-ZLIB.TXT.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
+ GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+#include "gim_basic_geometry_operations.h"
+#include "LinearMath/btTransform.h"
+
+/*! \defgroup BOUND_AABB_OPERATIONS
+*/
+//! @{
+
+
+//SIMD_FORCE_INLINE bool test_cross_edge_box(
+//	const btVector3 & edge,
+//	const btVector3 & absolute_edge,
+//	const btVector3 & pointa,
+//	const btVector3 & pointb, const btVector3 & extend,
+//	int dir_index0,
+//	int dir_index1
+//	int component_index0,
+//	int component_index1)
+//{
+//	// dir coords are -z and y
+//
+//	const btScalar dir0 = -edge[dir_index0];
+//	const btScalar dir1 = edge[dir_index1];
+//	btScalar pmin = pointa[component_index0]*dir0 + pointa[component_index1]*dir1;
+//	btScalar pmax = pointb[component_index0]*dir0 + pointb[component_index1]*dir1;
+//	//find minmax
+//	if(pmin>pmax)
+//	{
+//		GIM_SWAP_NUMBERS(pmin,pmax);
+//	}
+//	//find extends
+//	const btScalar rad = extend[component_index0] * absolute_edge[dir_index0] +
+//					extend[component_index1] * absolute_edge[dir_index1];
+//
+//	if(pmin>rad || -rad>pmax) return false;
+//	return true;
+//}
+//
+//SIMD_FORCE_INLINE bool test_cross_edge_box_X_axis(
+//	const btVector3 & edge,
+//	const btVector3 & absolute_edge,
+//	const btVector3 & pointa,
+//	const btVector3 & pointb, btVector3 & extend)
+//{
+//
+//	return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,2,1,1,2);
+//}
+//
+//
+//SIMD_FORCE_INLINE bool test_cross_edge_box_Y_axis(
+//	const btVector3 & edge,
+//	const btVector3 & absolute_edge,
+//	const btVector3 & pointa,
+//	const btVector3 & pointb, btVector3 & extend)
+//{
+//
+//	return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,0,2,2,0);
+//}
+//
+//SIMD_FORCE_INLINE bool test_cross_edge_box_Z_axis(
+//	const btVector3 & edge,
+//	const btVector3 & absolute_edge,
+//	const btVector3 & pointa,
+//	const btVector3 & pointb, btVector3 & extend)
+//{
+//
+//	return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,1,0,0,1);
+//}
+
+#define TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,i_dir_0,i_dir_1,i_comp_0,i_comp_1)\
+{\
+	const btScalar dir0 = -edge[i_dir_0];\
+	const btScalar dir1 = edge[i_dir_1];\
+	btScalar pmin = pointa[i_comp_0]*dir0 + pointa[i_comp_1]*dir1;\
+	btScalar pmax = pointb[i_comp_0]*dir0 + pointb[i_comp_1]*dir1;\
+	if(pmin>pmax)\
+	{\
+		GIM_SWAP_NUMBERS(pmin,pmax); \
+	}\
+	const btScalar abs_dir0 = absolute_edge[i_dir_0];\
+	const btScalar abs_dir1 = absolute_edge[i_dir_1];\
+	const btScalar rad = _extend[i_comp_0] * abs_dir0 + _extend[i_comp_1] * abs_dir1;\
+	if(pmin>rad || -rad>pmax) return false;\
+}\
+
+
+#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
+{\
+	TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,2,1,1,2);\
+}\
+
+#define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
+{\
+	TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,0,2,2,0);\
+}\
+
+#define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
+{\
+	TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,1,0,0,1);\
+}\
+
+
+
+//!  Class for transforming a model1 to the space of model0
+class GIM_BOX_BOX_TRANSFORM_CACHE
+{
+public:
+    btVector3  m_T1to0;//!< Transforms translation of model1 to model 0
+	btMatrix3x3 m_R1to0;//!< Transforms Rotation of model1 to model 0, equal  to R0' * R1
+	btMatrix3x3 m_AR;//!< Absolute value of m_R1to0
+
+	SIMD_FORCE_INLINE void calc_absolute_matrix()
+	{
+		static const btVector3 vepsi(1e-6f,1e-6f,1e-6f);
+		m_AR[0] = vepsi + m_R1to0[0].absolute();
+		m_AR[1] = vepsi + m_R1to0[1].absolute();
+		m_AR[2] = vepsi + m_R1to0[2].absolute();
+	}
+
+	GIM_BOX_BOX_TRANSFORM_CACHE()
+	{
+	}
+
+
+	GIM_BOX_BOX_TRANSFORM_CACHE(mat4f  trans1_to_0)
+	{
+		COPY_MATRIX_3X3(m_R1to0,trans1_to_0)
+        MAT_GET_TRANSLATION(trans1_to_0,m_T1to0)
+		calc_absolute_matrix();
+	}
+
+	//! Calc the transformation relative  1 to 0. Inverts matrics by transposing
+	SIMD_FORCE_INLINE void calc_from_homogenic(const btTransform & trans0,const btTransform & trans1)
+	{
+
+		m_R1to0 = trans0.getBasis().transpose();
+		m_T1to0 = m_R1to0 * (-trans0.getOrigin());
+
+		m_T1to0 += m_R1to0*trans1.getOrigin();
+		m_R1to0 *= trans1.getBasis();
+
+		calc_absolute_matrix();
+	}
+
+	//! Calcs the full invertion of the matrices. Useful for scaling matrices
+	SIMD_FORCE_INLINE void calc_from_full_invert(const btTransform & trans0,const btTransform & trans1)
+	{
+		m_R1to0 = trans0.getBasis().inverse();
+		m_T1to0 = m_R1to0 * (-trans0.getOrigin());
+
+		m_T1to0 += m_R1to0*trans1.getOrigin();
+		m_R1to0 *= trans1.getBasis();
+
+		calc_absolute_matrix();
+	}
+
+	SIMD_FORCE_INLINE btVector3 transform(const btVector3 & point)
+	{
+		return btVector3(m_R1to0[0].dot(point) + m_T1to0.x(),
+			m_R1to0[1].dot(point) + m_T1to0.y(),
+			m_R1to0[2].dot(point) + m_T1to0.z());
+	}
+};
+
+
+#define BOX_PLANE_EPSILON 0.000001f
+
+//! Axis aligned box
+class GIM_AABB
+{
+public:
+	btVector3 m_min;
+	btVector3 m_max;
+
+	GIM_AABB()
+	{}
+
+
+	GIM_AABB(const btVector3 & V1,
+			 const btVector3 & V2,
+			 const btVector3 & V3)
+	{
+		m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]);
+		m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]);
+		m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]);
+
+		m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]);
+		m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]);
+		m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]);
+	}
+
+	GIM_AABB(const btVector3 & V1,
+			 const btVector3 & V2,
+			 const btVector3 & V3,
+			 GREAL margin)
+	{
+		m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]);
+		m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]);
+		m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]);
+
+		m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]);
+		m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]);
+		m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]);
+
+		m_min[0] -= margin;
+		m_min[1] -= margin;
+		m_min[2] -= margin;
+		m_max[0] += margin;
+		m_max[1] += margin;
+		m_max[2] += margin;
+	}
+
+	GIM_AABB(const GIM_AABB &other):
+		m_min(other.m_min),m_max(other.m_max)
+	{
+	}
+
+	GIM_AABB(const GIM_AABB &other,btScalar margin ):
+		m_min(other.m_min),m_max(other.m_max)
+	{
+		m_min[0] -= margin;
+		m_min[1] -= margin;
+		m_min[2] -= margin;
+		m_max[0] += margin;
+		m_max[1] += margin;
+		m_max[2] += margin;
+	}
+
+	SIMD_FORCE_INLINE void invalidate()
+	{
+		m_min[0] = G_REAL_INFINITY;
+		m_min[1] = G_REAL_INFINITY;
+		m_min[2] = G_REAL_INFINITY;
+		m_max[0] = -G_REAL_INFINITY;
+		m_max[1] = -G_REAL_INFINITY;
+		m_max[2] = -G_REAL_INFINITY;
+	}
+
+	SIMD_FORCE_INLINE void increment_margin(btScalar margin)
+	{
+		m_min[0] -= margin;
+		m_min[1] -= margin;
+		m_min[2] -= margin;
+		m_max[0] += margin;
+		m_max[1] += margin;
+		m_max[2] += margin;
+	}
+
+	SIMD_FORCE_INLINE void copy_with_margin(const GIM_AABB &other, btScalar margin)
+	{
+		m_min[0] = other.m_min[0] - margin;
+		m_min[1] = other.m_min[1] - margin;
+		m_min[2] = other.m_min[2] - margin;
+
+		m_max[0] = other.m_max[0] + margin;
+		m_max[1] = other.m_max[1] + margin;
+		m_max[2] = other.m_max[2] + margin;
+	}
+
+	template<typename CLASS_POINT>
+	SIMD_FORCE_INLINE void calc_from_triangle(
+							const CLASS_POINT & V1,
+							const CLASS_POINT & V2,
+							const CLASS_POINT & V3)
+	{
+		m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]);
+		m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]);
+		m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]);
+
+		m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]);
+		m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]);
+		m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]);
+	}
+
+	template<typename CLASS_POINT>
+	SIMD_FORCE_INLINE void calc_from_triangle_margin(
+							const CLASS_POINT & V1,
+							const CLASS_POINT & V2,
+							const CLASS_POINT & V3, btScalar margin)
+	{
+		m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]);
+		m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]);
+		m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]);
+
+		m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]);
+		m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]);
+		m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]);
+
+		m_min[0] -= margin;
+		m_min[1] -= margin;
+		m_min[2] -= margin;
+		m_max[0] += margin;
+		m_max[1] += margin;
+		m_max[2] += margin;
+	}
+
+	//! Apply a transform to an AABB
+	SIMD_FORCE_INLINE void appy_transform(const btTransform & trans)
+	{
+		btVector3 center = (m_max+m_min)*0.5f;
+		btVector3 extends = m_max - center;
+		// Compute new center
+		center = trans(center);
+
+		btVector3 textends(extends.dot(trans.getBasis().getRow(0).absolute()),
+ 				 extends.dot(trans.getBasis().getRow(1).absolute()),
+				 extends.dot(trans.getBasis().getRow(2).absolute()));
+
+		m_min = center - textends;
+		m_max = center + textends;
+	}
+
+	//! Merges a Box
+	SIMD_FORCE_INLINE void merge(const GIM_AABB & box)
+	{
+		m_min[0] = GIM_MIN(m_min[0],box.m_min[0]);
+		m_min[1] = GIM_MIN(m_min[1],box.m_min[1]);
+		m_min[2] = GIM_MIN(m_min[2],box.m_min[2]);
+
+		m_max[0] = GIM_MAX(m_max[0],box.m_max[0]);
+		m_max[1] = GIM_MAX(m_max[1],box.m_max[1]);
+		m_max[2] = GIM_MAX(m_max[2],box.m_max[2]);
+	}
+
+	//! Merges a point
+	template<typename CLASS_POINT>
+	SIMD_FORCE_INLINE void merge_point(const CLASS_POINT & point)
+	{
+		m_min[0] = GIM_MIN(m_min[0],point[0]);
+		m_min[1] = GIM_MIN(m_min[1],point[1]);
+		m_min[2] = GIM_MIN(m_min[2],point[2]);
+
+		m_max[0] = GIM_MAX(m_max[0],point[0]);
+		m_max[1] = GIM_MAX(m_max[1],point[1]);
+		m_max[2] = GIM_MAX(m_max[2],point[2]);
+	}
+
+	//! Gets the extend and center
+	SIMD_FORCE_INLINE void get_center_extend(btVector3 & center,btVector3 & extend)  const
+	{
+		center = (m_max+m_min)*0.5f;
+		extend = m_max - center;
+	}
+
+	//! Finds the intersecting box between this box and the other.
+	SIMD_FORCE_INLINE void find_intersection(const GIM_AABB & other, GIM_AABB & intersection)  const
+	{
+		intersection.m_min[0] = GIM_MAX(other.m_min[0],m_min[0]);
+		intersection.m_min[1] = GIM_MAX(other.m_min[1],m_min[1]);
+		intersection.m_min[2] = GIM_MAX(other.m_min[2],m_min[2]);
+
+		intersection.m_max[0] = GIM_MIN(other.m_max[0],m_max[0]);
+		intersection.m_max[1] = GIM_MIN(other.m_max[1],m_max[1]);
+		intersection.m_max[2] = GIM_MIN(other.m_max[2],m_max[2]);
+	}
+
+
+	SIMD_FORCE_INLINE bool has_collision(const GIM_AABB & other) const
+	{
+		if(m_min[0] > other.m_max[0] ||
+		   m_max[0] < other.m_min[0] ||
+		   m_min[1] > other.m_max[1] ||
+		   m_max[1] < other.m_min[1] ||
+		   m_min[2] > other.m_max[2] ||
+		   m_max[2] < other.m_min[2])
+		{
+			return false;
+		}
+		return true;
+	}
+
+	/*! \brief Finds the Ray intersection parameter.
+	\param aabb Aligned box
+	\param vorigin A vec3f with the origin of the ray
+	\param vdir A vec3f with the direction of the ray
+	*/
+	SIMD_FORCE_INLINE bool collide_ray(const btVector3 & vorigin,const btVector3 & vdir)
+	{
+		btVector3 extents,center;
+		this->get_center_extend(center,extents);;
+
+		btScalar Dx = vorigin[0] - center[0];
+		if(GIM_GREATER(Dx, extents[0]) && Dx*vdir[0]>=0.0f)	return false;
+		btScalar Dy = vorigin[1] - center[1];
+		if(GIM_GREATER(Dy, extents[1]) && Dy*vdir[1]>=0.0f)	return false;
+		btScalar Dz = vorigin[2] - center[2];
+		if(GIM_GREATER(Dz, extents[2]) && Dz*vdir[2]>=0.0f)	return false;
+
+
+		btScalar f = vdir[1] * Dz - vdir[2] * Dy;
+		if(btFabs(f) > extents[1]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[1])) return false;
+		f = vdir[2] * Dx - vdir[0] * Dz;
+		if(btFabs(f) > extents[0]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[0]))return false;
+		f = vdir[0] * Dy - vdir[1] * Dx;
+		if(btFabs(f) > extents[0]*btFabs(vdir[1]) + extents[1]*btFabs(vdir[0]))return false;
+		return true;
+	}
+
+
+	SIMD_FORCE_INLINE void projection_interval(const btVector3 & direction, btScalar &vmin, btScalar &vmax) const
+	{
+		btVector3 center = (m_max+m_min)*0.5f;
+		btVector3 extend = m_max-center;
+
+		btScalar _fOrigin =  direction.dot(center);
+		btScalar _fMaximumExtent = extend.dot(direction.absolute());
+		vmin = _fOrigin - _fMaximumExtent;
+		vmax = _fOrigin + _fMaximumExtent;
+	}
+
+	SIMD_FORCE_INLINE ePLANE_INTERSECTION_TYPE plane_classify(const btVector4 &plane) const
+	{
+		btScalar _fmin,_fmax;
+		this->projection_interval(plane,_fmin,_fmax);
+
+		if(plane[3] > _fmax + BOX_PLANE_EPSILON)
+		{
+			return G_BACK_PLANE; // 0
+		}
+
+		if(plane[3]+BOX_PLANE_EPSILON >=_fmin)
+		{
+			return G_COLLIDE_PLANE; //1
+		}
+		return G_FRONT_PLANE;//2
+	}
+
+	SIMD_FORCE_INLINE bool overlapping_trans_conservative(const GIM_AABB & box, btTransform & trans1_to_0)
+	{
+		GIM_AABB tbox = box;
+		tbox.appy_transform(trans1_to_0);
+		return has_collision(tbox);
+	}
+
+	//! transcache is the transformation cache from box to this AABB
+	SIMD_FORCE_INLINE bool overlapping_trans_cache(
+		const GIM_AABB & box,const GIM_BOX_BOX_TRANSFORM_CACHE & transcache, bool fulltest)
+	{
+
+		//Taken from OPCODE
+		btVector3 ea,eb;//extends
+		btVector3 ca,cb;//extends
+		get_center_extend(ca,ea);
+		box.get_center_extend(cb,eb);
+
+
+		btVector3 T;
+		btScalar t,t2;
+		int i;
+
+		// Class I : A's basis vectors
+		for(i=0;i<3;i++)
+		{
+			T[i] =  transcache.m_R1to0[i].dot(cb) + transcache.m_T1to0[i] - ca[i];
+			t = transcache.m_AR[i].dot(eb) + ea[i];
+			if(GIM_GREATER(T[i], t))	return false;
+		}
+		// Class II : B's basis vectors
+		for(i=0;i<3;i++)
+		{
+			t = MAT_DOT_COL(transcache.m_R1to0,T,i);
+			t2 = MAT_DOT_COL(transcache.m_AR,ea,i) + eb[i];
+			if(GIM_GREATER(t,t2))	return false;
+		}
+		// Class III : 9 cross products
+		if(fulltest)
+		{
+			int j,m,n,o,p,q,r;
+			for(i=0;i<3;i++)
+			{
+				m = (i+1)%3;
+				n = (i+2)%3;
+				o = i==0?1:0;
+				p = i==2?1:2;
+				for(j=0;j<3;j++)
+				{
+					q = j==2?1:2;
+					r = j==0?1:0;
+					t = T[n]*transcache.m_R1to0[m][j] - T[m]*transcache.m_R1to0[n][j];
+					t2 = ea[o]*transcache.m_AR[p][j] + ea[p]*transcache.m_AR[o][j] +
+						eb[r]*transcache.m_AR[i][q] + eb[q]*transcache.m_AR[i][r];
+					if(GIM_GREATER(t,t2))	return false;
+				}
+			}
+		}
+		return true;
+	}
+
+	//! Simple test for planes.
+	SIMD_FORCE_INLINE bool collide_plane(
+		const btVector4 & plane)
+	{
+		ePLANE_INTERSECTION_TYPE classify = plane_classify(plane);
+		return (classify == G_COLLIDE_PLANE);
+	}
+
+	//! test for a triangle, with edges
+	SIMD_FORCE_INLINE bool collide_triangle_exact(
+		const btVector3 & p1,
+		const btVector3 & p2,
+		const btVector3 & p3,
+		const btVector4 & triangle_plane)
+	{
+		if(!collide_plane(triangle_plane)) return false;
+
+		btVector3 center,extends;
+		this->get_center_extend(center,extends);
+
+		const btVector3 v1(p1 - center);
+		const btVector3 v2(p2 - center);
+		const btVector3 v3(p3 - center);
+
+		//First axis
+		btVector3 diff(v2 - v1);
+		btVector3 abs_diff = diff.absolute();
+		//Test With X axis
+		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v1,v3,extends);
+		//Test With Y axis
+		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v1,v3,extends);
+		//Test With Z axis
+		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v1,v3,extends);
+
+
+		diff = v3 - v2;
+		abs_diff = diff.absolute();
+		//Test With X axis
+		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v2,v1,extends);
+		//Test With Y axis
+		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v2,v1,extends);
+		//Test With Z axis
+		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v2,v1,extends);
+
+		diff = v1 - v3;
+		abs_diff = diff.absolute();
+		//Test With X axis
+		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v3,v2,extends);
+		//Test With Y axis
+		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v3,v2,extends);
+		//Test With Z axis
+		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v3,v2,extends);
+
+		return true;
+	}
+};
+
+
+//! Compairison of transformation objects
+SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btTransform & t2)
+{
+	if(!(t1.getOrigin() == t2.getOrigin()) ) return false;
+
+	if(!(t1.getBasis().getRow(0) == t2.getBasis().getRow(0)) ) return false;
+	if(!(t1.getBasis().getRow(1) == t2.getBasis().getRow(1)) ) return false;
+	if(!(t1.getBasis().getRow(2) == t2.getBasis().getRow(2)) ) return false;
+	return true;
+}
+
+
+//! @}
+
+#endif // GIM_BOX_COLLISION_H_INCLUDED

extern/bullet2/src/BulletCollision/Gimpact/gim_box_set.cpp

@@ -0,0 +1,182 @@
+
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of EITHER:
+   (1) The GNU Lesser General Public License as published by the Free
+       Software Foundation; either version 2.1 of the License, or (at
+       your option) any later version. The text of the GNU Lesser
+       General Public License is included with this library in the
+       file GIMPACT-LICENSE-LGPL.TXT.
+   (2) The BSD-style license that is included with this library in
+       the file GIMPACT-LICENSE-BSD.TXT.
+   (3) The zlib/libpng license that is included with this library in
+       the file GIMPACT-LICENSE-ZLIB.TXT.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
+ GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+
+#include "gim_box_set.h"
+
+
+GUINT GIM_BOX_TREE::_calc_splitting_axis(
+	gim_array<GIM_AABB_DATA> & primitive_boxes, GUINT startIndex,  GUINT endIndex)
+{
+	GUINT i;
+
+	btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.));
+	btVector3 variance(btScalar(0.),btScalar(0.),btScalar(0.));
+	GUINT numIndices = endIndex-startIndex;
+
+	for (i=startIndex;i<endIndex;i++)
+	{
+		btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
+					 primitive_boxes[i].m_bound.m_min);
+		means+=center;
+	}
+	means *= (btScalar(1.)/(btScalar)numIndices);
+
+	for (i=startIndex;i<endIndex;i++)
+	{
+		btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
+					 primitive_boxes[i].m_bound.m_min);
+		btVector3 diff2 = center-means;
+		diff2 = diff2 * diff2;
+		variance += diff2;
+	}
+	variance *= (btScalar(1.)/	((btScalar)numIndices-1)	);
+
+	return variance.maxAxis();
+}
+
+
+GUINT GIM_BOX_TREE::_sort_and_calc_splitting_index(
+	gim_array<GIM_AABB_DATA> & primitive_boxes, GUINT startIndex,
+	GUINT endIndex, GUINT splitAxis)
+{
+	GUINT i;
+	GUINT splitIndex =startIndex;
+	GUINT numIndices = endIndex - startIndex;
+
+	// average of centers
+	btScalar splitValue = 0.0f;
+	for (i=startIndex;i<endIndex;i++)
+	{
+		splitValue+= 0.5f*(primitive_boxes[i].m_bound.m_max[splitAxis] +
+					 primitive_boxes[i].m_bound.m_min[splitAxis]);
+	}
+	splitValue /= (btScalar)numIndices;
+
+	//sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
+	for (i=startIndex;i<endIndex;i++)
+	{
+		btScalar center = 0.5f*(primitive_boxes[i].m_bound.m_max[splitAxis] +
+					 primitive_boxes[i].m_bound.m_min[splitAxis]);
+		if (center > splitValue)
+		{
+			//swap
+			primitive_boxes.swap(i,splitIndex);
+			splitIndex++;
+		}
+	}
+
+	//if the splitIndex causes unbalanced trees, fix this by using the center in between startIndex and endIndex
+	//otherwise the tree-building might fail due to stack-overflows in certain cases.
+	//unbalanced1 is unsafe: it can cause stack overflows
+	//bool unbalanced1 = ((splitIndex==startIndex) || (splitIndex == (endIndex-1)));
+
+	//unbalanced2 should work too: always use center (perfect balanced trees)
+	//bool unbalanced2 = true;
+
+	//this should be safe too:
+	GUINT rangeBalancedIndices = numIndices/3;
+	bool unbalanced = ((splitIndex<=(startIndex+rangeBalancedIndices)) || (splitIndex >=(endIndex-1-rangeBalancedIndices)));
+
+	if (unbalanced)
+	{
+		splitIndex = startIndex+ (numIndices>>1);
+	}
+
+	bool unbal = (splitIndex==startIndex) || (splitIndex == (endIndex));
+	btAssert(!unbal);
+
+	return splitIndex;
+}
+
+
+void GIM_BOX_TREE::_build_sub_tree(gim_array<GIM_AABB_DATA> & primitive_boxes, GUINT startIndex,  GUINT endIndex)
+{
+	GUINT current_index = m_num_nodes++;
+
+	btAssert((endIndex-startIndex)>0);
+
+	if((endIndex-startIndex) == 1) //we got a leaf
+	{		
+		m_node_array[current_index].m_left = 0;
+		m_node_array[current_index].m_right = 0;
+		m_node_array[current_index].m_escapeIndex = 0;
+
+		m_node_array[current_index].m_bound = primitive_boxes[startIndex].m_bound;
+		m_node_array[current_index].m_data = primitive_boxes[startIndex].m_data;
+		return;
+	}
+
+	//configure inner node
+
+	GUINT splitIndex;
+
+	//calc this node bounding box
+	m_node_array[current_index].m_bound.invalidate();	
+	for (splitIndex=startIndex;splitIndex<endIndex;splitIndex++)
+	{
+		m_node_array[current_index].m_bound.merge(primitive_boxes[splitIndex].m_bound);
+	}
+
+	//calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'.
+
+	//split axis
+	splitIndex = _calc_splitting_axis(primitive_boxes,startIndex,endIndex);
+
+	splitIndex = _sort_and_calc_splitting_index(
+			primitive_boxes,startIndex,endIndex,splitIndex);
+
+	//configure this inner node : the left node index
+	m_node_array[current_index].m_left = m_num_nodes;
+	//build left child tree
+	_build_sub_tree(primitive_boxes, startIndex, splitIndex );
+
+	//configure this inner node : the right node index
+	m_node_array[current_index].m_right = m_num_nodes;
+
+	//build right child tree
+	_build_sub_tree(primitive_boxes, splitIndex ,endIndex);
+
+	//configure this inner node : the escape index
+	m_node_array[current_index].m_escapeIndex  = m_num_nodes - current_index;
+}
+
+//! stackless build tree
+void GIM_BOX_TREE::build_tree(
+	gim_array<GIM_AABB_DATA> & primitive_boxes)
+{
+	// initialize node count to 0
+	m_num_nodes = 0;
+	// allocate nodes
+	m_node_array.resize(primitive_boxes.size()*2);
+	
+	_build_sub_tree(primitive_boxes, 0, primitive_boxes.size());
+}
+

extern/bullet2/src/BulletCollision/Gimpact/gim_box_set.h

@@ -0,0 +1,678 @@
+#ifndef GIM_BOX_SET_H_INCLUDED
+#define GIM_BOX_SET_H_INCLUDED
+
+/*! \file gim_box_set.h
+\author Francisco Len N<>jera
+*/
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of EITHER:
+   (1) The GNU Lesser General Public License as published by the Free
+       Software Foundation; either version 2.1 of the License, or (at
+       your option) any later version. The text of the GNU Lesser
+       General Public License is included with this library in the
+       file GIMPACT-LICENSE-LGPL.TXT.
+   (2) The BSD-style license that is included with this library in
+       the file GIMPACT-LICENSE-BSD.TXT.
+   (3) The zlib/libpng license that is included with this library in
+       the file GIMPACT-LICENSE-ZLIB.TXT.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
+ GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+
+#include "gim_array.h"
+#include "gim_radixsort.h"
+#include "gim_box_collision.h"
+#include "gim_tri_collision.h"
+
+
+/*! \defgroup BOX_PRUNNING
+
+
+
+*/
+//! @{
+
+//! Overlapping pair
+struct GIM_PAIR
+{
+    GUINT m_index1;
+    GUINT m_index2;
+    GIM_PAIR()
+    {}
+
+    GIM_PAIR(const GIM_PAIR & p)
+    {
+    	m_index1 = p.m_index1;
+    	m_index2 = p.m_index2;
+	}
+
+	GIM_PAIR(GUINT index1, GUINT index2)
+    {
+    	m_index1 = index1;
+    	m_index2 = index2;
+	}
+};
+
+//! A pairset array
+class gim_pair_set: public gim_array<GIM_PAIR>
+{
+public:
+	gim_pair_set():gim_array<GIM_PAIR>(32)
+	{
+	}
+	inline void push_pair(GUINT index1,GUINT index2)
+	{
+		push_back(GIM_PAIR(index1,index2));
+	}
+
+	inline void push_pair_inv(GUINT index1,GUINT index2)
+	{
+		push_back(GIM_PAIR(index2,index1));
+	}
+};
+
+
+//! Prototype Base class for primitive classification
+/*!
+This class is a wrapper for primitive collections.
+This tells relevant info for the Bounding Box set classes, which take care of space classification.
+This class can manage Compound shapes and trimeshes, and if it is managing trimesh then the  Hierarchy Bounding Box classes will take advantage of primitive Vs Box overlapping tests for getting optimal results and less Per Box compairisons.
+*/
+class GIM_PRIMITIVE_MANAGER_PROTOTYPE
+{
+public:
+
+	//! determines if this manager consist on only triangles, which special case will be optimized
+	virtual bool is_trimesh() = 0;
+	virtual GUINT get_primitive_count() = 0;
+	virtual void get_primitive_box(GUINT prim_index ,GIM_AABB & primbox) = 0;
+	virtual void get_primitive_triangle(GUINT prim_index,GIM_TRIANGLE & triangle) = 0;
+};
+
+
+struct GIM_AABB_DATA
+{
+	GIM_AABB m_bound;
+	GUINT m_data;
+};
+
+//! Node Structure for trees
+struct GIM_BOX_TREE_NODE
+{
+	GIM_AABB m_bound;
+	GUINT m_left;//!< Left subtree
+	GUINT m_right;//!< Right subtree
+	GUINT m_escapeIndex;//!< Scape index for traversing
+	GUINT m_data;//!< primitive index if apply
+
+	GIM_BOX_TREE_NODE()
+	{
+	    m_left = 0;
+	    m_right = 0;
+	    m_escapeIndex = 0;
+	    m_data = 0;
+	}
+
+	SIMD_FORCE_INLINE bool is_leaf_node() const
+	{
+	    return  (!m_left && !m_right);
+	}
+};
+
+//! Basic Box tree structure
+class GIM_BOX_TREE
+{
+protected:
+	GUINT m_num_nodes;
+	gim_array<GIM_BOX_TREE_NODE> m_node_array;
+protected:
+	GUINT _sort_and_calc_splitting_index(
+		gim_array<GIM_AABB_DATA> & primitive_boxes,
+		 GUINT startIndex,  GUINT endIndex, GUINT splitAxis);
+
+	GUINT _calc_splitting_axis(gim_array<GIM_AABB_DATA> & primitive_boxes, GUINT startIndex,  GUINT endIndex);
+
+	void _build_sub_tree(gim_array<GIM_AABB_DATA> & primitive_boxes, GUINT startIndex,  GUINT endIndex);
+public:
+	GIM_BOX_TREE()
+	{
+		m_num_nodes = 0;
+	}
+
+	//! prototype functions for box tree management
+	//!@{
+	void build_tree(gim_array<GIM_AABB_DATA> & primitive_boxes);
+
+	SIMD_FORCE_INLINE void clearNodes()
+	{
+		m_node_array.clear();
+		m_num_nodes = 0;
+	}
+
+	//! node count
+	SIMD_FORCE_INLINE GUINT getNodeCount() const
+	{
+		return m_num_nodes;
+	}
+
+	//! tells if the node is a leaf
+	SIMD_FORCE_INLINE bool isLeafNode(GUINT nodeindex) const
+	{
+		return m_node_array[nodeindex].is_leaf_node();
+	}
+
+	SIMD_FORCE_INLINE GUINT getNodeData(GUINT nodeindex) const
+	{
+		return m_node_array[nodeindex].m_data;
+	}
+
+	SIMD_FORCE_INLINE void getNodeBound(GUINT nodeindex, GIM_AABB & bound) const
+	{
+		bound = m_node_array[nodeindex].m_bound;
+	}
+
+	SIMD_FORCE_INLINE void setNodeBound(GUINT nodeindex, const GIM_AABB & bound)
+	{
+		m_node_array[nodeindex].m_bound = bound;
+	}
+
+	SIMD_FORCE_INLINE GUINT getLeftNodeIndex(GUINT nodeindex)  const
+	{
+		return m_node_array[nodeindex].m_left;
+	}
+
+	SIMD_FORCE_INLINE GUINT getRightNodeIndex(GUINT nodeindex)  const
+	{
+		return m_node_array[nodeindex].m_right;
+	}
+
+	SIMD_FORCE_INLINE GUINT getScapeNodeIndex(GUINT nodeindex) const
+	{
+		return m_node_array[nodeindex].m_escapeIndex;
+	}
+
+	//!@}
+};
+
+
+//! Generic Box Tree Template
+/*!
+This class offers an structure for managing a box tree of primitives.
+Requires a Primitive prototype (like GIM_PRIMITIVE_MANAGER_PROTOTYPE ) and
+a Box tree structure ( like GIM_BOX_TREE).
+*/
+template<typename _GIM_PRIMITIVE_MANAGER_PROTOTYPE, typename _GIM_BOX_TREE_PROTOTYPE>
+class GIM_BOX_TREE_TEMPLATE_SET
+{
+protected:
+	_GIM_PRIMITIVE_MANAGER_PROTOTYPE m_primitive_manager;
+	_GIM_BOX_TREE_PROTOTYPE m_box_tree;
+protected:
+	//stackless refit
+	SIMD_FORCE_INLINE void refit()
+	{
+		GUINT nodecount = getNodeCount();
+		while(nodecount--)
+		{
+			if(isLeafNode(nodecount))
+			{
+				GIM_AABB leafbox;
+				m_primitive_manager.get_primitive_box(getNodeData(nodecount),leafbox);
+				setNodeBound(nodecount,leafbox);
+			}
+			else
+			{
+				//get left bound
+				GUINT childindex = getLeftNodeIndex(nodecount);
+				GIM_AABB bound;
+				getNodeBound(childindex,bound);
+				//get right bound
+				childindex = getRightNodeIndex(nodecount);
+				GIM_AABB bound2;
+				getNodeBound(childindex,bound2);
+				bound.merge(bound2);
+
+				setNodeBound(nodecount,bound);
+			}
+		}
+	}
+public:
+
+	GIM_BOX_TREE_TEMPLATE_SET()
+	{
+	}
+
+	SIMD_FORCE_INLINE GIM_AABB getGlobalBox()  const
+	{
+		GIM_AABB totalbox;
+		getNodeBound(0, totalbox);
+		return totalbox;
+	}
+
+	SIMD_FORCE_INLINE void setPrimitiveManager(const _GIM_PRIMITIVE_MANAGER_PROTOTYPE & primitive_manager)
+	{
+		m_primitive_manager = primitive_manager;
+	}
+
+	const _GIM_PRIMITIVE_MANAGER_PROTOTYPE & getPrimitiveManager() const
+	{
+		return m_primitive_manager;
+	}
+
+	_GIM_PRIMITIVE_MANAGER_PROTOTYPE & getPrimitiveManager()
+	{
+		return m_primitive_manager;
+	}
+
+//! node manager prototype functions
+///@{
+
+	//! this attemps to refit the box set.
+	SIMD_FORCE_INLINE void update()
+	{
+		refit();
+	}
+
+	//! this rebuild the entire set
+	SIMD_FORCE_INLINE void buildSet()
+	{
+		//obtain primitive boxes
+		gim_array<GIM_AABB_DATA> primitive_boxes;
+		primitive_boxes.resize(m_primitive_manager.get_primitive_count(),false);
+
+		for (GUINT i = 0;i<primitive_boxes.size() ;i++ )
+		{
+			 m_primitive_manager.get_primitive_box(i,primitive_boxes[i].m_bound);
+			 primitive_boxes[i].m_data = i;
+		}
+
+		m_box_tree.build_tree(primitive_boxes);
+	}
+
+	//! returns the indices of the primitives in the m_primitive_manager
+	SIMD_FORCE_INLINE bool boxQuery(const GIM_AABB & box, gim_array<GUINT> & collided_results) const
+	{
+		GUINT curIndex = 0;
+		GUINT numNodes = getNodeCount();
+
+		while (curIndex < numNodes)
+		{
+			GIM_AABB bound;
+			getNodeBound(curIndex,bound);
+
+			//catch bugs in tree data
+
+			bool aabbOverlap = bound.has_collision(box);
+			bool isleafnode = isLeafNode(curIndex);
+
+			if (isleafnode && aabbOverlap)
+			{
+				collided_results.push_back(getNodeData(curIndex));
+			}
+
+			if (aabbOverlap || isleafnode)
+			{
+				//next subnode
+				curIndex++;
+			}
+			else
+			{
+				//skip node
+				curIndex+= getScapeNodeIndex(curIndex);
+			}
+		}
+		if(collided_results.size()>0) return true;
+		return false;
+	}
+
+	//! returns the indices of the primitives in the m_primitive_manager
+	SIMD_FORCE_INLINE bool boxQueryTrans(const GIM_AABB & box,
+		 const btTransform & transform, gim_array<GUINT> & collided_results) const
+	{
+		GIM_AABB transbox=box;
+		transbox.appy_transform(transform);
+		return boxQuery(transbox,collided_results);
+	}
+
+	//! returns the indices of the primitives in the m_primitive_manager
+	SIMD_FORCE_INLINE bool rayQuery(
+		const btVector3 & ray_dir,const btVector3 & ray_origin ,
+		gim_array<GUINT> & collided_results) const
+	{
+		GUINT curIndex = 0;
+		GUINT numNodes = getNodeCount();
+
+		while (curIndex < numNodes)
+		{
+			GIM_AABB bound;
+			getNodeBound(curIndex,bound);
+
+			//catch bugs in tree data
+
+			bool aabbOverlap = bound.collide_ray(ray_origin,ray_dir);
+			bool isleafnode = isLeafNode(curIndex);
+
+			if (isleafnode && aabbOverlap)
+			{
+				collided_results.push_back(getNodeData( curIndex));
+			}
+
+			if (aabbOverlap || isleafnode)
+			{
+				//next subnode
+				curIndex++;
+			}
+			else
+			{
+				//skip node
+				curIndex+= getScapeNodeIndex(curIndex);
+			}
+		}
+		if(collided_results.size()>0) return true;
+		return false;
+	}
+
+	//! tells if this set has hierarcht
+	SIMD_FORCE_INLINE bool hasHierarchy() const
+	{
+		return true;
+	}
+
+	//! tells if this set is a trimesh
+	SIMD_FORCE_INLINE bool isTrimesh()  const
+	{
+		return m_primitive_manager.is_trimesh();
+	}
+
+	//! node count
+	SIMD_FORCE_INLINE GUINT getNodeCount() const
+	{
+		return m_box_tree.getNodeCount();
+	}
+
+	//! tells if the node is a leaf
+	SIMD_FORCE_INLINE bool isLeafNode(GUINT nodeindex) const
+	{
+		return m_box_tree.isLeafNode(nodeindex);
+	}
+
+	SIMD_FORCE_INLINE GUINT getNodeData(GUINT nodeindex) const
+	{
+		return m_box_tree.getNodeData(nodeindex);
+	}
+
+	SIMD_FORCE_INLINE void getNodeBound(GUINT nodeindex, GIM_AABB & bound)  const
+	{
+		m_box_tree.getNodeBound(nodeindex, bound);
+	}
+
+	SIMD_FORCE_INLINE void setNodeBound(GUINT nodeindex, const GIM_AABB & bound)
+	{
+		m_box_tree.setNodeBound(nodeindex, bound);
+	}
+
+	SIMD_FORCE_INLINE GUINT getLeftNodeIndex(GUINT nodeindex) const
+	{
+		return m_box_tree.getLeftNodeIndex(nodeindex);
+	}
+
+	SIMD_FORCE_INLINE GUINT getRightNodeIndex(GUINT nodeindex) const
+	{
+		return m_box_tree.getRightNodeIndex(nodeindex);
+	}
+
+	SIMD_FORCE_INLINE GUINT getScapeNodeIndex(GUINT nodeindex) const
+	{
+		return m_box_tree.getScapeNodeIndex(nodeindex);
+	}
+
+	SIMD_FORCE_INLINE void getNodeTriangle(GUINT nodeindex,GIM_TRIANGLE & triangle) const
+	{
+		m_primitive_manager.get_primitive_triangle(getNodeData(nodeindex),triangle);
+	}
+
+//! @}
+};
+
+//! Class for Box Tree Sets
+/*!
+this has the GIM_BOX_TREE implementation for bounding boxes.
+*/
+template<typename _GIM_PRIMITIVE_MANAGER_PROTOTYPE>
+class GIM_BOX_TREE_SET: public GIM_BOX_TREE_TEMPLATE_SET< _GIM_PRIMITIVE_MANAGER_PROTOTYPE, GIM_BOX_TREE>
+{
+public:
+
+};
+
+
+
+
+
+/// GIM_BOX_SET collision methods
+template<typename BOX_SET_CLASS0,typename BOX_SET_CLASS1>
+class GIM_TREE_TREE_COLLIDER
+{
+public:
+	gim_pair_set * m_collision_pairs;
+	BOX_SET_CLASS0 * m_boxset0;
+	BOX_SET_CLASS1 * m_boxset1;
+	GUINT current_node0;
+	GUINT current_node1;
+	bool node0_is_leaf;
+	bool node1_is_leaf;
+	bool t0_is_trimesh;
+	bool t1_is_trimesh;
+	bool node0_has_triangle;
+	bool node1_has_triangle;
+	GIM_AABB m_box0;
+	GIM_AABB m_box1;
+	GIM_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0;
+	btTransform trans_cache_0to1;
+	GIM_TRIANGLE m_tri0;
+	btVector4 m_tri0_plane;
+	GIM_TRIANGLE m_tri1;
+	btVector4 m_tri1_plane;
+
+
+public:
+	GIM_TREE_TREE_COLLIDER()
+	{
+		current_node0 = G_UINT_INFINITY;
+		current_node1 = G_UINT_INFINITY;
+	}
+protected:
+	SIMD_FORCE_INLINE void retrieve_node0_triangle(GUINT node0)
+	{
+		if(node0_has_triangle) return;
+		m_boxset0->getNodeTriangle(node0,m_tri0);
+		//transform triangle
+		m_tri0.m_vertices[0] = trans_cache_0to1(m_tri0.m_vertices[0]);
+		m_tri0.m_vertices[1] = trans_cache_0to1(m_tri0.m_vertices[1]);
+		m_tri0.m_vertices[2] = trans_cache_0to1(m_tri0.m_vertices[2]);
+		m_tri0.get_plane(m_tri0_plane);
+
+		node0_has_triangle = true;
+	}
+
+	SIMD_FORCE_INLINE void retrieve_node1_triangle(GUINT node1)
+	{
+		if(node1_has_triangle) return;
+		m_boxset1->getNodeTriangle(node1,m_tri1);
+		//transform triangle
+		m_tri1.m_vertices[0] = trans_cache_1to0.transform(m_tri1.m_vertices[0]);
+		m_tri1.m_vertices[1] = trans_cache_1to0.transform(m_tri1.m_vertices[1]);
+		m_tri1.m_vertices[2] = trans_cache_1to0.transform(m_tri1.m_vertices[2]);
+		m_tri1.get_plane(m_tri1_plane);
+
+		node1_has_triangle = true;
+	}
+
+	SIMD_FORCE_INLINE void retrieve_node0_info(GUINT node0)
+	{
+		if(node0 == current_node0) return;
+		m_boxset0->getNodeBound(node0,m_box0);
+		node0_is_leaf = m_boxset0->isLeafNode(node0);
+		node0_has_triangle = false;
+		current_node0 = node0;
+	}
+
+	SIMD_FORCE_INLINE void retrieve_node1_info(GUINT node1)
+	{
+		if(node1 == current_node1) return;
+		m_boxset1->getNodeBound(node1,m_box1);
+		node1_is_leaf = m_boxset1->isLeafNode(node1);
+		node1_has_triangle = false;
+		current_node1 = node1;
+	}
+
+	SIMD_FORCE_INLINE bool node_collision(GUINT node0 ,GUINT node1)
+	{
+		retrieve_node0_info(node0);
+		retrieve_node1_info(node1);
+		bool result = m_box0.overlapping_trans_cache(m_box1,trans_cache_1to0,true);
+		if(!result) return false;
+
+		if(t0_is_trimesh && node0_is_leaf)
+		{
+			//perform primitive vs box collision
+			retrieve_node0_triangle(node0);
+			//do triangle vs box collision
+			m_box1.increment_margin(m_tri0.m_margin);
+
+			result = m_box1.collide_triangle_exact(
+				m_tri0.m_vertices[0],m_tri0.m_vertices[1],m_tri0.m_vertices[2],m_tri0_plane);
+
+			m_box1.increment_margin(-m_tri0.m_margin);
+
+			if(!result) return false;
+			return true;
+		}
+		else if(t1_is_trimesh && node1_is_leaf)
+		{
+			//perform primitive vs box collision
+			retrieve_node1_triangle(node1);
+			//do triangle vs box collision
+			m_box0.increment_margin(m_tri1.m_margin);
+
+			result = m_box0.collide_triangle_exact(
+				m_tri1.m_vertices[0],m_tri1.m_vertices[1],m_tri1.m_vertices[2],m_tri1_plane);
+
+			m_box0.increment_margin(-m_tri1.m_margin);
+
+			if(!result) return false;
+			return true;
+		}
+		return true;
+	}
+
+	//stackless collision routine
+	void find_collision_pairs()
+	{
+		gim_pair_set stack_collisions;
+		stack_collisions.reserve(32);
+
+		//add the first pair
+		stack_collisions.push_pair(0,0);
+
+
+		while(stack_collisions.size())
+		{
+			//retrieve the last pair and pop
+			GUINT node0 = stack_collisions.back().m_index1;
+			GUINT node1 = stack_collisions.back().m_index2;
+			stack_collisions.pop_back();
+			if(node_collision(node0,node1)) // a collision is found
+			{
+				if(node0_is_leaf)
+				{
+					if(node1_is_leaf)
+					{
+						m_collision_pairs->push_pair(m_boxset0->getNodeData(node0),m_boxset1->getNodeData(node1));
+					}
+					else
+					{
+						//collide left
+						stack_collisions.push_pair(node0,m_boxset1->getLeftNodeIndex(node1));
+
+						//collide right
+						stack_collisions.push_pair(node0,m_boxset1->getRightNodeIndex(node1));
+					}
+				}
+				else
+				{
+					if(node1_is_leaf)
+					{
+						//collide left
+						stack_collisions.push_pair(m_boxset0->getLeftNodeIndex(node0),node1);
+						//collide right
+						stack_collisions.push_pair(m_boxset0->getRightNodeIndex(node0),node1);
+					}
+					else
+					{
+						GUINT left0 = m_boxset0->getLeftNodeIndex(node0);
+						GUINT right0 = m_boxset0->getRightNodeIndex(node0);
+						GUINT left1 = m_boxset1->getLeftNodeIndex(node1);
+						GUINT right1 = m_boxset1->getRightNodeIndex(node1);
+						//collide left
+						stack_collisions.push_pair(left0,left1);
+						//collide right
+						stack_collisions.push_pair(left0,right1);
+						//collide left
+						stack_collisions.push_pair(right0,left1);
+						//collide right
+						stack_collisions.push_pair(right0,right1);
+
+					}// else if node1 is not a leaf
+				}// else if node0 is not a leaf
+
+			}// if(node_collision(node0,node1))
+		}//while(stack_collisions.size())
+	}
+public:
+	void find_collision(BOX_SET_CLASS0 * boxset1, const btTransform & trans1,
+		BOX_SET_CLASS1 * boxset2, const btTransform & trans2,
+		gim_pair_set & collision_pairs, bool complete_primitive_tests = true)
+	{
+		m_collision_pairs = &collision_pairs;
+		m_boxset0 = boxset1;
+		m_boxset1 = boxset2;
+
+		trans_cache_1to0.calc_from_homogenic(trans1,trans2);
+
+		trans_cache_0to1 =  trans2.inverse();
+		trans_cache_0to1 *= trans1;
+
+
+		if(complete_primitive_tests)
+		{
+			t0_is_trimesh = boxset1->getPrimitiveManager().is_trimesh();
+			t1_is_trimesh = boxset2->getPrimitiveManager().is_trimesh();
+		}
+		else
+		{
+			t0_is_trimesh = false;
+			t1_is_trimesh = false;
+		}
+
+		find_collision_pairs();
+	}
+};
+
+
+#endif // GIM_BOXPRUNING_H_INCLUDED

extern/bullet2/src/BulletCollision/Gimpact/gim_clip_polygon.h

@@ -0,0 +1,214 @@
+#ifndef GIM_CLIP_POLYGON_H_INCLUDED
+#define GIM_CLIP_POLYGON_H_INCLUDED
+
+/*! \file gim_tri_collision.h
+\author Francisco Len N<>jera
+*/
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of EITHER:
+   (1) The GNU Lesser General Public License as published by the Free
+       Software Foundation; either version 2.1 of the License, or (at
+       your option) any later version. The text of the GNU Lesser
+       General Public License is included with this library in the
+       file GIMPACT-LICENSE-LGPL.TXT.
+   (2) The BSD-style license that is included with this library in
+       the file GIMPACT-LICENSE-BSD.TXT.
+   (3) The zlib/libpng license that is included with this library in
+       the file GIMPACT-LICENSE-ZLIB.TXT.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
+ GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+/*! \addtogroup GEOMETRIC_OPERATIONS
+*/
+//! @{
+
+//! This function calcs the distance from a 3D plane
+class DISTANCE_PLANE_3D_FUNC
+{
+public:
+	template<typename CLASS_POINT,typename CLASS_PLANE>
+	inline GREAL operator()(const CLASS_PLANE & plane, const CLASS_POINT & point)
+	{
+		return DISTANCE_PLANE_POINT(plane, point);
+	}
+};
+
+
+
+template<typename CLASS_POINT>
+SIMD_FORCE_INLINE void PLANE_CLIP_POLYGON_COLLECT(
+						const CLASS_POINT & point0,
+						const CLASS_POINT & point1,
+						GREAL dist0,
+						GREAL dist1,
+						CLASS_POINT * clipped,
+						GUINT & clipped_count)
+{
+	GUINT _prevclassif = (dist0>G_EPSILON);
+	GUINT _classif = (dist1>G_EPSILON);
+	if(_classif!=_prevclassif)
+	{
+		GREAL blendfactor = -dist0/(dist1-dist0);
+		VEC_BLEND(clipped[clipped_count],point0,point1,blendfactor);
+		clipped_count++;
+	}
+	if(!_classif)
+	{
+		VEC_COPY(clipped[clipped_count],point1);
+		clipped_count++;
+	}
+}
+
+
+//! Clips a polygon by a plane
+/*!
+*\return The count of the clipped counts
+*/
+template<typename CLASS_POINT,typename CLASS_PLANE, typename DISTANCE_PLANE_FUNC>
+SIMD_FORCE_INLINE GUINT PLANE_CLIP_POLYGON_GENERIC(
+						const CLASS_PLANE & plane,
+						const CLASS_POINT * polygon_points,
+						GUINT polygon_point_count,
+						CLASS_POINT * clipped,DISTANCE_PLANE_FUNC distance_func)
+{
+    GUINT clipped_count = 0;
+
+
+    //clip first point
+	GREAL firstdist = distance_func(plane,polygon_points[0]);;
+	if(!(firstdist>G_EPSILON))
+	{
+		VEC_COPY(clipped[clipped_count],polygon_points[0]);
+		clipped_count++;
+	}
+
+	GREAL olddist = firstdist;
+	for(GUINT _i=1;_i<polygon_point_count;_i++)
+	{		
+		GREAL dist = distance_func(plane,polygon_points[_i]);
+
+		PLANE_CLIP_POLYGON_COLLECT(
+						polygon_points[_i-1],polygon_points[_i],
+						olddist,
+						dist,
+						clipped,
+						clipped_count);
+
+
+		olddist = dist;		
+	}
+
+	//RETURN TO FIRST  point	
+
+	PLANE_CLIP_POLYGON_COLLECT(
+					polygon_points[polygon_point_count-1],polygon_points[0],
+					olddist,
+					firstdist,
+					clipped,
+					clipped_count);
+
+	return clipped_count;
+}
+
+//! Clips a polygon by a plane
+/*!
+*\return The count of the clipped counts
+*/
+template<typename CLASS_POINT,typename CLASS_PLANE, typename DISTANCE_PLANE_FUNC>
+SIMD_FORCE_INLINE GUINT PLANE_CLIP_TRIANGLE_GENERIC(
+						const CLASS_PLANE & plane,
+						const CLASS_POINT & point0,
+						const CLASS_POINT & point1,
+						const CLASS_POINT & point2,
+						CLASS_POINT * clipped,DISTANCE_PLANE_FUNC distance_func)
+{
+    GUINT clipped_count = 0;
+
+    //clip first point
+	GREAL firstdist = distance_func(plane,point0);;
+	if(!(firstdist>G_EPSILON))
+	{
+		VEC_COPY(clipped[clipped_count],point0);
+		clipped_count++;
+	}
+
+	// point 1
+	GREAL olddist = firstdist;
+	GREAL dist = distance_func(plane,point1);
+
+	PLANE_CLIP_POLYGON_COLLECT(
+					point0,point1,
+					olddist,
+					dist,
+					clipped,
+					clipped_count);
+
+	olddist = dist;
+
+
+	// point 2
+	dist = distance_func(plane,point2);
+
+	PLANE_CLIP_POLYGON_COLLECT(
+					point1,point2,
+					olddist,
+					dist,
+					clipped,
+					clipped_count);
+	olddist = dist;
+
+
+
+	//RETURN TO FIRST  point
+	PLANE_CLIP_POLYGON_COLLECT(
+					point2,point0,
+					olddist,
+					firstdist,
+					clipped,
+					clipped_count);
+
+	return clipped_count;
+}
+
+
+template<typename CLASS_POINT,typename CLASS_PLANE>
+SIMD_FORCE_INLINE GUINT PLANE_CLIP_POLYGON3D(
+						const CLASS_PLANE & plane,
+						const CLASS_POINT * polygon_points,
+						GUINT polygon_point_count,
+						CLASS_POINT * clipped)
+{
+	return PLANE_CLIP_POLYGON_GENERIC<CLASS_POINT,CLASS_PLANE>(plane,polygon_points,polygon_point_count,clipped,DISTANCE_PLANE_3D_FUNC());
+}
+
+
+template<typename CLASS_POINT,typename CLASS_PLANE>
+SIMD_FORCE_INLINE GUINT PLANE_CLIP_TRIANGLE3D(
+						const CLASS_PLANE & plane,
+						const CLASS_POINT & point0,
+						const CLASS_POINT & point1,
+						const CLASS_POINT & point2,
+						CLASS_POINT * clipped)
+{
+	return PLANE_CLIP_TRIANGLE_GENERIC<CLASS_POINT,CLASS_PLANE>(plane,point0,point1,point2,clipped,DISTANCE_PLANE_3D_FUNC());
+}
+
+
+//! @}
+
+#endif // GIM_TRI_COLLISION_H_INCLUDED

extern/bullet2/src/BulletCollision/Gimpact/gim_contact.cpp

@@ -0,0 +1,146 @@
+
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of EITHER:
+   (1) The GNU Lesser General Public License as published by the Free
+       Software Foundation; either version 2.1 of the License, or (at
+       your option) any later version. The text of the GNU Lesser
+       General Public License is included with this library in the
+       file GIMPACT-LICENSE-LGPL.TXT.
+   (2) The BSD-style license that is included with this library in
+       the file GIMPACT-LICENSE-BSD.TXT.
+   (3) The zlib/libpng license that is included with this library in
+       the file GIMPACT-LICENSE-ZLIB.TXT.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
+ GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+#include "gim_contact.h"
+
+#define MAX_COINCIDENT 8
+
+void gim_contact_array::merge_contacts(
+	const gim_contact_array & contacts, bool normal_contact_average)
+{
+	clear();
+
+	if(contacts.size()==1)
+	{
+		push_back(contacts.back());
+		return;
+	}
+
+	gim_array<GIM_RSORT_TOKEN> keycontacts(contacts.size());
+	keycontacts.resize(contacts.size(),false);
+
+	//fill key contacts
+
+	GUINT i;
+
+	for (i = 0;i<contacts.size() ;i++ )
+	{
+		keycontacts[i].m_key = contacts[i].calc_key_contact();
+		keycontacts[i].m_value = i;
+	}
+
+	//sort keys
+	gim_heap_sort(keycontacts.pointer(),keycontacts.size(),GIM_RSORT_TOKEN_COMPARATOR());
+
+	// Merge contacts
+
+	GUINT coincident_count=0;
+	btVector3 coincident_normals[MAX_COINCIDENT];
+
+	GUINT last_key = keycontacts[0].m_key;
+	GUINT key = 0;
+
+	push_back(contacts[keycontacts[0].m_value]);
+	GIM_CONTACT * pcontact = &back();
+
+
+
+	for( i=1;i<keycontacts.size();i++)
+	{
+	    key = keycontacts[i].m_key;
+		const GIM_CONTACT * scontact = &contacts[keycontacts[i].m_value];
+
+		if(last_key ==  key)//same points
+		{
+			//merge contact
+			if(pcontact->m_depth - CONTACT_DIFF_EPSILON > scontact->m_depth)//)
+			{
+				*pcontact = *scontact;
+                coincident_count = 0;
+			}
+			else if(normal_contact_average)
+			{
+				if(btFabs(pcontact->m_depth - scontact->m_depth)<CONTACT_DIFF_EPSILON)
+                {
+                    if(coincident_count<MAX_COINCIDENT)
+                    {
+                    	coincident_normals[coincident_count] = scontact->m_normal;
+                        coincident_count++;
+                    }
+                }
+			}
+		}
+		else
+		{//add new contact
+
+		    if(normal_contact_average && coincident_count>0)
+		    {
+		    	pcontact->interpolate_normals(coincident_normals,coincident_count);
+		        coincident_count = 0;
+		    }
+
+		    push_back(*scontact);
+		    pcontact = &back();
+        }
+		last_key = key;
+	}
+}
+
+void gim_contact_array::merge_contacts_unique(const gim_contact_array & contacts)
+{
+	clear();
+
+	if(contacts.size()==1)
+	{
+		push_back(contacts.back());
+		return;
+	}
+
+	GIM_CONTACT average_contact = contacts.back();
+
+	for (GUINT i=1;i<contacts.size() ;i++ )
+	{
+		average_contact.m_point += contacts[i].m_point;
+		average_contact.m_normal += contacts[i].m_normal * contacts[i].m_depth;
+	}
+
+	//divide
+	GREAL divide_average = 1.0f/((GREAL)contacts.size());
+
+	average_contact.m_point *= divide_average;
+
+	average_contact.m_normal *= divide_average;
+
+	average_contact.m_depth = average_contact.m_normal.length();
+
+	average_contact.m_normal /= average_contact.m_depth;
+
+}
+

extern/bullet2/src/BulletCollision/Gimpact/gim_contact.h

@@ -0,0 +1,172 @@
+#ifndef GIM_CONTACT_H_INCLUDED
+#define GIM_CONTACT_H_INCLUDED
+
+/*! \file gim_contact.h
+\author Francisco Len N<>jera
+*/
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of EITHER:
+   (1) The GNU Lesser General Public License as published by the Free
+       Software Foundation; either version 2.1 of the License, or (at
+       your option) any later version. The text of the GNU Lesser
+       General Public License is included with this library in the
+       file GIMPACT-LICENSE-LGPL.TXT.
+   (2) The BSD-style license that is included with this library in
+       the file GIMPACT-LICENSE-BSD.TXT.
+   (3) The zlib/libpng license that is included with this library in
+       the file GIMPACT-LICENSE-ZLIB.TXT.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
+ GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+#include "gim_geometry.h"
+#include "gim_radixsort.h"
+#include "gim_array.h"
+
+/*! \defgroup CONTACTS
+\brief
+Functions for managing and sorting contacts resulting from a collision query.
+<ul>
+<li> Contact lists must be create by calling \ref GIM_CREATE_CONTACT_LIST
+<li> After querys, contact lists must be destroy by calling \ref GIM_DYNARRAY_DESTROY
+<li> Contacts can be merge for avoid duplicate results by calling \ref gim_merge_contacts
+</ul>
+
+*/
+//! @{
+
+/**
+Configuration var for applying interpolation of  contact normals
+*/
+#define NORMAL_CONTACT_AVERAGE 1
+#define CONTACT_DIFF_EPSILON 0.00001f
+
+/// Structure for collision results
+class GIM_CONTACT
+{
+public:
+    btVector3 m_point;
+    btVector3 m_normal;
+    GREAL m_depth;//Positive value indicates interpenetration
+    GREAL m_distance;//Padding not for use
+    GUINT m_feature1;//Face number
+    GUINT m_feature2;//Face number
+public:
+    GIM_CONTACT()
+    {
+    }
+
+    GIM_CONTACT(const GIM_CONTACT & contact):
+				m_point(contact.m_point),
+				m_normal(contact.m_normal),
+				m_depth(contact.m_depth),
+				m_feature1(contact.m_feature1),
+				m_feature2(contact.m_feature2)
+    {
+    	m_point = contact.m_point;
+    	m_normal = contact.m_normal;
+    	m_depth = contact.m_depth;
+    	m_feature1 = contact.m_feature1;
+    	m_feature2 = contact.m_feature2;
+    }
+
+    GIM_CONTACT(const btVector3 &point,const btVector3 & normal,
+    	 			GREAL depth, GUINT feature1, GUINT feature2):
+				m_point(point),
+				m_normal(normal),
+				m_depth(depth),
+				m_feature1(feature1),
+				m_feature2(feature2)
+    {
+    }
+
+	//! Calcs key for coord classification
+    SIMD_FORCE_INLINE GUINT calc_key_contact() const
+    {
+    	GINT _coords[] = {
+    		(GINT)(m_point[0]*1000.0f+1.0f),
+    		(GINT)(m_point[1]*1333.0f),
+    		(GINT)(m_point[2]*2133.0f+3.0f)};
+		GUINT _hash=0;
+		GUINT *_uitmp = (GUINT *)(&_coords[0]);
+		_hash = *_uitmp;
+		_uitmp++;
+		_hash += (*_uitmp)<<4;
+		_uitmp++;
+		_hash += (*_uitmp)<<8;
+		return _hash;
+    }
+
+    SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,GUINT normal_count)
+    {
+    	btVector3 vec_sum(m_normal);
+		for(GUINT i=0;i<normal_count;i++)
+		{
+			vec_sum += normals[i];
+		}
+
+		GREAL vec_sum_len = vec_sum.length2();
+		if(vec_sum_len <CONTACT_DIFF_EPSILON) return;
+
+		GIM_INV_SQRT(vec_sum_len,vec_sum_len); // 1/sqrt(vec_sum_len)
+
+		m_normal = vec_sum*vec_sum_len;
+    }
+
+};
+
+
+class gim_contact_array:public gim_array<GIM_CONTACT>
+{
+public:
+	gim_contact_array():gim_array<GIM_CONTACT>(64)
+	{
+	}
+
+	SIMD_FORCE_INLINE void push_contact(const btVector3 &point,const btVector3 & normal,
+    	 			GREAL depth, GUINT feature1, GUINT feature2)
+	{
+		push_back_mem();
+		GIM_CONTACT & newele = back();
+		newele.m_point = point;
+		newele.m_normal = normal;
+		newele.m_depth = depth;
+		newele.m_feature1 = feature1;
+		newele.m_feature2 = feature2;
+	}
+
+	SIMD_FORCE_INLINE void push_triangle_contacts(
+		const GIM_TRIANGLE_CONTACT_DATA & tricontact,
+		GUINT feature1,GUINT feature2)
+	{
+		for(GUINT i = 0;i<tricontact.m_point_count ;i++ )
+		{
+			push_back_mem();
+			GIM_CONTACT & newele = back();
+			newele.m_point = tricontact.m_points[i];
+			newele.m_normal = tricontact.m_separating_normal;
+			newele.m_depth = tricontact.m_penetration_depth;
+			newele.m_feature1 = feature1;
+			newele.m_feature2 = feature2;
+		}
+	}
+
+	void merge_contacts(const gim_contact_array & contacts, bool normal_contact_average = true);
+	void merge_contacts_unique(const gim_contact_array & contacts);
+};
+
+//! @}
+#endif // GIM_CONTACT_H_INCLUDED

extern/bullet2/src/BulletCollision/Gimpact/gim_geom_types.h

@@ -0,0 +1,102 @@
+#ifndef GIM_GEOM_TYPES_H_INCLUDED
+#define GIM_GEOM_TYPES_H_INCLUDED
+
+/*! \file gim_geom_types.h
+\author Francisco Len N<>jera
+*/
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of EITHER:
+   (1) The GNU Lesser General Public License as published by the Free
+       Software Foundation; either version 2.1 of the License, or (at
+       your option) any later version. The text of the GNU Lesser
+       General Public License is included with this library in the
+       file GIMPACT-LICENSE-LGPL.TXT.
+   (2) The BSD-style license that is included with this library in
+       the file GIMPACT-LICENSE-BSD.TXT.
+   (3) The zlib/libpng license that is included with this library in
+       the file GIMPACT-LICENSE-ZLIB.TXT.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
+ GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+
+#include "gim_math.h"
+
+/*! \defgroup GEOMETRIC_TYPES
+\brief
+Basic types and constants for geometry
+*/
+//! @{
+
+//! Short Integer vector 2D
+typedef GSHORT vec2s[2];
+//! Integer vector 3D
+typedef GSHORT vec3s[3];
+//! Integer vector 4D
+typedef GSHORT vec4s[4];
+
+//! Short Integer vector 2D
+typedef GUSHORT vec2us[2];
+//! Integer vector 3D
+typedef GUSHORT vec3us[3];
+//! Integer vector 4D
+typedef GUSHORT vec4us[4];
+
+//! Integer vector 2D
+typedef GINT vec2i[2];
+//! Integer vector 3D
+typedef GINT vec3i[3];
+//! Integer vector 4D
+typedef GINT vec4i[4];
+
+//! Unsigned Integer vector 2D
+typedef GUINT vec2ui[2];
+//! Unsigned Integer vector 3D
+typedef GUINT vec3ui[3];
+//! Unsigned Integer vector 4D
+typedef GUINT vec4ui[4];
+
+//! Float vector 2D
+typedef GREAL vec2f[2];
+//! Float vector 3D
+typedef GREAL vec3f[3];
+//! Float vector 4D
+typedef GREAL vec4f[4];
+
+//! Double vector 2D
+typedef GREAL2 vec2d[2];
+//! Float vector 3D
+typedef GREAL2 vec3d[3];
+//! Float vector 4D
+typedef GREAL2 vec4d[4];
+
+//! Matrix 2D, row ordered
+typedef GREAL mat2f[2][2];
+//! Matrix 3D, row ordered
+typedef GREAL mat3f[3][3];
+//! Matrix 4D, row ordered
+typedef GREAL mat4f[4][4];
+
+//! Quaternion
+typedef GREAL quatf[4];
+
+//typedef struct _aabb3f aabb3f;
+//! @}
+
+
+
+#endif // GIM_GEOM_TYPES_H_INCLUDED

extern/bullet2/src/BulletCollision/Gimpact/gim_geometry.h

@@ -0,0 +1,42 @@
+#ifndef GIM_GEOMETRY_H_INCLUDED
+#define GIM_GEOMETRY_H_INCLUDED
+
+/*! \file gim_geometry.h
+\author Francisco Len N<>jera
+*/
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of EITHER:
+   (1) The GNU Lesser General Public License as published by the Free
+       Software Foundation; either version 2.1 of the License, or (at
+       your option) any later version. The text of the GNU Lesser
+       General Public License is included with this library in the
+       file GIMPACT-LICENSE-LGPL.TXT.
+   (2) The BSD-style license that is included with this library in
+       the file GIMPACT-LICENSE-BSD.TXT.
+   (3) The zlib/libpng license that is included with this library in
+       the file GIMPACT-LICENSE-ZLIB.TXT.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
+ GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+///Additional Headers for Collision
+#include "gim_basic_geometry_operations.h"
+#include "gim_clip_polygon.h"
+#include "gim_box_collision.h"
+#include "gim_tri_collision.h"
+
+#endif // GIM_VECTOR_H_INCLUDED

extern/bullet2/src/BulletCollision/Gimpact/gim_hash_table.h

@@ -0,0 +1,920 @@
+#ifndef GIM_HASH_TABLE_H_INCLUDED
+#define GIM_HASH_TABLE_H_INCLUDED
+/*! \file gim_trimesh_data.h
+\author Francisco Len N<>jera
+*/
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of EITHER:
+   (1) The GNU Lesser General Public License as published by the Free
+       Software Foundation; either version 2.1 of the License, or (at
+       your option) any later version. The text of the GNU Lesser
+       General Public License is included with this library in the
+       file GIMPACT-LICENSE-LGPL.TXT.
+   (2) The BSD-style license that is included with this library in
+       the file GIMPACT-LICENSE-BSD.TXT.
+   (3) The zlib/libpng license that is included with this library in
+       the file GIMPACT-LICENSE-ZLIB.TXT.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
+ GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+#include "gim_radixsort.h"
+
+/*! \addtogroup CONTAINERS
+\brief
+Abstract class for collision objects
+*/
+//! @{
+
+#define GIM_INVALID_HASH 0xffffffff //!< A very very high value
+#define GIM_DEFAULT_HASH_TABLE_SIZE 380
+#define GIM_DEFAULT_HASH_TABLE_NODE_SIZE 4
+#define GIM_HASH_TABLE_GROW_FACTOR 2
+
+#define GIM_MIN_RADIX_SORT_SIZE 860 //!< calibrated on a PIII
+
+template<typename T>
+struct GIM_HASH_TABLE_NODE
+{
+    GUINT m_key;
+    T m_data;
+    GIM_HASH_TABLE_NODE()
+    {
+    }
+
+    GIM_HASH_TABLE_NODE(const GIM_HASH_TABLE_NODE & value)
+    {
+        m_key = value.m_key;
+        m_data = value.m_data;
+    }
+
+    GIM_HASH_TABLE_NODE(GUINT key, const T & data)
+    {
+        m_key = key;
+        m_data = data;
+    }
+
+    bool operator <(const GIM_HASH_TABLE_NODE<T> & other) const
+	{
+		///inverse order, further objects are first
+		if(m_key <  other.m_key) return true;
+		return false;
+	}
+
+	bool operator >(const GIM_HASH_TABLE_NODE<T> & other) const
+	{
+		///inverse order, further objects are first
+		if(m_key >  other.m_key) return true;
+		return false;
+	}
+
+	bool operator ==(const GIM_HASH_TABLE_NODE<T> & other) const
+	{
+		///inverse order, further objects are first
+		if(m_key ==  other.m_key) return true;
+		return false;
+	}
+};
+
+///Macro for getting the key
+class GIM_HASH_NODE_GET_KEY
+{
+public:
+	template<class T>
+	inline GUINT operator()( const T& a)
+	{
+		return a.m_key;
+	}
+};
+
+
+
+///Macro for comparing the key and the element
+class GIM_HASH_NODE_CMP_KEY_MACRO
+{
+public:
+	template<class T>
+	inline int operator() ( const T& a, GUINT key)
+	{
+		return ((int)(a.m_key - key));
+	}
+};
+
+///Macro for comparing Hash nodes
+class GIM_HASH_NODE_CMP_MACRO
+{
+public:
+	template<class T>
+	inline int operator() ( const T& a, const T& b )
+	{
+		return ((int)(a.m_key - b.m_key));
+	}
+};
+
+
+
+
+
+//! Sorting for hash table
+/*!
+switch automatically between quicksort and radixsort
+*/
+template<typename T>
+void gim_sort_hash_node_array(T * array, GUINT array_count)
+{
+    if(array_count<GIM_MIN_RADIX_SORT_SIZE)
+    {
+    	gim_heap_sort(array,array_count,GIM_HASH_NODE_CMP_MACRO());
+    }
+    else
+    {
+    	memcopy_elements_func cmpfunc;
+    	gim_radix_sort(array,array_count,GIM_HASH_NODE_GET_KEY(),cmpfunc);
+    }
+}
+
+
+
+
+
+
+// Note: assumes long is at least 32 bits.
+#define GIM_NUM_PRIME 28
+
+static const GUINT gim_prime_list[GIM_NUM_PRIME] =
+{
+  53ul,         97ul,         193ul,       389ul,       769ul,
+  1543ul,       3079ul,       6151ul,      12289ul,     24593ul,
+  49157ul,      98317ul,      196613ul,    393241ul,    786433ul,
+  1572869ul,    3145739ul,    6291469ul,   12582917ul,  25165843ul,
+  50331653ul,   100663319ul,  201326611ul, 402653189ul, 805306457ul,
+  1610612741ul, 3221225473ul, 4294967291ul
+};
+
+inline GUINT gim_next_prime(GUINT number)
+{
+    //Find nearest upper prime
+    GUINT result_ind = 0;
+    gim_binary_search(gim_prime_list,0,(GIM_NUM_PRIME-2),number,result_ind);
+
+    // inv: result_ind < 28
+    return gim_prime_list[result_ind];
+}
+
+
+
+//! A compact hash table implementation
+/*!
+A memory aligned compact hash table that coud be treated as an array.
+It could be a simple sorted array without the overhead of the hash key bucked, or could
+be a formely hash table with an array of keys.
+You can use switch_to_hashtable() and switch_to_sorted_array for saving space or increase speed.
+</br>
+
+<ul>
+<li> if node_size = 0, then this container becomes a simple sorted array allocator. reserve_size is used for reserve memory in m_nodes.
+When the array size reaches the size equivalent to 'min_hash_table_size', then it becomes a hash table by calling check_for_switching_to_hashtable.
+<li> If node_size != 0, then this container becomes a hash table for ever
+</ul>
+
+*/
+template<class T>
+class gim_hash_table
+{
+protected:
+    typedef GIM_HASH_TABLE_NODE<T> _node_type;
+
+    //!The nodes
+    //array< _node_type, SuperAllocator<_node_type> > m_nodes;
+    gim_array< _node_type > m_nodes;
+    //SuperBufferedArray< _node_type > m_nodes;
+    bool m_sorted;
+
+    /*! \defgroup HASH_TABLE_STRUCTURES
+    \brief
+    Hash table data management. The hash table has the indices to the corresponding m_nodes array
+    */
+    //! @{
+
+    GUINT * m_hash_table;//!<
+    GUINT m_table_size;//!<
+    GUINT m_node_size;//!<
+    GUINT m_min_hash_table_size;
+
+
+
+    //! Returns the cell index
+    inline GUINT _find_cell(GUINT hashkey)
+    {
+        _node_type * nodesptr = m_nodes.pointer();
+        GUINT start_index = (hashkey%m_table_size)*m_node_size;
+        GUINT end_index = start_index + m_node_size;
+
+        while(start_index<end_index)
+        {
+            GUINT value = m_hash_table[start_index];
+            if(value != GIM_INVALID_HASH)
+            {
+                if(nodesptr[value].m_key == hashkey) return start_index;
+            }
+            start_index++;
+        }
+        return GIM_INVALID_HASH;
+    }
+
+    //! Find the avaliable cell for the hashkey, and return an existing cell if it has the same hash key
+    inline GUINT _find_avaliable_cell(GUINT hashkey)
+    {
+        _node_type * nodesptr = m_nodes.pointer();
+        GUINT avaliable_index = GIM_INVALID_HASH;
+        GUINT start_index = (hashkey%m_table_size)*m_node_size;
+        GUINT end_index = start_index + m_node_size;
+
+        while(start_index<end_index)
+        {
+            GUINT value = m_hash_table[start_index];
+            if(value == GIM_INVALID_HASH)
+            {
+                if(avaliable_index==GIM_INVALID_HASH)
+                {
+                    avaliable_index = start_index;
+                }
+            }
+            else if(nodesptr[value].m_key == hashkey)
+            {
+                return start_index;
+            }
+            start_index++;
+        }
+        return avaliable_index;
+    }
+
+
+
+    //! reserves the memory for the hash table.
+    /*!
+    \pre hash table must be empty
+    \post reserves the memory for the hash table, an initializes all elements to GIM_INVALID_HASH.
+    */
+    inline void _reserve_table_memory(GUINT newtablesize)
+    {
+        if(newtablesize==0) return;
+        if(m_node_size==0) return;
+
+        //Get a Prime size
+
+        m_table_size = gim_next_prime(newtablesize);
+
+        GUINT datasize = m_table_size*m_node_size;
+        //Alloc the data buffer
+        m_hash_table =  (GUINT *)gim_alloc(datasize*sizeof(GUINT));
+    }
+
+    inline void _invalidate_keys()
+    {
+        GUINT datasize = m_table_size*m_node_size;
+        for(GUINT i=0;i<datasize;i++)
+        {
+            m_hash_table[i] = GIM_INVALID_HASH;// invalidate keys
+        }
+    }
+
+    //! Clear all memory for the hash table
+    inline void _clear_table_memory()
+    {
+        if(m_hash_table==NULL) return;
+        gim_free(m_hash_table);
+        m_hash_table = NULL;
+        m_table_size = 0;
+    }
+
+    //! Invalidates the keys (Assigning GIM_INVALID_HASH to all) Reorders the hash keys
+    inline void _rehash()
+    {
+        _invalidate_keys();
+
+        _node_type * nodesptr = m_nodes.pointer();
+        for(GUINT i=0;i<(GUINT)m_nodes.size();i++)
+        {
+            GUINT nodekey = nodesptr[i].m_key;
+            if(nodekey != GIM_INVALID_HASH)
+            {
+                //Search for the avaliable cell in buffer
+                GUINT index = _find_avaliable_cell(nodekey);
+
+
+				if(m_hash_table[index]!=GIM_INVALID_HASH)
+				{//The new index is alreade used... discard this new incomming object, repeated key
+				    btAssert(m_hash_table[index]==nodekey);
+					nodesptr[i].m_key = GIM_INVALID_HASH;
+				}
+				else
+				{
+					//;
+					//Assign the value for alloc
+					m_hash_table[index] = i;
+				}
+            }
+        }
+    }
+
+    //! Resize hash table indices
+    inline void _resize_table(GUINT newsize)
+    {
+        //Clear memory
+        _clear_table_memory();
+        //Alloc the data
+        _reserve_table_memory(newsize);
+        //Invalidate keys and rehash
+        _rehash();
+    }
+
+    //! Destroy hash table memory
+    inline void _destroy()
+    {
+        if(m_hash_table==NULL) return;
+        _clear_table_memory();
+    }
+
+    //! Finds an avaliable hash table cell, and resizes the table if there isn't space
+    inline GUINT _assign_hash_table_cell(GUINT hashkey)
+    {
+        GUINT cell_index = _find_avaliable_cell(hashkey);
+
+        if(cell_index==GIM_INVALID_HASH)
+        {
+            //rehashing
+            _resize_table(m_table_size+1);
+            GUINT cell_index = _find_avaliable_cell(hashkey);
+            btAssert(cell_index!=GIM_INVALID_HASH);
+        }
+        return cell_index;
+    }
+
+    //! erase by index in hash table
+    inline bool _erase_by_index_hash_table(GUINT index)
+    {
+        if(index >= m_nodes.size()) return false;
+        if(m_nodes[index].m_key != GIM_INVALID_HASH)
+        {
+            //Search for the avaliable cell in buffer
+            GUINT cell_index = _find_cell(m_nodes[index].m_key);
+
+            btAssert(cell_index!=GIM_INVALID_HASH);
+            btAssert(m_hash_table[cell_index]==index);
+
+            m_hash_table[cell_index] = GIM_INVALID_HASH;
+        }
+
+        return this->_erase_unsorted(index);
+    }
+
+    //! erase by key in hash table
+    inline bool _erase_hash_table(GUINT hashkey)
+    {
+        if(hashkey == GIM_INVALID_HASH) return false;
+
+        //Search for the avaliable cell in buffer
+        GUINT cell_index = _find_cell(hashkey);
+        if(cell_index ==GIM_INVALID_HASH) return false;
+
+        GUINT index = m_hash_table[cell_index];
+        m_hash_table[cell_index] = GIM_INVALID_HASH;
+
+        return this->_erase_unsorted(index);
+    }
+
+
+
+    //! insert an element in hash table
+    /*!
+    If the element exists, this won't insert the element
+    \return the index in the array of the existing element,or GIM_INVALID_HASH if the element has been inserted
+    If so, the element has been inserted at the last position of the array.
+    */
+    inline GUINT _insert_hash_table(GUINT hashkey, const T & value)
+    {
+        if(hashkey==GIM_INVALID_HASH)
+        {
+            //Insert anyway
+            _insert_unsorted(hashkey,value);
+            return GIM_INVALID_HASH;
+        }
+
+        GUINT cell_index = _assign_hash_table_cell(hashkey);
+
+        GUINT value_key = m_hash_table[cell_index];
+
+        if(value_key!= GIM_INVALID_HASH) return value_key;// Not overrited
+
+        m_hash_table[cell_index] = m_nodes.size();
+
+        _insert_unsorted(hashkey,value);
+        return GIM_INVALID_HASH;
+    }
+
+    //! insert an element in hash table.
+    /*!
+    If the element exists, this replaces the element.
+    \return the index in the array of the existing element,or GIM_INVALID_HASH if the element has been inserted
+    If so, the element has been inserted at the last position of the array.
+    */
+    inline GUINT _insert_hash_table_replace(GUINT hashkey, const T & value)
+    {
+        if(hashkey==GIM_INVALID_HASH)
+        {
+            //Insert anyway
+            _insert_unsorted(hashkey,value);
+            return GIM_INVALID_HASH;
+        }
+
+        GUINT cell_index = _assign_hash_table_cell(hashkey);
+
+        GUINT value_key = m_hash_table[cell_index];
+
+        if(value_key!= GIM_INVALID_HASH)
+        {//replaces the existing
+            m_nodes[value_key] = _node_type(hashkey,value);
+            return value_key;// index of the replaced element
+        }
+
+        m_hash_table[cell_index] = m_nodes.size();
+
+        _insert_unsorted(hashkey,value);
+        return GIM_INVALID_HASH;
+
+    }
+
+    //! @}
+
+    /*! \defgroup SORTED_ARRAY_STRUCTURES
+    \brief
+    Sorted array data management. The hash table has the indices to the corresponding m_nodes array
+    */
+    //! @{
+    inline bool _erase_sorted(GUINT index)
+    {
+        if(index>=(GUINT)m_nodes.size()) return false;
+        m_nodes.erase_sorted(index);
+		if(m_nodes.size()<2) m_sorted = false;
+        return true;
+    }
+
+    //! faster, but unsorted
+    inline bool _erase_unsorted(GUINT index)
+    {
+        if(index>=m_nodes.size()) return false;
+
+        GUINT lastindex = m_nodes.size()-1;
+        if(index<lastindex && m_hash_table!=0)
+        {
+			GUINT hashkey =  m_nodes[lastindex].m_key;
+			if(hashkey!=GIM_INVALID_HASH)
+			{
+				//update the new position of the last element
+				GUINT cell_index = _find_cell(hashkey);
+				btAssert(cell_index!=GIM_INVALID_HASH);
+				//new position of the last element which will be swaped
+				m_hash_table[cell_index] = index;
+			}
+        }
+        m_nodes.erase(index);
+        m_sorted = false;
+        return true;
+    }
+
+    //! Insert in position ordered
+    /*!
+    Also checks if it is needed to transform this container to a hash table, by calling check_for_switching_to_hashtable
+    */
+    inline void _insert_in_pos(GUINT hashkey, const T & value, GUINT pos)
+    {
+        m_nodes.insert(_node_type(hashkey,value),pos);
+        this->check_for_switching_to_hashtable();
+    }
+
+    //! Insert an element in an ordered array
+    inline GUINT _insert_sorted(GUINT hashkey, const T & value)
+    {
+        if(hashkey==GIM_INVALID_HASH || size()==0)
+        {
+            m_nodes.push_back(_node_type(hashkey,value));
+            return GIM_INVALID_HASH;
+        }
+        //Insert at last position
+        //Sort element
+
+
+        GUINT result_ind=0;
+        GUINT last_index = m_nodes.size()-1;
+        _node_type * ptr = m_nodes.pointer();
+
+        bool found = gim_binary_search_ex(
+        	ptr,0,last_index,result_ind,hashkey,GIM_HASH_NODE_CMP_KEY_MACRO());
+
+
+        //Insert before found index
+        if(found)
+        {
+            return result_ind;
+        }
+        else
+        {
+            _insert_in_pos(hashkey, value, result_ind);
+        }
+        return GIM_INVALID_HASH;
+    }
+
+    inline GUINT _insert_sorted_replace(GUINT hashkey, const T & value)
+    {
+        if(hashkey==GIM_INVALID_HASH || size()==0)
+        {
+            m_nodes.push_back(_node_type(hashkey,value));
+            return GIM_INVALID_HASH;
+        }
+        //Insert at last position
+        //Sort element
+        GUINT result_ind;
+        GUINT last_index = m_nodes.size()-1;
+        _node_type * ptr = m_nodes.pointer();
+
+        bool found = gim_binary_search_ex(
+        	ptr,0,last_index,result_ind,hashkey,GIM_HASH_NODE_CMP_KEY_MACRO());
+
+        //Insert before found index
+        if(found)
+        {
+            m_nodes[result_ind] = _node_type(hashkey,value);
+        }
+        else
+        {
+            _insert_in_pos(hashkey, value, result_ind);
+        }
+        return result_ind;
+    }
+
+    //! Fast insertion in m_nodes array
+    inline GUINT  _insert_unsorted(GUINT hashkey, const T & value)
+    {
+        m_nodes.push_back(_node_type(hashkey,value));
+        m_sorted = false;
+        return GIM_INVALID_HASH;
+    }
+
+    //! @}
+
+
+public:
+
+    /*!
+        <li> if node_size = 0, then this container becomes a simple sorted array allocator. reserve_size is used for reserve memory in m_nodes.
+        When the array size reaches the size equivalent to 'min_hash_table_size', then it becomes a hash table by calling check_for_switching_to_hashtable.
+        <li> If node_size != 0, then this container becomes a hash table for ever
+        </ul>
+    */
+    gim_hash_table(GUINT reserve_size = GIM_DEFAULT_HASH_TABLE_SIZE,
+                     GUINT node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE,
+                     GUINT min_hash_table_size = GIM_INVALID_HASH)
+    {
+        m_hash_table = NULL;
+        m_table_size = 0;
+        m_sorted = false;
+        m_node_size = node_size;
+        m_min_hash_table_size = min_hash_table_size;
+
+        if(m_node_size!=0)
+        {
+            if(reserve_size!=0)
+            {
+                m_nodes.reserve(reserve_size);
+                _reserve_table_memory(reserve_size);
+                _invalidate_keys();
+            }
+            else
+            {
+                m_nodes.reserve(GIM_DEFAULT_HASH_TABLE_SIZE);
+                _reserve_table_memory(GIM_DEFAULT_HASH_TABLE_SIZE);
+                _invalidate_keys();
+            }
+        }
+        else if(reserve_size!=0)
+        {
+            m_nodes.reserve(reserve_size);
+        }
+
+    }
+
+    ~gim_hash_table()
+    {
+        _destroy();
+    }
+
+    inline bool is_hash_table()
+    {
+        if(m_hash_table) return true;
+        return false;
+    }
+
+    inline bool is_sorted()
+    {
+        if(size()<2) return true;
+        return m_sorted;
+    }
+
+    bool sort()
+    {
+        if(is_sorted()) return true;
+        if(m_nodes.size()<2) return false;
+
+
+        _node_type * ptr = m_nodes.pointer();
+        GUINT siz = m_nodes.size();
+        gim_sort_hash_node_array(ptr,siz);
+        m_sorted=true;
+
+
+
+        if(m_hash_table)
+        {
+            _rehash();
+        }
+        return true;
+    }
+
+    bool switch_to_hashtable()
+    {
+        if(m_hash_table) return false;
+        if(m_node_size==0) m_node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE;
+        if(m_nodes.size()<GIM_DEFAULT_HASH_TABLE_SIZE)
+        {
+            _resize_table(GIM_DEFAULT_HASH_TABLE_SIZE);
+        }
+        else
+        {
+            _resize_table(m_nodes.size()+1);
+        }
+
+        return true;
+    }
+
+    bool switch_to_sorted_array()
+    {
+        if(m_hash_table==NULL) return true;
+        _clear_table_memory();
+        return sort();
+    }
+
+    //!If the container reaches the
+    bool check_for_switching_to_hashtable()
+    {
+        if(this->m_hash_table) return true;
+
+        if(!(m_nodes.size()< m_min_hash_table_size))
+        {
+            if(m_node_size == 0)
+            {
+                m_node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE;
+            }
+
+            _resize_table(m_nodes.size()+1);
+            return true;
+        }
+        return false;
+    }
+
+    inline void set_sorted(bool value)
+    {
+    	m_sorted = value;
+    }
+
+    //! Retrieves the amount of keys.
+    inline GUINT size() const
+    {
+        return m_nodes.size();
+    }
+
+    //! Retrieves the hash key.
+    inline GUINT get_key(GUINT index) const
+    {
+        return m_nodes[index].m_key;
+    }
+
+    //! Retrieves the value by index
+    /*!
+    */
+    inline T * get_value_by_index(GUINT index)
+    {
+        return &m_nodes[index].m_data;
+    }
+
+    inline const T& operator[](GUINT index) const
+    {
+        return m_nodes[index].m_data;
+    }
+
+    inline T& operator[](GUINT index)
+    {
+        return m_nodes[index].m_data;
+    }
+
+    //! Finds the index of the element with the key
+    /*!
+    \return the index in the array of the existing element,or GIM_INVALID_HASH if the element has been inserted
+    If so, the element has been inserted at the last position of the array.
+    */
+    inline GUINT find(GUINT hashkey)
+    {
+        if(m_hash_table)
+        {
+            GUINT cell_index = _find_cell(hashkey);
+            if(cell_index==GIM_INVALID_HASH) return GIM_INVALID_HASH;
+            return m_hash_table[cell_index];
+        }
+		GUINT last_index = m_nodes.size();
+        if(last_index<2)
+        {
+			if(last_index==0) return GIM_INVALID_HASH;
+            if(m_nodes[0].m_key == hashkey) return 0;
+            return GIM_INVALID_HASH;
+        }
+        else if(m_sorted)
+        {
+            //Binary search
+            GUINT result_ind = 0;
+			last_index--;
+            _node_type *  ptr =  m_nodes.pointer();
+
+            bool found = gim_binary_search_ex(ptr,0,last_index,result_ind,hashkey,GIM_HASH_NODE_CMP_KEY_MACRO());
+
+
+            if(found) return result_ind;
+        }
+        return GIM_INVALID_HASH;
+    }
+
+    //! Retrieves the value associated with the index
+    /*!
+    \return the found element, or null
+    */
+    inline T * get_value(GUINT hashkey)
+    {
+        GUINT index = find(hashkey);
+        if(index == GIM_INVALID_HASH) return NULL;
+        return &m_nodes[index].m_data;
+    }
+
+
+    /*!
+    */
+    inline bool erase_by_index(GUINT index)
+    {
+        if(index > m_nodes.size()) return false;
+
+        if(m_hash_table == NULL)
+        {
+            if(is_sorted())
+            {
+                return this->_erase_sorted(index);
+            }
+            else
+            {
+                return this->_erase_unsorted(index);
+            }
+        }
+        else
+        {
+            return this->_erase_by_index_hash_table(index);
+        }
+        return false;
+    }
+
+
+
+    inline bool erase_by_index_unsorted(GUINT index)
+    {
+        if(index > m_nodes.size()) return false;
+
+        if(m_hash_table == NULL)
+        {
+            return this->_erase_unsorted(index);
+        }
+        else
+        {
+            return this->_erase_by_index_hash_table(index);
+        }
+        return false;
+    }
+
+
+
+    /*!
+
+    */
+    inline bool erase_by_key(GUINT hashkey)
+    {
+        if(size()==0) return false;
+
+        if(m_hash_table)
+        {
+            return this->_erase_hash_table(hashkey);
+        }
+        //Binary search
+
+        if(is_sorted()==false) return false;
+
+        GUINT result_ind = find(hashkey);
+        if(result_ind!= GIM_INVALID_HASH)
+        {
+            return this->_erase_sorted(result_ind);
+        }
+        return false;
+    }
+
+    void clear()
+    {
+        m_nodes.clear();
+
+        if(m_hash_table==NULL) return;
+        GUINT datasize = m_table_size*m_node_size;
+        //Initialize the hashkeys.
+        GUINT i;
+        for(i=0;i<datasize;i++)
+        {
+            m_hash_table[i] = GIM_INVALID_HASH;// invalidate keys
+        }
+		m_sorted = false;
+    }
+
+    //! Insert an element into the hash
+    /*!
+    \return If GIM_INVALID_HASH, the object has been inserted succesfully. Else it returns the position
+    of the existing element.
+    */
+    inline GUINT insert(GUINT hashkey, const T & element)
+    {
+        if(m_hash_table)
+        {
+            return this->_insert_hash_table(hashkey,element);
+        }
+        if(this->is_sorted())
+        {
+            return this->_insert_sorted(hashkey,element);
+        }
+        return this->_insert_unsorted(hashkey,element);
+    }
+
+    //! Insert an element into the hash, and could overrite an existing object with the same hash.
+    /*!
+    \return If GIM_INVALID_HASH, the object has been inserted succesfully. Else it returns the position
+    of the replaced element.
+    */
+    inline GUINT insert_override(GUINT hashkey, const T & element)
+    {
+        if(m_hash_table)
+        {
+            return this->_insert_hash_table_replace(hashkey,element);
+        }
+        if(this->is_sorted())
+        {
+            return this->_insert_sorted_replace(hashkey,element);
+        }
+        this->_insert_unsorted(hashkey,element);
+        return m_nodes.size();
+    }
+
+
+
+    //! Insert an element into the hash,But if this container is a sorted array, this inserts it unsorted
+    /*!
+    */
+    inline GUINT insert_unsorted(GUINT hashkey,const T & element)
+    {
+        if(m_hash_table)
+        {
+            return this->_insert_hash_table(hashkey,element);
+        }
+        return this->_insert_unsorted(hashkey,element);
+    }
+
+
+};
+
+//! @}
+
+
+
+#endif // GIM_CONTAINERS_H_INCLUDED

extern/bullet2/src/BulletCollision/Gimpact/gim_math.h

@@ -0,0 +1,181 @@
+#ifndef GIM_MATH_H_INCLUDED
+#define GIM_MATH_H_INCLUDED
+/*! \file gim_math.h
+\author Francisco Len N<>jera
+*/
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of EITHER:
+   (1) The GNU Lesser General Public License as published by the Free
+       Software Foundation; either version 2.1 of the License, or (at
+       your option) any later version. The text of the GNU Lesser
+       General Public License is included with this library in the
+       file GIMPACT-LICENSE-LGPL.TXT.
+   (2) The BSD-style license that is included with this library in
+       the file GIMPACT-LICENSE-BSD.TXT.
+   (3) The zlib/libpng license that is included with this library in
+       the file GIMPACT-LICENSE-ZLIB.TXT.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
+ GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+#include "LinearMath/btScalar.h"
+
+
+/*! \defgroup BASIC_TYPES
+Basic types and constants
+Conventions:
+Types starting with G
+Constants starting with G_
+*/
+//! @{
+
+#define GREAL btScalar
+#define GREAL2 double
+#define GINT int
+#define GUINT unsigned int
+#define GSHORT short
+#define GUSHORT unsigned short
+#define GINT64 long long
+#define GUINT64 unsigned long long
+
+//! @}
+
+/*! \defgroup BASIC_CONSTANTS
+Basic constants
+Conventions:
+Types starting with G
+Constants starting with G_
+*/
+//! @{
+
+#define G_PI 3.14159265358979f
+#define G_HALF_PI 1.5707963f
+//267948966
+#define G_TWO_PI 6.28318530f
+//71795864
+#define G_ROOT3 1.73205f
+#define G_ROOT2 1.41421f
+#define G_UINT_INFINITY 0xffffffff //!< A very very high value
+#define G_REAL_INFINITY FLT_MAX
+#define	G_SIGN_BITMASK			0x80000000
+#define G_EPSILON SIMD_EPSILON
+//! @}
+
+
+/*! \defgroup SCALAR_TYPES
+\brief
+Precision type constants
+*/
+//! @{
+enum GIM_SCALAR_TYPES
+{
+	G_STYPE_REAL =0,
+	G_STYPE_REAL2,
+	G_STYPE_SHORT,
+	G_STYPE_USHORT,
+	G_STYPE_INT,
+	G_STYPE_UINT,
+	G_STYPE_INT64,
+	G_STYPE_UINT64
+};
+//! @}
+
+/*! \defgroup MATH_FUNCTIONS
+mathematical functions
+*/
+//! @{
+
+#define G_DEGTORAD(X) ((X)*3.1415926f/180.0f)
+#define G_RADTODEG(X) ((X)*180.0f/3.1415926f)
+
+//! Integer representation of a floating-point value.
+#define GIM_IR(x)					((GUINT&)(x))
+
+//! Signed integer representation of a floating-point value.
+#define GIM_SIR(x)					((GINT&)(x))
+
+//! Absolute integer representation of a floating-point value
+#define GIM_AIR(x)					(GIM_IR(x)&0x7fffffff)
+
+//! Floating-point representation of an integer value.
+#define GIM_FR(x)					((GREAL&)(x))
+
+#define GIM_MAX(a,b) (a<b?b:a)
+#define GIM_MIN(a,b) (a>b?b:a)
+
+#define GIM_MAX3(a,b,c) GIM_MAX(a,GIM_MAX(b,c))
+#define GIM_MIN3(a,b,c) GIM_MIN(a,GIM_MIN(b,c))
+
+#define GIM_IS_ZERO(value) (value < G_EPSILON &&  value > -G_EPSILON)
+
+#define GIM_IS_NEGATIVE(value) (value <= -G_EPSILON)
+
+#define GIM_IS_POSISITVE(value) (value >= G_EPSILON)
+
+#define GIM_NEAR_EQUAL(v1,v2) GIM_IS_ZERO((v1-v2))
+
+///returns a clamped number
+#define GIM_CLAMP(number,minval,maxval) (number<minval?minval:(number>maxval?maxval:number))
+
+#define GIM_GREATER(x, y)	fabsf(x) > (y)
+
+///Swap numbers
+#define GIM_SWAP_NUMBERS(a,b){ \
+    a = a+b; \
+    b = a-b; \
+    a = a-b; \
+}\
+
+#define GIM_INV_SQRT(va,isva)\
+{\
+    if(va<=0.0000001f)\
+    {\
+        isva = G_REAL_INFINITY;\
+    }\
+    else\
+    {\
+        GREAL _x = va * 0.5f;\
+        GUINT _y = 0x5f3759df - ( GIM_IR(va) >> 1);\
+        isva = GIM_FR(_y);\
+        isva  = isva * ( 1.5f - ( _x * isva * isva ) );\
+    }\
+}\
+
+#define GIM_SQRT(va,sva)\
+{\
+    GIM_INV_SQRT(va,sva);\
+    sva = 1.0f/sva;\
+}\
+
+//! Computes 1.0f / sqrtf(x). Comes from Quake3. See http://www.magic-software.com/3DGEDInvSqrt.html
+inline GREAL gim_inv_sqrt(GREAL f)
+{
+    GREAL r;
+    GIM_INV_SQRT(f,r);
+    return r;
+}
+
+inline GREAL gim_sqrt(GREAL f)
+{
+    GREAL r;
+    GIM_SQRT(f,r);
+    return r;
+}
+
+//! @}
+
+#endif // GIM_MATH_H_INCLUDED

extern/bullet2/src/BulletCollision/Gimpact/gim_memory.cpp

@@ -0,0 +1,135 @@
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of EITHER:
+   (1) The GNU Lesser General Public License as published by the Free
+       Software Foundation; either version 2.1 of the License, or (at
+       your option) any later version. The text of the GNU Lesser
+       General Public License is included with this library in the
+       file GIMPACT-LICENSE-LGPL.TXT.
+   (2) The BSD-style license that is included with this library in
+       the file GIMPACT-LICENSE-BSD.TXT.
+   (3) The zlib/libpng license that is included with this library in
+       the file GIMPACT-LICENSE-ZLIB.TXT.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
+ GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+
+#include "gim_memory.h"
+#include "stdlib.h"
+
+#ifdef GIM_SIMD_MEMORY
+#include "LinearMath/btAlignedAllocator.h"
+#endif
+
+static gim_alloc_function *g_allocfn = 0;
+static gim_alloca_function *g_allocafn = 0;
+static gim_realloc_function *g_reallocfn = 0;
+static gim_free_function *g_freefn = 0;
+
+void gim_set_alloc_handler (gim_alloc_function *fn)
+{
+  g_allocfn = fn;
+}
+
+void gim_set_alloca_handler (gim_alloca_function *fn)
+{
+  g_allocafn = fn;
+}
+
+void gim_set_realloc_handler (gim_realloc_function *fn)
+{
+  g_reallocfn = fn;
+}
+
+void gim_set_free_handler (gim_free_function *fn)
+{
+  g_freefn = fn;
+}
+
+gim_alloc_function *gim_get_alloc_handler()
+{
+  return g_allocfn;
+}
+
+gim_alloca_function *gim_get_alloca_handler()
+{
+  return g_allocafn;
+}
+
+
+gim_realloc_function *gim_get_realloc_handler ()
+{
+  return g_reallocfn;
+}
+
+
+gim_free_function  *gim_get_free_handler ()
+{
+  return g_freefn;
+}
+
+
+void * gim_alloc(size_t size)
+{
+	void * ptr;
+	if (g_allocfn)
+	{
+		ptr = g_allocfn(size);
+	}
+	else
+	{
+#ifdef GIM_SIMD_MEMORY
+		ptr = btAlignedAlloc(size,16);
+#else
+		ptr = malloc(size);
+#endif
+	}
+  	return ptr;
+}
+
+void * gim_alloca(size_t size)
+{
+  if (g_allocafn) return g_allocafn(size); else return gim_alloc(size);
+}
+
+
+void * gim_realloc(void *ptr, size_t oldsize, size_t newsize)
+{
+ 	void * newptr = gim_alloc(newsize);
+    size_t copysize = oldsize<newsize?oldsize:newsize;
+    gim_simd_memcpy(newptr,ptr,copysize);
+    gim_free(ptr);
+    return newptr;
+}
+
+void gim_free(void *ptr)
+{
+	if (!ptr) return;
+	if (g_freefn)
+	{
+	   g_freefn(ptr);
+	}
+	else
+	{
+	#ifdef GIM_SIMD_MEMORY
+		btAlignedFree(ptr);
+	#else
+		free(ptr);
+	#endif
+	}
+}
+

extern/bullet2/src/BulletCollision/Gimpact/gim_memory.h

@@ -0,0 +1,211 @@
+#ifndef GIM_MEMORY_H_INCLUDED
+#define GIM_MEMORY_H_INCLUDED
+/*! \file gim_memory.h
+\author Francisco Len N<>jera
+*/
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of EITHER:
+   (1) The GNU Lesser General Public License as published by the Free
+       Software Foundation; either version 2.1 of the License, or (at
+       your option) any later version. The text of the GNU Lesser
+       General Public License is included with this library in the
+       file GIMPACT-LICENSE-LGPL.TXT.
+   (2) The BSD-style license that is included with this library in
+       the file GIMPACT-LICENSE-BSD.TXT.
+   (3) The zlib/libpng license that is included with this library in
+       the file GIMPACT-LICENSE-ZLIB.TXT.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
+ GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+
+#include "gim_math.h"
+#include <memory.h>
+
+//#define PREFETCH 1
+//! \defgroup PREFETCH
+//! @{
+#ifdef PREFETCH
+#include <xmmintrin.h>	// for prefetch
+#define pfval	64
+#define pfval2	128
+//! Prefetch 64
+#define pf(_x,_i)	_mm_prefetch((void *)(_x + _i + pfval), 0)
+//! Prefetch 128
+#define pf2(_x,_i)	_mm_prefetch((void *)(_x + _i + pfval2), 0)
+#else
+//! Prefetch 64
+#define pf(_x,_i)
+//! Prefetch 128
+#define pf2(_x,_i)
+#endif
+//! @}
+
+/*! \defgroup ARRAY_UTILITIES
+\brief
+Functions for manip packed arrays of numbers
+*/
+//! @{
+#define GIM_COPY_ARRAYS(dest_array,source_array,element_count)\
+{\
+    for (GUINT _i_=0;_i_<element_count ;++_i_)\
+    {\
+    	dest_array[_i_] = source_array[_i_];\
+    }\
+}\
+
+#define GIM_COPY_ARRAYS_1(dest_array,source_array,element_count,copy_macro)\
+{\
+    for (GUINT _i_=0;_i_<element_count ;++_i_)\
+    {\
+    	copy_macro(dest_array[_i_],source_array[_i_]);\
+    }\
+}\
+
+
+#define GIM_ZERO_ARRAY(array,element_count)\
+{\
+    for (GUINT _i_=0;_i_<element_count ;++_i_)\
+    {\
+    	array[_i_] = 0;\
+    }\
+}\
+
+#define GIM_CONSTANT_ARRAY(array,element_count,constant)\
+{\
+    for (GUINT _i_=0;_i_<element_count ;++_i_)\
+    {\
+    	array[_i_] = constant;\
+    }\
+}\
+//! @}
+
+/*! \defgroup MEMORY_FUNCTION_PROTOTYPES
+Function prototypes to allocate and free memory.
+*/
+//! @{
+typedef void * gim_alloc_function (size_t size);
+typedef void * gim_alloca_function (size_t size);//Allocs on the heap
+typedef void * gim_realloc_function (void *ptr, size_t oldsize, size_t newsize);
+typedef void gim_free_function (void *ptr);
+//! @}
+
+/*! \defgroup MEMORY_FUNCTION_HANDLERS
+\brief
+Memory Function Handlers
+ set new memory management functions. if fn is 0, the default handlers are
+  used. */
+//! @{
+void gim_set_alloc_handler (gim_alloc_function *fn);
+void gim_set_alloca_handler (gim_alloca_function *fn);
+void gim_set_realloc_handler (gim_realloc_function *fn);
+void gim_set_free_handler (gim_free_function *fn);
+//! @}
+
+/*! \defgroup MEMORY_FUNCTION_GET_HANDLERS
+\brief
+get current memory management functions.
+*/
+//! @{
+gim_alloc_function *gim_get_alloc_handler (void);
+gim_alloca_function *gim_get_alloca_handler(void);
+gim_realloc_function *gim_get_realloc_handler (void);
+gim_free_function  *gim_get_free_handler (void);
+//! @}
+
+/*! \defgroup MEMORY_FUNCTIONS
+Standar Memory functions
+*/
+//! @{
+void * gim_alloc(size_t size);
+void * gim_alloca(size_t size);
+void * gim_realloc(void *ptr, size_t oldsize, size_t newsize);
+void gim_free(void *ptr);
+//! @}
+
+
+#if defined (WIN32) && !defined(__MINGW32__) && !defined(__CYGWIN__)
+    #define GIM_SIMD_MEMORY 1
+#endif
+
+//! SIMD POINTER INTEGER
+#define SIMD_T GUINT64
+//! SIMD INTEGER SIZE
+#define SIMD_T_SIZE sizeof(SIMD_T)
+
+
+inline void gim_simd_memcpy(void * dst, const void * src, size_t copysize)
+{
+#ifdef GIM_SIMD_MEMORY
+/*
+//'long long int' is incompatible with visual studio 6...
+    //copy words
+    SIMD_T * ui_src_ptr = (SIMD_T *)src;
+    SIMD_T * ui_dst_ptr = (SIMD_T *)dst;
+    while(copysize>=SIMD_T_SIZE)
+    {
+        *(ui_dst_ptr++) = *(ui_src_ptr++);
+        copysize-=SIMD_T_SIZE;
+    }
+    if(copysize==0) return;
+*/
+
+    char * c_src_ptr = (char *)src;
+    char * c_dst_ptr = (char *)dst;
+    while(copysize>0)
+    {
+        *(c_dst_ptr++) = *(c_src_ptr++);
+        copysize--;
+    }
+    return;
+#else
+    memcpy(dst,src,copysize);
+#endif
+}
+
+
+
+template<class T>
+inline void gim_swap_elements(T* _array,size_t _i,size_t _j)
+{
+	T _e_tmp_ = _array[_i];
+	_array[_i] = _array[_j];
+	_array[_j] = _e_tmp_;
+}
+
+
+template<class T>
+inline void gim_swap_elements_memcpy(T* _array,size_t _i,size_t _j)
+{
+	char _e_tmp_[sizeof(T)];
+	gim_simd_memcpy(_e_tmp_,&_array[_i],sizeof(T));
+	gim_simd_memcpy(&_array[_i],&_array[_j],sizeof(T));
+	gim_simd_memcpy(&_array[_j],_e_tmp_,sizeof(T));
+}
+
+template <int SIZE>
+inline void gim_swap_elements_ptr(char * _array,size_t _i,size_t _j)
+{
+	char _e_tmp_[SIZE];
+	_i*=SIZE;
+	_j*=SIZE;
+	gim_simd_memcpy(_e_tmp_,_array+_i,SIZE);
+	gim_simd_memcpy(_array+_i,_array+_j,SIZE);
+	gim_simd_memcpy(_array+_j,_e_tmp_,SIZE);
+}
+
+#endif // GIM_MEMORY_H_INCLUDED

extern/bullet2/src/BulletCollision/Gimpact/gim_radixsort.h

@@ -0,0 +1,410 @@
+#ifndef GIM_RADIXSORT_H_INCLUDED
+#define GIM_RADIXSORT_H_INCLUDED
+/*! \file gim_radixsort.h
+\author Francisco Len N<>jera.
+Based on the work of Michael Herf : "fast floating-point radix sort"
+Avaliable on http://www.stereopsis.com/radix.html
+*/
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of EITHER:
+   (1) The GNU Lesser General Public License as published by the Free
+       Software Foundation; either version 2.1 of the License, or (at
+       your option) any later version. The text of the GNU Lesser
+       General Public License is included with this library in the
+       file GIMPACT-LICENSE-LGPL.TXT.
+   (2) The BSD-style license that is included with this library in
+       the file GIMPACT-LICENSE-BSD.TXT.
+   (3) The zlib/libpng license that is included with this library in
+       the file GIMPACT-LICENSE-ZLIB.TXT.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
+ GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+#include "gim_memory.h"
+
+/*! \defgroup SORTING
+\brief
+Macros for sorting.
+*/
+
+//! Prototype for comparators
+class less_comparator
+{
+	public:
+
+	template<class T,class Z>
+	inline int operator() ( const T& a, const Z& b )
+	{
+		return ( a<b?-1:(a>b?1:0));
+	}
+};
+
+//! Prototype for comparators
+class integer_comparator
+{
+	public:
+
+	template<class T>
+	inline int operator() ( const T& a, const T& b )
+	{
+		return (int)(a-b);
+	}
+};
+
+//!Prototype for getting the integer representation of an object
+class uint_key_func
+{
+public:
+	template<class T>
+	inline GUINT operator()( const T& a)
+	{
+		return (GUINT)a;
+	}
+};
+
+
+//!Prototype for copying elements
+class copy_elements_func
+{
+public:
+	template<class T>
+	inline void operator()(T& a,T& b)
+	{
+		a = b;
+	}
+};
+
+//!Prototype for copying elements
+class memcopy_elements_func
+{
+public:
+	template<class T>
+	inline void operator()(T& a,T& b)
+	{
+		gim_simd_memcpy(&a,&b,sizeof(T));
+	}
+};
+
+
+//! @{
+struct GIM_RSORT_TOKEN
+{
+    GUINT m_key;
+    GUINT m_value;
+    GIM_RSORT_TOKEN()
+    {
+    }
+    GIM_RSORT_TOKEN(const GIM_RSORT_TOKEN& rtoken)
+    {
+    	m_key = rtoken.m_key;
+    	m_value = rtoken.m_value;
+    }
+
+    inline bool operator <(const GIM_RSORT_TOKEN& other) const
+	{
+		return (m_key < other.m_key);
+	}
+
+	inline bool operator >(const GIM_RSORT_TOKEN& other) const
+	{
+		return (m_key > other.m_key);
+	}
+};
+
+//! Prototype for comparators
+class GIM_RSORT_TOKEN_COMPARATOR
+{
+	public:
+
+	inline int operator()( const GIM_RSORT_TOKEN& a, const GIM_RSORT_TOKEN& b )
+	{
+		return (int)((a.m_key) - (b.m_key));
+	}
+};
+
+
+
+#define kHist 2048
+// ---- utils for accessing 11-bit quantities
+#define D11_0(x)	(x & 0x7FF)
+#define D11_1(x)	(x >> 11 & 0x7FF)
+#define D11_2(x)	(x >> 22 )
+
+
+
+///Radix sort for unsigned integer keys
+inline void gim_radix_sort_rtokens(
+				GIM_RSORT_TOKEN * array,
+				GIM_RSORT_TOKEN * sorted, GUINT element_count)
+{
+	GUINT i;
+	GUINT b0[kHist * 3];
+	GUINT *b1 = b0 + kHist;
+	GUINT *b2 = b1 + kHist;
+	for (i = 0; i < kHist * 3; ++i)
+	{
+		b0[i] = 0;
+	}
+	GUINT fi;
+	GUINT pos;
+	for (i = 0; i < element_count; ++i)
+	{
+	    fi = array[i].m_key;
+		b0[D11_0(fi)] ++;
+		b1[D11_1(fi)] ++;
+		b2[D11_2(fi)] ++;
+	}
+	{
+		GUINT sum0 = 0, sum1 = 0, sum2 = 0;
+		GUINT tsum;
+		for (i = 0; i < kHist; ++i)
+		{
+			tsum = b0[i] + sum0;
+			b0[i] = sum0 - 1;
+			sum0 = tsum;
+			tsum = b1[i] + sum1;
+			b1[i] = sum1 - 1;
+			sum1 = tsum;
+			tsum = b2[i] + sum2;
+			b2[i] = sum2 - 1;
+			sum2 = tsum;
+		}
+	}
+	for (i = 0; i < element_count; ++i)
+	{
+        fi = array[i].m_key;
+		pos = D11_0(fi);
+		pos = ++b0[pos];
+		sorted[pos].m_key = array[i].m_key;
+		sorted[pos].m_value = array[i].m_value;
+	}
+	for (i = 0; i < element_count; ++i)
+	{
+        fi = sorted[i].m_key;
+		pos = D11_1(fi);
+		pos = ++b1[pos];
+		array[pos].m_key = sorted[i].m_key;
+		array[pos].m_value = sorted[i].m_value;
+	}
+	for (i = 0; i < element_count; ++i)
+	{
+        fi = array[i].m_key;
+		pos = D11_2(fi);
+		pos = ++b2[pos];
+		sorted[pos].m_key = array[i].m_key;
+		sorted[pos].m_value = array[i].m_value;
+	}
+}
+
+
+
+
+/// Get the sorted tokens from an array. For generic use. Tokens are IRR_RSORT_TOKEN
+/*!
+*\param array Array of elements to sort
+*\param sorted_tokens Tokens of sorted elements
+*\param element_count element count
+*\param uintkey_macro Functor which retrieves the integer representation of an array element
+*/
+template<typename T, class GETKEY_CLASS>
+void gim_radix_sort_array_tokens(
+			T* array ,
+			GIM_RSORT_TOKEN * sorted_tokens,
+			GUINT element_count,GETKEY_CLASS uintkey_macro)
+{
+	GIM_RSORT_TOKEN * _unsorted = (GIM_RSORT_TOKEN *) gim_alloc(sizeof(GIM_RSORT_TOKEN)*element_count);
+    for (GUINT _i=0;_i<element_count;++_i)
+    {
+        _unsorted[_i].m_key = uintkey_macro(array[_i]);
+        _unsorted[_i].m_value = _i;
+    }
+    gim_radix_sort_rtokens(_unsorted,sorted_tokens,element_count);
+    gim_free(_unsorted);
+    gim_free(_unsorted);
+}
+
+/// Sorts array in place. For generic use
+/*!
+\param type Type of the array
+\param array
+\param element_count
+\param get_uintkey_macro Macro for extract the Integer value of the element. Similar to SIMPLE_GET_UINTKEY
+\param copy_elements_macro Macro for copy elements, similar to SIMPLE_COPY_ELEMENTS
+*/
+template<typename T, class GETKEY_CLASS, class COPY_CLASS>
+void gim_radix_sort(
+	T * array, GUINT element_count,
+	GETKEY_CLASS get_uintkey_macro, COPY_CLASS copy_elements_macro)
+{
+	GIM_RSORT_TOKEN * _sorted = (GIM_RSORT_TOKEN  *) gim_alloc(sizeof(GIM_RSORT_TOKEN)*element_count);
+    gim_radix_sort_array_tokens(array,_sorted,element_count,get_uintkey_macro);
+    T * _original_array = (T *) gim_alloc(sizeof(T)*element_count);
+    gim_simd_memcpy(_original_array,array,sizeof(T)*element_count);
+    for (GUINT _i=0;_i<element_count;++_i)
+    {
+        copy_elements_macro(array[_i],_original_array[_sorted[_i].m_value]);
+    }
+    gim_free(_original_array);
+    gim_free(_sorted);
+}
+
+//! Failsafe Iterative binary search,
+/*!
+If the element is not found, it returns the nearest upper element position, may be the further position after the last element.
+\param _array
+\param _start_i the beginning of the array
+\param _end_i the ending  index of the array
+\param _search_key Value to find
+\param _comp_macro macro for comparing elements
+\param _found If true the value has found. Boolean
+\param _result_index the index of the found element, or if not found then it will get the index of the  closest bigger value
+*/
+template<class T, typename KEYCLASS, typename COMP_CLASS>
+bool  gim_binary_search_ex(
+		const T* _array, GUINT _start_i,
+		GUINT _end_i,GUINT & _result_index,
+		const KEYCLASS & _search_key,
+		COMP_CLASS _comp_macro)
+{
+	GUINT _k;
+	int _comp_result;
+	GUINT _i = _start_i;
+	GUINT _j = _end_i+1;
+	while (_i < _j)
+	{
+		_k = (_j+_i-1)/2;
+		_comp_result = _comp_macro(_array[_k], _search_key);
+		if (_comp_result == 0)
+		{
+			_result_index = _k;
+			return true;
+		}
+		else if (_comp_result < 0)
+		{
+			_i = _k+1;
+		}
+		else
+		{
+			_j = _k;
+		}
+	}
+	_result_index = _i;
+	return false;
+}
+
+
+
+//! Failsafe Iterative binary search,Template version
+/*!
+If the element is not found, it returns the nearest upper element position, may be the further position after the last element.
+\param _array
+\param _start_i the beginning of the array
+\param _end_i the ending  index of the array
+\param _search_key Value to find
+\param _result_index the index of the found element, or if not found then it will get the index of the  closest bigger value
+\return true if found, else false
+*/
+template<class T>
+bool gim_binary_search(
+	const T*_array,GUINT _start_i,
+	GUINT _end_i,const T & _search_key,
+	GUINT & _result_index)
+{
+	GUINT _i = _start_i;
+	GUINT _j = _end_i+1;
+	GUINT _k;
+	while(_i < _j)
+	{
+		_k = (_j+_i-1)/2;
+		if(_array[_k]==_search_key)
+		{
+			_result_index = _k;
+			return true;
+		}
+		else if (_array[_k]<_search_key)
+		{
+			_i = _k+1;
+		}
+		else
+		{
+			_j = _k;
+		}
+	}
+	_result_index = _i;
+	return false;
+}
+
+
+
+///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/
+template <typename T, typename COMP_CLASS>
+void gim_down_heap(T *pArr, GUINT k, GUINT n,COMP_CLASS CompareFunc)
+{
+	/*  PRE: a[k+1..N] is a heap */
+	/* POST:  a[k..N]  is a heap */
+
+	T temp = pArr[k - 1];
+	/* k has child(s) */
+	while (k <= n/2)
+	{
+		int child = 2*k;
+
+		if ((child < (int)n) && CompareFunc(pArr[child - 1] , pArr[child])<0)
+		{
+			child++;
+		}
+		/* pick larger child */
+		if (CompareFunc(temp , pArr[child - 1])<0)
+		{
+			/* move child up */
+			pArr[k - 1] = pArr[child - 1];
+			k = child;
+		}
+		else
+		{
+			break;
+		}
+	}
+	pArr[k - 1] = temp;
+} /*downHeap*/
+
+
+template <typename T, typename COMP_CLASS>
+void gim_heap_sort(T *pArr, GUINT element_count, COMP_CLASS CompareFunc)
+{
+	/* sort a[0..N-1],  N.B. 0 to N-1 */
+	GUINT k;
+	GUINT n = element_count;
+	for (k = n/2; k > 0; k--)
+	{
+		gim_down_heap(pArr, k, n, CompareFunc);
+	}
+
+	/* a[1..N] is now a heap */
+	while ( n>=2 )
+	{
+		gim_swap_elements(pArr,0,n-1); /* largest of a[0..n-1] */
+		--n;
+		/* restore a[1..i-1] heap */
+		gim_down_heap(pArr, 1, n, CompareFunc);
+	}
+}
+
+
+
+//! @}
+#endif // GIM_RADIXSORT_H_INCLUDED

extern/bullet2/src/BulletCollision/Gimpact/gim_tri_collision.cpp

@@ -0,0 +1,640 @@
+
+/*! \file gim_tri_collision.h
+\author Francisco Len N<>jera
+*/
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of EITHER:
+   (1) The GNU Lesser General Public License as published by the Free
+       Software Foundation; either version 2.1 of the License, or (at
+       your option) any later version. The text of the GNU Lesser
+       General Public License is included with this library in the
+       file GIMPACT-LICENSE-LGPL.TXT.
+   (2) The BSD-style license that is included with this library in
+       the file GIMPACT-LICENSE-BSD.TXT.
+   (3) The zlib/libpng license that is included with this library in
+       the file GIMPACT-LICENSE-ZLIB.TXT.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
+ GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+#include "gim_tri_collision.h"
+
+
+#define TRI_LOCAL_EPSILON 0.000001f
+#define MIN_EDGE_EDGE_DIS 0.00001f
+
+
+class _GIM_TRIANGLE_CALCULATION_CACHE
+{
+public:
+	GREAL margin;	
+	btVector3 tu_vertices[3];
+	btVector3 tv_vertices[3];
+	btVector4 tu_plane;
+	btVector4 tv_plane;
+	btVector3 closest_point_u;
+	btVector3 closest_point_v;
+	btVector3 edge_edge_dir;
+	btVector3 distances;
+	GREAL du[4];
+	GREAL du0du1;
+	GREAL du0du2;
+	GREAL dv[4];
+	GREAL dv0dv1;
+	GREAL dv0dv2;	
+	btVector3 temp_points[MAX_TRI_CLIPPING];
+	btVector3 temp_points1[MAX_TRI_CLIPPING];
+	btVector3 contact_points[MAX_TRI_CLIPPING];
+	
+
+
+	//! if returns false, the faces are paralele
+	SIMD_FORCE_INLINE bool compute_intervals(
+					const GREAL &D0,
+					const GREAL &D1,
+					const GREAL &D2,
+					const GREAL &D0D1,
+					const GREAL &D0D2,
+					GREAL & scale_edge0,
+					GREAL & scale_edge1,
+					GUINT &edge_index0,
+					GUINT &edge_index1)
+	{
+		if(D0D1>0.0f)
+		{
+			/* here we know that D0D2<=0.0 */
+			/* that is D0, D1 are on the same side, D2 on the other or on the plane */
+			scale_edge0 = -D2/(D0-D2);
+			scale_edge1 = -D1/(D2-D1);
+			edge_index0 = 2;edge_index1 = 1;
+		}
+		else if(D0D2>0.0f)
+		{
+			/* here we know that d0d1<=0.0 */
+			scale_edge0 = -D0/(D1-D0);
+			scale_edge1 = -D1/(D2-D1);
+			edge_index0 = 0;edge_index1 = 1;
+		}
+		else if(D1*D2>0.0f || D0!=0.0f)
+		{
+			/* here we know that d0d1<=0.0 or that D0!=0.0 */
+			scale_edge0 = -D0/(D1-D0);
+			scale_edge1 = -D2/(D0-D2);
+			edge_index0 = 0 ;edge_index1 = 2;
+		}
+		else
+		{
+			return false;
+		}
+		return true;
+	}
+
+
+	//! clip triangle
+	/*!
+	*/
+	SIMD_FORCE_INLINE GUINT clip_triangle(
+		const btVector4 & tri_plane,
+		const btVector3 * tripoints,
+		const btVector3 * srcpoints,
+		btVector3 * clip_points)
+	{
+		// edge 0
+
+		btVector4 edgeplane;
+
+		EDGE_PLANE(tripoints[0],tripoints[1],tri_plane,edgeplane);
+
+		GUINT clipped_count = PLANE_CLIP_TRIANGLE3D(
+			edgeplane,srcpoints[0],srcpoints[1],srcpoints[2],temp_points);
+
+		if(clipped_count == 0) return 0;
+
+		// edge 1
+
+		EDGE_PLANE(tripoints[1],tripoints[2],tri_plane,edgeplane);
+
+		clipped_count = PLANE_CLIP_POLYGON3D(
+			edgeplane,temp_points,clipped_count,temp_points1);
+
+		if(clipped_count == 0) return 0;
+
+		// edge 2
+
+		EDGE_PLANE(tripoints[2],tripoints[0],tri_plane,edgeplane);
+
+		clipped_count = PLANE_CLIP_POLYGON3D(
+			edgeplane,temp_points1,clipped_count,clip_points);
+
+		return clipped_count;
+
+
+		/*GUINT i0 = (tri_plane.closestAxis()+1)%3;
+		GUINT i1 = (i0+1)%3;
+		// edge 0
+		btVector3 temp_points[MAX_TRI_CLIPPING];
+		btVector3 temp_points1[MAX_TRI_CLIPPING];
+
+		GUINT clipped_count= PLANE_CLIP_TRIANGLE_GENERIC(
+			0,srcpoints[0],srcpoints[1],srcpoints[2],temp_points,
+			DISTANCE_EDGE(tripoints[0],tripoints[1],i0,i1));
+		
+		
+		if(clipped_count == 0) return 0;
+
+		// edge 1
+		clipped_count = PLANE_CLIP_POLYGON_GENERIC(
+			0,temp_points,clipped_count,temp_points1,
+			DISTANCE_EDGE(tripoints[1],tripoints[2],i0,i1));
+
+		if(clipped_count == 0) return 0;
+
+		// edge 2
+		clipped_count = PLANE_CLIP_POLYGON_GENERIC(
+			0,temp_points1,clipped_count,clipped_points,
+			DISTANCE_EDGE(tripoints[2],tripoints[0],i0,i1));
+
+		return clipped_count;*/
+	}
+
+	SIMD_FORCE_INLINE void sort_isect(
+		GREAL & isect0,GREAL & isect1,GUINT &e0,GUINT &e1,btVector3 & vec0,btVector3 & vec1)
+	{
+		if(isect1<isect0)
+		{
+			//swap
+			GIM_SWAP_NUMBERS(isect0,isect1);
+			GIM_SWAP_NUMBERS(e0,e1);
+			btVector3 tmp = vec0;
+			vec0 = vec1;
+			vec1 = tmp;
+		}
+	}
+
+	//! Test verifying interval intersection with the direction between planes
+	/*!
+	\pre tv_plane and tu_plane must be set
+	\post
+	distances[2] is set with the distance
+	closest_point_u, closest_point_v, edge_edge_dir are set too
+	\return
+	- 0: faces are paralele
+	- 1: face U casts face V
+	- 2: face V casts face U
+	- 3: nearest edges
+	*/
+	SIMD_FORCE_INLINE GUINT cross_line_intersection_test()
+	{
+		// Compute direction of intersection line
+		edge_edge_dir = tu_plane.cross(tv_plane);
+		GREAL Dlen;
+		VEC_LENGTH(edge_edge_dir,Dlen);
+
+		if(Dlen<0.0001)
+		{
+			return 0; //faces near paralele
+		}
+
+		edge_edge_dir*= 1/Dlen;//normalize
+
+
+		// Compute interval for triangle 1
+		GUINT tu_e0,tu_e1;//edge indices
+		GREAL tu_scale_e0,tu_scale_e1;//edge scale
+		if(!compute_intervals(du[0],du[1],du[2],
+			du0du1,du0du2,tu_scale_e0,tu_scale_e1,tu_e0,tu_e1)) return 0;
+
+		// Compute interval for triangle 2
+		GUINT tv_e0,tv_e1;//edge indices
+		GREAL tv_scale_e0,tv_scale_e1;//edge scale
+
+		if(!compute_intervals(dv[0],dv[1],dv[2],
+			dv0dv1,dv0dv2,tv_scale_e0,tv_scale_e1,tv_e0,tv_e1)) return 0;
+
+		//proyected vertices
+		btVector3 up_e0 = tu_vertices[tu_e0].lerp(tu_vertices[(tu_e0+1)%3],tu_scale_e0);
+		btVector3 up_e1 = tu_vertices[tu_e1].lerp(tu_vertices[(tu_e1+1)%3],tu_scale_e1);
+
+		btVector3 vp_e0 = tv_vertices[tv_e0].lerp(tv_vertices[(tv_e0+1)%3],tv_scale_e0);
+		btVector3 vp_e1 = tv_vertices[tv_e1].lerp(tv_vertices[(tv_e1+1)%3],tv_scale_e1);
+
+		//proyected intervals
+		GREAL isect_u[] = {up_e0.dot(edge_edge_dir),up_e1.dot(edge_edge_dir)};
+		GREAL isect_v[] = {vp_e0.dot(edge_edge_dir),vp_e1.dot(edge_edge_dir)};
+
+		sort_isect(isect_u[0],isect_u[1],tu_e0,tu_e1,up_e0,up_e1);
+		sort_isect(isect_v[0],isect_v[1],tv_e0,tv_e1,vp_e0,vp_e1);
+
+		const GREAL midpoint_u = 0.5f*(isect_u[0]+isect_u[1]); // midpoint
+		const GREAL midpoint_v = 0.5f*(isect_v[0]+isect_v[1]); // midpoint
+
+		if(midpoint_u<midpoint_v)
+		{
+			if(isect_u[1]>=isect_v[1]) // face U casts face V
+			{
+				return 1;
+			}
+			else if(isect_v[0]<=isect_u[0]) // face V casts face U
+			{
+				return 2;
+			}
+			// closest points
+			closest_point_u = up_e1;
+			closest_point_v = vp_e0;
+			// calc edges and separation
+
+			if(isect_u[1]+ MIN_EDGE_EDGE_DIS<isect_v[0]) //calc distance between two lines instead
+			{
+				SEGMENT_COLLISION(
+					tu_vertices[tu_e1],tu_vertices[(tu_e1+1)%3],
+					tv_vertices[tv_e0],tv_vertices[(tv_e0+1)%3],
+					closest_point_u,
+					closest_point_v);
+
+				edge_edge_dir = closest_point_u-closest_point_v;
+				VEC_LENGTH(edge_edge_dir,distances[2]);
+				edge_edge_dir *= 1.0f/distances[2];// normalize
+			}
+			else
+			{
+				distances[2] = isect_v[0]-isect_u[1];//distance negative
+				//edge_edge_dir *= -1.0f; //normal pointing from V to U
+			}
+
+		}
+		else
+		{
+			if(isect_v[1]>=isect_u[1]) // face V casts face U
+			{
+				return 2;
+			}
+			else if(isect_u[0]<=isect_v[0]) // face U casts face V
+			{
+				return 1;
+			}
+			// closest points
+			closest_point_u = up_e0;
+			closest_point_v = vp_e1;
+			// calc edges and separation
+
+			if(isect_v[1]+MIN_EDGE_EDGE_DIS<isect_u[0]) //calc distance between two lines instead
+			{
+				SEGMENT_COLLISION(
+					tu_vertices[tu_e0],tu_vertices[(tu_e0+1)%3],
+					tv_vertices[tv_e1],tv_vertices[(tv_e1+1)%3],
+					closest_point_u,
+					closest_point_v);
+
+				edge_edge_dir = closest_point_u-closest_point_v;
+				VEC_LENGTH(edge_edge_dir,distances[2]);
+				edge_edge_dir *= 1.0f/distances[2];// normalize
+			}
+			else
+			{
+				distances[2] = isect_u[0]-isect_v[1];//distance negative
+				//edge_edge_dir *= -1.0f; //normal pointing from V to U
+			}
+		}
+		return 3;
+	}
+
+
+	//! collides by two sides
+	SIMD_FORCE_INLINE bool triangle_collision(
+					const btVector3 & u0,
+					const btVector3 & u1,
+					const btVector3 & u2,
+					GREAL margin_u,
+					const btVector3 & v0,
+					const btVector3 & v1,
+					const btVector3 & v2,
+					GREAL margin_v,
+					GIM_TRIANGLE_CONTACT_DATA & contacts)
+	{
+
+		margin = margin_u + margin_v;
+
+		tu_vertices[0] = u0;
+		tu_vertices[1] = u1;
+		tu_vertices[2] = u2;
+
+		tv_vertices[0] = v0;
+		tv_vertices[1] = v1;
+		tv_vertices[2] = v2;
+
+		//create planes
+		// plane v vs U points
+
+		TRIANGLE_PLANE(tv_vertices[0],tv_vertices[1],tv_vertices[2],tv_plane);
+
+		du[0] = DISTANCE_PLANE_POINT(tv_plane,tu_vertices[0]);
+		du[1] = DISTANCE_PLANE_POINT(tv_plane,tu_vertices[1]);
+		du[2] = DISTANCE_PLANE_POINT(tv_plane,tu_vertices[2]);
+
+
+		du0du1 = du[0] * du[1];
+		du0du2 = du[0] * du[2];
+
+
+		if(du0du1>0.0f && du0du2>0.0f)	// same sign on all of them + not equal 0 ?
+		{
+			if(du[0]<0) //we need test behind the triangle plane
+			{
+				distances[0] = GIM_MAX3(du[0],du[1],du[2]);
+				distances[0] = -distances[0];
+				if(distances[0]>margin) return false; //never intersect
+
+				//reorder triangle v
+				VEC_SWAP(tv_vertices[0],tv_vertices[1]);
+				VEC_SCALE_4(tv_plane,-1.0f,tv_plane);
+			}
+			else
+			{
+				distances[0] = GIM_MIN3(du[0],du[1],du[2]);
+				if(distances[0]>margin) return false; //never intersect
+			}
+		}
+		else
+		{
+			//Look if we need to invert the triangle
+			distances[0] = (du[0]+du[1]+du[2])/3.0f; //centroid
+
+			if(distances[0]<0.0f)
+			{
+				//reorder triangle v
+				VEC_SWAP(tv_vertices[0],tv_vertices[1]);
+				VEC_SCALE_4(tv_plane,-1.0f,tv_plane);
+
+				distances[0] = GIM_MAX3(du[0],du[1],du[2]);
+				distances[0] = -distances[0];
+			}
+			else
+			{
+				distances[0] = GIM_MIN3(du[0],du[1],du[2]);
+			}
+		}
+
+
+		// plane U vs V points
+
+		TRIANGLE_PLANE(tu_vertices[0],tu_vertices[1],tu_vertices[2],tu_plane);
+
+		dv[0] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[0]);
+		dv[1] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[1]);
+		dv[2] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[2]);
+
+		dv0dv1 = dv[0] * dv[1];
+		dv0dv2 = dv[0] * dv[2];
+
+
+		if(dv0dv1>0.0f && dv0dv2>0.0f)	// same sign on all of them + not equal 0 ?
+		{
+			if(dv[0]<0) //we need test behind the triangle plane
+			{
+				distances[1] = GIM_MAX3(dv[0],dv[1],dv[2]);
+				distances[1] = -distances[1];
+				if(distances[1]>margin) return false; //never intersect
+
+				//reorder triangle u
+				VEC_SWAP(tu_vertices[0],tu_vertices[1]);
+				VEC_SCALE_4(tu_plane,-1.0f,tu_plane);
+			}
+			else
+			{
+				distances[1] = GIM_MIN3(dv[0],dv[1],dv[2]);
+				if(distances[1]>margin) return false; //never intersect
+			}
+		}
+		else
+		{
+			//Look if we need to invert the triangle
+			distances[1] = (dv[0]+dv[1]+dv[2])/3.0f; //centroid
+
+			if(distances[1]<0.0f)
+			{
+				//reorder triangle v
+				VEC_SWAP(tu_vertices[0],tu_vertices[1]);
+				VEC_SCALE_4(tu_plane,-1.0f,tu_plane);
+
+				distances[1] = GIM_MAX3(dv[0],dv[1],dv[2]);
+				distances[1] = -distances[1];
+			}
+			else
+			{
+				distances[1] = GIM_MIN3(dv[0],dv[1],dv[2]);
+			}
+		}
+
+		GUINT bl;
+		/* bl = cross_line_intersection_test();
+		if(bl==3)
+		{
+			//take edge direction too
+			bl = distances.maxAxis();
+		}
+		else
+		{*/
+			bl = 0;
+			if(distances[0]<distances[1]) bl = 1;
+		//}
+
+		if(bl==2) //edge edge separation
+		{
+			if(distances[2]>margin) return false;
+
+			contacts.m_penetration_depth = -distances[2] + margin;
+			contacts.m_points[0] = closest_point_v;
+			contacts.m_point_count = 1;
+			VEC_COPY(contacts.m_separating_normal,edge_edge_dir);
+
+			return true;
+		}
+
+		//clip face against other
+
+		
+		GUINT point_count;
+		//TODO
+		if(bl == 0) //clip U points against V
+		{
+			point_count = clip_triangle(tv_plane,tv_vertices,tu_vertices,contact_points);
+			if(point_count == 0) return false;						
+			contacts.merge_points(tv_plane,margin,contact_points,point_count);			
+		}
+		else //clip V points against U
+		{
+			point_count = clip_triangle(tu_plane,tu_vertices,tv_vertices,contact_points);
+			if(point_count == 0) return false;			
+			contacts.merge_points(tu_plane,margin,contact_points,point_count);
+			contacts.m_separating_normal *= -1.f;
+		}
+		if(contacts.m_point_count == 0) return false;
+		return true;
+	}
+
+};
+
+
+/*class _GIM_TRIANGLE_CALCULATION_CACHE
+{
+public:
+	GREAL margin;
+	GUINT clipped_count;
+	btVector3 tu_vertices[3];
+	btVector3 tv_vertices[3];
+	btVector3 temp_points[MAX_TRI_CLIPPING];
+	btVector3 temp_points1[MAX_TRI_CLIPPING];
+	btVector3 clipped_points[MAX_TRI_CLIPPING];
+	GIM_TRIANGLE_CONTACT_DATA contacts1;
+	GIM_TRIANGLE_CONTACT_DATA contacts2;
+
+
+	//! clip triangle
+	GUINT clip_triangle(
+		const btVector4 & tri_plane,
+		const btVector3 * tripoints,
+		const btVector3 * srcpoints,
+		btVector3 * clipped_points)
+	{
+		// edge 0
+
+		btVector4 edgeplane;
+
+		EDGE_PLANE(tripoints[0],tripoints[1],tri_plane,edgeplane);
+
+		GUINT clipped_count = PLANE_CLIP_TRIANGLE3D(
+			edgeplane,srcpoints[0],srcpoints[1],srcpoints[2],temp_points);
+
+		if(clipped_count == 0) return 0;
+
+		// edge 1
+
+		EDGE_PLANE(tripoints[1],tripoints[2],tri_plane,edgeplane);
+
+		clipped_count = PLANE_CLIP_POLYGON3D(
+			edgeplane,temp_points,clipped_count,temp_points1);
+
+		if(clipped_count == 0) return 0;
+
+		// edge 2
+
+		EDGE_PLANE(tripoints[2],tripoints[0],tri_plane,edgeplane);
+
+		clipped_count = PLANE_CLIP_POLYGON3D(
+			edgeplane,temp_points1,clipped_count,clipped_points);
+
+		return clipped_count;
+	}
+
+
+
+
+	//! collides only on one side
+	bool triangle_collision(
+					const btVector3 & u0,
+					const btVector3 & u1,
+					const btVector3 & u2,
+					GREAL margin_u,
+					const btVector3 & v0,
+					const btVector3 & v1,
+					const btVector3 & v2,
+					GREAL margin_v,
+					GIM_TRIANGLE_CONTACT_DATA & contacts)
+	{
+
+		margin = margin_u + margin_v;
+
+		
+		tu_vertices[0] = u0;
+		tu_vertices[1] = u1;
+		tu_vertices[2] = u2;
+
+		tv_vertices[0] = v0;
+		tv_vertices[1] = v1;
+		tv_vertices[2] = v2;
+
+		//create planes
+		// plane v vs U points
+
+
+		TRIANGLE_PLANE(tv_vertices[0],tv_vertices[1],tv_vertices[2],contacts1.m_separating_normal);
+
+		clipped_count = clip_triangle(
+			contacts1.m_separating_normal,tv_vertices,tu_vertices,clipped_points);
+
+		if(clipped_count == 0 )
+		{
+			 return false;//Reject
+		}
+
+		//find most deep interval face1
+		contacts1.merge_points(contacts1.m_separating_normal,margin,clipped_points,clipped_count);
+		if(contacts1.m_point_count == 0) return false; // too far
+
+		//Normal pointing to triangle1
+		//contacts1.m_separating_normal *= -1.f;
+
+		//Clip tri1 by tri2 edges
+
+		TRIANGLE_PLANE(tu_vertices[0],tu_vertices[1],tu_vertices[2],contacts2.m_separating_normal);
+
+		clipped_count = clip_triangle(
+			contacts2.m_separating_normal,tu_vertices,tv_vertices,clipped_points);
+
+		if(clipped_count == 0 )
+		{
+			 return false;//Reject
+		}
+
+		//find most deep interval face1
+		contacts2.merge_points(contacts2.m_separating_normal,margin,clipped_points,clipped_count);
+		if(contacts2.m_point_count == 0) return false; // too far
+
+		contacts2.m_separating_normal *= -1.f;
+
+		////check most dir for contacts
+		if(contacts2.m_penetration_depth<contacts1.m_penetration_depth)
+		{
+			contacts.copy_from(contacts2);
+		}
+		else
+		{
+			contacts.copy_from(contacts1);
+		}
+		return true;
+	}
+
+
+};*/
+
+
+
+bool GIM_TRIANGLE::collide_triangle_hard_test(
+		const GIM_TRIANGLE & other,
+		GIM_TRIANGLE_CONTACT_DATA & contact_data) const
+{
+	_GIM_TRIANGLE_CALCULATION_CACHE calc_cache;	
+	return calc_cache.triangle_collision(
+					m_vertices[0],m_vertices[1],m_vertices[2],m_margin,
+					other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],other.m_margin,
+					contact_data);
+
+}
+
+
+
+

extern/bullet2/src/BulletCollision/Gimpact/gim_tri_collision.h

@@ -0,0 +1,383 @@
+#ifndef GIM_TRI_COLLISION_H_INCLUDED
+#define GIM_TRI_COLLISION_H_INCLUDED
+
+/*! \file gim_tri_collision.h
+\author Francisco Len N<>jera
+*/
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of EITHER:
+   (1) The GNU Lesser General Public License as published by the Free
+       Software Foundation; either version 2.1 of the License, or (at
+       your option) any later version. The text of the GNU Lesser
+       General Public License is included with this library in the
+       file GIMPACT-LICENSE-LGPL.TXT.
+   (2) The BSD-style license that is included with this library in
+       the file GIMPACT-LICENSE-BSD.TXT.
+   (3) The zlib/libpng license that is included with this library in
+       the file GIMPACT-LICENSE-ZLIB.TXT.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
+ GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+#include "gim_box_collision.h"
+#include "gim_clip_polygon.h"
+
+/*! \addtogroup GEOMETRIC_OPERATIONS
+*/
+//! @{
+
+
+
+#define MAX_TRI_CLIPPING 16
+
+//! Structure for collision
+struct GIM_TRIANGLE_CONTACT_DATA
+{
+    GREAL m_penetration_depth;
+    GUINT m_point_count;
+    btVector4 m_separating_normal;
+    btVector3 m_points[MAX_TRI_CLIPPING];
+
+	SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT_DATA& other)
+	{
+		m_penetration_depth = other.m_penetration_depth;
+		m_separating_normal = other.m_separating_normal;
+		m_point_count = other.m_point_count;
+		GUINT i = m_point_count;
+		while(i--)
+		{
+			m_points[i] = other.m_points[i];
+		}
+	}
+
+	GIM_TRIANGLE_CONTACT_DATA()
+	{
+	}
+
+	GIM_TRIANGLE_CONTACT_DATA(const GIM_TRIANGLE_CONTACT_DATA& other)
+	{
+		copy_from(other);
+	}
+
+	
+	
+
+    //! classify points that are closer
+    template<typename DISTANCE_FUNC,typename CLASS_PLANE>
+    SIMD_FORCE_INLINE void mergepoints_generic(const CLASS_PLANE & plane,
+    				GREAL margin, const btVector3 * points, GUINT point_count, DISTANCE_FUNC distance_func)
+    {	
+    	m_point_count = 0;
+    	m_penetration_depth= -1000.0f;
+
+		GUINT point_indices[MAX_TRI_CLIPPING];
+
+		GUINT _k;
+
+		for(_k=0;_k<point_count;_k++)
+		{
+			GREAL _dist = -distance_func(plane,points[_k]) + margin;
+
+			if(_dist>=0.0f)
+			{
+				if(_dist>m_penetration_depth)
+				{
+					m_penetration_depth = _dist;
+					point_indices[0] = _k;
+					m_point_count=1;
+				}
+				else if((_dist+G_EPSILON)>=m_penetration_depth)
+				{
+					point_indices[m_point_count] = _k;
+					m_point_count++;
+				}
+			}
+		}
+
+		for( _k=0;_k<m_point_count;_k++)
+		{
+			m_points[_k] = points[point_indices[_k]];
+		}
+	}
+
+	//! classify points that are closer
+	SIMD_FORCE_INLINE void merge_points(const btVector4 & plane, GREAL margin,
+										 const btVector3 * points, GUINT point_count)
+	{
+		m_separating_normal = plane;
+		mergepoints_generic(plane, margin, points, point_count, DISTANCE_PLANE_3D_FUNC());
+	}
+};
+
+
+//! Class for colliding triangles
+class GIM_TRIANGLE
+{
+public:
+	btScalar m_margin;
+    btVector3 m_vertices[3];
+
+    GIM_TRIANGLE():m_margin(0.1f)
+    {
+    }
+
+    SIMD_FORCE_INLINE GIM_AABB get_box()  const
+    {
+    	return GIM_AABB(m_vertices[0],m_vertices[1],m_vertices[2],m_margin);
+    }
+
+    SIMD_FORCE_INLINE void get_normal(btVector3 &normal)  const
+    {
+    	TRIANGLE_NORMAL(m_vertices[0],m_vertices[1],m_vertices[2],normal);
+    }
+
+    SIMD_FORCE_INLINE void get_plane(btVector4 &plane)  const
+    {
+    	TRIANGLE_PLANE(m_vertices[0],m_vertices[1],m_vertices[2],plane);;
+    }
+
+    SIMD_FORCE_INLINE void apply_transform(const btTransform & trans)
+    {
+    	m_vertices[0] = trans(m_vertices[0]);
+    	m_vertices[1] = trans(m_vertices[1]);
+    	m_vertices[2] = trans(m_vertices[2]);
+    }
+
+    SIMD_FORCE_INLINE void get_edge_plane(GUINT edge_index,const btVector3 &triangle_normal,btVector4 &plane)  const
+    {
+		const btVector3 & e0 = m_vertices[edge_index];
+		const btVector3 & e1 = m_vertices[(edge_index+1)%3];
+		EDGE_PLANE(e0,e1,triangle_normal,plane);
+    }
+
+    //! Gets the relative transformation of this triangle
+    /*!
+    The transformation is oriented to the triangle normal , and aligned to the 1st edge of this triangle. The position corresponds to vertice 0:
+    - triangle normal corresponds to Z axis.
+    - 1st normalized edge corresponds to X axis,
+
+    */
+    SIMD_FORCE_INLINE void get_triangle_transform(btTransform & triangle_transform)  const
+    {
+    	btMatrix3x3 & matrix = triangle_transform.getBasis();
+
+    	btVector3 zaxis;
+    	get_normal(zaxis);
+    	MAT_SET_Z(matrix,zaxis);
+
+    	btVector3 xaxis = m_vertices[1] - m_vertices[0];
+    	VEC_NORMALIZE(xaxis);
+    	MAT_SET_X(matrix,xaxis);
+
+    	//y axis
+    	xaxis = zaxis.cross(xaxis);
+    	MAT_SET_Y(matrix,xaxis);
+
+    	triangle_transform.setOrigin(m_vertices[0]);
+    }
+
+
+	//! Test triangles by finding separating axis
+	/*!
+	\param other Triangle for collide
+	\param contact_data Structure for holding contact points, normal and penetration depth; The normal is pointing toward this triangle from the other triangle
+	*/
+	bool collide_triangle_hard_test(
+		const GIM_TRIANGLE & other,
+		GIM_TRIANGLE_CONTACT_DATA & contact_data) const;
+
+	//! Test boxes before doing hard test
+	/*!
+	\param other Triangle for collide
+	\param contact_data Structure for holding contact points, normal and penetration depth; The normal is pointing toward this triangle from the other triangle
+	\
+	*/
+	SIMD_FORCE_INLINE bool collide_triangle(
+		const GIM_TRIANGLE & other,
+		GIM_TRIANGLE_CONTACT_DATA & contact_data) const
+	{
+		//test box collisioin
+		GIM_AABB boxu(m_vertices[0],m_vertices[1],m_vertices[2],m_margin);
+		GIM_AABB boxv(other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],other.m_margin);
+		if(!boxu.has_collision(boxv)) return false;
+
+		//do hard test
+		return collide_triangle_hard_test(other,contact_data);
+	}
+
+	/*!
+
+	Solve the System for u,v parameters:
+
+	u*axe1[i1] + v*axe2[i1] = vecproj[i1]
+	u*axe1[i2] + v*axe2[i2] = vecproj[i2]
+
+	sustitute:
+	v = (vecproj[i2] - u*axe1[i2])/axe2[i2]
+
+	then the first equation in terms of 'u':
+
+	--> u*axe1[i1] + ((vecproj[i2] - u*axe1[i2])/axe2[i2])*axe2[i1] = vecproj[i1]
+
+	--> u*axe1[i1] + vecproj[i2]*axe2[i1]/axe2[i2] - u*axe1[i2]*axe2[i1]/axe2[i2] = vecproj[i1]
+
+	--> u*(axe1[i1]  - axe1[i2]*axe2[i1]/axe2[i2]) = vecproj[i1] - vecproj[i2]*axe2[i1]/axe2[i2]
+
+	--> u*((axe1[i1]*axe2[i2]  - axe1[i2]*axe2[i1])/axe2[i2]) = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1])/axe2[i2]
+
+	--> u*(axe1[i1]*axe2[i2]  - axe1[i2]*axe2[i1]) = vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1]
+
+	--> u = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1]) /(axe1[i1]*axe2[i2]  - axe1[i2]*axe2[i1])
+
+if 0.0<= u+v <=1.0 then they are inside of triangle
+
+	\return false if the point is outside of triangle.This function  doesn't take the margin
+	*/
+	SIMD_FORCE_INLINE bool get_uv_parameters(
+			const btVector3 & point,
+			const btVector3 & tri_plane,
+			GREAL & u, GREAL & v) const
+	{
+		btVector3 _axe1 = m_vertices[1]-m_vertices[0];
+		btVector3 _axe2 = m_vertices[2]-m_vertices[0];
+		btVector3 _vecproj = point - m_vertices[0];
+		GUINT _i1 = (tri_plane.closestAxis()+1)%3;
+		GUINT _i2 = (_i1+1)%3;
+		if(btFabs(_axe2[_i2])<G_EPSILON)
+		{
+			u = (_vecproj[_i2]*_axe2[_i1] - _vecproj[_i1]*_axe2[_i2]) /(_axe1[_i2]*_axe2[_i1]  - _axe1[_i1]*_axe2[_i2]);
+			v = (_vecproj[_i1] - u*_axe1[_i1])/_axe2[_i1];
+		}
+		else
+		{
+			u = (_vecproj[_i1]*_axe2[_i2] - _vecproj[_i2]*_axe2[_i1]) /(_axe1[_i1]*_axe2[_i2]  - _axe1[_i2]*_axe2[_i1]);
+			v = (_vecproj[_i2] - u*_axe1[_i2])/_axe2[_i2];
+		}
+
+		if(u<-G_EPSILON)
+		{
+			return false;
+		}
+		else if(v<-G_EPSILON)
+		{
+			return false;
+		}
+		else
+		{
+			float sumuv;
+			sumuv = u+v;
+			if(sumuv<-G_EPSILON)
+			{
+				return false;
+			}
+			else if(sumuv-1.0f>G_EPSILON)
+			{
+				return false;
+			}
+		}
+		return true;
+	}
+
+	//! is point in triangle beam?
+	/*!
+	Test if point is in triangle, with m_margin tolerance
+	*/
+	SIMD_FORCE_INLINE bool is_point_inside(const btVector3 & point, const btVector3 & tri_normal) const
+	{
+		//Test with edge 0
+		btVector4 edge_plane;
+		this->get_edge_plane(0,tri_normal,edge_plane);
+		GREAL dist = DISTANCE_PLANE_POINT(edge_plane,point);
+		if(dist-m_margin>0.0f) return false; // outside plane
+
+		this->get_edge_plane(1,tri_normal,edge_plane);
+		dist = DISTANCE_PLANE_POINT(edge_plane,point);
+		if(dist-m_margin>0.0f) return false; // outside plane
+
+		this->get_edge_plane(2,tri_normal,edge_plane);
+		dist = DISTANCE_PLANE_POINT(edge_plane,point);
+		if(dist-m_margin>0.0f) return false; // outside plane
+		return true;
+	}
+
+
+	//! Bidireccional ray collision
+	SIMD_FORCE_INLINE bool ray_collision(
+		const btVector3 & vPoint,
+		const btVector3 & vDir, btVector3 & pout, btVector3 & triangle_normal,
+		GREAL & tparam, GREAL tmax = G_REAL_INFINITY)
+	{
+		btVector4 faceplane;
+		{
+			btVector3 dif1 = m_vertices[1] - m_vertices[0];
+			btVector3 dif2 = m_vertices[2] - m_vertices[0];
+    		VEC_CROSS(faceplane,dif1,dif2);
+    		faceplane[3] = m_vertices[0].dot(faceplane);
+		}
+
+		GUINT res = LINE_PLANE_COLLISION(faceplane,vDir,vPoint,pout,tparam, btScalar(0), tmax);
+		if(res == 0) return false;
+		if(! is_point_inside(pout,faceplane)) return false;
+
+		if(res==2) //invert normal
+		{
+			triangle_normal.setValue(-faceplane[0],-faceplane[1],-faceplane[2]);
+		}
+		else
+		{
+			triangle_normal.setValue(faceplane[0],faceplane[1],faceplane[2]);
+		}
+
+		VEC_NORMALIZE(triangle_normal);
+
+		return true;
+	}
+
+
+	//! one direccion ray collision
+	SIMD_FORCE_INLINE bool ray_collision_front_side(
+		const btVector3 & vPoint,
+		const btVector3 & vDir, btVector3 & pout, btVector3 & triangle_normal,
+		GREAL & tparam, GREAL tmax = G_REAL_INFINITY)
+	{
+		btVector4 faceplane;
+		{
+			btVector3 dif1 = m_vertices[1] - m_vertices[0];
+			btVector3 dif2 = m_vertices[2] - m_vertices[0];
+    		VEC_CROSS(faceplane,dif1,dif2);
+    		faceplane[3] = m_vertices[0].dot(faceplane);
+		}
+
+		GUINT res = LINE_PLANE_COLLISION(faceplane,vDir,vPoint,pout,tparam, btScalar(0), tmax);
+		if(res != 1) return false;
+
+		if(!is_point_inside(pout,faceplane)) return false;
+
+		triangle_normal.setValue(faceplane[0],faceplane[1],faceplane[2]);
+
+		VEC_NORMALIZE(triangle_normal);
+
+		return true;
+	}
+
+};
+
+
+
+//! @}
+
+#endif // GIM_TRI_COLLISION_H_INCLUDED

extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp

@@ -149,6 +149,7 @@ void	initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject
 		solverBody->m_originalBody = 0;
 		solverBody->m_angularFactor = 1.f;
 	}
+	
 	solverBody->m_pushVelocity.setValue(0.f,0.f,0.f);
 	solverBody->m_turnVelocity.setValue(0.f,0.f,0.f);
 }
@@ -292,7 +293,7 @@ btScalar resolveSingleCollisionCombinedCacheFriendly(
 	return normalImpulse;
 }
 
-
+//#define NO_FRICTION_TANGENTIALS 1
 #ifndef NO_FRICTION_TANGENTIALS
 
 btScalar resolveSingleFrictionCacheFriendly(
@@ -396,7 +397,7 @@ btScalar resolveSingleFrictionCacheFriendly(
 			return 0.f;
 
 
-		body1.getVelocityInLocalPoint(contactConstraint.m_rel_posA,vel1);
+		body1.getVelocityInLocalPoint(contactConstraint.m_relpos1CrossNormal,vel1);
 		body2.getVelocityInLocalPoint(contactConstraint.m_rel_posB,vel2);
 		btVector3 vel = vel1 - vel2;
 		btScalar rel_vel;
@@ -421,9 +422,9 @@ btScalar resolveSingleFrictionCacheFriendly(
 				(body1.m_invMass + body2.m_invMass + lat_vel.dot(temp1.cross(rel_pos1) + temp2.cross(rel_pos2)));
 			btScalar normal_impulse = contactConstraint.m_appliedImpulse * combinedFriction;
 
-			GEN_set_min(friction_impulse, normal_impulse);
-			GEN_set_max(friction_impulse, -normal_impulse);
-			body1.applyImpulse(lat_vel * -friction_impulse, rel_pos1);
+			btSetMin(friction_impulse, normal_impulse);
+			btSetMin(friction_impulse, -normal_impulse);
+			body1.internalApplyImpulse(lat_vel * -friction_impulse, rel_pos1);
 			body2.applyImpulse(lat_vel * friction_impulse, rel_pos2);
 		}
 	}
@@ -495,6 +496,23 @@ void	btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3&
 }
 
 
+void	applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection);
+void	applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection)
+{
+	if (colObj && colObj->hasAnisotropicFriction())
+	{
+		// transform to local coordinates
+		btVector3 loc_lateral = frictionDirection * colObj->getWorldTransform().getBasis();
+		const btVector3& friction_scaling = colObj->getAnisotropicFriction();
+		//apply anisotropic friction
+		loc_lateral *= friction_scaling;
+		// ... and transform it back to global coordinates
+		frictionDirection = colObj->getWorldTransform().getBasis() * loc_lateral;
+	}
+}
+
+
+
 
 btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** /*bodies */,int /*numBodies */,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
 {
@@ -755,19 +773,31 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 							if (!cp.m_lateralFrictionInitialized)
 							{
 								cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
+								
+								//scale anisotropic friction
+								
+								applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
+								applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
+
 								btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2();
+
+
 								if (lat_rel_vel > SIMD_EPSILON)//0.0f)
 								{
 									cp.m_lateralFrictionDir1 /= btSqrt(lat_rel_vel);
 									addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 									cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
-									cp.m_lateralFrictionDir2.normalize();//??
+									cp.m_lateralFrictionDir2.normalize();
+									applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
+									applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
+
 									addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 								} else
 								{
 									//re-calculate friction direction every frame, todo: check if this is really needed
-									
 									btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
+									applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
+									applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
 									addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 									addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
 								}
@@ -985,7 +1015,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
 		btAssert(pt);
 		pt->m_appliedImpulse = solveManifold.m_appliedImpulse;
 		pt->m_appliedImpulseLateral1 = m_tmpSolverFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
-		pt->m_appliedImpulseLateral1 = m_tmpSolverFrictionConstraintPool[solveManifold.m_frictionIndex+1].m_appliedImpulse;
+		pt->m_appliedImpulseLateral2 = m_tmpSolverFrictionConstraintPool[solveManifold.m_frictionIndex+1].m_appliedImpulse;
 
 		//do a callback here?
 

extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -423,6 +423,13 @@ btVector3 btDiscreteDynamicsWorld::getGravity () const
 
 void	btDiscreteDynamicsWorld::removeRigidBody(btRigidBody* body)
 {
+	//remove all constraints too
+	while (body->getNumConstraintRefs())
+	{
+		btTypedConstraint* constraint = body->getConstraintRef(0);
+		removeConstraint(constraint);
+	}
+
 	removeCollisionObject(body);
 }
 
@@ -688,8 +695,8 @@ void	btDiscreteDynamicsWorld::calculateSimulationIslands()
 			const btRigidBody* colObj0 = &constraint->getRigidBodyA();
 			const btRigidBody* colObj1 = &constraint->getRigidBodyB();
 
-			if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
-				((colObj1) && ((colObj1)->mergesSimulationIslands())))
+			if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
+				((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
 			{
 				if (colObj0->isActive() || colObj1->isActive())
 				{

extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp

@@ -45,6 +45,7 @@ void	btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo&
 	m_linearVelocity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
 	m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
 	m_angularFactor = btScalar(1.);
+	m_anisotropicFriction.setValue(1.f,1.f,1.f);
 	m_gravity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
 	m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
 	m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)),

extern/bullet2/src/BulletSoftBody/btSoftBody.cpp

@@ -69,7 +69,7 @@ btSoftBody::btSoftBody(btSoftBodyWorldInfo*	worldInfo,int node_count,  const btV
 	pm->m_flags	=	fMaterial::Default;
 	/* Collision shape	*/ 
 	///for now, create a collision shape internally
-	setCollisionShape(new btSoftBodyCollisionShape(this));	
+	m_collisionShape = new btSoftBodyCollisionShape(this);
 	m_collisionShape->setMargin(0.25);
 	/* Nodes			*/ 
 	const btScalar		margin=getCollisionShape()->getMargin();
@@ -87,7 +87,7 @@ btSoftBody::btSoftBody(btSoftBodyWorldInfo*	worldInfo,int node_count,  const btV
 	}
 	updateBounds();	
 
-
+	m_initialWorldTransform.setIdentity();
 }
 
 //
@@ -284,6 +284,13 @@ m_faces.push_back(f);
 //
 void			btSoftBody::appendFace(int node0,int node1,int node2,Material* mat)
 {
+	if (node0==node1)
+		return;
+	if (node1==node2)
+		return;
+	if (node2==node0)
+		return;
+
 	appendFace(-1,mat);
 	Face&	f=m_faces[m_faces.size()-1];
 	btAssert(node0!=node1);
@@ -299,8 +306,16 @@ void			btSoftBody::appendFace(int node0,int node1,int node2,Material* mat)
 }
 
 //
-void			btSoftBody::appendAnchor(int node,btRigidBody* body)
+void			btSoftBody::appendAnchor(int node,btRigidBody* body,bool disableCollisionWithBody=false)
 {
+	if (disableCollisionWithBody)
+	{
+		if (m_collisionDisabledObjects.findLinearSearch(body)==m_collisionDisabledObjects.size())
+		{
+			m_collisionDisabledObjects.push_back(body);
+		}
+	}
+
 	Anchor	a;
 	a.m_node			=	&m_nodes[node];
 	a.m_body			=	body;
@@ -384,6 +399,20 @@ void			btSoftBody::addVelocity(const btVector3& velocity)
 	for(int i=0,ni=m_nodes.size();i<ni;++i) addVelocity(velocity,i);
 }
 
+/* Set velocity for the entire body										*/ 
+void				btSoftBody::setVelocity(	const btVector3& velocity)
+{
+	for(int i=0,ni=m_nodes.size();i<ni;++i) 
+	{
+		Node&	n=m_nodes[i];
+		if(n.m_im>0)
+		{
+			n.m_v	=	velocity;
+		}
+	}
+}
+
+
 //
 void			btSoftBody::addVelocity(const btVector3& velocity,int node)
 {
@@ -476,6 +505,7 @@ void			btSoftBody::transform(const btTransform& trs)
 	updateNormals();
 	updateBounds();
 	updateConstants();
+	m_initialWorldTransform = trs;
 }
 
 //
@@ -2417,6 +2447,10 @@ void				btSoftBody::PSolve_RContacts(btSoftBody* psb,btScalar kst,btScalar ti)
 	for(int i=0,ni=psb->m_rcontacts.size();i<ni;++i)
 	{
 		const RContact&		c=psb->m_rcontacts[i];
+		///skip object that don't have collision response
+		if (!psb->getWorldInfo()->m_dispatcher->needsResponse(psb,c.m_cti.m_body))
+			continue;
+
 		const sCti&			cti=c.m_cti;	
 		const btVector3		va=cti.m_body->getVelocityInLocalPoint(c.m_c1)*dt;
 		const btVector3		vb=c.m_node->m_x-c.m_node->m_q;	

extern/bullet2/src/BulletSoftBody/btSoftBody.h

@@ -29,7 +29,7 @@ subject to the following restrictions:
 #include "BulletCollision/BroadphaseCollision/btDbvt.h"
 
 class btBroadphaseInterface;
-class btCollisionDispatcher;
+class btDispatcher;
 
 /* btSoftBodyWorldInfo	*/ 
 struct	btSoftBodyWorldInfo
@@ -39,7 +39,7 @@ struct	btSoftBodyWorldInfo
 	btScalar				water_offset;
 	btVector3				water_normal;
 	btBroadphaseInterface*	m_broadphase;
-	btCollisionDispatcher*	m_dispatcher;
+	btDispatcher*	m_dispatcher;
 	btVector3				m_gravity;
 	btSparseSdf<3>			m_sparsesdf;
 };	
@@ -49,6 +49,8 @@ struct	btSoftBodyWorldInfo
 class	btSoftBody : public btCollisionObject
 {
 public:
+	btAlignedObjectArray<class btCollisionObject*> m_collisionDisabledObjects;
+
 	//
 	// Enumerations
 	//
@@ -594,7 +596,8 @@ public:
 	btDbvt					m_fdbvt;		// Faces tree
 	btDbvt					m_cdbvt;		// Clusters tree
 	tClusterArray			m_clusters;		// Clusters
-		
+	
+	btTransform				m_initialWorldTransform; //used to attach constraints etc.
 	//
 	// Api
 	//
@@ -606,6 +609,19 @@ public:
 	/* dtor																	*/ 
 	virtual ~btSoftBody();
 	/* Check for existing link												*/ 
+
+	btAlignedObjectArray<int>	m_userIndexMapping;
+
+	btSoftBodyWorldInfo*	getWorldInfo()
+	{
+		return m_worldInfo;
+	}
+
+	virtual void	setCollisionShape(btCollisionShape* collisionShape)
+	{
+		//don't do anything, due to the internal shape hack: todo: fix this
+	}
+
 	bool				checkLink(	int node0,
 		int node1) const;
 	bool				checkLink(	const Node* node0,
@@ -653,7 +669,7 @@ public:
 									Material* mat=0);
 	/* Append anchor														*/ 
 	void				appendAnchor(	int node,
-										btRigidBody* body);
+										btRigidBody* body,bool disableCollision);
 	/* Append linear joint													*/ 
 	void				appendLinearJoint(const LJoint::Specs& specs,Cluster* body0,Body body1);
 	void				appendLinearJoint(const LJoint::Specs& specs,Body body=Body());
@@ -669,6 +685,10 @@ public:
 										int node);
 	/* Add velocity to the entire body										*/ 
 	void				addVelocity(	const btVector3& velocity);
+
+	/* Set velocity for the entire body										*/ 
+	void				setVelocity(	const btVector3& velocity);
+
 	/* Add velocity to a node of the body									*/ 
 	void				addVelocity(	const btVector3& velocity,
 										int node);

extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp

@@ -32,7 +32,7 @@ subject to the following restrictions:
 #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
 #include "BulletSoftBody/btSoftBody.h"
 
-#define BT_SOFTBODY_TRIANGLE_EXTRUSION btScalar(0.3)
+#define BT_SOFTBODY_TRIANGLE_EXTRUSION btScalar(0.3)//make this configurable
 
 btSoftBodyConcaveCollisionAlgorithm::btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
 : btCollisionAlgorithm(ci),
@@ -74,35 +74,23 @@ btSoftBodyTriangleCallback::~btSoftBodyTriangleCallback()
 
 void	btSoftBodyTriangleCallback::clearCache()
 {
-	//m_dispatcher->clearManifold(m_manifoldPtr);
+	for (int i=0;i<m_shapeCache.size();i++)
+	{
+		btTriIndex* tmp = m_shapeCache.getAtIndex(i);
+		btAssert(tmp);
+		btAssert(tmp->m_childShape);
+		m_softBody->getWorldInfo()->m_sparsesdf.RemoveReferences(tmp->m_childShape);//necessary?
+		delete tmp->m_childShape;
+	}
+	m_shapeCache.clear();
 };
 
 
-static const int maxParts = 1;
-static const int maxTriangleIndex = 100*100;
-
-btCollisionShape* shapeCache[maxParts][maxTriangleIndex];
-
-
 void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
 {
-	static bool hackedFirst = true;
-	if (hackedFirst)
-	{
-		hackedFirst = false;
-		int i,j;
-		for (i=0;i<maxParts;i++)
-		{
-			for (j=0;j<maxTriangleIndex;j++)
-			{
-				shapeCache[i][j]=0;
-			}
-		}
-	}
- 
-	//just for debugging purposes
+ 	//just for debugging purposes
 	//printf("triangle %d",m_triangleCount++);
-btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
+	btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
 	btCollisionAlgorithmConstructionInfo ci;
 	ci.m_dispatcher1 = m_dispatcher;
 
@@ -114,18 +102,17 @@ btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
 		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);
 		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color);
 		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color);
-
-		//btVector3 center = triangle[0] + triangle[1]+triangle[2];
-		//center *= btScalar(0.333333);
-		//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(center),color);
-		//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(center),color);
-		//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(center),color);
-
 	}
 
-	if (shapeCache[partId][triangleIndex])
+	btTriIndex	triIndex(partId,triangleIndex,0);
+	btHashKey<btTriIndex> triKey(triIndex.getUid());
+
+	
+	btTriIndex* shapeIndex = m_shapeCache[triKey];
+	if (shapeIndex)
 	{
-		btCollisionShape* tm = shapeCache[partId][triangleIndex];
+		btCollisionShape* tm = shapeIndex->m_childShape;
+		btAssert(tm);
 
 		//copy over user pointers to temporary shape
 		tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer());
@@ -145,13 +132,6 @@ btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
 
 	//aabb filter is already applied!	
 
-
-	
-
-	
-
-
-
 	//btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
 	
 //	if (m_softBody->getCollisionShape()->getShapeType()==
@@ -162,9 +142,9 @@ btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
 		normal*= BT_SOFTBODY_TRIANGLE_EXTRUSION;
 //		other=(triangle[0]+triangle[1]+triangle[2])*0.333333f;
 //		other+=normal*22.f;
-		btVector3	pts[6] = {triangle[0]+normal,
-			triangle[1]+normal,
-		triangle[2]+normal,
+		btVector3	pts[6] = {triangle[0],
+			triangle[1],
+		triangle[2],
 		triangle[0]-normal,
 		triangle[1]-normal,
 		triangle[2]-normal};
@@ -194,10 +174,11 @@ btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
 		colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
 		colAlgo->~btCollisionAlgorithm();
 		ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
+		
+		
 		ob->internalSetTemporaryCollisionShape( tmpShape );
-//		delete tm;
-
-		shapeCache[partId][triangleIndex] = tm;
+		triIndex.m_childShape = tm;
+		m_shapeCache.insert(triKey,triIndex);
 
 	}
 
@@ -210,44 +191,22 @@ btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
 void	btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
 	m_dispatchInfoPtr = &dispatchInfo;
-	m_collisionMarginTriangle = collisionMarginTriangle;
+	m_collisionMarginTriangle = collisionMarginTriangle+btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION);
 	m_resultOut = resultOut;
 
-	//recalc aabbs
-//	btTransform softbodyInTriangleSpace;
-//	softbodyInTriangleSpace = m_triBody->getWorldTransform().inverse() * m_softBody->getWorldTransform();
-//	btCollisionShape* convexShape = static_cast<btCollisionShape*>(m_convexBody->getCollisionShape());
-	//CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
+	
 	btVector3	aabbWorldSpaceMin,aabbWorldSpaceMax;
 	m_softBody->getAabb(aabbWorldSpaceMin,aabbWorldSpaceMax);
-
 	btVector3 halfExtents = (aabbWorldSpaceMax-aabbWorldSpaceMin)*btScalar(0.5);
 	btVector3 softBodyCenter = (aabbWorldSpaceMax+aabbWorldSpaceMin)*btScalar(0.5);
 
-	btTransform	triInverse = m_triBody->getWorldTransform().inverse();
-
-	btMatrix3x3 abs_b = triInverse.getBasis().absolute();  
-	btPoint3 center = softBodyCenter + triInverse.getOrigin();
-
-	btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
-		   abs_b[1].dot(halfExtents),
-		  abs_b[2].dot(halfExtents));
-//	extent += btVector3(getMargin(),getMargin(),getMargin());
-
-	m_aabbMin = center - extent;
-	m_aabbMax = center + extent;
-
-	btScalar extraMargin = collisionMarginTriangle+btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION);
-	btVector3 extra(extraMargin,extraMargin,extraMargin);
-
-	m_aabbMax += extra;
-	m_aabbMin -= extra;
-
-/*	btVector3 extra(2,2,2);
-	m_aabbMin = aabbWorldSpaceMin-extra;
-	m_aabbMax = aabbWorldSpaceMax+extra;
-*/
+	btTransform softTransform;
+	softTransform.setIdentity();
+	softTransform.setOrigin(softBodyCenter);
 
+	btTransform convexInTriangleSpace;
+	convexInTriangleSpace = m_triBody->getWorldTransform().inverse() * softTransform;
+	btTransformAabb(halfExtents,m_collisionMarginTriangle,convexInTriangleSpace,m_aabbMin,m_aabbMax);
 }
 
 void btSoftBodyConcaveCollisionAlgorithm::clearCache()

extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h

@@ -25,6 +25,39 @@ class btDispatcher;
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
 class btSoftBody;
+class btCollisionShape;
+
+#include "LinearMath/btHashMap.h"
+
+#include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h" //for definition of MAX_NUM_PARTS_IN_BITS
+
+struct btTriIndex
+{
+	int m_PartIdTriangleIndex;
+	class btCollisionShape*	m_childShape;
+	
+	btTriIndex(int partId,int triangleIndex,btCollisionShape* shape)
+	{
+		m_PartIdTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
+		m_childShape = shape;
+	}
+
+	int	getTriangleIndex() const
+	{
+		// Get only the lower bits where the triangle index is stored
+		return (m_PartIdTriangleIndex&~((~0)<<(31-MAX_NUM_PARTS_IN_BITS)));
+	}
+	int	getPartId() const
+	{
+		// Get only the highest bits where the part index is stored
+		return (m_PartIdTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS));
+	}
+	int	getUid() const
+	{
+		return m_PartIdTriangleIndex;
+	}
+};
+
 
 ///For each triangle in the concave mesh that overlaps with the AABB of a soft body (m_softBody), processTriangle is called.
 class btSoftBodyTriangleCallback : public btTriangleCallback
@@ -40,6 +73,8 @@ class btSoftBodyTriangleCallback : public btTriangleCallback
 	btDispatcher*	m_dispatcher;
 	const btDispatcherInfo* m_dispatchInfoPtr;
 	btScalar m_collisionMarginTriangle;
+
+	btHashMap<btHashKey<btTriIndex>,btTriIndex> m_shapeCache;
 	
 public:
 int	m_triangleCount;

extern/bullet2/src/BulletSoftBody/btSoftBodyInternals.h

@@ -94,7 +94,6 @@ public:
 	virtual void	setLocalScaling(const btVector3& /*scaling*/)
 	{		
 		///na
-		btAssert(0);
 	}
 	virtual const btVector3& getLocalScaling() const
 	{

extern/bullet2/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp

@@ -18,6 +18,8 @@ subject to the following restrictions:
 #include "btSoftBodyConcaveCollisionAlgorithm.h"
 #include "btSoftSoftCollisionAlgorithm.h"
 
+#include "LinearMath/btPoolAllocator.h"
+
 #define ENABLE_SOFTBODY_CONCAVE_COLLISIONS 1
 
 btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo)
@@ -44,6 +46,32 @@ btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfigura
 	m_swappedSoftRigidConcaveCreateFunc->m_swapped=true;
 #endif
 
+	//replace pool by a new one, with potential larger size
+	
+	if (m_ownsCollisionAlgorithmPool && m_collisionAlgorithmPool)
+	{
+		int curElemSize = m_collisionAlgorithmPool->getElementSize();
+		///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
+		
+		
+		int maxSize0 = sizeof(btSoftSoftCollisionAlgorithm);
+		int maxSize1 = sizeof(btSoftRigidCollisionAlgorithm);
+		int maxSize2 = sizeof(btSoftBodyConcaveCollisionAlgorithm);
+
+		int	collisionAlgorithmMaxElementSize = btMax(maxSize0,maxSize1);
+		collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
+		if (collisionAlgorithmMaxElementSize > curElemSize)
+		{
+			m_collisionAlgorithmPool->~btPoolAllocator();
+			btAlignedFree(m_collisionAlgorithmPool);
+			void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
+			m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
+		}
+	}
+
+
+
+
 }
 
 btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfiguration()

extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp

@@ -59,7 +59,10 @@ void btSoftRigidCollisionAlgorithm::processCollision (btCollisionObject* body0,b
 	btSoftBody* softBody =  m_isSwapped? (btSoftBody*)body1 : (btSoftBody*)body0;
 	btCollisionObject* rigidCollisionObject = m_isSwapped? body0 : body1;
 	
-	softBody->defaultCollisionHandler(rigidCollisionObject);
+	if (softBody->m_collisionDisabledObjects.findLinearSearch(rigidCollisionObject)==softBody->m_collisionDisabledObjects.size())
+	{
+		softBody->defaultCollisionHandler(rigidCollisionObject);
+	}
 
 
 }

extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp

@@ -21,6 +21,10 @@ subject to the following restrictions:
 #include "btSoftBody.h"
 #include "btSoftBodyHelpers.h"
 
+
+
+
+
 btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
 :btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
 {
@@ -28,6 +32,11 @@ m_drawFlags			=	fDrawFlags::Std;
 m_drawNodeTree		=	true;
 m_drawFaceTree		=	false;
 m_drawClusterTree	=	false;
+m_sbi.m_broadphase = pairCache;
+m_sbi.m_dispatcher = dispatcher;
+m_sbi.m_sparsesdf.Initialize();
+m_sbi.m_sparsesdf.Reset();
+
 }
 		
 btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld()

extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.h

@@ -13,12 +13,12 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
-
 #ifndef BT_SOFT_RIGID_DYNAMICS_WORLD_H
 #define BT_SOFT_RIGID_DYNAMICS_WORLD_H
 
-class btSoftBody;
+#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
+#include "btSoftBody.h"
+
 typedef	btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
 
 class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld
@@ -29,7 +29,8 @@ class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld
 	bool			m_drawNodeTree;
 	bool			m_drawFaceTree;
 	bool			m_drawClusterTree;
-		
+	btSoftBodyWorldInfo m_sbi;
+
 protected:
 	
 	virtual void	predictUnconstraintMotion(btScalar timeStep);
@@ -40,7 +41,6 @@ protected:
 
 	void	solveSoftBodiesConstraints();
 
-	
 
 public:
 	
@@ -57,6 +57,15 @@ public:
 	int		getDrawFlags() const { return(m_drawFlags); }
 	void	setDrawFlags(int f)	{ m_drawFlags=f; }
 
+	btSoftBodyWorldInfo&	getWorldInfo()
+	{
+		return m_sbi;
+	}
+	const btSoftBodyWorldInfo&	getWorldInfo() const
+	{
+		return m_sbi;
+	}
+
 			
 	btSoftBodyArray& getSoftBodyArray()
 	{

extern/bullet2/src/LinearMath/btConvexHull.cpp

@@ -869,6 +869,8 @@ bool  HullLibrary::CleanupVertices(unsigned int svcount,
 {
 	if ( svcount == 0 ) return false;
 
+	m_vertexIndexMapping.resize(0);
+
 
 #define EPSILON btScalar(0.000001) /* close enough to consider two btScalaring point numbers to be 'the same'. */
 
@@ -1027,6 +1029,7 @@ bool  HullLibrary::CleanupVertices(unsigned int svcount,
 						v[0] = px;
 						v[1] = py;
 						v[2] = pz;
+						
 					}
 
 					break;
@@ -1041,6 +1044,7 @@ bool  HullLibrary::CleanupVertices(unsigned int svcount,
 				dest[2] = pz;
 				vcount++;
 			}
+			m_vertexIndexMapping.push_back(j);
 		}
 	}
 
@@ -1116,13 +1120,22 @@ bool  HullLibrary::CleanupVertices(unsigned int svcount,
 
 void HullLibrary::BringOutYourDead(const btVector3* verts,unsigned int vcount, btVector3* overts,unsigned int &ocount,unsigned int *indices,unsigned indexcount)
 {
+	btAlignedObjectArray<int>tmpIndices;
+	tmpIndices.resize(m_vertexIndexMapping.size());
+	int i;
+
+	for (i=0;i<m_vertexIndexMapping.size();i++)
+	{
+		tmpIndices[i] = m_vertexIndexMapping[i];
+	}
+
 	TUIntArray usedIndices;
 	usedIndices.resize(static_cast<int>(vcount));
 	memset(&usedIndices[0],0,sizeof(unsigned int)*vcount);
 
 	ocount = 0;
 
-	for (unsigned int i=0; i<indexcount; i++)
+	for (i=0; i<indexcount; i++)
 	{
 		unsigned int v = indices[i]; // original array index
 
@@ -1141,11 +1154,19 @@ void HullLibrary::BringOutYourDead(const btVector3* verts,unsigned int vcount, b
 			overts[ocount][1] = verts[v][1];
 			overts[ocount][2] = verts[v][2];
 
+			for (int k=0;k<m_vertexIndexMapping.size();k++)
+			{
+				if (tmpIndices[k]==v)
+					m_vertexIndexMapping[k]=ocount;
+			}
+
 			ocount++; // increment output vert count
 
 			btAssert( ocount >=0 && ocount <= vcount );
 
 			usedIndices[static_cast<int>(v)] = ocount; // assign new index remapping
+
+		
 		}
 	}
 

extern/bullet2/src/LinearMath/btConvexHull.h

@@ -192,6 +192,9 @@ class HullLibrary
 
 public:
 
+	btAlignedObjectArray<int> m_vertexIndexMapping;
+
+
 	HullError CreateConvexHull(const HullDesc& desc, // describes the input request
 				   HullResult&     result);        // contains the resulst
 	HullError ReleaseResult(HullResult &result); // release memory allocated for this result, we are done with it.

extern/bullet2/src/LinearMath/btPoolAllocator.h

@@ -91,6 +91,11 @@ public:
         }
 	}
 
+	int	getElementSize() const
+	{
+		return m_elemSize;
+	}
+
 
 };
 

extern/bullet2/src/LinearMath/btScalar.h

@@ -141,6 +141,10 @@ inline int	btGetVersion()
 /// older compilers (gcc 3.x) and Sun needs double version of sqrt etc.
 /// exclude Apple Intel (i's assumed to be a Macbook or new Intel Dual Core Processor)
 #if defined (__sun) || defined (__sun__) || defined (__sparc) || (defined (__APPLE__) && ! defined (__i386__))
+/* XXX Need to fix these... needed for SunOS 5.8 */
+#define sinf(a)         sin((double)(a))
+#define cosf(a)         cos((double)(a))
+#define fabsf(a)        fabs((double)(a))
 //use slow double float precision operation on those platforms
 #ifndef BT_USE_DOUBLE_PRECISION
 #define BT_FORCE_DOUBLE_FUNCTIONS
@@ -194,7 +198,7 @@ SIMD_FORCE_INLINE btScalar btSqrt(btScalar y)
 	tempf = y;
 	*tfptr = (0xbfcdd90a - *tfptr)>>1; /* estimate of 1/sqrt(y) */
 	x =  tempf;
-	z =  y*btScalar(0.5);                        /* hoist out the <20>/2<>    */
+	z =  y*btScalar(0.5);                        /* hoist out the <20>/2<>    */
 	x = (btScalar(1.5)*x)-(x*x)*(x*z);         /* iteration formula     */
 	x = (btScalar(1.5)*x)-(x*x)*(x*z);
 	x = (btScalar(1.5)*x)-(x*x)*(x*z);

extern/bullet2/src/Makefile

@@ -36,6 +36,7 @@ BulletCollision/BroadphaseCollision \
 BulletCollision/CollisionShapes \
 BulletCollision/NarrowPhaseCollision \
 BulletCollision/CollisionDispatch \
+BulletCollision/Gimpact \
 BulletDynamics/ConstraintSolver \
 BulletDynamics/Vehicle \
 BulletDynamics/Dynamics \
@@ -47,6 +48,7 @@ BulletCollision/BroadphaseCollision/*.cpp \
 BulletCollision/CollisionShapes/*.cpp \
 BulletCollision/NarrowPhaseCollision/*.cpp \
 BulletCollision/CollisionDispatch/*.cpp \
+BulletCollision/Gimpact/*.cpp \
 BulletDynamics/ConstraintSolver/*.cpp \
 BulletDynamics/Vehicle/*.cpp \
 BulletDynamics/Dynamics/*.cpp \

extern/bullet2/src/SConscript

@@ -25,8 +25,11 @@ linearmath_src = env.Glob("LinearMath/*.cpp")
 
 bulletdyn_src = env.Glob("BulletDynamics/Vehicle/*.cpp") + env.Glob("BulletDynamics/ConstraintSolver/*.cpp") + env.Glob("BulletDynamics/Dynamics/*.cpp")
 
-collision_src = env.Glob("BulletCollision/BroadphaseCollision/*.cpp") + env.Glob("BulletCollision/CollisionDispatch/*.cpp")
-collision_src +=  env.Glob("BulletCollision/CollisionShapes/*.cpp") + env.Glob("BulletCollision/NarrowPhaseCollision/*.cpp")
+collision_broadphase_src = env.Glob("BulletCollision/BroadphaseCollision/*.cpp")
+collision_dispatch_src = env.Glob("BulletCollision/CollisionDispatch/*.cpp")
+collision_gimpact_src = env.Glob("BulletCollision/Gimpact/*.cpp")
+collision_shapes_src =  env.Glob("BulletCollision/CollisionShapes/*.cpp")
+collision_narrowphase_src =  env.Glob("BulletCollision/NarrowPhaseCollision/*.cpp")
 
 softbody_src = env.Glob("BulletSoftBody/*.cpp")
 
@@ -34,5 +37,9 @@ incs = '. BulletCollision BulletDynamics LinearMath BulletSoftBody'
 
 env.BlenderLib ( libname = 'extern_bullet2linmath', sources=linearmath_src, includes=Split(incs), defines=Split(defs), libtype=['game2', 'player'], priority=[20, 170], compileflags=cflags )
 env.BlenderLib ( libname = 'extern_bullet2dynamics', sources=bulletdyn_src, includes=Split(incs), defines=Split(defs), libtype=['game2', 'player'], priority=[19, 169], compileflags=cflags )
-env.BlenderLib ( libname = 'extern_bullet2collision', sources=collision_src, includes=Split(incs), defines=Split(defs), libtype=['game2', 'player'], priority=[20, 170], compileflags=cflags )
+env.BlenderLib ( libname = 'extern_bullet2collision_broadphase', sources=collision_broadphase_src, includes=Split(incs), defines=Split(defs), libtype=['game2', 'player'], priority=[25, 175], compileflags=cflags )
+env.BlenderLib ( libname = 'extern_bullet2collision_dispatch', sources=collision_dispatch_src, includes=Split(incs), defines=Split(defs), libtype=['game2', 'player'], priority=[20, 170], compileflags=cflags )
+env.BlenderLib ( libname = 'extern_bullet2collision_gimpact', sources=collision_gimpact_src, includes=Split(incs), defines=Split(defs), libtype=['game2', 'player'], priority=[20, 170], compileflags=cflags )
+env.BlenderLib ( libname = 'extern_bullet2collision_shapes', sources=collision_shapes_src, includes=Split(incs), defines=Split(defs), libtype=['game2', 'player'], priority=[20, 170], compileflags=cflags )
+env.BlenderLib ( libname = 'extern_bullet2collision_narrowphase', sources=collision_narrowphase_src, includes=Split(incs), defines=Split(defs), libtype=['game2', 'player'], priority=[20, 170], compileflags=cflags )
 env.BlenderLib ( libname = 'extern_bullet2softbody', sources=softbody_src, includes=Split(incs), defines=Split(defs), libtype=['game2', 'player'], priority=[18,168], compileflags=cflags )

extern/glew/make/msvc_9_0/glew.vcproj

@@ -0,0 +1,196 @@
+<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+	ProjectType="Visual C++"
+	Version="9,00"
+	Name="EXT_glew"
+	ProjectGUID="{BAC615B0-F1AF-418B-8D23-A10FD8870D6A}"
+	RootNamespace="glew"
+	Keyword="Win32Proj"
+	TargetFrameworkVersion="131072"
+	>
+	<Platforms>
+		<Platform
+			Name="Win32"
+		/>
+	</Platforms>
+	<ToolFiles>
+	</ToolFiles>
+	<Configurations>
+		<Configuration
+			Name="Blender Debug|Win32"
+			OutputDirectory="..\..\..\..\..\build\msvc_9\extern\glew\debug"
+			IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\glew\debug"
+			ConfigurationType="4"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				AdditionalIncludeDirectories="..\..\include"
+				PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
+				MinimalRebuild="false"
+				BasicRuntimeChecks="3"
+				RuntimeLibrary="1"
+				UsePrecompiledHeader="0"
+				PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\glew\debug\glew.pch"
+				AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\glew\debug\"
+				ObjectFile="..\..\..\..\..\build\msvc_9\extern\glew\debug\"
+				ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\glew\debug\"
+				WarningLevel="2"
+				Detect64BitPortabilityProblems="false"
+				DebugInformationFormat="3"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\debug\glew.lib"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+				Description="Copying GLEW files library (debug target) to lib tree."
+				CommandLine="ECHO Copying header files&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\glew\include\GL MKDIR ..\..\..\..\..\build\msvc_9\extern\glew\include\GL&#x0D;&#x0A;XCOPY /Y ..\..\include\GL\*.h ..\..\..\..\..\build\msvc_9\extern\glew\include\GL&#x0D;&#x0A;ECHO Done&#x0D;&#x0A;"
+			/>
+		</Configuration>
+		<Configuration
+			Name="Blender Release|Win32"
+			OutputDirectory="..\..\..\..\..\build\msvc_9\extern\glew"
+			IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\glew"
+			ConfigurationType="4"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				InlineFunctionExpansion="1"
+				AdditionalIncludeDirectories="..\..\include"
+				PreprocessorDefinitions="WIN32;NDEBUG;_LIB"
+				StringPooling="true"
+				RuntimeLibrary="0"
+				EnableFunctionLevelLinking="true"
+				UsePrecompiledHeader="0"
+				PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\glew\glew.pch"
+				AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\glew\"
+				ObjectFile="..\..\..\..\..\build\msvc_9\extern\glew\"
+				ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\glew\"
+				WarningLevel="2"
+				Detect64BitPortabilityProblems="false"
+				DebugInformationFormat="0"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\glew.lib"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+				Description="Copying GLEW files library to lib tree."
+				CommandLine="ECHO Copying header files&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\glew\include\GL MKDIR ..\..\..\..\..\build\msvc_9\extern\glew\include\GL&#x0D;&#x0A;XCOPY /Y ..\..\include\GL\*.h ..\..\..\..\..\build\msvc_9\extern\glew\include\GL&#x0D;&#x0A;ECHO Done&#x0D;&#x0A;"
+			/>
+		</Configuration>
+	</Configurations>
+	<References>
+	</References>
+	<Files>
+		<Filter
+			Name="Source Files"
+			Filter="cpp;c;cxx;def;odl;idl;hpj;bat;asm;asmx"
+			UniqueIdentifier="{4FC737F1-C7A5-4376-A066-2A32D752A2FF}"
+			>
+			<File
+				RelativePath="..\..\src\glew.c"
+				>
+			</File>
+		</Filter>
+		<Filter
+			Name="Header Files"
+			Filter="h;hpp;hxx;hm;inl;inc;xsd"
+			UniqueIdentifier="{93995380-89BD-4b04-88EB-625FBE52EBFB}"
+			>
+			<File
+				RelativePath="..\..\include\GL\glew.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\GL\glxew.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\include\GL\wglew.h"
+				>
+			</File>
+		</Filter>
+	</Files>
+	<Globals>
+	</Globals>
+</VisualStudioProject>

extern/libopenjpeg/SConscript

@@ -7,14 +7,18 @@ Import('env')
 sources = env.Glob('*.c')
 incs = '.'
 
-flags = "-Wall -O3 -ffast-math -std=c99"
+if env['OURPLATFORM'] == 'win32-vc':
+	flags = []
+else:
+	flags = ['-Wall', '-O3', '-ffast-math', '-std=c99']
 
-oj_env = env.Copy();
-oj_env.Replace(CCFLAGS = '')
-oj_env.Replace(BF_DEBUG_FLAGS = '')
+oj_env = env.Clone()
+if not env['OURPLATFORM'] == 'win32-vc':
+	oj_env.Replace(CCFLAGS = '')
+	oj_env.Replace(BF_DEBUG_FLAGS = '')
 
 oj_env.BlenderLib ( libname='extern_openjpeg', 
                     sources=sources, includes=Split(incs),
                     defines=[],
                     libtype=['core','intern','player'],
-                    priority=[10, 10, 300], compileflags = Split(flags))
+                    priority=[10, 10, 300], compileflags = flags)

extern/libredcode/SConscript

@@ -9,18 +9,6 @@ Import('env')
 sources = env.Glob('*.c')
 incs = '. ../libopenjpeg'
 
-root = "extern/libredcode"
-
-if not os.path.isdir(root + "/include"):
-    os.mkdir(root + "/include");
-if not os.path.isdir(root + "/include/redcode"):
-    os.mkdir(root + "/include/redcode");
-
-for h in env.Glob('*.h'):
-    shutil.copyfile(root + "/" + h,
-                    root + "/include/redcode/" + h)
-
-
 env.BlenderLib ( libname='extern_redcode', 
                  sources=sources, includes=Split(incs),
                  defines=[],

extern/libredcode/format.c

@@ -1,4 +1,9 @@
+#ifdef _WIN32
+#include <Winsock2.h>
+#else
 #include <netinet/in.h>
+#endif
+
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>

extern/make/msvc_9_0/build_install_all.vcproj

@@ -0,0 +1,114 @@
+<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+	ProjectType="Visual C++"
+	Version="9,00"
+	Name="EXT_build_install_all"
+	ProjectGUID="{9C71A793-C177-4CAB-8EC5-923D500B39F8}"
+	RootNamespace="build_install_all"
+	Keyword="ManagedCProj"
+	TargetFrameworkVersion="131072"
+	>
+	<Platforms>
+		<Platform
+			Name="Win32"
+		/>
+	</Platforms>
+	<ToolFiles>
+	</ToolFiles>
+	<Configurations>
+		<Configuration
+			Name="Blender Debug|Win32"
+			OutputDirectory="..\..\..\..\build\msvc_9\extern\debug"
+			IntermediateDirectory="..\..\..\..\build\msvc_9\extern\debug"
+			ConfigurationType="10"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+			CharacterSet="2"
+			ManagedExtensions="4"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+		<Configuration
+			Name="Blender Release|Win32"
+			OutputDirectory="..\..\..\..\build\msvc_9\extern"
+			IntermediateDirectory="..\..\..\..\build\msvc_9\extern"
+			ConfigurationType="10"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+			CharacterSet="2"
+			ManagedExtensions="4"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+		<Configuration
+			Name="3D Plugin Release|Win32"
+			OutputDirectory="..\..\..\..\build\msvc_9\extern\mtdll"
+			IntermediateDirectory="..\..\..\..\build\msvc_9\extern\mtdll"
+			ConfigurationType="10"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+			CharacterSet="2"
+			ManagedExtensions="4"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+		<Configuration
+			Name="3D Plugin Debug|Win32"
+			OutputDirectory="..\..\..\..\build\msvc_9\extern\mtdll\debug"
+			IntermediateDirectory="..\..\..\..\build\msvc_9\extern\mtdll\debug"
+			ConfigurationType="10"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+			CharacterSet="2"
+			ManagedExtensions="4"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+	</Configurations>
+	<References>
+	</References>
+	<Files>
+	</Files>
+	<Globals>
+	</Globals>
+</VisualStudioProject>

extern/qhull/make/msvc_9_0/qhull.vcproj

@@ -0,0 +1,877 @@
+<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+	ProjectType="Visual C++"
+	Version="9,00"
+	Name="EXT_qhull"
+	ProjectGUID="{6461F05D-4698-47AB-A8E8-1CA2ACC9948B}"
+	RootNamespace="qhull"
+	TargetFrameworkVersion="131072"
+	>
+	<Platforms>
+		<Platform
+			Name="Win32"
+		/>
+	</Platforms>
+	<ToolFiles>
+	</ToolFiles>
+	<Configurations>
+		<Configuration
+			Name="Blender Release|Win32"
+			OutputDirectory="..\..\..\..\..\build\msvc_9\extern\qhull"
+			IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\qhull"
+			ConfigurationType="4"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+			UseOfMFC="0"
+			ATLMinimizesCRunTimeLibraryUsage="false"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="2"
+				InlineFunctionExpansion="1"
+				PreprocessorDefinitions="WIN32;NDEBUG;_LIB"
+				StringPooling="true"
+				RuntimeLibrary="0"
+				EnableFunctionLevelLinking="true"
+				UsePrecompiledHeader="0"
+				PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\qhull\qhull.pch"
+				AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\qhull\"
+				ObjectFile="..\..\..\..\..\build\msvc_9\extern\qhull\"
+				ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\qhull\"
+				WarningLevel="2"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="NDEBUG"
+				Culture="1033"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\qhull.lib"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+				Description="Copying QHULL files library to lib tree."
+				CommandLine="ECHO Copying header files&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\qhull\include MKDIR ..\..\..\..\..\build\msvc_9\extern\qhull\include&#x0D;&#x0A;XCOPY /Y ..\..\include\qhull\*.h ..\..\..\..\..\build\msvc_9\extern\qhull\include&#x0D;&#x0A;ECHO Done&#x0D;&#x0A;"
+			/>
+		</Configuration>
+		<Configuration
+			Name="Blender Debug|Win32"
+			OutputDirectory="..\..\..\..\..\build\msvc_9\extern\qhull\debug"
+			IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\qhull\debug"
+			ConfigurationType="4"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+			UseOfMFC="0"
+			ATLMinimizesCRunTimeLibraryUsage="false"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
+				BasicRuntimeChecks="3"
+				RuntimeLibrary="1"
+				UsePrecompiledHeader="0"
+				PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\qhull\debug\qhull.pch"
+				AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\qhull\debug\"
+				ObjectFile="..\..\..\..\..\build\msvc_9\extern\qhull\debug\"
+				ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\qhull\debug\"
+				WarningLevel="2"
+				SuppressStartupBanner="true"
+				DebugInformationFormat="3"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="_DEBUG"
+				Culture="1033"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\debug\qhull.lib"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+				Description="Copying QHULL files library (debug target) to lib tree."
+				CommandLine="ECHO Copying header files&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\qhull\include MKDIR ..\..\..\..\..\build\msvc_9\extern\qhull\include&#x0D;&#x0A;XCOPY /Y ..\..\include\qhull\*.h ..\..\..\..\..\build\msvc_9\extern\qhull\include&#x0D;&#x0A;ECHO Done&#x0D;&#x0A;"
+			/>
+		</Configuration>
+		<Configuration
+			Name="3D Plugin Release|Win32"
+			OutputDirectory="..\..\..\..\..\build\msvc_9\extern\qhull\mtdll"
+			IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\qhull\mtdll"
+			ConfigurationType="4"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+			UseOfMFC="0"
+			ATLMinimizesCRunTimeLibraryUsage="false"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="2"
+				InlineFunctionExpansion="1"
+				PreprocessorDefinitions="WIN32;NDEBUG;_LIB"
+				StringPooling="true"
+				RuntimeLibrary="2"
+				EnableFunctionLevelLinking="true"
+				UsePrecompiledHeader="0"
+				PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\qhull\mtdll\qhull.pch"
+				AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\qhull\mtdll\"
+				ObjectFile="..\..\..\..\..\build\msvc_9\extern\qhull\mtdll\"
+				ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\qhull\mtdll\"
+				WarningLevel="2"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="NDEBUG"
+				Culture="1033"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\mtdll\qhull.lib"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+				Description="Copying QHULL files library to lib tree."
+				CommandLine="ECHO Copying header files&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\qhull\include MKDIR ..\..\..\..\..\build\msvc_9\extern\qhull\include&#x0D;&#x0A;XCOPY /Y ..\..\include\qhull\*.h ..\..\..\..\..\build\msvc_9\extern\qhull\include&#x0D;&#x0A;ECHO Done&#x0D;&#x0A;"
+			/>
+		</Configuration>
+		<Configuration
+			Name="3D Plugin Debug|Win32"
+			OutputDirectory="..\..\..\..\..\build\msvc_9\extern\qhull\mtdll\debug"
+			IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\qhull\mtdll\debug"
+			ConfigurationType="4"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+			UseOfMFC="0"
+			ATLMinimizesCRunTimeLibraryUsage="false"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
+				BasicRuntimeChecks="3"
+				RuntimeLibrary="3"
+				UsePrecompiledHeader="0"
+				PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\qhull\mtdll\debug\qhull.pch"
+				AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\qhull\mtdll\debug\"
+				ObjectFile="..\..\..\..\..\build\msvc_9\extern\qhull\mtdll\debug\"
+				ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\qhull\mtdll\debug\"
+				WarningLevel="2"
+				SuppressStartupBanner="true"
+				DebugInformationFormat="3"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="_DEBUG"
+				Culture="1033"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\mtdll\debug\qhull.lib"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+				Description="Copying QHULL files library (debug target) to lib tree."
+				CommandLine="ECHO Copying header files&#x0D;&#x0A;IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\qhull\include MKDIR ..\..\..\..\..\build\msvc_9\extern\qhull\include&#x0D;&#x0A;XCOPY /Y ..\..\include\qhull\*.h ..\..\..\..\..\build\msvc_9\extern\qhull\include&#x0D;&#x0A;ECHO Done&#x0D;&#x0A;"
+			/>
+		</Configuration>
+	</Configurations>
+	<References>
+	</References>
+	<Files>
+		<Filter
+			Name="Source Files"
+			Filter="cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
+			>
+			<File
+				RelativePath="..\..\src\geom.c"
+				>
+				<FileConfiguration
+					Name="Blender Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="2"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="Blender Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="0"
+						PreprocessorDefinitions=""
+						BasicRuntimeChecks="3"
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="3D Plugin Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="2"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="3D Plugin Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="0"
+						PreprocessorDefinitions=""
+						BasicRuntimeChecks="3"
+					/>
+				</FileConfiguration>
+			</File>
+			<File
+				RelativePath="..\..\src\geom2.c"
+				>
+				<FileConfiguration
+					Name="Blender Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="2"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="Blender Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="0"
+						PreprocessorDefinitions=""
+						BasicRuntimeChecks="3"
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="3D Plugin Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="2"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="3D Plugin Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="0"
+						PreprocessorDefinitions=""
+						BasicRuntimeChecks="3"
+					/>
+				</FileConfiguration>
+			</File>
+			<File
+				RelativePath="..\..\src\global.c"
+				>
+				<FileConfiguration
+					Name="Blender Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="2"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="Blender Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="0"
+						PreprocessorDefinitions=""
+						BasicRuntimeChecks="3"
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="3D Plugin Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="2"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="3D Plugin Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="0"
+						PreprocessorDefinitions=""
+						BasicRuntimeChecks="3"
+					/>
+				</FileConfiguration>
+			</File>
+			<File
+				RelativePath="..\..\src\io.c"
+				>
+				<FileConfiguration
+					Name="Blender Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="2"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="Blender Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="0"
+						PreprocessorDefinitions=""
+						BasicRuntimeChecks="3"
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="3D Plugin Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="2"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="3D Plugin Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="0"
+						PreprocessorDefinitions=""
+						BasicRuntimeChecks="3"
+					/>
+				</FileConfiguration>
+			</File>
+			<File
+				RelativePath="..\..\src\mem.c"
+				>
+				<FileConfiguration
+					Name="Blender Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="2"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="Blender Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="0"
+						PreprocessorDefinitions=""
+						BasicRuntimeChecks="3"
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="3D Plugin Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="2"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="3D Plugin Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="0"
+						PreprocessorDefinitions=""
+						BasicRuntimeChecks="3"
+					/>
+				</FileConfiguration>
+			</File>
+			<File
+				RelativePath="..\..\src\merge.c"
+				>
+				<FileConfiguration
+					Name="Blender Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="2"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="Blender Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="0"
+						PreprocessorDefinitions=""
+						BasicRuntimeChecks="3"
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="3D Plugin Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="2"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="3D Plugin Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="0"
+						PreprocessorDefinitions=""
+						BasicRuntimeChecks="3"
+					/>
+				</FileConfiguration>
+			</File>
+			<File
+				RelativePath="..\..\src\poly.c"
+				>
+				<FileConfiguration
+					Name="Blender Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="2"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="Blender Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="0"
+						PreprocessorDefinitions=""
+						BasicRuntimeChecks="3"
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="3D Plugin Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="2"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="3D Plugin Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="0"
+						PreprocessorDefinitions=""
+						BasicRuntimeChecks="3"
+					/>
+				</FileConfiguration>
+			</File>
+			<File
+				RelativePath="..\..\src\poly2.c"
+				>
+				<FileConfiguration
+					Name="Blender Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="2"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="Blender Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="0"
+						PreprocessorDefinitions=""
+						BasicRuntimeChecks="3"
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="3D Plugin Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="2"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="3D Plugin Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="0"
+						PreprocessorDefinitions=""
+						BasicRuntimeChecks="3"
+					/>
+				</FileConfiguration>
+			</File>
+			<File
+				RelativePath="..\..\src\qhull.c"
+				>
+				<FileConfiguration
+					Name="Blender Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="2"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="Blender Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="0"
+						PreprocessorDefinitions=""
+						BasicRuntimeChecks="3"
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="3D Plugin Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="2"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="3D Plugin Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="0"
+						PreprocessorDefinitions=""
+						BasicRuntimeChecks="3"
+					/>
+				</FileConfiguration>
+			</File>
+			<File
+				RelativePath="..\..\src\qset.c"
+				>
+				<FileConfiguration
+					Name="Blender Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="2"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="Blender Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="0"
+						PreprocessorDefinitions=""
+						BasicRuntimeChecks="3"
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="3D Plugin Release|Win32"
+					>
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+						Name="VCCLCompilerTool"
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+						PreprocessorDefinitions=""
+					/>
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+				<FileConfiguration
+					Name="3D Plugin Debug|Win32"
+					>
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+						Name="VCCLCompilerTool"
+						Optimization="0"
+						PreprocessorDefinitions=""
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+			</File>
+			<File
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+				>
+				<FileConfiguration
+					Name="Blender Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="2"
+						PreprocessorDefinitions=""
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+				<FileConfiguration
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+					>
+					<Tool
+						Name="VCCLCompilerTool"
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+					>
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+						Name="VCCLCompilerTool"
+						Optimization="2"
+						PreprocessorDefinitions=""
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+				<FileConfiguration
+					Name="3D Plugin Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="0"
+						PreprocessorDefinitions=""
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+			</File>
+			<File
+				RelativePath="..\..\src\user.c"
+				>
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+					Name="Blender Release|Win32"
+					>
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+						PreprocessorDefinitions=""
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+				<FileConfiguration
+					Name="Blender Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="0"
+						PreprocessorDefinitions=""
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+					/>
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+				<FileConfiguration
+					Name="3D Plugin Release|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="2"
+						PreprocessorDefinitions=""
+					/>
+				</FileConfiguration>
+				<FileConfiguration
+					Name="3D Plugin Debug|Win32"
+					>
+					<Tool
+						Name="VCCLCompilerTool"
+						Optimization="0"
+						PreprocessorDefinitions=""
+						BasicRuntimeChecks="3"
+					/>
+				</FileConfiguration>
+			</File>
+		</Filter>
+		<Filter
+			Name="Header Files"
+			Filter="h;hpp;hxx;hm;inl"
+			>
+			<File
+				RelativePath="..\..\src\geom.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\io.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\mem.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\merge.h"
+				>
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+			<File
+				RelativePath="..\..\src\poly.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\qhull.h"
+				>
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+			<File
+				RelativePath="..\..\src\qhull_a.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\qset.h"
+				>
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+			<File
+				RelativePath="..\..\src\stat.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\user.h"
+				>
+			</File>
+		</Filter>
+	</Files>
+	<Globals>
+	</Globals>
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extern/solid/make/msvc_9_0/broad/broad.vcproj

@@ -0,0 +1,369 @@
+<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+	ProjectType="Visual C++"
+	Version="9,00"
+	Name="EXT_broad"
+	ProjectGUID="{0112CAD5-3584-412A-A2E5-1315A00437B4}"
+	RootNamespace="broad"
+	TargetFrameworkVersion="131072"
+	>
+	<Platforms>
+		<Platform
+			Name="Win32"
+		/>
+	</Platforms>
+	<ToolFiles>
+	</ToolFiles>
+	<Configurations>
+		<Configuration
+			Name="Blender Release|Win32"
+			OutputDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\broad"
+			IntermediateDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\broad"
+			ConfigurationType="4"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
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+			CharacterSet="2"
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+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="2"
+				InlineFunctionExpansion="1"
+				AdditionalIncludeDirectories="..\..\..\include"
+				PreprocessorDefinitions="WIN32;NDEBUG;_LIB"
+				StringPooling="true"
+				RuntimeLibrary="0"
+				EnableFunctionLevelLinking="true"
+				UsePrecompiledHeader="0"
+				PrecompiledHeaderFile="..\..\..\..\..\..\build\msvc_9\extern\solid\broad\broad.pch"
+				AssemblerListingLocation="..\..\..\..\..\..\build\msvc_9\extern\solid\broad\"
+				ObjectFile="..\..\..\..\..\..\build\msvc_9\extern\solid\broad\"
+				ProgramDataBaseFileName="..\..\..\..\..\..\build\msvc_9\extern\solid\broad\"
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+				SuppressStartupBanner="true"
+				CompileAs="0"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="NDEBUG"
+				Culture="1033"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="..\..\..\..\..\..\build\msvc_9\libs\extern\broad.lib"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+		<Configuration
+			Name="Blender Debug|Win32"
+			OutputDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\broad\debug"
+			IntermediateDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\broad\debug"
+			ConfigurationType="4"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
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+			ATLMinimizesCRunTimeLibraryUsage="false"
+			CharacterSet="2"
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+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
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+				Name="VCCLCompilerTool"
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+				PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
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+				RuntimeLibrary="1"
+				UsePrecompiledHeader="0"
+				PrecompiledHeaderFile="..\..\..\..\..\..\build\msvc_9\extern\solid\broad\debug\broad.pch"
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+				ObjectFile="..\..\..\..\..\..\build\msvc_9\extern\solid\broad\debug\"
+				ProgramDataBaseFileName="..\..\..\..\..\..\build\msvc_9\extern\solid\broad\debug\"
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+				Name="VCManagedResourceCompilerTool"
+			/>
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+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="_DEBUG"
+				Culture="1033"
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+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="..\..\..\..\..\..\build\msvc_9\libs\extern\debug\broad.lib"
+				SuppressStartupBanner="true"
+			/>
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+				Name="VCALinkTool"
+			/>
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+				Name="VCXDCMakeTool"
+			/>
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+				Name="VCBscMakeTool"
+			/>
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+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
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+		<Configuration
+			Name="3D Plugin Release|Win32"
+			OutputDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\broad\mtdll"
+			IntermediateDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\broad\mtdll"
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+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+			UseOfMFC="0"
+			ATLMinimizesCRunTimeLibraryUsage="false"
+			CharacterSet="2"
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+				Name="VCPreBuildEventTool"
+			/>
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+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
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+				InlineFunctionExpansion="1"
+				AdditionalIncludeDirectories="..\..\..\include"
+				PreprocessorDefinitions="WIN32;NDEBUG;_LIB"
+				StringPooling="true"
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+				Name="VCManagedResourceCompilerTool"
+			/>
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+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="NDEBUG"
+				Culture="1033"
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+				Name="VCPreLinkEventTool"
+			/>
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+				Name="VCLibrarianTool"
+				OutputFile="..\..\..\..\..\..\build\msvc_9\libs\extern\mtdll\broad.lib"
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+				Name="VCALinkTool"
+			/>
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+				Name="VCXDCMakeTool"
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+				Name="VCBscMakeTool"
+			/>
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+				Name="VCFxCopTool"
+			/>
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+				Name="VCPostBuildEventTool"
+			/>
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+		<Configuration
+			Name="3D Plugin Debug|Win32"
+			OutputDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\broad\mtdll\debug"
+			IntermediateDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\broad\mtdll\debug"
+			ConfigurationType="4"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
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+				Name="VCPreBuildEventTool"
+			/>
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+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				AdditionalIncludeDirectories="..\..\..\include"
+				PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
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+				ObjectFile="..\..\..\..\..\..\build\msvc_9\extern\solid\broad\mtdll\debug\"
+				ProgramDataBaseFileName="..\..\..\..\..\..\build\msvc_9\extern\solid\broad\mtdll\debug\"
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+				CompileAs="0"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="_DEBUG"
+				Culture="1033"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="..\..\..\..\..\..\build\msvc_9\libs\extern\mtdll\debug\broad.lib"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+	</Configurations>
+	<References>
+	</References>
+	<Files>
+		<Filter
+			Name="Source Files"
+			Filter="cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
+			>
+			<File
+				RelativePath="..\..\..\src\broad\BP_C-api.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\..\src\broad\BP_EndpointList.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\..\src\broad\BP_Proxy.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\..\src\broad\BP_Scene.cpp"
+				>
+			</File>
+		</Filter>
+		<Filter
+			Name="Header Files"
+			Filter="h;hpp;hxx;hm;inl"
+			>
+			<File
+				RelativePath="..\..\src\broad\BP_Endpoint.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\broad\BP_EndpointList.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\broad\BP_Proxy.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\broad\BP_ProxyList.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\broad\BP_Scene.h"
+				>
+			</File>
+		</Filter>
+	</Files>
+	<Globals>
+	</Globals>
+</VisualStudioProject>

extern/solid/make/msvc_9_0/complex/complex.vcproj

@@ -0,0 +1,355 @@
+<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+	ProjectType="Visual C++"
+	Version="9,00"
+	Name="EXT_complex"
+	ProjectGUID="{B83C6BED-11EC-46C8-AFFA-121EEDE94373}"
+	RootNamespace="complex"
+	TargetFrameworkVersion="131072"
+	>
+	<Platforms>
+		<Platform
+			Name="Win32"
+		/>
+	</Platforms>
+	<ToolFiles>
+	</ToolFiles>
+	<Configurations>
+		<Configuration
+			Name="Blender Release|Win32"
+			OutputDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\complex"
+			IntermediateDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\complex"
+			ConfigurationType="4"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+			UseOfMFC="0"
+			ATLMinimizesCRunTimeLibraryUsage="false"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="2"
+				InlineFunctionExpansion="1"
+				AdditionalIncludeDirectories="..\..\..\include;..\..\..\src\convex"
+				PreprocessorDefinitions="WIN32;NDEBUG;_LIB"
+				StringPooling="true"
+				RuntimeLibrary="0"
+				EnableFunctionLevelLinking="true"
+				UsePrecompiledHeader="0"
+				PrecompiledHeaderFile="..\..\..\..\..\..\build\msvc_9\extern\solid\complex\complex.pch"
+				AssemblerListingLocation="..\..\..\..\..\..\build\msvc_9\extern\solid\complex\"
+				ObjectFile="..\..\..\..\..\..\build\msvc_9\extern\solid\complex\"
+				ProgramDataBaseFileName="..\..\..\..\..\..\build\msvc_9\extern\solid\complex\"
+				WarningLevel="2"
+				SuppressStartupBanner="true"
+				CompileAs="0"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="NDEBUG"
+				Culture="1033"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="..\..\..\..\..\..\build\msvc_9\libs\extern\complex.lib"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+		<Configuration
+			Name="Blender Debug|Win32"
+			OutputDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\complex\debug"
+			IntermediateDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\complex\debug"
+			ConfigurationType="4"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+			UseOfMFC="0"
+			ATLMinimizesCRunTimeLibraryUsage="false"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				AdditionalIncludeDirectories="..\..\..\include;..\..\..\src\convex"
+				PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
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+				RuntimeLibrary="1"
+				UsePrecompiledHeader="0"
+				PrecompiledHeaderFile="..\..\..\..\..\..\build\msvc_9\extern\solid\complex\debug\complex.pch"
+				AssemblerOutput="0"
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+				DebugInformationFormat="3"
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+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="_DEBUG"
+				Culture="1033"
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+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="..\..\..\..\..\..\build\msvc_9\libs\extern\debug\complex.lib"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+		<Configuration
+			Name="3D Plugin Release|Win32"
+			OutputDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\complex\mtdll"
+			IntermediateDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\complex\mtdll"
+			ConfigurationType="4"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+			UseOfMFC="0"
+			ATLMinimizesCRunTimeLibraryUsage="false"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="2"
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+				AdditionalIncludeDirectories="..\..\..\include;..\..\..\src\convex"
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+			/>
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+			/>
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+			OutputDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\complex\mtdll\debug"
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+			/>
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+				Name="VCMIDLTool"
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+				Name="VCPreLinkEventTool"
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+				Name="VCLibrarianTool"
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+			/>
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+				Name="VCXDCMakeTool"
+			/>
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+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
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+	</Configurations>
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+	</References>
+	<Files>
+		<Filter
+			Name="Source Files"
+			Filter="cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
+			>
+			<File
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+				>
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+			<File
+				RelativePath="..\..\..\src\complex\DT_Complex.cpp"
+				>
+			</File>
+		</Filter>
+		<Filter
+			Name="Header Files"
+			Filter="h;hpp;hxx;hm;inl"
+			>
+			<File
+				RelativePath="..\..\src\complex\DT_BBoxTree.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\complex\DT_CBox.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\complex\DT_Complex.h"
+				>
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+		</Filter>
+	</Files>
+	<Globals>
+	</Globals>
+</VisualStudioProject>

extern/solid/make/msvc_9_0/convex/convex.vcproj

@@ -0,0 +1,469 @@
+<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+	ProjectType="Visual C++"
+	Version="9,00"
+	Name="EXT_convex"
+	ProjectGUID="{524264F4-DF21-4B79-847F-E7CA643ECD0B}"
+	RootNamespace="convex"
+	TargetFrameworkVersion="131072"
+	>
+	<Platforms>
+		<Platform
+			Name="Win32"
+		/>
+	</Platforms>
+	<ToolFiles>
+	</ToolFiles>
+	<Configurations>
+		<Configuration
+			Name="Blender Debug|Win32"
+			OutputDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\debug"
+			IntermediateDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\debug"
+			ConfigurationType="4"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
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+			ATLMinimizesCRunTimeLibraryUsage="false"
+			CharacterSet="2"
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+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
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+				PreprocessorDefinitions="_DEBUG;QHULL;WIN32;_LIB"
+				BasicRuntimeChecks="3"
+				RuntimeLibrary="1"
+				UsePrecompiledHeader="0"
+				PrecompiledHeaderFile="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\debug\convex.pch"
+				AssemblerListingLocation="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\debug\"
+				ObjectFile="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\debug\"
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+				SuppressStartupBanner="true"
+				DebugInformationFormat="3"
+				CompileAs="0"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="_DEBUG"
+				Culture="1033"
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+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="..\..\..\..\..\..\build\msvc_9\libs\extern\debug\convex.lib"
+				SuppressStartupBanner="true"
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+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+		<Configuration
+			Name="Blender Release|Win32"
+			OutputDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\convex"
+			IntermediateDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\convex"
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+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
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+				Name="VCPreBuildEventTool"
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+				Name="VCCustomBuildTool"
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+				Name="VCXMLDataGeneratorTool"
+			/>
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+				Name="VCWebServiceProxyGeneratorTool"
+			/>
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+				Name="VCMIDLTool"
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+				Name="VCCLCompilerTool"
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+				RuntimeLibrary="0"
+				EnableFunctionLevelLinking="true"
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+				CompileAs="0"
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+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
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+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="NDEBUG"
+				Culture="1033"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="..\..\..\..\..\..\build\msvc_9\libs\extern\convex.lib"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
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+		<Configuration
+			Name="3D Plugin Release|Win32"
+			OutputDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\mtdll"
+			IntermediateDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\mtdll"
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+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
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+				Name="VCPreBuildEventTool"
+			/>
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+				Name="VCCustomBuildTool"
+			/>
+			<Tool
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+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="2"
+				InlineFunctionExpansion="1"
+				AdditionalIncludeDirectories="..\..\..\include;..\..\..\..\qhull\include"
+				PreprocessorDefinitions="NDEBUG;QHULL;WIN32;_LIB"
+				StringPooling="true"
+				RuntimeLibrary="2"
+				EnableFunctionLevelLinking="true"
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+				Name="VCManagedResourceCompilerTool"
+			/>
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+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="NDEBUG"
+				Culture="1033"
+			/>
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+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="..\..\..\..\..\..\build\msvc_9\libs\extern\mtdll\convex.lib"
+				SuppressStartupBanner="true"
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+				Name="VCALinkTool"
+			/>
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+				Name="VCXDCMakeTool"
+			/>
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+				Name="VCBscMakeTool"
+			/>
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+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+		<Configuration
+			Name="3D Plugin Debug|Win32"
+			OutputDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\mtdll\debug"
+			IntermediateDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\mtdll\debug"
+			ConfigurationType="4"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
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+			ATLMinimizesCRunTimeLibraryUsage="false"
+			CharacterSet="2"
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+				Name="VCPreBuildEventTool"
+			/>
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+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				AdditionalIncludeDirectories="..\..\..\include;..\..\..\..\qhull\include"
+				PreprocessorDefinitions="_DEBUG;QHULL;WIN32;_LIB"
+				BasicRuntimeChecks="3"
+				RuntimeLibrary="3"
+				UsePrecompiledHeader="0"
+				PrecompiledHeaderFile="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\mtdll\debug\convex.pch"
+				AssemblerListingLocation="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\mtdll\debug\"
+				ObjectFile="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\mtdll\debug\"
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+				SuppressStartupBanner="true"
+				DebugInformationFormat="3"
+				CompileAs="0"
+			/>
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+				Name="VCManagedResourceCompilerTool"
+			/>
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+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="_DEBUG"
+				Culture="1033"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="..\..\..\..\..\..\build\msvc_9\libs\extern\mtdll\debug\convex.lib"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+	</Configurations>
+	<References>
+	</References>
+	<Files>
+		<Filter
+			Name="Source Files"
+			Filter="cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
+			>
+			<File
+				RelativePath="..\..\..\src\convex\DT_Accuracy.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\..\src\convex\DT_Box.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\..\src\convex\DT_Cone.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\..\src\convex\DT_Convex.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\..\src\convex\DT_Cylinder.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\..\src\convex\DT_Facet.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\..\src\convex\DT_LineSegment.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\..\src\convex\DT_PenDepth.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\..\src\convex\DT_Point.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\..\src\convex\DT_Polyhedron.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\..\src\convex\DT_Polytope.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\..\src\convex\DT_Sphere.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\..\src\convex\DT_Triangle.cpp"
+				>
+			</File>
+		</Filter>
+		<Filter
+			Name="Header Files"
+			Filter="h;hpp;hxx;hm;inl"
+			>
+			<File
+				RelativePath="..\..\src\convex\DT_Accuracy.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\convex\DT_Array.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\convex\DT_Box.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\convex\DT_Cone.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\convex\DT_Convex.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\convex\DT_Cylinder.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\convex\DT_Facet.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\convex\DT_GJK.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\convex\DT_Hull.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\convex\DT_IndexArray.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\convex\DT_LineSegment.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\convex\DT_Minkowski.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\convex\DT_PenDepth.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\convex\DT_Point.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\convex\DT_Polyhedron.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\convex\DT_Polytope.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\convex\DT_Shape.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\convex\DT_Sphere.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\convex\DT_Transform.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\src\convex\DT_Triangle.h"
+				>
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+			<File
+				RelativePath="..\..\src\convex\DT_VertexBase.h"
+				>
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+	</Files>
+	<Globals>
+	</Globals>
+</VisualStudioProject>

extern/solid/make/msvc_9_0/solid.vcproj

@@ -0,0 +1,595 @@
+<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+	ProjectType="Visual C++"
+	Version="9,00"
+	Name="EXT_solid"
+	ProjectGUID="{D696C86B-0B53-4471-A50D-5B983A6FA4AD}"
+	RootNamespace="solid"
+	TargetFrameworkVersion="131072"
+	>
+	<Platforms>
+		<Platform
+			Name="Win32"
+		/>
+	</Platforms>
+	<ToolFiles>
+	</ToolFiles>
+	<Configurations>
+		<Configuration
+			Name="Blender Debug|Win32"
+			OutputDirectory="..\..\..\..\..\build\msvc_9\extern\solid\debug"
+			IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\solid\debug"
+			ConfigurationType="4"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+			UseOfMFC="0"
+			ATLMinimizesCRunTimeLibraryUsage="false"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				AdditionalIncludeDirectories="..\..\include;..\..\src\convex;..\..\src\complex"
+				PreprocessorDefinitions="_DEBUG;QHULL;WIN32;_LIB"
+				BasicRuntimeChecks="3"
+				RuntimeLibrary="1"
+				UsePrecompiledHeader="0"
+				PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\solid\debug\solid.pch"
+				AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\solid\debug\"
+				ObjectFile="..\..\..\..\..\build\msvc_9\extern\solid\debug\"
+				ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\solid\debug\"
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+				SuppressStartupBanner="true"
+				DebugInformationFormat="3"
+				CompileAs="0"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="_DEBUG"
+				Culture="1033"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\debug\solid.lib"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
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