fix typo in last commit

CMakeLists.txt

@@ -61,12 +61,10 @@ 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_OPENJPEG		"Enable OpenJpeg Support (http://www.openjpeg.org/)"	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 (Unix only)"				OFF)
+OPTION(WITH_WEBPLUGIN		"Enable Web Plugin (Mozilla-Unix only)"			OFF)
 
 IF(NOT WITH_GAMEENGINE AND WITH_PLAYER)
   MESSAGE("WARNING: WITH_PLAYER needs WITH_GAMEENGINE")
@@ -88,16 +86,14 @@ INCLUDE(CMake/macros.cmake)
 #Platform specifics
 
 IF(UNIX)
-  IF(WITH_OPENAL)
-    INCLUDE(${CMAKE_ROOT}/Modules/FindOpenAL.cmake)
-    IF(OPENAL_FOUND)
-      SET(WITH_OPENAL ON)
-      SET(OPENAL_LIB ${OPENAL_LIBRARY})
-      SET(OPENAL_INC ${OPENAL_INCLUDE_DIR})
-    ELSE(OPENAL_FOUND)
-      SET(WITH_OPENAL OFF)
-    ENDIF(OPENAL_FOUND)
-  ENDIF(WITH_OPENAL)
+  INCLUDE(${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)
 
   FIND_LIBRARY(ALUT_LIBRARY
     NAMES alut
@@ -175,7 +171,7 @@ IF(UNIX)
 
   SET(FFMPEG /usr)
   SET(FFMPEG_INC ${FFMPEG}/include)
-  SET(FFMPEG_LIB avformat avcodec avutil avdevice swscale)
+  SET(FFMPEG_LIB avformat avcodec avutil)
   SET(FFMPEG_LIBPATH ${FFMPEG}/lib)
 
   SET(JPEG_LIB jpeg)
@@ -331,7 +327,7 @@ IF(WIN32)
   SET(WINTAB_INC ${LIBDIR}/wintab/include) 
 
   IF(CMAKE_CL_64)
-  SET(PLATFORM_LINKFLAGS "/MANIFEST:NO /MANIFESTUAC:NO /MACHINE:X64 /NODEFAULTLIB:libc.lib;MSVCRT.lib ")
+  SET(PLATFORM_LINKFLAGS "/MACHINE:X64 /NODEFAULTLIB:libc.lib;MSVCRT.lib ")
   ELSE(CMAKE_CL_64)
   SET(PLATFORM_LINKFLAGS "/NODEFAULTLIB:libc.lib ")
   ENDIF(CMAKE_CL_64)
@@ -431,20 +427,6 @@ SET(FTGL ${CMAKE_SOURCE_DIR}/extern/bFTGL)
 SET(FTGL_INC ${FTGL}/include)
 SET(FTGL_LIB extern_ftgl)
 
-set(OPENJPEG ${CMAKE_SOURCE_DIR}/extern/libopenjpeg)
-set(OPENJPEG_INC ${OPENJPEG})
-set(OPENJPEG_LIb extern_libopenjpeg)
-
-#-----------------------------------------------------------------------------
-# Blender WebPlugin
-
-IF(WITH_WEBPLUGIN) 
-  SET(GECKO_DIR "${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.
@@ -475,6 +457,12 @@ 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

@@ -42,8 +42,6 @@ import tools.Blender
 import tools.btools
 import tools.bcolors
 
-EnsureSConsVersion(1,0,0)
-
 BlenderEnvironment = tools.Blender.BlenderEnvironment
 btools = tools.btools
 B = tools.Blender
@@ -57,8 +55,8 @@ 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']
 ##################################
@@ -67,15 +65,15 @@ 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
@@ -98,260 +96,231 @@ 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)
-		# xxx commented out, as was supressing warnings under mingw..
-		#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()
-
-SetOption('num_jobs', int(env['BF_NUMJOBS']))
-print "Build with %d parallel jobs" % (GetOption('num_jobs'))
+    B.bc.disable()
 
 # 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.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)
+        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)
 
 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'].remove('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'] = env['LLIBS'].replace('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:
-	target_env_defs = {}
-	target_env_defs['WITH_BF_GAMEENGINE'] = False
-	target_env_defs['WITH_BF_OPENAL'] = False
-	target_env_defs['WITH_BF_OPENEXR'] = False
-	target_env_defs['WITH_BF_ICONV'] = False
-	target_env_defs['WITH_BF_INTERNATIONAL'] = False
-	target_env_defs['WITH_BF_OPENJPEG'] = False
-	target_env_defs['WITH_BF_FFMPEG'] = False
-	target_env_defs['WITH_BF_QUICKTIME'] = False
-	target_env_defs['WITH_BF_YAFRAY'] = False
-	target_env_defs['WITH_BF_REDCODE'] = False
-	target_env_defs['WITH_BF_FTGL'] = False
-	target_env_defs['WITH_BF_DDS'] = False
-	target_env_defs['WITH_BF_ZLIB'] = False
-	target_env_defs['WITH_BF_SDL'] = False
-	target_env_defs['WITH_BF_JPEG'] = False
-	target_env_defs['WITH_BF_PNG'] = False
-	target_env_defs['WITH_BF_ODE'] = False
-	target_env_defs['WITH_BF_BULLET'] = False
-	target_env_defs['WITH_BF_SOLID'] = False
-	target_env_defs['WITH_BF_BINRELOC'] = False
-	target_env_defs['BF_BUILDINFO'] = False
-	target_env_defs['BF_NO_ELBEEM'] = True
-	target_env_defs['WITH_BF_PYTHON'] = False
-	
-	# Merge blenderlite, let command line to override
-	for k,v in target_env_defs.iteritems():
-		if k not in B.arguments:
-			env[k] = v
+    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
+    
+
 
 # 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']
-B.doc_build_dir = env['BF_DOCDIR']
+env['BUILDDIR'] = B.root_build_dir
 if not B.root_build_dir[-1]==os.sep:
-	B.root_build_dir += os.sep
-if not B.doc_build_dir[-1]==os.sep:
-	B.doc_build_dir += os.sep
-	
+    B.root_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.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', 'extern/ffmpeg/include']:
-			if os.path.exists(confile):
-				print "clean file %s"%confile
-				if os.path.isdir(confile):
-					for root, dirs, files in os.walk(confile):
-						for name in files:
-							os.remove(os.path.join(root, name))
-				else:
-					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.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 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' )
-if not os.path.isdir(B.doc_build_dir):
-	os.makedirs ( B.doc_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' )
 
 Help(opts.GenerateHelpText(env))
 
@@ -359,10 +328,10 @@ 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')
@@ -384,21 +353,20 @@ 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)
 
-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')
+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
 
@@ -408,19 +376,19 @@ 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
@@ -429,41 +397,30 @@ 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:
-				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)
+        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)
 
-		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))
+        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))
 
 #-- icons
 if env['OURPLATFORM']=='linux2':
@@ -485,25 +442,18 @@ 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')
@@ -523,60 +473,59 @@ 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 = ['${LCGDIR}/gettext/lib/gnu_gettext.dll',
-						'${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']:
-		ver = env["BF_PYTHON_VERSION"].replace(".", "")
-		
-		dllsources.append('#release/windows/extra/python' + ver + '.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-52.dll',
-						'${LCGDIR}/ffmpeg/lib/avformat-52.dll',
-						'${LCGDIR}/ffmpeg/lib/avdevice-52.dll',
-						'${LCGDIR}/ffmpeg/lib/avutil-50.dll',
-						'${LCGDIR}/ffmpeg/lib/libfaad-2.dll',
-						'${LCGDIR}/ffmpeg/lib/libfaac-0.dll',
-						'${LCGDIR}/ffmpeg/lib/libmp3lame-0.dll',
-						'${LCGDIR}/ffmpeg/lib/libx264-67.dll',
-						'${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',
+                        '${LCGDIR}/png/lib/libpng.dll',
+                        '#release/windows/extra/python25.zip',
+                        '#release/windows/extra/zlib.pyd',
+                        '${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
 
 installtarget = env.Alias('install', allinstall)
 bininstalltarget = env.Alias('install-bin', blenderinstall)
@@ -585,17 +534,13 @@ 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)
@@ -606,7 +551,7 @@ Depends(nsiscmd, allinstall)
 Default(B.program_list)
 
 if not env['WITHOUT_BF_INSTALL']:
-		Default(installtarget)
+        Default(installtarget)
 
 #------------ RELEASE
 # TODO: zipup the installation
@@ -615,14 +560,5 @@ if not env['WITHOUT_BF_INSTALL']:
 # TODO: build stubs and link into blenderplayer
 
 #------------ EPYDOC
-if env['WITH_BF_DOCS']:
-	try:		import epydoc
-	except:	epydoc = None
-	
-	if epydoc:
-		SConscript('source/blender/python/api2_2x/doc/SConscript')
-		SConscript('source/gameengine/PyDoc/SConscript')
-	else:
-		print "No epydoc install detected, Python API and Gameengine API Docs will not be generated "
-	
+# TODO: run epydoc
 

bin/.blender/.Blanguages

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

blenderplayer/CMakeLists.txt

@@ -104,8 +104,6 @@ IF(UNIX)
     bf_blenlib 
     bf_cineon 
     bf_openexr 
-    extern_libopenjpeg 
-    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 = '${BF_FFMPEG}'
-if USE_SDK==True:
+BF_FFMPEG_INC = '${BF_FFMPEG}/include'
+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'
@@ -97,17 +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_OPENEXR = True
-WITH_BF_STATICOPENEXR = False
+WITH_BF_FMOD = 'false'
+BF_FMOD = LIBDIR + '/fmod'
+
+WITH_BF_OPENEXR = 'true'
+WITH_BF_STATICOPENEXR = 'false'
 BF_OPENEXR = '${LCGDIR}/openexr'
 BF_OPENEXR_INC = '${BF_OPENEXR}/include ${BF_OPENEXR}/include/OpenEXR'
 BF_OPENEXR_LIB = ' Iex Half IlmImf Imath IlmThread'
@@ -115,15 +118,15 @@ BF_OPENEXR_LIBPATH = '${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 = '${BF_PNG}/include'
 BF_PNG_LIB = 'png'
@@ -132,32 +135,32 @@ BF_PNG_LIBPATH = '${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 = '${BF_BULLET}'
 BF_BULLET_LIB = 'extern_bullet'
@@ -166,9 +169,9 @@ BF_SOLID = '#extern/solid'
 BF_SOLID_INC = '${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 = 
@@ -183,7 +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'
@@ -191,16 +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'
@@ -213,16 +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.append('crt3.o')
+	LLIBS = LLIBS + ' 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
@@ -240,7 +243,7 @@ else:
 	REL_CFLAGS = ['-O2']
 	REL_CCFLAGS = ['-O2']
 
-##BF_DEPEND = True
+##BF_DEPEND = 'true'
 ##
 ##AR = ar
 ##ARFLAGS = ruv
@@ -248,22 +251,20 @@ else:
 ##
 CC = 'gcc'
 CXX = 'g++'
-C_WARN = ['-Wdeclaration-after-statement']
+C_WARN = ' -Wall  -Wno-long-double -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_CCFLAGS = ['-pg', '-g ']
-BF_PROFILE_LINKFLAGS = ['-pg']
-BF_PROFILE = False
+BF_PROFILE_FLAGS = ' -pg -g '
+BF_PROFILE = 'false'
 
-BF_DEBUG = False
-BF_DEBUG_CCFLAGS = ['-g']
+BF_DEBUG = 'false'
+BF_DEBUG_FLAGS = '-g'
 
 BF_BUILDDIR='../build/darwin'
 BF_INSTALLDIR='../install/darwin'
-BF_DOCDIR='../install/doc'

config/irix6-config.py

@@ -1,228 +0,0 @@
-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_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 = '${BF_ICONV}/lib'
-
-WITH_BF_BINRELOC = 'false'
-
-# enable ffmpeg  support
-WITH_BF_FFMPEG = 'true'  # -DWITH_FFMPEG
-# Uncomment the following two lines to use system's ffmpeg
-BF_FFMPEG = LCGDIR+'/ffmpeg'
-BF_FFMPEG_LIB = 'avformat avcodec swscale avutil avdevice faad faac vorbis x264 ogg mp3lame z'
-BF_FFMPEG_INC = '${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 = '${BF_OPENJPEG}'
-BF_OPENJPEG_LIBPATH='${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 = '${BF_OPENAL}/include'
 BF_OPENAL_LIB = 'openal'
@@ -26,16 +26,19 @@ BF_OPENAL_LIB_STATIC = '${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_OPENEXR = True
-WITH_BF_STATICOPENEXR = False
+WITH_BF_FMOD = 'false'
+BF_FMOD = LIBDIR + '/fmod'
+
+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 ${BF_OPENEXR}/include'
@@ -46,14 +49,14 @@ BF_OPENEXR_LIB_STATIC = '${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 = '${BF_PNG}/include'
 BF_PNG_LIB = 'png'
@@ -61,31 +64,31 @@ BF_PNG_LIB = 'png'
 BF_TIFF = '/usr'
 BF_TIFF_INC = '${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 = '${BF_BULLET}'
 BF_BULLET_LIB = 'extern_bullet'
@@ -94,9 +97,9 @@ BF_SOLID = '#extern/solid'
 BF_SOLID_INC = '${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 = 
@@ -111,61 +114,60 @@ 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
 # BF_FFMPEG = '/usr'
-# BF_FFMPEG_LIB = 'avformat avcodec swscale avutil avdevice'
-BF_FFMPEG_INC = '${BF_FFMPEG}'
+# BF_FFMPEG_LIB = 'avformat avcodec swscale avutil'
+BF_FFMPEG_INC = '${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 = '${BF_OGG}/include'
-BF_OGG_LIB = 'ogg vorbis vorbisenc theoraenc theoradec'
-
-WITH_BF_OPENJPEG = True 
+WITH_BF_OPENJPEG = 'true' 
 BF_OPENJPEG = '#extern/libopenjpeg'
 BF_OPENJPEG_LIB = ''
-BF_OPENJPEG_INC = '${BF_OPENJPEG}'
+# 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 = ''
-# BF_REDCODE_INC = '${BF_REDCODE}/include'
-BF_REDCODE_INC = '${BF_REDCODE}/../' #C files request "libredcode/format.h" which is in "#extern/libredcode/format.h", stupid but compiles for now.
+# 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_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 ${BF_OPENGL_LIBPATH}/libXxf86vm.a'
+BF_OPENGL_LIB_STATIC = '${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 = 'gcc'
@@ -177,34 +179,32 @@ CCFLAGS = ['-pipe','-fPIC','-funsigned-char','-fno-strict-aliasing']
 
 CPPFLAGS = ['-DXP_UNIX']
 CXXFLAGS = ['-pipe','-fPIC','-funsigned-char','-fno-strict-aliasing']
-REL_CFLAGS = ['-O2']
-REL_CCFLAGS = ['-O2']
-##BF_DEPEND = True
+REL_CFLAGS = ['-O3']
+REL_CCFLAGS = ['-O3']
+##BF_DEPEND = 'true'
 ##
 ##AR = ar
 ##ARFLAGS = ruv
 ##ARFLAGSQUIET = ru
 ##
-C_WARN = ['-Wno-char-subscripts', '-Wdeclaration-after-statement']
+C_WARN = '-Wall -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 = False
-BF_PROFILE_CCFLAGS = ['-pg','-g']
-BF_PROFILE_LINKFLAGS = ['-pg']
+BF_PROFILE_FLAGS = ['-pg','-g']
+BF_PROFILE = 'false'
 
-BF_DEBUG = False
-BF_DEBUG_CCFLAGS = ['-g']
+BF_DEBUG = 'false'
+BF_DEBUG_FLAGS = '-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 = '${BF_SDL}/include'
 BF_SDL_LIB = 'SDL'
@@ -38,8 +38,11 @@ BF_PTHREADS_INC = '${BF_PTHREADS}/include'
 BF_PTHREADS_LIB = 'pthreadGC2'
 BF_PTHREADS_LIBPATH = '${BF_PTHREADS}/lib'
 
-WITH_BF_OPENEXR = True
-WITH_BF_STATICOPENEXR = False
+WITH_BF_FMOD = 'false'
+BF_FMOD = LIBDIR + '/fmod'
+
+WITH_BF_OPENEXR = 'true'
+WITH_BF_STATICOPENEXR = 'false'
 BF_OPENEXR = LIBDIR + '/gcc/openexr'
 BF_OPENEXR_INC = '${BF_OPENEXR}/include ${BF_OPENEXR}/include/OpenEXR'
 BF_OPENEXR_LIB = ' Half IlmImf Iex '
@@ -47,15 +50,15 @@ BF_OPENEXR_LIBPATH = '${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 = '${BF_PNG}/include'
 BF_PNG_LIB = 'png'
@@ -64,32 +67,32 @@ BF_PNG_LIBPATH = '${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 = '${BF_BULLET}'
 BF_BULLET_LIB = 'extern_bullet'
@@ -98,27 +101,24 @@ BF_SOLID = '#extern/solid'
 BF_SOLID_INC = '${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'
@@ -143,13 +143,8 @@ CC_WARN = [ '-Wall' ]
 
 LLIBS = [ '-ldxguid', '-lgdi32', '-lmsvcrt', '-lwinmm', '-lmingw32', '-lm', '-lws2_32', '-lz'] #'-lutil', '-lc', '-lm', '-ldl', '-lpthread' ]
 
-BF_DEBUG = False
-BF_DEBUG_CCFLAGS= []
-
-BF_PROFILE = False
-BF_PROFILE_CCFLAGS = ['-pg','-g']
-BF_PROFILE_LINKFLAGS = ['-pg']
+BF_DEBUG = 'false'
+BF_DEBUG_FLAGS= ''
 
 BF_BUILDDIR = '../build/linuxcross'
 BF_INSTALLDIR='../install/linuxcross'
-BF_DOCDIR='../install/doc'

config/openbsd3-config.py

@@ -8,37 +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_OPENEXR = False
-WITH_BF_STATICOPENEXR = False
+WITH_BF_FMOD = 'false'
+BF_FMOD = LIBDIR + '/fmod'
+
+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 = '${BF_PNG}/include/libpng'
 BF_PNG_LIB = 'png'
@@ -47,31 +50,31 @@ BF_PNG_LIBPATH = '${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 = '${BF_BULLET}'
 BF_BULLET_LIB = 'extern_bullet'
@@ -80,9 +83,9 @@ BF_SOLID = '#extern/solid'
 BF_SOLID_INC = '${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 = 
@@ -97,7 +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'
@@ -105,16 +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'
@@ -134,7 +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
@@ -142,23 +145,21 @@ REL_CCFLAGS = ['-O2']
 ##
 CC = 'gcc'
 CXX = 'g++'
-C_WARN = ['-Wdeclaration-after-statement']
+C_WARN = '-Wall -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 = False
-BF_PROFILE_CCFLAGS = ['-pg','-g']
-BF_PROFILE_LINKFLAGS = ['-pg']
+BF_PROFILE_FLAGS = ' -pg -g '
+BF_PROFILE = 'false'
 
-BF_DEBUG = False
-BF_DEBUG_CCFLAGS = ['-g']
+BF_DEBUG = 'false'
+BF_DEBUG_FLAGS = '-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'
@@ -19,17 +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_OPENEXR = True
-WITH_BF_STATICOPENEXR = False
+WITH_BF_FMOD = 'false'
+BF_FMOD = LIBDIR + '/fmod'
+
+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 = '${BF_OPENEXR}/lib'
@@ -37,15 +40,15 @@ BF_OPENEXR_LIB = 'Half IlmImf Iex Imath '
 # Warning, this static lib configuration is untested! users of this OS please confirm.
 BF_OPENEXR_LIB_STATIC = '${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'
@@ -54,32 +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 = '${BF_BULLET}'
 BF_BULLET_LIB = 'extern_bullet'
@@ -88,9 +91,9 @@ BF_SOLID = '#extern/solid'
 BF_SOLID_INC = '${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 = 
@@ -105,7 +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'
@@ -113,25 +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 avdevice'
+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'
@@ -150,32 +153,30 @@ 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 = ['-Wno-char-subscripts', '-Wdeclaration-after-statement']
+C_WARN = '-Wall -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_CCFLAGS = ['-pg', '-g ']
-BF_PROFILE_LINKFLAGS = ['-pg']
-BF_PROFILE = False
+BF_PROFILE_FLAGS = ['-pg','-g']
+BF_PROFILE = 'false'
 
-BF_DEBUG = False
-BF_DEBUG_CCFLAGS = []
+BF_DEBUG = 'false'
+BF_DEBUG_FLAGS = ''
 
 BF_BUILDDIR = '../build/sunos5'
 BF_INSTALLDIR='../install/sunos5'
-BF_DOCDIR='../install/doc'
 
 
-PLATFORM_LINKFLAGS = []
+PLATFORM_LINKFLAGS = ['']

config/win32-mingw-config.py

@@ -1,20 +1,18 @@
 LCGDIR = '#../lib/windows'
 LIBDIR = "${LCGDIR}"
 
-WITH_BF_VERSE = False
+WITH_BF_VERSE = 'false'
 BF_VERSE_INCLUDE = "#extern/verse/dist"
 
 BF_PYTHON = LIBDIR + '/python'
 BF_PYTHON_VERSION = '2.5'
-WITH_BF_STATICPYTHON = False
 BF_PYTHON_INC = '${BF_PYTHON}/include/python${BF_PYTHON_VERSION}'
 BF_PYTHON_BINARY = 'python'
 BF_PYTHON_LIB = 'python25'
-BF_PYTHON_LIBPATH = '${BF_PYTHON}/lib/lib25_vs2005'
-BF_PYTHON_LIB_STATIC = '${BF_PYTHON}/lib/lib25_vs2005/libpython25.a'
+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 = '${BF_OPENAL}/include'
 BF_OPENAL_LIB = 'dxguid openal_static'
@@ -22,12 +20,12 @@ BF_OPENAL_LIBPATH = '${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
-BF_FFMPEG_LIB = 'avformat swscale avcodec avutil avdevice xvidcore x264'
+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 = '${BF_SDL}/include'
 BF_SDL_LIB = 'SDL'
@@ -38,8 +36,11 @@ BF_PTHREADS_INC = '${BF_PTHREADS}/include'
 BF_PTHREADS_LIB = 'pthreadGC2'
 BF_PTHREADS_LIBPATH = '${BF_PTHREADS}/lib'
 
-WITH_BF_OPENEXR = True
-WITH_BF_STATICOPENEXR = False
+WITH_BF_FMOD = 'false'
+BF_FMOD = LIBDIR + '/fmod'
+
+WITH_BF_OPENEXR = 'true'
+WITH_BF_STATICOPENEXR = 'false'
 BF_OPENEXR = LIBDIR + '/gcc/openexr'
 BF_OPENEXR_INC = '${BF_OPENEXR}/include ${BF_OPENEXR}/include/OpenEXR'
 BF_OPENEXR_LIB = ' Half IlmImf Iex '
@@ -47,15 +48,15 @@ BF_OPENEXR_LIBPATH = '${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 = '${BF_PNG}/include'
 BF_PNG_LIB = 'png'
@@ -63,34 +64,32 @@ BF_PNG_LIBPATH = '${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 = '${BF_BULLET}'
 BF_BULLET_LIB = 'extern_bullet'
@@ -102,9 +101,9 @@ BF_SOLID_LIB = 'extern_solid'
 BF_WINTAB = LIBDIR + '/wintab'
 BF_WINTAB_INC = '${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$(BF_NSPR)/include/nspr
 #BF_NSPR_LIB = 
@@ -124,18 +123,18 @@ BF_FREETYPE_INC = '${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'
@@ -154,19 +153,17 @@ CXXFLAGS = ['-pipe', '-mwindows', '-funsigned-char', '-fno-strict-aliasing' ]
 REL_CFLAGS = [ '-O2' ]
 REL_CCFLAGS = [ '-O2' ]
 
-C_WARN = [ '-Wno-char-subscripts', '-Wdeclaration-after-statement' ]
+C_WARN = [ '-Wall' , '-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_CCFLAGS= ['-g']
+BF_DEBUG = 'false'
+BF_DEBUG_FLAGS= '-g'
 
-BF_PROFILE_CCFLAGS = ['-pg', '-g ']
-BF_PROFILE_LINKFLAGS = ['-pg']
-BF_PROFILE = False
+BF_PROFILE_FLAGS = ['-pg','-g']
+BF_PROFILE = 'false'
 
 BF_BUILDDIR = '..\\build\\win32-mingw'
 BF_INSTALLDIR='..\\install\\win32-mingw'
-BF_DOCDIR = '..\\install\\doc'

config/win32-vc-config.py

@@ -1,15 +1,15 @@
 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 = True  # -DWITH_FFMPEG
+WITH_BF_FFMPEG = 'false'  # -DWITH_FFMPEG
 BF_FFMPEG = LIBDIR +'/ffmpeg'
 BF_FFMPEG_INC = '${BF_FFMPEG}/include'
 BF_FFMPEG_LIBPATH='${BF_FFMPEG}/lib'
-BF_FFMPEG_LIB = 'avformat-52.lib avcodec-52.lib avdevice-52.lib avutil-50.lib swscale-0.lib'
+BF_FFMPEG_LIB = 'avformat-52.lib avcodec-51.lib avdevice-52.lib avutil-49.lib swscale-0.lib'
 
 BF_PYTHON = LIBDIR + '/python'
 BF_PYTHON_VERSION = '2.5'
@@ -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 = '${BF_SDL}/include'
 BF_SDL_LIB = 'SDL.lib'
@@ -49,24 +49,27 @@ BF_PTHREADS_INC = '${BF_PTHREADS}/include'
 BF_PTHREADS_LIB = 'pthreadVC2'
 BF_PTHREADS_LIBPATH = '${BF_PTHREADS}/lib'
 
-WITH_BF_OPENEXR = True
-WITH_BF_STATICOPENEXR = False
+WITH_BF_FMOD = 'false'
+BF_FMOD = LIBDIR + '/fmod'
+
+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_vs2008'
+BF_OPENEXR_LIBPATH = '${BF_OPENEXR}/lib_msvc'
 # Warning, this static lib configuration is untested! users of this OS please confirm.
 BF_OPENEXR_LIB_STATIC = '${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 = '${BF_PNG}/include'
 BF_PNG_LIB = 'libpng_st'
@@ -74,36 +77,33 @@ BF_PNG_LIBPATH = '${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 = True
-WITH_BF_PLAYER = True
+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 = '${BF_BULLET}'
 BF_BULLET_LIB = 'extern_bullet'
@@ -115,11 +115,11 @@ BF_SOLID_LIB = 'extern_solid'
 BF_WINTAB = LIBDIR + '/wintab'
 BF_WINTAB_INC = '${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 = 
@@ -134,31 +134,21 @@ 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_OPENJPEG = True 
-BF_OPENJPEG = '#extern/libopenjpeg'
-BF_OPENJPEG_LIB = ''
-BF_OPENJPEG_INC = '${BF_OPENJPEG}'
-BF_OPENJPEG_LIBPATH='${BF_OPENJPEG}/lib'
-
-WITH_BF_REDCODE = False  
-BF_REDCODE_INC = '#extern'
-
-WITH_BF_STATICOPENGL = False
+WITH_BF_STATICOPENGL = 'false'
 BF_OPENGL_INC = '${BF_OPENGL}/include'
 BF_OPENGL_LIBINC = '${BF_OPENGL}/lib'
 BF_OPENGL_LIB = 'opengl32 glu32'
@@ -168,41 +158,30 @@ BF_OPENGL_LIB_STATIC = [ '${BF_OPENGL}/lib/libGL.a', '${BF_OPENGL}/lib/libGLU.a'
 CC = 'cl.exe'
 CXX = 'cl.exe'
 
-CCFLAGS = ['/nologo', '/Ob1', '/J', '/W3', '/Gd', '/MT']
-CXXFLAGS = ['/EHsc']
+CCFLAGS = ['/nologo', '/Og', '/Ot', '/Ob1', '/Op', '/G6','/EHsc', '/J', '/W3', '/Gd', '/MT']
 
-BF_DEBUG_CCFLAGS = ['/Zi', '/FR${TARGET}.sbr']
+BF_DEBUG_FLAGS = ['/Zi', '/FR${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"
-                       /LARGEADDRESSAWARE
-                   '''
-
-# # Todo
-# BF_PROFILE_CCFLAGS = ['-pg', '-g ']
-# BF_PROFILE_LINKFLAGS = ['-pg']
-# BF_PROFILE = False
-
+                        /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" 
+                    '''
+                        
 BF_BUILDDIR = '..\\build\\win32-vc'
 BF_INSTALLDIR='..\\install\\win32-vc'
-BF_DOCDIR='..\\install\\doc'

doc/blender-scons.txt

@@ -1,5 +1,9 @@
 $Id$
 
+    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
     ============================
 
@@ -26,9 +30,8 @@ $Id$
     ----------------
 
     To build Blender with the SCons scripts you need a full Python
-    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.
+    install, version 2.4 or later (http://www.python.org) and a SCons
+    installation, version v0.97 (http://www.scons.org).
 
     Check from the page
     http://www.blender.org/development/building-blender/getting-dependencies/
@@ -39,14 +42,9 @@ $Id$
     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, start the SCons entry script on Windows (will be used for the remainder
-    of this document):
+    build, issue the command 'scons':
 
-        % python scons\scons.py
-
-    On a Unix-compatible system it would be
-
-        % python ./scons/scons.py
+        % scons
 
     This will start the build process with default values. Depending
     on your platform you may see colour in your output (non-Windows
@@ -55,19 +53,11 @@ $Id$
     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. The BF_DOCDIR is
-    used to generate Blender Python documentation files to. These
-    variables have default values for every platform in
+    finally copy all needed files to get a proper setup. These
+    variabbles 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
     ---------------------
@@ -83,21 +73,20 @@ $Id$
         (TBD: add cygwin, solaris and freebsd support)
 
     These files you will normally not change. If you need to override
-    a default value, make a 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.
+    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.
 
     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:
 
-        % python scons\scons.py BF_CONFIG=myownsettings
+        % scons BF_CONFIG=myownsettings
 
     If you want to quickly test a new setting, you can give the option
     also on the command-line:
 
-        % python scons\scons.py BF_BUILDDIR=../mybuilddir WITH_BF_OPENEXR=0
+        % scons BF_BUILDDIR=../mybuilddir WITH_BF_OPENEXR=0
 
     This command sets the build directory to BF_BUILDDIR and disables
     OpenEXR support.
@@ -105,7 +94,7 @@ $Id$
     If you need to know what can be set through the command-line, run
     scons with -h:
 
-        % python scons\scons.py -h
+        % scons -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
@@ -126,11 +115,11 @@ $Id$
     you need to see the full command-line for compiles, then you can
     change that behaviour. Also the use of colours can be changed:
 
-        % python scons\scons.py BF_FANCY=0
+        % scons BF_FANCY=0
 
     This will disable the use of colours.
 
-        % python scons\scons.py BF_QUIET=0
+        % scons 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
@@ -141,11 +130,11 @@ $Id$
     Compiling Only Some Libraries
     -----------------------------
     
-    Our implementation now has support for specifying a list of libraries that are
+    Scons 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:
     
-        % python scons\scons.py BF_QUICK=src,bf_blenkernel
+        % scons 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
@@ -165,7 +154,7 @@ $Id$
     
     BF_QUICKDEBUG is similar to BF_QUICK:
     
-        % python scons\scons.py BF_QUICKDEBUG=src,bf_blenkernel,some-other-lib
+        % scons BF_QUICKDEBUG=src,bf_blenkernel,some-other-lib
     
     To use BF_DEBUG_LIBS, put something like the following in you user-config.py:
     
@@ -177,6 +166,18 @@ $Id$
     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
     -----------------
 
@@ -192,8 +193,15 @@ $Id$
     On Windows with all of the three toolset installed you need to
     specify what toolset to use
 
-        % python scons\scons.py BF_TOOLSET=msvc
-        % python scons\scons.py BF_TOOLSET=mingw
+        % 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.
 
     LINUX and OS X
 
@@ -206,26 +214,30 @@ $Id$
 
     Build Blender with the defaults:
 
-        % python scons\scons.py
+        % scons
 
     Build Blender, but disable OpenEXR support:
 
-        % python scons\scons.py WITH_BF_OPENEXR=0
+        % scons WITH_BF_OPENEXR=0
 
     Build Blender, enable debug symbols:
 
-        % python scons\scons.py BF_DEBUG=1
+        % scons BF_DEBUG=1
 
     Build Blender, install to different directory:
 
-        % python scons\scons.py BF_INSTALLDIR=../myown/installdir
+        % scons BF_INSTALLDIR=/tmp/testbuild
 
-    Build Blender in ../myown/builddir and install to ../myown/installdir:
+    Build Blender in /tmp/obj and install to /usr/local:
 
-        % python scons\scons.py BF_BUILDDIR=../myown/builddir BF_INSTALLDIR=../myown/installdir
+        % scons BF_BUILDDIR=/tmp/obj BF_INSTALLDIR=/usr/local
 
     Clean BF_BUILDDIR:
 
-        % python scons\scons.py clean
+        % scons clean
+
+    Clean out the installed files:
+
+        % scons -c
 
     /Nathan Letwory (jesterKing)

extern/CMakeLists.txt

@@ -29,7 +29,7 @@ IF(WITH_GAMEENGINE)
 ENDIF(WITH_GAMEENGINE)
 
 IF(WITH_BULLET)
-  SUBDIRS(bullet2)
+    SUBDIRS(bullet2)
 ENDIF(WITH_BULLET)
 
 IF(WITH_INTERNATIONAL)
@@ -46,6 +46,3 @@ ENDIF(CMAKE_SYSTEM_NAME MATCHES "Linux")
 
 SUBDIRS(glew)
 
-IF(WITH_OPENJPEG)
-  SUBDIRS(libopenjpeg)
-ENDIF(WITH_OPENJPEG)

extern/Makefile

@@ -57,12 +57,11 @@ ifeq ($(WITH_BINRELOC), true)
     DIRS += binreloc
 endif
 
-ifeq ($(WITH_OPENJPEG), true)
-    DIRS += libopenjpeg
+TARGET =
+ifneq ($(OS),irix)
+  TARGET=solid
 endif
 
-TARGET = solid
-
 all::
 	@[ -d $(OCGDIR)/extern ] || mkdir -p $(OCGDIR)/extern
 	@for i in $(DIRS); do \

extern/SConscript

@@ -5,8 +5,8 @@ Import('env')
 SConscript(['glew/SConscript'])
 
 if env['WITH_BF_GAMEENGINE']:
-	if env['WITH_BF_SOLID']:
-		SConscript(['qhull/SConscript', 'solid/SConscript'])
+    SConscript(['qhull/SConscript',
+            'solid/SConscript'])
 
 if env['WITH_BF_BULLET']:
     SConscript(['bullet2/src/SConscript'])
@@ -31,6 +31,3 @@ 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

@@ -4,6 +4,24 @@ 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

@@ -1,537 +0,0 @@
-<?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

@@ -31,7 +31,6 @@ 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

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

extern/bullet2/make/msvc_7_0/Bullet_vc7.vcproj

@@ -53,7 +53,6 @@ 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
@@ -62,14 +61,13 @@ 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\BulletSoftBody\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletSoftBody
 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\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
@@ -137,23 +135,19 @@ 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
@@ -219,23 +213,19 @@ 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
@@ -303,23 +293,19 @@ 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
@@ -976,124 +962,6 @@ 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/Bullet-C-Api.h

@@ -38,37 +38,37 @@ typedef plReal	plQuaternion[4];
 extern "C" { 
 #endif
 
-/**	Particular physics SDK (C-API) */
+/*	Particular physics SDK */
 	PL_DECLARE_HANDLE(plPhysicsSdkHandle);
 
-/** 	Dynamics world, belonging to some physics SDK (C-API)*/
+/* 	Dynamics world, belonging to some physics SDK */
 	PL_DECLARE_HANDLE(plDynamicsWorldHandle);
 
-/** Rigid Body that can be part of a Dynamics World (C-API)*/	
+/* Rigid Body that can be part of a Dynamics World */	
 	PL_DECLARE_HANDLE(plRigidBodyHandle);
 
-/** 	Collision Shape/Geometry, property of a Rigid Body (C-API)*/
+/* 	Collision Shape/Geometry, property of a Rigid Body */
 	PL_DECLARE_HANDLE(plCollisionShapeHandle);
 
-/** Constraint for Rigid Bodies (C-API)*/
+/* Constraint for Rigid Bodies */
 	PL_DECLARE_HANDLE(plConstraintHandle);
 
-/** Triangle Mesh interface (C-API)*/
+/* Triangle Mesh interface */
 	PL_DECLARE_HANDLE(plMeshInterfaceHandle);
 
-/** Broadphase Scene/Proxy Handles (C-API)*/
+/* Broadphase Scene/Proxy Handles */
 	PL_DECLARE_HANDLE(plCollisionBroadphaseHandle);
 	PL_DECLARE_HANDLE(plBroadphaseProxyHandle);
 	PL_DECLARE_HANDLE(plCollisionWorldHandle);
 
-/**
+/*
 	Create and Delete a Physics SDK	
 */
 
 	extern	plPhysicsSdkHandle	plNewBulletSdk(); //this could be also another sdk, like ODE, PhysX etc.
 	extern	void		plDeletePhysicsSdk(plPhysicsSdkHandle	physicsSdk);
 
-/** Collision World, not strictly necessary, you can also just create a Dynamics World with Rigid Bodies which internally manages the Collision World with Collision Objects */
+/* Collision World, not strictly necessary, you can also just create a Dynamics World with Rigid Bodies which internally manages the Collision World with Collision Objects */
 
 	typedef void(*btBroadphaseCallback)(void* clientData, void* object1,void* object2);
 

extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp

@@ -19,9 +19,10 @@
 // 3. This notice may not be removed or altered from any source distribution.
 #include "btAxisSweep3.h"
 
+#include <assert.h>
 
-btAxisSweep3::btAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned short int maxHandles, btOverlappingPairCache* pairCache, bool disableRaycastAccelerator)
-:btAxisSweep3Internal<unsigned short int>(worldAabbMin,worldAabbMax,0xfffe,0xffff,maxHandles,pairCache,disableRaycastAccelerator)
+btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned short int maxHandles, btOverlappingPairCache* pairCache)
+:btAxisSweep3Internal<unsigned short int>(worldAabbMin,worldAabbMax,0xfffe,0xffff,maxHandles,pairCache)
 {
 	// 1 handle is reserved as sentinel
 	btAssert(maxHandles > 1 && maxHandles < 32767);
@@ -29,8 +30,8 @@ btAxisSweep3::btAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldA
 }
 
 
-bt32BitAxisSweep3::bt32BitAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned int maxHandles , btOverlappingPairCache* pairCache , bool disableRaycastAccelerator)
-:btAxisSweep3Internal<unsigned int>(worldAabbMin,worldAabbMax,0xfffffffe,0x7fffffff,maxHandles,pairCache,disableRaycastAccelerator)
+bt32BitAxisSweep3::bt32BitAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned int maxHandles , btOverlappingPairCache* pairCache )
+:btAxisSweep3Internal<unsigned int>(worldAabbMin,worldAabbMax,0xfffffffe,0x7fffffff,maxHandles,pairCache)
 {
 	// 1 handle is reserved as sentinel
 	btAssert(maxHandles > 1 && maxHandles < 2147483647);

extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h

@@ -19,12 +19,12 @@
 #ifndef AXIS_SWEEP_3_H
 #define AXIS_SWEEP_3_H
 
+#include "LinearMath/btPoint3.h"
 #include "LinearMath/btVector3.h"
 #include "btOverlappingPairCache.h"
 #include "btBroadphaseInterface.h"
 #include "btBroadphaseProxy.h"
 #include "btOverlappingPairCallback.h"
-#include "btDbvtBroadphase.h"
 
 //#define DEBUG_BROADPHASE 1
 #define USE_OVERLAP_TEST_ON_REMOVES 1
@@ -42,7 +42,6 @@ protected:
 
 public:
 	
- BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	class Edge
 	{
@@ -62,7 +61,8 @@ public:
 		// indexes into the edge arrays
 		BP_FP_INT_TYPE m_minEdges[3], m_maxEdges[3];		// 6 * 2 = 12
 //		BP_FP_INT_TYPE m_uniqueId;
-		btBroadphaseProxy*	m_dbvtProxy;//for faster raycast
+		BP_FP_INT_TYPE m_pad;
+		
 		//void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject
 	
 		SIMD_FORCE_INLINE void SetNextFree(BP_FP_INT_TYPE next) {m_minEdges[0] = next;}
@@ -71,8 +71,8 @@ public:
 
 	
 protected:
-	btVector3 m_worldAabbMin;						// overall system bounds
-	btVector3 m_worldAabbMax;						// overall system bounds
+	btPoint3 m_worldAabbMin;						// overall system bounds
+	btPoint3 m_worldAabbMax;						// overall system bounds
 
 	btVector3 m_quantize;						// scaling factor for quantization
 
@@ -94,12 +94,6 @@ protected:
 
 	int	m_invalidPair;
 
-	///additional dynamic aabb structure, used to accelerate ray cast queries.
-	///can be disabled using a optional argument in the constructor
-	btDbvtBroadphase*	m_raycastAccelerator;
-	btOverlappingPairCache*	m_nullPairCache;
-
-
 	// allocation/deallocation
 	BP_FP_INT_TYPE allocHandle();
 	void freeHandle(BP_FP_INT_TYPE handle);
@@ -114,7 +108,7 @@ protected:
 	//Overlap* AddOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
 	//void RemoveOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
 
-	
+	void quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const;
 
 	void sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
 	void sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
@@ -123,7 +117,7 @@ protected:
 
 public:
 
-	btAxisSweep3Internal(const btVector3& worldAabbMin,const btVector3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE maxHandles = 16384, btOverlappingPairCache* pairCache=0,bool disableRaycastAccelerator = false);
+	btAxisSweep3Internal(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE maxHandles = 16384, btOverlappingPairCache* pairCache=0);
 
 	virtual	~btAxisSweep3Internal();
 
@@ -134,26 +128,17 @@ public:
 
 	virtual void	calculateOverlappingPairs(btDispatcher* dispatcher);
 	
-	BP_FP_INT_TYPE addHandle(const btVector3& aabbMin,const btVector3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
+	BP_FP_INT_TYPE addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
 	void removeHandle(BP_FP_INT_TYPE handle,btDispatcher* dispatcher);
-	void updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
+	void updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax,btDispatcher* dispatcher);
 	SIMD_FORCE_INLINE Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;}
 
-	virtual void resetPool(btDispatcher* dispatcher);
-
 	void	processAllOverlappingPairs(btOverlapCallback* callback);
 
 	//Broadphase Interface
 	virtual btBroadphaseProxy*	createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
 	virtual void	destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
 	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
-	virtual void  getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
-	
-	virtual void	rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));
-	
-	void quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const;
-	///unQuantize should be conservative: aabbMin/aabbMax should be larger then 'getAabb' result
-	void unQuantize(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
 	
 	bool	testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
 
@@ -221,7 +206,7 @@ void btAxisSweep3<BP_FP_INT_TYPE>::debugPrintAxis(int axis, bool checkCardinalit
 	}
 
 	if (checkCardinality)
-		btAssert(numEdges == m_numHandles*2+1);
+		assert(numEdges == m_numHandles*2+1);
 }
 #endif //DEBUG_BROADPHASE
 
@@ -232,12 +217,7 @@ btBroadphaseProxy*	btAxisSweep3Internal<BP_FP_INT_TYPE>::createProxy(  const btV
 		BP_FP_INT_TYPE handleId = addHandle(aabbMin,aabbMax, userPtr,collisionFilterGroup,collisionFilterMask,dispatcher,multiSapProxy);
 		
 		Handle* handle = getHandle(handleId);
-		
-		if (m_raycastAccelerator)
-		{
-			btBroadphaseProxy* rayProxy = m_raycastAccelerator->createProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask,dispatcher,0);
-			handle->m_dbvtProxy = rayProxy;
-		}
+				
 		return handle;
 }
 
@@ -247,8 +227,6 @@ template <typename BP_FP_INT_TYPE>
 void	btAxisSweep3Internal<BP_FP_INT_TYPE>::destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
 {
 	Handle* handle = static_cast<Handle*>(proxy);
-	if (m_raycastAccelerator)
-		m_raycastAccelerator->destroyProxy(handle->m_dbvtProxy,dispatcher);
 	removeHandle(static_cast<BP_FP_INT_TYPE>(handle->m_uniqueId), dispatcher);
 }
 
@@ -256,80 +234,22 @@ template <typename BP_FP_INT_TYPE>
 void	btAxisSweep3Internal<BP_FP_INT_TYPE>::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher)
 {
 	Handle* handle = static_cast<Handle*>(proxy);
-	handle->m_aabbMin = aabbMin;
-	handle->m_aabbMax = aabbMax;
 	updateHandle(static_cast<BP_FP_INT_TYPE>(handle->m_uniqueId), aabbMin, aabbMax,dispatcher);
-	if (m_raycastAccelerator)
-		m_raycastAccelerator->setAabb(handle->m_dbvtProxy,aabbMin,aabbMax,dispatcher);
 
 }
 
-template <typename BP_FP_INT_TYPE>
-void	btAxisSweep3Internal<BP_FP_INT_TYPE>::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax)
-{
-	if (m_raycastAccelerator)
-	{
-		m_raycastAccelerator->rayTest(rayFrom,rayTo,rayCallback,aabbMin,aabbMax);
-	} else
-	{
-		//choose axis?
-		BP_FP_INT_TYPE axis = 0;
-		//for each proxy
-		for (BP_FP_INT_TYPE i=1;i<m_numHandles*2+1;i++)
-		{
-			if (m_pEdges[axis][i].IsMax())
-			{
-				rayCallback.process(getHandle(m_pEdges[axis][i].m_handle));
-			}
-		}
-	}
-}
-
-
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
-{
-	Handle* pHandle = static_cast<Handle*>(proxy);
-	aabbMin = pHandle->m_aabbMin;
-	aabbMax = pHandle->m_aabbMax;
-}
-
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::unQuantize(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
-{
-	Handle* pHandle = static_cast<Handle*>(proxy);
-
-	unsigned short vecInMin[3];
-	unsigned short vecInMax[3];
-
-	vecInMin[0] = m_pEdges[0][pHandle->m_minEdges[0]].m_pos ;
-	vecInMax[0] = m_pEdges[0][pHandle->m_maxEdges[0]].m_pos +1 ;
-	vecInMin[1] = m_pEdges[1][pHandle->m_minEdges[1]].m_pos ;
-	vecInMax[1] = m_pEdges[1][pHandle->m_maxEdges[1]].m_pos +1 ;
-	vecInMin[2] = m_pEdges[2][pHandle->m_minEdges[2]].m_pos ;
-	vecInMax[2] = m_pEdges[2][pHandle->m_maxEdges[2]].m_pos +1 ;
-	
-	aabbMin.setValue((btScalar)(vecInMin[0]) / (m_quantize.getX()),(btScalar)(vecInMin[1]) / (m_quantize.getY()),(btScalar)(vecInMin[2]) / (m_quantize.getZ()));
-	aabbMin += m_worldAabbMin;
-	
-	aabbMax.setValue((btScalar)(vecInMax[0]) / (m_quantize.getX()),(btScalar)(vecInMax[1]) / (m_quantize.getY()),(btScalar)(vecInMax[2]) / (m_quantize.getZ()));
-	aabbMax += m_worldAabbMin;
-}
 
 
 
 
 template <typename BP_FP_INT_TYPE>
-btAxisSweep3Internal<BP_FP_INT_TYPE>::btAxisSweep3Internal(const btVector3& worldAabbMin,const btVector3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel,BP_FP_INT_TYPE userMaxHandles, btOverlappingPairCache* pairCache , bool disableRaycastAccelerator)
+btAxisSweep3Internal<BP_FP_INT_TYPE>::btAxisSweep3Internal(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel,BP_FP_INT_TYPE userMaxHandles, btOverlappingPairCache* pairCache )
 :m_bpHandleMask(handleMask),
 m_handleSentinel(handleSentinel),
 m_pairCache(pairCache),
 m_userPairCallback(0),
 m_ownsPairCache(false),
-m_invalidPair(0),
-m_raycastAccelerator(0)
+m_invalidPair(0)
 {
 	BP_FP_INT_TYPE maxHandles = static_cast<BP_FP_INT_TYPE>(userMaxHandles+1);//need to add one sentinel handle
 
@@ -340,14 +260,7 @@ m_raycastAccelerator(0)
 		m_ownsPairCache = true;
 	}
 
-	if (!disableRaycastAccelerator)
-	{
-		m_nullPairCache = new (btAlignedAlloc(sizeof(btNullPairCache),16)) btNullPairCache();
-		m_raycastAccelerator = new (btAlignedAlloc(sizeof(btDbvtBroadphase),16)) btDbvtBroadphase(m_nullPairCache);//m_pairCache);
-		m_raycastAccelerator->m_deferedcollide = true;//don't add/remove pairs
-	}
-
-	//btAssert(bounds.HasVolume());
+	//assert(bounds.HasVolume());
 
 	// init bounds
 	m_worldAabbMin = worldAabbMin;
@@ -407,14 +320,7 @@ m_raycastAccelerator(0)
 template <typename BP_FP_INT_TYPE>
 btAxisSweep3Internal<BP_FP_INT_TYPE>::~btAxisSweep3Internal()
 {
-	if (m_raycastAccelerator)
-	{
-		m_nullPairCache->~btOverlappingPairCache();
-		btAlignedFree(m_nullPairCache);
-		m_raycastAccelerator->~btDbvtBroadphase();
-		btAlignedFree (m_raycastAccelerator);
-	}
-
+	
 	for (int i = 2; i >= 0; i--)
 	{
 		btAlignedFree(m_pEdgesRawPtr[i]);
@@ -429,31 +335,27 @@ btAxisSweep3Internal<BP_FP_INT_TYPE>::~btAxisSweep3Internal()
 }
 
 template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const
 {
-#ifdef OLD_CLAMPING_METHOD
-	///problem with this clamping method is that the floating point during quantization might still go outside the range [(0|isMax) .. (m_handleSentinel&m_bpHandleMask]|isMax]
-	///see http://code.google.com/p/bullet/issues/detail?id=87
-	btVector3 clampedPoint(point);
+	btPoint3 clampedPoint(point);
+	
+
+
 	clampedPoint.setMax(m_worldAabbMin);
 	clampedPoint.setMin(m_worldAabbMax);
+
 	btVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize;
 	out[0] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getX() & m_bpHandleMask) | isMax);
 	out[1] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getY() & m_bpHandleMask) | isMax);
 	out[2] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getZ() & m_bpHandleMask) | isMax);
-#else
-	btVector3 v = (point - m_worldAabbMin) * m_quantize;
-	out[0]=(v[0]<=0)?(BP_FP_INT_TYPE)isMax:(v[0]>=m_handleSentinel)?(BP_FP_INT_TYPE)((m_handleSentinel&m_bpHandleMask)|isMax):(BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[0]&m_bpHandleMask)|isMax);
-	out[1]=(v[1]<=0)?(BP_FP_INT_TYPE)isMax:(v[1]>=m_handleSentinel)?(BP_FP_INT_TYPE)((m_handleSentinel&m_bpHandleMask)|isMax):(BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[1]&m_bpHandleMask)|isMax);
-	out[2]=(v[2]<=0)?(BP_FP_INT_TYPE)isMax:(v[2]>=m_handleSentinel)?(BP_FP_INT_TYPE)((m_handleSentinel&m_bpHandleMask)|isMax):(BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[2]&m_bpHandleMask)|isMax);
-#endif //OLD_CLAMPING_METHOD
+	
 }
 
 
 template <typename BP_FP_INT_TYPE>
 BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::allocHandle()
 {
-	btAssert(m_firstFreeHandle);
+	assert(m_firstFreeHandle);
 
 	BP_FP_INT_TYPE handle = m_firstFreeHandle;
 	m_firstFreeHandle = getHandle(handle)->GetNextFree();
@@ -465,7 +367,7 @@ BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::allocHandle()
 template <typename BP_FP_INT_TYPE>
 void btAxisSweep3Internal<BP_FP_INT_TYPE>::freeHandle(BP_FP_INT_TYPE handle)
 {
-	btAssert(handle > 0 && handle < m_maxHandles);
+	assert(handle > 0 && handle < m_maxHandles);
 
 	getHandle(handle)->SetNextFree(m_firstFreeHandle);
 	m_firstFreeHandle = handle;
@@ -475,7 +377,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::freeHandle(BP_FP_INT_TYPE handle)
 
 
 template <typename BP_FP_INT_TYPE>
-BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btVector3& aabbMin,const btVector3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy)
+BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy)
 {
 	// quantize the bounds
 	BP_FP_INT_TYPE min[3], max[3];
@@ -538,7 +440,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::removeHandle(BP_FP_INT_TYPE handle,bt
 
 	//explicitly remove the pairs containing the proxy
 	//we could do it also in the sortMinUp (passing true)
-	///@todo: compare performance
+	//todo: compare performance
 	if (!m_pairCache->hasDeferredRemoval())
 	{
 		m_pairCache->removeOverlappingPairsContainingProxy(pHandle,dispatcher);
@@ -587,21 +489,6 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::removeHandle(BP_FP_INT_TYPE handle,bt
 	
 }
 
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::resetPool(btDispatcher* dispatcher)
-{
-	if (m_numHandles == 0)
-	{
-		m_firstFreeHandle = 1;
-		{
-			for (BP_FP_INT_TYPE i = m_firstFreeHandle; i < m_maxHandles; i++)
-				m_pHandles[i].SetNextFree(static_cast<BP_FP_INT_TYPE>(i + 1));
-			m_pHandles[m_maxHandles - 1].SetNextFree(0);
-		}
-	}
-}       
-
-
 extern int gOverlappingPairs;
 //#include <stdio.h>
 
@@ -642,7 +529,6 @@ void	btAxisSweep3Internal<BP_FP_INT_TYPE>::calculateOverlappingPairs(btDispatche
 
 			if (!isDuplicate)
 			{
-				///important to use an AABB test that is consistent with the broadphase
 				bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
 
 				if (hasOverlap)
@@ -688,6 +574,10 @@ void	btAxisSweep3Internal<BP_FP_INT_TYPE>::calculateOverlappingPairs(btDispatche
 		//printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size());
 	}
 
+
+
+	
+
 }
 
 
@@ -726,10 +616,10 @@ bool btAxisSweep3Internal<BP_FP_INT_TYPE>::testOverlap2D(const Handle* pHandleA,
 }
 
 template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher)
+void btAxisSweep3Internal<BP_FP_INT_TYPE>::updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax,btDispatcher* dispatcher)
 {
-//	btAssert(bounds.IsFinite());
-	//btAssert(bounds.HasVolume());
+//	assert(bounds.IsFinite());
+	//assert(bounds.HasVolume());
 
 	Handle* pHandle = getHandle(handle);
 
@@ -1005,7 +895,7 @@ class btAxisSweep3 : public btAxisSweep3Internal<unsigned short int>
 {
 public:
 
-	btAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned short int maxHandles = 16384, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false);
+	btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned short int maxHandles = 16384, btOverlappingPairCache* pairCache = 0);
 
 };
 
@@ -1016,7 +906,7 @@ class bt32BitAxisSweep3 : public btAxisSweep3Internal<unsigned int>
 {
 public:
 
-	bt32BitAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned int maxHandles = 1500000, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false);
+	bt32BitAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned int maxHandles = 1500000, btOverlappingPairCache* pairCache = 0);
 
 };
 

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

@@ -21,22 +21,8 @@ subject to the following restrictions:
 struct btDispatcherInfo;
 class btDispatcher;
 #include "btBroadphaseProxy.h"
-
 class btOverlappingPairCache;
 
-
-
-struct	btBroadphaseRayCallback
-{
-	///added some cached data to accelerate ray-AABB tests
-	btVector3		m_rayDirectionInverse;
-	unsigned int	m_signs[3];
-	btScalar		m_lambda_max;
-
-	virtual ~btBroadphaseRayCallback() {}
-	virtual bool	process(const btBroadphaseProxy* proxy) = 0;
-};
-
 #include "LinearMath/btVector3.h"
 
 ///The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
@@ -50,10 +36,7 @@ public:
 	virtual btBroadphaseProxy*	createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy) =0;
 	virtual void	destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)=0;
 	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)=0;
-	virtual void	getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const =0;
-
-	virtual void	rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0)) = 0;
-
+	
 	///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
 	virtual void	calculateOverlappingPairs(btDispatcher* dispatcher)=0;
 
@@ -64,9 +47,6 @@ public:
 	///will add some transform later
 	virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const =0;
 
-	///reset broadphase internal structures, to ensure determinism/reproducability
-	virtual void resetPool(btDispatcher* dispatcher) {};
-
 	virtual void	printStats() = 0;
 
 };

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

@@ -17,24 +17,20 @@ subject to the following restrictions:
 #define BROADPHASE_PROXY_H
 
 #include "LinearMath/btScalar.h" //for SIMD_FORCE_INLINE
-#include "LinearMath/btVector3.h"
 #include "LinearMath/btAlignedAllocator.h"
 
 
 /// btDispatcher uses these types
 /// IMPORTANT NOTE:The types are ordered polyhedral, implicit convex and concave
 /// to facilitate type checking
-/// CUSTOM_POLYHEDRAL_SHAPE_TYPE,CUSTOM_CONVEX_SHAPE_TYPE and CUSTOM_CONCAVE_SHAPE_TYPE can be used to extend Bullet without modifying source code
 enum BroadphaseNativeTypes
 {
-	// polyhedral convex shapes
+// polyhedral convex shapes
 	BOX_SHAPE_PROXYTYPE,
 	TRIANGLE_SHAPE_PROXYTYPE,
 	TETRAHEDRAL_SHAPE_PROXYTYPE,
 	CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE,
 	CONVEX_HULL_SHAPE_PROXYTYPE,
-	CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE,
-	CUSTOM_POLYHEDRAL_SHAPE_TYPE,
 //implicit convex shapes
 IMPLICIT_CONVEX_SHAPES_START_HERE,
 	SPHERE_SHAPE_PROXYTYPE,
@@ -46,12 +42,10 @@ IMPLICIT_CONVEX_SHAPES_START_HERE,
 	UNIFORM_SCALING_SHAPE_PROXYTYPE,
 	MINKOWSKI_SUM_SHAPE_PROXYTYPE,
 	MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
-	CUSTOM_CONVEX_SHAPE_TYPE,
 //concave shapes
 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
@@ -63,18 +57,13 @@ CONCAVE_SHAPES_START_HERE,
 	
 	EMPTY_SHAPE_PROXYTYPE,
 	STATIC_PLANE_PROXYTYPE,
-	CUSTOM_CONCAVE_SHAPE_TYPE,
 CONCAVE_SHAPES_END_HERE,
 
 	COMPOUND_SHAPE_PROXYTYPE,
 
 	SOFTBODY_SHAPE_PROXYTYPE,
-	HFFLUID_SHAPE_PROXYTYPE,
-	HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE,
-	INVALID_SHAPE_PROXYTYPE,
 
 	MAX_BROADPHASE_COLLISION_TYPES
-	
 };
 
 
@@ -93,19 +82,19 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
 	        KinematicFilter = 4,
 	        DebrisFilter = 8,
 			SensorTrigger = 16,
-			CharacterFilter = 32,
 	        AllFilter = -1 //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
 	};
 
 	//Usually the client btCollisionObject or Rigidbody class
 	void*	m_clientObject;
+
 	short int m_collisionFilterGroup;
 	short int m_collisionFilterMask;
-	void*	m_multiSapParentProxy;		
-	int			m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
 
-	btVector3	m_aabbMin;
-	btVector3	m_aabbMax;
+	void*	m_multiSapParentProxy;		
+
+
+	int			m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
 
 	SIMD_FORCE_INLINE int getUid() const
 	{
@@ -117,12 +106,10 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
 	{
 	}
 
-	btBroadphaseProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0)
+	btBroadphaseProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0)
 		:m_clientObject(userPtr),
 		m_collisionFilterGroup(collisionFilterGroup),
-		m_collisionFilterMask(collisionFilterMask),
-		m_aabbMin(aabbMin),
-		m_aabbMax(aabbMax)
+		m_collisionFilterMask(collisionFilterMask)
 	{
 		m_multiSapParentProxy = multiSapParentProxy;
 	}
@@ -171,7 +158,7 @@ ATTRIBUTE_ALIGNED16(struct) btBroadphasePair
 	m_pProxy0(0),
 		m_pProxy1(0),
 		m_algorithm(0),
-		m_internalInfo1(0)
+		m_userInfo(0)
 	{
 	}
 
@@ -181,14 +168,14 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
 		:		m_pProxy0(other.m_pProxy0),
 				m_pProxy1(other.m_pProxy1),
 				m_algorithm(other.m_algorithm),
-				m_internalInfo1(other.m_internalInfo1)
+				m_userInfo(other.m_userInfo)
 	{
 	}
 	btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1)
 	{
 
 		//keep them sorted, so the std::set operations work
-		if (proxy0.m_uniqueId < proxy1.m_uniqueId)
+		if (&proxy0 < &proxy1)
         { 
             m_pProxy0 = &proxy0; 
             m_pProxy1 = &proxy1; 
@@ -200,7 +187,7 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
         }
 
 		m_algorithm = 0;
-		m_internalInfo1 = 0;
+		m_userInfo = 0;
 
 	}
 	
@@ -208,7 +195,7 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
 	btBroadphaseProxy* m_pProxy1;
 	
 	mutable btCollisionAlgorithm* m_algorithm;
-	union { void* m_internalInfo1; int m_internalTmpValue;};//don't use this data, it will be removed in future version.
+	mutable void* m_userInfo;
 
 };
 
@@ -229,13 +216,8 @@ class btBroadphasePairSortPredicate
 
 		bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b )
 		{
-			const int uidA0 = a.m_pProxy0 ? a.m_pProxy0->m_uniqueId : -1;
-			const int uidB0 = b.m_pProxy0 ? b.m_pProxy0->m_uniqueId : -1;
-			const int uidA1 = a.m_pProxy1 ? a.m_pProxy1->m_uniqueId : -1;
-			const int uidB1 = b.m_pProxy1 ? b.m_pProxy1->m_uniqueId : -1;
-
-			 return uidA0 > uidB0 || 
-				(a.m_pProxy0 == b.m_pProxy0 && uidA1 > uidB1) ||
+			 return a.m_pProxy0 > b.m_pProxy0 || 
+				(a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 > b.m_pProxy1) ||
 				(a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm); 
 		}
 };

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

@@ -26,19 +26,19 @@ subject to the following restrictions:
 
 #if DBVT_BP_PROFILE
 struct	ProfileScope
-{
+	{
 	__forceinline ProfileScope(btClock& clock,unsigned long& value) :
-	m_clock(&clock),m_value(&value),m_base(clock.getTimeMicroseconds())
-	{
-	}
+		m_clock(&clock),m_value(&value),m_base(clock.getTimeMicroseconds())
+		{
+		}
 	__forceinline ~ProfileScope()
-	{
+		{
 		(*m_value)+=m_clock->getTimeMicroseconds()-m_base;
-	}
+		}
 	btClock*		m_clock;
 	unsigned long*	m_value;
 	unsigned long	m_base;
-};
+	};
 #define	SPC(_value_)	ProfileScope	spc_scope(m_clock,_value_)
 #else
 #define	SPC(_value_)
@@ -52,35 +52,35 @@ struct	ProfileScope
 template <typename T>
 static inline void	listappend(T* item,T*& list)
 {
-	item->links[0]=0;
-	item->links[1]=list;
-	if(list) list->links[0]=item;
-	list=item;
+item->links[0]=0;
+item->links[1]=list;
+if(list) list->links[0]=item;
+list=item;
 }
 
 //
 template <typename T>
 static inline void	listremove(T* item,T*& list)
 {
-	if(item->links[0]) item->links[0]->links[1]=item->links[1]; else list=item->links[1];
-	if(item->links[1]) item->links[1]->links[0]=item->links[0];
+if(item->links[0]) item->links[0]->links[1]=item->links[1]; else list=item->links[1];
+if(item->links[1]) item->links[1]->links[0]=item->links[0];
 }
 
 //
 template <typename T>
 static inline int	listcount(T* root)
 {
-	int	n=0;
-	while(root) { ++n;root=root->links[1]; }
-	return(n);
+int	n=0;
+while(root) { ++n;root=root->links[1]; }
+return(n);
 }
 
 //
 template <typename T>
 static inline void	clear(T& value)
 {
-	static const struct ZeroDummy : T {} zerodummy;
-	value=zerodummy;
+static const struct ZeroDummy : T {} zerodummy;
+value=zerodummy;
 }
 
 //
@@ -90,26 +90,25 @@ static inline void	clear(T& value)
 /* Tree collider	*/ 
 struct	btDbvtTreeCollider : btDbvt::ICollide
 {
-	btDbvtBroadphase*	pbp;
-	btDbvtProxy*		proxy;
-	btDbvtTreeCollider(btDbvtBroadphase* p) : pbp(p) {}
-	void	Process(const btDbvtNode* na,const btDbvtNode* nb)
+btDbvtBroadphase*	pbp;
+btDbvtProxy*		proxy;
+		btDbvtTreeCollider(btDbvtBroadphase* p) : pbp(p) {}
+void	Process(const btDbvtNode* na,const btDbvtNode* nb)
 	{
-		if(na!=nb)
+	if(na!=nb)
 		{
-			btDbvtProxy*	pa=(btDbvtProxy*)na->data;
-			btDbvtProxy*	pb=(btDbvtProxy*)nb->data;
-#if DBVT_BP_SORTPAIRS
-			if(pa->m_uniqueId>pb->m_uniqueId) 
-				btSwap(pa,pb);
-#endif
-			pbp->m_paircache->addOverlappingPair(pa,pb);
-			++pbp->m_newpairs;
+		btDbvtProxy*	pa=(btDbvtProxy*)na->data;
+		btDbvtProxy*	pb=(btDbvtProxy*)nb->data;
+		#if DBVT_BP_SORTPAIRS
+		if(pa>pb) btSwap(pa,pb);
+		#endif
+		pbp->m_paircache->addOverlappingPair(pa,pb);
+		++pbp->m_newpairs;
 		}
 	}
-	void	Process(const btDbvtNode* n)
+void	Process(const btDbvtNode* n)
 	{
-		Process(n,proxy->leaf);
+	Process(n,proxy->leaf);
 	}
 };
 
@@ -120,197 +119,146 @@ struct	btDbvtTreeCollider : btDbvt::ICollide
 //
 btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache)
 {
-	m_deferedcollide	=	false;
-	m_needcleanup		=	true;
-	m_releasepaircache	=	(paircache!=0)?false:true;
-	m_prediction		=	1/(btScalar)2;
-	m_stageCurrent		=	0;
-	m_fixedleft			=	0;
-	m_fupdates			=	1;
-	m_dupdates			=	0;
-	m_cupdates			=	10;
-	m_newpairs			=	1;
-	m_updates_call		=	0;
-	m_updates_done		=	0;
-	m_updates_ratio		=	0;
-	m_paircache			=	paircache? paircache	: new(btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
-	m_gid				=	0;
-	m_pid				=	0;
-	m_cid				=	0;
-	for(int i=0;i<=STAGECOUNT;++i)
+m_deferedcollide	=	true;//false;
+m_needcleanup		=	true;
+m_releasepaircache	=	(paircache!=0)?false:true;
+m_prediction		=	1/(btScalar)2;
+m_stageCurrent		=	0;
+m_fixedleft			=	0;
+m_fupdates			=	1;
+m_dupdates			=	0;
+m_cupdates			=	10;
+m_newpairs			=	1;
+m_updates_call		=	0;
+m_updates_done		=	0;
+m_updates_ratio		=	0;
+m_paircache			=	paircache?
+						paircache	:
+						new(btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
+m_gid				=	0;
+m_pid				=	0;
+m_cid				=	0;
+for(int i=0;i<=STAGECOUNT;++i)
 	{
-		m_stageRoots[i]=0;
+	m_stageRoots[i]=0;
 	}
 #if DBVT_BP_PROFILE
-	clear(m_profiling);
+clear(m_profiling);
 #endif
 }
 
 //
 btDbvtBroadphase::~btDbvtBroadphase()
 {
-	if(m_releasepaircache) 
-	{
-		m_paircache->~btOverlappingPairCache();
-		btAlignedFree(m_paircache);
-	}
+if(m_releasepaircache) 
+{
+	m_paircache->~btOverlappingPairCache();
+	btAlignedFree(m_paircache);
+}
 }
 
 //
 btBroadphaseProxy*				btDbvtBroadphase::createProxy(	const btVector3& aabbMin,
-															  const btVector3& aabbMax,
-															  int /*shapeType*/,
-															  void* userPtr,
-															  short int collisionFilterGroup,
-															  short int collisionFilterMask,
-															  btDispatcher* /*dispatcher*/,
-															  void* /*multiSapProxy*/)
+																const btVector3& aabbMax,
+																int /*shapeType*/,
+																void* userPtr,
+																short int collisionFilterGroup,
+																short int collisionFilterMask,
+																btDispatcher* dispatcher,
+																void* /*multiSapProxy*/)
 {
-	btDbvtProxy*		proxy=new(btAlignedAlloc(sizeof(btDbvtProxy),16)) btDbvtProxy(	aabbMin,aabbMax,userPtr,
-		collisionFilterGroup,
-		collisionFilterMask);
-
-	btDbvtAabbMm aabb = btDbvtVolume::FromMM(aabbMin,aabbMax);
-
-	//bproxy->aabb			=	btDbvtVolume::FromMM(aabbMin,aabbMax);
-	proxy->stage		=	m_stageCurrent;
-	proxy->m_uniqueId	=	++m_gid;
-	proxy->leaf			=	m_sets[0].insert(aabb,proxy);
-	listappend(proxy,m_stageRoots[m_stageCurrent]);
-	if(!m_deferedcollide)
+btDbvtProxy*		proxy=new(btAlignedAlloc(sizeof(btDbvtProxy),16)) btDbvtProxy(	userPtr,
+																					collisionFilterGroup,
+																					collisionFilterMask);
+proxy->aabb			=	btDbvtVolume::FromMM(aabbMin,aabbMax);
+proxy->stage		=	m_stageCurrent;
+proxy->m_uniqueId	=	++m_gid;
+proxy->leaf			=	m_sets[0].insert(proxy->aabb,proxy);
+listappend(proxy,m_stageRoots[m_stageCurrent]);
+if(!m_deferedcollide)
 	{
-		btDbvtTreeCollider	collider(this);
-		collider.proxy=proxy;
-		m_sets[0].collideTV(m_sets[0].m_root,aabb,collider);
-		m_sets[1].collideTV(m_sets[1].m_root,aabb,collider);
+	btDbvtTreeCollider	collider(this);
+	collider.proxy=proxy;
+	btDbvt::collideTV(m_sets[0].m_root,proxy->aabb,collider);
 	}
-	return(proxy);
+return(proxy);
 }
 
 //
 void							btDbvtBroadphase::destroyProxy(	btBroadphaseProxy* absproxy,
-															   btDispatcher* dispatcher)
+																btDispatcher* dispatcher)
 {
-	btDbvtProxy*	proxy=(btDbvtProxy*)absproxy;
-	if(proxy->stage==STAGECOUNT)
-		m_sets[1].remove(proxy->leaf);
+btDbvtProxy*	proxy=(btDbvtProxy*)absproxy;
+if(proxy->stage==STAGECOUNT)
+	m_sets[1].remove(proxy->leaf);
 	else
-		m_sets[0].remove(proxy->leaf);
-	listremove(proxy,m_stageRoots[proxy->stage]);
-	m_paircache->removeOverlappingPairsContainingProxy(proxy,dispatcher);
-	btAlignedFree(proxy);
-	m_needcleanup=true;
-}
-
-void	btDbvtBroadphase::getAabb(btBroadphaseProxy* absproxy,btVector3& aabbMin, btVector3& aabbMax ) const
-{
-	btDbvtProxy*						proxy=(btDbvtProxy*)absproxy;
-	aabbMin = proxy->m_aabbMin;
-	aabbMax = proxy->m_aabbMax;
-}
-
-struct	BroadphaseRayTester : btDbvt::ICollide
-{
-	btBroadphaseRayCallback& m_rayCallback;
-	BroadphaseRayTester(btBroadphaseRayCallback& orgCallback)
-		:m_rayCallback(orgCallback)
-	{
-	}
-	void					Process(const btDbvtNode* leaf)
-	{
-		btDbvtProxy*	proxy=(btDbvtProxy*)leaf->data;
-		m_rayCallback.process(proxy);
-	}
-};	
-
-void	btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax)
-{
-	BroadphaseRayTester callback(rayCallback);
-
-	m_sets[0].rayTestInternal(	m_sets[0].m_root,
-		rayFrom,
-		rayTo,
-		rayCallback.m_rayDirectionInverse,
-		rayCallback.m_signs,
-		rayCallback.m_lambda_max,
-		aabbMin,
-		aabbMax,
-		callback);
-
-	m_sets[1].rayTestInternal(	m_sets[1].m_root,
-		rayFrom,
-		rayTo,
-		rayCallback.m_rayDirectionInverse,
-		rayCallback.m_signs,
-		rayCallback.m_lambda_max,
-		aabbMin,
-		aabbMax,
-		callback);
-
+	m_sets[0].remove(proxy->leaf);
+listremove(proxy,m_stageRoots[proxy->stage]);
+m_paircache->removeOverlappingPairsContainingProxy(proxy,dispatcher);
+btAlignedFree(proxy);
+m_needcleanup=true;
 }
 
 //
 void							btDbvtBroadphase::setAabb(		btBroadphaseProxy* absproxy,
-														  const btVector3& aabbMin,
-														  const btVector3& aabbMax,
-														  btDispatcher* /*dispatcher*/)
+																const btVector3& aabbMin,
+																const btVector3& aabbMax,
+																btDispatcher* /*dispatcher*/)
 {
-	btDbvtProxy*						proxy=(btDbvtProxy*)absproxy;
-	ATTRIBUTE_ALIGNED16(btDbvtVolume)	aabb=btDbvtVolume::FromMM(aabbMin,aabbMax);
+btDbvtProxy*						proxy=(btDbvtProxy*)absproxy;
+ATTRIBUTE_ALIGNED16(btDbvtVolume)	aabb=btDbvtVolume::FromMM(aabbMin,aabbMax);
 #if DBVT_BP_PREVENTFALSEUPDATE
-	if(NotEqual(aabb,proxy->leaf->volume))
+if(NotEqual(aabb,proxy->leaf->volume))
 #endif
 	{
-		bool	docollide=false;
-		if(proxy->stage==STAGECOUNT)
+	bool	docollide=false;
+	if(proxy->stage==STAGECOUNT)
 		{/* fixed -> dynamic set	*/ 
-			m_sets[1].remove(proxy->leaf);
-			proxy->leaf=m_sets[0].insert(aabb,proxy);
-			docollide=true;
+		m_sets[1].remove(proxy->leaf);
+		proxy->leaf=m_sets[0].insert(aabb,proxy);
+		docollide=true;
 		}
 		else
 		{/* dynamic set				*/ 
-			++m_updates_call;
-			if(Intersect(proxy->leaf->volume,aabb))
+		++m_updates_call;
+		if(Intersect(proxy->leaf->volume,aabb))
 			{/* Moving				*/ 
-
-				const btVector3	delta=aabbMin-proxy->m_aabbMin;
-				btVector3		velocity(((proxy->m_aabbMax-proxy->m_aabbMin)/2)*m_prediction);
-				if(delta[0]<0) velocity[0]=-velocity[0];
-				if(delta[1]<0) velocity[1]=-velocity[1];
-				if(delta[2]<0) velocity[2]=-velocity[2];
-				if	(
-#ifdef DBVT_BP_MARGIN				
-					m_sets[0].update(proxy->leaf,aabb,velocity,DBVT_BP_MARGIN)
-#else
-					m_sets[0].update(proxy->leaf,aabb,velocity)
-#endif
-					)
+			const btVector3	delta=aabbMin-proxy->aabb.Mins();
+			btVector3		velocity(aabb.Extents()*m_prediction);
+			if(delta[0]<0) velocity[0]=-velocity[0];
+			if(delta[1]<0) velocity[1]=-velocity[1];
+			if(delta[2]<0) velocity[2]=-velocity[2];
+			if	(
+				#ifdef DBVT_BP_MARGIN				
+				m_sets[0].update(proxy->leaf,aabb,velocity,DBVT_BP_MARGIN)
+				#else
+				m_sets[0].update(proxy->leaf,aabb,velocity)
+				#endif
+				)
 				{
-					++m_updates_done;
-					docollide=true;
+				++m_updates_done;
+				docollide=true;
 				}
 			}
 			else
 			{/* Teleporting			*/ 
-				m_sets[0].update(proxy->leaf,aabb);
-				++m_updates_done;
-				docollide=true;
+			m_sets[0].update(proxy->leaf,aabb);
+			++m_updates_done;
+			docollide=true;
 			}	
 		}
-		listremove(proxy,m_stageRoots[proxy->stage]);
-		proxy->m_aabbMin = aabbMin;
-		proxy->m_aabbMax = aabbMax;
-		proxy->stage	=	m_stageCurrent;
-		listappend(proxy,m_stageRoots[m_stageCurrent]);
-		if(docollide)
+	listremove(proxy,m_stageRoots[proxy->stage]);
+	proxy->aabb		=	aabb;
+	proxy->stage	=	m_stageCurrent;
+	listappend(proxy,m_stageRoots[m_stageCurrent]);
+	if(docollide)
 		{
-			m_needcleanup=true;
-			if(!m_deferedcollide)
+		m_needcleanup=true;
+		if(!m_deferedcollide)
 			{
-				btDbvtTreeCollider	collider(this);
-				m_sets[1].collideTTpersistentStack(m_sets[1].m_root,proxy->leaf,collider);
-				m_sets[0].collideTTpersistentStack(m_sets[0].m_root,proxy->leaf,collider);
+			btDbvtTreeCollider	collider(this);
+			btDbvt::collideTT(m_sets[1].m_root,proxy->leaf,collider);
+			btDbvt::collideTT(m_sets[0].m_root,proxy->leaf,collider);
 			}
 		}	
 	}
@@ -319,226 +267,132 @@ void							btDbvtBroadphase::setAabb(		btBroadphaseProxy* absproxy,
 //
 void							btDbvtBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 {
-	collide(dispatcher);
+collide(dispatcher);
 #if DBVT_BP_PROFILE
-	if(0==(m_pid%DBVT_BP_PROFILING_RATE))
+if(0==(m_pid%DBVT_BP_PROFILING_RATE))
 	{	
-		printf("fixed(%u) dynamics(%u) pairs(%u)\r\n",m_sets[1].m_leaves,m_sets[0].m_leaves,m_paircache->getNumOverlappingPairs());
-		unsigned int	total=m_profiling.m_total;
-		if(total<=0) total=1;
-		printf("ddcollide: %u%% (%uus)\r\n",(50+m_profiling.m_ddcollide*100)/total,m_profiling.m_ddcollide/DBVT_BP_PROFILING_RATE);
-		printf("fdcollide: %u%% (%uus)\r\n",(50+m_profiling.m_fdcollide*100)/total,m_profiling.m_fdcollide/DBVT_BP_PROFILING_RATE);
-		printf("cleanup:   %u%% (%uus)\r\n",(50+m_profiling.m_cleanup*100)/total,m_profiling.m_cleanup/DBVT_BP_PROFILING_RATE);
-		printf("total:     %uus\r\n",total/DBVT_BP_PROFILING_RATE);
-		const unsigned long	sum=m_profiling.m_ddcollide+
-			m_profiling.m_fdcollide+
-			m_profiling.m_cleanup;
-		printf("leaked: %u%% (%uus)\r\n",100-((50+sum*100)/total),(total-sum)/DBVT_BP_PROFILING_RATE);
-		printf("job counts: %u%%\r\n",(m_profiling.m_jobcount*100)/((m_sets[0].m_leaves+m_sets[1].m_leaves)*DBVT_BP_PROFILING_RATE));
-		clear(m_profiling);
-		m_clock.reset();
+	printf("fixed(%u) dynamics(%u) pairs(%u)\r\n",m_sets[1].m_leaves,m_sets[0].m_leaves,m_paircache->getNumOverlappingPairs());
+	unsigned int	total=m_profiling.m_total;
+	if(total<=0) total=1;
+	printf("ddcollide: %u%% (%uus)\r\n",(50+m_profiling.m_ddcollide*100)/total,m_profiling.m_ddcollide/DBVT_BP_PROFILING_RATE);
+	printf("fdcollide: %u%% (%uus)\r\n",(50+m_profiling.m_fdcollide*100)/total,m_profiling.m_fdcollide/DBVT_BP_PROFILING_RATE);
+	printf("cleanup:   %u%% (%uus)\r\n",(50+m_profiling.m_cleanup*100)/total,m_profiling.m_cleanup/DBVT_BP_PROFILING_RATE);
+	printf("total:     %uus\r\n",total/DBVT_BP_PROFILING_RATE);
+	const unsigned long	sum=m_profiling.m_ddcollide+
+							m_profiling.m_fdcollide+
+							m_profiling.m_cleanup;
+	printf("leaked: %u%% (%uus)\r\n",100-((50+sum*100)/total),(total-sum)/DBVT_BP_PROFILING_RATE);
+	printf("job counts: %u%%\r\n",(m_profiling.m_jobcount*100)/((m_sets[0].m_leaves+m_sets[1].m_leaves)*DBVT_BP_PROFILING_RATE));
+	clear(m_profiling);
+	m_clock.reset();
 	}
 #endif
-
-	performDeferredRemoval(dispatcher);
-
-}
-
-void btDbvtBroadphase::performDeferredRemoval(btDispatcher* dispatcher)
-{
-
-	if (m_paircache->hasDeferredRemoval())
-	{
-
-		btBroadphasePairArray&	overlappingPairArray = m_paircache->getOverlappingPairArray();
-
-		//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
-		overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
-
-		int invalidPair = 0;
-
-		
-		int i;
-
-		btBroadphasePair previousPair;
-		previousPair.m_pProxy0 = 0;
-		previousPair.m_pProxy1 = 0;
-		previousPair.m_algorithm = 0;
-		
-		
-		for (i=0;i<overlappingPairArray.size();i++)
-		{
-		
-			btBroadphasePair& pair = overlappingPairArray[i];
-
-			bool isDuplicate = (pair == previousPair);
-
-			previousPair = pair;
-
-			bool needsRemoval = false;
-
-			if (!isDuplicate)
-			{
-				//important to perform AABB check that is consistent with the broadphase
-				btDbvtProxy*		pa=(btDbvtProxy*)pair.m_pProxy0;
-				btDbvtProxy*		pb=(btDbvtProxy*)pair.m_pProxy1;
-				bool hasOverlap = Intersect(pa->leaf->volume,pb->leaf->volume);
-
-				if (hasOverlap)
-				{
-					needsRemoval = false;
-				} else
-				{
-					needsRemoval = true;
-				}
-			} else
-			{
-				//remove duplicate
-				needsRemoval = true;
-				//should have no algorithm
-				btAssert(!pair.m_algorithm);
-			}
-			
-			if (needsRemoval)
-			{
-				m_paircache->cleanOverlappingPair(pair,dispatcher);
-
-				pair.m_pProxy0 = 0;
-				pair.m_pProxy1 = 0;
-				invalidPair++;
-			} 
-			
-		}
-
-		//perform a sort, to sort 'invalid' pairs to the end
-		overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
-		overlappingPairArray.resize(overlappingPairArray.size() - invalidPair);
-	}
 }
 
 //
 void							btDbvtBroadphase::collide(btDispatcher* dispatcher)
 {
-	/*printf("---------------------------------------------------------\n");
-	printf("m_sets[0].m_leaves=%d\n",m_sets[0].m_leaves);
-	printf("m_sets[1].m_leaves=%d\n",m_sets[1].m_leaves);
-	printf("numPairs = %d\n",getOverlappingPairCache()->getNumOverlappingPairs());
+SPC(m_profiling.m_total);
+/* optimize				*/ 
+m_sets[0].optimizeIncremental(1+(m_sets[0].m_leaves*m_dupdates)/100);
+if(m_fixedleft)
 	{
-		int i;
-		for (i=0;i<getOverlappingPairCache()->getNumOverlappingPairs();i++)
-		{
-			printf("pair[%d]=(%d,%d),",i,getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy0->getUid(),
-				getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy1->getUid());
-		}
-		printf("\n");
+	const int count=1+(m_sets[1].m_leaves*m_fupdates)/100;
+	m_sets[1].optimizeIncremental(1+(m_sets[1].m_leaves*m_fupdates)/100);
+	m_fixedleft=btMax<int>(0,m_fixedleft-count);
 	}
-*/
-
-
-
-	SPC(m_profiling.m_total);
-	/* optimize				*/ 
-	m_sets[0].optimizeIncremental(1+(m_sets[0].m_leaves*m_dupdates)/100);
-	if(m_fixedleft)
+/* dynamic -> fixed set	*/ 
+m_stageCurrent=(m_stageCurrent+1)%STAGECOUNT;
+btDbvtProxy*	current=m_stageRoots[m_stageCurrent];
+if(current)
 	{
-		const int count=1+(m_sets[1].m_leaves*m_fupdates)/100;
-		m_sets[1].optimizeIncremental(1+(m_sets[1].m_leaves*m_fupdates)/100);
-		m_fixedleft=btMax<int>(0,m_fixedleft-count);
-	}
-	/* dynamic -> fixed set	*/ 
-	m_stageCurrent=(m_stageCurrent+1)%STAGECOUNT;
-	btDbvtProxy*	current=m_stageRoots[m_stageCurrent];
-	if(current)
-	{
-		btDbvtTreeCollider	collider(this);
-		do	{
-			btDbvtProxy*	next=current->links[1];
-			listremove(current,m_stageRoots[current->stage]);
-			listappend(current,m_stageRoots[STAGECOUNT]);
-#if DBVT_BP_ACCURATESLEEPING
-			m_paircache->removeOverlappingPairsContainingProxy(current,dispatcher);
-			collider.proxy=current;
-			btDbvt::collideTV(m_sets[0].m_root,current->aabb,collider);
-			btDbvt::collideTV(m_sets[1].m_root,current->aabb,collider);
-#endif
-			m_sets[0].remove(current->leaf);
-			ATTRIBUTE_ALIGNED16(btDbvtVolume)	curAabb=btDbvtVolume::FromMM(current->m_aabbMin,current->m_aabbMax);
-			current->leaf	=	m_sets[1].insert(curAabb,current);
-			current->stage	=	STAGECOUNT;	
-			current			=	next;
+	btDbvtTreeCollider	collider(this);
+	do	{
+		btDbvtProxy*	next=current->links[1];
+		listremove(current,m_stageRoots[current->stage]);
+		listappend(current,m_stageRoots[STAGECOUNT]);
+		#if DBVT_BP_ACCURATESLEEPING
+		m_paircache->removeOverlappingPairsContainingProxy(current,dispatcher);
+		collider.proxy=current;
+		btDbvt::collideTV(m_sets[0].m_root,current->aabb,collider);
+		btDbvt::collideTV(m_sets[1].m_root,current->aabb,collider);
+		#endif
+		m_sets[0].remove(current->leaf);
+		current->leaf	=	m_sets[1].insert(current->aabb,current);
+		current->stage	=	STAGECOUNT;	
+		current			=	next;
 		} while(current);
-		m_fixedleft=m_sets[1].m_leaves;
-		m_needcleanup=true;
+	m_fixedleft=m_sets[1].m_leaves;
+	m_needcleanup=true;
 	}
-	/* collide dynamics		*/ 
+/* collide dynamics		*/ 
 	{
-		btDbvtTreeCollider	collider(this);
-		if(m_deferedcollide)
+	btDbvtTreeCollider	collider(this);
+	if(m_deferedcollide)
 		{
-			SPC(m_profiling.m_fdcollide);
-			m_sets[0].collideTTpersistentStack(m_sets[0].m_root,m_sets[1].m_root,collider);
+		SPC(m_profiling.m_fdcollide);
+		btDbvt::collideTT(m_sets[0].m_root,m_sets[1].m_root,collider);
 		}
-		if(m_deferedcollide)
+	if(m_deferedcollide)
 		{
-			SPC(m_profiling.m_ddcollide);
-			m_sets[0].collideTTpersistentStack(m_sets[0].m_root,m_sets[0].m_root,collider);
+		SPC(m_profiling.m_ddcollide);
+		btDbvt::collideTT(m_sets[0].m_root,m_sets[0].m_root,collider);
 		}
 	}
-	/* clean up				*/ 
-	if(m_needcleanup)
+/* clean up				*/ 
+if(m_needcleanup)
 	{
-		SPC(m_profiling.m_cleanup);
-		btBroadphasePairArray&	pairs=m_paircache->getOverlappingPairArray();
-		if(pairs.size()>0)
+	SPC(m_profiling.m_cleanup);
+	btBroadphasePairArray&	pairs=m_paircache->getOverlappingPairArray();
+	if(pairs.size()>0)
 		{
-
-			int			ni=btMin(pairs.size(),btMax<int>(m_newpairs,(pairs.size()*m_cupdates)/100));
-			for(int i=0;i<ni;++i)
+		const int	ci=pairs.size();
+		int			ni=btMin(ci,btMax<int>(m_newpairs,(ci*m_cupdates)/100));
+		for(int i=0;i<ni;++i)
 			{
-				btBroadphasePair&	p=pairs[(m_cid+i)%pairs.size()];
-				btDbvtProxy*		pa=(btDbvtProxy*)p.m_pProxy0;
-				btDbvtProxy*		pb=(btDbvtProxy*)p.m_pProxy1;
-				if(!Intersect(pa->leaf->volume,pb->leaf->volume))
+			btBroadphasePair&	p=pairs[(m_cid+i)%ci];
+			btDbvtProxy*		pa=(btDbvtProxy*)p.m_pProxy0;
+			btDbvtProxy*		pb=(btDbvtProxy*)p.m_pProxy1;
+			if(!Intersect(pa->leaf->volume,pb->leaf->volume))
 				{
-#if DBVT_BP_SORTPAIRS
-					if(pa->m_uniqueId>pb->m_uniqueId) 
-						btSwap(pa,pb);
-#endif
-					m_paircache->removeOverlappingPair(pa,pb,dispatcher);
-					--ni;--i;
+				#if DBVT_BP_SORTPAIRS
+				if(pa>pb) btSwap(pa,pb);
+				#endif
+				m_paircache->removeOverlappingPair(pa,pb,dispatcher);
+				--ni;--i;
 				}
 			}
-			if(pairs.size()>0) m_cid=(m_cid+ni)%pairs.size(); else m_cid=0;
+		if(pairs.size()>0) m_cid=(m_cid+ni)%pairs.size(); else m_cid=0;
 		}
 	}
-	++m_pid;
-	m_newpairs=1;
-	m_needcleanup=false;
-	if(m_updates_call>0)
+++m_pid;
+m_newpairs=1;
+m_needcleanup=false;
+if(m_updates_call>0)
 	{ m_updates_ratio=m_updates_done/(btScalar)m_updates_call; }
 	else
 	{ m_updates_ratio=0; }
-	m_updates_done/=2;
-	m_updates_call/=2;
+m_updates_done/=2;
+m_updates_call/=2;
 }
 
 //
 void							btDbvtBroadphase::optimize()
 {
-	m_sets[0].optimizeTopDown();
-	m_sets[1].optimizeTopDown();
+m_sets[0].optimizeTopDown();
+m_sets[1].optimizeTopDown();
 }
 
 //
 btOverlappingPairCache*			btDbvtBroadphase::getOverlappingPairCache()
 {
-	return(m_paircache);
+return(m_paircache);
 }
 
 //
 const btOverlappingPairCache*	btDbvtBroadphase::getOverlappingPairCache() const
 {
-	return(m_paircache);
+return(m_paircache);
 }
 
 //
@@ -547,49 +401,16 @@ void							btDbvtBroadphase::getBroadphaseAabb(btVector3& aabbMin,btVector3& aab
 
 	ATTRIBUTE_ALIGNED16(btDbvtVolume)	bounds;
 
-	if(!m_sets[0].empty())
-		if(!m_sets[1].empty())	Merge(	m_sets[0].m_root->volume,
-			m_sets[1].m_root->volume,bounds);
-		else
-			bounds=m_sets[0].m_root->volume;
-	else if(!m_sets[1].empty())	bounds=m_sets[1].m_root->volume;
-	else
-		bounds=btDbvtVolume::FromCR(btVector3(0,0,0),0);
-	aabbMin=bounds.Mins();
-	aabbMax=bounds.Maxs();
-}
-
-void btDbvtBroadphase::resetPool(btDispatcher* dispatcher)
-{
-	
-	int totalObjects = m_sets[0].m_leaves + m_sets[1].m_leaves;
-	if (!totalObjects)
-	{
-		//reset internal dynamic tree data structures
-		m_sets[0].clear();
-		m_sets[1].clear();
-		
-		m_deferedcollide	=	false;
-		m_needcleanup		=	true;
-		m_prediction		=	1/(btScalar)2;
-		m_stageCurrent		=	0;
-		m_fixedleft			=	0;
-		m_fupdates			=	1;
-		m_dupdates			=	0;
-		m_cupdates			=	10;
-		m_newpairs			=	1;
-		m_updates_call		=	0;
-		m_updates_done		=	0;
-		m_updates_ratio		=	0;
-		
-		m_gid				=	0;
-		m_pid				=	0;
-		m_cid				=	0;
-		for(int i=0;i<=STAGECOUNT;++i)
-		{
-			m_stageRoots[i]=0;
-		}
-	}
+if(!m_sets[0].empty())
+	if(!m_sets[1].empty())	Merge(	m_sets[0].m_root->volume,
+									m_sets[1].m_root->volume,bounds);
+							else
+							bounds=m_sets[0].m_root->volume;
+else if(!m_sets[1].empty())	bounds=m_sets[1].m_root->volume;
+							else
+							bounds=btDbvtVolume::FromCR(btVector3(0,0,0),0);
+aabbMin=bounds.Mins();
+aabbMax=bounds.Maxs();
 }
 
 //
@@ -600,9 +421,9 @@ void							btDbvtBroadphase::printStats()
 #if DBVT_BP_ENABLE_BENCHMARK
 
 struct	btBroadphaseBenchmark
-{
-	struct	Experiment
 	{
+	struct	Experiment
+		{
 		const char*			name;
 		int					object_count;
 		int					update_count;
@@ -610,109 +431,109 @@ struct	btBroadphaseBenchmark
 		int					iterations;
 		btScalar			speed;
 		btScalar			amplitude;
-	};
+		};
 	struct	Object
-	{
+		{
 		btVector3			center;
 		btVector3			extents;
 		btBroadphaseProxy*	proxy;
 		btScalar			time;
 		void				update(btScalar speed,btScalar amplitude,btBroadphaseInterface* pbi)
-		{
+			{
 			time		+=	speed;
 			center[0]	=	btCos(time*(btScalar)2.17)*amplitude+
-				btSin(time)*amplitude/2;
+							btSin(time)*amplitude/2;
 			center[1]	=	btCos(time*(btScalar)1.38)*amplitude+
-				btSin(time)*amplitude;
+							btSin(time)*amplitude;
 			center[2]	=	btSin(time*(btScalar)0.777)*amplitude;
 			pbi->setAabb(proxy,center-extents,center+extents,0);
-		}
-	};
+			}
+		};
 	static int		UnsignedRand(int range=RAND_MAX-1)	{ return(rand()%(range+1)); }
 	static btScalar	UnitRand()							{ return(UnsignedRand(16384)/(btScalar)16384); }
 	static void		OutputTime(const char* name,btClock& c,unsigned count=0)
-	{
+		{
 		const unsigned long	us=c.getTimeMicroseconds();
 		const unsigned long	ms=(us+500)/1000;
 		const btScalar		sec=us/(btScalar)(1000*1000);
 		if(count>0)
 			printf("%s : %u us (%u ms), %.2f/s\r\n",name,us,ms,count/sec);
-		else
+			else
 			printf("%s : %u us (%u ms)\r\n",name,us,ms);
-	}
-};
+		}
+	};
 
 void							btDbvtBroadphase::benchmark(btBroadphaseInterface* pbi)
 {
-	static const btBroadphaseBenchmark::Experiment		experiments[]=
+static const btBroadphaseBenchmark::Experiment		experiments[]=
 	{
-		{"1024o.10%",1024,10,0,8192,(btScalar)0.005,(btScalar)100},
-		/*{"4096o.10%",4096,10,0,8192,(btScalar)0.005,(btScalar)100},
-		{"8192o.10%",8192,10,0,8192,(btScalar)0.005,(btScalar)100},*/
+	{"1024o.10%",1024,10,0,8192,(btScalar)0.005,(btScalar)100},
+	/*{"4096o.10%",4096,10,0,8192,(btScalar)0.005,(btScalar)100},
+	{"8192o.10%",8192,10,0,8192,(btScalar)0.005,(btScalar)100},*/
 	};
-	static const int										nexperiments=sizeof(experiments)/sizeof(experiments[0]);
-	btAlignedObjectArray<btBroadphaseBenchmark::Object*>	objects;
-	btClock													wallclock;
-	/* Begin			*/ 
-	for(int iexp=0;iexp<nexperiments;++iexp)
+static const int										nexperiments=sizeof(experiments)/sizeof(experiments[0]);
+btAlignedObjectArray<btBroadphaseBenchmark::Object*>	objects;
+btClock													wallclock;
+/* Begin			*/ 
+for(int iexp=0;iexp<nexperiments;++iexp)
 	{
-		const btBroadphaseBenchmark::Experiment&	experiment=experiments[iexp];
-		const int									object_count=experiment.object_count;
-		const int									update_count=(object_count*experiment.update_count)/100;
-		const int									spawn_count=(object_count*experiment.spawn_count)/100;
-		const btScalar								speed=experiment.speed;	
-		const btScalar								amplitude=experiment.amplitude;
-		printf("Experiment #%u '%s':\r\n",iexp,experiment.name);
-		printf("\tObjects: %u\r\n",object_count);
-		printf("\tUpdate: %u\r\n",update_count);
-		printf("\tSpawn: %u\r\n",spawn_count);
-		printf("\tSpeed: %f\r\n",speed);
-		printf("\tAmplitude: %f\r\n",amplitude);
-		srand(180673);
-		/* Create objects	*/ 
-		wallclock.reset();
-		objects.reserve(object_count);
-		for(int i=0;i<object_count;++i)
+	const btBroadphaseBenchmark::Experiment&	experiment=experiments[iexp];
+	const int									object_count=experiment.object_count;
+	const int									update_count=(object_count*experiment.update_count)/100;
+	const int									spawn_count=(object_count*experiment.spawn_count)/100;
+	const btScalar								speed=experiment.speed;	
+	const btScalar								amplitude=experiment.amplitude;
+	printf("Experiment #%u '%s':\r\n",iexp,experiment.name);
+	printf("\tObjects: %u\r\n",object_count);
+	printf("\tUpdate: %u\r\n",update_count);
+	printf("\tSpawn: %u\r\n",spawn_count);
+	printf("\tSpeed: %f\r\n",speed);
+	printf("\tAmplitude: %f\r\n",amplitude);
+	srand(180673);
+	/* Create objects	*/ 
+	wallclock.reset();
+	objects.reserve(object_count);
+	for(int i=0;i<object_count;++i)
 		{
-			btBroadphaseBenchmark::Object*	po=new btBroadphaseBenchmark::Object();
-			po->center[0]=btBroadphaseBenchmark::UnitRand()*50;
-			po->center[1]=btBroadphaseBenchmark::UnitRand()*50;
-			po->center[2]=btBroadphaseBenchmark::UnitRand()*50;
-			po->extents[0]=btBroadphaseBenchmark::UnitRand()*2+2;
-			po->extents[1]=btBroadphaseBenchmark::UnitRand()*2+2;
-			po->extents[2]=btBroadphaseBenchmark::UnitRand()*2+2;
-			po->time=btBroadphaseBenchmark::UnitRand()*2000;
-			po->proxy=pbi->createProxy(po->center-po->extents,po->center+po->extents,0,po,1,1,0,0);
-			objects.push_back(po);
+		btBroadphaseBenchmark::Object*	po=new btBroadphaseBenchmark::Object();
+		po->center[0]=btBroadphaseBenchmark::UnitRand()*50;
+		po->center[1]=btBroadphaseBenchmark::UnitRand()*50;
+		po->center[2]=btBroadphaseBenchmark::UnitRand()*50;
+		po->extents[0]=btBroadphaseBenchmark::UnitRand()*2+2;
+		po->extents[1]=btBroadphaseBenchmark::UnitRand()*2+2;
+		po->extents[2]=btBroadphaseBenchmark::UnitRand()*2+2;
+		po->time=btBroadphaseBenchmark::UnitRand()*2000;
+		po->proxy=pbi->createProxy(po->center-po->extents,po->center+po->extents,0,po,1,1,0,0);
+		objects.push_back(po);
 		}
-		btBroadphaseBenchmark::OutputTime("\tInitialization",wallclock);
-		/* First update		*/ 
-		wallclock.reset();
-		for(int i=0;i<objects.size();++i)
+	btBroadphaseBenchmark::OutputTime("\tInitialization",wallclock);
+	/* First update		*/ 
+	wallclock.reset();
+	for(int i=0;i<objects.size();++i)
 		{
-			objects[i]->update(speed,amplitude,pbi);
+		objects[i]->update(speed,amplitude,pbi);
 		}
-		btBroadphaseBenchmark::OutputTime("\tFirst update",wallclock);
-		/* Updates			*/ 
-		wallclock.reset();
-		for(int i=0;i<experiment.iterations;++i)
+	btBroadphaseBenchmark::OutputTime("\tFirst update",wallclock);
+	/* Updates			*/ 
+	wallclock.reset();
+	for(int i=0;i<experiment.iterations;++i)
 		{
-			for(int j=0;j<update_count;++j)
+		for(int j=0;j<update_count;++j)
 			{				
-				objects[j]->update(speed,amplitude,pbi);
+			objects[j]->update(speed,amplitude,pbi);
 			}
-			pbi->calculateOverlappingPairs(0);
+		pbi->calculateOverlappingPairs(0);
 		}
-		btBroadphaseBenchmark::OutputTime("\tUpdate",wallclock,experiment.iterations);
-		/* Clean up			*/ 
-		wallclock.reset();
-		for(int i=0;i<objects.size();++i)
+	btBroadphaseBenchmark::OutputTime("\tUpdate",wallclock,experiment.iterations);
+	/* Clean up			*/ 
+	wallclock.reset();
+	for(int i=0;i<objects.size();++i)
 		{
-			pbi->destroyProxy(objects[i]->proxy,0);
-			delete objects[i];
+		pbi->destroyProxy(objects[i]->proxy,0);
+		delete objects[i];
 		}
-		objects.resize(0);
-		btBroadphaseBenchmark::OutputTime("\tRelease",wallclock);
+	objects.resize(0);
+	btBroadphaseBenchmark::OutputTime("\tRelease",wallclock);
 	}
 
 }
@@ -724,4 +545,3 @@ void							btDbvtBroadphase::benchmark(btBroadphaseInterface*)
 #if DBVT_BP_PROFILE
 #undef	SPC
 #endif
-

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

@@ -24,15 +24,15 @@ subject to the following restrictions:
 //
 
 #define	DBVT_BP_PROFILE					0
-//#define DBVT_BP_SORTPAIRS				1
+#define DBVT_BP_SORTPAIRS				1
 #define DBVT_BP_PREVENTFALSEUPDATE		0
 #define DBVT_BP_ACCURATESLEEPING		0
 #define DBVT_BP_ENABLE_BENCHMARK		0
 #define DBVT_BP_MARGIN					(btScalar)0.05
 
 #if DBVT_BP_PROFILE
-#define	DBVT_BP_PROFILING_RATE	256
-#include "LinearMath/btQuickprof.h"
+	#define	DBVT_BP_PROFILING_RATE	256
+	#include "LinearMath/btQuickprof.h"
 #endif
 
 //
@@ -40,16 +40,16 @@ subject to the following restrictions:
 //
 struct btDbvtProxy : btBroadphaseProxy
 {
-	/* Fields		*/ 
-	//btDbvtAabbMm	aabb;
-	btDbvtNode*		leaf;
-	btDbvtProxy*	links[2];
-	int				stage;
-	/* ctor			*/ 
-	btDbvtProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) :
-	btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask)
+/* Fields		*/ 
+btDbvtAabbMm	aabb;
+btDbvtNode*		leaf;
+btDbvtProxy*	links[2];
+int				stage;
+/* ctor			*/ 
+btDbvtProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) :
+	btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask)
 	{
-		links[0]=links[1]=0;
+	links[0]=links[1]=0;
 	}
 };
 
@@ -60,67 +60,58 @@ typedef btAlignedObjectArray<btDbvtProxy*>	btDbvtProxyArray;
 ///This is a very fast broadphase, especially for very dynamic worlds where many objects are moving. Its insert/add and remove of objects is generally faster than the sweep and prune broadphases btAxisSweep3 and bt32BitAxisSweep3.
 struct	btDbvtBroadphase : btBroadphaseInterface
 {
-	/* Config		*/ 
-	enum	{
+/* Config		*/ 
+enum	{
 		DYNAMIC_SET			=	0,	/* Dynamic set index	*/ 
 		FIXED_SET			=	1,	/* Fixed set index		*/ 
 		STAGECOUNT			=	2	/* Number of stages		*/ 
-	};
-	/* Fields		*/ 
-	btDbvt					m_sets[2];					// Dbvt sets
-	btDbvtProxy*			m_stageRoots[STAGECOUNT+1];	// Stages list
-	btOverlappingPairCache*	m_paircache;				// Pair cache
-	btScalar				m_prediction;				// Velocity prediction
-	int						m_stageCurrent;				// Current stage
-	int						m_fupdates;					// % of fixed updates per frame
-	int						m_dupdates;					// % of dynamic updates per frame
-	int						m_cupdates;					// % of cleanup updates per frame
-	int						m_newpairs;					// Number of pairs created
-	int						m_fixedleft;				// Fixed optimization left
-	unsigned				m_updates_call;				// Number of updates call
-	unsigned				m_updates_done;				// Number of updates done
-	btScalar				m_updates_ratio;			// m_updates_done/m_updates_call
-	int						m_pid;						// Parse id
-	int						m_cid;						// Cleanup index
-	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?
+		};
+/* Fields		*/ 
+btDbvt					m_sets[2];					// Dbvt sets
+btDbvtProxy*			m_stageRoots[STAGECOUNT+1];	// Stages list
+btOverlappingPairCache*	m_paircache;				// Pair cache
+btScalar				m_prediction;				// Velocity prediction
+int						m_stageCurrent;				// Current stage
+int						m_fupdates;					// % of fixed updates per frame
+int						m_dupdates;					// % of dynamic updates per frame
+int						m_cupdates;					// % of cleanup updates per frame
+int						m_newpairs;					// Number of pairs created
+int						m_fixedleft;				// Fixed optimization left
+unsigned				m_updates_call;				// Number of updates call
+unsigned				m_updates_done;				// Number of updates done
+btScalar				m_updates_ratio;			// m_updates_done/m_updates_call
+int						m_pid;						// Parse id
+int						m_cid;						// Cleanup index
+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	{
+btClock					m_clock;
+struct	{
 		unsigned long		m_total;
 		unsigned long		m_ddcollide;
 		unsigned long		m_fdcollide;
 		unsigned long		m_cleanup;
 		unsigned long		m_jobcount;
-	}				m_profiling;
+		}				m_profiling;
 #endif
-	/* Methods		*/ 
-	btDbvtBroadphase(btOverlappingPairCache* paircache=0);
-	~btDbvtBroadphase();
-	void							collide(btDispatcher* dispatcher);
-	void							optimize();
-	/* btBroadphaseInterface Implementation	*/ 
-	btBroadphaseProxy*				createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
-	void							destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
-	void							setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
-	virtual void	rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));
-
-	virtual void	getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
-	void							calculateOverlappingPairs(btDispatcher* dispatcher);
-	btOverlappingPairCache*			getOverlappingPairCache();
-	const btOverlappingPairCache*	getOverlappingPairCache() const;
-	void							getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
-	void							printStats();
-	static void						benchmark(btBroadphaseInterface*);
-
-
-	void	performDeferredRemoval(btDispatcher* dispatcher);
-
-	///reset broadphase internal structures, to ensure determinism/reproducability
-	virtual void resetPool(btDispatcher* dispatcher);
-
+/* Methods		*/ 
+btDbvtBroadphase(btOverlappingPairCache* paircache=0);
+~btDbvtBroadphase();
+void							collide(btDispatcher* dispatcher);
+void							optimize();
+/* btBroadphaseInterface Implementation	*/ 
+btBroadphaseProxy*				createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
+void							destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
+void							setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
+void							calculateOverlappingPairs(btDispatcher* dispatcher);
+btOverlappingPairCache*			getOverlappingPairCache();
+const btOverlappingPairCache*	getOverlappingPairCache() const;
+void							getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
+void							printStats();
+static void						benchmark(btBroadphaseInterface*);
 };
 
 #endif

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

@@ -46,25 +46,22 @@ struct btDispatcherInfo
 		m_enableSPU(true),
 		m_useEpa(true),
 		m_allowedCcdPenetration(btScalar(0.04)),
-		m_useConvexConservativeDistanceUtil(true),
-		m_convexConservativeDistanceThreshold(0.0f),
 		m_stackAllocator(0)
 	{
 
 	}
 	btScalar	m_timeStep;
-	int			m_stepCount;
-	int			m_dispatchFunc;
+	int		m_stepCount;
+	int		m_dispatchFunc;
 	mutable btScalar	m_timeOfImpact;
-	bool		m_useContinuous;
+	bool	m_useContinuous;
 	class btIDebugDraw*	m_debugDraw;
-	bool		m_enableSatConvex;
-	bool		m_enableSPU;
-	bool		m_useEpa;
+	bool	m_enableSatConvex;
+	bool	m_enableSPU;
+	bool	m_useEpa;
 	btScalar	m_allowedCcdPenetration;
-	bool		m_useConvexConservativeDistanceUtil;
-	btScalar	m_convexConservativeDistanceThreshold;
 	btStackAlloc*	m_stackAllocator;
+	
 };
 
 ///The btDispatcher interface class can be used in combination with broadphase to dispatch calculations for overlapping pairs.

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

@@ -149,22 +149,6 @@ amin.getZ() >= bmin.getZ() && amax.getZ() <= bmax.getZ();
 
 
 
-void	btMultiSapBroadphase::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
-{
-	btMultiSapProxy* multiProxy = static_cast<btMultiSapProxy*>(proxy);
-	aabbMin = multiProxy->m_aabbMin;
-	aabbMax = multiProxy->m_aabbMax;
-}
-
-void	btMultiSapBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin,const btVector3& aabbMax)
-{
-	for (int i=0;i<m_multiSapProxies.size();i++)
-	{
-		rayCallback.process(m_multiSapProxies[i]);
-	}
-}
-
-
 //#include <stdio.h>
 
 void	btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)
@@ -224,9 +208,7 @@ void	btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aab
 
 
 	
-	if (m_optimizedAabbTree)
-		m_optimizedAabbTree->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
-
+	m_optimizedAabbTree->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
 	int i;
 
 	for ( i=0;i<multiProxy->m_bridgeProxies.size();i++)
@@ -482,8 +464,3 @@ void	btMultiSapBroadphase::printStats()
 		*/
 
 }
-
-void btMultiSapBroadphase::resetPool(btDispatcher* dispatcher)
-{
-	// not yet
-}

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

@@ -26,7 +26,6 @@ class btSimpleBroadphase;
 
 typedef btAlignedObjectArray<btBroadphaseInterface*> btSapBroadphaseArray;
 
-///The btMultiSapBroadphase is a research project, not recommended to use in production. Use btAxisSweep3 or btDbvtBroadphase instead.
 ///The btMultiSapBroadphase is a broadphase that contains multiple SAP broadphases.
 ///The user can add SAP broadphases that cover the world. A btBroadphaseProxy can be in multiple child broadphases at the same time.
 ///A btQuantizedBvh acceleration structures finds overlapping SAPs for each btBroadphaseProxy.
@@ -73,7 +72,7 @@ public:
 		short int	m_collisionFilterMask;
 */
 		btMultiSapProxy(const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask)
-			:btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask),
+			:btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask),
 			m_aabbMin(aabbMin),
 			m_aabbMax(aabbMax),
 			m_shapeType(shapeType)
@@ -109,9 +108,6 @@ public:
 	virtual btBroadphaseProxy*	createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
 	virtual void	destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
 	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
-	virtual void	getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
-
-	virtual void	rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin=btVector3(0,0,0),const btVector3& aabbMax=btVector3(0,0,0));
 
 	void	addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface*	childBroadphase);
 
@@ -143,9 +139,6 @@ public:
 
 	void quicksort (btBroadphasePairArray& a, int lo, int hi);
 
-	///reset broadphase internal structures, to ensure determinism/reproducability
-	virtual void resetPool(btDispatcher* dispatcher);
-
 };
 
 #endif //BT_MULTI_SAP_BROADPHASE

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

@@ -19,7 +19,6 @@ subject to the following restrictions:
 
 #include "btDispatcher.h"
 #include "btCollisionAlgorithm.h"
-#include "LinearMath/btAabbUtil2.h"
 
 #include <stdio.h>
 
@@ -34,8 +33,7 @@ int gFindPairs =0;
 
 btHashedOverlappingPairCache::btHashedOverlappingPairCache():
 	m_overlapFilterCallback(0),
-	m_blockedForChanges(false),
-	m_ghostPairCallback(0)
+	m_blockedForChanges(false)
 {
 	int initialAllocatedSize= 2;
 	m_overlappingPairArray.reserve(initialAllocatedSize);
@@ -47,6 +45,7 @@ btHashedOverlappingPairCache::btHashedOverlappingPairCache():
 
 btHashedOverlappingPairCache::~btHashedOverlappingPairCache()
 {
+	//todo/test: show we erase/delete data, or is it automatic
 }
 
 
@@ -136,8 +135,7 @@ void	btHashedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroad
 btBroadphasePair* btHashedOverlappingPairCache::findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
 {
 	gFindPairs++;
-	if(proxy0->m_uniqueId>proxy1->m_uniqueId) 
-		btSwap(proxy0,proxy1);
+	if(proxy0>proxy1) btSwap(proxy0,proxy1);
 	int proxyId1 = proxy0->getUid();
 	int proxyId2 = proxy1->getUid();
 
@@ -213,8 +211,7 @@ void	btHashedOverlappingPairCache::growTables()
 
 btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
 {
-	if(proxy0->m_uniqueId>proxy1->m_uniqueId) 
-		btSwap(proxy0,proxy1);
+	if(proxy0>proxy1) btSwap(proxy0,proxy1);
 	int proxyId1 = proxy0->getUid();
 	int proxyId2 = proxy1->getUid();
 
@@ -241,11 +238,6 @@ btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProx
 	int count = m_overlappingPairArray.size();
 	int oldCapacity = m_overlappingPairArray.capacity();
 	void* mem = &m_overlappingPairArray.expand();
-
-	//this is where we add an actual pair, so also call the 'ghost'
-	if (m_ghostPairCallback)
-		m_ghostPairCallback->addOverlappingPair(proxy0,proxy1);
-
 	int newCapacity = m_overlappingPairArray.capacity();
 
 	if (oldCapacity < newCapacity)
@@ -259,7 +251,7 @@ btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProx
 //	pair->m_pProxy0 = proxy0;
 //	pair->m_pProxy1 = proxy1;
 	pair->m_algorithm = 0;
-	pair->m_internalTmpValue = 0;
+	pair->m_userInfo = 0;
 	
 
 	m_next[count] = m_hashTable[hash];
@@ -273,8 +265,7 @@ btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProx
 void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1,btDispatcher* dispatcher)
 {
 	gRemovePairs++;
-	if(proxy0->m_uniqueId>proxy1->m_uniqueId) 
-		btSwap(proxy0,proxy1);
+	if(proxy0>proxy1) btSwap(proxy0,proxy1);
 	int proxyId1 = proxy0->getUid();
 	int proxyId2 = proxy1->getUid();
 
@@ -291,7 +282,7 @@ void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
 
 	cleanOverlappingPair(*pair,dispatcher);
 
-	void* userData = pair->m_internalInfo1;
+	void* userData = pair->m_userInfo;
 
 	btAssert(pair->m_pProxy0->getUid() == proxyId1);
 	btAssert(pair->m_pProxy1->getUid() == proxyId2);
@@ -326,9 +317,6 @@ void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
 
 	int lastPairIndex = m_overlappingPairArray.size() - 1;
 
-	if (m_ghostPairCallback)
-		m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1,dispatcher);
-
 	// If the removed pair is the last pair, we are done.
 	if (lastPairIndex == pairIndex)
 	{
@@ -396,35 +384,6 @@ void	btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback*
 	}
 }
 
-void	btHashedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher)
-{
-	///need to keep hashmap in sync with pair address, so rebuild all
-	btBroadphasePairArray tmpPairs;
-	int i;
-	for (i=0;i<m_overlappingPairArray.size();i++)
-	{
-		tmpPairs.push_back(m_overlappingPairArray[i]);
-	}
-
-	for (i=0;i<tmpPairs.size();i++)
-	{
-		removeOverlappingPair(tmpPairs[i].m_pProxy0,tmpPairs[i].m_pProxy1,dispatcher);
-	}
-	
-	for (i = 0; i < m_next.size(); i++)
-	{
-		m_next[i] = BT_NULL_PAIR;
-	}
-
-	tmpPairs.quickSort(btBroadphasePairSortPredicate());
-
-	for (i=0;i<tmpPairs.size();i++)
-	{
-		addOverlappingPair(tmpPairs[i].m_pProxy0,tmpPairs[i].m_pProxy1);
-	}
-
-	
-}
 
 
 void*	btSortedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1, btDispatcher* dispatcher )
@@ -438,10 +397,8 @@ void*	btSortedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
 		{
 			gOverlappingPairs--;
 			btBroadphasePair& pair = m_overlappingPairArray[findIndex];
-			void* userData = pair.m_internalInfo1;
+			void* userData = pair.m_userInfo;
 			cleanOverlappingPair(pair,dispatcher);
-			if (m_ghostPairCallback)
-				m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1,dispatcher);
 			
 			m_overlappingPairArray.swap(findIndex,m_overlappingPairArray.capacity()-1);
 			m_overlappingPairArray.pop_back();
@@ -462,19 +419,15 @@ void*	btSortedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
 btBroadphasePair*	btSortedOverlappingPairCache::addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
 {
 	//don't add overlap with own
-	btAssert(proxy0 != proxy1);
+	assert(proxy0 != proxy1);
 
 	if (!needsBroadphaseCollision(proxy0,proxy1))
 		return 0;
 	
 	void* mem = &m_overlappingPairArray.expand();
 	btBroadphasePair* pair = new (mem) btBroadphasePair(*proxy0,*proxy1);
-	
 	gOverlappingPairs++;
 	gAddedPairs++;
-	
-	if (m_ghostPairCallback)
-		m_ghostPairCallback->addOverlappingPair(proxy0, proxy1);
 	return pair;
 	
 }
@@ -493,7 +446,7 @@ btBroadphasePair*	btSortedOverlappingPairCache::addOverlappingPair(btBroadphaseP
 
 	if (findIndex < m_overlappingPairArray.size())
 	{
-		//btAssert(it != m_overlappingPairSet.end());
+		//assert(it != m_overlappingPairSet.end());
 		 btBroadphasePair* pair = &m_overlappingPairArray[findIndex];
 		return pair;
 	}
@@ -523,9 +476,8 @@ void	btSortedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback*
 		if (callback->processOverlap(*pair))
 		{
 			cleanOverlappingPair(*pair,dispatcher);
-			pair->m_pProxy0 = 0;
-			pair->m_pProxy1 = 0;
-			m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
+
+			m_overlappingPairArray.swap(i,m_overlappingPairArray.capacity()-1);
 			m_overlappingPairArray.pop_back();
 			gOverlappingPairs--;
 		} else
@@ -541,8 +493,7 @@ void	btSortedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback*
 btSortedOverlappingPairCache::btSortedOverlappingPairCache():
 	m_blockedForChanges(false),
 	m_hasDeferredRemoval(true),
-	m_overlapFilterCallback(0),
-	m_ghostPairCallback(0)
+	m_overlapFilterCallback(0)
 {
 	int initialAllocatedSize= 2;
 	m_overlappingPairArray.reserve(initialAllocatedSize);
@@ -550,6 +501,7 @@ btSortedOverlappingPairCache::btSortedOverlappingPairCache():
 
 btSortedOverlappingPairCache::~btSortedOverlappingPairCache()
 {
+	//todo/test: show we erase/delete data, or is it automatic
 }
 
 void	btSortedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher)
@@ -625,9 +577,3 @@ void	btSortedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroad
 
 	processAllOverlappingPairs(&removeCallback,dispatcher);
 }
-
-void	btSortedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher)
-{
-	//should already be sorted
-}
-

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

@@ -21,6 +21,7 @@ subject to the following restrictions:
 #include "btBroadphaseProxy.h"
 #include "btOverlappingPairCallback.h"
 
+#include "LinearMath/btPoint3.h"
 #include "LinearMath/btAlignedObjectArray.h"
 class btDispatcher;
 
@@ -82,11 +83,6 @@ public:
 
 	virtual bool	hasDeferredRemoval() = 0;
 
-	virtual	void	setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)=0;
-
-	virtual void	sortOverlappingPairs(btDispatcher* dispatcher) = 0;
-
-
 };
 
 /// Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman, Codercorner, http://codercorner.com
@@ -257,19 +253,10 @@ private:
 		return false;
 	}
 
-	virtual	void	setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)
-	{
-		m_ghostPairCallback = ghostPairCallback;
-	}
-
-	virtual void	sortOverlappingPairs(btDispatcher* dispatcher);
-	
-
-protected:
+public:
 	
 	btAlignedObjectArray<int>	m_hashTable;
 	btAlignedObjectArray<int>	m_next;
-	btOverlappingPairCallback*	m_ghostPairCallback;
 	
 };
 
@@ -293,8 +280,6 @@ class	btSortedOverlappingPairCache : public btOverlappingPairCache
 		//if set, use the callback instead of the built in filter in needBroadphaseCollision
 		btOverlapFilterCallback* m_overlapFilterCallback;
 
-		btOverlappingPairCallback*	m_ghostPairCallback;
-
 	public:
 			
 		btSortedOverlappingPairCache();	
@@ -370,19 +355,12 @@ class	btSortedOverlappingPairCache : public btOverlappingPairCache
 			return m_hasDeferredRemoval;
 		}
 
-		virtual	void	setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)
-		{
-			m_ghostPairCallback = ghostPairCallback;
-		}
-
-		virtual void	sortOverlappingPairs(btDispatcher* dispatcher);
-		
 
 };
 
 
 
-///btNullPairCache skips add/removal of overlapping pairs. Userful for benchmarking and unit testing.
+///btNullPairCache skips add/removal of overlapping pairs. Userful for benchmarking and testing.
 class btNullPairCache : public btOverlappingPairCache
 {
 
@@ -436,11 +414,6 @@ public:
 		return true;
 	}
 
-	virtual	void	setInternalGhostPairCallback(btOverlappingPairCallback* /* ghostPairCallback */)
-	{
-
-	}
-
 	virtual btBroadphasePair*	addOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/)
 	{
 		return 0;
@@ -454,10 +427,6 @@ public:
 	virtual void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/,btDispatcher* /*dispatcher*/)
 	{
 	}
-	
-	virtual void	sortOverlappingPairs(btDispatcher* dispatcher)
-	{
-	}
 
 
 };

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

@@ -18,18 +18,14 @@ subject to the following restrictions:
 #include "LinearMath/btAabbUtil2.h"
 #include "LinearMath/btIDebugDraw.h"
 
-#define RAYAABB2
 
-btQuantizedBvh::btQuantizedBvh() : 
-					m_bulletVersion(BT_BULLET_VERSION),
-					m_useQuantization(false), 
+btQuantizedBvh::btQuantizedBvh() : m_useQuantization(false), 
 					//m_traversalMode(TRAVERSAL_STACKLESS_CACHE_FRIENDLY)
 					m_traversalMode(TRAVERSAL_STACKLESS)
 					//m_traversalMode(TRAVERSAL_RECURSIVE)
 					,m_subtreeHeaderCount(0) //PCK: add this line
-{
-	m_bvhAabbMin.setValue(-SIMD_INFINITY,-SIMD_INFINITY,-SIMD_INFINITY);
-	m_bvhAabbMax.setValue(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY);
+{ 
+
 }
 
 
@@ -123,7 +119,7 @@ void	btQuantizedBvh::buildTree	(int startIndex,int endIndex)
 	int numIndices =endIndex-startIndex;
 	int curIndex = m_curNodeIndex;
 
-	btAssert(numIndices>0);
+	assert(numIndices>0);
 
 	if (numIndices==1)
 	{
@@ -144,11 +140,8 @@ void	btQuantizedBvh::buildTree	(int startIndex,int endIndex)
 
 	int internalNodeIndex = m_curNodeIndex;
 	
-	//set the min aabb to 'inf' or a max value, and set the max aabb to a -inf/minimum value.
-	//the aabb will be expanded during buildTree/mergeInternalNodeAabb with actual node values
-	setInternalNodeAabbMin(m_curNodeIndex,m_bvhAabbMax);//can't use btVector3(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY)) because of quantization
-	setInternalNodeAabbMax(m_curNodeIndex,m_bvhAabbMin);//can't use btVector3(-SIMD_INFINITY,-SIMD_INFINITY,-SIMD_INFINITY)) because of quantization
-	
+	setInternalNodeAabbMax(m_curNodeIndex,m_bvhAabbMin);
+	setInternalNodeAabbMin(m_curNodeIndex,m_bvhAabbMax);
 	
 	for (i=startIndex;i<endIndex;i++)
 	{
@@ -184,9 +177,6 @@ void	btQuantizedBvh::buildTree	(int startIndex,int endIndex)
 		{
 			updateSubtreeHeaders(leftChildNodexIndex,rightChildNodexIndex);
 		}
-	} else
-	{
-
 	}
 
 	setInternalNodeEscapeIndex(internalNodeIndex,escapeIndex);
@@ -348,7 +338,6 @@ void	btQuantizedBvh::reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallb
 
 int maxIterations = 0;
 
-
 void	btQuantizedBvh::walkStacklessTree(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const
 {
 	btAssert(!m_useQuantization);
@@ -363,7 +352,7 @@ void	btQuantizedBvh::walkStacklessTree(btNodeOverlapCallback* nodeCallback,const
 	while (curIndex < m_curNodeIndex)
 	{
 		//catch bugs in tree data
-		btAssert (walkIterations < m_curNodeIndex);
+		assert (walkIterations < m_curNodeIndex);
 
 		walkIterations++;
 		aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMinOrg,rootNode->m_aabbMaxOrg);
@@ -445,96 +434,6 @@ void btQuantizedBvh::walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantize
 
 
 
-void	btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const
-{
-	btAssert(!m_useQuantization);
-
-	const btOptimizedBvhNode* rootNode = &m_contiguousNodes[0];
-	int escapeIndex, curIndex = 0;
-	int walkIterations = 0;
-	bool isLeafNode;
-	//PCK: unsigned instead of bool
-	unsigned aabbOverlap=0;
-	unsigned rayBoxOverlap=0;
-	btScalar lambda_max = 1.0;
-	
-		/* Quick pruning by quantized box */
-	btVector3 rayAabbMin = raySource;
-	btVector3 rayAabbMax = raySource;
-	rayAabbMin.setMin(rayTarget);
-	rayAabbMax.setMax(rayTarget);
-
-	/* Add box cast extents to bounding box */
-	rayAabbMin += aabbMin;
-	rayAabbMax += aabbMax;
-
-#ifdef RAYAABB2
-	btVector3 rayDir = (rayTarget-raySource);
-	rayDir.normalize ();
-	lambda_max = rayDir.dot(rayTarget-raySource);
-	///what about division by zero? --> just set rayDirection[i] to 1.0
-	btVector3 rayDirectionInverse;
-	rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
-	rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
-	rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
-	unsigned int sign[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
-#endif
-
-	btVector3 bounds[2];
-
-	while (curIndex < m_curNodeIndex)
-	{
-		btScalar param = 1.0;
-		//catch bugs in tree data
-		btAssert (walkIterations < m_curNodeIndex);
-
-		walkIterations++;
-
-		bounds[0] = rootNode->m_aabbMinOrg;
-		bounds[1] = rootNode->m_aabbMaxOrg;
-		/* Add box cast extents */
-		bounds[0] += aabbMin;
-		bounds[1] += aabbMax;
-
-		aabbOverlap = TestAabbAgainstAabb2(rayAabbMin,rayAabbMax,rootNode->m_aabbMinOrg,rootNode->m_aabbMaxOrg);
-		//perhaps profile if it is worth doing the aabbOverlap test first
-
-#ifdef RAYAABB2
-			///careful with this check: need to check division by zero (above) and fix the unQuantize method
-			///thanks Joerg/hiker for the reproduction case!
-			///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858
-		rayBoxOverlap = aabbOverlap ? btRayAabb2 (raySource, rayDirectionInverse, sign, bounds, param, 0.0f, lambda_max) : false;
-
-#else
-		btVector3 normal;
-		rayBoxOverlap = btRayAabb(raySource, rayTarget,bounds[0],bounds[1],param, normal);
-#endif
-
-		isLeafNode = rootNode->m_escapeIndex == -1;
-		
-		//PCK: unsigned instead of bool
-		if (isLeafNode && (rayBoxOverlap != 0))
-		{
-			nodeCallback->processNode(rootNode->m_subPart,rootNode->m_triangleIndex);
-		} 
-		
-		//PCK: unsigned instead of bool
-		if ((rayBoxOverlap != 0) || isLeafNode)
-		{
-			rootNode++;
-			curIndex++;
-		} else
-		{
-			escapeIndex = rootNode->m_escapeIndex;
-			rootNode += escapeIndex;
-			curIndex += escapeIndex;
-		}
-	}
-	if (maxIterations < walkIterations)
-		maxIterations = walkIterations;
-
-}
-
 
 
 void	btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const
@@ -555,8 +454,9 @@ void	btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
 	unsigned rayBoxOverlap = 0;
 
 	btScalar lambda_max = 1.0;
-
+#define RAYAABB2
 #ifdef RAYAABB2
+	btVector3 rayFrom = raySource;
 	btVector3 rayDirection = (rayTarget-raySource);
 	rayDirection.normalize ();
 	lambda_max = rayDirection.dot(rayTarget-raySource);
@@ -602,7 +502,7 @@ void	btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
 #endif//VISUALLY_ANALYZE_BVH
 
 		//catch bugs in tree data
-		btAssert (walkIterations < subTreeSize);
+		assert (walkIterations < subTreeSize);
 
 		walkIterations++;
 		//PCK: unsigned instead of bool
@@ -633,9 +533,7 @@ void	btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
 			///thanks Joerg/hiker for the reproduction case!
 			///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858
 
-			//BT_PROFILE("btRayAabb2");
 			rayBoxOverlap = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0f, lambda_max);
-			
 #else
 			rayBoxOverlap = true;//btRayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal);
 #endif
@@ -699,7 +597,7 @@ void	btQuantizedBvh::walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallb
 #endif//VISUALLY_ANALYZE_BVH
 
 		//catch bugs in tree data
-		btAssert (walkIterations < subTreeSize);
+		assert (walkIterations < subTreeSize);
 
 		walkIterations++;
 		//PCK: unsigned instead of bool
@@ -754,25 +652,30 @@ void	btQuantizedBvh::walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallba
 
 void	btQuantizedBvh::reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const
 {
-	reportBoxCastOverlappingNodex(nodeCallback,raySource,rayTarget,btVector3(0,0,0),btVector3(0,0,0));
+	bool fast_path = m_useQuantization && m_traversalMode == TRAVERSAL_STACKLESS;
+	if (fast_path)
+	{
+		walkStacklessQuantizedTreeAgainstRay(nodeCallback, raySource, rayTarget, btVector3(0, 0, 0), btVector3(0, 0, 0), 0, m_curNodeIndex);
+	} else {
+		/* Otherwise fallback to AABB overlap test */
+		btVector3 aabbMin = raySource;
+		btVector3 aabbMax = raySource;
+		aabbMin.setMin(rayTarget);
+		aabbMax.setMax(rayTarget);
+		reportAabbOverlappingNodex(nodeCallback,aabbMin,aabbMax);
+	}
 }
 
 
 void	btQuantizedBvh::reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin,const btVector3& aabbMax) const
 {
-	//always use stackless
-
-	if (m_useQuantization)
+	bool fast_path = m_useQuantization && m_traversalMode == TRAVERSAL_STACKLESS;
+	if (fast_path)
 	{
 		walkStacklessQuantizedTreeAgainstRay(nodeCallback, raySource, rayTarget, aabbMin, aabbMax, 0, m_curNodeIndex);
-	}
-	else
-	{
-		walkStacklessTreeAgainstRay(nodeCallback, raySource, rayTarget, aabbMin, aabbMax, 0, m_curNodeIndex);
-	}
-	/*
-	{
-		//recursive traversal
+	} else {
+		/* Slow path:
+		   Construct the bounding box for the entire box cast and send that down the tree */
 		btVector3 qaabbMin = raySource;
 		btVector3 qaabbMax = raySource;
 		qaabbMin.setMin(rayTarget);
@@ -781,8 +684,6 @@ void	btQuantizedBvh::reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCa
 		qaabbMax += aabbMax;
 		reportAabbOverlappingNodex(nodeCallback,qaabbMin,qaabbMax);
 	}
-	*/
-
 }
 
 
@@ -815,19 +716,17 @@ void	btQuantizedBvh::assignInternalNodeFromLeafNode(int internalNode,int leafNod
 //PCK: include
 #include <new>
 
-#if 0
 //PCK: consts
 static const unsigned BVH_ALIGNMENT = 16;
 static const unsigned BVH_ALIGNMENT_MASK = BVH_ALIGNMENT-1;
 
 static const unsigned BVH_ALIGNMENT_BLOCKS = 2;
-#endif
+
 
 
 unsigned int btQuantizedBvh::getAlignmentSerializationPadding()
 {
-	// I changed this to 0 since the extra padding is not needed or used.
-	return 0;//BVH_ALIGNMENT_BLOCKS * BVH_ALIGNMENT;
+	return BVH_ALIGNMENT_BLOCKS * BVH_ALIGNMENT;
 }
 
 unsigned btQuantizedBvh::calculateSerializeBufferSize()
@@ -843,7 +742,7 @@ unsigned btQuantizedBvh::calculateSerializeBufferSize()
 
 bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBufferSize */, bool i_swapEndian)
 {
-	btAssert(m_subtreeHeaderCount == m_SubtreeHeaders.size());
+	assert(m_subtreeHeaderCount == m_SubtreeHeaders.size());
 	m_subtreeHeaderCount = m_SubtreeHeaders.size();
 
 /*	if (i_dataBufferSize < calculateSerializeBufferSize() || o_alignedDataBuffer == NULL || (((unsigned)o_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0))
@@ -930,11 +829,6 @@ bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
 			}
 		}
 		nodeData += sizeof(btQuantizedBvhNode) * nodeCount;
-
-		// this clears the pointer in the member variable it doesn't really do anything to the data
-		// it does call the destructor on the contained objects, but they are all classes with no destructor defined
-		// so the memory (which is not freed) is left alone
-		targetBvh->m_quantizedContiguousNodes.initializeFromBuffer(NULL, 0, 0);
 	}
 	else
 	{
@@ -965,11 +859,6 @@ bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
 			}
 		}
 		nodeData += sizeof(btOptimizedBvhNode) * nodeCount;
-
-		// this clears the pointer in the member variable it doesn't really do anything to the data
-		// it does call the destructor on the contained objects, but they are all classes with no destructor defined
-		// so the memory (which is not freed) is left alone
-		targetBvh->m_contiguousNodes.initializeFromBuffer(NULL, 0, 0);
 	}
 
 	sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
@@ -1007,23 +896,12 @@ bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
 
 			targetBvh->m_SubtreeHeaders[i].m_rootNodeIndex = (m_SubtreeHeaders[i].m_rootNodeIndex);
 			targetBvh->m_SubtreeHeaders[i].m_subtreeSize = (m_SubtreeHeaders[i].m_subtreeSize);
-
-			// need to clear padding in destination buffer
-			targetBvh->m_SubtreeHeaders[i].m_padding[0] = 0;
-			targetBvh->m_SubtreeHeaders[i].m_padding[1] = 0;
-			targetBvh->m_SubtreeHeaders[i].m_padding[2] = 0;
+			targetBvh->m_SubtreeHeaders[i] = m_SubtreeHeaders[i];
 		}
 	}
+
 	nodeData += sizeof(btBvhSubtreeInfo) * m_subtreeHeaderCount;
 
-	// this clears the pointer in the member variable it doesn't really do anything to the data
-	// it does call the destructor on the contained objects, but they are all classes with no destructor defined
-	// so the memory (which is not freed) is left alone
-	targetBvh->m_SubtreeHeaders.initializeFromBuffer(NULL, 0, 0);
-
-	// this wipes the virtual function table pointer at the start of the buffer for the class
-	*((void**)o_alignedDataBuffer) = NULL;
-
 	return true;
 }
 
@@ -1137,12 +1015,11 @@ btQuantizedBvh *btQuantizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, un
 btQuantizedBvh::btQuantizedBvh(btQuantizedBvh &self, bool /* ownsMemory */) :
 m_bvhAabbMin(self.m_bvhAabbMin),
 m_bvhAabbMax(self.m_bvhAabbMax),
-m_bvhQuantization(self.m_bvhQuantization),
-m_bulletVersion(BT_BULLET_VERSION)
+m_bvhQuantization(self.m_bvhQuantization)
 {
 
+
 }
 
 
 
-

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

@@ -158,43 +158,41 @@ typedef btAlignedObjectArray<btBvhSubtreeInfo>		BvhSubtreeInfoArray;
 ///It is recommended to use quantization for better performance and lower memory requirements.
 ATTRIBUTE_ALIGNED16(class) btQuantizedBvh
 {
+protected:
+
+	NodeArray			m_leafNodes;
+	NodeArray			m_contiguousNodes;
+
+	QuantizedNodeArray	m_quantizedLeafNodes;
+	
+	QuantizedNodeArray	m_quantizedContiguousNodes;
+	
+	int					m_curNodeIndex;
+
+
+	//quantization data
+	bool				m_useQuantization;
+	btVector3			m_bvhAabbMin;
+	btVector3			m_bvhAabbMax;
+	btVector3			m_bvhQuantization;
 public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	enum btTraversalMode
 	{
 		TRAVERSAL_STACKLESS = 0,
 		TRAVERSAL_STACKLESS_CACHE_FRIENDLY,
 		TRAVERSAL_RECURSIVE
 	};
-
 protected:
 
-
-	btVector3			m_bvhAabbMin;
-	btVector3			m_bvhAabbMax;
-	btVector3			m_bvhQuantization;
-
-	int					m_bulletVersion;	//for serialization versioning. It could also be used to detect endianess.
-
-	int					m_curNodeIndex;
-	//quantization data
-	bool				m_useQuantization;
-
-
-
-	NodeArray			m_leafNodes;
-	NodeArray			m_contiguousNodes;
-	QuantizedNodeArray	m_quantizedLeafNodes;
-	QuantizedNodeArray	m_quantizedContiguousNodes;
-	
 	btTraversalMode	m_traversalMode;
+	
 	BvhSubtreeInfoArray		m_SubtreeHeaders;
 
 	//This is only used for serialization so we don't have to add serialization directly to btAlignedObjectArray
 	int m_subtreeHeaderCount;
 
-	
-
-
 
 	///two versions, one for quantized and normal nodes. This allows code-reuse while maintaining readability (no template/macro!)
 	///this might be refactored into a virtual, it is usually not calculated at run-time
@@ -298,7 +296,6 @@ protected:
 
 	void	walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const;
 	void	walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,int startNodeIndex,int endNodeIndex) const;
-	void	walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const;
 
 	///tree traversal designed for small-memory processors like PS3 SPU
 	void	walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const;
@@ -310,14 +307,30 @@ protected:
 	void	walkRecursiveQuantizedTreeAgainstQuantizedTree(const btQuantizedBvhNode* treeNodeA,const btQuantizedBvhNode* treeNodeB,btNodeOverlapCallback* nodeCallback) const;
 	
 
-
+#define USE_BANCHLESS 1
+#ifdef USE_BANCHLESS
+	//This block replaces the block below and uses no branches, and replaces the 8 bit return with a 32 bit return for improved performance (~3x on XBox 360)
+	SIMD_FORCE_INLINE unsigned testQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) const
+	{		
+		return static_cast<unsigned int>(btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])
+			& (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2])
+			& (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
+			1, 0));
+	}
+#else
+	SIMD_FORCE_INLINE bool testQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) const
+	{
+		bool overlap = true;
+		overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
+		overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
+		overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
+		return overlap;
+	}
+#endif //USE_BANCHLESS
 
 	void	updateSubtreeHeaders(int leftChildNodexIndex,int rightChildNodexIndex);
 
 public:
-	
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
 	btQuantizedBvh();
 
 	virtual ~btQuantizedBvh();
@@ -350,7 +363,7 @@ public:
 		btVector3 v = (point - m_bvhAabbMin) * m_bvhQuantization;
 		///Make sure rounding is done in a way that unQuantize(quantizeWithClamp(...)) is conservative
 		///end-points always set the first bit, so that they are sorted properly (so that neighbouring AABBs overlap properly)
-		///@todo: double-check this
+		///todo: double-check this
 		if (isMax)
 		{
 			out[0] = (unsigned short) (((unsigned short)(v.getX()+btScalar(1.)) | 1));

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

@@ -55,7 +55,6 @@ btSimpleBroadphase::btSimpleBroadphase(int maxProxies, btOverlappingPairCache* o
 	m_maxHandles = maxProxies;
 	m_numHandles = 0;
 	m_firstFreeHandle = 0;
-	m_LastHandleIndex = -1;
 	
 
 	{
@@ -89,7 +88,7 @@ btBroadphaseProxy*	btSimpleBroadphase::createProxy(  const btVector3& aabbMin,
 		btAssert(0);
 		return 0; //should never happen, but don't let the game crash ;-)
 	}
-	btAssert(aabbMin[0]<= aabbMax[0] && aabbMin[1]<= aabbMax[1] && aabbMin[2]<= aabbMax[2]);
+	assert(aabbMin[0]<= aabbMax[0] && aabbMin[1]<= aabbMax[1] && aabbMin[2]<= aabbMax[2]);
 
 	int newHandleIndex = allocHandle();
 	btSimpleBroadphaseProxy* proxy = new (&m_pHandles[newHandleIndex])btSimpleBroadphaseProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy);
@@ -138,32 +137,14 @@ void	btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg,btDispatcher*
 		
 }
 
-void	btSimpleBroadphase::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
-{
-	const btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy);
-	aabbMin = sbp->m_aabbMin;
-	aabbMax = sbp->m_aabbMax;
-}
-
 void	btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* /*dispatcher*/)
 {
 	btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy);
-	sbp->m_aabbMin = aabbMin;
-	sbp->m_aabbMax = aabbMax;
+	sbp->m_min = aabbMin;
+	sbp->m_max = aabbMax;
 }
 
-void	btSimpleBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin,const btVector3& aabbMax)
-{
-	for (int i=0; i <= m_LastHandleIndex; i++)
-	{
-		btSimpleBroadphaseProxy* proxy = &m_pHandles[i];
-		if(!proxy->m_clientObject)
-		{
-			continue;
-		}
-		rayCallback.process(proxy);
-	}
-}
+
 
 
 
@@ -173,9 +154,9 @@ void	btSimpleBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo
 
 bool	btSimpleBroadphase::aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1)
 {
-	return proxy0->m_aabbMin[0] <= proxy1->m_aabbMax[0] && proxy1->m_aabbMin[0] <= proxy0->m_aabbMax[0] && 
-		   proxy0->m_aabbMin[1] <= proxy1->m_aabbMax[1] && proxy1->m_aabbMin[1] <= proxy0->m_aabbMax[1] &&
-		   proxy0->m_aabbMin[2] <= proxy1->m_aabbMax[2] && proxy1->m_aabbMin[2] <= proxy0->m_aabbMax[2];
+	return proxy0->m_min[0] <= proxy1->m_max[0] && proxy1->m_min[0] <= proxy0->m_max[0] && 
+		   proxy0->m_min[1] <= proxy1->m_max[1] && proxy1->m_min[1] <= proxy0->m_max[1] &&
+		   proxy0->m_min[2] <= proxy1->m_max[2] && proxy1->m_min[2] <= proxy0->m_max[2];
 
 }
 
@@ -195,25 +176,18 @@ void	btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 {
 	//first check for new overlapping pairs
 	int i,j;
+
 	if (m_numHandles >= 0)
 	{
-		int new_largest_index = -1;
-		for (i=0; i <= m_LastHandleIndex; i++)
+
+		for (i=0;i<m_numHandles;i++)
 		{
 			btSimpleBroadphaseProxy* proxy0 = &m_pHandles[i];
-			if(!proxy0->m_clientObject)
-			{
-				continue;
-			}
-			new_largest_index = i;
-			for (j=i+1; j <= m_LastHandleIndex; j++)
+
+			for (j=i+1;j<m_numHandles;j++)
 			{
 				btSimpleBroadphaseProxy* proxy1 = &m_pHandles[j];
 				btAssert(proxy0 != proxy1);
-				if(!proxy1->m_clientObject)
-				{
-					continue;
-				}
 
 				btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
 				btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
@@ -237,8 +211,6 @@ void	btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 			}
 		}
 
-		m_LastHandleIndex = new_largest_index;
-
 		if (m_ownsPairCache && m_pairCache->hasDeferredRemoval())
 		{
 
@@ -324,7 +296,5 @@ bool btSimpleBroadphase::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseP
 	return aabbOverlap(p0,p1);
 }
 
-void	btSimpleBroadphase::resetPool(btDispatcher* dispatcher)
-{
-	//not yet
-}
+
+

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

@@ -22,6 +22,8 @@ subject to the following restrictions:
 
 struct btSimpleBroadphaseProxy : public btBroadphaseProxy
 {
+	btVector3	m_min;
+	btVector3	m_max;
 	int			m_nextFree;
 	
 //	int			m_handleId;
@@ -29,8 +31,9 @@ struct btSimpleBroadphaseProxy : public btBroadphaseProxy
 	
 	btSimpleBroadphaseProxy() {};
 
-	btSimpleBroadphaseProxy(const btVector3& minpt,const btVector3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,void* multiSapProxy)
-	:btBroadphaseProxy(minpt,maxpt,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy)
+	btSimpleBroadphaseProxy(const btPoint3& minpt,const btPoint3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,void* multiSapProxy)
+	:btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy),
+	m_min(minpt),m_max(maxpt)		
 	{
 		(void)shapeType;
 	}
@@ -53,7 +56,6 @@ protected:
 
 	int		m_numHandles;						// number of active handles
 	int		m_maxHandles;						// max number of handles
-	int		m_LastHandleIndex;							
 	
 	btSimpleBroadphaseProxy* m_pHandles;						// handles pool
 
@@ -66,10 +68,6 @@ protected:
 		int freeHandle = m_firstFreeHandle;
 		m_firstFreeHandle = m_pHandles[freeHandle].GetNextFree();
 		m_numHandles++;
-		if(freeHandle > m_LastHandleIndex)
-		{
-			m_LastHandleIndex = freeHandle;
-		}
 		return freeHandle;
 	}
 
@@ -77,15 +75,10 @@ protected:
 	{
 		int handle = int(proxy-m_pHandles);
 		btAssert(handle >= 0 && handle < m_maxHandles);
-		if(handle == m_LastHandleIndex)
-		{
-			m_LastHandleIndex--;
-		}
+
 		proxy->SetNextFree(m_firstFreeHandle);
 		m_firstFreeHandle = handle;
 
-		proxy->m_clientObject = 0;
-
 		m_numHandles--;
 	}
 
@@ -102,15 +95,6 @@ protected:
 		return proxy0;
 	}
 
-	inline const btSimpleBroadphaseProxy*	getSimpleProxyFromProxy(btBroadphaseProxy* proxy) const
-	{
-		const btSimpleBroadphaseProxy* proxy0 = static_cast<const btSimpleBroadphaseProxy*>(proxy);
-		return proxy0;
-	}
-
-	///reset broadphase internal structures, to ensure determinism/reproducability
-	virtual void resetPool(btDispatcher* dispatcher);
-
 
 	void	validate();
 
@@ -133,9 +117,6 @@ public:
 
 	virtual void	destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
 	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
-	virtual void	getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
-
-	virtual void	rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0),const btVector3& aabbMax=btVector3(0,0,0));
 		
 	btOverlappingPairCache*	getOverlappingPairCache()
 	{

extern/bullet2/src/BulletCollision/CMakeLists.txt

@@ -1,234 +1,153 @@
-INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/src } )
-
-SET(BulletCollision_SRCS
-	BroadphaseCollision/btAxisSweep3.cpp
-	BroadphaseCollision/btBroadphaseProxy.cpp
-	BroadphaseCollision/btCollisionAlgorithm.cpp
-	BroadphaseCollision/btDispatcher.cpp
-	BroadphaseCollision/btDbvtBroadphase.cpp
-	BroadphaseCollision/btDbvt.cpp
-	BroadphaseCollision/btMultiSapBroadphase.cpp
-	BroadphaseCollision/btOverlappingPairCache.cpp
-	BroadphaseCollision/btQuantizedBvh.cpp
-	BroadphaseCollision/btSimpleBroadphase.cpp
-	CollisionDispatch/btActivatingCollisionAlgorithm.cpp
-	CollisionDispatch/btCollisionDispatcher.cpp
-	CollisionDispatch/btCollisionObject.cpp
-	CollisionDispatch/btCollisionWorld.cpp
-	CollisionDispatch/btCompoundCollisionAlgorithm.cpp
-	CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
-	CollisionDispatch/btDefaultCollisionConfiguration.cpp
-	CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
-	CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
-	CollisionDispatch/btBoxBoxDetector.cpp
-	CollisionDispatch/btGhostObject.cpp
-	CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
-	CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
-	CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
-	CollisionDispatch/btConvexConvexAlgorithm.cpp
-	CollisionDispatch/btEmptyCollisionAlgorithm.cpp
-	CollisionDispatch/btManifoldResult.cpp
-	CollisionDispatch/btSimulationIslandManager.cpp
-	CollisionDispatch/btUnionFind.cpp
-	CollisionDispatch/SphereTriangleDetector.cpp
-	CollisionShapes/btBoxShape.cpp
-	CollisionShapes/btBvhTriangleMeshShape.cpp
-	CollisionShapes/btCapsuleShape.cpp
-	CollisionShapes/btCollisionShape.cpp
-	CollisionShapes/btCompoundShape.cpp
-	CollisionShapes/btConcaveShape.cpp
-	CollisionShapes/btConeShape.cpp
-	CollisionShapes/btConvexHullShape.cpp
-	CollisionShapes/btConvexPointCloudShape.cpp
-	CollisionShapes/btConvexShape.cpp
-	CollisionShapes/btConvexInternalShape.cpp
-	CollisionShapes/btConvexTriangleMeshShape.cpp
-	CollisionShapes/btCylinderShape.cpp
-	CollisionShapes/btEmptyShape.cpp
-	CollisionShapes/btHeightfieldTerrainShape.cpp
-	CollisionShapes/btMinkowskiSumShape.cpp
-	CollisionShapes/btMultimaterialTriangleMeshShape.cpp
-	CollisionShapes/btMultiSphereShape.cpp
-	CollisionShapes/btOptimizedBvh.cpp
-	CollisionShapes/btPolyhedralConvexShape.cpp
-	CollisionShapes/btScaledBvhTriangleMeshShape.cpp
-	CollisionShapes/btTetrahedronShape.cpp
-	CollisionShapes/btSphereShape.cpp
-	CollisionShapes/btShapeHull.cpp
-	CollisionShapes/btStaticPlaneShape.cpp
-	CollisionShapes/btStridingMeshInterface.cpp
-	CollisionShapes/btTriangleCallback.cpp
-	CollisionShapes/btTriangleBuffer.cpp
-	CollisionShapes/btTriangleIndexVertexArray.cpp
-	CollisionShapes/btTriangleIndexVertexMaterialArray.cpp
-	CollisionShapes/btTriangleMesh.cpp
-	CollisionShapes/btTriangleMeshShape.cpp
-	CollisionShapes/btUniformScalingShape.cpp
-	Gimpact/btContactProcessing.cpp
-	Gimpact/btGImpactShape.cpp
-	Gimpact/gim_contact.cpp
-	Gimpact/btGImpactBvh.cpp
-	Gimpact/btGenericPoolAllocator.cpp
-	Gimpact/gim_memory.cpp
-	Gimpact/btGImpactCollisionAlgorithm.cpp
-	Gimpact/btTriangleShapeEx.cpp
-	Gimpact/gim_tri_collision.cpp
-	Gimpact/btGImpactQuantizedBvh.cpp
-	Gimpact/gim_box_set.cpp
-	NarrowPhaseCollision/btContinuousConvexCollision.cpp
-	NarrowPhaseCollision/btGjkEpa2.cpp
-	NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
-	NarrowPhaseCollision/btConvexCast.cpp
-	NarrowPhaseCollision/btGjkConvexCast.cpp
-	NarrowPhaseCollision/btGjkPairDetector.cpp
-	NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
-	NarrowPhaseCollision/btPersistentManifold.cpp
-	NarrowPhaseCollision/btRaycastCallback.cpp
-	NarrowPhaseCollision/btSubSimplexConvexCast.cpp
-	NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
+			
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src }
 )
-
-SET(Root_HDRS
-	../btBulletCollisionCommon.h
+	
+ADD_LIBRARY(LibBulletCollision
+				BroadphaseCollision/btAxisSweep3.cpp
+				BroadphaseCollision/btAxisSweep3.h
+				BroadphaseCollision/btBroadphaseProxy.cpp
+				BroadphaseCollision/btBroadphaseProxy.h
+				BroadphaseCollision/btCollisionAlgorithm.cpp
+				BroadphaseCollision/btCollisionAlgorithm.h
+				BroadphaseCollision/btDispatcher.cpp
+				BroadphaseCollision/btDispatcher.h
+				BroadphaseCollision/btDbvtBroadphase.cpp
+				BroadphaseCollision/btDbvtBroadphase.h
+				BroadphaseCollision/btDbvt.cpp
+				BroadphaseCollision/btDbvt.h
+				BroadphaseCollision/btMultiSapBroadphase.cpp
+				BroadphaseCollision/btMultiSapBroadphase.h
+				BroadphaseCollision/btOverlappingPairCache.cpp
+				BroadphaseCollision/btOverlappingPairCache.h
+				BroadphaseCollision/btOverlappingPairCallback.h
+				BroadphaseCollision/btQuantizedBvh.cpp
+				BroadphaseCollision/btQuantizedBvh.h
+				BroadphaseCollision/btSimpleBroadphase.cpp
+				BroadphaseCollision/btSimpleBroadphase.h
+				CollisionDispatch/btCollisionDispatcher.cpp
+				CollisionDispatch/btCollisionDispatcher.h
+				CollisionDispatch/btCollisionObject.cpp
+				CollisionDispatch/btCollisionObject.h
+				CollisionDispatch/btCollisionWorld.cpp
+				CollisionDispatch/btCollisionWorld.h
+				CollisionDispatch/btCompoundCollisionAlgorithm.cpp
+				CollisionDispatch/btCompoundCollisionAlgorithm.h
+				CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
+				CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
+				CollisionDispatch/btDefaultCollisionConfiguration.cpp
+				CollisionDispatch/btDefaultCollisionConfiguration.h
+				CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
+				CollisionDispatch/btSphereSphereCollisionAlgorithm.h
+				CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
+				CollisionDispatch/btBoxBoxCollisionAlgorithm.h
+				CollisionDispatch/btBoxBoxDetector.cpp
+				CollisionDispatch/btBoxBoxDetector.h
+				CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
+				CollisionDispatch/btSphereBoxCollisionAlgorithm.h
+				CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
+				CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
+				CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
+				CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
+				CollisionDispatch/btConvexConvexAlgorithm.cpp
+				CollisionDispatch/btConvexConvexAlgorithm.h
+				CollisionDispatch/btEmptyCollisionAlgorithm.cpp
+				CollisionDispatch/btEmptyCollisionAlgorithm.h
+				CollisionDispatch/btManifoldResult.cpp
+				CollisionDispatch/btManifoldResult.h
+				CollisionDispatch/btSimulationIslandManager.cpp
+				CollisionDispatch/btSimulationIslandManager.h
+				CollisionDispatch/btUnionFind.cpp
+				CollisionDispatch/btUnionFind.h
+				CollisionDispatch/SphereTriangleDetector.cpp
+				CollisionDispatch/SphereTriangleDetector.h
+				CollisionShapes/btBoxShape.cpp
+				CollisionShapes/btBoxShape.h
+				CollisionShapes/btBvhTriangleMeshShape.cpp
+				CollisionShapes/btBvhTriangleMeshShape.h
+				CollisionShapes/btCapsuleShape.cpp
+				CollisionShapes/btCapsuleShape.h
+				CollisionShapes/btCollisionShape.cpp
+				CollisionShapes/btCollisionShape.h
+				CollisionShapes/btCompoundShape.cpp
+				CollisionShapes/btCompoundShape.h
+				CollisionShapes/btConcaveShape.cpp
+				CollisionShapes/btConcaveShape.h
+				CollisionShapes/btConeShape.cpp
+				CollisionShapes/btConeShape.h
+				CollisionShapes/btConvexHullShape.cpp
+				CollisionShapes/btConvexHullShape.h
+				CollisionShapes/btConvexShape.cpp
+				CollisionShapes/btConvexShape.h
+				CollisionShapes/btConvexInternalShape.cpp
+				CollisionShapes/btConvexInternalShape.h
+				CollisionShapes/btConvexTriangleMeshShape.cpp
+				CollisionShapes/btConvexTriangleMeshShape.h
+				CollisionShapes/btCylinderShape.cpp
+				CollisionShapes/btCylinderShape.h
+				CollisionShapes/btEmptyShape.cpp
+				CollisionShapes/btEmptyShape.h
+				CollisionShapes/btHeightfieldTerrainShape.cpp
+				CollisionShapes/btHeightfieldTerrainShape.h
+				CollisionShapes/btMinkowskiSumShape.cpp
+				CollisionShapes/btMinkowskiSumShape.h
+				CollisionShapes/btMaterial.h
+				CollisionShapes/btMultimaterialTriangleMeshShape.cpp
+				CollisionShapes/btMultimaterialTriangleMeshShape.h
+				CollisionShapes/btMultiSphereShape.cpp
+				CollisionShapes/btMultiSphereShape.h
+				CollisionShapes/btOptimizedBvh.cpp
+				CollisionShapes/btOptimizedBvh.h
+				CollisionShapes/btPolyhedralConvexShape.cpp
+				CollisionShapes/btPolyhedralConvexShape.h
+				CollisionShapes/btScaledBvhTriangleMeshShape.cpp
+				CollisionShapes/btScaledBvhTriangleMeshShape.h
+				CollisionShapes/btTetrahedronShape.cpp
+				CollisionShapes/btTetrahedronShape.h
+				CollisionShapes/btSphereShape.cpp
+				CollisionShapes/btSphereShape.h
+				CollisionShapes/btShapeHull.h
+				CollisionShapes/btShapeHull.cpp
+				CollisionShapes/btStaticPlaneShape.cpp
+				CollisionShapes/btStaticPlaneShape.h
+				CollisionShapes/btStridingMeshInterface.cpp
+				CollisionShapes/btStridingMeshInterface.h
+				CollisionShapes/btTriangleCallback.cpp
+				CollisionShapes/btTriangleCallback.h
+				CollisionShapes/btTriangleBuffer.cpp
+				CollisionShapes/btTriangleBuffer.h
+				CollisionShapes/btTriangleIndexVertexArray.cpp
+				CollisionShapes/btTriangleIndexVertexArray.h
+				CollisionShapes/btTriangleIndexVertexMaterialArray.h
+				CollisionShapes/btTriangleIndexVertexMaterialArray.cpp
+				CollisionShapes/btTriangleMesh.cpp
+				CollisionShapes/btTriangleMesh.h
+				CollisionShapes/btTriangleMeshShape.cpp
+				CollisionShapes/btTriangleMeshShape.h
+				CollisionShapes/btUniformScalingShape.cpp
+				CollisionShapes/btUniformScalingShape.h
+				NarrowPhaseCollision/btContinuousConvexCollision.cpp
+				NarrowPhaseCollision/btContinuousConvexCollision.h
+				NarrowPhaseCollision/btGjkEpa.cpp
+				NarrowPhaseCollision/btGjkEpa.h
+				NarrowPhaseCollision/btGjkEpa2.cpp
+				NarrowPhaseCollision/btGjkEpa2.h
+				NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
+				NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
+				NarrowPhaseCollision/btConvexCast.cpp
+				NarrowPhaseCollision/btConvexCast.h
+				NarrowPhaseCollision/btGjkConvexCast.cpp
+				NarrowPhaseCollision/btGjkConvexCast.h
+				NarrowPhaseCollision/btGjkPairDetector.cpp
+				NarrowPhaseCollision/btGjkPairDetector.h
+				NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
+				NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
+				NarrowPhaseCollision/btPersistentManifold.cpp
+				NarrowPhaseCollision/btPersistentManifold.h
+				NarrowPhaseCollision/btRaycastCallback.cpp
+				NarrowPhaseCollision/btRaycastCallback.h
+				NarrowPhaseCollision/btSubSimplexConvexCast.cpp
+				NarrowPhaseCollision/btSubSimplexConvexCast.h
+				NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
+				NarrowPhaseCollision/btVoronoiSimplexSolver.h
 )
-SET(BroadphaseCollision_HDRS
-	BroadphaseCollision/btAxisSweep3.h
-	BroadphaseCollision/btBroadphaseInterface.h
-	BroadphaseCollision/btBroadphaseProxy.h
-	BroadphaseCollision/btCollisionAlgorithm.h
-	BroadphaseCollision/btDispatcher.h
-	BroadphaseCollision/btDbvtBroadphase.h
-	BroadphaseCollision/btDbvt.h
-	BroadphaseCollision/btMultiSapBroadphase.h
-	BroadphaseCollision/btOverlappingPairCache.h
-	BroadphaseCollision/btOverlappingPairCallback.h
-	BroadphaseCollision/btQuantizedBvh.h
-	BroadphaseCollision/btSimpleBroadphase.h
-)
-SET(CollisionDispatch_HDRS
-	CollisionDispatch/btActivatingCollisionAlgorithm.h
-	CollisionDispatch/btCollisionConfiguration.h
-	CollisionDispatch/btCollisionCreateFunc.h
-	CollisionDispatch/btCollisionDispatcher.h
-	CollisionDispatch/btCollisionObject.h
-	CollisionDispatch/btCollisionWorld.h
-	CollisionDispatch/btCompoundCollisionAlgorithm.h
-	CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
-	CollisionDispatch/btDefaultCollisionConfiguration.h
-	CollisionDispatch/btSphereSphereCollisionAlgorithm.h
-	CollisionDispatch/btBoxBoxCollisionAlgorithm.h
-	CollisionDispatch/btBoxBoxDetector.h
-	CollisionDispatch/btGhostObject.h
-	CollisionDispatch/btSphereBoxCollisionAlgorithm.h
-	CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
-	CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
-	CollisionDispatch/btConvexConvexAlgorithm.h
-	CollisionDispatch/btEmptyCollisionAlgorithm.h
-	CollisionDispatch/btManifoldResult.h
-	CollisionDispatch/btSimulationIslandManager.h
-	CollisionDispatch/btUnionFind.h
-	CollisionDispatch/SphereTriangleDetector.h
-)
-SET(CollisionShapes_HDRS
-	CollisionShapes/btBoxShape.h
-	CollisionShapes/btBvhTriangleMeshShape.h
-	CollisionShapes/btCapsuleShape.h
-	CollisionShapes/btCollisionMargin
-	CollisionShapes/btCollisionShape.h
-	CollisionShapes/btCompoundShape.h
-	CollisionShapes/btConcaveShape.h
-	CollisionShapes/btConeShape.h
-	CollisionShapes/btConvexHullShape.h
-	CollisionShapes/btConvexPointCloudShape.h
-	CollisionShapes/btConvexShape.h
-	CollisionShapes/btConvexInternalShape.h
-	CollisionShapes/btConvexTriangleMeshShape.h
-	CollisionShapes/btCylinderShape.h
-	CollisionShapes/btEmptyShape.h
-	CollisionShapes/btHeightfieldTerrainShape.h
-	CollisionShapes/btMinkowskiSumShape.h
-	CollisionShapes/btMaterial.h
-	CollisionShapes/btMultimaterialTriangleMeshShape.h
-	CollisionShapes/btMultiSphereShape.h
-	CollisionShapes/btOptimizedBvh.h
-	CollisionShapes/btPolyhedralConvexShape.h
-	CollisionShapes/btScaledBvhTriangleMeshShape.h
-	CollisionShapes/btTetrahedronShape.h
-	CollisionShapes/btSphereShape.h
-	CollisionShapes/btShapeHull.h
-	CollisionShapes/btStaticPlaneShape.h
-	CollisionShapes/btStridingMeshInterface.h
-	CollisionShapes/btTriangleCallback.h
-	CollisionShapes/btTriangleBuffer.h
-	CollisionShapes/btTriangleIndexVertexArray.h
-	CollisionShapes/btTriangleIndexVertexMaterialArray.h
-	CollisionShapes/btTriangleMesh.h
-	CollisionShapes/btTriangleMeshShape.h
-	CollisionShapes/btUniformScalingShape.h
-)
-SET(Gimpact_HDRS
-	Gimpact/btGImpactShape.h
-	Gimpact/gim_contact.h
-	Gimpact/btGImpactBvh.h
-	Gimpact/btGenericPoolAllocator.h
-	Gimpact/gim_memory.h
-	Gimpact/btGImpactCollisionAlgorithm.h
-	Gimpact/btTriangleShapeEx.h
-	Gimpact/gim_tri_collision.h
-	Gimpact/btGImpactQuantizedBvh.h
-	Gimpact/gim_box_set.h
-)
-SET(NarrowPhaseCollision_HDRS
-	NarrowPhaseCollision/btContinuousConvexCollision.h
-	NarrowPhaseCollision/btConvexCast.h
-	NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
-	NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
-	NarrowPhaseCollision/btGjkConvexCast.h
-	NarrowPhaseCollision/btGjkEpa2.h
-	NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
-	NarrowPhaseCollision/btGjkPairDetector.h
-	NarrowPhaseCollision/btManifoldPoint.h
-	NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
-	NarrowPhaseCollision/btPersistentManifold.h
-	NarrowPhaseCollision/btPointCollector.h
-	NarrowPhaseCollision/btRaycastCallback.h
-	NarrowPhaseCollision/btSimplexSolverInterface.h
-	NarrowPhaseCollision/btSubSimplexConvexCast.h
-	NarrowPhaseCollision/btVoronoiSimplexSolver.h
-)
-
-SET(BulletCollision_HDRS
-	${Root_HDRS}
-	${BroadphaseCollision_HDRS}
-	${CollisionDispatch_HDRS}
-	${CollisionShapes_HDRS}
-	${Gimpact_HDRS}
-	${NarrowPhaseCollision_HDRS}
-)
-
-
-ADD_LIBRARY(BulletCollision ${BulletCollision_SRCS} ${BulletCollision_HDRS})
-SET_TARGET_PROPERTIES(BulletCollision PROPERTIES VERSION ${BULLET_VERSION})
-SET_TARGET_PROPERTIES(BulletCollision PROPERTIES SOVERSION ${BULLET_VERSION})
-IF (BUILD_SHARED_LIBS)
-  TARGET_LINK_LIBRARIES(BulletCollision LinearMath)
-ENDIF (BUILD_SHARED_LIBS)
-
-#INSTALL of other files requires CMake 2.6
-IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
-	INSTALL(TARGETS BulletCollision DESTINATION lib)
-        INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} DESTINATION include FILES_MATCHING PATTERN "*.h")
-ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
-
-IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
-	SET_TARGET_PROPERTIES(BulletCollision PROPERTIES FRAMEWORK true)
-
-	SET_TARGET_PROPERTIES(BulletCollision PROPERTIES PUBLIC_HEADER "${Root_HDRS}")
-	# Have to list out sub-directories manually:
-	SET_PROPERTY(SOURCE ${BroadphaseCollision_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/BroadphaseCollision)
-	SET_PROPERTY(SOURCE ${CollisionDispatch_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/CollisionDispatch)
-	SET_PROPERTY(SOURCE ${CollisionShapes_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/CollisionShapes)
-	SET_PROPERTY(SOURCE ${Gimpact_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Gimpact)
-	SET_PROPERTY(SOURCE ${NarrowPhaseCollision_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/NarrowPhaseCollision)
-
-ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)

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

@@ -19,10 +19,9 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
 
 
-SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle,btScalar contactBreakingThreshold)
+SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle)
 :m_sphere(sphere),
-m_triangle(triangle),
-m_contactBreakingThreshold(contactBreakingThreshold)
+m_triangle(triangle)
 {
 
 }
@@ -41,7 +40,7 @@ void	SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Res
 	//move sphere into triangle space
 	btTransform	sphereInTr = transformB.inverseTimes(transformA);
 
-	if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact,m_contactBreakingThreshold))
+	if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact))
 	{
 		if (swapResults)
 		{
@@ -94,7 +93,7 @@ bool SphereTriangleDetector::facecontains(const btVector3 &p,const btVector3* ve
 }
 
 ///combined discrete/continuous sphere-triangle
-bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold)
+bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact)
 {
 
 	const btVector3* vertices = &m_triangle->getVertexPtr(0);
@@ -116,7 +115,10 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
 		normal *= btScalar(-1.);
 	}
 
-	btScalar contactMargin = contactBreakingThreshold;
+	///todo: move this gContactBreakingThreshold into a proper structure
+	extern btScalar gContactBreakingThreshold;
+
+	btScalar contactMargin = gContactBreakingThreshold;
 	bool isInsideContactPlane = distanceFromPlane < r + contactMargin;
 	bool isInsideShellPlane = distanceFromPlane < r;
 	
@@ -138,8 +140,8 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
 			btVector3 nearestOnEdge;
 			for (int i = 0; i < m_triangle->getNumEdges(); i++) {
 				
-				btVector3 pa;
-				btVector3 pb;
+				btPoint3 pa;
+				btPoint3 pb;
 				
 				m_triangle->getEdge(i,pa,pb);
 

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

@@ -17,7 +17,7 @@ subject to the following restrictions:
 #define SPHERE_TRIANGLE_DETECTOR_H
 
 #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
-
+#include "LinearMath/btPoint3.h"
 
 
 class btSphereShape;
@@ -30,19 +30,19 @@ struct SphereTriangleDetector : public btDiscreteCollisionDetectorInterface
 {
 	virtual void	getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false);
 
-	SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle, btScalar contactBreakingThreshold);
+	SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle);
 
 	virtual ~SphereTriangleDetector() {};
 
 private:
 
-	bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar	contactBreakingThreshold);
+	bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact);
 	bool pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p );
 	bool facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal);
 
 	btSphereShape* m_sphere;
 	btTriangleShape* m_triangle;
-	btScalar	m_contactBreakingThreshold;
+
 	
 };
 #endif //SPHERE_TRIANGLE_DETECTOR_H

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

@@ -1,47 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.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 "btActivatingCollisionAlgorithm.h"
-#include "btCollisionDispatcher.h"
-#include "btCollisionObject.h"
-
-btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci)
-:btCollisionAlgorithm(ci)
-//,
-//m_colObj0(0),
-//m_colObj1(0)
-{
-}
-btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* colObj0,btCollisionObject* colObj1)
-:btCollisionAlgorithm(ci)
-//,
-//m_colObj0(0),
-//m_colObj1(0)
-{
-//	if (ci.m_dispatcher1->needsCollision(colObj0,colObj1))
-//	{
-//		m_colObj0 = colObj0;
-//		m_colObj1 = colObj1;
-//		
-//		m_colObj0->activate();
-//		m_colObj1->activate();
-//	}
-}
-
-btActivatingCollisionAlgorithm::~btActivatingCollisionAlgorithm()
-{
-//		m_colObj0->activate();
-//		m_colObj1->activate();
-}

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

@@ -1,36 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.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 __BT_ACTIVATING_COLLISION_ALGORITHM_H
-#define __BT_ACTIVATING_COLLISION_ALGORITHM_H
-
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-
-///This class is not enabled yet (work-in-progress) to more aggressively activate objects.
-class btActivatingCollisionAlgorithm : public btCollisionAlgorithm
-{
-//	btCollisionObject* m_colObj0;
-//	btCollisionObject* m_colObj1;
-
-public:
-
-	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci);
-
-	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* colObj0,btCollisionObject* colObj1);
-
-	virtual ~btActivatingCollisionAlgorithm();
-
-};
-#endif //__BT_ACTIVATING_COLLISION_ALGORITHM_H

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

@@ -22,7 +22,7 @@ subject to the following restrictions:
 #define USE_PERSISTENT_CONTACTS 1
 
 btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
-: btActivatingCollisionAlgorithm(ci,obj0,obj1),
+: btCollisionAlgorithm(ci),
 m_ownManifold(false),
 m_manifoldPtr(mf)
 {

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

@@ -16,7 +16,7 @@ subject to the following restrictions:
 #ifndef BOX_BOX__COLLISION_ALGORITHM_H
 #define BOX_BOX__COLLISION_ALGORITHM_H
 
-#include "btActivatingCollisionAlgorithm.h"
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
 #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
@@ -24,14 +24,14 @@ subject to the following restrictions:
 class btPersistentManifold;
 
 ///box-box collision detection
-class btBoxBoxCollisionAlgorithm : public btActivatingCollisionAlgorithm
+class btBoxBoxCollisionAlgorithm : public btCollisionAlgorithm
 {
 	bool	m_ownManifold;
 	btPersistentManifold*	m_manifoldPtr;
 	
 public:
 	btBoxBoxCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
-		: btActivatingCollisionAlgorithm(ci) {}
+		: btCollisionAlgorithm(ci) {}
 
 	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 

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

@@ -207,13 +207,7 @@ void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[])
       cy += q*(p[i*2+1]+p[i*2+3]);
     }
     q = p[n*2-2]*p[1] - p[0]*p[n*2-1];
-	if (btFabs(a+q) > SIMD_EPSILON)
-	{
-		a = 1.f/(btScalar(3.0)*(a+q));
-	} else
-	{
-		a=1e30f;
-	}
+    a = 1.f/(btScalar(3.0)*(a+q));
     cx = a*(cx + q*(p[n*2-2]+p[0]));
     cy = a*(cy + q*(p[n*2-1]+p[1]));
   }
@@ -232,9 +226,9 @@ void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[])
     a = btScalar(j)*(2*M__PI/m) + A[i0];
     if (a > M__PI) a -= 2*M__PI;
     btScalar maxdiff=1e9,diff;
-
-    *iret = i0;			// iret is not allowed to keep this value, but it sometimes does, when diff=#QNAN0
-
+#if defined(DEBUG) || defined (_DEBUG)
+    *iret = i0;			// iret is not allowed to keep this value
+#endif
     for (i=0; i<n; i++) {
       if (avail[i]) {
 	diff = btFabs (A[i]-a);

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

@@ -22,7 +22,7 @@ class btPoolAllocator;
 
 ///btCollisionConfiguration allows to configure Bullet collision detection
 ///stack allocator size, default collision algorithms and persistent manifold pool size
-///@todo: describe the meaning
+///todo: describe the meaning
 class	btCollisionConfiguration
 {
 

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

@@ -17,6 +17,7 @@ subject to the following restrictions:
 #define COLLISION_CREATE_FUNC
 
 #include "LinearMath/btAlignedObjectArray.h"
+typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray;
 class btCollisionAlgorithm;
 class btCollisionObject;
 

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

@@ -52,12 +52,12 @@ btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisio
 		for (int j=0;j<MAX_BROADPHASE_COLLISION_TYPES;j++)
 		{
 			m_doubleDispatch[i][j] = m_collisionConfiguration->getCollisionAlgorithmCreateFunc(i,j);
-			btAssert(m_doubleDispatch[i][j]);
+			assert(m_doubleDispatch[i][j]);
 		}
 	}
 	
 	
-}
+};
 
 
 void btCollisionDispatcher::registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc)
@@ -78,13 +78,7 @@ btPersistentManifold*	btCollisionDispatcher::getNewManifold(void* b0,void* b1)
 
 	btCollisionObject* body0 = (btCollisionObject*)b0;
 	btCollisionObject* body1 = (btCollisionObject*)b1;
-
-	//test for Bullet 2.74: use a relative contact breaking threshold without clamping against 'gContactBreakingThreshold'
-	//btScalar contactBreakingThreshold = btMin(gContactBreakingThreshold,btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold()));
-	btScalar contactBreakingThreshold = btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold());
-
-	btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(),body1->getContactProcessingThreshold());
-		
+	
 	void* mem = 0;
 	
 	if (m_persistentManifoldPoolAllocator->getFreeCount())
@@ -95,7 +89,7 @@ btPersistentManifold*	btCollisionDispatcher::getNewManifold(void* b0,void* b1)
 		mem = btAlignedAlloc(sizeof(btPersistentManifold),16);
 
 	}
-	btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0,contactBreakingThreshold,contactProcessingThreshold);
+	btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0);
 	manifold->m_index1a = m_manifoldsPtr.size();
 	m_manifoldsPtr.push_back(manifold);
 
@@ -150,6 +144,7 @@ btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* bo
 
 
 
+
 bool	btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionObject* body1)
 {
 	//here you can do filtering
@@ -163,8 +158,8 @@ bool	btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionOb
 
 bool	btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionObject* body1)
 {
-	btAssert(body0);
-	btAssert(body1);
+	assert(body0);
+	assert(body1);
 
 	bool needsCollision = true;
 

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

@@ -17,10 +17,7 @@ subject to the following restrictions:
 #include "btCollisionObject.h"
 
 btCollisionObject::btCollisionObject()
-	:	m_anisotropicFriction(1.f,1.f,1.f),
-	m_hasAnisotropicFriction(false),
-	m_contactProcessingThreshold(0.f),
-		m_broadphaseHandle(0),
+	:	m_broadphaseHandle(0),
 		m_collisionShape(0),
 		m_rootCollisionShape(0),
 		m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT),

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

@@ -29,11 +29,8 @@ struct	btBroadphaseProxy;
 class	btCollisionShape;
 #include "LinearMath/btMotionState.h"
 #include "LinearMath/btAlignedAllocator.h"
-#include "LinearMath/btAlignedObjectArray.h"
 
 
-typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray;
-
 
 /// btCollisionObject can be used to manage collision detection objects. 
 /// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.
@@ -52,11 +49,6 @@ protected:
 	//without destroying the continuous interpolated motion (which uses this interpolation velocities)
 	btVector3	m_interpolationLinearVelocity;
 	btVector3	m_interpolationAngularVelocity;
-	
-	btVector3		m_anisotropicFriction;
-	bool				m_hasAnisotropicFriction;
-	btScalar		m_contactProcessingThreshold;	
-
 	btBroadphaseProxy*		m_broadphaseHandle;
 	btCollisionShape*		m_collisionShape;
 	
@@ -79,7 +71,7 @@ protected:
 	///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
 	void*			m_userObjectPointer;
 
-	///m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.
+	///m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody etc.
 	///do not assign your own m_internalType unless you write a new dynamics object class.
 	int				m_internalType;
 
@@ -111,19 +103,14 @@ public:
 		CF_STATIC_OBJECT= 1,
 		CF_KINEMATIC_OBJECT= 2,
 		CF_NO_CONTACT_RESPONSE = 4,
-		CF_CUSTOM_MATERIAL_CALLBACK = 8,//this allows per-triangle material (friction/restitution)
-		CF_CHARACTER_OBJECT = 16
+		CF_CUSTOM_MATERIAL_CALLBACK = 8//this allows per-triangle material (friction/restitution)
 	};
 
 	enum	CollisionObjectTypes
 	{
 		CO_COLLISION_OBJECT =1,
 		CO_RIGID_BODY,
-		///CO_GHOST_OBJECT keeps track of all objects overlapping its AABB and that pass its collision filter
-		///It is useful for collision sensors, explosion objects, character controller etc.
-		CO_GHOST_OBJECT,
-		CO_SOFT_BODY,
-		CO_HF_FLUID
+		CO_SOFT_BODY
 	};
 
 	SIMD_FORCE_INLINE bool mergesSimulationIslands() const
@@ -132,30 +119,6 @@ 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;
-	}
-
-	///the constraint solver can discard solving contacts, if the distance is above this threshold. 0 by default.
-	///Note that using contacts with positive distance can improve stability. It increases, however, the chance of colliding with degerate contacts, such as 'interior' triangle edges
-	void	setContactProcessingThreshold( btScalar contactProcessingThreshold)
-	{
-		m_contactProcessingThreshold = contactProcessingThreshold;
-	}
-	btScalar	getContactProcessingThreshold() const
-	{
-		return m_contactProcessingThreshold;
-	}
 
 	SIMD_FORCE_INLINE bool		isStaticObject() const {
 		return (m_collisionFlags & CF_STATIC_OBJECT) != 0;
@@ -180,7 +143,7 @@ public:
 
 	virtual ~btCollisionObject();
 
-	virtual void	setCollisionShape(btCollisionShape* collisionShape)
+	void	setCollisionShape(btCollisionShape* collisionShape)
 	{
 		m_collisionShape = collisionShape;
 		m_rootCollisionShape = collisionShape;
@@ -213,7 +176,7 @@ public:
 		m_collisionShape = collisionShape;
 	}
 
-	SIMD_FORCE_INLINE	int	getActivationState() const { return m_activationState1;}
+	int	getActivationState() const { return m_activationState1;}
 	
 	void setActivationState(int newState);
 
@@ -230,7 +193,7 @@ public:
 
 	void	activate(bool forceActivation = false);
 
-	SIMD_FORCE_INLINE bool isActive() const
+	inline bool isActive() const
 	{
 		return ((getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION));
 	}
@@ -274,12 +237,12 @@ public:
 	}
 
 
-	SIMD_FORCE_INLINE btBroadphaseProxy*	getBroadphaseHandle()
+	btBroadphaseProxy*	getBroadphaseHandle()
 	{
 		return m_broadphaseHandle;
 	}
 
-	SIMD_FORCE_INLINE const btBroadphaseProxy*	getBroadphaseHandle() const
+	const btBroadphaseProxy*	getBroadphaseHandle() const
 	{
 		return m_broadphaseHandle;
 	}
@@ -325,7 +288,7 @@ public:
 		return m_interpolationAngularVelocity;
 	}
 
-	SIMD_FORCE_INLINE int getIslandTag() const
+	const int getIslandTag() const
 	{
 		return	m_islandTag1;
 	}
@@ -335,7 +298,7 @@ public:
 		m_islandTag1 = tag;
 	}
 
-	SIMD_FORCE_INLINE int getCompanionId() const
+	const int getCompanionId() const
 	{
 		return	m_companionId;
 	}
@@ -345,7 +308,7 @@ public:
 		m_companionId = id;
 	}
 
-	SIMD_FORCE_INLINE btScalar			getHitFraction() const
+	const btScalar			getHitFraction() const
 	{
 		return m_hitFraction; 
 	}
@@ -356,7 +319,7 @@ public:
 	}
 
 	
-	SIMD_FORCE_INLINE int	getCollisionFlags() const
+	const int	getCollisionFlags() const
 	{
 		return m_collisionFlags;
 	}

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

@@ -32,9 +32,6 @@ subject to the following restrictions:
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btStackAlloc.h"
 
-//#define USE_BRUTEFORCE_RAYBROADPHASE 1
-//RECALCULATE_AABB is slower, but benefit is that you don't need to call 'stepSimulation'  or 'updateAabbs' before using a rayTest
-//#define RECALCULATE_AABB_RAYCAST 1
 
 //When the user doesn't provide dispatcher or broadphase, create basic versions (and delete them in destructor)
 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
@@ -69,7 +66,6 @@ btCollisionWorld::~btCollisionWorld()
 			//
 			getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp,m_dispatcher1);
 			getBroadphase()->destroyProxy(bp,m_dispatcher1);
-			collisionObject->setBroadphaseHandle(0);
 		}
 	}
 
@@ -115,41 +111,6 @@ void	btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,sho
 
 
 
-}
-
-
-
-void	btCollisionWorld::updateSingleAabb(btCollisionObject* colObj)
-{
-	btVector3 minAabb,maxAabb;
-	colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
-	//need to increase the aabb for contact thresholds
-	btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);
-	minAabb -= contactThreshold;
-	maxAabb += contactThreshold;
-
-	btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache;
-
-	//moving objects should be moderately sized, probably something wrong if not
-	if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12)))
-	{
-		bp->setAabb(colObj->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
-	} else
-	{
-		//something went wrong, investigate
-		//this assert is unwanted in 3D modelers (danger of loosing work)
-		colObj->setActivationState(DISABLE_SIMULATION);
-
-		static bool reportMe = true;
-		if (reportMe && m_debugDrawer)
-		{
-			reportMe = false;
-			m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation");
-			m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n");
-			m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n");
-			m_debugDrawer->reportErrorWarning("Thanks.\n");
-		}
-	}
 }
 
 void	btCollisionWorld::updateAabbs()
@@ -164,9 +125,38 @@ void	btCollisionWorld::updateAabbs()
 		//only update aabb of active objects
 		if (colObj->isActive())
 		{
-			updateSingleAabb(colObj);
+			btPoint3 minAabb,maxAabb;
+			colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
+			//need to increase the aabb for contact thresholds
+			btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);
+			minAabb -= contactThreshold;
+			maxAabb += contactThreshold;
+
+			btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache;
+
+			//moving objects should be moderately sized, probably something wrong if not
+			if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12)))
+			{
+				bp->setAabb(colObj->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
+			} else
+			{
+				//something went wrong, investigate
+				//this assert is unwanted in 3D modelers (danger of loosing work)
+				colObj->setActivationState(DISABLE_SIMULATION);
+
+				static bool reportMe = true;
+				if (reportMe && m_debugDrawer)
+				{
+					reportMe = false;
+					m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation");
+					m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n");
+					m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n");
+					m_debugDrawer->reportErrorWarning("Thanks.\n");
+				}
+			}
 		}
 	}
+
 }
 
 
@@ -236,7 +226,6 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 
 	if (collisionShape->isConvex())
 	{
-//		BT_PROFILE("rayTestConvex");
 		btConvexCast::CastResult castResult;
 		castResult.m_fraction = resultCallback.m_closestHitFraction;
 
@@ -280,7 +269,6 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 	} else {
 		if (collisionShape->isConcave())
 		{
-//			BT_PROFILE("rayTestConcave");
 			if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
 			{
 				///optimized version for btBvhTriangleMeshShape
@@ -298,8 +286,7 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 
 					BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
 						btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh):
-                  //@BP Mod
-						btTriangleRaycastCallback(from,to, resultCallback->m_flags),
+						btTriangleRaycastCallback(from,to),
 							m_resultCallback(resultCallback),
 							m_collisionObject(collisionObject),
 							m_triangleMesh(triangleMesh)
@@ -330,8 +317,7 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 				triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal);
 			} else
 			{
-				//generic (slower) case
-				btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
+				btTriangleMeshShape* triangleMesh = (btTriangleMeshShape*)collisionShape;
 
 				btTransform worldTocollisionObject = colObjWorldTransform.inverse();
 
@@ -344,12 +330,11 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 				{
 					btCollisionWorld::RayResultCallback* m_resultCallback;
 					btCollisionObject*	m_collisionObject;
-					btConcaveShape*	m_triangleMesh;
+					btTriangleMeshShape*	m_triangleMesh;
 
 					BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
-						btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape*	triangleMesh):
-                  //@BP Mod
-                  btTriangleRaycastCallback(from,to, resultCallback->m_flags),
+						btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh):
+						btTriangleRaycastCallback(from,to),
 							m_resultCallback(resultCallback),
 							m_collisionObject(collisionObject),
 							m_triangleMesh(triangleMesh)
@@ -378,7 +363,7 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 				};
 
 
-				BridgeTriangleRaycastCallback	rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,concaveShape);
+				BridgeTriangleRaycastCallback	rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh);
 				rcb.m_hitFraction = resultCallback.m_closestHitFraction;
 
 				btVector3 rayAabbMinLocal = rayFromLocal;
@@ -386,11 +371,10 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 				btVector3 rayAabbMaxLocal = rayFromLocal;
 				rayAabbMaxLocal.setMax(rayToLocal);
 
-				concaveShape->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);
+				triangleMesh->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);
 			}
 		} else {
-//			BT_PROFILE("rayTestCompound");
-			///@todo: use AABB tree or other BVH acceleration structure, see btDbvt
+			//todo: use AABB tree or other BVH acceleration structure!
 			if (collisionShape->isCompound())
 			{
 				const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
@@ -424,10 +408,9 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 {
 	if (collisionShape->isConvex())
 	{
-		//BT_PROFILE("convexSweepConvex");
 		btConvexCast::CastResult castResult;
 		castResult.m_allowedPenetration = allowedPenetration;
-		castResult.m_fraction = resultCallback.m_closestHitFraction;//btScalar(1.);//??
+		castResult.m_fraction = btScalar(1.);//??
 
 		btConvexShape* convexShape = (btConvexShape*) collisionShape;
 		btVoronoiSimplexSolver	simplexSolver;
@@ -469,7 +452,6 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 		{
 			if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
 			{
-				//BT_PROFILE("convexSweepbtBvhTriangleMesh");
 				btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
 				btTransform worldTocollisionObject = colObjWorldTransform.inverse();
 				btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
@@ -526,8 +508,7 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 				triangleMesh->performConvexcast(&tccb,convexFromLocal,convexToLocal,boxMinLocal, boxMaxLocal);
 			} else
 			{
-				//BT_PROFILE("convexSweepConcave");
-				btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
+				btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
 				btTransform worldTocollisionObject = colObjWorldTransform.inverse();
 				btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
 				btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
@@ -539,10 +520,10 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 				{
 					btCollisionWorld::ConvexResultCallback* m_resultCallback;
 					btCollisionObject*	m_collisionObject;
-					btConcaveShape*	m_triangleMesh;
+					btTriangleMeshShape*	m_triangleMesh;
 
 					BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
-						btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape*	triangleMesh, const btTransform& triangleToWorld):
+						btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh, const btTransform& triangleToWorld):
 						btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
 							m_resultCallback(resultCallback),
 							m_collisionObject(collisionObject),
@@ -575,7 +556,7 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 
 				};
 
-				BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,concaveShape, colObjWorldTransform);
+				BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,triangleMesh, colObjWorldTransform);
 				tccb.m_hitFraction = resultCallback.m_closestHitFraction;
 				btVector3 boxMinLocal, boxMaxLocal;
 				castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
@@ -586,13 +567,12 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 				rayAabbMaxLocal.setMax(convexToLocal);
 				rayAabbMinLocal += boxMinLocal;
 				rayAabbMaxLocal += boxMaxLocal;
-				concaveShape->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal);
+				triangleMesh->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal);
 			}
 		} else {
-			///@todo : use AABB tree or other BVH acceleration structure!
+			//todo: use AABB tree or other BVH acceleration structure!
 			if (collisionShape->isCompound())
 			{
-				BT_PROFILE("convexSweepCompound");
 				const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
 				int i=0;
 				for (i=0;i<compoundShape->getNumChildShapes();i++)
@@ -616,173 +596,51 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 	}
 }
 
-
-struct btSingleRayCallback : public btBroadphaseRayCallback
+void	btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
 {
 
-	btVector3	m_rayFromWorld;
-	btVector3	m_rayToWorld;
-	btTransform	m_rayFromTrans;
-	btTransform	m_rayToTrans;
-	btVector3	m_hitNormal;
 
-	const btCollisionWorld*	m_world;
-	btCollisionWorld::RayResultCallback&	m_resultCallback;
+	btTransform	rayFromTrans,rayToTrans;
+	rayFromTrans.setIdentity();
+	rayFromTrans.setOrigin(rayFromWorld);
+	rayToTrans.setIdentity();
 
-	btSingleRayCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld,const btCollisionWorld* world,btCollisionWorld::RayResultCallback& resultCallback)
-	:m_rayFromWorld(rayFromWorld),
-	m_rayToWorld(rayToWorld),
-	m_world(world),
-	m_resultCallback(resultCallback)
-	{
-		m_rayFromTrans.setIdentity();
-		m_rayFromTrans.setOrigin(m_rayFromWorld);
-		m_rayToTrans.setIdentity();
-		m_rayToTrans.setOrigin(m_rayToWorld);
+	rayToTrans.setOrigin(rayToWorld);
 
-		btVector3 rayDir = (rayToWorld-rayFromWorld);
+	/// go over all objects, and if the ray intersects their aabb, do a ray-shape query using convexCaster (CCD)
 
-		rayDir.normalize ();
-		///what about division by zero? --> just set rayDirection[i] to INF/1e30
-		m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
-		m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
-		m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
-		m_signs[0] = m_rayDirectionInverse[0] < 0.0;
-		m_signs[1] = m_rayDirectionInverse[1] < 0.0;
-		m_signs[2] = m_rayDirectionInverse[2] < 0.0;
-
-		m_lambda_max = rayDir.dot(m_rayToWorld-m_rayFromWorld);
-
-	}
-
-	
-
-	virtual bool	process(const btBroadphaseProxy* proxy)
+	int i;
+	for (i=0;i<m_collisionObjects.size();i++)
 	{
 		///terminate further ray tests, once the closestHitFraction reached zero
-		if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
-			return false;
-
-		btCollisionObject*	collisionObject = (btCollisionObject*)proxy->m_clientObject;
+		if (resultCallback.m_closestHitFraction == btScalar(0.f))
+			break;
 
+		btCollisionObject*	collisionObject= m_collisionObjects[i];
 		//only perform raycast if filterMask matches
-		if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) 
-		{
+		if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) {
 			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
-			//btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
-#if 0
-#ifdef RECALCULATE_AABB
 			btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
 			collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
-#else
-			//getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax);
-			const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin;
-			const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax;
-#endif
-#endif
-			//btScalar hitLambda = m_resultCallback.m_closestHitFraction;
-			//culling already done by broadphase
-			//if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal))
+
+			btScalar hitLambda = resultCallback.m_closestHitFraction;
+			btVector3 hitNormal;
+			if (btRayAabb(rayFromWorld,rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
 			{
-				m_world->rayTestSingle(m_rayFromTrans,m_rayToTrans,
+				rayTestSingle(rayFromTrans,rayToTrans,
 					collisionObject,
 						collisionObject->getCollisionShape(),
 						collisionObject->getWorldTransform(),
-						m_resultCallback);
+						resultCallback);
 			}
 		}
-		return true;
+
 	}
-};
-
-void	btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
-{
-	BT_PROFILE("rayTest");
-	/// use the broadphase to accelerate the search for objects, based on their aabb
-	/// and for each object with ray-aabb overlap, perform an exact ray test
-	btSingleRayCallback rayCB(rayFromWorld,rayToWorld,this,resultCallback);
-
-#ifndef USE_BRUTEFORCE_RAYBROADPHASE
-	m_broadphasePairCache->rayTest(rayFromWorld,rayToWorld,rayCB);
-#else
-	for (int i=0;i<this->getNumCollisionObjects();i++)
-	{
-		rayCB.process(m_collisionObjects[i]->getBroadphaseHandle());
-	}	
-#endif //USE_BRUTEFORCE_RAYBROADPHASE
 
 }
 
-
-struct btSingleSweepCallback : public btBroadphaseRayCallback
+void	btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, ConvexResultCallback& resultCallback) const
 {
-
-	btTransform	m_convexFromTrans;
-	btTransform	m_convexToTrans;
-	btVector3	m_hitNormal;
-	const btCollisionWorld*	m_world;
-	btCollisionWorld::ConvexResultCallback&	m_resultCallback;
-	btScalar	m_allowedCcdPenetration;
-	const btConvexShape* m_castShape;
-
-
-	btSingleSweepCallback(const btConvexShape* castShape, const btTransform& convexFromTrans,const btTransform& convexToTrans,const btCollisionWorld* world,btCollisionWorld::ConvexResultCallback& resultCallback,btScalar allowedPenetration)
-		:m_convexFromTrans(convexFromTrans),
-		m_convexToTrans(convexToTrans),
-		m_world(world),
-		m_resultCallback(resultCallback),
-		m_allowedCcdPenetration(allowedPenetration),
-		m_castShape(castShape)
-	{
-		btVector3 unnormalizedRayDir = (m_convexToTrans.getOrigin()-m_convexFromTrans.getOrigin());
-		btVector3 rayDir = unnormalizedRayDir.normalized();
-		///what about division by zero? --> just set rayDirection[i] to INF/1e30
-		m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
-		m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
-		m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
-		m_signs[0] = m_rayDirectionInverse[0] < 0.0;
-		m_signs[1] = m_rayDirectionInverse[1] < 0.0;
-		m_signs[2] = m_rayDirectionInverse[2] < 0.0;
-
-		m_lambda_max = rayDir.dot(unnormalizedRayDir);
-
-	}
-
-	virtual bool	process(const btBroadphaseProxy* proxy)
-	{
-		///terminate further convex sweep tests, once the closestHitFraction reached zero
-		if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
-			return false;
-
-		btCollisionObject*	collisionObject = (btCollisionObject*)proxy->m_clientObject;
-
-		//only perform raycast if filterMask matches
-		if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) {
-			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
-			m_world->objectQuerySingle(m_castShape, m_convexFromTrans,m_convexToTrans,
-					collisionObject,
-						collisionObject->getCollisionShape(),
-						collisionObject->getWorldTransform(),
-						m_resultCallback,
-						m_allowedCcdPenetration);
-		}
-		
-		return true;
-	}
-};
-
-
-
-void	btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const
-{
-
-	BT_PROFILE("convexSweepTest");
-	/// use the broadphase to accelerate the search for objects, based on their aabb
-	/// and for each object with ray-aabb overlap, perform an exact ray test
-	/// unfortunately the implementation for rayTest and convexSweepTest duplicated, albeit practically identical
-
-	
-
 	btTransform	convexFromTrans,convexToTrans;
 	convexFromTrans = convexFromWorld;
 	convexToTrans = convexToWorld;
@@ -791,21 +649,12 @@ void	btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btT
 	{
 		btVector3 linVel, angVel;
 		btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0, linVel, angVel);
-		btVector3 zeroLinVel;
-		zeroLinVel.setValue(0,0,0);
 		btTransform R;
 		R.setIdentity ();
 		R.setRotation (convexFromTrans.getRotation());
-		castShape->calculateTemporalAabb (R, zeroLinVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax);
+		castShape->calculateTemporalAabb (R, linVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax);
 	}
 
-#ifndef USE_BRUTEFORCE_RAYBROADPHASE
-
-	btSingleSweepCallback	convexCB(castShape,convexFromWorld,convexToWorld,this,resultCallback,allowedCcdPenetration);
-
-	m_broadphasePairCache->rayTest(convexFromTrans.getOrigin(),convexToTrans.getOrigin(),convexCB,castShapeAabbMin,castShapeAabbMax);
-
-#else
 	/// go over all objects, and if the ray intersects their aabb + cast shape aabb,
 	// do a ray-shape query using convexCaster (CCD)
 	int i;
@@ -827,9 +676,9 @@ void	btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btT
 						collisionObject->getCollisionShape(),
 						collisionObject->getWorldTransform(),
 						resultCallback,
-						allowedCcdPenetration);
+						getDispatchInfo().m_allowedCcdPenetration);
 			}
 		}
 	}
-#endif //USE_BRUTEFORCE_RAYBROADPHASE
+
 }

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

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://bulletphysics.com/Bullet/
+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.
@@ -22,39 +22,39 @@ subject to the following restrictions:
  *
  * Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ).
  *
- * There is the Physics Forum for feedback and general Collision Detection and Physics discussions.
- * Please visit http://www.bulletphysics.com
+ * There is the Physics Forum for Feedback and bteral Collision Detection and Physics discussions.
+ * Please visit http://www.continuousphysics.com/Bullet/phpBB2/index.php
  *
  * @section install_sec Installation
  *
  * @subsection step1 Step 1: Download
- * You can download the Bullet Physics Library from the Google Code repository: http://code.google.com/p/bullet/downloads/list
+ * You can download the Bullet Physics Library from our website: http://www.continuousphysics.com/Bullet/
  * @subsection step2 Step 2: Building
  * Bullet comes with autogenerated Project Files for Microsoft Visual Studio 6, 7, 7.1 and 8.
  * The main Workspace/Solution is located in Bullet/msvc/8/wksbullet.sln (replace 8 with your version).
  * 
- * Under other platforms, like Linux or Mac OS-X, Bullet can be build using either using make, cmake, http://www.cmake.org , or jam, http://www.perforce.com/jam/jam.html . cmake can autogenerate Xcode, KDevelop, MSVC and other build systems. just run cmake . in the root of Bullet.
- * So if you are not using MSVC or cmake, you can run ./autogen.sh ./configure to create both Makefile and Jamfile and then run make or jam.
+ * Under other platforms, like Linux or Mac OS-X, Bullet can be build using either using cmake, http://www.cmake.org, or jam, http://www.perforce.com/jam/jam.html . cmake can autogenerate Xcode, KDevelop, MSVC and other build systems. just run cmake . in the root of Bullet.
  * Jam is a build system that can build the library, demos and also autogenerate the MSVC Project Files.
- * If you don't have jam installed, you can make jam from the included jam-2.5 sources, or download jam from ftp://ftp.perforce.com/jam
+ * So if you are not using MSVC, you can run configure and jam .
+ * If you don't have jam installed, you can make jam from the included jam-2.5 sources, or download jam from ftp://ftp.perforce.com/pub/jam/
  * 
  * @subsection step3 Step 3: Testing demos
- * Try to run and experiment with BasicDemo executable as a starting point.
+ * Try to run and experiment with CcdPhysicsDemo executable as a starting point.
  * Bullet can be used in several ways, as Full Rigid Body simulation, as Collision Detector Library or Low Level / Snippets like the GJK Closest Point calculation.
  * The Dependencies can be seen in this documentation under Directories
  * 
- * @subsection step4 Step 4: Integrating in your application, full Rigid Body and Soft Body simulation
- * Check out BasicDemo how to create a btDynamicsWorld, btRigidBody and btCollisionShape, Stepping the simulation and synchronizing your graphics object transform.
- * Check out SoftDemo how to use soft body dynamics, using btSoftRigidDynamicsWorld.
+ * @subsection step4 Step 4: Integrating in your application, Full Rigid Body Simulation
+ * Check out CcdPhysicsDemo how to create a btDynamicsWorld, btRigidBody and btCollisionShape, Stepping the simulation and synchronizing your graphics object transform.
+ * PLEASE NOTE THE CcdPhysicsEnvironment and CcdPhysicsController is obsolete and will be removed. It has been replaced by classes derived frmo btDynamicsWorld and btRididBody
  * @subsection step5 Step 5 : Integrate the Collision Detection Library (without Dynamics and other Extras)
  * Bullet Collision Detection can also be used without the Dynamics/Extras.
- * Check out btCollisionWorld and btCollisionObject, and the CollisionInterfaceDemo.
+ * Check out btCollisionWorld and btCollisionObject, and the CollisionInterfaceDemo. Also in Extras/test_BulletOde.cpp there is a sample Collision Detection integration with Open Dynamics Engine, ODE, http://www.ode.org
  * @subsection step6 Step 6 : Use Snippets like the GJK Closest Point calculation.
  * Bullet has been designed in a modular way keeping dependencies to a minimum. The ConvexHullDistance demo demonstrates direct use of btGjkPairDetector.
  *
  * @section copyright Copyright
- * Copyright (C) 2005-2008 Erwin Coumans, some contributions Copyright Gino van den Bergen, Christer Ericson, Simon Hobbs, Ricardo Padrela, F Richter(res), Stephane Redon
- * Special thanks to all visitors of the Bullet Physics forum, and in particular above contributors, John McCutchan, Nathanael Presson, Dave Eberle, Dirk Gregorius, Erin Catto, Dave Eberle, Adam Moravanszky,
+ * Copyright (C) 2005-2007 Erwin Coumans, some contributions Copyright Gino van den Bergen, Christer Ericson, Simon Hobbs, Ricardo Padrela, F Richter(res), Stephane Redon
+ * Special thanks to all visitors of the Bullet Physics forum, and in particular above contributors, Dave Eberle, Dirk Gregorius, Erin Catto, Dave Eberle, Adam Moravanszky,
  * Pierre Terdiman, Kenny Erleben, Russell Smith, Oliver Strunk, Jan Paul van Waveren, Marten Svanfeldt.
  * 
  */
@@ -71,7 +71,7 @@ class btBroadphaseInterface;
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btTransform.h"
 #include "btCollisionObject.h"
-#include "btCollisionDispatcher.h"
+#include "btCollisionDispatcher.h" //for definition of btCollisionObjectArray
 #include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
 #include "LinearMath/btAlignedObjectArray.h"
 
@@ -107,11 +107,6 @@ public:
 		m_broadphasePairCache = pairCache;
 	}
 
-	const btBroadphaseInterface*	getBroadphase() const
-	{
-		return m_broadphasePairCache;
-	}
-
 	btBroadphaseInterface*	getBroadphase()
 	{
 		return m_broadphasePairCache;
@@ -133,10 +128,8 @@ public:
 		return m_dispatcher1;
 	}
 
-	void	updateSingleAabb(btCollisionObject* colObj);
-
 	virtual void	updateAabbs();
-	
+
 	virtual void	setDebugDrawer(btIDebugDraw*	debugDrawer)
 	{
 			m_debugDrawer = debugDrawer;
@@ -186,8 +179,6 @@ public:
 		btCollisionObject*		m_collisionObject;
 		short int	m_collisionFilterGroup;
 		short int	m_collisionFilterMask;
-      //@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback
-      unsigned int m_flags;
 
 		virtual ~RayResultCallback()
 		{
@@ -201,9 +192,7 @@ public:
 			:m_closestHitFraction(btScalar(1.)),
 			m_collisionObject(0),
 			m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
-			m_collisionFilterMask(btBroadphaseProxy::AllFilter),
-         //@BP Mod
-         m_flags(0)
+			m_collisionFilterMask(btBroadphaseProxy::AllFilter)
 		{
 		}
 
@@ -358,7 +347,7 @@ public:
 
 	// convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback
 	// This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
-	void    convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback,  btScalar allowedCcdPenetration = btScalar(0.)) const;
+	void    convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback) const;
 
 
 	/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.

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

@@ -19,32 +19,19 @@ subject to the following restrictions:
 #include "BulletCollision/BroadphaseCollision/btDbvt.h"
 #include "LinearMath/btIDebugDraw.h"
 #include "LinearMath/btAabbUtil2.h"
-#include "btManifoldResult.h"
 
 btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
-:btActivatingCollisionAlgorithm(ci,body0,body1),
+:btCollisionAlgorithm(ci),
 m_isSwapped(isSwapped),
 m_sharedManifold(ci.m_manifold)
 {
 	m_ownsManifold = false;
 
-	btCollisionObject* colObj = m_isSwapped? body1 : body0;
-	btAssert (colObj->getCollisionShape()->isCompound());
-	
-	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
-	m_compoundShapeRevision = compoundShape->getUpdateRevision();
-	
-	preallocateChildAlgorithms(body0,body1);
-}
-
-void	btCompoundCollisionAlgorithm::preallocateChildAlgorithms(btCollisionObject* body0,btCollisionObject* body1)
-{
 	btCollisionObject* colObj = m_isSwapped? body1 : body0;
 	btCollisionObject* otherObj = m_isSwapped? body0 : body1;
-	btAssert (colObj->getCollisionShape()->isCompound());
+	assert (colObj->getCollisionShape()->isCompound());
 	
 	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
-
 	int numChildren = compoundShape->getNumChildShapes();
 	int i;
 	
@@ -59,13 +46,14 @@ void	btCompoundCollisionAlgorithm::preallocateChildAlgorithms(btCollisionObject*
 			btCollisionShape* tmpShape = colObj->getCollisionShape();
 			btCollisionShape* childShape = compoundShape->getChildShape(i);
 			colObj->internalSetTemporaryCollisionShape( childShape );
-			m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(colObj,otherObj,m_sharedManifold);
+			m_childCollisionAlgorithms[i] = ci.m_dispatcher1->findAlgorithm(colObj,otherObj,m_sharedManifold);
 			colObj->internalSetTemporaryCollisionShape( tmpShape );
 		}
 	}
 }
 
-void	btCompoundCollisionAlgorithm::removeChildAlgorithms()
+
+btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm()
 {
 	int numChildren = m_childCollisionAlgorithms.size();
 	int i;
@@ -79,11 +67,6 @@ void	btCompoundCollisionAlgorithm::removeChildAlgorithms()
 	}
 }
 
-btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm()
-{
-	removeChildAlgorithms();
-}
-
 
 
 
@@ -184,50 +167,13 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
 	btCollisionObject* colObj = m_isSwapped? body1 : body0;
 	btCollisionObject* otherObj = m_isSwapped? body0 : body1;
 
-	
-
-	btAssert (colObj->getCollisionShape()->isCompound());
+	assert (colObj->getCollisionShape()->isCompound());
 	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
 
-	///btCompoundShape might have changed:
-	////make sure the internal child collision algorithm caches are still valid
-	if (compoundShape->getUpdateRevision() != m_compoundShapeRevision)
-	{
-		///clear and update all
-		removeChildAlgorithms();
-		
-		preallocateChildAlgorithms(body0,body1);
-	}
-
-
 	btDbvt* tree = compoundShape->getDynamicAabbTree();
 	//use a dynamic aabb tree to cull potential child-overlaps
 	btCompoundLeafCallback  callback(colObj,otherObj,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold);
 
-	///we need to refresh all contact manifolds
-	///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
-	///so we should add a 'refreshManifolds' in the btCollisionAlgorithm
-	{
-		int i;
-		btManifoldArray manifoldArray;
-		for (i=0;i<m_childCollisionAlgorithms.size();i++)
-		{
-			if (m_childCollisionAlgorithms[i])
-			{
-				m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
-				for (int m=0;m<manifoldArray.size();m++)
-				{
-					if (manifoldArray[m]->getNumContacts())
-					{
-						resultOut->setPersistentManifold(manifoldArray[m]);
-						resultOut->refreshContactPoints();
-						resultOut->setPersistentManifold(0);//??necessary?
-					}
-				}
-				manifoldArray.clear();
-			}
-		}
-	}
 
 	if (tree)
 	{
@@ -296,7 +242,7 @@ btScalar	btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
 	btCollisionObject* colObj = m_isSwapped? body1 : body0;
 	btCollisionObject* otherObj = m_isSwapped? body0 : body1;
 
-	btAssert (colObj->getCollisionShape()->isCompound());
+	assert (colObj->getCollisionShape()->isCompound());
 	
 	btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
 
@@ -339,4 +285,3 @@ btScalar	btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
 }
 
 
-

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

@@ -16,7 +16,7 @@ subject to the following restrictions:
 #ifndef COMPOUND_COLLISION_ALGORITHM_H
 #define COMPOUND_COLLISION_ALGORITHM_H
 
-#include "btActivatingCollisionAlgorithm.h"
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
 #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
 
@@ -26,23 +26,16 @@ class btDispatcher;
 #include "btCollisionCreateFunc.h"
 #include "LinearMath/btAlignedObjectArray.h"
 class btDispatcher;
-class btCollisionObject;
 
 /// btCompoundCollisionAlgorithm  supports collision between CompoundCollisionShapes and other collision shapes
-class btCompoundCollisionAlgorithm  : public btActivatingCollisionAlgorithm
+class btCompoundCollisionAlgorithm  : public btCollisionAlgorithm
 {
 	btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithms;
 	bool m_isSwapped;
 
 	class btPersistentManifold*	m_sharedManifold;
 	bool					m_ownsManifold;
-
-	int	m_compoundShapeRevision;//to keep track of changes, so that childAlgorithm array can be updated
 	
-	void	removeChildAlgorithms();
-	
-	void	preallocateChildAlgorithms(btCollisionObject* body0,btCollisionObject* body1);
-
 public:
 
 	btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);

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

@@ -27,7 +27,7 @@ subject to the following restrictions:
 #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
 
 btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
-: btActivatingCollisionAlgorithm(ci,body0,body1),
+: btCollisionAlgorithm(ci),
 m_isSwapped(isSwapped),
 m_btConvexTriangleCallback(ci.m_dispatcher1,body0,body1,isSwapped)
 {
@@ -72,7 +72,7 @@ btConvexTriangleCallback::~btConvexTriangleCallback()
 void	btConvexTriangleCallback::clearCache()
 {
 	m_dispatcher->clearManifold(m_manifoldPtr);
-}
+};
 
 
 
@@ -93,7 +93,7 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
 
 	
 	///debug drawing of the overlapping triangles
-	if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe ))
+	if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && m_dispatchInfoPtr->m_debugDraw->getDebugMode() > 0)
 	{
 		btVector3 color(255,255,0);
 		btTransform& tr = ob->getWorldTransform();

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

@@ -16,7 +16,7 @@ subject to the following restrictions:
 #ifndef CONVEX_CONCAVE_COLLISION_ALGORITHM_H
 #define CONVEX_CONCAVE_COLLISION_ALGORITHM_H
 
-#include "btActivatingCollisionAlgorithm.h"
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
 #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
 #include "BulletCollision/CollisionShapes/btTriangleCallback.h"
@@ -34,8 +34,8 @@ class btConvexTriangleCallback : public btTriangleCallback
 	btVector3	m_aabbMin;
 	btVector3	m_aabbMax ;
 
-
 	btManifoldResult* m_resultOut;
+
 	btDispatcher*	m_dispatcher;
 	const btDispatcherInfo* m_dispatchInfoPtr;
 	btScalar m_collisionMarginTriangle;
@@ -70,7 +70,7 @@ int	m_triangleCount;
 
 
 /// btConvexConcaveCollisionAlgorithm  supports collision between convex shapes and (concave) trianges meshes.
-class btConvexConcaveCollisionAlgorithm  : public btActivatingCollisionAlgorithm
+class btConvexConcaveCollisionAlgorithm  : public btCollisionAlgorithm
 {
 
 	bool	m_isSwapped;
@@ -78,7 +78,6 @@ class btConvexConcaveCollisionAlgorithm  : public btActivatingCollisionAlgorithm
 	btConvexTriangleCallback m_btConvexTriangleCallback;
 
 
-
 public:
 
 	btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);

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

@@ -38,7 +38,7 @@ subject to the following restrictions:
 
 #include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
 
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
 
 
@@ -51,8 +51,6 @@ subject to the following restrictions:
 
 btConvexConvexAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface*			simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
 {
-	m_numPerturbationIterations = 0;
-	m_minimumPointsPerturbationThreshold = 3;
 	m_simplexSolver = simplexSolver;
 	m_pdSolver = pdSolver;
 }
@@ -61,22 +59,17 @@ btConvexConvexAlgorithm::CreateFunc::~CreateFunc()
 { 
 }
 
-btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
-: btActivatingCollisionAlgorithm(ci,body0,body1),
-m_simplexSolver(simplexSolver),
-m_pdSolver(pdSolver),
+btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
+: btCollisionAlgorithm(ci),
+m_gjkPairDetector(0,0,simplexSolver,pdSolver),
 m_ownManifold (false),
 m_manifoldPtr(mf),
-m_lowLevelOfDetail(false),
-#ifdef USE_SEPDISTANCE_UTIL2
-,m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngularMotionDisc(),
-			  (static_cast<btConvexShape*>(body1->getCollisionShape()))->getAngularMotionDisc()),
-#endif
-m_numPerturbationIterations(numPerturbationIterations),
-m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
+m_lowLevelOfDetail(false)
 {
 	(void)body0;
 	(void)body1;
+
+
 }
 
 
@@ -97,63 +90,8 @@ void	btConvexConvexAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
 }
 
 
-struct btPerturbedContactResult : public btManifoldResult
-{
-	btManifoldResult* m_originalManifoldResult;
-	btTransform m_transformA;
-	btTransform m_transformB;
-	btTransform	m_unPerturbedTransform;
-	bool	m_perturbA;
-	btIDebugDraw*	m_debugDrawer;
 
 
-	btPerturbedContactResult(btManifoldResult* originalResult,const btTransform& transformA,const btTransform& transformB,const btTransform& unPerturbedTransform,bool perturbA,btIDebugDraw* debugDrawer)
-		:m_originalManifoldResult(originalResult),
-		m_transformA(transformA),
-		m_transformB(transformB),
-		m_perturbA(perturbA),
-		m_unPerturbedTransform(unPerturbedTransform),
-		m_debugDrawer(debugDrawer)
-	{
-	}
-	virtual ~ btPerturbedContactResult()
-	{
-	}
-
-	virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar orgDepth)
-	{
-		btVector3 endPt,startPt;
-		btScalar newDepth;
-		btVector3 newNormal;
-
-		if (m_perturbA)
-		{
-			btVector3 endPtOrg = pointInWorld + normalOnBInWorld*orgDepth;
-			endPt = (m_unPerturbedTransform*m_transformA.inverse())(endPtOrg);
-			newDepth = (endPt -  pointInWorld).dot(normalOnBInWorld);
-			startPt = endPt+normalOnBInWorld*newDepth;
-		} else
-		{
-			endPt = pointInWorld + normalOnBInWorld*orgDepth;
-			startPt = (m_unPerturbedTransform*m_transformB.inverse())(pointInWorld);
-			newDepth = (endPt -  startPt).dot(normalOnBInWorld);
-			
-		}
-
-//#define DEBUG_CONTACTS 1
-#ifdef DEBUG_CONTACTS
-		m_debugDrawer->drawLine(startPt,endPt,btVector3(1,0,0));
-		m_debugDrawer->drawSphere(startPt,0.05,btVector3(0,1,0));
-		m_debugDrawer->drawSphere(endPt,0.05,btVector3(0,0,1));
-#endif //DEBUG_CONTACTS
-
-		
-		m_originalManifoldResult->addContactPoint(normalOnBInWorld,startPt,newDepth);
-	}
-
-};
-
-extern btScalar gContactBreakingThreshold;
 
 //
 // Convex-Convex collision algorithm
@@ -169,125 +107,39 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 	}
 	resultOut->setPersistentManifold(m_manifoldPtr);
 
-	//comment-out next line to test multi-contact generation
-	//resultOut->getPersistentManifold()->clearManifold();
-	
+#ifdef USE_BT_GJKEPA
+	btConvexShape*				shape0(static_cast<btConvexShape*>(body0->getCollisionShape()));
+	btConvexShape*				shape1(static_cast<btConvexShape*>(body1->getCollisionShape()));
+	const btScalar				radialmargin(0/*shape0->getMargin()+shape1->getMargin()*/);
+	btGjkEpaSolver::sResults	results;
+	if(btGjkEpaSolver::Collide(	shape0,body0->getWorldTransform(),
+								shape1,body1->getWorldTransform(),
+								radialmargin,results))
+		{
+		dispatchInfo.m_debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
+		resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
+		}
+#else
 
 	btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
 	btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
-
-#ifdef USE_SEPDISTANCE_UTIL2
-	m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(),body1->getWorldTransform());
-	if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance()<=0.f)
-#endif //USE_SEPDISTANCE_UTIL2
-
-	{
-
 	
 	btGjkPairDetector::ClosestPointInput input;
 
-	btGjkPairDetector	gjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver);
 	//TODO: if (dispatchInfo.m_useContinuous)
-	gjkPairDetector.setMinkowskiA(min0);
-	gjkPairDetector.setMinkowskiB(min1);
-
-#ifdef USE_SEPDISTANCE_UTIL2
-	if (dispatchInfo.m_useConvexConservativeDistanceUtil)
-	{
-		input.m_maximumDistanceSquared = 1e30f;
-	} else
-#endif //USE_SEPDISTANCE_UTIL2
-	{
-		input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
-		input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
-	}
-
+	m_gjkPairDetector.setMinkowskiA(min0);
+	m_gjkPairDetector.setMinkowskiB(min1);
+	input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
+	input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
 	input.m_stackAlloc = dispatchInfo.m_stackAllocator;
+
+//	input.m_maximumDistanceSquared = btScalar(1e30);
+	
 	input.m_transformA = body0->getWorldTransform();
 	input.m_transformB = body1->getWorldTransform();
-
-	gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
-	btScalar sepDist = gjkPairDetector.getCachedSeparatingDistance()+dispatchInfo.m_convexConservativeDistanceThreshold;
-
-	//now perturbe directions to get multiple contact points
-	btVector3 v0,v1;
-	btVector3 sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
-	btPlaneSpace1(sepNormalWorldSpace,v0,v1);
-	//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
 	
-	//perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
-	if (resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
-	{
-		
-		int i;
-
-		bool perturbeA = true;
-		const btScalar angleLimit = 0.125f * SIMD_PI;
-		btScalar perturbeAngle;
-		btScalar radiusA = min0->getAngularMotionDisc();
-		btScalar radiusB = min1->getAngularMotionDisc();
-		if (radiusA < radiusB)
-		{
-			perturbeAngle = gContactBreakingThreshold /radiusA;
-			perturbeA = true;
-		} else
-		{
-			perturbeAngle = gContactBreakingThreshold / radiusB;
-			perturbeA = false;
-		}
-		if ( perturbeAngle > angleLimit ) 
-				perturbeAngle = angleLimit;
-
-		btTransform unPerturbedTransform;
-		if (perturbeA)
-		{
-			unPerturbedTransform = input.m_transformA;
-		} else
-		{
-			unPerturbedTransform = input.m_transformB;
-		}
-		
-		for ( i=0;i<m_numPerturbationIterations;i++)
-		{
-			btQuaternion perturbeRot(v0,perturbeAngle);
-			btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
-			btQuaternion rotq(sepNormalWorldSpace,iterationAngle);
-			
-			
-			if (perturbeA)
-			{
-				input.m_transformA.setBasis(  btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0->getWorldTransform().getBasis());
-				input.m_transformB = body1->getWorldTransform();
-#ifdef DEBUG_CONTACTS
-				dispatchInfo.m_debugDraw->drawTransform(input.m_transformA,10.0);
-#endif //DEBUG_CONTACTS
-			} else
-			{
-				input.m_transformA = body0->getWorldTransform();
-				input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1->getWorldTransform().getBasis());
-#ifdef DEBUG_CONTACTS
-				dispatchInfo.m_debugDraw->drawTransform(input.m_transformB,10.0);
+	m_gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
 #endif
-			}
-			
-			btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB,unPerturbedTransform,perturbeA,dispatchInfo.m_debugDraw);
-			gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw);
-			
-			
-		}
-	}
-
-	
-
-#ifdef USE_SEPDISTANCE_UTIL2
-	if (dispatchInfo.m_useConvexConservativeDistanceUtil)
-	{
-		m_sepDistance.initSeparatingDistance(gjkPairDetector.getCachedSeparatingAxis(),sepDist,body0->getWorldTransform(),body1->getWorldTransform());
-	}
-#endif //USE_SEPDISTANCE_UTIL2
-
-
-	}
 
 	if (m_ownManifold)
 	{

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

@@ -16,50 +16,30 @@ subject to the following restrictions:
 #ifndef CONVEX_CONVEX_ALGORITHM_H
 #define CONVEX_CONVEX_ALGORITHM_H
 
-#include "btActivatingCollisionAlgorithm.h"
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
 #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
 #include "btCollisionCreateFunc.h"
 #include "btCollisionDispatcher.h"
-#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
 
 class btConvexPenetrationDepthSolver;
 
-///Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation. However, when using large size ratios GJK can be imprecise
-///so the distance is not conservative. In that case, enabling this USE_SEPDISTANCE_UTIL2 would result in failing/missing collisions.
-///Either improve GJK for large size ratios (testing a 100 units versus a 0.1 unit object) or only enable the util
-///for certain pairs that have a small size ratio
-///#define USE_SEPDISTANCE_UTIL2 1
-
-///The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects.
-///Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal.
-///This idea was described by Gino van den Bergen in this forum topic http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=4&t=288&p=888#p888
-class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm
+///ConvexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations.
+class btConvexConvexAlgorithm : public btCollisionAlgorithm
 {
-#ifdef USE_SEPDISTANCE_UTIL2
-	btConvexSeparatingDistanceUtil	m_sepDistance;
-#endif
-	btSimplexSolverInterface*		m_simplexSolver;
-	btConvexPenetrationDepthSolver* m_pdSolver;
+	btGjkPairDetector m_gjkPairDetector;
+public:
 
-	
 	bool	m_ownManifold;
 	btPersistentManifold*	m_manifoldPtr;
 	bool			m_lowLevelOfDetail;
 	
-	int m_numPerturbationIterations;
-	int m_minimumPointsPerturbationThreshold;
-
-
-	///cache separating vector to speedup collision detection
-	
 
 public:
 
-	btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
-
+	btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
 
 	virtual ~btConvexConvexAlgorithm();
 
@@ -85,12 +65,9 @@ public:
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-
 		btConvexPenetrationDepthSolver*		m_pdSolver;
 		btSimplexSolverInterface*			m_simplexSolver;
-		int m_numPerturbationIterations;
-		int m_minimumPointsPerturbationThreshold;
-
+		
 		CreateFunc(btSimplexSolverInterface*			simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
 		
 		virtual ~CreateFunc();
@@ -98,7 +75,7 @@ public:
 		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm));
-			return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
+			return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver);
 		}
 	};
 

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

@@ -4,8 +4,8 @@ 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,
+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.
@@ -22,17 +22,15 @@ subject to the following restrictions:
 
 //#include <stdio.h>
 
-btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold)
+btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
 : btCollisionAlgorithm(ci),
 m_ownManifold(false),
 m_manifoldPtr(mf),
-m_isSwapped(isSwapped),
-m_numPerturbationIterations(numPerturbationIterations),
-m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
+m_isSwapped(isSwapped)
 {
 	btCollisionObject* convexObj = m_isSwapped? col1 : col0;
 	btCollisionObject* planeObj = m_isSwapped? col0 : col1;
-
+	
 	if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObj,planeObj))
 	{
 		m_manifoldPtr = m_dispatcher->getNewManifold(convexObj,planeObj);
@@ -50,28 +48,30 @@ btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm()
 	}
 }
 
-void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+
+
+void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
-    btCollisionObject* convexObj = m_isSwapped? body1 : body0;
+	(void)dispatchInfo;
+	(void)resultOut;
+	if (!m_manifoldPtr)
+		return;
+
+	btCollisionObject* convexObj = m_isSwapped? body1 : body0;
 	btCollisionObject* planeObj = m_isSwapped? body0: body1;
 
 	btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
 	btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
 
-    bool hasCollision = false;
+	bool hasCollision = false;
 	const btVector3& planeNormal = planeShape->getPlaneNormal();
 	const btScalar& planeConstant = planeShape->getPlaneConstant();
-	
-	btTransform convexWorldTransform = convexObj->getWorldTransform();
-	btTransform convexInPlaneTrans;
-	convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexWorldTransform;
-	//now perturbe the convex-world transform
-	convexWorldTransform.getBasis()*=btMatrix3x3(perturbeRot);
 	btTransform planeInConvex;
-	planeInConvex= convexWorldTransform.inverse() * planeObj->getWorldTransform();
-	
-	btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
+	planeInConvex= convexObj->getWorldTransform().inverse() * planeObj->getWorldTransform();
+	btTransform convexInPlaneTrans;
+	convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexObj->getWorldTransform();
 
+	btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
 	btVector3 vtxInPlane = convexInPlaneTrans(vtx);
 	btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
 
@@ -87,53 +87,6 @@ void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion&
 		btVector3 pOnB = vtxInPlaneWorld;
 		resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
 	}
-}
-
-
-void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
-{
-	(void)dispatchInfo;
-	if (!m_manifoldPtr)
-		return;
-
-    btCollisionObject* convexObj = m_isSwapped? body1 : body0;
-	btCollisionObject* planeObj = m_isSwapped? body0: body1;
-
-	btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
-	btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
-
-    bool hasCollision = false;
-	const btVector3& planeNormal = planeShape->getPlaneNormal();
-	const btScalar& planeConstant = planeShape->getPlaneConstant();
-
-	//first perform a collision query with the non-perturbated collision objects
-	{
-		btQuaternion rotq(0,0,0,1);
-		collideSingleContact(rotq,body0,body1,dispatchInfo,resultOut);
-	}
-
-	if (resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold)
-	{
-		btVector3 v0,v1;
-		btPlaneSpace1(planeNormal,v0,v1);
-		//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
-
-		const btScalar angleLimit = 0.125f * SIMD_PI;
-		btScalar perturbeAngle;
-		btScalar radius = convexShape->getAngularMotionDisc();
-		perturbeAngle = gContactBreakingThreshold / radius;
-		if ( perturbeAngle > angleLimit ) 
-				perturbeAngle = angleLimit;
-
-		btQuaternion perturbeRot(v0,perturbeAngle);
-		for (int i=0;i<m_numPerturbationIterations;i++)
-		{
-			btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
-			btQuaternion rotq(planeNormal,iterationAngle);
-			collideSingleContact(rotq.inverse()*perturbeRot*rotq,body0,body1,dispatchInfo,resultOut);
-		}
-	}
-
 	if (m_ownManifold)
 	{
 		if (m_manifoldPtr->getNumContacts())

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

@@ -4,8 +4,8 @@ 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,
+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.
@@ -28,22 +28,18 @@ class btPersistentManifold;
 /// Other features are frame-coherency (persistent data) and collision response.
 class btConvexPlaneCollisionAlgorithm : public btCollisionAlgorithm
 {
-	bool		m_ownManifold;
+	bool	m_ownManifold;
 	btPersistentManifold*	m_manifoldPtr;
-	bool		m_isSwapped;
-	int			m_numPerturbationIterations;
-	int			m_minimumPointsPerturbationThreshold;
-
+	bool	m_isSwapped;
+	
 public:
 
-	btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold);
+	btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
 
 	virtual ~btConvexPlaneCollisionAlgorithm();
 
 	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
-	void collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
-
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
 	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
@@ -56,24 +52,15 @@ public:
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		int	m_numPerturbationIterations;
-		int m_minimumPointsPerturbationThreshold;
-			
-		CreateFunc() 
-			: m_numPerturbationIterations(3),
-			m_minimumPointsPerturbationThreshold(3)
-		{
-		}
-		
 		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
 		{
 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexPlaneCollisionAlgorithm));
 			if (!m_swapped)
 			{
-				return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,false,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
+				return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,false);
 			} else
 			{
-				return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,true,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
+				return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,true);
 			}
 		}
 	};

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

@@ -100,10 +100,11 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
 	int maxSize = sizeof(btConvexConvexAlgorithm);
 	int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm);
 	int maxSize3 = sizeof(btCompoundCollisionAlgorithm);
-	int sl = sizeof(btConvexSeparatingDistanceUtil);
-	sl = sizeof(btGjkPairDetector);
+	int maxSize4 = sizeof(btEmptyAlgorithm);
+	
 	int	collisionAlgorithmMaxElementSize = btMax(maxSize,maxSize2);
 	collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);
+	collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize4);
 
 	if (constructionInfo.m_stackAlloc)
 	{
@@ -288,10 +289,3 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
 	//failed to find an algorithm
 	return m_emptyCreateFunc;
 }
-
-void btDefaultCollisionConfiguration::setConvexConvexMultipointIterations(int numPerturbationIterations, int minimumPointsPerturbationThreshold)
-{
-	btConvexConvexAlgorithm::CreateFunc* convexConvex = (btConvexConvexAlgorithm::CreateFunc*) m_convexConvexCreateFunc;
-	convexConvex->m_numPerturbationIterations = numPerturbationIterations;
-	convexConvex->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
-}

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

@@ -33,9 +33,9 @@ struct	btDefaultCollisionConstructionInfo
 		:m_stackAlloc(0),
 		m_persistentManifoldPool(0),
 		m_collisionAlgorithmPool(0),
-		m_defaultMaxPersistentManifoldPoolSize(4096),
-		m_defaultMaxCollisionAlgorithmPoolSize(4096),
-		m_defaultStackAllocatorSize(0)
+		m_defaultMaxPersistentManifoldPoolSize(65535),
+		m_defaultMaxCollisionAlgorithmPoolSize(65535),
+		m_defaultStackAllocatorSize(5*1024*1024)
 	{
 	}
 };
@@ -44,12 +44,10 @@ struct	btDefaultCollisionConstructionInfo
 
 ///btCollisionConfiguration allows to configure Bullet collision detection
 ///stack allocator, pool memory allocators
-///@todo: describe the meaning
+///todo: describe the meaning
 class	btDefaultCollisionConfiguration : public btCollisionConfiguration
 {
 
-protected:
-
 	int	m_persistentManifoldPoolSize;
 	
 	btStackAlloc*	m_stackAlloc;
@@ -58,7 +56,6 @@ protected:
 	btPoolAllocator*	m_persistentManifoldPool;
 	bool	m_ownsPersistentManifoldPool;
 
-
 	btPoolAllocator*	m_collisionAlgorithmPool;
 	bool	m_ownsCollisionAlgorithmPool;
 
@@ -111,14 +108,6 @@ public:
 
 	virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1);
 
-	///Use this method to allow to generate multiple contact points between at once, between two objects using the generic convex-convex algorithm.
-	///By default, this feature is disabled for best performance.
-	///@param numPerturbationIterations controls the number of collision queries. Set it to zero to disable the feature.
-	///@param minimumPointsPerturbationThreshold is the minimum number of points in the contact cache, above which the feature is disabled
-	///3 is a good value for both params, if you want to enable the feature. This is because the default contact cache contains a maximum of 4 points, and one collision query at the unperturbed orientation is performed first.
-	///See Bullet/Demos/CollisionDemo for an example how this feature gathers multiple points.
-	///@todo we could add a per-object setting of those parameters, for level-of-detail collision detection.
-	void	setConvexConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3);
 
 };
 

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

@@ -1,171 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.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 "btGhostObject.h"
-#include "btCollisionWorld.h"
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-#include "LinearMath/btAabbUtil2.h"
-
-btGhostObject::btGhostObject()
-{
-	m_internalType = CO_GHOST_OBJECT;
-}
-
-btGhostObject::~btGhostObject()
-{
-	///btGhostObject should have been removed from the world, so no overlapping objects
-	btAssert(!m_overlappingObjects.size());
-}
-
-
-void btGhostObject::addOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btBroadphaseProxy* thisProxy)
-{
-	btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject;
-	btAssert(otherObject);
-	///if this linearSearch becomes too slow (too many overlapping objects) we should add a more appropriate data structure
-	int index = m_overlappingObjects.findLinearSearch(otherObject);
-	if (index==m_overlappingObjects.size())
-	{
-		//not found
-		m_overlappingObjects.push_back(otherObject);
-	}
-}
-
-void btGhostObject::removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy)
-{
-	btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject;
-	btAssert(otherObject);
-	int index = m_overlappingObjects.findLinearSearch(otherObject);
-	if (index<m_overlappingObjects.size())
-	{
-		m_overlappingObjects[index] = m_overlappingObjects[m_overlappingObjects.size()-1];
-		m_overlappingObjects.pop_back();
-	}
-}
-
-
-btPairCachingGhostObject::btPairCachingGhostObject()
-{
-	m_hashPairCache = new (btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
-}
-
-btPairCachingGhostObject::~btPairCachingGhostObject()
-{
-	m_hashPairCache->~btHashedOverlappingPairCache();
-	btAlignedFree( m_hashPairCache );
-}
-
-void btPairCachingGhostObject::addOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btBroadphaseProxy* thisProxy)
-{
-	btBroadphaseProxy*actualThisProxy = thisProxy ? thisProxy : getBroadphaseHandle();
-	btAssert(actualThisProxy);
-
-	btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject;
-	btAssert(otherObject);
-	int index = m_overlappingObjects.findLinearSearch(otherObject);
-	if (index==m_overlappingObjects.size())
-	{
-		m_overlappingObjects.push_back(otherObject);
-		m_hashPairCache->addOverlappingPair(actualThisProxy,otherProxy);
-	}
-}
-
-void btPairCachingGhostObject::removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy1)
-{
-	btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject;
-	btBroadphaseProxy* actualThisProxy = thisProxy1 ? thisProxy1 : getBroadphaseHandle();
-	btAssert(actualThisProxy);
-
-	btAssert(otherObject);
-	int index = m_overlappingObjects.findLinearSearch(otherObject);
-	if (index<m_overlappingObjects.size())
-	{
-		m_overlappingObjects[index] = m_overlappingObjects[m_overlappingObjects.size()-1];
-		m_overlappingObjects.pop_back();
-		m_hashPairCache->removeOverlappingPair(actualThisProxy,otherProxy,dispatcher);
-	}
-}
-
-
-void	btGhostObject::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const
-{
-	btTransform	convexFromTrans,convexToTrans;
-	convexFromTrans = convexFromWorld;
-	convexToTrans = convexToWorld;
-	btVector3 castShapeAabbMin, castShapeAabbMax;
-	/* Compute AABB that encompasses angular movement */
-	{
-		btVector3 linVel, angVel;
-		btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0, linVel, angVel);
-		btTransform R;
-		R.setIdentity ();
-		R.setRotation (convexFromTrans.getRotation());
-		castShape->calculateTemporalAabb (R, linVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax);
-	}
-
-	/// go over all objects, and if the ray intersects their aabb + cast shape aabb,
-	// do a ray-shape query using convexCaster (CCD)
-	int i;
-	for (i=0;i<m_overlappingObjects.size();i++)
-	{
-		btCollisionObject*	collisionObject= m_overlappingObjects[i];
-		//only perform raycast if filterMask matches
-		if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) {
-			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
-			btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
-			collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
-			AabbExpand (collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);
-			btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing
-			btVector3 hitNormal;
-			if (btRayAabb(convexFromWorld.getOrigin(),convexToWorld.getOrigin(),collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
-			{
-				btCollisionWorld::objectQuerySingle(castShape, convexFromTrans,convexToTrans,
-					collisionObject,
-						collisionObject->getCollisionShape(),
-						collisionObject->getWorldTransform(),
-						resultCallback,
-						allowedCcdPenetration);
-			}
-		}
-	}
-
-}
-
-void	btGhostObject::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, btCollisionWorld::RayResultCallback& resultCallback) const
-{
-	btTransform rayFromTrans;
-	rayFromTrans.setIdentity();
-	rayFromTrans.setOrigin(rayFromWorld);
-	btTransform  rayToTrans;
-	rayToTrans.setIdentity();
-	rayToTrans.setOrigin(rayToWorld);
-
-
-	int i;
-	for (i=0;i<m_overlappingObjects.size();i++)
-	{
-		btCollisionObject*	collisionObject= m_overlappingObjects[i];
-		//only perform raycast if filterMask matches
-		if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) 
-		{
-			btCollisionWorld::rayTestSingle(rayFromTrans,rayToTrans,
-							collisionObject,
-								collisionObject->getCollisionShape(),
-								collisionObject->getWorldTransform(),
-								resultCallback);
-		}
-	}
-}
-

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

@@ -1,174 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.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 BT_GHOST_OBJECT_H
-#define BT_GHOST_OBJECT_H
-
-
-#include "btCollisionObject.h"
-#include "BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h"
-#include "LinearMath/btAlignedAllocator.h"
-#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
-#include "btCollisionWorld.h"
-
-class btConvexShape;
-
-class btDispatcher;
-
-///The btGhostObject can keep track of all objects that are overlapping
-///By default, this overlap is based on the AABB
-///This is useful for creating a character controller, collision sensors/triggers, explosions etc.
-///We plan on adding rayTest and other queries for the btGhostObject
-ATTRIBUTE_ALIGNED16(class) btGhostObject : public btCollisionObject
-{
-protected:
-
-	btAlignedObjectArray<btCollisionObject*> m_overlappingObjects;
-
-public:
-
-	btGhostObject();
-
-	virtual ~btGhostObject();
-
-	void	convexSweepTest(const class btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = 0.f) const;
-
-	void	rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, btCollisionWorld::RayResultCallback& resultCallback) const; 
-
-	///this method is mainly for expert/internal use only.
-	virtual void	addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy=0);
-	///this method is mainly for expert/internal use only.
-	virtual void	removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy=0);
-
-	int	getNumOverlappingObjects() const
-	{
-		return m_overlappingObjects.size();
-	}
-
-	btCollisionObject*	getOverlappingObject(int index)
-	{
-		return m_overlappingObjects[index];
-	}
-
-	const btCollisionObject*	getOverlappingObject(int index) const
-	{
-		return m_overlappingObjects[index];
-	}
-
-	btAlignedObjectArray<btCollisionObject*>&	getOverlappingPairs()
-	{
-		return m_overlappingObjects;
-	}
-
-	const btAlignedObjectArray<btCollisionObject*>	getOverlappingPairs() const
-	{
-		return m_overlappingObjects;
-	}
-
-	//
-	// internal cast
-	//
-
-	static const btGhostObject*	upcast(const btCollisionObject* colObj)
-	{
-		if (colObj->getInternalType()==CO_GHOST_OBJECT)
-			return (const btGhostObject*)colObj;
-		return 0;
-	}
-	static btGhostObject*			upcast(btCollisionObject* colObj)
-	{
-		if (colObj->getInternalType()==CO_GHOST_OBJECT)
-			return (btGhostObject*)colObj;
-		return 0;
-	}
-
-};
-
-class	btPairCachingGhostObject : public btGhostObject
-{
-	btHashedOverlappingPairCache*	m_hashPairCache;
-
-public:
-
-	btPairCachingGhostObject();
-
-	virtual ~btPairCachingGhostObject();
-
-	///this method is mainly for expert/internal use only.
-	virtual void	addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy=0);
-
-	virtual void	removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy=0);
-
-	btHashedOverlappingPairCache*	getOverlappingPairCache()
-	{
-		return m_hashPairCache;
-	}
-
-};
-
-
-
-///The btGhostPairCallback interfaces and forwards adding and removal of overlapping pairs from the btBroadphaseInterface to btGhostObject.
-class btGhostPairCallback : public btOverlappingPairCallback
-{
-	
-public:
-	btGhostPairCallback()
-	{
-	}
-
-	virtual ~btGhostPairCallback()
-	{
-		
-	}
-
-	virtual btBroadphasePair*	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
-	{
-		btCollisionObject* colObj0 = (btCollisionObject*) proxy0->m_clientObject;
-		btCollisionObject* colObj1 = (btCollisionObject*) proxy1->m_clientObject;
-		btGhostObject* ghost0 = 		btGhostObject::upcast(colObj0);
-		btGhostObject* ghost1 = 		btGhostObject::upcast(colObj1);
-		if (ghost0)
-			ghost0->addOverlappingObjectInternal(proxy1, proxy0);
-		if (ghost1)
-			ghost1->addOverlappingObjectInternal(proxy0, proxy1);
-		return 0;
-	}
-
-	virtual void*	removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher)
-	{
-		btCollisionObject* colObj0 = (btCollisionObject*) proxy0->m_clientObject;
-		btCollisionObject* colObj1 = (btCollisionObject*) proxy1->m_clientObject;
-		btGhostObject* ghost0 = 		btGhostObject::upcast(colObj0);
-		btGhostObject* ghost1 = 		btGhostObject::upcast(colObj1);
-		if (ghost0)
-			ghost0->removeOverlappingObjectInternal(proxy1,dispatcher,proxy0);
-		if (ghost1)
-			ghost1->removeOverlappingObjectInternal(proxy0,dispatcher,proxy1);
-		return 0;
-	}
-
-	virtual void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0,btDispatcher* dispatcher)
-	{
-		btAssert(0);
-		//need to keep track of all ghost objects and call them here
-		//m_hashPairCache->removeOverlappingPairsContainingProxy(proxy0,dispatcher);
-	}
-
-	
-
-};
-
-#endif

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

@@ -55,7 +55,7 @@ btManifoldResult::btManifoldResult(btCollisionObject* body0,btCollisionObject* b
 
 void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
 {
-	btAssert(m_manifoldPtr);
+	assert(m_manifoldPtr);
 	//order in manifold needs to match
 	
 	if (depth > m_manifoldPtr->getContactBreakingThreshold())
@@ -92,8 +92,8 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
    newPt.m_partId1 = m_partId1;
    newPt.m_index0  = m_index0;
    newPt.m_index1  = m_index1;
-	//printf("depth=%f\n",depth);
-	///@todo, check this for any side effects
+	
+	///todo, check this for any side effects
 	if (insertIndex >= 0)
 	{
 		//const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex);

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

@@ -45,8 +45,6 @@ class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result
 	int m_partId1;
 	int m_index0;
 	int m_index1;
-	
-
 public:
 
 	btManifoldResult()
@@ -79,7 +77,6 @@ public:
 			m_index1=index1;		
 	}
 
-
 	virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth);
 
 	SIMD_FORCE_INLINE	void refreshContactPoints()

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

@@ -24,8 +24,7 @@ subject to the following restrictions:
 //#include <stdio.h>
 #include "LinearMath/btQuickprof.h"
 
-btSimulationIslandManager::btSimulationIslandManager():
-m_splitIslands(true)
+btSimulationIslandManager::btSimulationIslandManager()
 {
 }
 
@@ -44,10 +43,10 @@ void btSimulationIslandManager::findUnions(btDispatcher* /* dispatcher */,btColl
 {
 	
 	{
-		
+		btBroadphasePair* pairPtr = colWorld->getPairCache()->getOverlappingPairArrayPtr();
+
 		for (int i=0;i<colWorld->getPairCache()->getNumOverlappingPairs();i++)
 		{
-			btBroadphasePair* pairPtr = colWorld->getPairCache()->getOverlappingPairArrayPtr();
 			const btBroadphasePair& collisionPair = pairPtr[i];
 			btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
 			btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
@@ -106,7 +105,7 @@ void	btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* col
 		for (i=0;i<colWorld->getCollisionObjectArray().size();i++)
 		{
 			btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
-			if (!collisionObject->isStaticOrKinematicObject())
+			if (collisionObject->mergesSimulationIslands())
 			{
 				collisionObject->setIslandTag( m_unionFind.find(index) );
 				collisionObject->setCompanionId(-1);
@@ -144,13 +143,11 @@ class btPersistentManifoldSortPredicate
 };
 
 
-void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld)
+void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects)
 {
 
 	BT_PROFILE("islandUnionFindAndQuickSort");
 	
-	btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
-
 	m_islandmanifold.resize(0);
 
 	//we are going to sort the unionfind array, and store the element id in the size
@@ -186,7 +183,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
 //				printf("error in island management\n");
 			}
 
-			btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
+			assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
 			if (colObj0->getIslandTag() == islandId)
 			{
 				if (colObj0->getActivationState()== ACTIVE_TAG)
@@ -213,7 +210,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
 //					printf("error in island management\n");
 				}
 
-				btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
+				assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
 
 				if (colObj0->getIslandTag() == islandId)
 				{
@@ -234,14 +231,13 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
 //					printf("error in island management\n");
 				}
 
-				btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
+				assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
 
 				if (colObj0->getIslandTag() == islandId)
 				{
 					if ( colObj0->getActivationState() == ISLAND_SLEEPING)
 					{
 						colObj0->setActivationState( WANTS_DEACTIVATION);
-						colObj0->setDeactivationTime(0.f);
 					}
 				}
 			}
@@ -252,11 +248,11 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
 	int i;
 	int maxNumManifolds = dispatcher->getNumManifolds();
 
-//#define SPLIT_ISLANDS 1
-//#ifdef SPLIT_ISLANDS
+#define SPLIT_ISLANDS 1
+#ifdef SPLIT_ISLANDS
 
 	
-//#endif //SPLIT_ISLANDS
+#endif //SPLIT_ISLANDS
 
 	
 	for (i=0;i<maxNumManifolds ;i++)
@@ -266,7 +262,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
 		 btCollisionObject* colObj0 = static_cast<btCollisionObject*>(manifold->getBody0());
 		 btCollisionObject* colObj1 = static_cast<btCollisionObject*>(manifold->getBody1());
 		
-		 ///@todo: check sleeping conditions!
+		 //todo: check sleeping conditions!
 		 if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
 			((colObj1) && colObj1->getActivationState() != ISLAND_SLEEPING))
 		{
@@ -280,24 +276,24 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
 			{
 				colObj0->activate();
 			}
-			if(m_splitIslands)
-			{ 
-				//filtering for response
-				if (dispatcher->needsResponse(colObj0,colObj1))
-					m_islandmanifold.push_back(manifold);
-			}
+#ifdef SPLIT_ISLANDS
+	//		//filtering for response
+			if (dispatcher->needsResponse(colObj0,colObj1))
+				m_islandmanifold.push_back(manifold);
+#endif //SPLIT_ISLANDS
 		}
 	}
 }
 
 
 
-///@todo: this is random access, it can be walked 'cache friendly'!
-void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld, IslandCallback* callback)
+//
+// todo: this is random access, it can be walked 'cache friendly'!
+//
+void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback)
 {
-	btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
 
-	buildIslands(dispatcher,collisionWorld);
+	buildIslands(dispatcher,collisionObjects);
 
 	int endIslandIndex=1;
 	int startIslandIndex;
@@ -305,86 +301,84 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
 
 	BT_PROFILE("processIslands");
 
-	if(!m_splitIslands)
+#ifndef SPLIT_ISLANDS
+	btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer();
+	
+	callback->ProcessIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, -1);
+#else
+	// Sort manifolds, based on islands
+	// Sort the vector using predicate and std::sort
+	//std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate);
+
+	int numManifolds = int (m_islandmanifold.size());
+
+	//we should do radix sort, it it much faster (O(n) instead of O (n log2(n))
+	m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
+
+	//now process all active islands (sets of manifolds for now)
+
+	int startManifoldIndex = 0;
+	int endManifoldIndex = 1;
+
+	//int islandId;
+
+	
+
+//	printf("Start Islands\n");
+
+	//traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
+	for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
 	{
-		btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer();
-		int maxNumManifolds = dispatcher->getNumManifolds();
-		callback->ProcessIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, -1);
-	}
-	else
-	{
-		// Sort manifolds, based on islands
-		// Sort the vector using predicate and std::sort
-		//std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate);
+		int islandId = getUnionFind().getElement(startIslandIndex).m_id;
 
-		int numManifolds = int (m_islandmanifold.size());
 
-		//we should do radix sort, it it much faster (O(n) instead of O (n log2(n))
-		m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
+	       bool islandSleeping = false;
+                
+                for (endIslandIndex = startIslandIndex;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
+                {
+                        int i = getUnionFind().getElement(endIslandIndex).m_sz;
+                        btCollisionObject* colObj0 = collisionObjects[i];
+						m_islandBodies.push_back(colObj0);
+                        if (!colObj0->isActive())
+                                islandSleeping = true;
+                }
+                
 
-		//now process all active islands (sets of manifolds for now)
+		//find the accompanying contact manifold for this islandId
+		int numIslandManifolds = 0;
+		btPersistentManifold** startManifold = 0;
 
-		int startManifoldIndex = 0;
-		int endManifoldIndex = 1;
-
-		//int islandId;
-
-		
-
-	//	printf("Start Islands\n");
-
-		//traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
-		for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
+		if (startManifoldIndex<numManifolds)
 		{
-			int islandId = getUnionFind().getElement(startIslandIndex).m_id;
-
-
-			   bool islandSleeping = false;
-	                
-					for (endIslandIndex = startIslandIndex;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
-					{
-							int i = getUnionFind().getElement(endIslandIndex).m_sz;
-							btCollisionObject* colObj0 = collisionObjects[i];
-							m_islandBodies.push_back(colObj0);
-							if (!colObj0->isActive())
-									islandSleeping = true;
-					}
-	                
-
-			//find the accompanying contact manifold for this islandId
-			int numIslandManifolds = 0;
-			btPersistentManifold** startManifold = 0;
-
-			if (startManifoldIndex<numManifolds)
+			int curIslandId = getIslandId(m_islandmanifold[startManifoldIndex]);
+			if (curIslandId == islandId)
 			{
-				int curIslandId = getIslandId(m_islandmanifold[startManifoldIndex]);
-				if (curIslandId == islandId)
-				{
-					startManifold = &m_islandmanifold[startManifoldIndex];
-				
-					for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(m_islandmanifold[endManifoldIndex]));endManifoldIndex++)
-					{
-
-					}
-					/// Process the actual simulation, only if not sleeping/deactivated
-					numIslandManifolds = endManifoldIndex-startManifoldIndex;
-				}
-
-			}
-
-			if (!islandSleeping)
-			{
-				callback->ProcessIsland(&m_islandBodies[0],m_islandBodies.size(),startManifold,numIslandManifolds, islandId);
-	//			printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds);
-			}
+				startManifold = &m_islandmanifold[startManifoldIndex];
 			
-			if (numIslandManifolds)
-			{
-				startManifoldIndex = endManifoldIndex;
+				for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(m_islandmanifold[endManifoldIndex]));endManifoldIndex++)
+				{
+
+				}
+				/// Process the actual simulation, only if not sleeping/deactivated
+				numIslandManifolds = endManifoldIndex-startManifoldIndex;
 			}
 
-			m_islandBodies.resize(0);
 		}
-	} // else if(!splitIslands) 
+
+		if (!islandSleeping)
+		{
+			callback->ProcessIsland(&m_islandBodies[0],m_islandBodies.size(),startManifold,numIslandManifolds, islandId);
+//			printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds);
+		}
+		
+		if (numIslandManifolds)
+		{
+			startManifoldIndex = endManifoldIndex;
+		}
+
+		m_islandBodies.resize(0);
+	}
+#endif //SPLIT_ISLANDS
+
 
 }

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

@@ -19,7 +19,7 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btUnionFind.h"
 #include "btCollisionCreateFunc.h"
 #include "LinearMath/btAlignedObjectArray.h"
-#include "btCollisionObject.h"
+
 
 class btCollisionObject;
 class btCollisionWorld;
@@ -35,7 +35,6 @@ class btSimulationIslandManager
 	btAlignedObjectArray<btPersistentManifold*>  m_islandmanifold;
 	btAlignedObjectArray<btCollisionObject* >  m_islandBodies;
 	
-	bool m_splitIslands;
 	
 public:
 	btSimulationIslandManager();
@@ -62,18 +61,9 @@ public:
 		virtual	void	ProcessIsland(btCollisionObject** bodies,int numBodies,class btPersistentManifold**	manifolds,int numManifolds, int islandId) = 0;
 	};
 
-	void	buildAndProcessIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld, IslandCallback* callback);
+	void	buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback);
 
-	void buildIslands(btDispatcher* dispatcher,btCollisionWorld* colWorld);
-
-	bool getSplitIslands()
-	{
-		return m_splitIslands;
-	}
-	void setSplitIslands(bool doSplitIslands)
-	{
-		m_splitIslands = doSplitIslands;
-	}
+	void buildIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects);
 
 };
 

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

@@ -21,7 +21,7 @@ subject to the following restrictions:
 //#include <stdio.h>
 
 btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
-: btActivatingCollisionAlgorithm(ci,col0,col1),
+: btCollisionAlgorithm(ci),
 m_ownManifold(false),
 m_manifoldPtr(mf),
 m_isSwapped(isSwapped)

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

@@ -16,7 +16,7 @@ subject to the following restrictions:
 #ifndef SPHERE_BOX_COLLISION_ALGORITHM_H
 #define SPHERE_BOX_COLLISION_ALGORITHM_H
 
-#include "btActivatingCollisionAlgorithm.h"
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
 class btPersistentManifold;
@@ -26,7 +26,7 @@ class btPersistentManifold;
 
 /// btSphereBoxCollisionAlgorithm  provides sphere-box collision detection.
 /// Other features are frame-coherency (persistent data) and collision response.
-class btSphereBoxCollisionAlgorithm : public btActivatingCollisionAlgorithm
+class btSphereBoxCollisionAlgorithm : public btCollisionAlgorithm
 {
 	bool	m_ownManifold;
 	btPersistentManifold*	m_manifoldPtr;

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

@@ -19,7 +19,7 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 
 btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1)
-: btActivatingCollisionAlgorithm(ci,col0,col1),
+: btCollisionAlgorithm(ci),
 m_ownManifold(false),
 m_manifoldPtr(mf)
 {
@@ -78,7 +78,7 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0
 	}
 
 	///point on A (worldspace)
-	///btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
+	btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
 	///point on B (worldspace)
 	btVector3 pos1 = col1->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB;
 

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

@@ -16,7 +16,7 @@ subject to the following restrictions:
 #ifndef SPHERE_SPHERE_COLLISION_ALGORITHM_H
 #define SPHERE_SPHERE_COLLISION_ALGORITHM_H
 
-#include "btActivatingCollisionAlgorithm.h"
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
 #include "btCollisionDispatcher.h"
@@ -26,7 +26,7 @@ class btPersistentManifold;
 /// btSphereSphereCollisionAlgorithm  provides sphere-sphere collision detection.
 /// Other features are frame-coherency (persistent data) and collision response.
 /// Also provides the most basic sample for custom/user btCollisionAlgorithm
-class btSphereSphereCollisionAlgorithm : public btActivatingCollisionAlgorithm
+class btSphereSphereCollisionAlgorithm : public btCollisionAlgorithm
 {
 	bool	m_ownManifold;
 	btPersistentManifold*	m_manifoldPtr;
@@ -35,7 +35,7 @@ public:
 	btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
 
 	btSphereSphereCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
-		: btActivatingCollisionAlgorithm(ci) {}
+		: btCollisionAlgorithm(ci) {}
 
 	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 

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

@@ -22,7 +22,7 @@ subject to the following restrictions:
 
 
 btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1,bool swapped)
-: btActivatingCollisionAlgorithm(ci,col0,col1),
+: btCollisionAlgorithm(ci),
 m_ownManifold(false),
 m_manifoldPtr(mf),
 m_swapped(swapped)
@@ -56,10 +56,10 @@ void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* co
 	
 	/// report a contact. internally this will be kept persistent, and contact reduction is done
 	resultOut->setPersistentManifold(m_manifoldPtr);
-	SphereTriangleDetector detector(sphere,triangle, m_manifoldPtr->getContactBreakingThreshold());
+	SphereTriangleDetector detector(sphere,triangle);
 	
 	btDiscreteCollisionDetectorInterface::ClosestPointInput input;
-	input.m_maximumDistanceSquared = btScalar(1e30);///@todo: tighter bounds
+	input.m_maximumDistanceSquared = btScalar(1e30);//todo: tighter bounds
 	input.m_transformA = sphereObj->getWorldTransform();
 	input.m_transformB = triObj->getWorldTransform();
 

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

@@ -16,7 +16,7 @@ subject to the following restrictions:
 #ifndef SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
 #define SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
 
-#include "btActivatingCollisionAlgorithm.h"
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
 class btPersistentManifold;
@@ -25,7 +25,7 @@ class btPersistentManifold;
 /// btSphereSphereCollisionAlgorithm  provides sphere-sphere collision detection.
 /// Other features are frame-coherency (persistent data) and collision response.
 /// Also provides the most basic sample for custom/user btCollisionAlgorithm
-class btSphereTriangleCollisionAlgorithm : public btActivatingCollisionAlgorithm
+class btSphereTriangleCollisionAlgorithm : public btCollisionAlgorithm
 {
 	bool	m_ownManifold;
 	btPersistentManifold*	m_manifoldPtr;
@@ -35,7 +35,7 @@ public:
 	btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool swapped);
 
 	btSphereTriangleCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
-		: btActivatingCollisionAlgorithm(ci) {}
+		: btCollisionAlgorithm(ci) {}
 
 	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 

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

@@ -14,6 +14,8 @@ subject to the following restrictions:
 */
 
 #include "btUnionFind.h"
+#include <assert.h>
+
 
 
 

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

@@ -98,8 +98,8 @@ class btUnionFind
 
 		int find(int x)
 		{ 
-			//btAssert(x < m_N);
-			//btAssert(x >= 0);
+			//assert(x < m_N);
+			//assert(x >= 0);
 
 			while (x != m_elements[x].m_id) 
 			{
@@ -110,8 +110,8 @@ class btUnionFind
 				m_elements[x].m_id = m_elements[m_elements[x].m_id].m_id;
 		#endif //
 				x = m_elements[x].m_id;
-				//btAssert(x < m_N);
-				//btAssert(x >= 0);
+				//assert(x < m_N);
+				//assert(x >= 0);
 
 			}
 			return x; 

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

@@ -19,7 +19,7 @@ subject to the following restrictions:
 #include "btPolyhedralConvexShape.h"
 #include "btCollisionMargin.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "LinearMath/btVector3.h"
+#include "LinearMath/btPoint3.h"
 #include "LinearMath/btMinMax.h"
 
 ///The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.
@@ -45,6 +45,8 @@ public:
 	}
 	
 
+	virtual int	getShapeType() const { return BOX_SHAPE_PROXYTYPE;}
+
 	virtual btVector3	localGetSupportingVertex(const btVector3& vec) const
 	{
 		btVector3 halfExtents = getHalfExtentsWithoutMargin();
@@ -80,10 +82,8 @@ public:
 	}
 
 
-	btBoxShape( const btVector3& boxHalfExtents) 
-		: btPolyhedralConvexShape()
+	btBoxShape( const btVector3& boxHalfExtents)
 	{
-		m_shapeType = BOX_SHAPE_PROXYTYPE;
 		btVector3 margin(getMargin(),getMargin(),getMargin());
 		m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
 	};
@@ -117,7 +117,7 @@ public:
 
 	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
 
-	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const
+	virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const
 	{
 		//this plane might not be aligned...
 		btVector4 plane ;
@@ -161,30 +161,36 @@ public:
 		switch (i)
 		{
 		case 0:
-			plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x());
+			plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
+			plane[3] = -halfExtents.x();
 			break;
 		case 1:
-			plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x());
+			plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
+			plane[3] = -halfExtents.x();
 			break;
 		case 2:
-			plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y());
+			plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
+			plane[3] = -halfExtents.y();
 			break;
 		case 3:
-			plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y());
+			plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
+			plane[3] = -halfExtents.y();
 			break;
 		case 4:
-			plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z());
+			plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
+			plane[3] = -halfExtents.z();
 			break;
 		case 5:
-			plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z());
+			plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
+			plane[3] = -halfExtents.z();
 			break;
 		default:
-			btAssert(0);
+			assert(0);
 		}
 	}
 
 	
-	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
+	virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const
 	//virtual void getEdge(int i,Edge& edge) const
 	{
 		int edgeVert0 = 0;
@@ -255,7 +261,7 @@ public:
 
 
 	
-	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const
+	virtual	bool isInside(const btPoint3& pt,btScalar tolerance) const
 	{
 		btVector3 halfExtents = getHalfExtentsWithoutMargin();
 
@@ -306,7 +312,7 @@ public:
 			penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
 			break;
 		default:
-			btAssert(0);
+			assert(0);
 		}
 	}
 

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

@@ -26,7 +26,6 @@ m_bvh(0),
 m_useQuantizedAabbCompression(useQuantizedAabbCompression),
 m_ownsBvh(false)
 {
-	m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
 	//construct bvh from meshInterface
 #ifndef DISABLE_BVH
 
@@ -58,7 +57,6 @@ m_bvh(0),
 m_useQuantizedAabbCompression(useQuantizedAabbCompression),
 m_ownsBvh(false)
 {
-	m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
 	//construct bvh from meshInterface
 #ifndef DISABLE_BVH
 
@@ -143,19 +141,10 @@ void	btBvhTriangleMeshShape::performRaycast (btTriangleCallback* callback, const
 			for (int j=2;j>=0;j--)
 			{
 				int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
-				
-				if (type == PHY_FLOAT)
-				{
-					float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
-					
-					m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());		
-				}
-				else
-				{
-					double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
-					
-					m_triangle[j] = btVector3(btScalar(graphicsbase[0])*meshScaling.getX(),btScalar(graphicsbase[1])*meshScaling.getY(),btScalar(graphicsbase[2])*meshScaling.getZ());		
-				}
+
+				btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
+
+				m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());		
 			}
 
 			/* Perform ray vs. triangle collision here */
@@ -213,18 +202,9 @@ void	btBvhTriangleMeshShape::performConvexcast (btTriangleCallback* callback, co
 			{
 				int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
 
-				if (type == PHY_FLOAT)
-				{
-					float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
+				btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
 
-					m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());		
-				}
-				else
-				{
-					double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
-					
-					m_triangle[j] = btVector3(btScalar(graphicsbase[0])*meshScaling.getX(),btScalar(graphicsbase[1])*meshScaling.getY(),btScalar(graphicsbase[2])*meshScaling.getZ());		
-				}
+				m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());		
 			}
 
 			/* Perform ray vs. triangle collision here */
@@ -299,24 +279,12 @@ void	btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,co
 #ifdef DEBUG_TRIANGLE_MESH
 				printf("%d ,",graphicsindex);
 #endif //DEBUG_TRIANGLE_MESH
-				if (type == PHY_FLOAT)
-				{
-					float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
-					
-					m_triangle[j] = btVector3(
-																		graphicsbase[0]*meshScaling.getX(),
-																		graphicsbase[1]*meshScaling.getY(),
-																		graphicsbase[2]*meshScaling.getZ());
-				}
-				else
-				{
-					double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
+				btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
 
-					m_triangle[j] = btVector3(
-						btScalar(graphicsbase[0])*meshScaling.getX(),
-						btScalar(graphicsbase[1])*meshScaling.getY(),
-						btScalar(graphicsbase[2])*meshScaling.getZ());
-				}
+				m_triangle[j] = btVector3(
+					graphicsbase[0]*meshScaling.getX(),
+					graphicsbase[1]*meshScaling.getY(),
+					graphicsbase[2]*meshScaling.getZ());
 #ifdef DEBUG_TRIANGLE_MESH
 				printf("triangle vertices:%f,%f,%f\n",triangle[j].x(),triangle[j].y(),triangle[j].z());
 #endif //DEBUG_TRIANGLE_MESH

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

@@ -37,7 +37,7 @@ public:
 
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btBvhTriangleMeshShape() : btTriangleMeshShape(0),m_bvh(0),m_ownsBvh(false) {m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;};
+	btBvhTriangleMeshShape() :btTriangleMeshShape(0),m_bvh(0),m_ownsBvh(false) {};
 	btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true);
 
 	///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb
@@ -50,7 +50,10 @@ public:
 		return m_ownsBvh;
 	}
 
-
+	virtual int	getShapeType() const
+	{
+		return TRIANGLE_MESH_SHAPE_PROXYTYPE;
+	}
 	
 	void performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget);
 	void performConvexcast (btTriangleCallback* callback, const btVector3& boxSource, const btVector3& boxTarget, const btVector3& boxMin, const btVector3& boxMax);

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

@@ -19,9 +19,8 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
 #include "LinearMath/btQuaternion.h"
 
-btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInternalShape ()
+btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height)
 {
-	m_shapeType = CAPSULE_SHAPE_PROXYTYPE;
 	m_upAxis = 1;
 	m_implicitShapeDimensions.setValue(radius,0.5f*height,radius);
 }

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

@@ -30,7 +30,7 @@ protected:
 
 protected:
 	///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
-	btCapsuleShape() : btConvexInternalShape() {m_shapeType = CAPSULE_SHAPE_PROXYTYPE;};
+	btCapsuleShape() {};
 
 public:
 	btCapsuleShape(btScalar radius,btScalar height);
@@ -43,13 +43,15 @@ public:
 
 	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
 	
+	virtual int	getShapeType() const { return CAPSULE_SHAPE_PROXYTYPE; }
+
 	virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
 	{
 			btVector3 halfExtents(getRadius(),getRadius(),getRadius());
 			halfExtents[m_upAxis] = getRadius() + getHalfHeight();
 			halfExtents += btVector3(getMargin(),getMargin(),getMargin());
 			btMatrix3x3 abs_b = t.getBasis().absolute();  
-			btVector3 center = t.getOrigin();
+			btPoint3 center = t.getOrigin();
 			btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));		  
 			
 			aabbMin = center - extent;

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

@@ -16,9 +16,6 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btCollisionShape.h"
 
 
-btScalar gContactThresholdFactor=btScalar(0.02);
-
-
 /*
   Make sure this dummy function never changes so that it
   can be used by probes that are checking whether the
@@ -45,13 +42,8 @@ void	btCollisionShape::getBoundingSphere(btVector3& center,btScalar& radius) con
 	center = (aabbMin+aabbMax)*btScalar(0.5);
 }
 
-btScalar	btCollisionShape::getContactBreakingThreshold() const
-{
-	return getAngularMotionDisc() * gContactThresholdFactor;
-}
 btScalar	btCollisionShape::getAngularMotionDisc() const
 {
-	///@todo cache this value, to improve performance
 	btVector3	center;
 	btScalar disc;
 	getBoundingSphere(center,disc);
@@ -73,7 +65,7 @@ void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const b
 
 	// add linear motion
 	btVector3 linMotion = linvel*timeStep;
-	///@todo: simd would have a vector max/min operation, instead of per-element access
+	//todo: simd would have a vector max/min operation, instead of per-element access
 	if (linMotion.x() > btScalar(0.))
 		temporalAabbMaxx += linMotion.x(); 
 	else

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

@@ -19,21 +19,20 @@ subject to the following restrictions:
 #include "LinearMath/btTransform.h"
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btMatrix3x3.h"
+#include "LinearMath/btPoint3.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types
 
 ///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects.
 class btCollisionShape
 {
-protected:
-	int m_shapeType;
+
 	void* m_userPointer;
 
 public:
 
-	btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0)
+	btCollisionShape() : m_userPointer(0)
 	{
 	}
-
 	virtual ~btCollisionShape()
 	{
 	}
@@ -46,8 +45,6 @@ public:
 	///getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations.
 	virtual btScalar	getAngularMotionDisc() const;
 
-	virtual btScalar	getContactBreakingThreshold() const;
-
 
 	///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
 	///result is conservative
@@ -79,7 +76,7 @@ public:
 		return btBroadphaseProxy::isInfinite(getShapeType());
 	}
 
-	
+	virtual int		getShapeType() const=0;
 	virtual void	setLocalScaling(const btVector3& scaling) =0;
 	virtual const btVector3& getLocalScaling() const =0;
 	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const = 0;
@@ -90,13 +87,13 @@ public:
 #endif //__SPU__
 
 	
-	int		getShapeType() const { return m_shapeType; }
+
 	virtual void	setMargin(btScalar margin) = 0;
 	virtual btScalar	getMargin() const = 0;
 
 	
 	///optional user data pointer
-	void	setUserPointer(void*  userPtr)
+	void	setUserPointer(void* userPtr)
 	{
 		m_userPointer = userPtr;
 	}

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

@@ -17,22 +17,16 @@ subject to the following restrictions:
 #include "btCollisionShape.h"
 #include "BulletCollision/BroadphaseCollision/btDbvt.h"
 
-btCompoundShape::btCompoundShape(bool enableDynamicAabbTree)
-: m_localAabbMin(btScalar(1e30),btScalar(1e30),btScalar(1e30)),
+btCompoundShape::btCompoundShape()
+:m_localAabbMin(btScalar(1e30),btScalar(1e30),btScalar(1e30)),
 m_localAabbMax(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)),
 m_collisionMargin(btScalar(0.)),
 m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
-m_dynamicAabbTree(0),
-m_updateRevision(1)
+m_dynamicAabbTree(0)
 {
-	m_shapeType = COMPOUND_SHAPE_PROXYTYPE;
-
-	if (enableDynamicAabbTree)
-	{
-		void* mem = btAlignedAlloc(sizeof(btDbvt),16);
-		m_dynamicAabbTree = new(mem) btDbvt();
-		btAssert(mem==m_dynamicAabbTree);
-	}
+	void* mem = btAlignedAlloc(sizeof(btDbvt),16);
+	m_dynamicAabbTree = new(mem) btDbvt();
+	btAssert(mem==m_dynamicAabbTree);
 }
 
 
@@ -47,7 +41,6 @@ btCompoundShape::~btCompoundShape()
 
 void	btCompoundShape::addChildShape(const btTransform& localTransform,btCollisionShape* shape)
 {
-	m_updateRevision++;
 	//m_childTransforms.push_back(localTransform);
 	//m_childShapes.push_back(shape);
 	btCompoundShapeChild child;
@@ -56,7 +49,8 @@ void	btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio
 	child.m_childShapeType = shape->getShapeType();
 	child.m_childMargin = shape->getMargin();
 
-	
+	m_children.push_back(child);
+
 	//extend the local aabbMin/aabbMax
 	btVector3 localAabbMin,localAabbMax;
 	shape->getAabb(localTransform,localAabbMin,localAabbMax);
@@ -75,34 +69,14 @@ void	btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio
 	if (m_dynamicAabbTree)
 	{
 		const btDbvtVolume	bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
-		int index = m_children.size();
+		int index = m_children.size()-1;
 		child.m_node = m_dynamicAabbTree->insert(bounds,(void*)index);
 	}
 
-	m_children.push_back(child);
-
-}
-
-void	btCompoundShape::updateChildTransform(int childIndex, const btTransform& newChildTransform)
-{
-	m_children[childIndex].m_transform = newChildTransform;
-
-	if (m_dynamicAabbTree)
-	{
-		///update the dynamic aabb tree
-		btVector3 localAabbMin,localAabbMax;
-		m_children[childIndex].m_childShape->getAabb(newChildTransform,localAabbMin,localAabbMax);
-		ATTRIBUTE_ALIGNED16(btDbvtVolume)	bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
-		int index = m_children.size()-1;
-		m_dynamicAabbTree->update(m_children[childIndex].m_node,bounds);
-	}
-
-	recalculateLocalAabb();
 }
 
 void btCompoundShape::removeChildShapeByIndex(int childShapeIndex)
 {
-	m_updateRevision++;
 	btAssert(childShapeIndex >=0 && childShapeIndex < m_children.size());
 	if (m_dynamicAabbTree)
 	{
@@ -113,11 +87,8 @@ void btCompoundShape::removeChildShapeByIndex(int childShapeIndex)
 
 }
 
-
-
 void btCompoundShape::removeChildShape(btCollisionShape* shape)
 {
-	m_updateRevision++;
 	// Find the children containing the shape specified, and remove those children.
 	//note: there might be multiple children using the same shape!
 	for(int i = m_children.size()-1; i >= 0 ; i--)
@@ -127,8 +98,6 @@ void btCompoundShape::removeChildShape(btCollisionShape* shape)
 			m_children.swap(i,m_children.size()-1);
 			m_children.pop_back();
 			//remove it from the m_dynamicAabbTree too
-			//@todo: this leads to problems due to caching in the btCompoundCollisionAlgorithm
-			//so effectively, removeChildShape is broken at the moment
 			//m_dynamicAabbTree->remove(m_aabbProxies[i]);
 			//m_aabbProxies.swap(i,m_children.size()-1);
 			//m_aabbProxies.pop_back();
@@ -144,7 +113,6 @@ void btCompoundShape::recalculateLocalAabb()
 {
 	// Recalculate the local aabb
 	// Brute force, it iterates over all the shapes left.
-
 	m_localAabbMin = btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30));
 	m_localAabbMax = btVector3(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
 
@@ -167,27 +135,19 @@ void btCompoundShape::recalculateLocalAabb()
 void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
 {
 	btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
-	btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
-	
-	//avoid an illegal AABB when there are no children
-	if (!m_children.size())
-	{
-		localHalfExtents.setValue(0,0,0);
-		localCenter.setValue(0,0,0);
-	}
 	localHalfExtents += btVector3(getMargin(),getMargin(),getMargin());
-		
+	btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
 
 	btMatrix3x3 abs_b = trans.getBasis().absolute();  
 
-	btVector3 center = trans(localCenter);
+	btPoint3 center = trans(localCenter);
 
 	btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
 		abs_b[1].dot(localHalfExtents),
 		abs_b[2].dot(localHalfExtents));
 	aabbMin = center-extent;
 	aabbMax = center+extent;
-	
+
 }
 
 void	btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
@@ -219,9 +179,7 @@ void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransf
 
 	btScalar totalMass = 0;
 	btVector3 center(0, 0, 0);
-	int k;
-
-	for (k = 0; k < n; k++)
+	for (int k = 0; k < n; k++)
 	{
 		center += m_children[k].m_transform.getOrigin() * masses[k];
 		totalMass += masses[k];
@@ -230,7 +188,7 @@ void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransf
 	principal.setOrigin(center);
 
 	btMatrix3x3 tensor(0, 0, 0, 0, 0, 0, 0, 0, 0);
-	for ( k = 0; k < n; k++)
+	for (int k = 0; k < n; k++)
 	{
 		btVector3 i;
 		m_children[k].m_childShape->calculateLocalInertia(masses[k], i);

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

@@ -46,26 +46,23 @@ SIMD_FORCE_INLINE bool operator==(const btCompoundShapeChild& c1, const btCompou
 		c1.m_childMargin    == c2.m_childMargin );
 }
 
-/// The btCompoundShape allows to store multiple other btCollisionShapes
+/// btCompoundShape allows to store multiple other btCollisionShapes
 /// This allows for moving concave collision objects. This is more general then the static concave btBvhTriangleMeshShape.
-/// It has an (optional) dynamic aabb tree to accelerate early rejection tests. 
-/// @todo: This aabb tree can also be use to speed up ray tests on btCompoundShape, see http://code.google.com/p/bullet/issues/detail?id=25
-/// Currently, removal of child shapes is only supported when disabling the aabb tree (pass 'false' in the constructor of btCompoundShape)
 ATTRIBUTE_ALIGNED16(class) btCompoundShape	: public btCollisionShape
 {
+	//btAlignedObjectArray<btTransform>		m_childTransforms;
+	//btAlignedObjectArray<btCollisionShape*>	m_childShapes;
 	btAlignedObjectArray<btCompoundShapeChild> m_children;
 	btVector3						m_localAabbMin;
 	btVector3						m_localAabbMax;
 
+	//btOptimizedBvh*					m_aabbTree;
 	btDbvt*							m_dynamicAabbTree;
 
-	///increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be updated
-	int								m_updateRevision;
-
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btCompoundShape(bool enableDynamicAabbTree = true);
+	btCompoundShape();
 
 	virtual ~btCompoundShape();
 
@@ -91,18 +88,15 @@ public:
 		return m_children[index].m_childShape;
 	}
 
-	btTransform&	getChildTransform(int index)
+	btTransform	getChildTransform(int index)
 	{
 		return m_children[index].m_transform;
 	}
-	const btTransform&	getChildTransform(int index) const
+	const btTransform	getChildTransform(int index) const
 	{
 		return m_children[index].m_transform;
 	}
 
-	///set a new transform for a child, and update internal data structures (local aabb and dynamic tree)
-	void	updateChildTransform(int childIndex, const btTransform& newChildTransform);
-
 
 	btCompoundShapeChild* getChildList()
 	{
@@ -127,6 +121,8 @@ public:
 
 	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
 
+	virtual int	getShapeType() const { return COMPOUND_SHAPE_PROXYTYPE;}
+
 	virtual void	setMargin(btScalar margin)
 	{
 		m_collisionMargin = margin;
@@ -155,10 +151,6 @@ public:
 	///of the collision object by the principal transform.
 	void calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const;
 
-	int	getUpdateRevision() const
-	{
-		return m_updateRevision;
-	}
 
 private:
 	btScalar	m_collisionMargin;

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

@@ -20,16 +20,6 @@ subject to the following restrictions:
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
 #include "btTriangleCallback.h"
 
-/// PHY_ScalarType enumerates possible scalar types.
-/// See the btStridingMeshInterface or btHeightfieldTerrainShape for its use
-typedef enum PHY_ScalarType {
-	PHY_FLOAT,
-	PHY_DOUBLE,
-	PHY_INTEGER,
-	PHY_SHORT,
-	PHY_FIXEDPOINT88,
-	PHY_UCHAR
-} PHY_ScalarType;
 
 ///The btConcaveShape class provides an interface for non-moving (static) concave shapes.
 ///It has been implemented by the btStaticPlaneShape, btBvhTriangleMeshShape and btHeightfieldTerrainShape.

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

@@ -14,14 +14,14 @@ subject to the following restrictions:
 */
 
 #include "btConeShape.h"
+#include "LinearMath/btPoint3.h"
 
 
 
-btConeShape::btConeShape (btScalar radius,btScalar height): btConvexInternalShape (),
+btConeShape::btConeShape (btScalar radius,btScalar height):
 m_radius (radius),
 m_height(height)
 {
-	m_shapeType = CONE_SHAPE_PROXYTYPE;
 	setConeUpIndex(1);
 	btVector3 halfExtents;
 	m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
@@ -60,7 +60,7 @@ void	btConeShape::setConeUpIndex(int upIndex)
 			m_coneIndices[2] = 1;
 		break;
 	default:
-		btAssert(0);
+		assert(0);
 	};
 }
 

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

@@ -69,6 +69,9 @@ public:
 	}
 
 
+
+		virtual int	getShapeType() const { return CONE_SHAPE_PROXYTYPE; }
+
 		virtual const char*	getName()const 
 		{
 			return "Cone";

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

@@ -19,17 +19,16 @@ subject to the following restrictions:
 
 
 
-btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexShape ()
+btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride)
 {
-	m_shapeType = CONVEX_HULL_SHAPE_PROXYTYPE;
-	m_unscaledPoints.resize(numPoints);
+	m_points.resize(numPoints);
 
 	unsigned char* pointsBaseAddress = (unsigned char*)points;
 
 	for (int i=0;i<numPoints;i++)
 	{
-		btVector3* point = (btVector3*)(pointsBaseAddress + i*stride);
-		m_unscaledPoints[i] = point[0];
+		btPoint3* point = (btPoint3*)(pointsBaseAddress + i*stride);
+		m_points[i] = point[0];
 	}
 
 	recalcLocalAabb();
@@ -44,9 +43,9 @@ void btConvexHullShape::setLocalScaling(const btVector3& scaling)
 	recalcLocalAabb();
 }
 
-void btConvexHullShape::addPoint(const btVector3& point)
+void btConvexHullShape::addPoint(const btPoint3& point)
 {
-	m_unscaledPoints.push_back(point);
+	m_points.push_back(point);
 	recalcLocalAabb();
 
 }
@@ -68,9 +67,9 @@ btVector3	btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVecto
 	}
 
 
-	for (int i=0;i<m_unscaledPoints.size();i++)
+	for (int i=0;i<m_points.size();i++)
 	{
-		btVector3 vtx = m_unscaledPoints[i] * m_localScaling;
+		btPoint3 vtx = m_points[i] * m_localScaling;
 
 		newDot = vec.dot(vtx);
 		if (newDot > maxDot)
@@ -92,9 +91,9 @@ void	btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const
 			supportVerticesOut[i][3] = btScalar(-1e30);
 		}
 	}
-	for (int i=0;i<m_unscaledPoints.size();i++)
+	for (int i=0;i<m_points.size();i++)
 	{
-		btVector3 vtx = getScaledPoint(i);
+		btPoint3 vtx = m_points[i] * m_localScaling;
 
 		for (int j=0;j<numVectors;j++)
 		{
@@ -145,26 +144,26 @@ btVector3	btConvexHullShape::localGetSupportingVertex(const btVector3& vec)const
 //Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
 int	btConvexHullShape::getNumVertices() const
 {
-	return m_unscaledPoints.size();
+	return m_points.size();
 }
 
 int btConvexHullShape::getNumEdges() const
 {
-	return m_unscaledPoints.size();
+	return m_points.size();
 }
 
-void btConvexHullShape::getEdge(int i,btVector3& pa,btVector3& pb) const
+void btConvexHullShape::getEdge(int i,btPoint3& pa,btPoint3& pb) const
 {
 
-	int index0 = i%m_unscaledPoints.size();
-	int index1 = (i+1)%m_unscaledPoints.size();
-	pa = getScaledPoint(index0);
-	pb = getScaledPoint(index1);
+	int index0 = i%m_points.size();
+	int index1 = (i+1)%m_points.size();
+	pa = m_points[index0]*m_localScaling;
+	pb = m_points[index1]*m_localScaling;
 }
 
-void btConvexHullShape::getVertex(int i,btVector3& vtx) const
+void btConvexHullShape::getVertex(int i,btPoint3& vtx) const
 {
-	vtx = getScaledPoint(i);
+	vtx = m_points[i]*m_localScaling;
 }
 
 int	btConvexHullShape::getNumPlanes() const
@@ -172,16 +171,16 @@ int	btConvexHullShape::getNumPlanes() const
 	return 0;
 }
 
-void btConvexHullShape::getPlane(btVector3& ,btVector3& ,int ) const
+void btConvexHullShape::getPlane(btVector3& ,btPoint3& ,int ) const
 {
 
 	btAssert(0);
 }
 
 //not yet
-bool btConvexHullShape::isInside(const btVector3& ,btScalar ) const
+bool btConvexHullShape::isInside(const btPoint3& ,btScalar ) const
 {
-	btAssert(0);
+	assert(0);
 	return false;
 }
 

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

@@ -24,7 +24,7 @@ subject to the following restrictions:
 ///Bullet provides a general and fast collision detector for convex shapes based on GJK and EPA using localGetSupportingVertex.
 ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexShape
 {
-	btAlignedObjectArray<btVector3>	m_unscaledPoints;
+	btAlignedObjectArray<btPoint3>	m_points;
 
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
@@ -33,38 +33,23 @@ public:
 	///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive btScalar (x,y,z), the striding defines the number of bytes between each point, in memory.
 	///It is easier to not pass any points in the constructor, and just add one point at a time, using addPoint.
 	///btConvexHullShape make an internal copy of the points.
-	btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btVector3));
+	btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btPoint3));
 
-	void addPoint(const btVector3& point);
+	void addPoint(const btPoint3& point);
 
-	
-	btVector3* getUnscaledPoints()
+	btPoint3* getPoints()
 	{
-		return &m_unscaledPoints[0];
+		return &m_points[0];
 	}
 
-	const btVector3* getUnscaledPoints() const
+	const btPoint3* getPoints() const
 	{
-		return &m_unscaledPoints[0];
+		return &m_points[0];
 	}
 
-	///getPoints is obsolete, please use getUnscaledPoints
-	const btVector3* getPoints() const
+	int getNumPoints() const 
 	{
-		return getUnscaledPoints();
-	}
-
-	
-
-
-	SIMD_FORCE_INLINE	btVector3 getScaledPoint(int i) const
-	{
-		return m_unscaledPoints[i] * m_localScaling;
-	}
-
-	SIMD_FORCE_INLINE	int getNumPoints() const 
-	{
-		return m_unscaledPoints.size();
+		return m_points.size();
 	}
 
 	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
@@ -72,6 +57,7 @@ public:
 	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
 	
 
+	virtual int	getShapeType()const { return CONVEX_HULL_SHAPE_PROXYTYPE; }
 
 	//debugging
 	virtual const char*	getName()const {return "Convex";}
@@ -79,11 +65,11 @@ public:
 	
 	virtual int	getNumVertices() const;
 	virtual int getNumEdges() const;
-	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
-	virtual void getVertex(int i,btVector3& vtx) const;
+	virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const;
+	virtual void getVertex(int i,btPoint3& vtx) const;
 	virtual int	getNumPlanes() const;
-	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
-	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const;
+	virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const;
+	virtual	bool isInside(const btPoint3& pt,btScalar tolerance) const;
 
 	///in case we receive negative scaling
 	virtual void	setLocalScaling(const btVector3& scaling);

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

@@ -17,7 +17,6 @@ subject to the following restrictions:
 #include "btConvexInternalShape.h"
 
 
-
 btConvexInternalShape::btConvexInternalShape()
 : m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
 m_collisionMargin(CONVEX_DISTANCE_MARGIN)
@@ -49,8 +48,7 @@ void	btConvexInternalShape::getAabbSlow(const btTransform& trans,btVector3&minAa
 		tmp = trans(localGetSupportingVertex(vec*trans.getBasis()));
 		minAabb[i] = tmp[i]-margin;
 	}
-}
-
+};
 
 
 btVector3	btConvexInternalShape::localGetSupportingVertex(const btVector3& vec)const
@@ -72,7 +70,6 @@ btVector3	btConvexInternalShape::localGetSupportingVertex(const btVector3& vec)c
 	return supVertex;
 
 #else
-	btAssert(0);
 	return btVector3(0,0,0);
 #endif //__SPU__
 

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

@@ -19,18 +19,23 @@ class btConvexInternalShape : public btConvexShape
 
 	btScalar	m_padding;
 
-	btConvexInternalShape();
-
 public:
 
-	
+	btConvexInternalShape();
 
 	virtual ~btConvexInternalShape()
 	{
 
 	}
 
+
 	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
+#ifndef __SPU__
+	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec) const= 0;
+	
+	//notice that the vectors should be unit length
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
+#endif //#ifndef __SPU__
 
 	const btVector3& getImplicitShapeDimensions() const
 	{

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

@@ -1,156 +0,0 @@
-/*
-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 "btConvexPointCloudShape.h"
-#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
-
-#include "LinearMath/btQuaternion.h"
-
-void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling)
-{
-	m_localScaling = scaling;
-	recalcLocalAabb();
-}
-
-#ifndef __SPU__
-btVector3	btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
-{
-	btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
-	btScalar newDot,maxDot = btScalar(-1e30);
-
-	btVector3 vec = vec0;
-	btScalar lenSqr = vec.length2();
-	if (lenSqr < btScalar(0.0001))
-	{
-		vec.setValue(1,0,0);
-	} else
-	{
-		btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
-		vec *= rlen;
-	}
-
-
-	for (int i=0;i<m_numPoints;i++)
-	{
-		btVector3 vtx = getScaledPoint(i);
-
-		newDot = vec.dot(vtx);
-		if (newDot > maxDot)
-		{
-			maxDot = newDot;
-			supVec = vtx;
-		}
-	}
-	return supVec;
-}
-
-void	btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
-{
-	btScalar newDot;
-	//use 'w' component of supportVerticesOut?
-	{
-		for (int i=0;i<numVectors;i++)
-		{
-			supportVerticesOut[i][3] = btScalar(-1e30);
-		}
-	}
-	for (int i=0;i<m_numPoints;i++)
-	{
-		btVector3 vtx = getScaledPoint(i);
-
-		for (int j=0;j<numVectors;j++)
-		{
-			const btVector3& vec = vectors[j];
-			
-			newDot = vec.dot(vtx);
-			if (newDot > supportVerticesOut[j][3])
-			{
-				//WARNING: don't swap next lines, the w component would get overwritten!
-				supportVerticesOut[j] = vtx;
-				supportVerticesOut[j][3] = newDot;
-			}
-		}
-	}
-
-
-
-}
-	
-
-
-btVector3	btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec)const
-{
-	btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
-
-	if ( getMargin()!=btScalar(0.) )
-	{
-		btVector3 vecnorm = vec;
-		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
-		{
-			vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
-		} 
-		vecnorm.normalize();
-		supVertex+= getMargin() * vecnorm;
-	}
-	return supVertex;
-}
-
-
-#endif
-
-
-
-
-
-
-//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
-//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
-int	btConvexPointCloudShape::getNumVertices() const
-{
-	return m_numPoints;
-}
-
-int btConvexPointCloudShape::getNumEdges() const
-{
-	return 0;
-}
-
-void btConvexPointCloudShape::getEdge(int i,btVector3& pa,btVector3& pb) const
-{
-	btAssert (0);
-}
-
-void btConvexPointCloudShape::getVertex(int i,btVector3& vtx) const
-{
-	vtx = m_unscaledPoints[i]*m_localScaling;
-}
-
-int	btConvexPointCloudShape::getNumPlanes() const
-{
-	return 0;
-}
-
-void btConvexPointCloudShape::getPlane(btVector3& ,btVector3& ,int ) const
-{
-
-	btAssert(0);
-}
-
-//not yet
-bool btConvexPointCloudShape::isInside(const btVector3& ,btScalar ) const
-{
-	btAssert(0);
-	return false;
-}
-

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

@@ -1,96 +0,0 @@
-/*
-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_CONVEX_POINT_CLOUD_SHAPE_H
-#define BT_CONVEX_POINT_CLOUD_SHAPE_H
-
-#include "btPolyhedralConvexShape.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
-#include "LinearMath/btAlignedObjectArray.h"
-
-///The btConvexPointCloudShape implements an implicit convex hull of an array of vertices.
-ATTRIBUTE_ALIGNED16(class) btConvexPointCloudShape : public btPolyhedralConvexShape
-{
-	btVector3* m_unscaledPoints;
-	int m_numPoints;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btConvexPointCloudShape(btVector3* points,int numPoints, const btVector3& localScaling,bool computeAabb = true)
-	{
-		m_localScaling = localScaling;
-		m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
-		m_unscaledPoints = points;
-		m_numPoints = numPoints;
-
-		if (computeAabb)
-			recalcLocalAabb();
-	}
-
-	void setPoints (btVector3* points, int numPoints, bool computeAabb = true)
-	{
-		m_unscaledPoints = points;
-		m_numPoints = numPoints;
-
-		if (computeAabb)
-			recalcLocalAabb();
-	}
-
-	SIMD_FORCE_INLINE	btVector3* getUnscaledPoints()
-	{
-		return m_unscaledPoints;
-	}
-
-	SIMD_FORCE_INLINE	const btVector3* getUnscaledPoints() const
-	{
-		return m_unscaledPoints;
-	}
-
-	SIMD_FORCE_INLINE	int getNumPoints() const 
-	{
-		return m_numPoints;
-	}
-
-	SIMD_FORCE_INLINE	btVector3	getScaledPoint( int index) const
-	{
-		return m_unscaledPoints[index] * m_localScaling;
-	}
-
-#ifndef __SPU__
-	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
-	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
-#endif
-
-
-	//debugging
-	virtual const char*	getName()const {return "ConvexPointCloud";}
-
-	virtual int	getNumVertices() const;
-	virtual int getNumEdges() const;
-	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
-	virtual void getVertex(int i,btVector3& vtx) const;
-	virtual int	getNumPlanes() const;
-	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
-	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const;
-
-	///in case we receive negative scaling
-	virtual void	setLocalScaling(const btVector3& scaling);
-};
-
-
-#endif //BT_CONVEX_POINT_CLOUD_SHAPE_H
-

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

@@ -14,366 +14,5 @@ subject to the following restrictions:
 */
 
 #include "btConvexShape.h"
-#include "btTriangleShape.h"
-#include "btSphereShape.h"
-#include "btCylinderShape.h"
-#include "btCapsuleShape.h"
-#include "btConvexHullShape.h"
-#include "btConvexPointCloudShape.h"
-
-btConvexShape::btConvexShape ()
-{
-}
-
-btConvexShape::~btConvexShape()
-{
-
-}
 
 
-
-static btVector3 convexHullSupport (const btVector3& localDir, const btVector3* points, int numPoints, const btVector3& localScaling)
-{
-	btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
-	btScalar newDot,maxDot = btScalar(-1e30);
-
-	btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
-	btVector3 vec = vec0;
-	btScalar lenSqr = vec.length2();
-	if (lenSqr < btScalar(0.0001))
-	{
-		vec.setValue(1,0,0);
-	} else {
-		btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
-		vec *= rlen;
-	}
-
-
-	for (int i=0;i<numPoints;i++)
-	{
-		btVector3 vtx = points[i] * localScaling;
-
-		newDot = vec.dot(vtx);
-		if (newDot > maxDot)
-		{
-			maxDot = newDot;
-			supVec = vtx;
-		}
-	}
-	return btVector3(supVec.getX(),supVec.getY(),supVec.getZ());
-}
-
-btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btVector3& localDir) const
-{
-	switch (m_shapeType)
-	{
-    case SPHERE_SHAPE_PROXYTYPE:
-	{
-		return btVector3(0,0,0);
-    }
-	case BOX_SHAPE_PROXYTYPE:
-	{
-		btBoxShape* convexShape = (btBoxShape*)this;
-		const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
-
-		return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()),
-			btFsels(localDir.y(), halfExtents.y(), -halfExtents.y()),
-			btFsels(localDir.z(), halfExtents.z(), -halfExtents.z()));
-	}
-	case TRIANGLE_SHAPE_PROXYTYPE:
-	{
-		btTriangleShape* triangleShape = (btTriangleShape*)this;
-		btVector3 dir(localDir.getX(),localDir.getY(),localDir.getZ());
-		btVector3* vertices = &triangleShape->m_vertices1[0];
-		btVector3 dots(dir.dot(vertices[0]), dir.dot(vertices[1]), dir.dot(vertices[2]));
-		btVector3 sup = vertices[dots.maxAxis()];
-		return btVector3(sup.getX(),sup.getY(),sup.getZ());
-	}
-	case CYLINDER_SHAPE_PROXYTYPE:
-	{
-		btCylinderShape* cylShape = (btCylinderShape*)this;
-		//mapping of halfextents/dimension onto radius/height depends on how cylinder local orientation is (upAxis)
-
-		btVector3 halfExtents = cylShape->getImplicitShapeDimensions();
-		btVector3 v(localDir.getX(),localDir.getY(),localDir.getZ());
-		int cylinderUpAxis = cylShape->getUpAxis();
-		int XX(1),YY(0),ZZ(2);
-
-		switch (cylinderUpAxis)
-		{
-		case 0:
-		{
-			XX = 1;
-			YY = 0;
-			ZZ = 2;
-		}
-		break;
-		case 1:
-		{
-			XX = 0;
-			YY = 1;
-			ZZ = 2;	
-		}
-		break;
-		case 2:
-		{
-			XX = 0;
-			YY = 2;
-			ZZ = 1;
-			
-		}
-		break;
-		default:
-			btAssert(0);
-		break;
-		};
-
-		btScalar radius = halfExtents[XX];
-		btScalar halfHeight = halfExtents[cylinderUpAxis];
-
-		btVector3 tmp;
-		btScalar d ;
-
-		btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
-		if (s != btScalar(0.0))
-		{
-			d = radius / s;  
-			tmp[XX] = v[XX] * d;
-			tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
-			tmp[ZZ] = v[ZZ] * d;
-			return btVector3(tmp.getX(),tmp.getY(),tmp.getZ());
-		} else {
-			tmp[XX] = radius;
-			tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
-			tmp[ZZ] = btScalar(0.0);
-			return btVector3(tmp.getX(),tmp.getY(),tmp.getZ());
-		}
-	}
-	case CAPSULE_SHAPE_PROXYTYPE:
-	{
-		btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
-
-		btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
-		btScalar halfHeight = capsuleShape->getHalfHeight();
-		int capsuleUpAxis = capsuleShape->getUpAxis();
-
-		btScalar radius = capsuleShape->getRadius();
-		btVector3 supVec(0,0,0);
-
-		btScalar maxDot(btScalar(-1e30));
-
-		btVector3 vec = vec0;
-		btScalar lenSqr = vec.length2();
-		if (lenSqr < btScalar(0.0001))
-		{
-			vec.setValue(1,0,0);
-		} else
-		{
-			btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
-			vec *= rlen;
-		}
-		btVector3 vtx;
-		btScalar newDot;
-		{
-			btVector3 pos(0,0,0);
-			pos[capsuleUpAxis] = halfHeight;
-
-			//vtx = pos +vec*(radius);
-			vtx = pos +vec*capsuleShape->getLocalScalingNV()*(radius) - vec * capsuleShape->getMarginNV();
-			newDot = vec.dot(vtx);
-			
-
-			if (newDot > maxDot)
-			{
-				maxDot = newDot;
-				supVec = vtx;
-			}
-		}
-		{
-			btVector3 pos(0,0,0);
-			pos[capsuleUpAxis] = -halfHeight;
-
-			//vtx = pos +vec*(radius);
-			vtx = pos +vec*capsuleShape->getLocalScalingNV()*(radius) - vec * capsuleShape->getMarginNV();
-			newDot = vec.dot(vtx);
-			if (newDot > maxDot)
-			{
-				maxDot = newDot;
-				supVec = vtx;
-			}
-		}
-		return btVector3(supVec.getX(),supVec.getY(),supVec.getZ());	
-	}
-	case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
-	{
-		btConvexPointCloudShape* convexPointCloudShape = (btConvexPointCloudShape*)this;
-		btVector3* points = convexPointCloudShape->getUnscaledPoints ();
-		int numPoints = convexPointCloudShape->getNumPoints ();
-		return convexHullSupport (localDir, points, numPoints,convexPointCloudShape->getLocalScalingNV());
-	}
-	case CONVEX_HULL_SHAPE_PROXYTYPE:
-	{
-		btConvexHullShape* convexHullShape = (btConvexHullShape*)this;
-		btVector3* points = convexHullShape->getUnscaledPoints();
-		int numPoints = convexHullShape->getNumPoints ();
-		return convexHullSupport (localDir, points, numPoints,convexHullShape->getLocalScalingNV());
-	}
-    default:
-#ifndef __SPU__
-		return this->localGetSupportingVertexWithoutMargin (localDir);
-#else
-		btAssert (0);
-#endif
-	}
-
-	// should never reach here
-	btAssert (0);
-	return btVector3 (btScalar(0.0f), btScalar(0.0f), btScalar(0.0f));
-}
-
-btVector3 btConvexShape::localGetSupportVertexNonVirtual (const btVector3& localDir) const
-{
-	btVector3 localDirNorm = localDir;
-	if (localDirNorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
-	{
-		localDirNorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
-	}
-	localDirNorm.normalize ();
-
-	return localGetSupportVertexWithoutMarginNonVirtual(localDirNorm)+ getMarginNonVirtual() * localDirNorm;
-}
-
-/* TODO: This should be bumped up to btCollisionShape () */
-btScalar btConvexShape::getMarginNonVirtual () const
-{
-	switch (m_shapeType)
-	{
-    case SPHERE_SHAPE_PROXYTYPE:
-	{
-		btSphereShape* sphereShape = (btSphereShape*)this;
-		return sphereShape->getRadius ();
-	}
-	case BOX_SHAPE_PROXYTYPE:
-	{
-		btBoxShape* convexShape = (btBoxShape*)this;
-		return convexShape->getMarginNV ();
-	}
-	case TRIANGLE_SHAPE_PROXYTYPE:
-	{
-		btTriangleShape* triangleShape = (btTriangleShape*)this;
-		return triangleShape->getMarginNV ();
-	}
-	case CYLINDER_SHAPE_PROXYTYPE:
-	{
-		btCylinderShape* cylShape = (btCylinderShape*)this;
-		return cylShape->getMarginNV();
-	}
-	case CAPSULE_SHAPE_PROXYTYPE:
-	{
-		btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
-		return capsuleShape->getMarginNV();
-	}
-	case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
-	/* fall through */
-	case CONVEX_HULL_SHAPE_PROXYTYPE:
-	{
-		btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this;
-		return convexHullShape->getMarginNV();
-	}
-    default:
-#ifndef __SPU__
-		return this->getMargin ();
-#else
-		btAssert (0);
-#endif
-	}
-
-	// should never reach here
-	btAssert (0);
-	return btScalar(0.0f);
-}
-
-void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
-{
-	switch (m_shapeType)
-	{
-    case SPHERE_SHAPE_PROXYTYPE:
-	{
-		btSphereShape* sphereShape = (btSphereShape*)this;
-		btScalar radius = sphereShape->getImplicitShapeDimensions().getX();// * convexShape->getLocalScaling().getX();
-		btScalar margin = radius + sphereShape->getMarginNonVirtual();
-		const btVector3& center = t.getOrigin();
-		btVector3 extent(margin,margin,margin);
-		aabbMin = center - extent;
-		aabbMax = center + extent;
-    }
-	break;
-	case CYLINDER_SHAPE_PROXYTYPE:
-	/* fall through */
-	case BOX_SHAPE_PROXYTYPE:
-	{
-		btBoxShape* convexShape = (btBoxShape*)this;
-		btScalar margin=convexShape->getMarginNonVirtual();
-		btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
-		halfExtents += btVector3(margin,margin,margin);
-		btMatrix3x3 abs_b = t.getBasis().absolute();  
-		btVector3 center = t.getOrigin();
-		btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
-		
-		aabbMin = center - extent;
-		aabbMax = center + extent;
-		break;
-	}
-	case TRIANGLE_SHAPE_PROXYTYPE:
-	{
-		btTriangleShape* triangleShape = (btTriangleShape*)this;
-		btScalar margin = triangleShape->getMarginNonVirtual();
-		for (int i=0;i<3;i++)
-		{
-			btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
-			vec[i] = btScalar(1.);
-
-			btVector3 sv = localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis());
-
-			btVector3 tmp = t(sv);
-			aabbMax[i] = tmp[i]+margin;
-			vec[i] = btScalar(-1.);
-			tmp = t(localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis()));
-			aabbMin[i] = tmp[i]-margin;
-		}	
-	}
-	break;
-	case CAPSULE_SHAPE_PROXYTYPE:
-	{
-		btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
-		btVector3 halfExtents(capsuleShape->getRadius(),capsuleShape->getRadius(),capsuleShape->getRadius());
-		int m_upAxis = capsuleShape->getUpAxis();
-		halfExtents[m_upAxis] = capsuleShape->getRadius() + capsuleShape->getHalfHeight();
-		halfExtents += btVector3(capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual());
-		btMatrix3x3 abs_b = t.getBasis().absolute();  
-		btVector3 center = t.getOrigin();
-		btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));		  	
-		aabbMin = center - extent;
-		aabbMax = center + extent;
-	}
-	break;
-	case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
-	case CONVEX_HULL_SHAPE_PROXYTYPE:
-	{
-		btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this;
-		btScalar margin = convexHullShape->getMarginNonVirtual();
-		convexHullShape->getNonvirtualAabb (t, aabbMin, aabbMax, margin);
-	}
-	break;
-    default:
-#ifndef __SPU__
-		this->getAabb (t, aabbMin, aabbMax);
-#else
-		btAssert (0);
-#endif
-	break;
-	}
-
-	// should never reach here
-	btAssert (0);
-}

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

@@ -24,6 +24,8 @@ subject to the following restrictions:
 #include "btCollisionMargin.h"
 #include "LinearMath/btAlignedAllocator.h"
 
+//todo: get rid of this btConvexCastResult thing!
+struct btConvexCastResult;
 #define MAX_PREFERRED_PENETRATION_DIRECTIONS 10
 
 /// The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape, btConvexHullShape etc.
@@ -36,25 +38,20 @@ public:
 
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btConvexShape ();
+	virtual ~btConvexShape()
+	{
 
-	virtual ~btConvexShape();
+	}
 
-	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const = 0;
-
-	////////
-	#ifndef __SPU__
-	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec) const=0;
-	#endif //#ifndef __SPU__
-
-	btVector3 localGetSupportVertexWithoutMarginNonVirtual (const btVector3& vec) const;
-	btVector3 localGetSupportVertexNonVirtual (const btVector3& vec) const;
-	btScalar getMarginNonVirtual () const;
-	void getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
 
+	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const =0;
+#ifndef __SPU__
+	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec) const= 0;
 	
 	//notice that the vectors should be unit length
 	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
+#endif //#ifndef __SPU__
+
 
 	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
 	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
@@ -72,9 +69,6 @@ public:
 	
 	virtual void	getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const=0;
 
-
-	
-	
 };
 
 

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

@@ -20,9 +20,8 @@ subject to the following restrictions:
 
 
 btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface, bool calcAabb)
-: btPolyhedralConvexShape(), m_stridingMesh(meshInterface)
+:m_stridingMesh(meshInterface)
 {
-	m_shapeType = CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE;
 	if ( calcAabb )
 		recalcLocalAabb();
 }
@@ -108,7 +107,7 @@ void	btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargi
 		}
 	}
 	
-	///@todo: could do the batch inside the callback!
+	//todo: could do the batch inside the callback!
 
 
 	for (int j=0;j<numVectors;j++)
@@ -163,12 +162,12 @@ int btConvexTriangleMeshShape::getNumEdges() const
 	return 0;
 }
 
-void btConvexTriangleMeshShape::getEdge(int ,btVector3& ,btVector3& ) const
+void btConvexTriangleMeshShape::getEdge(int ,btPoint3& ,btPoint3& ) const
 {
 	btAssert(0);	
 }
 
-void btConvexTriangleMeshShape::getVertex(int ,btVector3& ) const
+void btConvexTriangleMeshShape::getVertex(int ,btPoint3& ) const
 {
 	btAssert(0);
 }
@@ -178,13 +177,13 @@ int	btConvexTriangleMeshShape::getNumPlanes() const
 	return 0;
 }
 
-void btConvexTriangleMeshShape::getPlane(btVector3& ,btVector3& ,int  ) const
+void btConvexTriangleMeshShape::getPlane(btVector3& ,btPoint3& ,int  ) const
 {
 	btAssert(0);
 }
 
 //not yet
-bool btConvexTriangleMeshShape::isInside(const btVector3& ,btScalar ) const
+bool btConvexTriangleMeshShape::isInside(const btPoint3& ,btScalar ) const
 {
 	btAssert(0);
 	return false;
@@ -269,12 +268,15 @@ void btConvexTriangleMeshShape::calculatePrincipalAxisTransform(btTransform& pri
          btVector3 a = triangle[0] - center;
          btVector3 b = triangle[1] - center;
          btVector3 c = triangle[2] - center;
+         btVector3 abc = a + b + c;
          btScalar volNeg = -btFabs(a.triple(b, c)) * btScalar(1. / 6);
          for (int j = 0; j < 3; j++)
          {
             for (int k = 0; k <= j; k++)
             {
-               i[j][k] = i[k][j] = volNeg * (btScalar(0.1) * (a[j] * a[k] + b[j] * b[k] + c[j] * c[k])
+               i[j][k] = i[k][j] = volNeg * (center[j] * center[k]
+                 + btScalar(0.25) * (center[j] * abc[k] + center[k] * abc[j])
+                  + btScalar(0.1) * (a[j] * a[k] + b[j] * b[k] + c[j] * c[k])
                   + btScalar(0.05) * (a[j] * b[k] + a[k] * b[j] + a[j] * c[k] + a[k] * c[j] + b[j] * c[k] + b[k] * c[j]));
             }
          }