Merge branch 'master' into temp-ui-button-type-refactor

Rather than re-using the `uiBut.func_arg2` pointer to reference the active
search item, have an own pointer for that in `uiButSearch`.

Unfortunately, we still need to pass the reference as `arg2` to the
`uiBut.func` callback. But we don't need to keep `uiBut.func_arg2` set the
entire time for that.

.clang-format

@@ -238,7 +238,6 @@ ForEachMacros:
   - LISTBASE_FOREACH_BACKWARD
   - LISTBASE_FOREACH_MUTABLE
   - LISTBASE_FOREACH_BACKWARD_MUTABLE
-  - LISTBASE_FOREACH_INDEX
   - MAN_ITER_AXES_BEGIN
   - NODE_INSTANCE_HASH_ITER
   - NODE_SOCKET_TYPES_BEGIN
@@ -253,8 +252,8 @@ ForEachMacros:
   - RNA_STRUCT_BEGIN_SKIP_RNA_TYPE
   - SCULPT_VERTEX_DUPLICATES_AND_NEIGHBORS_ITER_BEGIN
   - SCULPT_VERTEX_NEIGHBORS_ITER_BEGIN
-  - SEQ_ALL_BEGIN
-  - SEQ_CURRENT_BEGIN
+  - SEQP_BEGIN
+  - SEQ_BEGIN
   - SURFACE_QUAD_ITER_BEGIN
   - foreach
   - ED_screen_areas_iter

.clang-tidy

@@ -12,8 +12,11 @@ Checks:  >
 
   -readability-misleading-indentation,
 
+  -readability-else-after-return,
   -readability-inconsistent-declaration-parameter-name,
   -readability-redundant-preprocessor,
+  -readability-function-size,
+  -readability-function-size,
   -readability-redundant-member-init,
   -readability-const-return-type,
   -readability-static-accessed-through-instance,
@@ -31,6 +34,11 @@ Checks:  >
   -bugprone-sizeof-expression,
   -bugprone-integer-division,
   -bugprone-incorrect-roundings,
+  -bugprone-suspicious-string-compare,
+  -bugprone-not-null-terminated-result,
+  -bugprone-suspicious-missing-comma,
+  -bugprone-parent-virtual-call,
+  -bugprone-infinite-loop,
   -bugprone-copy-constructor-init,
 
 WarningsAsErrors: '*'

CMakeLists.txt

@@ -102,11 +102,6 @@ if(POLICY CMP0068)
   cmake_policy(SET CMP0068 NEW)
 endif()
 
-# find_package() uses <PackageName>_ROOT variables.
-if(POLICY CMP0074)
-  cmake_policy(SET CMP0074 NEW)
-endif()
-
 #-----------------------------------------------------------------------------
 # Load some macros.
 include(build_files/cmake/macros.cmake)
@@ -188,7 +183,6 @@ if(APPLE)
 else()
   option(WITH_XR_OPENXR   "Enable VR features through the OpenXR specification" ON)
 endif()
-option(WITH_GMP "Enable features depending on GMP (Exact Boolean)" ON)
 
 # Compositor
 option(WITH_COMPOSITOR         "Enable the tile based nodal compositor" ON)
@@ -436,10 +430,6 @@ if(WIN32)
   option(WITH_TBB_MALLOC_PROXY "Enable the TBB malloc replacement" ON)
 endif()
 
-# This should be turned off when Blender enter beta/rc/release
-option(WITH_EXPERIMENTAL_FEATURES "Enable experimental features (still need to enable them in the user preferences)" ON)
-mark_as_advanced(WITH_EXPERIMENTAL_FEATURES)
-
 # Unit testsing
 option(WITH_GTESTS "Enable GTest unit testing" OFF)
 option(WITH_OPENGL_RENDER_TESTS "Enable OpenGL render related unit testing (Experimental)" OFF)
@@ -1572,12 +1562,6 @@ endif()
 
 if(MSVC)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /std:c++17")
-  # Make MSVC properly report the value of the __cplusplus preprocessor macro
-  # Available MSVC 15.7 (1914) and up, without this it reports 199711L regardless
-  # of the C++ standard chosen above 
-  if(MSVC_VERSION GREATER 1913)
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /Zc:__cplusplus")
-  endif()
 elseif(
   CMAKE_COMPILER_IS_GNUCC OR
   CMAKE_C_COMPILER_ID MATCHES "Clang" OR
@@ -1740,7 +1724,6 @@ if(FIRST_RUN)
   info_cfg_option(WITH_QUADRIFLOW)
   info_cfg_option(WITH_USD)
   info_cfg_option(WITH_TBB)
-  info_cfg_option(WITH_GMP)
 
   info_cfg_text("Compiler Options:")
   info_cfg_option(WITH_BUILDINFO)

build_files/build_environment/CMakeLists.txt

@@ -57,6 +57,7 @@ include(cmake/zlib.cmake)
 include(cmake/openal.cmake)
 include(cmake/png.cmake)
 include(cmake/jpeg.cmake)
+include(cmake/boost.cmake)
 include(cmake/blosc.cmake)
 include(cmake/pthreads.cmake)
 include(cmake/openexr.cmake)
@@ -88,8 +89,6 @@ include(cmake/python_site_packages.cmake)
 include(cmake/package_python.cmake)
 include(cmake/numpy.cmake)
 include(cmake/usd.cmake)
-# Boost needs to be included after python.cmake due to the PYTHON_BINARY variable being needed.
-include(cmake/boost.cmake)
 if(UNIX)
   # Rely on PugiXML compiled with OpenImageIO
 else()

build_files/build_environment/cmake/boost.cmake

@@ -19,6 +19,17 @@
 set(BOOST_ADDRESS_MODEL 64)
 
 if(WIN32)
+  if("${CMAKE_SIZEOF_VOID_P}" EQUAL "8")
+    set(PYTHON_ARCH x64)
+    set(PYTHON_ARCH2 win-AMD64)
+    set(PYTHON_OUTPUTDIR ${BUILD_DIR}/python/src/external_python/pcbuild/amd64/)
+  else()
+    set(PYTHON_ARCH x86)
+    set(PYTHON_ARCH2 win32)
+    set(PYTHON_OUTPUTDIR ${BUILD_DIR}/python/src/external_python/pcbuild/win32/)
+    set(BOOST_ADDRESS_MODEL 32)
+  endif()
+
   set(BOOST_TOOLSET toolset=msvc-14.1)
   set(BOOST_COMPILER_STRING -vc141)
 
@@ -49,21 +60,6 @@ else()
   endif()
 endif()
 
-if(WITH_BOOST_PYTHON)
-  set(JAM_FILE ${BUILD_DIR}/boost.user-config.jam)
-  configure_file(${PATCH_DIR}/boost.user.jam.in ${JAM_FILE})
-  set(BOOST_PYTHON_OPTIONS
-    --with-python
-    --user-config=${JAM_FILE}
-  )
-  if(WIN32 AND BUILD_MODE STREQUAL Debug)
-    set(BOOST_PYTHON_OPTIONS
-      ${BOOST_PYTHON_OPTIONS}
-      define=BOOST_DEBUG_PYTHON
-    )
-  endif()
-endif()
-
 set(BOOST_OPTIONS
   --with-filesystem
   --with-locale
@@ -80,7 +76,6 @@ set(BOOST_OPTIONS
   -sNO_LZMA=1
   -sNO_ZSTD=1
   ${BOOST_TOOLSET}
-  ${BOOST_PYTHON_OPTIONS}
 )
 
 string(TOLOWER ${BUILD_MODE} BOOST_BUILD_TYPE)
@@ -97,11 +92,3 @@ ExternalProject_Add(external_boost
   BUILD_IN_SOURCE 1
   INSTALL_COMMAND "${BOOST_HARVEST_CMD}"
 )
-
-if(WITH_BOOST_PYTHON)
-  add_dependencies(
-    external_boost
-    external_python
-    external_numpy
-  )
-endif()

build_files/build_environment/cmake/ffmpeg.cmake

@@ -95,6 +95,8 @@ ExternalProject_Add(external_ffmpeg
     --disable-version3
     --disable-debug
     --enable-optimizations
+    --disable-sse
+    --disable-ssse3
     --enable-ffplay
     --disable-openssl
     --disable-securetransport

build_files/build_environment/cmake/gmp.cmake

@@ -25,13 +25,6 @@ else()
   set(GMP_OPTIONS --enable-static --disable-shared )
 endif()
 
-if(APPLE AND ("${CMAKE_OSX_ARCHITECTURES}" STREQUAL "arm64"))
-  set(GMP_OPTIONS
-     ${GMP_OPTIONS}
-     --disable-assembly
-  )
-endif()
-
 ExternalProject_Add(external_gmp
   URL ${GMP_URI}
   DOWNLOAD_DIR ${DOWNLOAD_DIR}

build_files/build_environment/cmake/openvdb.cmake

@@ -20,14 +20,6 @@ if(BUILD_MODE STREQUAL Debug)
   set(BLOSC_POST _d)
 endif()
 
-if(WIN32)
-  set(OPENVDB_SHARED ON)
-  set(OPENVDB_STATIC OFF)
-else()
-  set(OPENVDB_SHARED OFF)
-  set(OPENVDB_STATIC ON)
-endif()
-
 set(OPENVDB_EXTRA_ARGS
   -DBoost_COMPILER:STRING=${BOOST_COMPILER_STRING}
   -DBoost_USE_MULTITHREADED=ON
@@ -50,10 +42,8 @@ set(OPENVDB_EXTRA_ARGS
   -DOPENEXR_LIBRARYDIR=${LIBDIR}/openexr/lib
    # All libs live in openexr, even the ilmbase ones
   -DILMBASE_LIBRARYDIR=${LIBDIR}/openexr/lib
-  -DOPENVDB_CORE_SHARED=${OPENVDB_SHARED}
-  -DOPENVDB_CORE_STATIC=${OPENVDB_STATIC}
+  -DOPENVDB_CORE_SHARED=Off
   -DOPENVDB_BUILD_BINARIES=Off
-  -DCMAKE_DEBUG_POSTFIX=_d
 )
 
 if(WIN32)
@@ -97,15 +87,13 @@ if(WIN32)
   if(BUILD_MODE STREQUAL Release)
     ExternalProject_Add_Step(openvdb after_install
       COMMAND ${CMAKE_COMMAND} -E copy_directory ${LIBDIR}/openvdb/include ${HARVEST_TARGET}/openvdb/include
-      COMMAND ${CMAKE_COMMAND} -E copy ${LIBDIR}/openvdb/lib/openvdb.lib ${HARVEST_TARGET}/openvdb/lib/openvdb.lib
-      COMMAND ${CMAKE_COMMAND} -E copy ${LIBDIR}/openvdb/bin/openvdb.dll ${HARVEST_TARGET}/openvdb/bin/openvdb.dll
+      COMMAND ${CMAKE_COMMAND} -E copy ${LIBDIR}/openvdb/lib/libopenvdb.lib ${HARVEST_TARGET}/openvdb/lib/openvdb.lib
       DEPENDEES install
     )
   endif()
   if(BUILD_MODE STREQUAL Debug)
     ExternalProject_Add_Step(openvdb after_install
-      COMMAND ${CMAKE_COMMAND} -E copy ${LIBDIR}/openvdb/lib/openvdb_d.lib ${HARVEST_TARGET}/openvdb/lib/openvdb_d.lib
-      COMMAND ${CMAKE_COMMAND} -E copy ${LIBDIR}/openvdb/bin/openvdb_d.dll ${HARVEST_TARGET}/openvdb/bin/openvdb_d.dll
+      COMMAND ${CMAKE_COMMAND} -E copy ${LIBDIR}/openvdb/lib/libopenvdb.lib ${HARVEST_TARGET}/openvdb/lib/openvdb_d.lib
       DEPENDEES install
     )
   endif()

build_files/build_environment/cmake/options.cmake

@@ -20,7 +20,6 @@ if(WIN32)
   option(ENABLE_MINGW64 "Enable building of ffmpeg/iconv/libsndfile/fftw3 by installing mingw64" ON)
 endif()
 option(WITH_WEBP "Enable building of oiio with webp support" OFF)
-option(WITH_BOOST_PYTHON "Enable building of boost with python support" OFF)
 set(MAKE_THREADS 1 CACHE STRING "Number of threads to run make with")
 
 if(NOT BUILD_MODE)
@@ -195,6 +194,18 @@ set(DEFAULT_CMAKE_FLAGS
   ${PLATFORM_CMAKE_FLAGS}
 )
 
+if(WIN32)
+  # We need both flavors to build the thumbnail dlls
+  if(MSVC12)
+    set(GENERATOR_32 "Visual Studio 12 2013")
+    set(GENERATOR_64 "Visual Studio 12 2013 Win64")
+  elseif(MSVC14)
+    set(GENERATOR_32 "Visual Studio 14 2015")
+    set(GENERATOR_64 "Visual Studio 14 2015 Win64")
+  endif()
+endif()
+
+
 if(WIN32)
   if(BUILD_MODE STREQUAL Debug)
     set(ZLIB_LIBRARY zlibstaticd${LIBEXT})

build_files/build_environment/cmake/python.cmake

@@ -42,7 +42,7 @@ if(WIN32)
     URL_HASH MD5=${PYTHON_HASH}
     PREFIX ${BUILD_DIR}/python
     CONFIGURE_COMMAND ""
-    BUILD_COMMAND cd ${BUILD_DIR}/python/src/external_python/pcbuild/ && set IncludeTkinter=false && call build.bat -e -p x64 -c ${BUILD_MODE}
+    BUILD_COMMAND cd ${BUILD_DIR}/python/src/external_python/pcbuild/ && set IncludeTkinter=false && call build.bat -e -p ${PYTHON_ARCH} -c ${BUILD_MODE}
     INSTALL_COMMAND ${PYTHON_BINARY_INTERNAL} ${PYTHON_SRC}/PC/layout/main.py -b ${PYTHON_SRC}/PCbuild/amd64 -s ${PYTHON_SRC} -t ${PYTHON_SRC}/tmp/  --include-underpth --include-stable --include-pip --include-dev --include-launchers  --include-venv --include-symbols ${PYTHON_EXTRA_INSTLAL_FLAGS} --copy ${LIBDIR}/python
   )
 

build_files/build_environment/cmake/versions.cmake

@@ -312,7 +312,6 @@ set(NASM_HASH f4fd1329b1713e1ccd34b2fc121c4bcd278c9f91cc4cb205ae8fcd2e4728dd14)
 set(XR_OPENXR_SDK_VERSION 1.0.8)
 set(XR_OPENXR_SDK_URI https://github.com/KhronosGroup/OpenXR-SDK/archive/release-${XR_OPENXR_SDK_VERSION}.tar.gz)
 set(XR_OPENXR_SDK_HASH c6de63d2e0f9029aa58dfa97cad8ce07)
-
 set(ISPC_VERSION v1.13.0)
 set(ISPC_URI https://github.com/ispc/ispc/archive/${ISPC_VERSION}.tar.gz)
 set(ISPC_HASH 4bf5e8d0020c4b9980faa702c1a6f25f)

build_files/build_environment/install_deps.sh

@@ -374,96 +374,71 @@ NO_BUILD=false
 NO_CONFIRM=false
 USE_CXX11=true
 
-# Note about versions: Min is inclusive, Max is exclusive (i.e. XXX_VERSION_MIN <= ACTUAL_VERSION < XXX_VERSION_MAX)
-# XXX_VERSION is officially supported/used version in official builds.
-# XXX_VERSION_SHORT is used for various things, like preferred version (when distribution provides several of them),
-#                   and to name shortcuts to built libraries' installation directories...
-
 CLANG_FORMAT_VERSION_MIN="6.0"
-CLANG_FORMAT_VERSION_MAX="10.0"
 
 PYTHON_VERSION="3.7.7"
-PYTHON_VERSION_SHORT="3.7"
 PYTHON_VERSION_MIN="3.7"
-PYTHON_VERSION_MAX="3.9"
 PYTHON_VERSION_INSTALLED=$PYTHON_VERSION_MIN
 PYTHON_FORCE_BUILD=false
 PYTHON_FORCE_REBUILD=false
 PYTHON_SKIP=false
 
-NUMPY_VERSION="1.17.5"
-NUMPY_VERSION_SHORT="1.17"
+NUMPY_VERSION="1.17.0"
 NUMPY_VERSION_MIN="1.8"
-NUMPY_VERSION_MAX="2.0"
 NUMPY_FORCE_BUILD=false
 NUMPY_FORCE_REBUILD=false
 NUMPY_SKIP=false
 
 BOOST_VERSION="1.70.0"
-BOOST_VERSION_SHORT="1.70"
 BOOST_VERSION_MIN="1.49"
-BOOST_VERSION_MAX="2.0"
 BOOST_FORCE_BUILD=false
 BOOST_FORCE_REBUILD=false
 BOOST_SKIP=false
 
 TBB_VERSION="2019"
-TBB_VERSION_SHORT="2019"
 TBB_VERSION_UPDATE="_U9"  # Used for source packages...
 TBB_VERSION_MIN="2018"
-TBB_VERSION_MAX="2021"
 TBB_FORCE_BUILD=false
 TBB_FORCE_REBUILD=false
 TBB_SKIP=false
 
-OCIO_VERSION="1.1.1"
-OCIO_VERSION_SHORT="1.1"
+OCIO_VERSION="1.1.0"
 OCIO_VERSION_MIN="1.0"
-OCIO_VERSION_MAX="1.2"
 OCIO_FORCE_BUILD=false
 OCIO_FORCE_REBUILD=false
 OCIO_SKIP=false
 
 OPENEXR_VERSION="2.4.0"
-OPENEXR_VERSION_SHORT="2.4"
 OPENEXR_VERSION_MIN="2.3"
-OPENEXR_VERSION_MAX="3.0"
 OPENEXR_FORCE_BUILD=false
 OPENEXR_FORCE_REBUILD=false
 OPENEXR_SKIP=false
 _with_built_openexr=false
 
-OIIO_VERSION="2.1.15.0"
-OIIO_VERSION_SHORT="2.1"
-OIIO_VERSION_MIN="1.8"
-OIIO_VERSION_MAX="3.0"
+OIIO_VERSION="1.8.13"
+OIIO_VERSION_MIN="1.8.13"
+OIIO_VERSION_MAX="99.99.0"  # UNKNOWN currently # Not supported by current OSL...
 OIIO_FORCE_BUILD=false
 OIIO_FORCE_REBUILD=false
 OIIO_SKIP=false
 
 LLVM_VERSION="9.0.1"
-LLVM_VERSION_SHORT="9.0"
 LLVM_VERSION_MIN="6.0"
-LLVM_VERSION_MAX="11.0"
 LLVM_VERSION_FOUND=""
 LLVM_FORCE_BUILD=false
 LLVM_FORCE_REBUILD=false
 LLVM_SKIP=false
 
 # OSL needs to be compiled for now!
-OSL_VERSION="1.10.10"
-OSL_VERSION_SHORT="1.10"
-OSL_VERSION_MIN="1.10"
-OSL_VERSION_MAX="2.0"
+OSL_VERSION="1.10.9"
+OSL_VERSION_MIN=$OSL_VERSION
 OSL_FORCE_BUILD=false
 OSL_FORCE_REBUILD=false
 OSL_SKIP=false
 
 # OpenSubdiv needs to be compiled for now
 OSD_VERSION="3.4.3"
-OSD_VERSION_SHORT="3.4"
-OSD_VERSION_MIN="3.4"
-OSD_VERSION_MAX="4.0"
+OSD_VERSION_MIN=$OSD_VERSION
 OSD_FORCE_BUILD=false
 OSD_FORCE_REBUILD=false
 OSD_SKIP=false
@@ -472,69 +447,46 @@ OSD_SKIP=false
 OPENVDB_BLOSC_VERSION="1.5.0"
 
 OPENVDB_VERSION="7.0.0"
-OPENVDB_VERSION_SHORT="7.0"
-OPENVDB_VERSION_MIN="7.0"
-OPENVDB_VERSION_MAX="8.0"
+OPENVDB_VERSION_MIN=$OPENVDB_VERSION
 OPENVDB_FORCE_BUILD=false
 OPENVDB_FORCE_REBUILD=false
 OPENVDB_SKIP=false
 
 # Alembic needs to be compiled for now
 ALEMBIC_VERSION="1.7.12"
-ALEMBIC_VERSION_SHORT="1.7"
-ALEMBIC_VERSION_MIN="1.7"
-ALEMBIC_VERSION_MAX="2.0"
+ALEMBIC_VERSION_MIN=$ALEMBIC_VERSION
 ALEMBIC_FORCE_BUILD=false
 ALEMBIC_FORCE_REBUILD=false
 ALEMBIC_SKIP=false
 
 USD_VERSION="20.05"
-USD_VERSION_SHORT="20.05"
-USD_VERSION_MIN="20.05"
-USD_VERSION_MAX="20.06"
 USD_FORCE_BUILD=false
 USD_FORCE_REBUILD=false
 USD_SKIP=false
 
 OPENCOLLADA_VERSION="1.6.68"
-OPENCOLLADA_VERSION_SHORT="1.6"
-OPENCOLLADA_VERSION_MIN="1.6.68"
-OPENCOLLADA_VERSION_MAX="1.7"
 OPENCOLLADA_FORCE_BUILD=false
 OPENCOLLADA_FORCE_REBUILD=false
 OPENCOLLADA_SKIP=false
 
 EMBREE_VERSION="3.10.0"
-EMBREE_VERSION_SHORT="3.10"
-EMBREE_VERSION_MIN="3.10"
-EMBREE_VERSION_MAX="4.0"
 EMBREE_FORCE_BUILD=false
 EMBREE_FORCE_REBUILD=false
 EMBREE_SKIP=false
 
-OIDN_VERSION="1.2.1"
-OIDN_VERSION_SHORT="1.2"
-OIDN_VERSION_MIN="1.2.0"
-OIDN_VERSION_MAX="1.3"
+OIDN_VERSION="1.0.0"
 OIDN_FORCE_BUILD=false
 OIDN_FORCE_REBUILD=false
 OIDN_SKIP=false
 
-ISPC_VERSION="1.14.0"
-
 FFMPEG_VERSION="4.2.3"
-FFMPEG_VERSION_SHORT="4.2"
-FFMPEG_VERSION_MIN="3.0"
-FFMPEG_VERSION_MAX="5.0"
+FFMPEG_VERSION_MIN="2.8.4"
 FFMPEG_FORCE_BUILD=false
 FFMPEG_FORCE_REBUILD=false
 FFMPEG_SKIP=false
 _ffmpeg_list_sep=";"
 
 XR_OPENXR_VERSION="1.0.8"
-XR_OPENXR_VERSION_SHORT="1.0"
-XR_OPENXR_VERSION_MIN="1.0.8"
-XR_OPENXR_VERSION_MAX="2.0"
 XR_OPENXR_FORCE_BUILD=false
 XR_OPENXR_FORCE_REBUILD=false
 XR_OPENXR_SKIP=false
@@ -682,43 +634,36 @@ while true; do
     --ver-ocio)
       OCIO_VERSION="$2"
       OCIO_VERSION_MIN=$OCIO_VERSION
-      OCIO_VERSION_SHORT=$OCIO_VERSION
       shift; shift; continue
     ;;
     --ver-oiio)
       OIIO_VERSION="$2"
       OIIO_VERSION_MIN=$OIIO_VERSION
-      OIIO_VERSION_SHORT=$OIIO_VERSION
       shift; shift; continue
     ;;
     --ver-llvm)
       LLVM_VERSION="$2"
       LLVM_VERSION_MIN=$LLVM_VERSION
-      LLVM_VERSION_SHORT=$LLVM_VERSION
       shift; shift; continue
     ;;
     --ver-osl)
       OSL_VERSION="$2"
       OSL_VERSION_MIN=$OSL_VERSION
-      OSL_VERSION_SHORT=$OSL_VERSION
       shift; shift; continue
     ;;
     --ver-osd)
       OSD_VERSION="$2"
       OSD_VERSION_MIN=$OSD_VERSION
-      OSD_VERSION_SHORT=$OSD_VERSION
       shift; shift; continue
     ;;
     --ver-openvdb)
       OPENVDB_VERSION="$2"
       OPENVDB_VERSION_MIN=$OPENVDB_VERSION
-      OPENVDB_VERSION_SHORT=$OPENVDB_VERSION
       shift; shift; continue
     ;;
     --ver-xr-openxr)
       XR_OPENXR_VERSION="$2"
       XR_OPENXR_VERSION_MIN=$XR_OPENXR_VERSION
-      XR_OPENXR_VERSION_SHORT=$XR_OPENXR_VERSION
       shift; shift; continue
     ;;
     --build-all)
@@ -1060,8 +1005,6 @@ OIDN_SOURCE=( "https://github.com/OpenImageDenoise/oidn/releases/download/v${OID
 #~ OIDN_REPO_UID="dabfd9c80101edae9d25a710160d12d6d963c591"
 #~ OIDN_REPO_BRANCH="master"
 
-ISPC_BINARY=( "https://github.com/ispc/ispc/releases/download/v${ISPC_VERSION}/ispc-v${ISPC_VERSION}-linux.tar.gz" )
-
 FFMPEG_SOURCE=( "http://ffmpeg.org/releases/ffmpeg-$FFMPEG_VERSION.tar.bz2" )
 
 XR_OPENXR_USE_REPO=false
@@ -1087,7 +1030,7 @@ Those libraries should be available as packages in all recent distributions (opt
     * libjpeg, libpng, libtiff, [openjpeg2], [libopenal].
     * libx11, libxcursor, libxi, libxrandr, libxinerama (and other libx... as needed).
     * libsqlite3, libbz2, libssl, libfftw3, libxml2, libtinyxml, yasm, libyaml-cpp.
-    * libsdl2, libglew, [libgmp], [libglewmx], fontconfig.\""
+    * libsdl2, libglew, [libgmp], [libglewmx].\""
 
 DEPS_SPECIFIC_INFO="\"BUILDABLE DEPENDENCIES:
 
@@ -1327,7 +1270,7 @@ _init_python() {
   _src=$SRC/Python-$PYTHON_VERSION
   _git=false
   _inst=$INST/python-$PYTHON_VERSION
-  _inst_shortcut=$INST/python-$PYTHON_VERSION_SHORT
+  _inst_shortcut=$INST/python-$PYTHON_VERSION_MIN
 }
 
 _update_deps_python() {
@@ -1402,7 +1345,7 @@ compile_Python() {
     INFO "If you want to force rebuild of this lib, use the --force-python option."
   fi
 
-  run_ldconfig "python-$PYTHON_VERSION_SHORT"
+  run_ldconfig "python-$PYTHON_VERSION_MIN"
 }
 
 # ----------------------------------------------------------------------------
@@ -1412,8 +1355,8 @@ _init_numpy() {
   _src=$SRC/numpy-$NUMPY_VERSION
   _git=false
   _inst=$INST/numpy-$NUMPY_VERSION
-  _python=$INST/python-$PYTHON_VERSION_SHORT
-  _site=lib/python$PYTHON_VERSION_SHORT/site-packages
+  _python=$INST/python-$PYTHON_VERSION
+  _site=lib/python$PYTHON_VERSION_MIN/site-packages
   _inst_shortcut=$_python/$_site/numpy
 }
 
@@ -1492,7 +1435,7 @@ compile_Numpy() {
 _init_boost() {
   _src=$SRC/boost-$BOOST_VERSION
   _git=false
-  _inst=$INST/boost-$BOOST_VERSION_SHORT
+  _inst=$INST/boost-$BOOST_VERSION
   _inst_shortcut=$INST/boost
 }
 
@@ -1585,7 +1528,7 @@ compile_Boost() {
 _init_tbb() {
   _src=$SRC/TBB-$TBB_VERSION
   _git=false
-  _inst=$INST/tbb-$TBB_VERSION_SHORT
+  _inst=$INST/tbb-$TBB_VERSION
   _inst_shortcut=$INST/tbb
 }
 
@@ -1713,7 +1656,7 @@ _init_ocio() {
   else
     _git=false
   fi
-  _inst=$INST/ocio-$OCIO_VERSION_SHORT
+  _inst=$INST/ocio-$OCIO_VERSION
   _inst_shortcut=$INST/ocio
 }
 
@@ -1838,7 +1781,7 @@ compile_OCIO() {
 _init_openexr() {
   _src=$SRC/OpenEXR-$OPENEXR_VERSION
   _git=false
-  _inst=$INST/openexr-$OPENEXR_VERSION_SHORT
+  _inst=$INST/openexr-$OPENEXR_VERSION
   _inst_shortcut=$INST/openexr
 }
 
@@ -1968,7 +1911,7 @@ compile_OPENEXR() {
 _init_oiio() {
   _src=$SRC/OpenImageIO-$OIIO_VERSION
   _git=true
-  _inst=$INST/oiio-$OIIO_VERSION_SHORT
+  _inst=$INST/oiio-$OIIO_VERSION
   _inst_shortcut=$INST/oiio
 }
 
@@ -2123,7 +2066,7 @@ _init_llvm() {
   _src=$SRC/LLVM-$LLVM_VERSION
   _src_clang=$SRC/CLANG-$LLVM_VERSION
   _git=false
-  _inst=$INST/llvm-$LLVM_VERSION_SHORT
+  _inst=$INST/llvm-$LLVM_VERSION
   _inst_shortcut=$INST/llvm
 }
 
@@ -2235,7 +2178,7 @@ compile_LLVM() {
 _init_osl() {
   _src=$SRC/OpenShadingLanguage-$OSL_VERSION
   _git=true
-  _inst=$INST/osl-$OSL_VERSION_SHORT
+  _inst=$INST/osl-$OSL_VERSION
   _inst_shortcut=$INST/osl
 }
 
@@ -2380,7 +2323,7 @@ compile_OSL() {
 _init_osd() {
   _src=$SRC/OpenSubdiv-$OSD_VERSION
   _git=true
-  _inst=$INST/osd-$OSD_VERSION_SHORT
+  _inst=$INST/osd-$OSD_VERSION
   _inst_shortcut=$INST/osd
 }
 
@@ -2594,7 +2537,7 @@ compile_BLOSC() {
 _init_openvdb() {
   _src=$SRC/openvdb-$OPENVDB_VERSION
   _git=false
-  _inst=$INST/openvdb-$OPENVDB_VERSION_SHORT
+  _inst=$INST/openvdb-$OPENVDB_VERSION
   _inst_shortcut=$INST/openvdb
 }
 
@@ -2712,7 +2655,7 @@ compile_OPENVDB() {
 _init_alembic() {
   _src=$SRC/alembic-$ALEMBIC_VERSION
   _git=false
-  _inst=$INST/alembic-$ALEMBIC_VERSION_SHORT
+  _inst=$INST/alembic-$ALEMBIC_VERSION
   _inst_shortcut=$INST/alembic
 }
 
@@ -2817,7 +2760,7 @@ compile_ALEMBIC() {
 _init_usd() {
   _src=$SRC/USD-$USD_VERSION
   _git=false
-  _inst=$INST/usd-$USD_VERSION_SHORT
+  _inst=$INST/usd-$USD_VERSION
   _inst_shortcut=$INST/usd
 }
 
@@ -2916,7 +2859,7 @@ compile_USD() {
 _init_opencollada() {
   _src=$SRC/OpenCOLLADA-$OPENCOLLADA_VERSION
   _git=true
-  _inst=$INST/opencollada-$OPENCOLLADA_VERSION_SHORT
+  _inst=$INST/opencollada-$OPENCOLLADA_VERSION
   _inst_shortcut=$INST/opencollada
 }
 
@@ -3022,7 +2965,7 @@ compile_OpenCOLLADA() {
 _init_embree() {
   _src=$SRC/embree-$EMBREE_VERSION
   _git=true
-  _inst=$INST/embree-$EMBREE_VERSION_SHORT
+  _inst=$INST/embree-$EMBREE_VERSION
   _inst_shortcut=$INST/embree
 }
 
@@ -3132,83 +3075,10 @@ compile_Embree() {
 # ----------------------------------------------------------------------------
 # Build OpenImageDenoise
 
-_init_ispc() {
-  _src=$SRC/ispc-v$ISPC_VERSION
-  _inst=$INST/ispc-v$ISPC_VERSION
-  _inst_shortcut=$INST/ispc
-}
-
-_update_deps_ispc() {
-  OIDN_FORCE_REBUILD=true
-  if [ "$_is_building" = true ]; then
-    OIDN_FORCE_BUILD=true
-  fi
-}
-
-clean_ispc() {
-  _init_ispc
-  if [ -d $_inst ]; then
-    _update_deps_ispc
-  fi
-  _clean
-}
-
-install_ISPC() {
-  # To be changed each time we make edits that would modify the compiled results!
-  ispc_magic=0
-  _init_ispc
-
-  # Clean install if needed!
-  magic_compile_check ispc-$ISPC_VERSION $ispc_magic
-  if [ $? -eq 1 ]; then
-    clean_ispc
-  fi
-
-  if [ ! -d $_inst ]; then
-    INFO "Installing Implicit SPMD Program Compiler v$ISPC_VERSION"
-    _is_building=true
-
-    # Rebuild dependencies as well!
-    _update_deps_ispc
-
-    prepare_opt
-
-    if [ ! -d $_src ]; then
-      mkdir -p $SRC
-      download ISPC_BINARY[@] "$_src.tar.gz"
-      INFO "Unpacking ISPC-v$ISPC_VERSION"
-      tar -C $SRC --transform "s,(.*/?)ispc-v$ISPC_VERSION-linux[^/]*(.*),\1ispc-v$ISPC_VERSION\2,x" \
-          -xf $_src.tar.gz
-    fi
-
-    mkdir -p $_inst
-    cp -r $_src/bin $_inst/bin
-
-    if [ -d $_inst ]; then
-      _create_inst_shortcut
-    else
-      ERROR "ISPC-v$ISPC_VERSION failed to install, exiting"
-      exit 1
-    fi
-
-    magic_compile_set ispc-$ISPC_VERSION $ispc_magic
-
-    cd $CWD
-    INFO "Done compiling ISPC-v$ISPC_VERSION!"
-    _is_building=false
-  else
-    INFO "Own ISPC-v$ISPC_VERSION is up to date, nothing to do!"
-  fi
-
-  _ispc_path_bin=$_inst/bin
-  run_ldconfig "ispc"
-}
-
-
 _init_oidn() {
   _src=$SRC/oidn-$OIDN_VERSION
   _git=true
-  _inst=$INST/oidn-$OIDN_VERSION_SHORT
+  _inst=$INST/oidn-$OIDN_VERSION
   _inst_shortcut=$INST/oidn
 }
 
@@ -3230,9 +3100,6 @@ compile_OIDN() {
     return
   fi
 
-  # Latest OIDN requires ISPC compiler tool...
-  install_ISPC
-
   # To be changed each time we make edits that would modify the compiled results!
   oidn_magic=9
   _init_oidn
@@ -3285,7 +3152,6 @@ compile_OIDN() {
     cmake_d="$cmake_d -D WITH_EXAMPLE=OFF"
     cmake_d="$cmake_d -D WITH_TEST=OFF"
     cmake_d="$cmake_d -D OIDN_STATIC_LIB=ON"
-    cmake_d="$cmake_d -D ISPC_DIR_HINT=$_ispc_path_bin"
 
     if [ -d $INST/tbb ]; then
       make_d="$make_d TBB_ROOT=$INST/tbb"
@@ -3321,7 +3187,7 @@ compile_OIDN() {
 
 _init_ffmpeg() {
   _src=$SRC/ffmpeg-$FFMPEG_VERSION
-  _inst=$INST/ffmpeg-$FFMPEG_VERSION_SHORT
+  _inst=$INST/ffmpeg-$FFMPEG_VERSION
   _inst_shortcut=$INST/ffmpeg
 }
 
@@ -3450,7 +3316,7 @@ compile_FFmpeg() {
 _init_xr_openxr_sdk() {
   _src=$SRC/XR-OpenXR-SDK-$XR_OPENXR_VERSION
   _git=true
-  _inst=$INST/xr-openxr-sdk-$XR_OPENXR_VERSION_SHORT
+  _inst=$INST/xr-openxr-sdk-$XR_OPENXR_VERSION
   _inst_shortcut=$INST/xr-openxr-sdk
 }
 
@@ -3654,7 +3520,7 @@ install_DEB() {
   THEORA_DEV="libtheora-dev"
 
   _packages="gawk cmake cmake-curses-gui build-essential libjpeg-dev libpng-dev libtiff-dev \
-             git libfreetype6-dev libfontconfig-dev libx11-dev flex bison libxxf86vm-dev \
+             git libfreetype6-dev libx11-dev flex bison libxxf86vm-dev \
              libxcursor-dev libxi-dev wget libsqlite3-dev libxrandr-dev libxinerama-dev \
              libbz2-dev libncurses5-dev libssl-dev liblzma-dev libreadline-dev \
              libopenal-dev libglew-dev yasm $THEORA_DEV $VORBIS_DEV $OGG_DEV \
@@ -3689,18 +3555,13 @@ install_DEB() {
 
   PRINT ""
   CLANG_FORMAT="clang-format"
-  check_package_version_ge_DEB $CLANG_FORMAT $CLANG_FORMAT_VERSION
+  check_package_version_ge_DEB $CLANG_FORMAT $CLANG_FORMAT_VERSION_MIN
   if [ $? -eq 0 ]; then
     _packages="$_packages $CLANG_FORMAT"
   else
-    check_package_version_ge_DEB $CLANG_FORMAT $CLANG_FORMAT_VERSION_MIN
-    if [ $? -eq 0 ]; then
-      _packages="$_packages $CLANG_FORMAT"
-    else
-      PRINT ""
-      WARNING "clang-format $CLANG_FORMAT_VERSION_MIN or higher not found, this is NOT needed to get Blender compiling..."
-      PRINT ""
-    fi
+    PRINT ""
+    WARNING "clang-format $CLANG_FORMAT_VERSION_MIN or higher not found, this is NOT needed to get Blender compiling..."
+    PRINT ""
   fi
 
   if [ "$WITH_JACK" = true ]; then
@@ -3815,7 +3676,7 @@ install_DEB() {
     INFO "Forced Python/NumPy building, as requested..."
     _do_compile_python=true
   else
-    check_package_version_ge_lt_DEB python3-dev $PYTHON_VERSION_MIN $PYTHON_VERSION_MAX
+    check_package_version_ge_DEB python3-dev $PYTHON_VERSION_MIN
     if [ $? -eq 0 ]; then
       PYTHON_VERSION_INSTALLED=$(echo `get_package_version_DEB python3-dev` | sed -r 's/^([0-9]+\.[0-9]+).*/\1/')
 
@@ -3857,7 +3718,7 @@ install_DEB() {
     INFO "Forced Boost building, as requested..."
     compile_Boost
   else
-    check_package_version_ge_lt_DEB libboost-dev $BOOST_VERSION_MIN $BOOST_VERSION_MAX
+    check_package_version_ge_DEB libboost-dev $BOOST_VERSION_MIN
     if [ $? -eq 0 ]; then
       install_packages_DEB libboost-dev
 
@@ -3878,7 +3739,7 @@ install_DEB() {
     INFO "Forced TBB building, as requested..."
     compile_TBB
   else
-    check_package_version_ge_lt_DEB libtbb-dev $TBB_VERSION_MIN $TBB_VERSION_MAX
+    check_package_version_ge_DEB libtbb-dev $TBB_VERSION_MIN
     if [ $? -eq 0 ]; then
       install_packages_DEB libtbb-dev
       clean_TBB
@@ -3895,13 +3756,14 @@ install_DEB() {
     INFO "Forced OpenColorIO building, as requested..."
     compile_OCIO
   else
-    check_package_version_ge_lt_DEB libopencolorio-dev $OCIO_VERSION_MIN $OCIO_VERSION_MAX
-    if [ $? -eq 0 ]; then
-      install_packages_DEB libopencolorio-dev
-      clean_OCIO
-    else
+    # XXX Always force build of own OCIO, until linux distro guys update their package to default libyaml-cpp ver (0.5)!
+    #check_package_version_ge_DEB libopencolorio-dev $OCIO_VERSION_MIN
+    #if [ $? -eq 0 ]; then
+      #install_packages_DEB libopencolorio-dev
+      #clean_OCIO
+    #else
       compile_OCIO
-    fi
+    #fi
   fi
 
 
@@ -3912,7 +3774,7 @@ install_DEB() {
     INFO "Forced ILMBase/OpenEXR building, as requested..."
     compile_OPENEXR
   else
-    check_package_version_ge_lt_DEB libopenexr-dev $OPENEXR_VERSION_MIN $OPENEXR_VERSION_MAX
+    check_package_version_ge_DEB libopenexr-dev $OPENEXR_VERSION_MIN
     if [ $? -eq 0 ]; then
       install_packages_DEB libopenexr-dev
       OPENEXR_VERSION=`get_package_version_DEB libopenexr-dev`
@@ -3931,13 +3793,14 @@ install_DEB() {
     INFO "Forced OpenImageIO building, as requested..."
     compile_OIIO
   else
-    check_package_version_ge_lt_DEB libopenimageio-dev $OIIO_VERSION_MIN $OIIO_VERSION_MAX
-    if [ $? -eq 0 -a "$_with_built_openexr" = false ]; then
-      install_packages_DEB libopenimageio-dev
-      clean_OIIO
-    else
+    # XXX Debian Testing / Ubuntu 16.04 pulls in WAY too many deps (gtk2/opencv ?!) incl. OCIO build against libyaml-cpp0.3 so build for now...
+    #check_package_version_ge_lt_DEB libopenimageio-dev $OIIO_VERSION_MIN $OIIO_VERSION_MAX
+    #if [ $? -eq 0 -a "$_with_built_openexr" = false ]; then
+    #  install_packages_DEB libopenimageio-dev
+    #  clean_OIIO
+    #else
       compile_OIIO
-    fi
+    #fi
   fi
 
 
@@ -3951,12 +3814,11 @@ install_DEB() {
     INFO "Forced LLVM building, as requested..."
     _do_compile_llvm=true
   else
-    check_package_version_ge_lt_DEB llvm-dev $LLVM_VERSION_MIN $LLVM_VERSION_MAX
+    check_package_DEB clang-$LLVM_VERSION_MIN
     if [ $? -eq 0 ]; then
-      install_packages_DEB llvm-dev clang
+      install_packages_DEB llvm-$LLVM_VERSION_MIN-dev clang-$LLVM_VERSION_MIN
       have_llvm=true
-      LLVM_VERSION=`get_package_version_DEB llvm-dev`
-      LLVM_VERSION_FOUND=$LLVM_VERSION
+      LLVM_VERSION_FOUND=$LLVM_VERSION_MIN
       clean_LLVM
     else
       _do_compile_llvm=true
@@ -3982,13 +3844,8 @@ install_DEB() {
     INFO "Forced OpenShadingLanguage building, as requested..."
     _do_compile_osl=true
   else
-    check_package_version_ge_lt_DEB  libopenshadinglanguage-dev $OSL_VERSION_MIN $OSL_VERSION_MAX
-    if [ $? -eq 0 ]; then
-      install_packages_DEB libopenshadinglanguage-dev
-      clean_OSL
-    else
-      _do_compile_osl=true
-    fi
+    # No package currently!
+    _do_compile_osl=true
   fi
 
   if [ "$_do_compile_osl" = true ]; then
@@ -4020,7 +3877,7 @@ install_DEB() {
     INFO "Forced OpenVDB building, as requested..."
     compile_OPENVDB
   else
-    check_package_version_ge_lt_DEB libopenvdb-dev $OPENVDB_VERSION_MIN $OPENVDB_VERSION_MAX
+    check_package_version_ge_DEB libopenvdb-dev $OPENVDB_VERSION_MIN
     if [ $? -eq 0 ]; then
       install_packages_DEB libopenvdb-dev libblosc-dev
       clean_OPENVDB
@@ -4081,14 +3938,8 @@ install_DEB() {
       INFO "Forced Embree building, as requested..."
       _do_compile_embree=true
     else
-      # There is a package, but it does not provide everything that Blender needs...
-      #~ check_package_version_ge_lt_DEB libembree-dev $EMBREE_VERSION_MIN $EMBREE_VERSION_MAX
-      #~ if [ $? -eq 0 ]; then
-        #~ install_packages_DEB libembree-dev
-        #~ clean_Embree
-      #~ else
-        _do_compile_embree=true
-      #~ fi
+      # No package currently!
+      _do_compile_embree=true
     fi
 
     if [ "$_do_compile_embree" = true ]; then
@@ -4124,7 +3975,7 @@ install_DEB() {
     # XXX Debian Testing / Ubuntu 16.04 finally includes FFmpeg, so check as usual
     check_package_DEB ffmpeg
     if [ $? -eq 0 ]; then
-      check_package_version_ge_lt_DEB ffmpeg $FFMPEG_VERSION_MIN $FFMPEG_VERSION_MAX
+      check_package_version_ge_DEB ffmpeg $FFMPEG_VERSION_MIN
       if [ $? -eq 0 ]; then
         install_packages_DEB libavdevice-dev
         clean_FFmpeg
@@ -4320,7 +4171,7 @@ install_RPM() {
   OGG_DEV="libogg-devel"
   THEORA_DEV="libtheora-devel"
 
-  _packages="gcc gcc-c++ git make cmake tar bzip2 xz findutils flex bison fontconfig-devel \
+  _packages="gcc gcc-c++ git make cmake tar bzip2 xz findutils flex bison \
              libtiff-devel libjpeg-devel libpng-devel sqlite-devel fftw-devel SDL2-devel \
              libX11-devel libXi-devel libXcursor-devel libXrandr-devel libXinerama-devel \
              wget ncurses-devel readline-devel $OPENJPEG_DEV openal-soft-devel \
@@ -4448,7 +4299,7 @@ install_RPM() {
     INFO "Forced Python/NumPy building, as requested..."
     _do_compile_python=true
   else
-    check_package_version_ge_lt_RPM python3-devel $PYTHON_VERSION_MIN $PYTHON_VERSION_MAX
+    check_package_version_ge_RPM python3-devel $PYTHON_VERSION_MIN
     if [ $? -eq 0 ]; then
       PYTHON_VERSION_INSTALLED=$(echo `get_package_version_RPM python3-devel` | sed -r 's/^([0-9]+\.[0-9]+).*/\1/')
 
@@ -4458,7 +4309,7 @@ install_RPM() {
       if [ "$NUMPY_SKIP" = true ]; then
         WARNING "Skipping NumPy installation, as requested..."
       else
-        check_package_version_ge_lt_RPM python3-numpy $NUMPY_VERSION_MIN $NUMPY_VERSION_MAX
+        check_package_version_ge_RPM python3-numpy $NUMPY_VERSION_MIN
         if [ $? -eq 0 ]; then
           install_packages_RPM python3-numpy
         else
@@ -4491,7 +4342,7 @@ install_RPM() {
     INFO "Forced Boost building, as requested..."
     _do_compile_boost=true
   else
-    check_package_version_ge_lt_RPM boost-devel $BOOST_VERSION_MIN $BOOST_VERSION_MAX
+    check_package_version_ge_RPM boost-devel $BOOST_VERSION_MIN
     if [ $? -eq 0 ]; then
       install_packages_RPM boost-devel
       clean_Boost
@@ -4518,7 +4369,7 @@ install_RPM() {
     INFO "Forced TBB building, as requested..."
     compile_TBB
   else
-    check_package_version_ge_lt_RPM tbb-devel $TBB_VERSION_MIN $TBB_VERSION_MAX
+    check_package_version_ge_RPM tbb-devel $TBB_VERSION_MIN
     if [ $? -eq 0 ]; then
       install_packages_RPM tbb-devel
       clean_TBB
@@ -4536,7 +4387,7 @@ install_RPM() {
     compile_OCIO
   else
     if [ "$RPM" = "SUSE" ]; then
-      check_package_version_ge_lt_RPM OpenColorIO-devel $OCIO_VERSION_MIN $OCIO_VERSION_MAX
+      check_package_version_ge_RPM OpenColorIO-devel $OCIO_VERSION_MIN
       if [ $? -eq 0 ]; then
         install_packages_RPM OpenColorIO-devel
         clean_OCIO
@@ -4556,7 +4407,7 @@ install_RPM() {
     INFO "Forced ILMBase/OpenEXR building, as requested..."
     compile_OPENEXR
   else
-    check_package_version_ge_lt_RPM openexr-devel $OPENEXR_VERSION_MIN $OPENEXR_VERSION_MAX
+    check_package_version_ge_RPM openexr-devel $OPENEXR_VERSION_MIN
     if [ $? -eq 0 ]; then
       install_packages_RPM openexr-devel
       OPENEXR_VERSION=`get_package_version_RPM openexr-devel`
@@ -4574,6 +4425,7 @@ install_RPM() {
     INFO "Forced OpenImageIO building, as requested..."
     compile_OIIO
   else
+    # XXX RPM distros pulls in too much and depends on old libs, so better to build for now...
     #check_package_version_ge_lt_RPM OpenImageIO-devel $OIIO_VERSION_MIN $OIIO_VERSION_MAX
     #if [ $? -eq 0 -a $_with_built_openexr == false ]; then
     #  install_packages_RPM OpenImageIO-devel
@@ -4599,11 +4451,10 @@ install_RPM() {
     else
       CLANG_DEV="clang-devel"
     fi
-    check_package_version_ge_lt_RPM llvm-devel $LLVM_VERSION_MIN $LLVM_VERSION_MAX
+    check_package_version_match_RPM $CLANG_DEV $LLVM_VERSION
     if [ $? -eq 0 ]; then
       install_packages_RPM llvm-devel $CLANG_DEV
       have_llvm=true
-      LLVM_VERSION=`get_package_version_RPM llvm-devel`
       LLVM_VERSION_FOUND=$LLVM_VERSION
       clean_LLVM
     else
@@ -4630,18 +4481,8 @@ install_RPM() {
     INFO "Forced OpenShadingLanguage building, as requested..."
     _do_compile_osl=true
   else
-    if [ "$RPM" = "SUSE" ]; then
-      OSL_DEV="OpenShadingLanguage-devel"
-    else
-      OSL_DEV="openshadinglanguage-devel"
-    fi
-    check_package_version_ge_lt_RPM $OSL_DEV $OSL_VERSION_MIN $OSL_VERSION_MAX
-    if [ $? -eq 0 ]; then
-      install_packages_RPM $OSL_DEV
-      clean_OSL
-    else
-      _do_compile_osl=true
-    fi
+    # No package currently!
+    _do_compile_osl=true
   fi
 
   if [ "$_do_compile_osl" = true ]; then
@@ -4729,14 +4570,8 @@ install_RPM() {
       INFO "Forced Embree building, as requested..."
       _do_compile_embree=true
     else
-      # There is a package, but it does not provide everything that Blender needs...
-      #~ check_package_version_ge_lt_RPM embree-devel $EMBREE_VERSION_MIN $EMBREE_VERSION_MAX
-      #~ if [ $? -eq 0 ]; then
-        #~ install_packages_RPM embree-devel
-        #~ clean_Embree
-      #~ else
-        _do_compile_embree=true
-      #~ fi
+      # No package...
+      _do_compile_embree=true
     fi
 
     if [ "$_do_compile_embree" = true ]; then
@@ -4769,7 +4604,7 @@ install_RPM() {
     INFO "Forced FFMpeg building, as requested..."
     compile_FFmpeg
   else
-    check_package_version_ge_lt_RPM ffmpeg-devel $FFMPEG_VERSION_MIN $FFMPEG_VERSION_MAX
+    check_package_version_ge_RPM ffmpeg-devel $FFMPEG_VERSION_MIN
     if [ $? -eq 0 ]; then
       install_packages_RPM ffmpeg ffmpeg-devel
       clean_FFmpeg
@@ -4898,7 +4733,7 @@ install_ARCH() {
     BASE_DEVEL=`pacman -Sgq base-devel | sed -e 's/^gcc$/gcc-multilib/g' | paste -s -d' '`
   fi
 
-  _packages="$BASE_DEVEL git cmake fontconfig \
+  _packages="$BASE_DEVEL git cmake \
              libxi libxcursor libxrandr libxinerama glew libpng libtiff wget openal \
              $OPENJPEG_DEV $VORBIS_DEV $OGG_DEV $THEORA_DEV yasm sdl2 fftw \
              libxml2 yaml-cpp tinyxml python-requests jemalloc gmp"
@@ -4989,7 +4824,7 @@ install_ARCH() {
     INFO "Forced Python/NumPy building, as requested..."
     _do_compile_python=true
   else
-    check_package_version_ge_lt_ARCH python $PYTHON_VERSION_MIN $PYTHON_VERSION_MAX
+    check_package_version_ge_ARCH python $PYTHON_VERSION_MIN
     if [ $? -eq 0 ]; then
       PYTHON_VERSION_INSTALLED=$(echo `get_package_version_ARCH python` | sed -r 's/^([0-9]+\.[0-9]+).*/\1/')
 
@@ -4999,7 +4834,7 @@ install_ARCH() {
       if [ "$NUMPY_SKIP" = true ]; then
         WARNING "Skipping NumPy installation, as requested..."
       else
-        check_package_version_ge_ARCH python-numpy $NUMPY_VERSION_MIN $NUMPY_VERSION_MAX
+        check_package_version_ge_ARCH python-numpy $NUMPY_VERSION_MIN
         if [ $? -eq 0 ]; then
           install_packages_ARCH python-numpy
         else
@@ -5031,7 +4866,7 @@ install_ARCH() {
     INFO "Forced Boost building, as requested..."
     compile_Boost
   else
-    check_package_version_ge_lt_ARCH boost $BOOST_VERSION_MIN $BOOST_VERSION_MAX
+    check_package_version_ge_ARCH boost $BOOST_VERSION_MIN
     if [ $? -eq 0 ]; then
       install_packages_ARCH boost
       clean_Boost
@@ -5048,7 +4883,7 @@ install_ARCH() {
     INFO "Forced TBB building, as requested..."
     compile_TBB
   else
-    check_package_version_ge_lt_ARCH intel-tbb $TBB_VERSION_MIN $TBB_VERSION_MAX
+    check_package_version_ge_ARCH intel-tbb $TBB_VERSION_MIN
     if [ $? -eq 0 ]; then
       install_packages_ARCH intel-tbb
       clean_TBB
@@ -5065,7 +4900,7 @@ install_ARCH() {
     INFO "Forced OpenColorIO building, as requested..."
     compile_OCIO
   else
-    check_package_version_ge_lt_ARCH opencolorio $OCIO_VERSION_MIN $OCIO_VERSION_MAX
+    check_package_version_ge_ARCH opencolorio $OCIO_VERSION_MIN
     if [ $? -eq 0 ]; then
       install_packages_ARCH opencolorio
       clean_OCIO
@@ -5082,7 +4917,7 @@ install_ARCH() {
     INFO "Forced ILMBase/OpenEXR building, as requested..."
     compile_OPENEXR
   else
-    check_package_version_ge_lt_ARCH openexr $OPENEXR_VERSION_MIN $OPENEXR_VERSION_MAX
+    check_package_version_ge_ARCH openexr $OPENEXR_VERSION_MIN
     if [ $? -eq 0 ]; then
       install_packages_ARCH openexr
       OPENEXR_VERSION=`get_package_version_ARCH openexr`
@@ -5121,7 +4956,7 @@ install_ARCH() {
     INFO "Forced LLVM building, as requested..."
     _do_compile_llvm=true
   else
-    check_package_version_ge_lt_ARCH llvm $LLVM_VERSION_MIN $LLVM_VERSION_MAX
+    check_package_version_match_ARCH llvm $LLVM_VERSION_MIN
     if [ $? -eq 0 ]; then
       install_packages_ARCH llvm clang
       have_llvm=true
@@ -5152,13 +4987,14 @@ install_ARCH() {
     INFO "Forced OpenShadingLanguage building, as requested..."
     _do_compile_osl=true
   else
-    check_package_version_ge_lt_ARCH openshadinglanguage $OSL_VERSION_MIN $OSL_VERSION_MAX
-    if [ $? -eq 0 ]; then
-      install_packages_ARCH openshadinglanguage
-      clean_OSL
-    else
+    # XXX Compile for now due to requirement of LLVM 3.4 ...
+    #check_package_version_ge_ARCH openshadinglanguage $OSL_VERSION_MIN
+    #if [ $? -eq 0 ]; then
+    #  install_packages_ARCH openshadinglanguage
+    #  clean_OSL
+    #else
       _do_compile_osl=true
-    fi
+    #fi
   fi
 
   if [ "$_do_compile_osl" = true ]; then
@@ -5178,7 +5014,7 @@ install_ARCH() {
     INFO "Forced OpenSubdiv building, as requested..."
     compile_OSD
   else
-    check_package_version_ge_lt_ARCH opensubdiv $OSD_VERSION_MIN $OSD_VERSION_MAX
+    check_package_version_ge_ARCH opensubdiv $OSD_VERSION_MIN
     if [ $? -eq 0 ]; then
       install_packages_ARCH opensubdiv
       clean_OSD
@@ -5195,7 +5031,7 @@ install_ARCH() {
     INFO "Forced OpenVDB building, as requested..."
     compile_OPENVDB
   else
-    check_package_version_ge_lt_ARCH openvdb $OPENVDB_VERSION_MIN $OPENVDB_VERSION_MAX
+    check_package_version_ge_ARCH openvdb $OPENVDB_VERSION_MIN
     if [ $? -eq 0 ]; then
       install_packages_ARCH openvdb
       clean_OPENVDB
@@ -5260,14 +5096,13 @@ install_ARCH() {
       INFO "Forced Embree building, as requested..."
       _do_compile_embree=true
     else
-      # There is a package, but it does not provide everything that Blender needs...
-      #~ check_package_version_ge_lt_ARCH embree $EMBREE_VERSION_MIN $EMBREE_VERSION_MAX
-      #~ if [ $? -eq 0 ]; then
-        #~ install_packages_ARCH embree
-        #~ clean_Embree
-      #~ else
+      check_package_ARCH embree
+      if [ $? -eq 0 ]; then
+        install_packages_ARCH embree
+        clean_Embree
+      else
         _do_compile_embree=true
-      #~ fi
+      fi
     fi
 
     if [ "$_do_compile_embree" = true ]; then
@@ -5300,7 +5135,7 @@ install_ARCH() {
     INFO "Forced FFMpeg building, as requested..."
     compile_FFmpeg
   else
-    check_package_version_ge_lt_ARCH ffmpeg $FFMPEG_VERSION_MIN $FFMPEG_VERSION_MAX
+    check_package_version_ge_ARCH ffmpeg $FFMPEG_VERSION_MIN
     if [ $? -eq 0 ]; then
       install_packages_ARCH ffmpeg
       clean_FFmpeg
@@ -5577,8 +5412,7 @@ print_info() {
 
   _buildargs="-U *SNDFILE* -U PYTHON* -U *BOOST* -U *Boost* -U *TBB*"
   _buildargs="$_buildargs -U *OPENCOLORIO* -U *OPENEXR* -U *OPENIMAGEIO* -U *LLVM* -U *CYCLES*"
-  _buildargs="$_buildargs -U *OPENSUBDIV* -U *OPENVDB*  -U *BLOSC* -U *COLLADA* -U *FFMPEG* -U *ALEMBIC* -U *USD*"
-  _buildargs="$_buildargs -U *EMBREE* -U *OPENIMAGEDENOISE* -U *OPENXR*"
+  _buildargs="$_buildargs -U *OPENSUBDIV* -U *OPENVDB* -U *COLLADA* -U *FFMPEG* -U *ALEMBIC* -U *USD*"
 
   _1="-D WITH_CODEC_SNDFILE=ON"
   PRINT "  $_1"

build_files/build_environment/patches/boost.user.jam.in

@@ -1,4 +0,0 @@
-using python : @PYTHON_SHORT_VERSION@ : @PYTHON_BINARY@
- : @LIBDIR@/python/include @LIBDIR@/python/include/python@PYTHON_SHORT_VERSION@m/ 
- : @LIBDIR@/python/libs  
-;

build_files/build_environment/patches/hdf5.diff

@@ -0,0 +1,11 @@
+--- UserMacros.cmake
++++ UserMacros.cmake
+@@ -16,6 +16,8 @@
+ if (BUILD_USER_DEFINED_LIBS)
+   MACRO_USER_DEFINED_LIBS ()
+ endif (BUILD_USER_DEFINED_LIBS)
++
++include(Config/cmake/usermacros/windows_mt.cmake)
+ #-----------------------------------------------------------------------------
+ #------------------- E X A M P L E   E N D -----------------------------------
+ #-----------------------------------------------------------------------------

build_files/build_environment/patches/openvdb.diff

@@ -1,6 +1,6 @@
 diff -Naur orig/cmake/FindIlmBase.cmake openvdb/cmake/FindIlmBase.cmake
---- orig/cmake/FindIlmBase.cmake	2019-12-06 12:11:33 -0700
-+++ openvdb/cmake/FindIlmBase.cmake	2020-08-12 12:48:44 -0600
+--- orig/cmake/FindIlmBase.cmake	2019-12-06 13:11:33 -0700
++++ openvdb/cmake/FindIlmBase.cmake	2020-01-16 09:06:32 -0700
 @@ -225,6 +225,12 @@
    list(APPEND CMAKE_FIND_LIBRARY_SUFFIXES
      "-${IlmBase_VERSION_MAJOR}_${IlmBase_VERSION_MINOR}.lib"
@@ -15,8 +15,8 @@ diff -Naur orig/cmake/FindIlmBase.cmake openvdb/cmake/FindIlmBase.cmake
    if(ILMBASE_USE_STATIC_LIBS)
      list(APPEND CMAKE_FIND_LIBRARY_SUFFIXES
 diff -Naur orig/cmake/FindOpenEXR.cmake openvdb/cmake/FindOpenEXR.cmake
---- orig/cmake/FindOpenEXR.cmake	2019-12-06 12:11:33 -0700
-+++ openvdb/cmake/FindOpenEXR.cmake	2020-08-12 12:48:44 -0600
+--- orig/cmake/FindOpenEXR.cmake	2019-12-06 13:11:33 -0700
++++ openvdb/cmake/FindOpenEXR.cmake	2020-01-16 09:06:39 -0700
 @@ -218,6 +218,12 @@
    list(APPEND CMAKE_FIND_LIBRARY_SUFFIXES
      "-${OpenEXR_VERSION_MAJOR}_${OpenEXR_VERSION_MINOR}.lib"
@@ -31,20 +31,9 @@ diff -Naur orig/cmake/FindOpenEXR.cmake openvdb/cmake/FindOpenEXR.cmake
    if(OPENEXR_USE_STATIC_LIBS)
      list(APPEND CMAKE_FIND_LIBRARY_SUFFIXES
 diff -Naur orig/openvdb/CMakeLists.txt openvdb/openvdb/CMakeLists.txt
---- orig/openvdb/CMakeLists.txt	2019-12-06 12:11:33 -0700
-+++ openvdb/openvdb/CMakeLists.txt	2020-08-12 14:12:26 -0600
-@@ -105,7 +105,9 @@
-   #        http://boost.2283326.n4.nabble.com/CMake-config-scripts-broken-in-1-70-td4708957.html
-   #        https://github.com/boostorg/boost_install/commit/160c7cb2b2c720e74463865ef0454d4c4cd9ae7c
-   set(BUILD_SHARED_LIBS ON)
--  set(Boost_USE_STATIC_LIBS OFF)
-+  if(NOT WIN32) # blender links boost statically on windows
-+    set(Boost_USE_STATIC_LIBS OFF)
-+  endif()
- endif()
- 
- find_package(Boost ${MINIMUM_BOOST_VERSION} REQUIRED COMPONENTS iostreams system)
-@@ -193,6 +195,7 @@
+--- orig/openvdb/CMakeLists.txt	2019-12-06 13:11:33 -0700
++++ openvdb/openvdb/CMakeLists.txt	2020-01-16 08:56:25 -0700
+@@ -193,11 +193,12 @@
    if(OPENVDB_DISABLE_BOOST_IMPLICIT_LINKING)
      add_definitions(-DBOOST_ALL_NO_LIB)
    endif()
@@ -52,69 +41,33 @@ diff -Naur orig/openvdb/CMakeLists.txt openvdb/openvdb/CMakeLists.txt
  endif()
  
  # @todo Should be target definitions
-@@ -383,7 +386,12 @@
- # imported targets.
- 
- if(OPENVDB_CORE_SHARED)
--  add_library(openvdb_shared SHARED ${OPENVDB_LIBRARY_SOURCE_FILES})
-+  if(WIN32)
-+    configure_file(version.rc.in ${CMAKE_CURRENT_BINARY_DIR}/version.rc @ONLY)
-+    add_library(openvdb_shared SHARED ${OPENVDB_LIBRARY_SOURCE_FILES} ${CMAKE_CURRENT_BINARY_DIR}/version.rc)
-+  else()
-+    add_library(openvdb_shared SHARED ${OPENVDB_LIBRARY_SOURCE_FILES})
-+  endif()
+ if(WIN32)
+-  add_definitions(-D_WIN32 -DNOMINMAX -DOPENVDB_DLL)
++  add_definitions(-D_WIN32 -DNOMINMAX -DOPENVDB_STATICLIB)
  endif()
  
- if(OPENVDB_CORE_STATIC)
-diff -Naur orig/openvdb/version.rc.in openvdb/openvdb/version.rc.in
---- orig/openvdb/version.rc.in	1969-12-31 17:00:00 -0700
-+++ openvdb/openvdb/version.rc.in	2020-08-12 14:15:01 -0600
-@@ -0,0 +1,48 @@
-+#include <winver.h>
-+
-+#define VER_FILEVERSION             @OpenVDB_MAJOR_VERSION@,@OpenVDB_MINOR_VERSION@,@OpenVDB_PATCH_VERSION@,0
-+#define VER_FILEVERSION_STR         "@OpenVDB_MAJOR_VERSION@.@OpenVDB_MINOR_VERSION@.@OpenVDB_PATCH_VERSION@.0\0"
-+
-+#define VER_PRODUCTVERSION          @OpenVDB_MAJOR_VERSION@,@OpenVDB_MINOR_VERSION@,@OpenVDB_PATCH_VERSION@,0
-+#define VER_PRODUCTVERSION_STR      "@OpenVDB_MAJOR_VERSION@.@OpenVDB_MINOR_VERSION@\0"
-+
-+#ifndef DEBUG
-+#define VER_DEBUG                   0
-+#else
-+#define VER_DEBUG                   VS_FF_DEBUG
-+#endif
-+
-+VS_VERSION_INFO VERSIONINFO
-+FILEVERSION     VER_FILEVERSION
-+PRODUCTVERSION  VER_PRODUCTVERSION
-+FILEFLAGSMASK   VS_FFI_FILEFLAGSMASK
-+FILEFLAGS       (VER_DEBUG)
-+FILEOS          VOS__WINDOWS32
-+FILETYPE        VFT_DLL
-+FILESUBTYPE     VFT2_UNKNOWN
-+BEGIN
-+    BLOCK "StringFileInfo"
-+    BEGIN
-+        BLOCK "040904E4"
-+        BEGIN
-+            VALUE "FileDescription",  "OpenVDB"
-+            VALUE "FileVersion",      VER_FILEVERSION_STR
-+            VALUE "InternalName",     "OpenVDB"
-+            VALUE "ProductName",      "OpenVDB"
-+            VALUE "ProductVersion",   VER_PRODUCTVERSION_STR
-+        END
-+    END
-+
-+    BLOCK "VarFileInfo"
-+    BEGIN
-+        /* The following line should only be modified for localized versions.     */
-+        /* It consists of any number of WORD,WORD pairs, with each pair           */
-+        /* describing a language,codepage combination supported by the file.      */
-+        /*                                                                        */
-+        /* For example, a file might have values "0x409,1252" indicating that it  */
-+        /* supports English language (0x409) in the Windows ANSI codepage (1252). */
-+
-+        VALUE "Translation", 0x409, 1252
-+
-+    END
-+END
+ ##### Core library configuration
+diff -Naur orig/openvdb/cmd/CMakeLists.txt openvdb/openvdb/cmd/CMakeLists.txt
+--- orig/openvdb/cmd/CMakeLists.txt	2019-12-06 13:11:33 -0700
++++ openvdb/openvdb/cmd/CMakeLists.txt	2020-01-16 08:56:25 -0700
+@@ -53,7 +53,7 @@
+ endif()
+ 
+ if(WIN32)
+-  add_definitions(-D_WIN32 -DNOMINMAX -DOPENVDB_DLL)
++  add_definitions(-D_WIN32 -DNOMINMAX -DOPENVDB_STATICLIB)
+ endif()
+ 
+ # rpath handling
+diff -Naur orig/openvdb/unittest/CMakeLists.txt openvdb/openvdb/unittest/CMakeLists.txt
+--- orig/openvdb/unittest/CMakeLists.txt	2019-12-06 13:11:33 -0700
++++ openvdb/openvdb/unittest/CMakeLists.txt	2020-01-16 08:56:25 -0700
+@@ -49,7 +49,7 @@
+ endif()
+ 
+ if(WIN32)
+-  add_definitions(-D_WIN32 -DNOMINMAX -DOPENVDB_DLL)
++  add_definitions(-D_WIN32 -DNOMINMAX -DOPENVDB_STATICLIB)
+ endif()
+ 
+ ##### VDB unit tests

build_files/build_environment/patches/usd.diff

@@ -10,6 +10,77 @@ diff -x .git -ur usd.orig/cmake/defaults/Packages.cmake external_usd/cmake/defau
  add_definitions(${TBB_DEFINITIONS})
  
  # --math
+diff -x .git -ur usd.orig/pxr/base/plug/initConfig.cpp external_usd/pxr/base/plug/initConfig.cpp
+--- usd.orig/pxr/base/plug/initConfig.cpp.orig	2020-06-12 17:20:07.478199779 +0200
++++ external_usd/pxr/base/plug/initConfig.cpp	2020-06-12 17:25:28.648588552 +0200
+@@ -69,10 +69,40 @@
+
+ ARCH_CONSTRUCTOR(Plug_InitConfig, 2, void)
+ {
++    /* The contents of this constructor have been moved to usd_initialise_plugin_path(...) */
++}
++
++}; // end of anonymous namespace
++
++/**
++ * The contents of this function used to be in the static constructor Plug_InitConfig.
++ * This static constructor made it impossible for Blender to pass a path to the USD
++ * library at runtime, as the constructor would run before Blender's main() function.
++ *
++ * This function is wrapped in a C function of the same name (defined below),
++ * so that it can be called from Blender's main() function.
++ *
++ * The datafiles_usd_path path is used to point to the USD plugin path when Blender
++ * has been installed. The fallback_usd_path path should point to the build-time
++ * location of the USD plugin files so that Blender can be run on a development machine
++ * without requiring an installation step.
++ */
++void
++usd_initialise_plugin_path(const char *datafiles_usd_path)
++{
+     std::vector<std::string> result;
+
+     std::vector<std::string> debugMessages;
+
++    // Add Blender-specific paths. They MUST end in a slash, or symlinks will not be treated as directory.
++    if (datafiles_usd_path != NULL && datafiles_usd_path[0] != '\0') {
++        std::string datafiles_usd_path_str(datafiles_usd_path);
++        if (datafiles_usd_path_str.back() != '/') {
++            datafiles_usd_path_str += "/";
++        }
++        result.push_back(datafiles_usd_path_str);
++    }
++
+     // Determine the absolute path to the Plug shared library.  Any relative
+     // paths specified in the plugin search path will be anchored to this
+     // directory, to allow for relocatability.  Note that this can fail when pxr
+@@ -114,9 +144,24 @@
+     _AppendPathList(&result, installLocation, binaryPath);
+ #endif // PXR_INSTALL_LOCATION
+
+-    Plug_SetPaths(result, debugMessages);
+-}
++    if (!TfGetenv("PXR_PATH_DEBUG").empty()) {
++        printf("USD Plugin paths: (%zu in total):\n", result.size());
++        for(const std::string &path : result) {
++            printf("    %s\n", path.c_str());
++        }
++    }
+
++    Plug_SetPaths(result, debugMessages);
+ }
+
+ PXR_NAMESPACE_CLOSE_SCOPE
++
++/* Workaround to make it possible to pass a path at runtime to USD. */
++extern "C" {
++void
++usd_initialise_plugin_path(
++    const char *datafiles_usd_path)
++{
++    PXR_NS::usd_initialise_plugin_path(datafiles_usd_path);
++}
++}
 diff -Naur external_usd_base/cmake/macros/Public.cmake external_usd/cmake/macros/Public.cmake
 --- external_usd_base/cmake/macros/Public.cmake	2019-10-24 14:39:53 -0600
 +++ external_usd/cmake/macros/Public.cmake	2020-01-11 13:33:29 -0700

build_files/cmake/Modules/FindAlembic.cmake

@@ -12,8 +12,12 @@
 #=============================================================================
 # Copyright 2016 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If ALEMBIC_ROOT_DIR was defined in the environment, use it.
@@ -47,7 +51,7 @@ FIND_LIBRARY(ALEMBIC_LIBRARY
 # handle the QUIETLY and REQUIRED arguments and set ALEMBIC_FOUND to TRUE if
 # all listed variables are TRUE
 INCLUDE(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(Alembic DEFAULT_MSG ALEMBIC_LIBRARY ALEMBIC_INCLUDE_DIR)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(ALEMBIC DEFAULT_MSG ALEMBIC_LIBRARY ALEMBIC_INCLUDE_DIR)
 
 IF(ALEMBIC_FOUND)
   SET(ALEMBIC_LIBRARIES ${ALEMBIC_LIBRARY})

build_files/cmake/Modules/FindAudaspace.cmake

@@ -11,13 +11,6 @@
 #  AUDASPACE_PY_INCLUDE_DIRS - the audaspace's python binding include directories
 #  AUDASPACE_PY_LIBRARIES - link these to use audaspace's python binding
 
-#=============================================================================
-# Copyright 2014 Blender Foundation.
-#
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
-#=============================================================================
-
 IF(NOT AUDASPACE_ROOT_DIR AND NOT $ENV{AUDASPACE_ROOT_DIR} STREQUAL "")
  SET(AUDASPACE_ROOT_DIR $ENV{AUDASPACE_ROOT_DIR})
 ENDIF()

build_files/cmake/Modules/FindBlosc.cmake

@@ -14,8 +14,12 @@
 #=============================================================================
 # Copyright 2018 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If BLOSC_ROOT_DIR was defined in the environment, use it.
@@ -49,7 +53,7 @@ FIND_LIBRARY(BLOSC_LIBRARY
 # handle the QUIETLY and REQUIRED arguments and set BLOSC_FOUND to TRUE if
 # all listed variables are TRUE
 INCLUDE(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(Blosc DEFAULT_MSG
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(BLOSC DEFAULT_MSG
     BLOSC_LIBRARY BLOSC_INCLUDE_DIR)
 
 IF(BLOSC_FOUND)

build_files/cmake/Modules/FindClangTidy.cmake

@@ -17,8 +17,12 @@
 #=============================================================================
 # Copyright 2020 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If CLANG_TIDY_ROOT_DIR was defined in the environment, use it.

build_files/cmake/Modules/FindEigen3.cmake

@@ -10,8 +10,12 @@
 #=============================================================================
 # Copyright 2015 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If EIGEN3_ROOT_DIR was defined in the environment, use it.

build_files/cmake/Modules/FindEmbree.cmake

@@ -7,12 +7,19 @@
 #  EMBREE_ROOT_DIR, The base directory to search for Embree.
 #                        This can also be an environment variable.
 #  EMBREEFOUND, If false, do not try to use Embree.
+#
+# also defined, but not for general use are
+#  EMBREE_LIBRARY, where to find the Embree library.
 
 #=============================================================================
 # Copyright 2018 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If EMBREE_ROOT_DIR was defined in the environment, use it.
@@ -59,18 +66,19 @@ FOREACH(COMPONENT ${_embree_FIND_COMPONENTS})
     PATH_SUFFIXES
       lib64 lib
     )
-  IF (NOT EMBREE_${UPPERCOMPONENT}_LIBRARY)
-    IF (EMBREE_EMBREE3_LIBRARY)
-      # If we can't find all the static libraries, try to fall back to the shared library if found.
-      # This allows building with a shared embree library
-      SET(_embree_LIBRARIES ${EMBREE_EMBREE3_LIBRARY})
-      BREAK()
-    ENDIF ()
-  ENDIF ()
   LIST(APPEND _embree_LIBRARIES "${EMBREE_${UPPERCOMPONENT}_LIBRARY}")
 ENDFOREACH()
 
 
+FIND_LIBRARY(EMBREE_LIBRARY
+  NAMES
+    libembree3
+  HINTS
+    ${_embree_SEARCH_DIRS}
+  PATH_SUFFIXES
+    lib64 lib
+)
+
 # handle the QUIETLY and REQUIRED arguments and set EMBREE_FOUND to TRUE if
 # all listed variables are TRUE
 INCLUDE(FindPackageHandleStandardArgs)

build_files/cmake/Modules/FindFftw3.cmake

@@ -14,8 +14,12 @@
 #=============================================================================
 # Copyright 2011 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If FFTW3_ROOT_DIR was defined in the environment, use it.

build_files/cmake/Modules/FindGLEW.cmake

@@ -13,8 +13,12 @@
 #=============================================================================
 # Copyright 2014 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If GLEW_ROOT_DIR was defined in the environment, use it.
@@ -47,7 +51,7 @@ FIND_LIBRARY(GLEW_LIBRARY
 # handle the QUIETLY and REQUIRED arguments and set GLEW_FOUND to TRUE if
 # all listed variables are TRUE
 INCLUDE(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(GLEW DEFAULT_MSG
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(Glew DEFAULT_MSG
     GLEW_LIBRARY GLEW_INCLUDE_DIR)
 
 IF(GLEW_FOUND)

build_files/cmake/Modules/FindGMP.cmake

@@ -14,8 +14,12 @@
 #=============================================================================
 # Copyright 2011 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If GMP_ROOT_DIR was defined in the environment, use it.
@@ -80,7 +84,7 @@ FIND_PACKAGE_HANDLE_STANDARD_ARGS(GMP DEFAULT_MSG
     GMP_LIBRARY GMPXX_LIBRARY GMP_INCLUDE_DIR GMPXX_INCLUDE_DIR)
 
 IF(GMP_FOUND)
-  SET(GMP_LIBRARIES ${GMPXX_LIBRARY} ${GMP_LIBRARY})
+  SET(GMP_LIBRARIES ${GMP_LIBRARY} ${GMPXX_LIBRARY})
   SET(GMP_INCLUDE_DIRS ${GMP_INCLUDE_DIR} ${GMPXX_INCLUDE_DIR})
 ENDIF(GMP_FOUND)
 

build_files/cmake/Modules/FindIcuLinux.cmake

@@ -12,8 +12,12 @@
 #=============================================================================
 # Copyright 2012 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If ICU_ROOT_DIR was defined in the environment, use it.

build_files/cmake/Modules/FindJack.cmake

@@ -14,8 +14,12 @@
 #=============================================================================
 # Copyright 2011 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If JACK_ROOT_DIR was defined in the environment, use it.

build_files/cmake/Modules/FindJeMalloc.cmake

@@ -14,8 +14,12 @@
 #=============================================================================
 # Copyright 2011 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If JEMALLOC_ROOT_DIR was defined in the environment, use it.

build_files/cmake/Modules/FindLLVM.cmake

@@ -13,8 +13,12 @@
 #=============================================================================
 # Copyright 2015 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 if(LLVM_ROOT_DIR)

build_files/cmake/Modules/FindLZO.cmake

@@ -14,8 +14,12 @@
 #=============================================================================
 # Copyright 2015 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If LZO_ROOT_DIR was defined in the environment, use it.

build_files/cmake/Modules/FindOpenCOLLADA.cmake

@@ -7,12 +7,19 @@
 #  OPENCOLLADA_ROOT_DIR, The base directory to search for OpenCOLLADA.
 #                    This can also be an environment variable.
 #  OPENCOLLADA_FOUND, If false, do not try to use OpenCOLLADA.
+#
+# also defined, but not for general use are
+#  OPENCOLLADA_LIBRARY, where to find the OpenCOLLADA library.
 
 #=============================================================================
 # Copyright 2011 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # note about include paths, there are 2 ways includes are set

build_files/cmake/Modules/FindOpenColorIO.cmake

@@ -14,8 +14,12 @@
 #=============================================================================
 # Copyright 2012 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If OPENCOLORIO_ROOT_DIR was defined in the environment, use it.

build_files/cmake/Modules/FindOpenEXR.cmake

@@ -21,8 +21,12 @@
 #=============================================================================
 # Copyright 2011 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If OPENEXR_ROOT_DIR was defined in the environment, use it.

build_files/cmake/Modules/FindOpenGLES.cmake

@@ -10,13 +10,6 @@
 #  OPENGLES_LIBRARIES       - all libraries needed for OpenGLES
 #  OPENGLES_INCLUDES        - all includes needed for OpenGLES
 
-#=============================================================================
-# Copyright 2014 Blender Foundation.
-#
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
-#=============================================================================
-
 # If OPENGLES_ROOT_DIR was defined in the environment, use it.
 IF(NOT OPENGLES_ROOT_DIR AND NOT $ENV{OPENGLES_ROOT_DIR} STREQUAL "")
   SET(OPENGLES_ROOT_DIR $ENV{OPENGLES_ROOT_DIR})

build_files/cmake/Modules/FindOpenImageDenoise.cmake

@@ -14,8 +14,12 @@
 #=============================================================================
 # Copyright 2019 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If OPENIMAGEDENOISE_ROOT_DIR was defined in the environment, use it.

build_files/cmake/Modules/FindOpenImageIO.cmake

@@ -16,8 +16,12 @@
 #=============================================================================
 # Copyright 2011 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If OPENIMAGEIO_ROOT_DIR was defined in the environment, use it.

build_files/cmake/Modules/FindOpenJPEG.cmake

@@ -14,8 +14,12 @@
 #=============================================================================
 # Copyright 2011 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If OPENJPEG_ROOT_DIR was defined in the environment, use it.

build_files/cmake/Modules/FindOpenShadingLanguage.cmake

@@ -14,8 +14,12 @@
 #=============================================================================
 # Copyright 2014 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If OSL_ROOT_DIR was defined in the environment, use it.

build_files/cmake/Modules/FindOpenSubdiv.cmake

@@ -7,12 +7,19 @@
 #  OPENSUBDIV_ROOT_DIR, the base directory to search for OpenSubdiv.
 #                        This can also be an environment variable.
 #  OPENSUBDIV_FOUND, if false, do not try to use OpenSubdiv.
+#
+# also defined, but not for general use are
+#  OPENSUBDIV_LIBRARY, where to find the OpenSubdiv library.
 
 #=============================================================================
 # Copyright 2013 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If OPENSUBDIV_ROOT_DIR was defined in the environment, use it.

build_files/cmake/Modules/FindOpenVDB.cmake

@@ -14,8 +14,12 @@
 #=============================================================================
 # Copyright 2015 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If OPENVDB_ROOT_DIR was defined in the environment, use it.
@@ -49,7 +53,7 @@ FIND_LIBRARY(OPENVDB_LIBRARY
 # handle the QUIETLY and REQUIRED arguments and set OPENVDB_FOUND to TRUE if
 # all listed variables are TRUE
 INCLUDE(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(OpenVDB DEFAULT_MSG
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(OPENVDB DEFAULT_MSG
     OPENVDB_LIBRARY OPENVDB_INCLUDE_DIR)
 
 IF(OPENVDB_FOUND)

build_files/cmake/Modules/FindOptiX.cmake

@@ -10,8 +10,12 @@
 #=============================================================================
 # Copyright 2019 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If OPTIX_ROOT_DIR was defined in the environment, use it.

build_files/cmake/Modules/FindPCRE.cmake

@@ -14,8 +14,12 @@
 #=============================================================================
 # Copyright 2011 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If PCRE_ROOT_DIR was defined in the environment, use it.

build_files/cmake/Modules/FindPugiXML.cmake

@@ -14,8 +14,12 @@
 #=============================================================================
 # Copyright 2014 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If PUGIXML_ROOT_DIR was defined in the environment, use it.

build_files/cmake/Modules/FindPythonLibsUnix.cmake

@@ -25,8 +25,12 @@
 #=============================================================================
 # Copyright 2011 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If PYTHON_ROOT_DIR was defined in the environment, use it.

build_files/cmake/Modules/FindSDL2.cmake

@@ -13,8 +13,12 @@
 #=============================================================================
 # Copyright 2015 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If SDL2_ROOT_DIR was defined in the environment, use it.

build_files/cmake/Modules/FindSndFile.cmake

@@ -14,8 +14,12 @@
 #=============================================================================
 # Copyright 2011 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If LIBSNDFILE_ROOT_DIR was defined in the environment, use it.

build_files/cmake/Modules/FindSpacenav.cmake

@@ -14,8 +14,12 @@
 #=============================================================================
 # Copyright 2011 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If SPACENAV_ROOT_DIR was defined in the environment, use it.

build_files/cmake/Modules/FindTBB.cmake

@@ -14,8 +14,12 @@
 #=============================================================================
 # Copyright 2016 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If TBB_ROOT_DIR was defined in the environment, use it.

build_files/cmake/Modules/FindUSD.cmake

@@ -12,8 +12,12 @@
 #=============================================================================
 # Copyright 2019 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If USD_ROOT_DIR was defined in the environment, use it.

build_files/cmake/Modules/FindXML2.cmake

@@ -14,8 +14,12 @@
 #=============================================================================
 # Copyright 2011 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If XML2_ROOT_DIR was defined in the environment, use it.

build_files/cmake/Modules/FindXR-OpenXR-SDK.cmake

@@ -20,8 +20,12 @@
 #  XR_OPENXR_SDK_LOADER_LIBRARY, where to find the OpenXR-SDK loader library.
 
 #=============================================================================
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #=============================================================================
 
 # If XR_OPENXR_SDK_ROOT_DIR was defined in the environment, use it.
@@ -55,7 +59,7 @@ FIND_LIBRARY(XR_OPENXR_SDK_LOADER_LIBRARY
 # handle the QUIETLY and REQUIRED arguments and set XR_OPENXR_SDK_FOUND to TRUE if
 # all listed variables are TRUE
 INCLUDE(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(XR_OpenXR_SDK DEFAULT_MSG
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(XR_OPENXR_SDK DEFAULT_MSG
     XR_OPENXR_SDK_LOADER_LIBRARY XR_OPENXR_SDK_INCLUDE_DIR)
 
 IF(XR_OPENXR_SDK_FOUND)

build_files/cmake/Modules/GTest.cmake

@@ -1,5 +1,5 @@
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD 3-Clause License.  See accompanying
+# file Copyright.txt or https://cmake.org/licensing for details.
 
 #[=======================================================================[.rst:
 GoogleTest

build_files/cmake/Modules/GTestAddTests.cmake

@@ -1,5 +1,5 @@
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD 3-Clause License.  See accompanying
+# file Copyright.txt or https://cmake.org/licensing for details.
 
 # Blender: disable ASAN leak detection when trying to discover tests.
 set(ENV{ASAN_OPTIONS} "detect_leaks=0")

build_files/cmake/Modules/GTestTesting.cmake

@@ -1,8 +1,12 @@
 #=============================================================================
 # Copyright 2014 Blender Foundation.
 #
-# Distributed under the OSI-approved BSD 3-Clause License,
-# see accompanying file BSD-3-Clause-license.txt for details.
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
 #
 # Inspired on the Testing.cmake from Libmv
 #
@@ -70,9 +74,6 @@ macro(BLENDER_SRC_GTEST_EX)
     if(WITH_TBB)
       target_link_libraries(${TARGET_NAME} ${TBB_LIBRARIES})
     endif()
-    if(WITH_GMP)
-      target_link_libraries(${TARGET_NAME} ${GMP_LIBRARIES})
-    endif()
 
     get_property(GENERATOR_IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
     if(GENERATOR_IS_MULTI_CONFIG)

build_files/cmake/config/blender_full.cmake

@@ -15,12 +15,11 @@ set(WITH_CYCLES_EMBREE       ON  CACHE BOOL "" FORCE)
 set(WITH_CYCLES_OSL          ON  CACHE BOOL "" FORCE)
 set(WITH_DRACO               ON  CACHE BOOL "" FORCE)
 set(WITH_FFTW3               ON  CACHE BOOL "" FORCE)
-set(WITH_GMP                 ON  CACHE BOOL "" FORCE)
+set(WITH_GMP                 OFF CACHE BOOL "" FORCE)
 set(WITH_LIBMV               ON  CACHE BOOL "" FORCE)
 set(WITH_LIBMV_SCHUR_SPECIALIZATIONS ON CACHE BOOL "" FORCE)
 set(WITH_COMPOSITOR          ON  CACHE BOOL "" FORCE)
 set(WITH_FREESTYLE           ON  CACHE BOOL "" FORCE)
-set(WITH_GMP                 ON  CACHE BOOL "" FORCE)
 set(WITH_IK_SOLVER           ON  CACHE BOOL "" FORCE)
 set(WITH_IK_ITASC            ON  CACHE BOOL "" FORCE)
 set(WITH_IMAGE_CINEON        ON  CACHE BOOL "" FORCE)

build_files/cmake/config/blender_lite.cmake

@@ -25,7 +25,6 @@ set(WITH_LIBMV               OFF CACHE BOOL "" FORCE)
 set(WITH_LLVM                OFF CACHE BOOL "" FORCE)
 set(WITH_COMPOSITOR          OFF CACHE BOOL "" FORCE)
 set(WITH_FREESTYLE           OFF CACHE BOOL "" FORCE)
-set(WITH_GMP                 OFF CACHE BOOL "" FORCE)
 set(WITH_IK_SOLVER           OFF CACHE BOOL "" FORCE)
 set(WITH_IK_ITASC            OFF CACHE BOOL "" FORCE)
 set(WITH_IMAGE_CINEON        OFF CACHE BOOL "" FORCE)

build_files/cmake/config/blender_release.cmake

@@ -16,12 +16,11 @@ set(WITH_CYCLES_EMBREE       ON  CACHE BOOL "" FORCE)
 set(WITH_CYCLES_OSL          ON  CACHE BOOL "" FORCE)
 set(WITH_DRACO               ON  CACHE BOOL "" FORCE)
 set(WITH_FFTW3               ON  CACHE BOOL "" FORCE)
-set(WITH_GMP                 ON  CACHE BOOL "" FORCE)
+set(WITH_GMP                 OFF CACHE BOOL "" FORCE)
 set(WITH_LIBMV               ON  CACHE BOOL "" FORCE)
 set(WITH_LIBMV_SCHUR_SPECIALIZATIONS ON CACHE BOOL "" FORCE)
 set(WITH_COMPOSITOR          ON  CACHE BOOL "" FORCE)
 set(WITH_FREESTYLE           ON  CACHE BOOL "" FORCE)
-set(WITH_GMP                 ON  CACHE BOOL "" FORCE)
 set(WITH_IK_SOLVER           ON  CACHE BOOL "" FORCE)
 set(WITH_IK_ITASC            ON  CACHE BOOL "" FORCE)
 set(WITH_IMAGE_CINEON        ON  CACHE BOOL "" FORCE)

build_files/cmake/macros.cmake

@@ -496,10 +496,6 @@ function(SETUP_LIBDIRS)
       link_directories(${ALEMBIC_LIBPATH})
     endif()
 
-    if(WITH_GMP)
-      link_directories(${GMP_LIBPATH})
-    endif()
-
     if(WITH_GHOST_WAYLAND)
       link_directories(
         ${wayland-client_LIBRARY_DIRS}

build_files/cmake/platform/platform_apple.cmake

@@ -373,9 +373,8 @@ if(WITH_CYCLES_OSL)
   list(APPEND OSL_LIBRARIES ${OSL_LIB_COMP} -force_load ${OSL_LIB_EXEC} ${OSL_LIB_QUERY})
   find_path(OSL_INCLUDE_DIR OSL/oslclosure.h PATHS ${CYCLES_OSL}/include)
   find_program(OSL_COMPILER NAMES oslc PATHS ${CYCLES_OSL}/bin)
-  find_path(OSL_SHADER_DIR NAMES stdosl.h PATHS ${CYCLES_OSL}/shaders)
 
-  if(OSL_INCLUDE_DIR AND OSL_LIBRARIES AND OSL_COMPILER AND OSL_SHADER_DIR)
+  if(OSL_INCLUDE_DIR AND OSL_LIBRARIES AND OSL_COMPILER)
     set(OSL_FOUND TRUE)
   else()
     message(STATUS "OSL not found")
@@ -407,15 +406,6 @@ if(WITH_TBB)
   find_package(TBB)
 endif()
 
-if(WITH_GMP)
-  find_package(GMP)
-
-  if(NOT GMP_FOUND)
-    set(WITH_GMP OFF)
-    message(STATUS "GMP not found")
-  endif()
-endif()
-
 # CMake FindOpenMP doesn't know about AppleClang before 3.12, so provide custom flags.
 if(WITH_OPENMP)
   if(CMAKE_C_COMPILER_ID MATCHES "AppleClang" AND CMAKE_C_COMPILER_VERSION VERSION_GREATER_EQUAL "7.0")
@@ -440,8 +430,8 @@ if(WITH_OPENMP)
 endif()
 
 if(WITH_XR_OPENXR)
-  find_package(XR_OpenXR_SDK)
-  if(NOT XR_OPENXR_SDK_FOUND)
+  find_package(OpenXR-SDK)
+  if(NOT OPENXR_SDK_FOUND)
     message(WARNING "OpenXR-SDK was not found, disabling WITH_XR_OPENXR")
     set(WITH_XR_OPENXR OFF)
   endif()

build_files/cmake/platform/platform_unix.cmake

@@ -234,10 +234,10 @@ endif()
 
 if(WITH_CYCLES_OSL)
   set(CYCLES_OSL ${LIBDIR}/osl CACHE PATH "Path to OpenShadingLanguage installation")
-  if(EXISTS ${CYCLES_OSL} AND NOT OSL_ROOT)
+  if(NOT OSL_ROOT)
     set(OSL_ROOT ${CYCLES_OSL})
   endif()
-  find_package_wrapper(OSL)
+  find_package_wrapper(OpenShadingLanguage)
   if(OSL_FOUND)
     if(${OSL_LIBRARY_VERSION_MAJOR} EQUAL "1" AND ${OSL_LIBRARY_VERSION_MINOR} LESS "6")
       # Note: --whole-archive is needed to force loading of all symbols in liboslexec,
@@ -427,17 +427,8 @@ if(WITH_TBB)
   find_package_wrapper(TBB)
 endif()
 
-if(WITH_GMP)
-  find_package(GMP)
-
-  if(NOT GMP_FOUND)
-    set(WITH_GMP OFF)
-    message(STATUS "GMP not found")
-  endif()
-endif()
-
 if(WITH_XR_OPENXR)
-  find_package(XR_OpenXR_SDK)
+  find_package(XR-OpenXR-SDK)
   if(NOT XR_OPENXR_SDK_FOUND)
     message(WARNING "OpenXR-SDK not found, disabling WITH_XR_OPENXR")
     set(WITH_XR_OPENXR OFF)
@@ -599,14 +590,6 @@ endif()
 if(CMAKE_COMPILER_IS_GNUCC)
   set(PLATFORM_CFLAGS "-pipe -fPIC -funsigned-char -fno-strict-aliasing")
 
-  # `maybe-uninitialized` is unreliable in release builds, but fine in debug builds.
-  set(GCC_EXTRA_FLAGS_RELEASE "-Wno-maybe-uninitialized")
-  set(CMAKE_C_FLAGS_RELEASE          "${GCC_EXTRA_FLAGS_RELEASE} ${CMAKE_C_FLAGS_RELEASE}")
-  set(CMAKE_C_FLAGS_RELWITHDEBINFO   "${GCC_EXTRA_FLAGS_RELEASE} ${CMAKE_C_FLAGS_RELWITHDEBINFO}")
-  set(CMAKE_CXX_FLAGS_RELEASE        "${GCC_EXTRA_FLAGS_RELEASE} ${CMAKE_CXX_FLAGS_RELEASE}")
-  set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${GCC_EXTRA_FLAGS_RELEASE} ${CMAKE_CXX_FLAGS_RELWITHDEBINFO}")
-  unset(GCC_EXTRA_FLAGS_RELEASE)
-
   if(WITH_LINKER_GOLD)
     execute_process(
       COMMAND ${CMAKE_C_COMPILER} -fuse-ld=gold -Wl,--version

build_files/cmake/platform/platform_win32.cmake

@@ -136,13 +136,6 @@ add_definitions(
 # MSVC11 needs _ALLOW_KEYWORD_MACROS to build
 add_definitions(-D_ALLOW_KEYWORD_MACROS)
 
-# RTTI is on by default even without this switch
-# however having it in the CXX Flags makes it difficult
-# to remove for individual files that want to disable it
-# using the /GR- flag without generating a build warning
-# that both /GR and /GR- are specified.
-remove_cc_flag("/GR")
-
 # We want to support Windows 7 level ABI
 add_definitions(-D_WIN32_WINNT=0x601)
 include(build_files/cmake/platform/platform_win32_bundle_crt.cmake)
@@ -423,6 +416,9 @@ if(WITH_BOOST)
   if(WITH_INTERNATIONAL)
     list(APPEND boost_extra_libs locale)
   endif()
+  if(WITH_OPENVDB)
+    list(APPEND boost_extra_libs iostreams)
+  endif()
   set(Boost_USE_STATIC_RUNTIME ON) # prefix lib
   set(Boost_USE_MULTITHREADED ON) # suffix -mt
   set(Boost_USE_STATIC_LIBS ON) # suffix -s
@@ -528,11 +524,12 @@ if(WITH_OPENCOLORIO)
 endif()
 
 if(WITH_OPENVDB)
+  set(BLOSC_LIBRARIES optimized ${LIBDIR}/blosc/lib/libblosc.lib debug ${LIBDIR}/blosc/lib/libblosc_d.lib)
   set(OPENVDB ${LIBDIR}/openVDB)
   set(OPENVDB_LIBPATH ${OPENVDB}/lib)
   set(OPENVDB_INCLUDE_DIRS ${OPENVDB}/include)
-  set(OPENVDB_LIBRARIES optimized ${OPENVDB_LIBPATH}/openvdb.lib debug ${OPENVDB_LIBPATH}/openvdb_d.lib )
-  set(OPENVDB_DEFINITIONS -DNOMINMAX -D_USE_MATH_DEFINES)
+  set(OPENVDB_LIBRARIES optimized ${OPENVDB_LIBPATH}/openvdb.lib debug ${OPENVDB_LIBPATH}/openvdb_d.lib ${BLOSC_LIBRARIES})
+  set(OPENVDB_DEFINITIONS -DNOMINMAX -DOPENVDB_STATICLIB -D_USE_MATH_DEFINES)
 endif()
 
 if(WITH_OPENIMAGEDENOISE)

build_files/cmake/platform/platform_win32_bundle_crt.cmake

@@ -5,14 +5,6 @@ if(WITH_WINDOWS_BUNDLE_CRT)
   set(CMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP TRUE)
   set(CMAKE_INSTALL_UCRT_LIBRARIES TRUE)
   set(CMAKE_INSTALL_OPENMP_LIBRARIES ${WITH_OPENMP})
-
-  # This sometimes can change when updates are installed and the compiler version
-  # changes, so test if it exists and if not, give InstallRequiredSystemLibraries
-  # another chance to figure out the path.
-  if(MSVC_REDIST_DIR AND NOT EXISTS "${MSVC_REDIST_DIR}")
-    unset(MSVC_REDIST_DIR CACHE)
-  endif()
-
   include(InstallRequiredSystemLibraries)
 
   # Install the CRT to the blender.crt Sub folder.

doc/license/BSD-3-Clause-license.txt

@@ -1,26 +0,0 @@
-BSD 3-Clause License
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-1. Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
-
-2. Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
-
-3. Neither the name of the copyright holder nor the names of its
-   contributors may be used to endorse or promote products derived from
-   this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

extern/audaspace/bindings/python/PySound.cpp

@@ -2016,7 +2016,7 @@ AUD_API Sound* checkSound(PyObject* sound)
 
 bool initializeSound()
 {
-	import_array1(false);
+	import_array();
 
 	return PyType_Ready(&SoundType) >= 0;
 }

extern/bullet2/CMakeLists.txt

@@ -18,16 +18,6 @@
 # All rights reserved.
 # ***** END GPL LICENSE BLOCK *****
 
-# avoid noisy warnings
-if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_C_COMPILER_ID MATCHES "Clang")
-  remove_cc_flag(
-    "-Wall"
-  )
-endif()
-
-# Use double precision to make simulations of small objects stable.
-add_definitions(-DBT_USE_DOUBLE_PRECISION)
-
 set(INC
   .
   src
@@ -44,6 +34,7 @@ set(SRC
   src/BulletCollision/BroadphaseCollision/btDbvt.cpp
   src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
   src/BulletCollision/BroadphaseCollision/btDispatcher.cpp
+  src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp
   src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
   src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
   src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
@@ -91,14 +82,12 @@ set(SRC
   src/BulletCollision/CollisionShapes/btCylinderShape.cpp
   src/BulletCollision/CollisionShapes/btEmptyShape.cpp
   src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
-  src/BulletCollision/CollisionShapes/btMiniSDF.cpp
   src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
   src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
   src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp
   src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
   src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
   src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
-  src/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp
   src/BulletCollision/CollisionShapes/btShapeHull.cpp
   src/BulletCollision/CollisionShapes/btSphereShape.cpp
   src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
@@ -152,6 +141,7 @@ set(SRC
   src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp
   src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
   src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
+  src/BulletDynamics/Dynamics/Bullet-C-API.cpp
   src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
   src/BulletDynamics/Dynamics/btRigidBody.cpp
   src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
@@ -184,7 +174,6 @@ set(SRC
   src/LinearMath/btPolarDecomposition.cpp
   src/LinearMath/btQuickprof.cpp
   src/LinearMath/btSerializer.cpp
-  src/LinearMath/btSerializer64.cpp
   src/LinearMath/btVector3.cpp
 
   src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
@@ -194,6 +183,7 @@ set(SRC
   src/BulletCollision/BroadphaseCollision/btDbvt.h
   src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
   src/BulletCollision/BroadphaseCollision/btDispatcher.h
+  src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
   src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
   src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h
   src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
@@ -247,14 +237,12 @@ set(SRC
   src/BulletCollision/CollisionShapes/btEmptyShape.h
   src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
   src/BulletCollision/CollisionShapes/btMaterial.h
-  src/BulletCollision/CollisionShapes/btMiniSDF.h
   src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
   src/BulletCollision/CollisionShapes/btMultiSphereShape.h
   src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h
   src/BulletCollision/CollisionShapes/btOptimizedBvh.h
   src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
   src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
-  src/BulletCollision/CollisionShapes/btSdfCollisionShape.h
   src/BulletCollision/CollisionShapes/btShapeHull.h
   src/BulletCollision/CollisionShapes/btSphereShape.h
   src/BulletCollision/CollisionShapes/btStaticPlaneShape.h
@@ -416,6 +404,7 @@ set(SRC
 
   src/btBulletCollisionCommon.h
   src/btBulletDynamicsCommon.h
+  src/Bullet-C-Api.h
 )
 
 set(LIB
@@ -430,8 +419,7 @@ if(MSVC)
   # bullet is responsible for quite a few silly warnings
   # suppress all of them. Not great, but they really needed
   # to sort that out themselves.
-  remove_cc_flag("/W3")
-  add_c_flag("/W0")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /W0")
 endif()
 
 blender_add_lib(extern_bullet "${SRC}" "${INC}" "${INC_SYS}" "${LIB}")

extern/bullet2/patches/blender.patch

@@ -0,0 +1,368 @@
+diff --git a/extern/bullet2/src/LinearMath/btVector3.h b/extern/bullet2/src/LinearMath/btVector3.h
+index 839b19c..3058195 100644
+--- a/extern/bullet2/src/LinearMath/btVector3.h
++++ b/extern/bullet2/src/LinearMath/btVector3.h
+@@ -39,7 +39,7 @@ subject to the following restrictions:
+ #endif
+ 
+ 
+-#define BT_SHUFFLE(x,y,z,w) ((w)<<6 | (z)<<4 | (y)<<2 | (x))
++#define BT_SHUFFLE(x,y,z,w) (((w) << 6 | (z) << 4 | (y) << 2 | (x)) & 0xff)
+ //#define bt_pshufd_ps( _a, _mask ) (__m128) _mm_shuffle_epi32((__m128i)(_a), (_mask) )
+ #define bt_pshufd_ps( _a, _mask ) _mm_shuffle_ps((_a), (_a), (_mask) )
+ #define bt_splat3_ps( _a, _i ) bt_pshufd_ps((_a), BT_SHUFFLE(_i,_i,_i, 3) )
+diff --git a/extern/bullet2/src/LinearMath/btScalar.h b/extern/bullet2/src/LinearMath/btScalar.h
+--- a/extern/bullet2/src/LinearMath/btScalar.h
++++ b/extern/bullet2/src/LinearMath/btScalar.h
+@@ -16,6 +16,9 @@
+ 
+ #ifndef BT_SCALAR_H
+ #define BT_SCALAR_H
++#if defined(_MSC_VER) && defined(__clang__) /* clang supplies it's own overloads already */
++#define BT_NO_SIMD_OPERATOR_OVERLOADS
++#endif
+ 
+ #ifdef BT_MANAGED_CODE
+ //Aligned data types not supported in managed code
+@@ -83,7 +86,7 @@
+ 			#ifdef BT_USE_SSE
+ 
+ #if (_MSC_FULL_VER >= 170050727)//Visual Studio 2012 can compile SSE4/FMA3 (but SSE4/FMA3 is not enabled by default)
+-			#define BT_ALLOW_SSE4
++			//#define BT_ALLOW_SSE4 //disable this cause blender targets sse2 
+ #endif //(_MSC_FULL_VER >= 160040219)
+ 
+ 			//BT_USE_SSE_IN_API is disabled under Windows by default, because 
+@@ -102,7 +105,7 @@
+ 		#endif //__MINGW32__
+ 
+ #ifdef BT_DEBUG
+-	#ifdef _MSC_VER
++	#if defined(_MSC_VER) && !defined(__clang__)
+ 		#include <stdio.h>
+ 		#define btAssert(x) { if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);__debugbreak();	}}
+ 	#else//_MSC_VER
+diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
+index be9eca6..ec40c96 100644
+--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
++++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
+@@ -15,7 +15,7 @@ subject to the following restrictions:
+ 
+ 
+ /**
+- * @mainpage Bullet Documentation
++ * @page Bullet Documentation
+  *
+  * @section intro_sec Introduction
+  * 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 ).
+diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp
+index 36dd043..57eb817 100644
+--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp
++++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp
+@@ -579,14 +579,10 @@ btCollisionShape* btCollisionWorldImporter::convertCollisionShape(  btCollisionS
+ 				btCompoundShapeData* compoundData = (btCompoundShapeData*)shapeData;
+ 				btCompoundShape* compoundShape = createCompoundShape();
+ 
+-				btCompoundShapeChildData* childShapeDataArray = &compoundData->m_childShapePtr[0];
+-
+ 
+ 				btAlignedObjectArray<btCollisionShape*> childShapes;
+ 				for (int i=0;i<compoundData->m_numChildShapes;i++)
+ 				{
+-					btCompoundShapeChildData* ptr = &compoundData->m_childShapePtr[i];
+-
+ 					btCollisionShapeData* cd = compoundData->m_childShapePtr[i].m_childShape;
+ 
+ 					btCollisionShape* childShape = convertCollisionShape(cd);
+diff --git a/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp b/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp
+index 57fc119..31faf1d 100644
+--- a/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp
++++ b/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp
+@@ -29,14 +29,11 @@ subject to the following restrictions:
+ static btVector3
+ getNormalizedVector(const btVector3& v)
+ {
+-	btScalar l = v.length();
+-	btVector3 n = v;
+-	if (l < SIMD_EPSILON) {
+-		n.setValue(0,0,0);
+-	} else {
+-		n /= l;
+-	}
++	btVector3 n(0, 0, 0);
+ 
++	if (v.length() > SIMD_EPSILON) {
++		n = v.normalized();
++	}
+ 	return n;
+ }
+ 
+diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h
+index 27ccefe..8e4456e 100644
+--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h
++++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h
+@@ -37,8 +37,13 @@ struct	btSimdScalar
+ 	{
+ 
+ 	}
+-
++/* workaround for clang 3.4 ( == apple clang 5.1 ) issue, friction would fail with forced inlining */
++#if (defined(__clang__) && defined(__apple_build_version__) &&  (__clang_major__ == 5) && (__clang_minor__ == 1)) \
++|| (defined(__clang__) && !defined(__apple_build_version__) && (__clang_major__ == 3) && (__clang_minor__ == 4))
++	inline __attribute__ ((noinline)) btSimdScalar(float	fl)
++#else
+ 	SIMD_FORCE_INLINE	btSimdScalar(float	fl)
++#endif
+ 	:m_vec128 (_mm_set1_ps(fl))
+ 	{
+ 	}
+diff --git a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBody.cpp b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBody.cpp
+index 5d62da7..fcd312e 100644
+--- a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBody.cpp
++++ b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBody.cpp
+@@ -28,7 +28,6 @@
+ #include "btMultiBodyJointFeedback.h"
+ #include "LinearMath/btTransformUtil.h"
+ #include "LinearMath/btSerializer.h"
+-#include "Bullet3Common/b3Logging.h"
+ // #define INCLUDE_GYRO_TERM 
+ 
+ ///todo: determine if we need these options. If so, make a proper API, otherwise delete those globals
+@@ -1732,7 +1731,6 @@ void btMultiBody::goToSleep()
+ 
+ void btMultiBody::checkMotionAndSleepIfRequired(btScalar timestep)
+ {
+-	int num_links = getNumLinks();
+ 	extern bool gDisableDeactivation;
+     if (!m_canSleep || gDisableDeactivation) 
+ 	{
+diff --git a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
+index 8a034b3..4f66b20 100644
+--- a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
++++ b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
+@@ -809,7 +809,6 @@ static void applyJointFeedback(btMultiBodyJacobianData& data, const btMultiBodyS
+ }
+ #endif
+ 
+-#include "Bullet3Common/b3Logging.h"
+ void btMultiBodyConstraintSolver::writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint& c, btScalar deltaTime)
+ {
+ #if 1 
+diff --git a/extern/bullet2/src/BulletSoftBody/btSparseSDF.h b/extern/bullet2/src/BulletSoftBody/btSparseSDF.h
+index bcf0c79..8992ddb 100644
+--- a/extern/bullet2/src/BulletSoftBody/btSparseSDF.h
++++ b/extern/bullet2/src/BulletSoftBody/btSparseSDF.h
+@@ -185,7 +185,6 @@ struct	btSparseSdf
+ 		{
+ 			++nprobes;		
+ 			++ncells;
+-			int sz = sizeof(Cell);
+ 			if (ncells>m_clampCells)
+ 			{
+ 				static int numResets=0;
+diff --git a/extern/bullet2/src/LinearMath/btConvexHullComputer.cpp b/extern/bullet2/src/LinearMath/btConvexHullComputer.cpp
+index d58ac95..3fd77df 100644
+--- a/extern/bullet2/src/LinearMath/btConvexHullComputer.cpp
++++ b/extern/bullet2/src/LinearMath/btConvexHullComputer.cpp
+@@ -2665,6 +2665,7 @@ btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, in
+ 	}
+ 
+ 	vertices.resize(0);
++	original_vertex_index.resize(0);
+ 	edges.resize(0);
+ 	faces.resize(0);
+ 
+@@ -2675,6 +2676,7 @@ btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, in
+ 	{
+ 		btConvexHullInternal::Vertex* v = oldVertices[copied];
+ 		vertices.push_back(hull.getCoordinates(v));
++		original_vertex_index.push_back(v->point.index);
+ 		btConvexHullInternal::Edge* firstEdge = v->edges;
+ 		if (firstEdge)
+ 		{
+diff --git a/extern/bullet2/src/LinearMath/btConvexHullComputer.h b/extern/bullet2/src/LinearMath/btConvexHullComputer.h
+index 7240ac4..6871ce8 100644
+--- a/extern/bullet2/src/LinearMath/btConvexHullComputer.h
++++ b/extern/bullet2/src/LinearMath/btConvexHullComputer.h
+@@ -67,6 +67,7 @@ class btConvexHullComputer
+ 
+ 		// Vertices of the output hull
+ 		btAlignedObjectArray<btVector3> vertices;
++		btAlignedObjectArray<int> original_vertex_index;
+ 
+ 		// Edges of the output hull
+ 		btAlignedObjectArray<Edge> edges;
+diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
+index 0623e35..02ea503 100644
+--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
++++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
+@@ -13,9 +13,9 @@ subject to the following restrictions:
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+ 
+-#if defined (_WIN32) || defined (__i386__)
+-#define BT_USE_SSE_IN_API
+-#endif
++//#if defined (_WIN32) || defined (__i386__)
++//#define BT_USE_SSE_IN_API
++//#endif
+ 
+ #include "btConvexHullShape.h"
+ #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
+diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp
+index b56d729..88018b4 100644
+--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp
++++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp
+@@ -13,9 +13,9 @@ subject to the following restrictions:
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+ 
+-#if defined (_WIN32) || defined (__i386__)
+-#define BT_USE_SSE_IN_API
+-#endif
++//#if defined (_WIN32) || defined (__i386__)
++//#define BT_USE_SSE_IN_API
++//#endif
+ 
+ #include "btConvexShape.h"
+ #include "btTriangleShape.h"
+diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
+index a7362ea..6abfdff 100644
+--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
++++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
+@@ -13,9 +13,9 @@ subject to the following restrictions:
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+ 
+-#if defined (_WIN32) || defined (__i386__)
+-#define BT_USE_SSE_IN_API
+-#endif
++//#if defined (_WIN32) || defined (__i386__)
++//#define BT_USE_SSE_IN_API
++//#endif
+ 
+ #include "btMultiSphereShape.h"
+ #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
+diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
+index 4854f37..9095c59 100644
+--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
++++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
+@@ -12,9 +12,9 @@ subject to the following restrictions:
+ 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.
+ */
+-#if defined (_WIN32) || defined (__i386__)
+-#define BT_USE_SSE_IN_API
+-#endif
++//#if defined (_WIN32) || defined (__i386__)
++//#define BT_USE_SSE_IN_API
++//#endif
+ 
+ #include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
+ #include "btConvexPolyhedron.h"
+diff --git a/extern/bullet2/src/LinearMath/btVector3.cpp b/extern/bullet2/src/LinearMath/btVector3.cpp
+index e05bdcc..dbcf2b6 100644
+--- a/extern/bullet2/src/LinearMath/btVector3.cpp
++++ b/extern/bullet2/src/LinearMath/btVector3.cpp
+@@ -15,9 +15,9 @@
+  This source version has been altered.
+  */
+ 
+-#if defined (_WIN32) || defined (__i386__)
+-#define BT_USE_SSE_IN_API
+-#endif
++//#if defined (_WIN32) || defined (__i386__)
++//#define BT_USE_SSE_IN_API
++//#endif
+ 
+ 
+ #include "btVector3.h"
+diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp
+index e0e8bc7..a788268 100644
+--- a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp
++++ b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp
+@@ -425,50 +425,38 @@ void btRigidBody::setCenterOfMassTransform(const btTransform& xform)
+ }
+ 
+ 
++bool btRigidBody::checkCollideWithOverride(const  btCollisionObject* co) const
++{
++	const btRigidBody* otherRb = btRigidBody::upcast(co);
++	if (!otherRb)
++		return true;
++
++	for (int i = 0; i < m_constraintRefs.size(); ++i)
++	{
++		const btTypedConstraint* c = m_constraintRefs[i];
++		if (c->isEnabled())
++			if (&c->getRigidBodyA() == otherRb || &c->getRigidBodyB() == otherRb)
++				return false;
++	}
++
++	return true;
++}
+ 
+ 
+ 
+ void btRigidBody::addConstraintRef(btTypedConstraint* c)
+ {
+-	///disable collision with the 'other' body
+-
+ 	int index = m_constraintRefs.findLinearSearch(c);
+-	//don't add constraints that are already referenced
+-	//btAssert(index == m_constraintRefs.size());
+ 	if (index == m_constraintRefs.size())
+-	{
+-		m_constraintRefs.push_back(c);
+-		btCollisionObject* colObjA = &c->getRigidBodyA();
+-		btCollisionObject* colObjB = &c->getRigidBodyB();
+-		if (colObjA == this)
+-		{
+-			colObjA->setIgnoreCollisionCheck(colObjB, true);
+-		}
+-		else
+-		{
+-			colObjB->setIgnoreCollisionCheck(colObjA, true);
+-		}
+-	} 
++		m_constraintRefs.push_back(c); 
++
++	m_checkCollideWith = true;
+ }
+ 
+ void btRigidBody::removeConstraintRef(btTypedConstraint* c)
+ {
+-	int index = m_constraintRefs.findLinearSearch(c);
+-	//don't remove constraints that are not referenced
+-	if(index < m_constraintRefs.size())
+-    {
+-        m_constraintRefs.remove(c);
+-        btCollisionObject* colObjA = &c->getRigidBodyA();
+-        btCollisionObject* colObjB = &c->getRigidBodyB();
+-        if (colObjA == this)
+-        {
+-            colObjA->setIgnoreCollisionCheck(colObjB, false);
+-        }
+-        else
+-        {
+-            colObjB->setIgnoreCollisionCheck(colObjA, false);
+-        }
+-    }
++	m_constraintRefs.remove(c);
++	m_checkCollideWith = m_constraintRefs.size() > 0;
+ }
+ 
+ int	btRigidBody::calculateSerializeBufferSize()	const
+diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h
+index 1d177db..c2f8c5d 100644
+--- a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h
++++ b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h
+@@ -509,6 +509,8 @@ public:
+ 		return (getBroadphaseProxy() != 0);
+ 	}
+ 
++	virtual bool checkCollideWithOverride(const  btCollisionObject* co) const;
++
+ 	void addConstraintRef(btTypedConstraint* c);
+ 	void removeConstraintRef(btTypedConstraint* c);
+ 

extern/bullet2/patches/btPolyhedralConvexShape_Inertia_fix.patch

@@ -0,0 +1,41 @@
+diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
+index 9095c592d87..b831e20c2f9 100644
+--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
++++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
+@@ -406,17 +406,17 @@ void	btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& ine
+ #ifndef __SPU__
+ 	//not yet, return box inertia
+ 
+-	btScalar margin = getMargin();
++	//btScalar margin = getMargin();
+ 
+ 	btTransform ident;
+ 	ident.setIdentity();
+ 	btVector3 aabbMin,aabbMax;
+-	getAabb(ident,aabbMin,aabbMax);
++	getAabb(ident,aabbMin,aabbMax); // This already contains the margin
+ 	btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
+ 
+-	btScalar lx=btScalar(2.)*(halfExtents.x()+margin);
+-	btScalar ly=btScalar(2.)*(halfExtents.y()+margin);
+-	btScalar lz=btScalar(2.)*(halfExtents.z()+margin);
++	btScalar lx=btScalar(2.)*(halfExtents.x());
++	btScalar ly=btScalar(2.)*(halfExtents.y());
++	btScalar lz=btScalar(2.)*(halfExtents.z());
+ 	const btScalar x2 = lx*lx;
+ 	const btScalar y2 = ly*ly;
+ 	const btScalar z2 = lz*lz;
+@@ -476,10 +476,10 @@ void	btPolyhedralConvexAabbCachingShape::recalcLocalAabb()
+ 	
+ 	for ( int i = 0; i < 3; ++i )
+ 	{
+-		m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
+-		m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
++		m_localAabbMax[i] = _supporting[i][i];
++		m_localAabbMin[i] = _supporting[i + 3][i];
+ 	}
+-	
++
+ 	#else
+ 
+ 	for (int i=0;i<3;i++)

extern/bullet2/patches/inertia.patch

@@ -1,113 +0,0 @@
-From 1b4c1687748bafd3c521f454bfdfc89b3857b65e Mon Sep 17 00:00:00 2001
-From: David Vogel <Dadido3@aol.com>
-Date: Mon, 30 Mar 2020 19:45:23 +0200
-Subject: [PATCH 1/2] Fix inertia and margin calculation for
- btPolyhedralConvexShape
-
----
- .../CollisionShapes/btPolyhedralConvexShape.cpp    | 14 +++++++-------
- 1 file changed, 7 insertions(+), 7 deletions(-)
-
-diff --git a/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
-index 521ecfc760..e4bd7bb4d5 100644
---- a/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
-+++ b/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
-@@ -463,17 +463,17 @@ void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass, btVector3& in
- #ifndef __SPU__
- 	//not yet, return box inertia
- 
--	btScalar margin = getMargin();
-+	//btScalar margin = getMargin();
- 
- 	btTransform ident;
- 	ident.setIdentity();
- 	btVector3 aabbMin, aabbMax;
--	getAabb(ident, aabbMin, aabbMax);
-+	getAabb(ident, aabbMin, aabbMax);  // This already contains the margin
- 	btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
- 
--	btScalar lx = btScalar(2.) * (halfExtents.x() + margin);
--	btScalar ly = btScalar(2.) * (halfExtents.y() + margin);
--	btScalar lz = btScalar(2.) * (halfExtents.z() + margin);
-+	btScalar lx = btScalar(2.) * (halfExtents.x());
-+	btScalar ly = btScalar(2.) * (halfExtents.y());
-+	btScalar lz = btScalar(2.) * (halfExtents.z());
- 	const btScalar x2 = lx * lx;
- 	const btScalar y2 = ly * ly;
- 	const btScalar z2 = lz * lz;
-@@ -529,8 +529,8 @@ void btPolyhedralConvexAabbCachingShape::recalcLocalAabb()
- 
- 	for (int i = 0; i < 3; ++i)
- 	{
--		m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
--		m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
-+		m_localAabbMax[i] = _supporting[i][i];
-+		m_localAabbMin[i] = _supporting[i + 3][i];
- 	}
- 
- #else
-
-From 4b9a201d4c1b8cacbcdd68f9cdb55745caa6adc4 Mon Sep 17 00:00:00 2001
-From: David Vogel <Dadido3@aol.com>
-Date: Mon, 30 Mar 2020 20:43:55 +0200
-Subject: [PATCH 2/2]  Fix margins
-
-- Margin in ineratia calculation of btConeShape is already contained in the AABB
-- Remove margin from the cached AABB in btConvexInternalShape, as it is added on getAabb()
----
- src/BulletCollision/CollisionShapes/btConeShape.h      | 10 ++++------
- .../CollisionShapes/btConvexInternalShape.cpp          |  8 ++++----
- 2 files changed, 8 insertions(+), 10 deletions(-)
-
-diff --git a/src/BulletCollision/CollisionShapes/btConeShape.h b/src/BulletCollision/CollisionShapes/btConeShape.h
-index 49f26bc4e5..ee6786c807 100644
---- a/src/BulletCollision/CollisionShapes/btConeShape.h
-+++ b/src/BulletCollision/CollisionShapes/btConeShape.h
-@@ -56,15 +56,13 @@ btConeShape : public btConvexInternalShape
- 		btTransform identity;
- 		identity.setIdentity();
- 		btVector3 aabbMin, aabbMax;
--		getAabb(identity, aabbMin, aabbMax);
- 
-+		getAabb(identity, aabbMin, aabbMax);  // This already contains the margin
- 		btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
- 
--		btScalar margin = getMargin();
--
--		btScalar lx = btScalar(2.) * (halfExtents.x() + margin);
--		btScalar ly = btScalar(2.) * (halfExtents.y() + margin);
--		btScalar lz = btScalar(2.) * (halfExtents.z() + margin);
-+		btScalar lx = btScalar(2.) * (halfExtents.x());
-+		btScalar ly = btScalar(2.) * (halfExtents.y());
-+		btScalar lz = btScalar(2.) * (halfExtents.z());
- 		const btScalar x2 = lx * lx;
- 		const btScalar y2 = ly * ly;
- 		const btScalar z2 = lz * lz;
-diff --git a/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp b/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
-index 4d598b1aa2..b847f8f40f 100644
---- a/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
-+++ b/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
-@@ -117,8 +117,8 @@ void btConvexInternalAabbCachingShape::recalcLocalAabb()
- 
- 	for (int i = 0; i < 3; ++i)
- 	{
--		m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
--		m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
-+		m_localAabbMax[i] = _supporting[i][i];
-+		m_localAabbMin[i] = _supporting[i + 3][i];
- 	}
- 
- #else
-@@ -128,10 +128,10 @@ void btConvexInternalAabbCachingShape::recalcLocalAabb()
- 		btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
- 		vec[i] = btScalar(1.);
- 		btVector3 tmp = localGetSupportingVertex(vec);
--		m_localAabbMax[i] = tmp[i] + m_collisionMargin;
-+		m_localAabbMax[i] = tmp[i];
- 		vec[i] = btScalar(-1.);
- 		tmp = localGetSupportingVertex(vec);
--		m_localAabbMin[i] = tmp[i] - m_collisionMargin;
-+		m_localAabbMin[i] = tmp[i];
- 	}
- #endif
- }

extern/bullet2/src/Bullet-C-Api.h

@@ -0,0 +1,187 @@
+/*
+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.
+*/
+
+/*
+	Draft high-level generic physics C-API. For low-level access, use the physics SDK native API's.
+	Work in progress, functionality will be added on demand.
+
+	If possible, use the richer Bullet C++ API, by including "btBulletDynamicsCommon.h"
+*/
+
+#ifndef BULLET_C_API_H
+#define BULLET_C_API_H
+
+#define PL_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
+
+#ifdef BT_USE_DOUBLE_PRECISION
+typedef double	plReal;
+#else
+typedef float	plReal;
+#endif
+
+typedef plReal	plVector3[3];
+typedef plReal	plQuaternion[4];
+
+#ifdef __cplusplus
+extern "C" { 
+#endif
+
+/**	Particular physics SDK (C-API) */
+	PL_DECLARE_HANDLE(plPhysicsSdkHandle);
+
+/** 	Dynamics world, belonging to some physics SDK (C-API)*/
+	PL_DECLARE_HANDLE(plDynamicsWorldHandle);
+
+/** Rigid Body that can be part of a Dynamics World (C-API)*/	
+	PL_DECLARE_HANDLE(plRigidBodyHandle);
+
+/** 	Collision Shape/Geometry, property of a Rigid Body (C-API)*/
+	PL_DECLARE_HANDLE(plCollisionShapeHandle);
+
+/** Constraint for Rigid Bodies (C-API)*/
+	PL_DECLARE_HANDLE(plConstraintHandle);
+
+/** Triangle Mesh interface (C-API)*/
+	PL_DECLARE_HANDLE(plMeshInterfaceHandle);
+
+/** Broadphase Scene/Proxy Handles (C-API)*/
+	PL_DECLARE_HANDLE(plCollisionBroadphaseHandle);
+	PL_DECLARE_HANDLE(plBroadphaseProxyHandle);
+	PL_DECLARE_HANDLE(plCollisionWorldHandle);
+
+/**
+	Create and Delete a Physics SDK	
+*/
+
+	extern	plPhysicsSdkHandle	plNewBulletSdk(void); //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 */
+
+	typedef void(*btBroadphaseCallback)(void* clientData, void* object1,void* object2);
+
+	extern plCollisionBroadphaseHandle	plCreateSapBroadphase(btBroadphaseCallback beginCallback,btBroadphaseCallback endCallback);
+
+	extern void	plDestroyBroadphase(plCollisionBroadphaseHandle bp);
+
+	extern 	plBroadphaseProxyHandle plCreateProxy(plCollisionBroadphaseHandle bp, void* clientData, plReal minX,plReal minY,plReal minZ, plReal maxX,plReal maxY, plReal maxZ);
+
+	extern void plDestroyProxy(plCollisionBroadphaseHandle bp, plBroadphaseProxyHandle proxyHandle);
+
+	extern void plSetBoundingBox(plBroadphaseProxyHandle proxyHandle, plReal minX,plReal minY,plReal minZ, plReal maxX,plReal maxY, plReal maxZ);
+
+/* todo: add pair cache support with queries like add/remove/find pair */
+	
+	extern plCollisionWorldHandle plCreateCollisionWorld(plPhysicsSdkHandle physicsSdk);
+
+/* todo: add/remove objects */
+	
+
+/* Dynamics World */
+
+	extern  plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdk);
+
+	extern  void           plDeleteDynamicsWorld(plDynamicsWorldHandle world);
+
+	extern	void	plStepSimulation(plDynamicsWorldHandle,	plReal	timeStep);
+
+	extern  void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object);
+
+	extern  void plRemoveRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object);
+
+
+/* Rigid Body  */
+
+	extern  plRigidBodyHandle plCreateRigidBody(	void* user_data,  float mass, plCollisionShapeHandle cshape );
+
+	extern  void plDeleteRigidBody(plRigidBodyHandle body);
+
+
+/* Collision Shape definition */
+
+	extern  plCollisionShapeHandle plNewSphereShape(plReal radius);
+	extern  plCollisionShapeHandle plNewBoxShape(plReal x, plReal y, plReal z);
+	extern  plCollisionShapeHandle plNewCapsuleShape(plReal radius, plReal height);	
+	extern  plCollisionShapeHandle plNewConeShape(plReal radius, plReal height);
+	extern  plCollisionShapeHandle plNewCylinderShape(plReal radius, plReal height);
+	extern	plCollisionShapeHandle plNewCompoundShape(void);
+	extern	void	plAddChildShape(plCollisionShapeHandle compoundShape,plCollisionShapeHandle childShape, plVector3 childPos,plQuaternion childOrn);
+
+	extern  void plDeleteShape(plCollisionShapeHandle shape);
+
+	/* Convex Meshes */
+	extern  plCollisionShapeHandle plNewConvexHullShape(void);
+	extern  void		plAddVertex(plCollisionShapeHandle convexHull, plReal x,plReal y,plReal z);
+/* Concave static triangle meshes */
+	extern  plMeshInterfaceHandle		   plNewMeshInterface(void);
+	extern  void		plAddTriangle(plMeshInterfaceHandle meshHandle, plVector3 v0,plVector3 v1,plVector3 v2);
+	extern  plCollisionShapeHandle plNewStaticTriangleMeshShape(plMeshInterfaceHandle);
+
+	extern  void plSetScaling(plCollisionShapeHandle shape, plVector3 scaling);
+
+/* SOLID has Response Callback/Table/Management */
+/* PhysX has Triggers, User Callbacks and filtering */
+/* ODE has the typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); */
+
+/*	typedef void plUpdatedPositionCallback(void* userData, plRigidBodyHandle	rbHandle, plVector3 pos); */
+/*	typedef void plUpdatedOrientationCallback(void* userData, plRigidBodyHandle	rbHandle, plQuaternion orientation); */
+
+	/* get world transform */
+	extern void	plGetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix);
+	extern void	plGetPosition(plRigidBodyHandle object,plVector3 position);
+	extern void plGetOrientation(plRigidBodyHandle object,plQuaternion orientation);
+
+	/* set world transform (position/orientation) */
+	extern  void plSetPosition(plRigidBodyHandle object, const plVector3 position);
+	extern  void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation);
+	extern	void plSetEuler(plReal yaw,plReal pitch,plReal roll, plQuaternion orient);
+	extern	void plSetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix);
+
+	typedef struct plRayCastResult {
+		plRigidBodyHandle		m_body;  
+		plCollisionShapeHandle	m_shape; 		
+		plVector3				m_positionWorld; 		
+		plVector3				m_normalWorld;
+	} plRayCastResult;
+
+	extern  int plRayCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plRayCastResult res);
+
+	/* Sweep API */
+
+	/* extern  plRigidBodyHandle plObjectCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal); */
+
+	/* Continuous Collision Detection API */
+	
+	// needed for source/blender/blenkernel/intern/collision.c
+	double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float q2[3], float q3[3], float *pa, float *pb, float normal[3]);
+
+
+	/* Convex Hull */
+	PL_DECLARE_HANDLE(plConvexHull);
+	plConvexHull plConvexHullCompute(float (*coords)[3], int count);
+	void plConvexHullDelete(plConvexHull hull);
+	int plConvexHullNumVertices(plConvexHull hull);
+	int plConvexHullNumFaces(plConvexHull hull);
+	void plConvexHullGetVertex(plConvexHull hull, int n, float coords[3], int *original_index);
+	int plConvexHullGetFaceSize(plConvexHull hull, int n);
+	void plConvexHullGetFaceVertices(plConvexHull hull, int n, int *vertices);
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif //BULLET_C_API_H
+

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

@@ -2,6 +2,7 @@
 //Bullet Continuous Collision Detection and Physics Library
 //Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
 
+
 //
 // btAxisSweep3
 //
@@ -18,15 +19,18 @@
 // 3. This notice may not be removed or altered from any source distribution.
 #include "btAxisSweep3.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 btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned short int maxHandles, btOverlappingPairCache* pairCache, bool disableRaycastAccelerator)
+:btAxisSweep3Internal<unsigned short int>(worldAabbMin,worldAabbMax,0xfffe,0xffff,maxHandles,pairCache,disableRaycastAccelerator)
 {
 	// 1 handle is reserved as sentinel
 	btAssert(maxHandles > 1 && maxHandles < 32767);
+
 }
 
-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 btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned int maxHandles , btOverlappingPairCache* pairCache , bool disableRaycastAccelerator)
+:btAxisSweep3Internal<unsigned int>(worldAabbMin,worldAabbMax,0xfffffffe,0x7fffffff,maxHandles,pairCache,disableRaycastAccelerator)
 {
 	// 1 handle is reserved as sentinel
 	btAssert(maxHandles > 1 && maxHandles < 2147483647);

extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h

@@ -1,954 +0,0 @@
-//Bullet Continuous Collision Detection and Physics Library
-//Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-//
-// btAxisSweep3.h
-//
-// Copyright (c) 2006 Simon Hobbs
-//
-// 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_AXIS_SWEEP_3_INTERNAL_H
-#define BT_AXIS_SWEEP_3_INTERNAL_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
-
-/// The internal templace class btAxisSweep3Internal implements the sweep and prune broadphase.
-/// It uses quantized integers to represent the begin and end points for each of the 3 axis.
-/// Dont use this class directly, use btAxisSweep3 or bt32BitAxisSweep3 instead.
-template <typename BP_FP_INT_TYPE>
-class btAxisSweep3Internal : public btBroadphaseInterface
-{
-protected:
-	BP_FP_INT_TYPE m_bpHandleMask;
-	BP_FP_INT_TYPE m_handleSentinel;
-
-public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	class Edge
-	{
-	public:
-		BP_FP_INT_TYPE m_pos;  // low bit is min/max
-		BP_FP_INT_TYPE m_handle;
-
-		BP_FP_INT_TYPE IsMax() const { return static_cast<BP_FP_INT_TYPE>(m_pos & 1); }
-	};
-
-public:
-	class Handle : public btBroadphaseProxy
-	{
-	public:
-		BT_DECLARE_ALIGNED_ALLOCATOR();
-
-		// 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
-		//void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject
-
-		SIMD_FORCE_INLINE void SetNextFree(BP_FP_INT_TYPE next) { m_minEdges[0] = next; }
-		SIMD_FORCE_INLINE BP_FP_INT_TYPE GetNextFree() const { return m_minEdges[0]; }
-	};  // 24 bytes + 24 for Edge structures = 44 bytes total per entry
-
-protected:
-	btVector3 m_worldAabbMin;  // overall system bounds
-	btVector3 m_worldAabbMax;  // overall system bounds
-
-	btVector3 m_quantize;  // scaling factor for quantization
-
-	BP_FP_INT_TYPE m_numHandles;  // number of active handles
-	BP_FP_INT_TYPE m_maxHandles;  // max number of handles
-	Handle* m_pHandles;           // handles pool
-
-	BP_FP_INT_TYPE m_firstFreeHandle;  // free handles list
-
-	Edge* m_pEdges[3];  // edge arrays for the 3 axes (each array has m_maxHandles * 2 + 2 sentinel entries)
-	void* m_pEdgesRawPtr[3];
-
-	btOverlappingPairCache* m_pairCache;
-
-	///btOverlappingPairCallback is an additional optional user callback for adding/removing overlapping pairs, similar interface to btOverlappingPairCache.
-	btOverlappingPairCallback* m_userPairCallback;
-
-	bool m_ownsPairCache;
-
-	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);
-
-	bool testOverlap2D(const Handle* pHandleA, const Handle* pHandleB, int axis0, int axis1);
-
-#ifdef DEBUG_BROADPHASE
-	void debugPrintAxis(int axis, bool checkCardinality = true);
-#endif  //DEBUG_BROADPHASE
-
-	//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 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);
-	void sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps);
-	void sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps);
-
-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);
-
-	virtual ~btAxisSweep3Internal();
-
-	BP_FP_INT_TYPE getNumHandles() const
-	{
-		return m_numHandles;
-	}
-
-	virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
-
-	BP_FP_INT_TYPE addHandle(const btVector3& aabbMin, const btVector3& aabbMax, void* pOwner, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher);
-	void removeHandle(BP_FP_INT_TYPE handle, btDispatcher* dispatcher);
-	void updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin, const btVector3& 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, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher);
-	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));
-	virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
-
-	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);
-
-	btOverlappingPairCache* getOverlappingPairCache()
-	{
-		return m_pairCache;
-	}
-	const btOverlappingPairCache* getOverlappingPairCache() const
-	{
-		return m_pairCache;
-	}
-
-	void setOverlappingPairUserCallback(btOverlappingPairCallback* pairCallback)
-	{
-		m_userPairCallback = pairCallback;
-	}
-	const btOverlappingPairCallback* getOverlappingPairUserCallback() const
-	{
-		return m_userPairCallback;
-	}
-
-	///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
-	///will add some transform later
-	virtual void getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const
-	{
-		aabbMin = m_worldAabbMin;
-		aabbMax = m_worldAabbMax;
-	}
-
-	virtual void printStats()
-	{
-		/*		printf("btAxisSweep3.h\n");
-		printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
-		printf("aabbMin=%f,%f,%f,aabbMax=%f,%f,%f\n",m_worldAabbMin.getX(),m_worldAabbMin.getY(),m_worldAabbMin.getZ(),
-			m_worldAabbMax.getX(),m_worldAabbMax.getY(),m_worldAabbMax.getZ());
-			*/
-	}
-};
-
-////////////////////////////////////////////////////////////////////
-
-#ifdef DEBUG_BROADPHASE
-#include <stdio.h>
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3<BP_FP_INT_TYPE>::debugPrintAxis(int axis, bool checkCardinality)
-{
-	int numEdges = m_pHandles[0].m_maxEdges[axis];
-	printf("SAP Axis %d, numEdges=%d\n", axis, numEdges);
-
-	int i;
-	for (i = 0; i < numEdges + 1; i++)
-	{
-		Edge* pEdge = m_pEdges[axis] + i;
-		Handle* pHandlePrev = getHandle(pEdge->m_handle);
-		int handleIndex = pEdge->IsMax() ? pHandlePrev->m_maxEdges[axis] : pHandlePrev->m_minEdges[axis];
-		char beginOrEnd;
-		beginOrEnd = pEdge->IsMax() ? 'E' : 'B';
-		printf("	[%c,h=%d,p=%x,i=%d]\n", beginOrEnd, pEdge->m_handle, pEdge->m_pos, handleIndex);
-	}
-
-	if (checkCardinality)
-		btAssert(numEdges == m_numHandles * 2 + 1);
-}
-#endif  //DEBUG_BROADPHASE
-
-template <typename BP_FP_INT_TYPE>
-btBroadphaseProxy* btAxisSweep3Internal<BP_FP_INT_TYPE>::createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher)
-{
-	(void)shapeType;
-	BP_FP_INT_TYPE handleId = addHandle(aabbMin, aabbMax, userPtr, collisionFilterGroup, collisionFilterMask, dispatcher);
-
-	Handle* handle = getHandle(handleId);
-
-	if (m_raycastAccelerator)
-	{
-		btBroadphaseProxy* rayProxy = m_raycastAccelerator->createProxy(aabbMin, aabbMax, shapeType, userPtr, collisionFilterGroup, collisionFilterMask, dispatcher);
-		handle->m_dbvtProxy = rayProxy;
-	}
-	return handle;
-}
-
-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);
-}
-
-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>::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
-{
-	if (m_raycastAccelerator)
-	{
-		m_raycastAccelerator->aabbTest(aabbMin, aabbMax, callback);
-	}
-	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())
-			{
-				Handle* handle = getHandle(m_pEdges[axis][i].m_handle);
-				if (TestAabbAgainstAabb2(aabbMin, aabbMax, handle->m_aabbMin, handle->m_aabbMax))
-				{
-					callback.process(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)
-	: m_bpHandleMask(handleMask),
-	  m_handleSentinel(handleSentinel),
-	  m_pairCache(pairCache),
-	  m_userPairCallback(0),
-	  m_ownsPairCache(false),
-	  m_invalidPair(0),
-	  m_raycastAccelerator(0)
-{
-	BP_FP_INT_TYPE maxHandles = static_cast<BP_FP_INT_TYPE>(userMaxHandles + 1);  //need to add one sentinel handle
-
-	if (!m_pairCache)
-	{
-		void* ptr = btAlignedAlloc(sizeof(btHashedOverlappingPairCache), 16);
-		m_pairCache = new (ptr) btHashedOverlappingPairCache();
-		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());
-
-	// init bounds
-	m_worldAabbMin = worldAabbMin;
-	m_worldAabbMax = worldAabbMax;
-
-	btVector3 aabbSize = m_worldAabbMax - m_worldAabbMin;
-
-	BP_FP_INT_TYPE maxInt = m_handleSentinel;
-
-	m_quantize = btVector3(btScalar(maxInt), btScalar(maxInt), btScalar(maxInt)) / aabbSize;
-
-	// allocate handles buffer, using btAlignedAlloc, and put all handles on free list
-	m_pHandles = new Handle[maxHandles];
-
-	m_maxHandles = maxHandles;
-	m_numHandles = 0;
-
-	// handle 0 is reserved as the null index, and is also used as the sentinel
-	m_firstFreeHandle = 1;
-	{
-		for (BP_FP_INT_TYPE i = m_firstFreeHandle; i < maxHandles; i++)
-			m_pHandles[i].SetNextFree(static_cast<BP_FP_INT_TYPE>(i + 1));
-		m_pHandles[maxHandles - 1].SetNextFree(0);
-	}
-
-	{
-		// allocate edge buffers
-		for (int i = 0; i < 3; i++)
-		{
-			m_pEdgesRawPtr[i] = btAlignedAlloc(sizeof(Edge) * maxHandles * 2, 16);
-			m_pEdges[i] = new (m_pEdgesRawPtr[i]) Edge[maxHandles * 2];
-		}
-	}
-	//removed overlap management
-
-	// make boundary sentinels
-
-	m_pHandles[0].m_clientObject = 0;
-
-	for (int axis = 0; axis < 3; axis++)
-	{
-		m_pHandles[0].m_minEdges[axis] = 0;
-		m_pHandles[0].m_maxEdges[axis] = 1;
-
-		m_pEdges[axis][0].m_pos = 0;
-		m_pEdges[axis][0].m_handle = 0;
-		m_pEdges[axis][1].m_pos = m_handleSentinel;
-		m_pEdges[axis][1].m_handle = 0;
-#ifdef DEBUG_BROADPHASE
-		debugPrintAxis(axis);
-#endif  //DEBUG_BROADPHASE
-	}
-}
-
-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]);
-	}
-	delete[] m_pHandles;
-
-	if (m_ownsPairCache)
-	{
-		m_pairCache->~btOverlappingPairCache();
-		btAlignedFree(m_pairCache);
-	}
-}
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::quantize(BP_FP_INT_TYPE* out, const btVector3& 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);
-	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);
-
-	BP_FP_INT_TYPE handle = m_firstFreeHandle;
-	m_firstFreeHandle = getHandle(handle)->GetNextFree();
-	m_numHandles++;
-
-	return handle;
-}
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::freeHandle(BP_FP_INT_TYPE handle)
-{
-	btAssert(handle > 0 && handle < m_maxHandles);
-
-	getHandle(handle)->SetNextFree(m_firstFreeHandle);
-	m_firstFreeHandle = handle;
-
-	m_numHandles--;
-}
-
-template <typename BP_FP_INT_TYPE>
-BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btVector3& aabbMin, const btVector3& aabbMax, void* pOwner, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher)
-{
-	// quantize the bounds
-	BP_FP_INT_TYPE min[3], max[3];
-	quantize(min, aabbMin, 0);
-	quantize(max, aabbMax, 1);
-
-	// allocate a handle
-	BP_FP_INT_TYPE handle = allocHandle();
-
-	Handle* pHandle = getHandle(handle);
-
-	pHandle->m_uniqueId = static_cast<int>(handle);
-	//pHandle->m_pOverlaps = 0;
-	pHandle->m_clientObject = pOwner;
-	pHandle->m_collisionFilterGroup = collisionFilterGroup;
-	pHandle->m_collisionFilterMask = collisionFilterMask;
-
-	// compute current limit of edge arrays
-	BP_FP_INT_TYPE limit = static_cast<BP_FP_INT_TYPE>(m_numHandles * 2);
-
-	// insert new edges just inside the max boundary edge
-	for (BP_FP_INT_TYPE axis = 0; axis < 3; axis++)
-	{
-		m_pHandles[0].m_maxEdges[axis] += 2;
-
-		m_pEdges[axis][limit + 1] = m_pEdges[axis][limit - 1];
-
-		m_pEdges[axis][limit - 1].m_pos = min[axis];
-		m_pEdges[axis][limit - 1].m_handle = handle;
-
-		m_pEdges[axis][limit].m_pos = max[axis];
-		m_pEdges[axis][limit].m_handle = handle;
-
-		pHandle->m_minEdges[axis] = static_cast<BP_FP_INT_TYPE>(limit - 1);
-		pHandle->m_maxEdges[axis] = limit;
-	}
-
-	// now sort the new edges to their correct position
-	sortMinDown(0, pHandle->m_minEdges[0], dispatcher, false);
-	sortMaxDown(0, pHandle->m_maxEdges[0], dispatcher, false);
-	sortMinDown(1, pHandle->m_minEdges[1], dispatcher, false);
-	sortMaxDown(1, pHandle->m_maxEdges[1], dispatcher, false);
-	sortMinDown(2, pHandle->m_minEdges[2], dispatcher, true);
-	sortMaxDown(2, pHandle->m_maxEdges[2], dispatcher, true);
-
-	return handle;
-}
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::removeHandle(BP_FP_INT_TYPE handle, btDispatcher* dispatcher)
-{
-	Handle* pHandle = getHandle(handle);
-
-	//explicitly remove the pairs containing the proxy
-	//we could do it also in the sortMinUp (passing true)
-	///@todo: compare performance
-	if (!m_pairCache->hasDeferredRemoval())
-	{
-		m_pairCache->removeOverlappingPairsContainingProxy(pHandle, dispatcher);
-	}
-
-	// compute current limit of edge arrays
-	int limit = static_cast<int>(m_numHandles * 2);
-
-	int axis;
-
-	for (axis = 0; axis < 3; axis++)
-	{
-		m_pHandles[0].m_maxEdges[axis] -= 2;
-	}
-
-	// remove the edges by sorting them up to the end of the list
-	for (axis = 0; axis < 3; axis++)
-	{
-		Edge* pEdges = m_pEdges[axis];
-		BP_FP_INT_TYPE max = pHandle->m_maxEdges[axis];
-		pEdges[max].m_pos = m_handleSentinel;
-
-		sortMaxUp(axis, max, dispatcher, false);
-
-		BP_FP_INT_TYPE i = pHandle->m_minEdges[axis];
-		pEdges[i].m_pos = m_handleSentinel;
-
-		sortMinUp(axis, i, dispatcher, false);
-
-		pEdges[limit - 1].m_handle = 0;
-		pEdges[limit - 1].m_pos = m_handleSentinel;
-
-#ifdef DEBUG_BROADPHASE
-		debugPrintAxis(axis, false);
-#endif  //DEBUG_BROADPHASE
-	}
-
-	// free the handle
-	freeHandle(handle);
-}
-
-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);
-		}
-	}
-}
-
-//#include <stdio.h>
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::calculateOverlappingPairs(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());
-
-		overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
-		m_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 use an AABB test that is consistent with the broadphase
-				bool hasOverlap = testAabbOverlap(pair.m_pProxy0, pair.m_pProxy1);
-
-				if (hasOverlap)
-				{
-					needsRemoval = false;  //callback->processOverlap(pair);
-				}
-				else
-				{
-					needsRemoval = true;
-				}
-			}
-			else
-			{
-				//remove duplicate
-				needsRemoval = true;
-				//should have no algorithm
-				btAssert(!pair.m_algorithm);
-			}
-
-			if (needsRemoval)
-			{
-				m_pairCache->cleanOverlappingPair(pair, dispatcher);
-
-				//		m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
-				//		m_overlappingPairArray.pop_back();
-				pair.m_pProxy0 = 0;
-				pair.m_pProxy1 = 0;
-				m_invalidPair++;
-			}
-		}
-
-///if you don't like to skip the invalid pairs in the array, execute following code:
-#define CLEAN_INVALID_PAIRS 1
-#ifdef CLEAN_INVALID_PAIRS
-
-		//perform a sort, to sort 'invalid' pairs to the end
-		overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
-
-		overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
-		m_invalidPair = 0;
-#endif  //CLEAN_INVALID_PAIRS
-
-		//printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size());
-	}
-}
-
-template <typename BP_FP_INT_TYPE>
-bool btAxisSweep3Internal<BP_FP_INT_TYPE>::testAabbOverlap(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
-{
-	const Handle* pHandleA = static_cast<Handle*>(proxy0);
-	const Handle* pHandleB = static_cast<Handle*>(proxy1);
-
-	//optimization 1: check the array index (memory address), instead of the m_pos
-
-	for (int axis = 0; axis < 3; axis++)
-	{
-		if (pHandleA->m_maxEdges[axis] < pHandleB->m_minEdges[axis] ||
-			pHandleB->m_maxEdges[axis] < pHandleA->m_minEdges[axis])
-		{
-			return false;
-		}
-	}
-	return true;
-}
-
-template <typename BP_FP_INT_TYPE>
-bool btAxisSweep3Internal<BP_FP_INT_TYPE>::testOverlap2D(const Handle* pHandleA, const Handle* pHandleB, int axis0, int axis1)
-{
-	//optimization 1: check the array index (memory address), instead of the m_pos
-
-	if (pHandleA->m_maxEdges[axis0] < pHandleB->m_minEdges[axis0] ||
-		pHandleB->m_maxEdges[axis0] < pHandleA->m_minEdges[axis0] ||
-		pHandleA->m_maxEdges[axis1] < pHandleB->m_minEdges[axis1] ||
-		pHandleB->m_maxEdges[axis1] < pHandleA->m_minEdges[axis1])
-	{
-		return false;
-	}
-	return true;
-}
-
-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)
-{
-	//	btAssert(bounds.IsFinite());
-	//btAssert(bounds.HasVolume());
-
-	Handle* pHandle = getHandle(handle);
-
-	// quantize the new bounds
-	BP_FP_INT_TYPE min[3], max[3];
-	quantize(min, aabbMin, 0);
-	quantize(max, aabbMax, 1);
-
-	// update changed edges
-	for (int axis = 0; axis < 3; axis++)
-	{
-		BP_FP_INT_TYPE emin = pHandle->m_minEdges[axis];
-		BP_FP_INT_TYPE emax = pHandle->m_maxEdges[axis];
-
-		int dmin = (int)min[axis] - (int)m_pEdges[axis][emin].m_pos;
-		int dmax = (int)max[axis] - (int)m_pEdges[axis][emax].m_pos;
-
-		m_pEdges[axis][emin].m_pos = min[axis];
-		m_pEdges[axis][emax].m_pos = max[axis];
-
-		// expand (only adds overlaps)
-		if (dmin < 0)
-			sortMinDown(axis, emin, dispatcher, true);
-
-		if (dmax > 0)
-			sortMaxUp(axis, emax, dispatcher, true);
-
-		// shrink (only removes overlaps)
-		if (dmin > 0)
-			sortMinUp(axis, emin, dispatcher, true);
-
-		if (dmax < 0)
-			sortMaxDown(axis, emax, dispatcher, true);
-
-#ifdef DEBUG_BROADPHASE
-		debugPrintAxis(axis);
-#endif  //DEBUG_BROADPHASE
-	}
-}
-
-// sorting a min edge downwards can only ever *add* overlaps
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* /* dispatcher */, bool updateOverlaps)
-{
-	Edge* pEdge = m_pEdges[axis] + edge;
-	Edge* pPrev = pEdge - 1;
-	Handle* pHandleEdge = getHandle(pEdge->m_handle);
-
-	while (pEdge->m_pos < pPrev->m_pos)
-	{
-		Handle* pHandlePrev = getHandle(pPrev->m_handle);
-
-		if (pPrev->IsMax())
-		{
-			// if previous edge is a maximum check the bounds and add an overlap if necessary
-			const int axis1 = (1 << axis) & 3;
-			const int axis2 = (1 << axis1) & 3;
-			if (updateOverlaps && testOverlap2D(pHandleEdge, pHandlePrev, axis1, axis2))
-			{
-				m_pairCache->addOverlappingPair(pHandleEdge, pHandlePrev);
-				if (m_userPairCallback)
-					m_userPairCallback->addOverlappingPair(pHandleEdge, pHandlePrev);
-
-				//AddOverlap(pEdge->m_handle, pPrev->m_handle);
-			}
-
-			// update edge reference in other handle
-			pHandlePrev->m_maxEdges[axis]++;
-		}
-		else
-			pHandlePrev->m_minEdges[axis]++;
-
-		pHandleEdge->m_minEdges[axis]--;
-
-		// swap the edges
-		Edge swap = *pEdge;
-		*pEdge = *pPrev;
-		*pPrev = swap;
-
-		// decrement
-		pEdge--;
-		pPrev--;
-	}
-
-#ifdef DEBUG_BROADPHASE
-	debugPrintAxis(axis);
-#endif  //DEBUG_BROADPHASE
-}
-
-// sorting a min edge upwards can only ever *remove* overlaps
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps)
-{
-	Edge* pEdge = m_pEdges[axis] + edge;
-	Edge* pNext = pEdge + 1;
-	Handle* pHandleEdge = getHandle(pEdge->m_handle);
-
-	while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos))
-	{
-		Handle* pHandleNext = getHandle(pNext->m_handle);
-
-		if (pNext->IsMax())
-		{
-			Handle* handle0 = getHandle(pEdge->m_handle);
-			Handle* handle1 = getHandle(pNext->m_handle);
-			const int axis1 = (1 << axis) & 3;
-			const int axis2 = (1 << axis1) & 3;
-
-			// if next edge is maximum remove any overlap between the two handles
-			if (updateOverlaps
-#ifdef USE_OVERLAP_TEST_ON_REMOVES
-				&& testOverlap2D(handle0, handle1, axis1, axis2)
-#endif  //USE_OVERLAP_TEST_ON_REMOVES
-			)
-			{
-				m_pairCache->removeOverlappingPair(handle0, handle1, dispatcher);
-				if (m_userPairCallback)
-					m_userPairCallback->removeOverlappingPair(handle0, handle1, dispatcher);
-			}
-
-			// update edge reference in other handle
-			pHandleNext->m_maxEdges[axis]--;
-		}
-		else
-			pHandleNext->m_minEdges[axis]--;
-
-		pHandleEdge->m_minEdges[axis]++;
-
-		// swap the edges
-		Edge swap = *pEdge;
-		*pEdge = *pNext;
-		*pNext = swap;
-
-		// increment
-		pEdge++;
-		pNext++;
-	}
-}
-
-// sorting a max edge downwards can only ever *remove* overlaps
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps)
-{
-	Edge* pEdge = m_pEdges[axis] + edge;
-	Edge* pPrev = pEdge - 1;
-	Handle* pHandleEdge = getHandle(pEdge->m_handle);
-
-	while (pEdge->m_pos < pPrev->m_pos)
-	{
-		Handle* pHandlePrev = getHandle(pPrev->m_handle);
-
-		if (!pPrev->IsMax())
-		{
-			// if previous edge was a minimum remove any overlap between the two handles
-			Handle* handle0 = getHandle(pEdge->m_handle);
-			Handle* handle1 = getHandle(pPrev->m_handle);
-			const int axis1 = (1 << axis) & 3;
-			const int axis2 = (1 << axis1) & 3;
-
-			if (updateOverlaps
-#ifdef USE_OVERLAP_TEST_ON_REMOVES
-				&& testOverlap2D(handle0, handle1, axis1, axis2)
-#endif  //USE_OVERLAP_TEST_ON_REMOVES
-			)
-			{
-				//this is done during the overlappingpairarray iteration/narrowphase collision
-
-				m_pairCache->removeOverlappingPair(handle0, handle1, dispatcher);
-				if (m_userPairCallback)
-					m_userPairCallback->removeOverlappingPair(handle0, handle1, dispatcher);
-			}
-
-			// update edge reference in other handle
-			pHandlePrev->m_minEdges[axis]++;
-			;
-		}
-		else
-			pHandlePrev->m_maxEdges[axis]++;
-
-		pHandleEdge->m_maxEdges[axis]--;
-
-		// swap the edges
-		Edge swap = *pEdge;
-		*pEdge = *pPrev;
-		*pPrev = swap;
-
-		// decrement
-		pEdge--;
-		pPrev--;
-	}
-
-#ifdef DEBUG_BROADPHASE
-	debugPrintAxis(axis);
-#endif  //DEBUG_BROADPHASE
-}
-
-// sorting a max edge upwards can only ever *add* overlaps
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* /* dispatcher */, bool updateOverlaps)
-{
-	Edge* pEdge = m_pEdges[axis] + edge;
-	Edge* pNext = pEdge + 1;
-	Handle* pHandleEdge = getHandle(pEdge->m_handle);
-
-	while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos))
-	{
-		Handle* pHandleNext = getHandle(pNext->m_handle);
-
-		const int axis1 = (1 << axis) & 3;
-		const int axis2 = (1 << axis1) & 3;
-
-		if (!pNext->IsMax())
-		{
-			// if next edge is a minimum check the bounds and add an overlap if necessary
-			if (updateOverlaps && testOverlap2D(pHandleEdge, pHandleNext, axis1, axis2))
-			{
-				Handle* handle0 = getHandle(pEdge->m_handle);
-				Handle* handle1 = getHandle(pNext->m_handle);
-				m_pairCache->addOverlappingPair(handle0, handle1);
-				if (m_userPairCallback)
-					m_userPairCallback->addOverlappingPair(handle0, handle1);
-			}
-
-			// update edge reference in other handle
-			pHandleNext->m_minEdges[axis]--;
-		}
-		else
-			pHandleNext->m_maxEdges[axis]--;
-
-		pHandleEdge->m_maxEdges[axis]++;
-
-		// swap the edges
-		Edge swap = *pEdge;
-		*pEdge = *pNext;
-		*pNext = swap;
-
-		// increment
-		pEdge++;
-		pNext++;
-	}
-}
-
-#endif

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

@@ -13,8 +13,10 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef BT_BROADPHASE_INTERFACE_H
-#define BT_BROADPHASE_INTERFACE_H
+#ifndef		BT_BROADPHASE_INTERFACE_H
+#define 	BT_BROADPHASE_INTERFACE_H
+
+
 
 struct btDispatcherInfo;
 class btDispatcher;
@@ -22,23 +24,23 @@ class btDispatcher;
 
 class btOverlappingPairCache;
 
-struct btBroadphaseAabbCallback
+
+
+struct	btBroadphaseAabbCallback
 {
 	virtual ~btBroadphaseAabbCallback() {}
-	virtual bool process(const btBroadphaseProxy* proxy) = 0;
+	virtual bool	process(const btBroadphaseProxy* proxy) = 0;
 };
 
-struct btBroadphaseRayCallback : public btBroadphaseAabbCallback
+
+struct	btBroadphaseRayCallback : public btBroadphaseAabbCallback
 {
 	///added some cached data to accelerate ray-AABB tests
-	btVector3 m_rayDirectionInverse;
-	unsigned int m_signs[3];
-	btScalar m_lambda_max;
+	btVector3		m_rayDirectionInverse;
+	unsigned int	m_signs[3];
+	btScalar		m_lambda_max;
 
 	virtual ~btBroadphaseRayCallback() {}
-
-protected:
-	btBroadphaseRayCallback() {}
 };
 
 #include "LinearMath/btVector3.h"
@@ -51,29 +53,30 @@ class btBroadphaseInterface
 public:
 	virtual ~btBroadphaseInterface() {}
 
-	virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher) = 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 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;
+	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;
 
-	virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback) = 0;
+	virtual void	aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback) = 0;
 
 	///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
-	virtual void calculateOverlappingPairs(btDispatcher* dispatcher) = 0;
+	virtual void	calculateOverlappingPairs(btDispatcher* dispatcher)=0;
 
-	virtual btOverlappingPairCache* getOverlappingPairCache() = 0;
-	virtual const btOverlappingPairCache* getOverlappingPairCache() const = 0;
+	virtual	btOverlappingPairCache*	getOverlappingPairCache()=0;
+	virtual	const btOverlappingPairCache*	getOverlappingPairCache() const =0;
 
 	///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
 	///will add some transform later
-	virtual void getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const = 0;
+	virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const =0;
 
 	///reset broadphase internal structures, to ensure determinism/reproducability
-	virtual void resetPool(btDispatcher* dispatcher) { (void)dispatcher; };
+	virtual void resetPool(btDispatcher* dispatcher) { (void) dispatcher; };
+
+	virtual void	printStats() = 0;
 
-	virtual void printStats() = 0;
 };
 
-#endif  //BT_BROADPHASE_INTERFACE_H
+#endif //BT_BROADPHASE_INTERFACE_H

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

@@ -15,4 +15,3 @@ subject to the following restrictions:
 
 #include "btBroadphaseProxy.h"
 
-BT_NOT_EMPTY_FILE  // fix warning LNK4221: This object file does not define any previously undefined public symbols, so it will not be used by any link operation that consumes this library

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

@@ -16,10 +16,11 @@ subject to the following restrictions:
 #ifndef BT_BROADPHASE_PROXY_H
 #define BT_BROADPHASE_PROXY_H
 
-#include "LinearMath/btScalar.h"  //for SIMD_FORCE_INLINE
+#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
@@ -34,8 +35,8 @@ enum BroadphaseNativeTypes
 	CONVEX_HULL_SHAPE_PROXYTYPE,
 	CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE,
 	CUSTOM_POLYHEDRAL_SHAPE_TYPE,
-	//implicit convex shapes
-	IMPLICIT_CONVEX_SHAPES_START_HERE,
+//implicit convex shapes
+IMPLICIT_CONVEX_SHAPES_START_HERE,
 	SPHERE_SHAPE_PROXYTYPE,
 	MULTI_SPHERE_SHAPE_PROXYTYPE,
 	CAPSULE_SHAPE_PROXYTYPE,
@@ -48,8 +49,8 @@ enum BroadphaseNativeTypes
 	BOX_2D_SHAPE_PROXYTYPE,
 	CONVEX_2D_SHAPE_PROXYTYPE,
 	CUSTOM_CONVEX_SHAPE_TYPE,
-	//concave shapes
-	CONCAVE_SHAPES_START_HERE,
+//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,
@@ -57,16 +58,15 @@ enum BroadphaseNativeTypes
 	FAST_CONCAVE_MESH_PROXYTYPE,
 	//terrain
 	TERRAIN_SHAPE_PROXYTYPE,
-	///Used for GIMPACT Trimesh integration
+///Used for GIMPACT Trimesh integration
 	GIMPACT_SHAPE_PROXYTYPE,
-	///Multimaterial mesh
-	MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE,
-
+///Multimaterial mesh
+    MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE,
+	
 	EMPTY_SHAPE_PROXYTYPE,
 	STATIC_PLANE_PROXYTYPE,
 	CUSTOM_CONCAVE_SHAPE_TYPE,
-	SDF_SHAPE_PROXYTYPE = CUSTOM_CONCAVE_SHAPE_TYPE,
-	CONCAVE_SHAPES_END_HERE,
+CONCAVE_SHAPES_END_HERE,
 
 	COMPOUND_SHAPE_PROXYTYPE,
 
@@ -76,37 +76,38 @@ enum BroadphaseNativeTypes
 	INVALID_SHAPE_PROXYTYPE,
 
 	MAX_BROADPHASE_COLLISION_TYPES
-
+	
 };
 
-///The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
-///It stores collision shape type information, collision filter information and a client object, typically a btCollisionObject or btRigidBody.
-ATTRIBUTE_ALIGNED16(struct)
-btBroadphaseProxy
-{
-	BT_DECLARE_ALIGNED_ALLOCATOR();
 
+///The btBroadphaseProxy is the main class that can be used with the Bullet broadphases. 
+///It stores collision shape type information, collision filter information and a client object, typically a btCollisionObject or btRigidBody.
+ATTRIBUTE_ALIGNED16(struct) btBroadphaseProxy
+{
+
+BT_DECLARE_ALIGNED_ALLOCATOR();
+	
 	///optional filtering to cull potential collisions
 	enum CollisionFilterGroups
 	{
-		DefaultFilter = 1,
-		StaticFilter = 2,
-		KinematicFilter = 4,
-		DebrisFilter = 8,
-		SensorTrigger = 16,
-		CharacterFilter = 32,
-		AllFilter = -1  //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
+	        DefaultFilter = 1,
+	        StaticFilter = 2,
+	        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;
-	int m_collisionFilterGroup;
-	int m_collisionFilterMask;
+	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.
 
-	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;
+	btVector3	m_aabbMin;
+	btVector3	m_aabbMax;
 
 	SIMD_FORCE_INLINE int getUid() const
 	{
@@ -114,45 +115,48 @@ btBroadphaseProxy
 	}
 
 	//used for memory pools
-	btBroadphaseProxy() : m_clientObject(0)
+	btBroadphaseProxy() :m_clientObject(0),m_multiSapParentProxy(0)
 	{
 	}
 
-	btBroadphaseProxy(const btVector3& aabbMin, const btVector3& aabbMax, void* userPtr, int collisionFilterGroup, int collisionFilterMask)
-		: m_clientObject(userPtr),
-		  m_collisionFilterGroup(collisionFilterGroup),
-		  m_collisionFilterMask(collisionFilterMask),
-		  m_aabbMin(aabbMin),
-		  m_aabbMax(aabbMax)
+	btBroadphaseProxy(const btVector3& aabbMin,const btVector3& aabbMax,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_multiSapParentProxy = multiSapParentProxy;
 	}
 
+	
+
 	static SIMD_FORCE_INLINE bool isPolyhedral(int proxyType)
 	{
-		return (proxyType < IMPLICIT_CONVEX_SHAPES_START_HERE);
+		return (proxyType  < IMPLICIT_CONVEX_SHAPES_START_HERE);
 	}
 
-	static SIMD_FORCE_INLINE bool isConvex(int proxyType)
+	static SIMD_FORCE_INLINE bool	isConvex(int proxyType)
 	{
 		return (proxyType < CONCAVE_SHAPES_START_HERE);
 	}
 
-	static SIMD_FORCE_INLINE bool isNonMoving(int proxyType)
+	static SIMD_FORCE_INLINE bool	isNonMoving(int proxyType)
 	{
-		return (isConcave(proxyType) && !(proxyType == GIMPACT_SHAPE_PROXYTYPE));
+		return (isConcave(proxyType) && !(proxyType==GIMPACT_SHAPE_PROXYTYPE));
 	}
 
-	static SIMD_FORCE_INLINE bool isConcave(int proxyType)
+	static SIMD_FORCE_INLINE bool	isConcave(int proxyType)
 	{
 		return ((proxyType > CONCAVE_SHAPES_START_HERE) &&
-				(proxyType < CONCAVE_SHAPES_END_HERE));
+			(proxyType < CONCAVE_SHAPES_END_HERE));
 	}
-	static SIMD_FORCE_INLINE bool isCompound(int proxyType)
+	static SIMD_FORCE_INLINE bool	isCompound(int proxyType)
 	{
 		return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
 	}
 
-	static SIMD_FORCE_INLINE bool isSoftBody(int proxyType)
+	static SIMD_FORCE_INLINE bool	isSoftBody(int proxyType)
 	{
 		return (proxyType == SOFTBODY_SHAPE_PROXYTYPE);
 	}
@@ -164,55 +168,67 @@ btBroadphaseProxy
 
 	static SIMD_FORCE_INLINE bool isConvex2d(int proxyType)
 	{
-		return (proxyType == BOX_2D_SHAPE_PROXYTYPE) || (proxyType == CONVEX_2D_SHAPE_PROXYTYPE);
+		return (proxyType == BOX_2D_SHAPE_PROXYTYPE) ||	(proxyType == CONVEX_2D_SHAPE_PROXYTYPE);
 	}
-};
+
+	
+}
+;
 
 class btCollisionAlgorithm;
 
 struct btBroadphaseProxy;
 
+
+
 ///The btBroadphasePair class contains a pair of aabb-overlapping objects.
 ///A btDispatcher can search a btCollisionAlgorithm that performs exact/narrowphase collision detection on the actual collision shapes.
-ATTRIBUTE_ALIGNED16(struct)
-btBroadphasePair
+ATTRIBUTE_ALIGNED16(struct) btBroadphasePair
 {
-	btBroadphasePair()
-		: m_pProxy0(0),
-		  m_pProxy1(0),
-		  m_algorithm(0),
-		  m_internalInfo1(0)
+	btBroadphasePair ()
+		:
+	m_pProxy0(0),
+		m_pProxy1(0),
+		m_algorithm(0),
+		m_internalInfo1(0)
 	{
 	}
 
-	BT_DECLARE_ALIGNED_ALLOCATOR();
+BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btBroadphasePair(btBroadphaseProxy & proxy0, btBroadphaseProxy & proxy1)
+	btBroadphasePair(const btBroadphasePair& other)
+		:		m_pProxy0(other.m_pProxy0),
+				m_pProxy1(other.m_pProxy1),
+				m_algorithm(other.m_algorithm),
+				m_internalInfo1(other.m_internalInfo1)
 	{
+	}
+	btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1)
+	{
+
 		//keep them sorted, so the std::set operations work
 		if (proxy0.m_uniqueId < proxy1.m_uniqueId)
-		{
-			m_pProxy0 = &proxy0;
-			m_pProxy1 = &proxy1;
-		}
-		else
-		{
-			m_pProxy0 = &proxy1;
-			m_pProxy1 = &proxy0;
-		}
+        { 
+            m_pProxy0 = &proxy0; 
+            m_pProxy1 = &proxy1; 
+        }
+        else 
+        { 
+			m_pProxy0 = &proxy1; 
+            m_pProxy1 = &proxy0; 
+        }
 
 		m_algorithm = 0;
 		m_internalInfo1 = 0;
-	}
 
+	}
+	
 	btBroadphaseProxy* m_pProxy0;
 	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.
+	union { void* m_internalInfo1; int m_internalTmpValue;};//don't use this data, it will be removed in future version.
+
 };
 
 /*
@@ -224,25 +240,31 @@ SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePa
 }
 */
 
+
+
 class btBroadphasePairSortPredicate
 {
-public:
-	bool operator()(const btBroadphasePair& a, const btBroadphasePair& b) const
-	{
-		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;
+	public:
 
-		return uidA0 > uidB0 ||
-			   (a.m_pProxy0 == b.m_pProxy0 && uidA1 > uidB1) ||
-			   (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm);
-	}
+		bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b ) const
+		{
+			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) ||
+				(a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm); 
+		}
 };
 
-SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphasePair& b)
+
+SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphasePair& b) 
 {
-	return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1);
+	 return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1);
 }
 
-#endif  //BT_BROADPHASE_PROXY_H
+
+#endif //BT_BROADPHASE_PROXY_H
+

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

@@ -20,3 +20,4 @@ btCollisionAlgorithm::btCollisionAlgorithm(const btCollisionAlgorithmConstructio
 {
 	m_dispatcher = ci.m_dispatcher1;
 }
+

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

@@ -25,51 +25,57 @@ class btManifoldResult;
 class btCollisionObject;
 struct btCollisionObjectWrapper;
 struct btDispatcherInfo;
-class btPersistentManifold;
+class	btPersistentManifold;
 
-typedef btAlignedObjectArray<btPersistentManifold*> btManifoldArray;
+typedef btAlignedObjectArray<btPersistentManifold*>	btManifoldArray;
 
 struct btCollisionAlgorithmConstructionInfo
 {
 	btCollisionAlgorithmConstructionInfo()
-		: m_dispatcher1(0),
-		  m_manifold(0)
+		:m_dispatcher1(0),
+		m_manifold(0)
 	{
 	}
-	btCollisionAlgorithmConstructionInfo(btDispatcher* dispatcher, int temp)
-		: m_dispatcher1(dispatcher)
+	btCollisionAlgorithmConstructionInfo(btDispatcher* dispatcher,int temp)
+		:m_dispatcher1(dispatcher)
 	{
 		(void)temp;
 	}
 
-	btDispatcher* m_dispatcher1;
-	btPersistentManifold* m_manifold;
+	btDispatcher*	m_dispatcher1;
+	btPersistentManifold*	m_manifold;
+
+//	int	getDispatcherId();
 
-	//	int	getDispatcherId();
 };
 
+
 ///btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatcher.
 ///It is persistent over frames
 class btCollisionAlgorithm
 {
-protected:
-	btDispatcher* m_dispatcher;
 
 protected:
-	//	int	getDispatcherId();
 
+	btDispatcher*	m_dispatcher;
+
+protected:
+//	int	getDispatcherId();
+	
 public:
-	btCollisionAlgorithm(){};
+
+	btCollisionAlgorithm() {};
 
 	btCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci);
 
-	virtual ~btCollisionAlgorithm(){};
+	virtual ~btCollisionAlgorithm() {};
 
-	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut) = 0;
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
 
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut) = 0;
+	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
 
-	virtual void getAllContactManifolds(btManifoldArray& manifoldArray) = 0;
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray) = 0;
 };
 
-#endif  //BT_COLLISION_ALGORITHM_H
+
+#endif //BT_COLLISION_ALGORITHM_H

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

@@ -24,16 +24,15 @@ subject to the following restrictions:
 // Compile time config
 //
 
-#define DBVT_BP_PROFILE 0
+#define	DBVT_BP_PROFILE					0
 //#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
-extern btScalar gDbvtMargin;
+#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
+#define	DBVT_BP_PROFILING_RATE	256
 #include "LinearMath/btQuickprof.h"
 #endif
 
@@ -42,90 +41,89 @@ extern btScalar gDbvtMargin;
 //
 struct btDbvtProxy : btBroadphaseProxy
 {
-	/* Fields		*/
+	/* Fields		*/ 
 	//btDbvtAabbMm	aabb;
-	btDbvtNode* leaf;
-	btDbvtProxy* links[2];
-	int stage;
-	/* ctor			*/
-	btDbvtProxy(const btVector3& aabbMin, const btVector3& aabbMax, void* userPtr, int collisionFilterGroup, int collisionFilterMask) : btBroadphaseProxy(aabbMin, aabbMax, userPtr, collisionFilterGroup, collisionFilterMask)
+	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)
 	{
-		links[0] = links[1] = 0;
+		links[0]=links[1]=0;
 	}
 };
 
-typedef btAlignedObjectArray<btDbvtProxy*> btDbvtProxyArray;
+typedef btAlignedObjectArray<btDbvtProxy*>	btDbvtProxyArray;
 
 ///The btDbvtBroadphase implements a broadphase using two dynamic AABB bounding volume hierarchies/trees (see btDbvt).
 ///One tree is used for static/non-moving objects, and another tree is used for dynamic objects. Objects can move from one tree to the other.
 ///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
+struct	btDbvtBroadphase : btBroadphaseInterface
 {
-	/* Config		*/
-	enum
-	{
-		DYNAMIC_SET = 0, /* Dynamic set index	*/
-		FIXED_SET = 1,   /* Fixed set index		*/
-		STAGECOUNT = 2   /* Number of stages		*/
+	/* 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?
-	btAlignedObjectArray<btAlignedObjectArray<const btDbvtNode*> > m_rayTestStacks;
+	/* 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?
 #if DBVT_BP_PROFILE
-	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;
+	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;
 #endif
-	/* Methods		*/
-	btDbvtBroadphase(btOverlappingPairCache* paircache = 0);
+	/* Methods		*/ 
+	btDbvtBroadphase(btOverlappingPairCache* paircache=0);
 	~btDbvtBroadphase();
-	void collide(btDispatcher* dispatcher);
-	void optimize();
-
+	void							collide(btDispatcher* dispatcher);
+	void							optimize();
+	
 	/* btBroadphaseInterface Implementation	*/
-	btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher);
-	virtual void destroyProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher);
-	virtual 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 aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
+	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					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					aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
+
+	virtual void					getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
+	virtual	void					calculateOverlappingPairs(btDispatcher* dispatcher);
+	virtual	btOverlappingPairCache*	getOverlappingPairCache();
+	virtual	const btOverlappingPairCache*	getOverlappingPairCache() const;
+	virtual	void					getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
+	virtual	void					printStats();
 
-	virtual void getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const;
-	virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
-	virtual btOverlappingPairCache* getOverlappingPairCache();
-	virtual const btOverlappingPairCache* getOverlappingPairCache() const;
-	virtual void getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const;
-	virtual void printStats();
 
 	///reset broadphase internal structures, to ensure determinism/reproducability
 	virtual void resetPool(btDispatcher* dispatcher);
 
-	void performDeferredRemoval(btDispatcher* dispatcher);
-
-	void setVelocityPrediction(btScalar prediction)
+	void	performDeferredRemoval(btDispatcher* dispatcher);
+	
+	void	setVelocityPrediction(btScalar prediction)
 	{
 		m_prediction = prediction;
 	}
@@ -134,13 +132,15 @@ struct btDbvtBroadphase : btBroadphaseInterface
 		return m_prediction;
 	}
 
-	///this setAabbForceUpdate is similar to setAabb but always forces the aabb update.
+	///this setAabbForceUpdate is similar to setAabb but always forces the aabb update. 
 	///it is not part of the btBroadphaseInterface but specific to btDbvtBroadphase.
 	///it bypasses certain optimizations that prevent aabb updates (when the aabb shrinks), see
 	///http://code.google.com/p/bullet/issues/detail?id=223
-	void setAabbForceUpdate(btBroadphaseProxy* absproxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* /*dispatcher*/);
+	void							setAabbForceUpdate(		btBroadphaseProxy* absproxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* /*dispatcher*/);
+
+	static void						benchmark(btBroadphaseInterface*);
+
 
-	static void benchmark(btBroadphaseInterface*);
 };
 
 #endif

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

@@ -17,4 +17,6 @@ subject to the following restrictions:
 
 btDispatcher::~btDispatcher()
 {
+
 }
+

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

@@ -20,7 +20,7 @@ subject to the following restrictions:
 class btCollisionAlgorithm;
 struct btBroadphaseProxy;
 class btRigidBody;
-class btCollisionObject;
+class	btCollisionObject;
 class btOverlappingPairCache;
 struct btCollisionObjectWrapper;
 
@@ -35,76 +35,73 @@ struct btDispatcherInfo
 		DISPATCH_CONTINUOUS
 	};
 	btDispatcherInfo()
-		: m_timeStep(btScalar(0.)),
-		  m_stepCount(0),
-		  m_dispatchFunc(DISPATCH_DISCRETE),
-		  m_timeOfImpact(btScalar(1.)),
-		  m_useContinuous(true),
-		  m_debugDraw(0),
-		  m_enableSatConvex(false),
-		  m_enableSPU(true),
-		  m_useEpa(true),
-		  m_allowedCcdPenetration(btScalar(0.04)),
-		  m_useConvexConservativeDistanceUtil(false),
-		  m_convexConservativeDistanceThreshold(0.0f),
-		  m_deterministicOverlappingPairs(false)
+		:m_timeStep(btScalar(0.)),
+		m_stepCount(0),
+		m_dispatchFunc(DISPATCH_DISCRETE),
+		m_timeOfImpact(btScalar(1.)),
+		m_useContinuous(true),
+		m_debugDraw(0),
+		m_enableSatConvex(false),
+		m_enableSPU(true),
+		m_useEpa(true),
+		m_allowedCcdPenetration(btScalar(0.04)),
+		m_useConvexConservativeDistanceUtil(false),
+		m_convexConservativeDistanceThreshold(0.0f)
 	{
-	}
-	btScalar m_timeStep;
-	int m_stepCount;
-	int m_dispatchFunc;
-	mutable btScalar m_timeOfImpact;
-	bool m_useContinuous;
-	class btIDebugDraw* m_debugDraw;
-	bool m_enableSatConvex;
-	bool m_enableSPU;
-	bool m_useEpa;
-	btScalar m_allowedCcdPenetration;
-	bool m_useConvexConservativeDistanceUtil;
-	btScalar m_convexConservativeDistanceThreshold;
-	bool m_deterministicOverlappingPairs;
-};
 
-enum ebtDispatcherQueryType
-{
-	BT_CONTACT_POINT_ALGORITHMS = 1,
-	BT_CLOSEST_POINT_ALGORITHMS = 2
+	}
+	btScalar	m_timeStep;
+	int			m_stepCount;
+	int			m_dispatchFunc;
+	mutable btScalar	m_timeOfImpact;
+	bool		m_useContinuous;
+	class btIDebugDraw*	m_debugDraw;
+	bool		m_enableSatConvex;
+	bool		m_enableSPU;
+	bool		m_useEpa;
+	btScalar	m_allowedCcdPenetration;
+	bool		m_useConvexConservativeDistanceUtil;
+	btScalar	m_convexConservativeDistanceThreshold;
 };
 
 ///The btDispatcher interface class can be used in combination with broadphase to dispatch calculations for overlapping pairs.
 ///For example for pairwise collision detection, calculating contact points stored in btPersistentManifold or user callbacks (game logic).
 class btDispatcher
 {
+
+
 public:
-	virtual ~btDispatcher();
+	virtual ~btDispatcher() ;
 
-	virtual btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btPersistentManifold* sharedManifold, ebtDispatcherQueryType queryType) = 0;
+	virtual btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold=0) = 0;
 
-	virtual btPersistentManifold* getNewManifold(const btCollisionObject* b0, const btCollisionObject* b1) = 0;
+	virtual btPersistentManifold*	getNewManifold(const btCollisionObject* b0,const btCollisionObject* b1)=0;
 
-	virtual void releaseManifold(btPersistentManifold* manifold) = 0;
+	virtual void releaseManifold(btPersistentManifold* manifold)=0;
 
-	virtual void clearManifold(btPersistentManifold* manifold) = 0;
+	virtual void clearManifold(btPersistentManifold* manifold)=0;
 
-	virtual bool needsCollision(const btCollisionObject* body0, const btCollisionObject* body1) = 0;
+	virtual bool	needsCollision(const btCollisionObject* body0,const btCollisionObject* body1) = 0;
 
-	virtual bool needsResponse(const btCollisionObject* body0, const btCollisionObject* body1) = 0;
+	virtual bool	needsResponse(const btCollisionObject* body0,const btCollisionObject* body1)=0;
 
-	virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& dispatchInfo, btDispatcher* dispatcher) = 0;
+	virtual void	dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher)  =0;
 
 	virtual int getNumManifolds() const = 0;
 
 	virtual btPersistentManifold* getManifoldByIndexInternal(int index) = 0;
 
-	virtual btPersistentManifold** getInternalManifoldPointer() = 0;
+	virtual	btPersistentManifold**	getInternalManifoldPointer() = 0;
 
-	virtual btPoolAllocator* getInternalManifoldPool() = 0;
+	virtual	btPoolAllocator*	getInternalManifoldPool() = 0;
 
-	virtual const btPoolAllocator* getInternalManifoldPool() const = 0;
+	virtual	const btPoolAllocator*	getInternalManifoldPool() const = 0;
 
-	virtual void* allocateCollisionAlgorithm(int size) = 0;
+	virtual	void* allocateCollisionAlgorithm(int size)  = 0;
+
+	virtual	void freeCollisionAlgorithm(void* ptr) = 0;
 
-	virtual void freeCollisionAlgorithm(void* ptr) = 0;
 };
 
-#endif  //BT_DISPATCHER_H
+
+#endif //BT_DISPATCHER_H

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

@@ -0,0 +1,489 @@
+/*
+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 "btMultiSapBroadphase.h"
+
+#include "btSimpleBroadphase.h"
+#include "LinearMath/btAabbUtil2.h"
+#include "btQuantizedBvh.h"
+
+///	btSapBroadphaseArray	m_sapBroadphases;
+
+///	btOverlappingPairCache*	m_overlappingPairs;
+extern int gOverlappingPairs;
+
+/*
+class btMultiSapSortedOverlappingPairCache : public btSortedOverlappingPairCache
+{
+public:
+
+	virtual btBroadphasePair*	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
+	{
+		return btSortedOverlappingPairCache::addOverlappingPair((btBroadphaseProxy*)proxy0->m_multiSapParentProxy,(btBroadphaseProxy*)proxy1->m_multiSapParentProxy);
+	}
+};
+
+*/
+
+btMultiSapBroadphase::btMultiSapBroadphase(int /*maxProxies*/,btOverlappingPairCache* pairCache)
+:m_overlappingPairs(pairCache),
+m_optimizedAabbTree(0),
+m_ownsPairCache(false),
+m_invalidPair(0)
+{
+	if (!m_overlappingPairs)
+	{
+		m_ownsPairCache = true;
+		void* mem = btAlignedAlloc(sizeof(btSortedOverlappingPairCache),16);
+		m_overlappingPairs = new (mem)btSortedOverlappingPairCache();
+	}
+
+	struct btMultiSapOverlapFilterCallback : public btOverlapFilterCallback
+	{
+		virtual ~btMultiSapOverlapFilterCallback()
+		{}
+		// return true when pairs need collision
+		virtual bool	needBroadphaseCollision(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1) const
+		{
+			btBroadphaseProxy* multiProxy0 = (btBroadphaseProxy*)childProxy0->m_multiSapParentProxy;
+			btBroadphaseProxy* multiProxy1 = (btBroadphaseProxy*)childProxy1->m_multiSapParentProxy;
+			
+			bool collides = (multiProxy0->m_collisionFilterGroup & multiProxy1->m_collisionFilterMask) != 0;
+			collides = collides && (multiProxy1->m_collisionFilterGroup & multiProxy0->m_collisionFilterMask);
+	
+			return collides;
+		}
+	};
+
+	void* mem = btAlignedAlloc(sizeof(btMultiSapOverlapFilterCallback),16);
+	m_filterCallback = new (mem)btMultiSapOverlapFilterCallback();
+
+	m_overlappingPairs->setOverlapFilterCallback(m_filterCallback);
+//	mem = btAlignedAlloc(sizeof(btSimpleBroadphase),16);
+//	m_simpleBroadphase = new (mem) btSimpleBroadphase(maxProxies,m_overlappingPairs);
+}
+
+btMultiSapBroadphase::~btMultiSapBroadphase()
+{
+	if (m_ownsPairCache)
+	{
+		m_overlappingPairs->~btOverlappingPairCache();
+		btAlignedFree(m_overlappingPairs);
+	}
+}
+
+
+void	btMultiSapBroadphase::buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax)
+{
+	m_optimizedAabbTree = new btQuantizedBvh();
+	m_optimizedAabbTree->setQuantizationValues(bvhAabbMin,bvhAabbMax);
+	QuantizedNodeArray&	nodes = m_optimizedAabbTree->getLeafNodeArray();
+	for (int i=0;i<m_sapBroadphases.size();i++)
+	{
+		btQuantizedBvhNode node;
+		btVector3 aabbMin,aabbMax;
+		m_sapBroadphases[i]->getBroadphaseAabb(aabbMin,aabbMax);
+		m_optimizedAabbTree->quantize(&node.m_quantizedAabbMin[0],aabbMin,0);
+		m_optimizedAabbTree->quantize(&node.m_quantizedAabbMax[0],aabbMax,1);
+		int partId = 0;
+		node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | i;
+		nodes.push_back(node);
+	}
+	m_optimizedAabbTree->buildInternal();
+}
+
+btBroadphaseProxy*	btMultiSapBroadphase::createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* /*ignoreMe*/)
+{
+	//void* ignoreMe -> we could think of recursive multi-sap, if someone is interested
+
+	void* mem = btAlignedAlloc(sizeof(btMultiSapProxy),16);
+	btMultiSapProxy* proxy = new (mem)btMultiSapProxy(aabbMin,  aabbMax,shapeType,userPtr, collisionFilterGroup,collisionFilterMask);
+	m_multiSapProxies.push_back(proxy);
+
+	///this should deal with inserting/removal into child broadphases
+	setAabb(proxy,aabbMin,aabbMax,dispatcher);
+	return proxy;
+}
+
+void	btMultiSapBroadphase::destroyProxy(btBroadphaseProxy* /*proxy*/,btDispatcher* /*dispatcher*/)
+{
+	///not yet
+	btAssert(0);
+
+}
+
+
+void	btMultiSapBroadphase::addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface*	childBroadphase)
+{
+	void* mem = btAlignedAlloc(sizeof(btBridgeProxy),16);
+	btBridgeProxy* bridgeProxyRef = new(mem) btBridgeProxy;
+	bridgeProxyRef->m_childProxy = childProxy;
+	bridgeProxyRef->m_childBroadphase = childBroadphase;
+	parentMultiSapProxy->m_bridgeProxies.push_back(bridgeProxyRef);
+}
+
+
+bool boxIsContainedWithinBox(const btVector3& amin,const btVector3& amax,const btVector3& bmin,const btVector3& bmax);
+bool boxIsContainedWithinBox(const btVector3& amin,const btVector3& amax,const btVector3& bmin,const btVector3& bmax)
+{
+return
+amin.getX() >= bmin.getX() && amax.getX() <= bmax.getX() &&
+amin.getY() >= bmin.getY() && amax.getY() <= bmax.getY() &&
+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)
+{
+	btMultiSapProxy* multiProxy = static_cast<btMultiSapProxy*>(proxy);
+	multiProxy->m_aabbMin = aabbMin;
+	multiProxy->m_aabbMax = aabbMax;
+	
+	
+//	bool fullyContained = false;
+//	bool alreadyInSimple = false;
+	
+
+
+	
+	struct MyNodeOverlapCallback : public btNodeOverlapCallback
+	{
+		btMultiSapBroadphase*	m_multiSap;
+		btMultiSapProxy*		m_multiProxy;
+		btDispatcher*			m_dispatcher;
+
+		MyNodeOverlapCallback(btMultiSapBroadphase* multiSap,btMultiSapProxy* multiProxy,btDispatcher* dispatcher)
+			:m_multiSap(multiSap),
+			m_multiProxy(multiProxy),
+			m_dispatcher(dispatcher)
+		{
+
+		}
+
+		virtual void processNode(int /*nodeSubPart*/, int broadphaseIndex)
+		{
+			btBroadphaseInterface* childBroadphase = m_multiSap->getBroadphaseArray()[broadphaseIndex];
+
+			int containingBroadphaseIndex = -1;
+			//already found?
+			for (int i=0;i<m_multiProxy->m_bridgeProxies.size();i++)
+			{
+
+				if (m_multiProxy->m_bridgeProxies[i]->m_childBroadphase == childBroadphase)
+				{
+					containingBroadphaseIndex = i;
+					break;
+				}
+			}
+			if (containingBroadphaseIndex<0)
+			{
+				//add it
+				btBroadphaseProxy* childProxy = childBroadphase->createProxy(m_multiProxy->m_aabbMin,m_multiProxy->m_aabbMax,m_multiProxy->m_shapeType,m_multiProxy->m_clientObject,m_multiProxy->m_collisionFilterGroup,m_multiProxy->m_collisionFilterMask, m_dispatcher,m_multiProxy);
+				m_multiSap->addToChildBroadphase(m_multiProxy,childProxy,childBroadphase);
+
+			}
+		}
+	};
+
+	MyNodeOverlapCallback	myNodeCallback(this,multiProxy,dispatcher);
+
+
+
+	
+	if (m_optimizedAabbTree)
+		m_optimizedAabbTree->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
+
+	int i;
+
+	for ( i=0;i<multiProxy->m_bridgeProxies.size();i++)
+	{
+		btVector3 worldAabbMin,worldAabbMax;
+		multiProxy->m_bridgeProxies[i]->m_childBroadphase->getBroadphaseAabb(worldAabbMin,worldAabbMax);
+		bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
+		if (!overlapsBroadphase)
+		{
+			//remove it now
+			btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[i];
+
+			btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy;
+			bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher);
+			
+			multiProxy->m_bridgeProxies.swap( i,multiProxy->m_bridgeProxies.size()-1);
+			multiProxy->m_bridgeProxies.pop_back();
+
+		}
+	}
+
+
+	/*
+
+	if (1)
+	{
+
+		//find broadphase that contain this multiProxy
+		int numChildBroadphases = getBroadphaseArray().size();
+		for (int i=0;i<numChildBroadphases;i++)
+		{
+			btBroadphaseInterface* childBroadphase = getBroadphaseArray()[i];
+			btVector3 worldAabbMin,worldAabbMax;
+			childBroadphase->getBroadphaseAabb(worldAabbMin,worldAabbMax);
+			bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
+			
+		//	fullyContained = fullyContained || boxIsContainedWithinBox(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
+			int containingBroadphaseIndex = -1;
+			
+			//if already contains this
+			
+			for (int i=0;i<multiProxy->m_bridgeProxies.size();i++)
+			{
+				if (multiProxy->m_bridgeProxies[i]->m_childBroadphase == childBroadphase)
+				{
+					containingBroadphaseIndex = i;
+				}
+				alreadyInSimple = alreadyInSimple || (multiProxy->m_bridgeProxies[i]->m_childBroadphase == m_simpleBroadphase);
+			}
+
+			if (overlapsBroadphase)
+			{
+				if (containingBroadphaseIndex<0)
+				{
+					btBroadphaseProxy* childProxy = childBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
+					childProxy->m_multiSapParentProxy = multiProxy;
+					addToChildBroadphase(multiProxy,childProxy,childBroadphase);
+				}
+			} else
+			{
+				if (containingBroadphaseIndex>=0)
+				{
+					//remove
+					btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[containingBroadphaseIndex];
+
+					btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy;
+					bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher);
+					
+					multiProxy->m_bridgeProxies.swap( containingBroadphaseIndex,multiProxy->m_bridgeProxies.size()-1);
+					multiProxy->m_bridgeProxies.pop_back();
+				}
+			}
+		}
+
+
+		///If we are in no other child broadphase, stick the proxy in the global 'simple' broadphase (brute force)
+		///hopefully we don't end up with many entries here (can assert/provide feedback on stats)
+		if (0)//!multiProxy->m_bridgeProxies.size())
+		{
+			///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision
+			///this is needed to be able to calculate the aabb overlap
+			btBroadphaseProxy* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
+			childProxy->m_multiSapParentProxy = multiProxy;
+			addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase);
+		}
+	}
+
+	if (!multiProxy->m_bridgeProxies.size())
+	{
+		///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision
+		///this is needed to be able to calculate the aabb overlap
+		btBroadphaseProxy* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
+		childProxy->m_multiSapParentProxy = multiProxy;
+		addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase);
+	}
+*/
+
+
+	//update
+	for ( i=0;i<multiProxy->m_bridgeProxies.size();i++)
+	{
+		btBridgeProxy* bridgeProxyRef = multiProxy->m_bridgeProxies[i];
+		bridgeProxyRef->m_childBroadphase->setAabb(bridgeProxyRef->m_childProxy,aabbMin,aabbMax,dispatcher);
+	}
+
+}
+bool stopUpdating=false;
+
+
+
+class btMultiSapBroadphasePairSortPredicate
+{
+	public:
+
+		bool operator() ( const btBroadphasePair& a1, const btBroadphasePair& b1 ) const
+		{
+				btMultiSapBroadphase::btMultiSapProxy* aProxy0 = a1.m_pProxy0 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy0->m_multiSapParentProxy : 0;
+				btMultiSapBroadphase::btMultiSapProxy* aProxy1 = a1.m_pProxy1 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy1->m_multiSapParentProxy : 0;
+				btMultiSapBroadphase::btMultiSapProxy* bProxy0 = b1.m_pProxy0 ? (btMultiSapBroadphase::btMultiSapProxy*)b1.m_pProxy0->m_multiSapParentProxy : 0;
+				btMultiSapBroadphase::btMultiSapProxy* bProxy1 = b1.m_pProxy1 ? (btMultiSapBroadphase::btMultiSapProxy*)b1.m_pProxy1->m_multiSapParentProxy : 0;
+
+				 return aProxy0 > bProxy0 || 
+					(aProxy0 == bProxy0 && aProxy1 > bProxy1) ||
+					(aProxy0 == bProxy0 && aProxy1 == bProxy1 && a1.m_algorithm > b1.m_algorithm); 
+		}
+};
+
+
+        ///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
+void    btMultiSapBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
+{
+
+//	m_simpleBroadphase->calculateOverlappingPairs(dispatcher);
+
+	if (!stopUpdating && getOverlappingPairCache()->hasDeferredRemoval())
+	{
+	
+		btBroadphasePairArray&	overlappingPairArray = getOverlappingPairCache()->getOverlappingPairArray();
+
+	//	quicksort(overlappingPairArray,0,overlappingPairArray.size());
+
+		overlappingPairArray.quickSort(btMultiSapBroadphasePairSortPredicate());
+
+		//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
+	//	overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate());
+
+		overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
+		m_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];
+
+			btMultiSapProxy* aProxy0 = pair.m_pProxy0 ? (btMultiSapProxy*)pair.m_pProxy0->m_multiSapParentProxy : 0;
+			btMultiSapProxy* aProxy1 = pair.m_pProxy1 ? (btMultiSapProxy*)pair.m_pProxy1->m_multiSapParentProxy : 0;
+			btMultiSapProxy* bProxy0 = previousPair.m_pProxy0 ? (btMultiSapProxy*)previousPair.m_pProxy0->m_multiSapParentProxy : 0;
+			btMultiSapProxy* bProxy1 = previousPair.m_pProxy1 ? (btMultiSapProxy*)previousPair.m_pProxy1->m_multiSapParentProxy : 0;
+
+			bool isDuplicate = (aProxy0 == bProxy0) && (aProxy1 == bProxy1);
+			
+			previousPair = pair;
+
+			bool needsRemoval = false;
+
+			if (!isDuplicate)
+			{
+				bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
+
+				if (hasOverlap)
+				{
+					needsRemoval = false;//callback->processOverlap(pair);
+				} else
+				{
+					needsRemoval = true;
+				}
+			} else
+			{
+				//remove duplicate
+				needsRemoval = true;
+				//should have no algorithm
+				btAssert(!pair.m_algorithm);
+			}
+			
+			if (needsRemoval)
+			{
+				getOverlappingPairCache()->cleanOverlappingPair(pair,dispatcher);
+
+		//		m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
+		//		m_overlappingPairArray.pop_back();
+				pair.m_pProxy0 = 0;
+				pair.m_pProxy1 = 0;
+				m_invalidPair++;
+				gOverlappingPairs--;
+			} 
+			
+		}
+
+	///if you don't like to skip the invalid pairs in the array, execute following code:
+	#define CLEAN_INVALID_PAIRS 1
+	#ifdef CLEAN_INVALID_PAIRS
+
+		//perform a sort, to sort 'invalid' pairs to the end
+		//overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate());
+		overlappingPairArray.quickSort(btMultiSapBroadphasePairSortPredicate());
+
+		overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
+		m_invalidPair = 0;
+	#endif//CLEAN_INVALID_PAIRS
+		
+		//printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size());
+	}
+
+
+}
+
+
+bool	btMultiSapBroadphase::testAabbOverlap(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1)
+{
+	btMultiSapProxy* multiSapProxy0 = (btMultiSapProxy*)childProxy0->m_multiSapParentProxy;
+		btMultiSapProxy* multiSapProxy1 = (btMultiSapProxy*)childProxy1->m_multiSapParentProxy;
+
+		return	TestAabbAgainstAabb2(multiSapProxy0->m_aabbMin,multiSapProxy0->m_aabbMax,
+			multiSapProxy1->m_aabbMin,multiSapProxy1->m_aabbMax);
+		
+}
+
+
+void	btMultiSapBroadphase::printStats()
+{
+/*	printf("---------------------------------\n");
+	
+		printf("btMultiSapBroadphase.h\n");
+		printf("numHandles = %d\n",m_multiSapProxies.size());
+			//find broadphase that contain this multiProxy
+		int numChildBroadphases = getBroadphaseArray().size();
+		for (int i=0;i<numChildBroadphases;i++)
+		{
+
+			btBroadphaseInterface* childBroadphase = getBroadphaseArray()[i];
+			childBroadphase->printStats();
+
+		}
+		*/
+
+}
+
+void btMultiSapBroadphase::resetPool(btDispatcher* dispatcher)
+{
+	// not yet
+}

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

@@ -0,0 +1,151 @@
+/*
+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_MULTI_SAP_BROADPHASE
+#define BT_MULTI_SAP_BROADPHASE
+
+#include "btBroadphaseInterface.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "btOverlappingPairCache.h"
+
+
+class btBroadphaseInterface;
+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.
+///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=328
+///and http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329
+class btMultiSapBroadphase :public btBroadphaseInterface
+{
+	btSapBroadphaseArray	m_sapBroadphases;
+	
+	btSimpleBroadphase*		m_simpleBroadphase;
+
+	btOverlappingPairCache*	m_overlappingPairs;
+
+	class btQuantizedBvh*			m_optimizedAabbTree;
+
+
+	bool					m_ownsPairCache;
+	
+	btOverlapFilterCallback*	m_filterCallback;
+
+	int			m_invalidPair;
+
+	struct	btBridgeProxy
+	{
+		btBroadphaseProxy*		m_childProxy;
+		btBroadphaseInterface*	m_childBroadphase;
+	};
+
+
+public:
+
+	struct	btMultiSapProxy	: public btBroadphaseProxy
+	{
+
+		///array with all the entries that this proxy belongs to
+		btAlignedObjectArray<btBridgeProxy*> m_bridgeProxies;
+		btVector3	m_aabbMin;
+		btVector3	m_aabbMax;
+
+		int	m_shapeType;
+
+/*		void*	m_userPtr;
+		short int	m_collisionFilterGroup;
+		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),
+			m_aabbMin(aabbMin),
+			m_aabbMax(aabbMax),
+			m_shapeType(shapeType)
+		{
+			m_multiSapParentProxy =this;
+		}
+
+		
+	};
+
+protected:
+
+
+	btAlignedObjectArray<btMultiSapProxy*> m_multiSapProxies;
+
+public:
+
+	btMultiSapBroadphase(int maxProxies = 16384,btOverlappingPairCache* pairCache=0);
+
+
+	btSapBroadphaseArray&	getBroadphaseArray()
+	{
+		return m_sapBroadphases;
+	}
+
+	const btSapBroadphaseArray&	getBroadphaseArray() const
+	{
+		return m_sapBroadphases;
+	}
+
+	virtual ~btMultiSapBroadphase();
+
+	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);
+
+	///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
+	virtual void	calculateOverlappingPairs(btDispatcher* dispatcher);
+
+	bool	testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
+
+	virtual	btOverlappingPairCache*	getOverlappingPairCache()
+	{
+		return m_overlappingPairs;
+	}
+	virtual	const btOverlappingPairCache*	getOverlappingPairCache() const
+	{
+		return m_overlappingPairs;
+	}
+
+	///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
+	///will add some transform later
+	virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
+	{
+		aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
+		aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
+	}
+
+	void	buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax);
+
+	virtual void	printStats();
+
+	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

@@ -13,6 +13,8 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+
+
 #include "btOverlappingPairCache.h"
 
 #include "btDispatcher.h"
@@ -21,95 +23,127 @@ subject to the following restrictions:
 
 #include <stdio.h>
 
-btHashedOverlappingPairCache::btHashedOverlappingPairCache() : m_overlapFilterCallback(0),
-															   m_ghostPairCallback(0)
+int	gOverlappingPairs = 0;
+
+int gRemovePairs =0;
+int gAddedPairs =0;
+int gFindPairs =0;
+
+
+
+
+btHashedOverlappingPairCache::btHashedOverlappingPairCache():
+	m_overlapFilterCallback(0),
+	m_ghostPairCallback(0)
 {
-	int initialAllocatedSize = 2;
+	int initialAllocatedSize= 2;
 	m_overlappingPairArray.reserve(initialAllocatedSize);
 	growTables();
 }
 
+
+
+
 btHashedOverlappingPairCache::~btHashedOverlappingPairCache()
 {
 }
 
-void btHashedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair, btDispatcher* dispatcher)
+
+
+void	btHashedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher)
 {
 	if (pair.m_algorithm && dispatcher)
 	{
 		{
 			pair.m_algorithm->~btCollisionAlgorithm();
 			dispatcher->freeCollisionAlgorithm(pair.m_algorithm);
-			pair.m_algorithm = 0;
+			pair.m_algorithm=0;
 		}
 	}
 }
 
-void btHashedOverlappingPairCache::cleanProxyFromPairs(btBroadphaseProxy* proxy, btDispatcher* dispatcher)
+
+
+
+void	btHashedOverlappingPairCache::cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
 {
-	class CleanPairCallback : public btOverlapCallback
+
+	class	CleanPairCallback : public btOverlapCallback
 	{
 		btBroadphaseProxy* m_cleanProxy;
-		btOverlappingPairCache* m_pairCache;
+		btOverlappingPairCache*	m_pairCache;
 		btDispatcher* m_dispatcher;
 
 	public:
-		CleanPairCallback(btBroadphaseProxy* cleanProxy, btOverlappingPairCache* pairCache, btDispatcher* dispatcher)
-			: m_cleanProxy(cleanProxy),
-			  m_pairCache(pairCache),
-			  m_dispatcher(dispatcher)
+		CleanPairCallback(btBroadphaseProxy* cleanProxy,btOverlappingPairCache* pairCache,btDispatcher* dispatcher)
+			:m_cleanProxy(cleanProxy),
+			m_pairCache(pairCache),
+			m_dispatcher(dispatcher)
 		{
 		}
-		virtual bool processOverlap(btBroadphasePair& pair)
+		virtual	bool	processOverlap(btBroadphasePair& pair)
 		{
 			if ((pair.m_pProxy0 == m_cleanProxy) ||
 				(pair.m_pProxy1 == m_cleanProxy))
 			{
-				m_pairCache->cleanOverlappingPair(pair, m_dispatcher);
+				m_pairCache->cleanOverlappingPair(pair,m_dispatcher);
 			}
 			return false;
 		}
+		
 	};
 
-	CleanPairCallback cleanPairs(proxy, this, dispatcher);
+	CleanPairCallback cleanPairs(proxy,this,dispatcher);
+
+	processAllOverlappingPairs(&cleanPairs,dispatcher);
 
-	processAllOverlappingPairs(&cleanPairs, dispatcher);
 }
 
-void btHashedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher)
+
+
+
+void	btHashedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
 {
-	class RemovePairCallback : public btOverlapCallback
+
+	class	RemovePairCallback : public btOverlapCallback
 	{
 		btBroadphaseProxy* m_obsoleteProxy;
 
 	public:
 		RemovePairCallback(btBroadphaseProxy* obsoleteProxy)
-			: m_obsoleteProxy(obsoleteProxy)
+			:m_obsoleteProxy(obsoleteProxy)
 		{
 		}
-		virtual bool processOverlap(btBroadphasePair& pair)
+		virtual	bool	processOverlap(btBroadphasePair& pair)
 		{
 			return ((pair.m_pProxy0 == m_obsoleteProxy) ||
-					(pair.m_pProxy1 == m_obsoleteProxy));
+				(pair.m_pProxy1 == m_obsoleteProxy));
 		}
+		
 	};
 
+
 	RemovePairCallback removeCallback(proxy);
 
-	processAllOverlappingPairs(&removeCallback, dispatcher);
+	processAllOverlappingPairs(&removeCallback,dispatcher);
 }
 
+
+
+
+
 btBroadphasePair* btHashedOverlappingPairCache::findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
 {
-	if (proxy0->m_uniqueId > proxy1->m_uniqueId)
-		btSwap(proxy0, proxy1);
+	gFindPairs++;
+	if(proxy0->m_uniqueId>proxy1->m_uniqueId) 
+		btSwap(proxy0,proxy1);
 	int proxyId1 = proxy0->getUid();
 	int proxyId2 = proxy1->getUid();
 
-	/*if (proxyId1 > proxyId2)
+	/*if (proxyId1 > proxyId2) 
 		btSwap(proxyId1, proxyId2);*/
 
-	int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity() - 1));
+	int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));
 
 	if (hash >= m_hashTable.size())
 	{
@@ -134,8 +168,9 @@ btBroadphasePair* btHashedOverlappingPairCache::findPair(btBroadphaseProxy* prox
 
 //#include <stdio.h>
 
-void btHashedOverlappingPairCache::growTables()
+void	btHashedOverlappingPairCache::growTables()
 {
+
 	int newCapacity = m_overlappingPairArray.capacity();
 
 	if (m_hashTable.size() < newCapacity)
@@ -146,9 +181,10 @@ void btHashedOverlappingPairCache::growTables()
 		m_hashTable.resize(newCapacity);
 		m_next.resize(newCapacity);
 
+
 		int i;
 
-		for (i = 0; i < newCapacity; ++i)
+		for (i= 0; i < newCapacity; ++i)
 		{
 			m_hashTable[i] = BT_NULL_PAIR;
 		}
@@ -157,31 +193,35 @@ void btHashedOverlappingPairCache::growTables()
 			m_next[i] = BT_NULL_PAIR;
 		}
 
-		for (i = 0; i < curHashtableSize; i++)
+		for(i=0;i<curHashtableSize;i++)
 		{
+	
 			const btBroadphasePair& pair = m_overlappingPairArray[i];
 			int proxyId1 = pair.m_pProxy0->getUid();
 			int proxyId2 = pair.m_pProxy1->getUid();
 			/*if (proxyId1 > proxyId2) 
 				btSwap(proxyId1, proxyId2);*/
-			int hashValue = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity() - 1));  // New hash value with new mask
+			int	hashValue = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));	// New hash value with new mask
 			m_next[i] = m_hashTable[hashValue];
 			m_hashTable[hashValue] = i;
 		}
+
+
 	}
 }
 
 btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
 {
-	if (proxy0->m_uniqueId > proxy1->m_uniqueId)
-		btSwap(proxy0, proxy1);
+	if(proxy0->m_uniqueId>proxy1->m_uniqueId) 
+		btSwap(proxy0,proxy1);
 	int proxyId1 = proxy0->getUid();
 	int proxyId2 = proxy1->getUid();
 
 	/*if (proxyId1 > proxyId2) 
 		btSwap(proxyId1, proxyId2);*/
 
-	int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity() - 1));  // New hash value with new mask
+	int	hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));	// New hash value with new mask
+
 
 	btBroadphasePair* pair = internalFindPair(proxy0, proxy1, hash);
 	if (pair != NULL)
@@ -203,7 +243,7 @@ btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProx
 
 	//this is where we add an actual pair, so also call the 'ghost'
 	if (m_ghostPairCallback)
-		m_ghostPairCallback->addOverlappingPair(proxy0, proxy1);
+		m_ghostPairCallback->addOverlappingPair(proxy0,proxy1);
 
 	int newCapacity = m_overlappingPairArray.capacity();
 
@@ -211,14 +251,15 @@ btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProx
 	{
 		growTables();
 		//hash with new capacity
-		hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity() - 1));
+		hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));
 	}
-
-	pair = new (mem) btBroadphasePair(*proxy0, *proxy1);
-	//	pair->m_pProxy0 = proxy0;
-	//	pair->m_pProxy1 = proxy1;
+	
+	pair = new (mem) btBroadphasePair(*proxy0,*proxy1);
+//	pair->m_pProxy0 = proxy0;
+//	pair->m_pProxy1 = proxy1;
 	pair->m_algorithm = 0;
 	pair->m_internalTmpValue = 0;
+	
 
 	m_next[count] = m_hashTable[hash];
 	m_hashTable[hash] = count;
@@ -226,17 +267,20 @@ btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProx
 	return pair;
 }
 
-void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, btDispatcher* dispatcher)
+
+
+void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1,btDispatcher* dispatcher)
 {
-	if (proxy0->m_uniqueId > proxy1->m_uniqueId)
-		btSwap(proxy0, proxy1);
+	gRemovePairs++;
+	if(proxy0->m_uniqueId>proxy1->m_uniqueId) 
+		btSwap(proxy0,proxy1);
 	int proxyId1 = proxy0->getUid();
 	int proxyId2 = proxy1->getUid();
 
-	/*if (proxyId1 > proxyId2)
+	/*if (proxyId1 > proxyId2) 
 		btSwap(proxyId1, proxyId2);*/
 
-	int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity() - 1));
+	int	hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));
 
 	btBroadphasePair* pair = internalFindPair(proxy0, proxy1, hash);
 	if (pair == NULL)
@@ -244,7 +288,7 @@ void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
 		return 0;
 	}
 
-	cleanOverlappingPair(*pair, dispatcher);
+	cleanOverlappingPair(*pair,dispatcher);
 
 	void* userData = pair->m_internalInfo1;
 
@@ -282,7 +326,7 @@ void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
 	int lastPairIndex = m_overlappingPairArray.size() - 1;
 
 	if (m_ghostPairCallback)
-		m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1, dispatcher);
+		m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1,dispatcher);
 
 	// If the removed pair is the last pair, we are done.
 	if (lastPairIndex == pairIndex)
@@ -293,8 +337,8 @@ void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
 
 	// Remove the last pair from the hash table.
 	const btBroadphasePair* last = &m_overlappingPairArray[lastPairIndex];
-	/* missing swap here too, Nat. */
-	int lastHash = static_cast<int>(getHash(static_cast<unsigned int>(last->m_pProxy0->getUid()), static_cast<unsigned int>(last->m_pProxy1->getUid())) & (m_overlappingPairArray.capacity() - 1));
+		/* missing swap here too, Nat. */ 
+	int lastHash = static_cast<int>(getHash(static_cast<unsigned int>(last->m_pProxy0->getUid()), static_cast<unsigned int>(last->m_pProxy1->getUid())) & (m_overlappingPairArray.capacity()-1));
 
 	index = m_hashTable[lastHash];
 	btAssert(index != BT_NULL_PAIR);
@@ -328,106 +372,44 @@ void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
 	return userData;
 }
 //#include <stdio.h>
-#include "LinearMath/btQuickprof.h"
-void btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher)
+
+void	btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher)
 {
-	BT_PROFILE("btHashedOverlappingPairCache::processAllOverlappingPairs");
+
 	int i;
 
-	//	printf("m_overlappingPairArray.size()=%d\n",m_overlappingPairArray.size());
-	for (i = 0; i < m_overlappingPairArray.size();)
+//	printf("m_overlappingPairArray.size()=%d\n",m_overlappingPairArray.size());
+	for (i=0;i<m_overlappingPairArray.size();)
 	{
+	
 		btBroadphasePair* pair = &m_overlappingPairArray[i];
 		if (callback->processOverlap(*pair))
 		{
-			removeOverlappingPair(pair->m_pProxy0, pair->m_pProxy1, dispatcher);
-		}
-		else
+			removeOverlappingPair(pair->m_pProxy0,pair->m_pProxy1,dispatcher);
+
+			gOverlappingPairs--;
+		} else
 		{
 			i++;
 		}
 	}
 }
 
-struct MyPairIndex
-{
-	int m_orgIndex;
-	int m_uidA0;
-	int m_uidA1;
-};
-
-class MyPairIndeSortPredicate
-{
-public:
-	bool operator()(const MyPairIndex& a, const MyPairIndex& b) const
-	{
-		const int uidA0 = a.m_uidA0;
-		const int uidB0 = b.m_uidA0;
-		const int uidA1 = a.m_uidA1;
-		const int uidB1 = b.m_uidA1;
-		return uidA0 > uidB0 || (uidA0 == uidB0 && uidA1 > uidB1);
-	}
-};
-
-void btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher, const struct btDispatcherInfo& dispatchInfo)
-{
-	if (dispatchInfo.m_deterministicOverlappingPairs)
-	{
-		btBroadphasePairArray& pa = getOverlappingPairArray();
-		btAlignedObjectArray<MyPairIndex> indices;
-		{
-			BT_PROFILE("sortOverlappingPairs");
-			indices.resize(pa.size());
-			for (int i = 0; i < indices.size(); i++)
-			{
-				const btBroadphasePair& p = pa[i];
-				const int uidA0 = p.m_pProxy0 ? p.m_pProxy0->m_uniqueId : -1;
-				const int uidA1 = p.m_pProxy1 ? p.m_pProxy1->m_uniqueId : -1;
-
-				indices[i].m_uidA0 = uidA0;
-				indices[i].m_uidA1 = uidA1;
-				indices[i].m_orgIndex = i;
-			}
-			indices.quickSort(MyPairIndeSortPredicate());
-		}
-		{
-			BT_PROFILE("btHashedOverlappingPairCache::processAllOverlappingPairs");
-			int i;
-			for (i = 0; i < indices.size();)
-			{
-				btBroadphasePair* pair = &pa[indices[i].m_orgIndex];
-				if (callback->processOverlap(*pair))
-				{
-					removeOverlappingPair(pair->m_pProxy0, pair->m_pProxy1, dispatcher);
-				}
-				else
-				{
-					i++;
-				}
-			}
-		}
-	}
-	else
-	{
-		processAllOverlappingPairs(callback, dispatcher);
-	}
-}
-
-void btHashedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher)
+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++)
+	for (i=0;i<m_overlappingPairArray.size();i++)
 	{
 		tmpPairs.push_back(m_overlappingPairArray[i]);
 	}
 
-	for (i = 0; i < tmpPairs.size(); i++)
+	for (i=0;i<tmpPairs.size();i++)
 	{
-		removeOverlappingPair(tmpPairs[i].m_pProxy0, tmpPairs[i].m_pProxy1, dispatcher);
+		removeOverlappingPair(tmpPairs[i].m_pProxy0,tmpPairs[i].m_pProxy1,dispatcher);
 	}
-
+	
 	for (i = 0; i < m_next.size(); i++)
 	{
 		m_next[i] = BT_NULL_PAIR;
@@ -435,28 +417,32 @@ void btHashedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher
 
 	tmpPairs.quickSort(btBroadphasePairSortPredicate());
 
-	for (i = 0; i < tmpPairs.size(); i++)
+	for (i=0;i<tmpPairs.size();i++)
 	{
-		addOverlappingPair(tmpPairs[i].m_pProxy0, tmpPairs[i].m_pProxy1);
+		addOverlappingPair(tmpPairs[i].m_pProxy0,tmpPairs[i].m_pProxy1);
 	}
+
+	
 }
 
-void* btSortedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, btDispatcher* dispatcher)
+
+void*	btSortedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1, btDispatcher* dispatcher )
 {
 	if (!hasDeferredRemoval())
 	{
-		btBroadphasePair findPair(*proxy0, *proxy1);
+		btBroadphasePair findPair(*proxy0,*proxy1);
 
 		int findIndex = m_overlappingPairArray.findLinearSearch(findPair);
 		if (findIndex < m_overlappingPairArray.size())
 		{
+			gOverlappingPairs--;
 			btBroadphasePair& pair = m_overlappingPairArray[findIndex];
 			void* userData = pair.m_internalInfo1;
-			cleanOverlappingPair(pair, dispatcher);
+			cleanOverlappingPair(pair,dispatcher);
 			if (m_ghostPairCallback)
-				m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1, dispatcher);
-
-			m_overlappingPairArray.swap(findIndex, m_overlappingPairArray.capacity() - 1);
+				m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1,dispatcher);
+			
+			m_overlappingPairArray.swap(findIndex,m_overlappingPairArray.capacity()-1);
 			m_overlappingPairArray.pop_back();
 			return userData;
 		}
@@ -465,73 +451,99 @@ void* btSortedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
 	return 0;
 }
 
-btBroadphasePair* btSortedOverlappingPairCache::addOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
+
+
+
+
+
+
+
+btBroadphasePair*	btSortedOverlappingPairCache::addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
 {
 	//don't add overlap with own
 	btAssert(proxy0 != proxy1);
 
-	if (!needsBroadphaseCollision(proxy0, proxy1))
+	if (!needsBroadphaseCollision(proxy0,proxy1))
 		return 0;
-
+	
 	void* mem = &m_overlappingPairArray.expandNonInitializing();
-	btBroadphasePair* pair = new (mem) btBroadphasePair(*proxy0, *proxy1);
-
+	btBroadphasePair* pair = new (mem) btBroadphasePair(*proxy0,*proxy1);
+	
+	gOverlappingPairs++;
+	gAddedPairs++;
+	
 	if (m_ghostPairCallback)
 		m_ghostPairCallback->addOverlappingPair(proxy0, proxy1);
 	return pair;
+	
 }
 
 ///this findPair becomes really slow. Either sort the list to speedup the query, or
 ///use a different solution. It is mainly used for Removing overlapping pairs. Removal could be delayed.
 ///we could keep a linked list in each proxy, and store pair in one of the proxies (with lowest memory address)
 ///Also we can use a 2D bitmap, which can be useful for a future GPU implementation
-btBroadphasePair* btSortedOverlappingPairCache::findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
+ btBroadphasePair*	btSortedOverlappingPairCache::findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
 {
-	if (!needsBroadphaseCollision(proxy0, proxy1))
+	if (!needsBroadphaseCollision(proxy0,proxy1))
 		return 0;
 
-	btBroadphasePair tmpPair(*proxy0, *proxy1);
+	btBroadphasePair tmpPair(*proxy0,*proxy1);
 	int findIndex = m_overlappingPairArray.findLinearSearch(tmpPair);
 
 	if (findIndex < m_overlappingPairArray.size())
 	{
 		//btAssert(it != m_overlappingPairSet.end());
-		btBroadphasePair* pair = &m_overlappingPairArray[findIndex];
+		 btBroadphasePair* pair = &m_overlappingPairArray[findIndex];
 		return pair;
 	}
 	return 0;
 }
 
+
+
+
+
+
+
+
+
+
 //#include <stdio.h>
 
-void btSortedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher)
+void	btSortedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher)
 {
+
 	int i;
 
-	for (i = 0; i < m_overlappingPairArray.size();)
+	for (i=0;i<m_overlappingPairArray.size();)
 	{
+	
 		btBroadphasePair* pair = &m_overlappingPairArray[i];
 		if (callback->processOverlap(*pair))
 		{
-			cleanOverlappingPair(*pair, dispatcher);
+			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.size()-1);
 			m_overlappingPairArray.pop_back();
-		}
-		else
+			gOverlappingPairs--;
+		} else
 		{
 			i++;
 		}
 	}
 }
 
-btSortedOverlappingPairCache::btSortedOverlappingPairCache() : m_blockedForChanges(false),
-															   m_hasDeferredRemoval(true),
-															   m_overlapFilterCallback(0),
-															   m_ghostPairCallback(0)
+
+
+
+btSortedOverlappingPairCache::btSortedOverlappingPairCache():
+	m_blockedForChanges(false),
+	m_hasDeferredRemoval(true),
+	m_overlapFilterCallback(0),
+	m_ghostPairCallback(0)
 {
-	int initialAllocatedSize = 2;
+	int initialAllocatedSize= 2;
 	m_overlappingPairArray.reserve(initialAllocatedSize);
 }
 
@@ -539,73 +551,82 @@ btSortedOverlappingPairCache::~btSortedOverlappingPairCache()
 {
 }
 
-void btSortedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair, btDispatcher* dispatcher)
+void	btSortedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher)
 {
 	if (pair.m_algorithm)
 	{
 		{
 			pair.m_algorithm->~btCollisionAlgorithm();
 			dispatcher->freeCollisionAlgorithm(pair.m_algorithm);
-			pair.m_algorithm = 0;
+			pair.m_algorithm=0;
+			gRemovePairs--;
 		}
 	}
 }
 
-void btSortedOverlappingPairCache::cleanProxyFromPairs(btBroadphaseProxy* proxy, btDispatcher* dispatcher)
+
+void	btSortedOverlappingPairCache::cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
 {
-	class CleanPairCallback : public btOverlapCallback
+
+	class	CleanPairCallback : public btOverlapCallback
 	{
 		btBroadphaseProxy* m_cleanProxy;
-		btOverlappingPairCache* m_pairCache;
+		btOverlappingPairCache*	m_pairCache;
 		btDispatcher* m_dispatcher;
 
 	public:
-		CleanPairCallback(btBroadphaseProxy* cleanProxy, btOverlappingPairCache* pairCache, btDispatcher* dispatcher)
-			: m_cleanProxy(cleanProxy),
-			  m_pairCache(pairCache),
-			  m_dispatcher(dispatcher)
+		CleanPairCallback(btBroadphaseProxy* cleanProxy,btOverlappingPairCache* pairCache,btDispatcher* dispatcher)
+			:m_cleanProxy(cleanProxy),
+			m_pairCache(pairCache),
+			m_dispatcher(dispatcher)
 		{
 		}
-		virtual bool processOverlap(btBroadphasePair& pair)
+		virtual	bool	processOverlap(btBroadphasePair& pair)
 		{
 			if ((pair.m_pProxy0 == m_cleanProxy) ||
 				(pair.m_pProxy1 == m_cleanProxy))
 			{
-				m_pairCache->cleanOverlappingPair(pair, m_dispatcher);
+				m_pairCache->cleanOverlappingPair(pair,m_dispatcher);
 			}
 			return false;
 		}
+		
 	};
 
-	CleanPairCallback cleanPairs(proxy, this, dispatcher);
+	CleanPairCallback cleanPairs(proxy,this,dispatcher);
+
+	processAllOverlappingPairs(&cleanPairs,dispatcher);
 
-	processAllOverlappingPairs(&cleanPairs, dispatcher);
 }
 
-void btSortedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher)
+
+void	btSortedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
 {
-	class RemovePairCallback : public btOverlapCallback
+
+	class	RemovePairCallback : public btOverlapCallback
 	{
 		btBroadphaseProxy* m_obsoleteProxy;
 
 	public:
 		RemovePairCallback(btBroadphaseProxy* obsoleteProxy)
-			: m_obsoleteProxy(obsoleteProxy)
+			:m_obsoleteProxy(obsoleteProxy)
 		{
 		}
-		virtual bool processOverlap(btBroadphasePair& pair)
+		virtual	bool	processOverlap(btBroadphasePair& pair)
 		{
 			return ((pair.m_pProxy0 == m_obsoleteProxy) ||
-					(pair.m_pProxy1 == m_obsoleteProxy));
+				(pair.m_pProxy1 == m_obsoleteProxy));
 		}
+		
 	};
 
 	RemovePairCallback removeCallback(proxy);
 
-	processAllOverlappingPairs(&removeCallback, dispatcher);
+	processAllOverlappingPairs(&removeCallback,dispatcher);
 }
 
-void btSortedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher)
+void	btSortedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher)
 {
 	//should already be sorted
 }
+

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

@@ -16,6 +16,7 @@ subject to the following restrictions:
 #ifndef BT_OVERLAPPING_PAIR_CACHE_H
 #define BT_OVERLAPPING_PAIR_CACHE_H
 
+
 #include "btBroadphaseInterface.h"
 #include "btBroadphaseProxy.h"
 #include "btOverlappingPairCallback.h"
@@ -23,164 +24,174 @@ subject to the following restrictions:
 #include "LinearMath/btAlignedObjectArray.h"
 class btDispatcher;
 
-typedef btAlignedObjectArray<btBroadphasePair> btBroadphasePairArray;
+typedef btAlignedObjectArray<btBroadphasePair>	btBroadphasePairArray;
 
-struct btOverlapCallback
+struct	btOverlapCallback
 {
 	virtual ~btOverlapCallback()
-	{
-	}
+	{}
 	//return true for deletion of the pair
-	virtual bool processOverlap(btBroadphasePair& pair) = 0;
+	virtual bool	processOverlap(btBroadphasePair& pair) = 0;
+
 };
 
 struct btOverlapFilterCallback
 {
 	virtual ~btOverlapFilterCallback()
-	{
-	}
+	{}
 	// return true when pairs need collision
-	virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) const = 0;
+	virtual bool	needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const = 0;
 };
 
-const int BT_NULL_PAIR = 0xffffffff;
+
+
+
+
+
+
+extern int gRemovePairs;
+extern int gAddedPairs;
+extern int gFindPairs;
+
+const int BT_NULL_PAIR=0xffffffff;
 
 ///The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases.
 ///The btHashedOverlappingPairCache and btSortedOverlappingPairCache classes are two implementations.
 class btOverlappingPairCache : public btOverlappingPairCallback
 {
 public:
-	virtual ~btOverlappingPairCache() {}  // this is needed so we can get to the derived class destructor
+	virtual ~btOverlappingPairCache() {} // this is needed so we can get to the derived class destructor
 
-	virtual btBroadphasePair* getOverlappingPairArrayPtr() = 0;
+	virtual btBroadphasePair*	getOverlappingPairArrayPtr() = 0;
+	
+	virtual const btBroadphasePair*	getOverlappingPairArrayPtr() const = 0;
 
-	virtual const btBroadphasePair* getOverlappingPairArrayPtr() const = 0;
+	virtual btBroadphasePairArray&	getOverlappingPairArray() = 0;
 
-	virtual btBroadphasePairArray& getOverlappingPairArray() = 0;
-
-	virtual void cleanOverlappingPair(btBroadphasePair& pair, btDispatcher* dispatcher) = 0;
+	virtual	void	cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher) = 0;
 
 	virtual int getNumOverlappingPairs() const = 0;
-	virtual bool needsBroadphaseCollision(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1) const = 0;
-	virtual btOverlapFilterCallback* getOverlapFilterCallback() = 0;
-	virtual void cleanProxyFromPairs(btBroadphaseProxy* proxy, btDispatcher* dispatcher) = 0;
 
-	virtual void setOverlapFilterCallback(btOverlapFilterCallback* callback) = 0;
+	virtual void	cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher) = 0;
 
-	virtual void processAllOverlappingPairs(btOverlapCallback*, btDispatcher* dispatcher) = 0;
+	virtual	void setOverlapFilterCallback(btOverlapFilterCallback* callback) = 0;
+
+	virtual void	processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher) = 0;
 
-	virtual void processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher, const struct btDispatcherInfo& /*dispatchInfo*/)
-	{
-		processAllOverlappingPairs(callback, dispatcher);
-	}
 	virtual btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) = 0;
 
-	virtual bool hasDeferredRemoval() = 0;
+	virtual bool	hasDeferredRemoval() = 0;
+
+	virtual	void	setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)=0;
+
+	virtual void	sortOverlappingPairs(btDispatcher* dispatcher) = 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
-
-ATTRIBUTE_ALIGNED16(class)
-btHashedOverlappingPairCache : public btOverlappingPairCache
+class btHashedOverlappingPairCache : public btOverlappingPairCache
 {
-	btBroadphasePairArray m_overlappingPairArray;
+	btBroadphasePairArray	m_overlappingPairArray;
 	btOverlapFilterCallback* m_overlapFilterCallback;
 
 protected:
-	btAlignedObjectArray<int> m_hashTable;
-	btAlignedObjectArray<int> m_next;
-	btOverlappingPairCallback* m_ghostPairCallback;
+	
+	btAlignedObjectArray<int>	m_hashTable;
+	btAlignedObjectArray<int>	m_next;
+	btOverlappingPairCallback*	m_ghostPairCallback;
+
 
 public:
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
 	btHashedOverlappingPairCache();
 	virtual ~btHashedOverlappingPairCache();
 
-	void removeOverlappingPairsContainingProxy(btBroadphaseProxy * proxy, btDispatcher * dispatcher);
+	
+	void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
 
-	virtual void* removeOverlappingPair(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1, btDispatcher * dispatcher);
-
-	SIMD_FORCE_INLINE bool needsBroadphaseCollision(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1) const
+	virtual void*	removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher);
+	
+	SIMD_FORCE_INLINE bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
 	{
 		if (m_overlapFilterCallback)
-			return m_overlapFilterCallback->needBroadphaseCollision(proxy0, proxy1);
+			return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);
 
 		bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
 		collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
-
+		
 		return collides;
 	}
 
 	// Add a pair and return the new pair. If the pair already exists,
 	// no new pair is created and the old one is returned.
-	virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1)
+	virtual btBroadphasePair* 	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
 	{
-		if (!needsBroadphaseCollision(proxy0, proxy1))
+		gAddedPairs++;
+
+		if (!needsBroadphaseCollision(proxy0,proxy1))
 			return 0;
 
-		return internalAddPair(proxy0, proxy1);
+		return internalAddPair(proxy0,proxy1);
 	}
 
-	void cleanProxyFromPairs(btBroadphaseProxy * proxy, btDispatcher * dispatcher);
+	
 
-	virtual void processAllOverlappingPairs(btOverlapCallback*, btDispatcher * dispatcher);
+	void	cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
 
-	virtual void processAllOverlappingPairs(btOverlapCallback * callback, btDispatcher * dispatcher, const struct btDispatcherInfo& dispatchInfo);
+	
+	virtual void	processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);
 
-	virtual btBroadphasePair* getOverlappingPairArrayPtr()
+	virtual btBroadphasePair*	getOverlappingPairArrayPtr()
 	{
 		return &m_overlappingPairArray[0];
 	}
 
-	const btBroadphasePair* getOverlappingPairArrayPtr() const
+	const btBroadphasePair*	getOverlappingPairArrayPtr() const
 	{
 		return &m_overlappingPairArray[0];
 	}
 
-	btBroadphasePairArray& getOverlappingPairArray()
+	btBroadphasePairArray&	getOverlappingPairArray()
 	{
 		return m_overlappingPairArray;
 	}
 
-	const btBroadphasePairArray& getOverlappingPairArray() const
+	const btBroadphasePairArray&	getOverlappingPairArray() const
 	{
 		return m_overlappingPairArray;
 	}
 
-	void cleanOverlappingPair(btBroadphasePair & pair, btDispatcher * dispatcher);
+	void	cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
 
-	btBroadphasePair* findPair(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1);
+
+
+	btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
 
 	int GetCount() const { return m_overlappingPairArray.size(); }
-	//	btBroadphasePair* GetPairs() { return m_pairs; }
+//	btBroadphasePair* GetPairs() { return m_pairs; }
 
 	btOverlapFilterCallback* getOverlapFilterCallback()
 	{
 		return m_overlapFilterCallback;
 	}
 
-	void setOverlapFilterCallback(btOverlapFilterCallback * callback)
+	void setOverlapFilterCallback(btOverlapFilterCallback* callback)
 	{
 		m_overlapFilterCallback = callback;
 	}
 
-	int getNumOverlappingPairs() const
+	int	getNumOverlappingPairs() const
 	{
 		return m_overlappingPairArray.size();
 	}
-
 private:
-	btBroadphasePair* internalAddPair(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1);
+	
+	btBroadphasePair* 	internalAddPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
 
-	void growTables();
+	void	growTables();
 
 	SIMD_FORCE_INLINE bool equalsPair(const btBroadphasePair& pair, int proxyId1, int proxyId2)
-	{
+	{	
 		return pair.m_pProxy0->getUid() == proxyId1 && pair.m_pProxy1->getUid() == proxyId2;
 	}
 
@@ -200,37 +211,43 @@ private:
 	}
 	*/
 
-	SIMD_FORCE_INLINE unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
+
+	
+	SIMD_FORCE_INLINE	unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
 	{
-		unsigned int key = proxyId1 | (proxyId2 << 16);
+		int key = static_cast<int>(((unsigned int)proxyId1) | (((unsigned int)proxyId2) <<16));
 		// Thomas Wang's hash
 
 		key += ~(key << 15);
-		key ^= (key >> 10);
-		key += (key << 3);
-		key ^= (key >> 6);
+		key ^=  (key >> 10);
+		key +=  (key << 3);
+		key ^=  (key >> 6);
 		key += ~(key << 11);
-		key ^= (key >> 16);
-		return key;
+		key ^=  (key >> 16);
+		return static_cast<unsigned int>(key);
 	}
+	
 
-	SIMD_FORCE_INLINE btBroadphasePair* internalFindPair(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1, int hash)
+
+
+
+	SIMD_FORCE_INLINE btBroadphasePair* internalFindPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, int hash)
 	{
 		int proxyId1 = proxy0->getUid();
 		int proxyId2 = proxy1->getUid();
-#if 0  // wrong, 'equalsPair' use unsorted uids, copy-past devil striked again. Nat.
+		#if 0 // wrong, 'equalsPair' use unsorted uids, copy-past devil striked again. Nat.
 		if (proxyId1 > proxyId2) 
 			btSwap(proxyId1, proxyId2);
-#endif
+		#endif
 
 		int index = m_hashTable[hash];
-
-		while (index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
+		
+		while( index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
 		{
 			index = m_next[index];
 		}
 
-		if (index == BT_NULL_PAIR)
+		if ( index == BT_NULL_PAIR )
 		{
 			return NULL;
 		}
@@ -240,136 +257,155 @@ private:
 		return &m_overlappingPairArray[index];
 	}
 
-	virtual bool hasDeferredRemoval()
+	virtual bool	hasDeferredRemoval()
 	{
 		return false;
 	}
 
-	virtual void setInternalGhostPairCallback(btOverlappingPairCallback * ghostPairCallback)
+	virtual	void	setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)
 	{
 		m_ghostPairCallback = ghostPairCallback;
 	}
 
-	virtual void sortOverlappingPairs(btDispatcher * dispatcher);
+	virtual void	sortOverlappingPairs(btDispatcher* dispatcher);
+	
+
+	
 };
 
+
+
+
 ///btSortedOverlappingPairCache maintains the objects with overlapping AABB
 ///Typically managed by the Broadphase, Axis3Sweep or btSimpleBroadphase
-class btSortedOverlappingPairCache : public btOverlappingPairCache
+class	btSortedOverlappingPairCache : public btOverlappingPairCache
 {
-protected:
-	//avoid brute-force finding all the time
-	btBroadphasePairArray m_overlappingPairArray;
+	protected:
+		//avoid brute-force finding all the time
+		btBroadphasePairArray	m_overlappingPairArray;
 
-	//during the dispatch, check that user doesn't destroy/create proxy
-	bool m_blockedForChanges;
+		//during the dispatch, check that user doesn't destroy/create proxy
+		bool		m_blockedForChanges;
 
-	///by default, do the removal during the pair traversal
-	bool m_hasDeferredRemoval;
+		///by default, do the removal during the pair traversal
+		bool		m_hasDeferredRemoval;
+		
+		//if set, use the callback instead of the built in filter in needBroadphaseCollision
+		btOverlapFilterCallback* m_overlapFilterCallback;
 
-	//if set, use the callback instead of the built in filter in needBroadphaseCollision
-	btOverlapFilterCallback* m_overlapFilterCallback;
+		btOverlappingPairCallback*	m_ghostPairCallback;
 
-	btOverlappingPairCallback* m_ghostPairCallback;
+	public:
+			
+		btSortedOverlappingPairCache();	
+		virtual ~btSortedOverlappingPairCache();
 
-public:
-	btSortedOverlappingPairCache();
-	virtual ~btSortedOverlappingPairCache();
+		virtual void	processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);
 
-	virtual void processAllOverlappingPairs(btOverlapCallback*, btDispatcher* dispatcher);
+		void*	removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher);
 
-	void* removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, btDispatcher* dispatcher);
+		void	cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
+		
+		btBroadphasePair*	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
 
-	void cleanOverlappingPair(btBroadphasePair& pair, btDispatcher* dispatcher);
+		btBroadphasePair*	findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
+			
+		
+		void	cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
 
-	btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
+		void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
 
-	btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
 
-	void cleanProxyFromPairs(btBroadphaseProxy* proxy, btDispatcher* dispatcher);
+		inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
+		{
+			if (m_overlapFilterCallback)
+				return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);
 
-	void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher);
+			bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
+			collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
+			
+			return collides;
+		}
+		
+		btBroadphasePairArray&	getOverlappingPairArray()
+		{
+			return m_overlappingPairArray;
+		}
 
-	inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) const
-	{
-		if (m_overlapFilterCallback)
-			return m_overlapFilterCallback->needBroadphaseCollision(proxy0, proxy1);
+		const btBroadphasePairArray&	getOverlappingPairArray() const
+		{
+			return m_overlappingPairArray;
+		}
 
-		bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
-		collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
+		
 
-		return collides;
-	}
 
-	btBroadphasePairArray& getOverlappingPairArray()
-	{
-		return m_overlappingPairArray;
-	}
+		btBroadphasePair*	getOverlappingPairArrayPtr()
+		{
+			return &m_overlappingPairArray[0];
+		}
 
-	const btBroadphasePairArray& getOverlappingPairArray() const
-	{
-		return m_overlappingPairArray;
-	}
+		const btBroadphasePair*	getOverlappingPairArrayPtr() const
+		{
+			return &m_overlappingPairArray[0];
+		}
 
-	btBroadphasePair* getOverlappingPairArrayPtr()
-	{
-		return &m_overlappingPairArray[0];
-	}
+		int	getNumOverlappingPairs() const
+		{
+			return m_overlappingPairArray.size();
+		}
+		
+		btOverlapFilterCallback* getOverlapFilterCallback()
+		{
+			return m_overlapFilterCallback;
+		}
 
-	const btBroadphasePair* getOverlappingPairArrayPtr() const
-	{
-		return &m_overlappingPairArray[0];
-	}
+		void setOverlapFilterCallback(btOverlapFilterCallback* callback)
+		{
+			m_overlapFilterCallback = callback;
+		}
 
-	int getNumOverlappingPairs() const
-	{
-		return m_overlappingPairArray.size();
-	}
+		virtual bool	hasDeferredRemoval()
+		{
+			return m_hasDeferredRemoval;
+		}
 
-	btOverlapFilterCallback* getOverlapFilterCallback()
-	{
-		return m_overlapFilterCallback;
-	}
+		virtual	void	setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)
+		{
+			m_ghostPairCallback = ghostPairCallback;
+		}
 
-	void setOverlapFilterCallback(btOverlapFilterCallback* callback)
-	{
-		m_overlapFilterCallback = callback;
-	}
+		virtual void	sortOverlappingPairs(btDispatcher* dispatcher);
+		
 
-	virtual bool hasDeferredRemoval()
-	{
-		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.
 class btNullPairCache : public btOverlappingPairCache
 {
-	btBroadphasePairArray m_overlappingPairArray;
+
+	btBroadphasePairArray	m_overlappingPairArray;
 
 public:
-	virtual btBroadphasePair* getOverlappingPairArrayPtr()
+
+	virtual btBroadphasePair*	getOverlappingPairArrayPtr()
 	{
 		return &m_overlappingPairArray[0];
 	}
-	const btBroadphasePair* getOverlappingPairArrayPtr() const
+	const btBroadphasePair*	getOverlappingPairArrayPtr() const
 	{
 		return &m_overlappingPairArray[0];
 	}
-	btBroadphasePairArray& getOverlappingPairArray()
+	btBroadphasePairArray&	getOverlappingPairArray()
 	{
 		return m_overlappingPairArray;
 	}
-
-	virtual void cleanOverlappingPair(btBroadphasePair& /*pair*/, btDispatcher* /*dispatcher*/)
+	
+	virtual	void	cleanOverlappingPair(btBroadphasePair& /*pair*/,btDispatcher* /*dispatcher*/)
 	{
+
 	}
 
 	virtual int getNumOverlappingPairs() const
@@ -377,23 +413,16 @@ public:
 		return 0;
 	}
 
-	virtual void cleanProxyFromPairs(btBroadphaseProxy* /*proxy*/, btDispatcher* /*dispatcher*/)
+	virtual void	cleanProxyFromPairs(btBroadphaseProxy* /*proxy*/,btDispatcher* /*dispatcher*/)
+	{
+
+	}
+
+	virtual	void setOverlapFilterCallback(btOverlapFilterCallback* /*callback*/)
 	{
 	}
 
-	bool needsBroadphaseCollision(btBroadphaseProxy*, btBroadphaseProxy*) const
-	{
-		return true;
-	}
-	btOverlapFilterCallback* getOverlapFilterCallback()
-	{
-		return 0;
-	}
-	virtual void setOverlapFilterCallback(btOverlapFilterCallback* /*callback*/)
-	{
-	}
-
-	virtual void processAllOverlappingPairs(btOverlapCallback*, btDispatcher* /*dispatcher*/)
+	virtual void	processAllOverlappingPairs(btOverlapCallback*,btDispatcher* /*dispatcher*/)
 	{
 	}
 
@@ -402,33 +431,39 @@ public:
 		return 0;
 	}
 
-	virtual bool hasDeferredRemoval()
+	virtual bool	hasDeferredRemoval()
 	{
 		return true;
 	}
 
-	virtual void setInternalGhostPairCallback(btOverlappingPairCallback* /* ghostPairCallback */)
+	virtual	void	setInternalGhostPairCallback(btOverlappingPairCallback* /* ghostPairCallback */)
 	{
+
 	}
 
-	virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* /*proxy0*/, btBroadphaseProxy* /*proxy1*/)
+	virtual btBroadphasePair*	addOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/)
 	{
 		return 0;
 	}
 
-	virtual void* removeOverlappingPair(btBroadphaseProxy* /*proxy0*/, btBroadphaseProxy* /*proxy1*/, btDispatcher* /*dispatcher*/)
+	virtual void*	removeOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/,btDispatcher* /*dispatcher*/)
 	{
 		return 0;
 	}
 
-	virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/, btDispatcher* /*dispatcher*/)
+	virtual void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/,btDispatcher* /*dispatcher*/)
 	{
 	}
+	
+	virtual void	sortOverlappingPairs(btDispatcher* dispatcher)
+	{
+        (void) dispatcher;
+	}
+
 
-	virtual void sortOverlappingPairs(btDispatcher* dispatcher)
-	{
-		(void)dispatcher;
-	}
 };
 
-#endif  //BT_OVERLAPPING_PAIR_CACHE_H
+
+#endif //BT_OVERLAPPING_PAIR_CACHE_H
+
+

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

@@ -18,24 +18,23 @@ subject to the following restrictions:
 #define OVERLAPPING_PAIR_CALLBACK_H
 
 class btDispatcher;
-struct btBroadphasePair;
+struct  btBroadphasePair;
 
 ///The btOverlappingPairCallback class is an additional optional broadphase user callback for adding/removing overlapping pairs, similar interface to btOverlappingPairCache.
 class btOverlappingPairCallback
 {
-protected:
-	btOverlappingPairCallback() {}
-
 public:
 	virtual ~btOverlappingPairCallback()
 	{
+
 	}
+	
+	virtual btBroadphasePair*	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) = 0;
 
-	virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) = 0;
+	virtual void*	removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher) = 0;
 
-	virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, btDispatcher* dispatcher) = 0;
+	virtual void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0,btDispatcher* dispatcher) = 0;
 
-	virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0, btDispatcher* dispatcher) = 0;
 };
 
-#endif  //OVERLAPPING_PAIR_CALLBACK_H
+#endif //OVERLAPPING_PAIR_CALLBACK_H

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

@@ -22,11 +22,11 @@ class btSerializer;
 #ifdef DEBUG_CHECK_DEQUANTIZATION
 #ifdef __SPU__
 #define printf spu_printf
-#endif  //__SPU__
+#endif //__SPU__
 
 #include <stdio.h>
 #include <stdlib.h>
-#endif  //DEBUG_CHECK_DEQUANTIZATION
+#endif //DEBUG_CHECK_DEQUANTIZATION
 
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btAlignedAllocator.h"
@@ -41,10 +41,13 @@ class btSerializer;
 #define btQuantizedBvhDataName "btQuantizedBvhFloatData"
 #endif
 
+
+
 //http://msdn.microsoft.com/library/default.asp?url=/library/en-us/vclang/html/vclrf__m128.asp
 
+
 //Note: currently we have 16 bytes per quantized node
-#define MAX_SUBTREE_SIZE_IN_BYTES 2048
+#define MAX_SUBTREE_SIZE_IN_BYTES  2048
 
 // 10 gives the potential for 1024 parts, with at most 2^21 (2097152) (minus one
 // actually) triangles each (since the sign bit is reserved
@@ -52,16 +55,15 @@ class btSerializer;
 
 ///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
 ///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
-ATTRIBUTE_ALIGNED16(struct)
-btQuantizedBvhNode
+ATTRIBUTE_ALIGNED16	(struct) btQuantizedBvhNode
 {
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	//12 bytes
-	unsigned short int m_quantizedAabbMin[3];
-	unsigned short int m_quantizedAabbMax[3];
+	unsigned short int	m_quantizedAabbMin[3];
+	unsigned short int	m_quantizedAabbMax[3];
 	//4 bytes
-	int m_escapeIndexOrTriangleIndex;
+	int	m_escapeIndexOrTriangleIndex;
 
 	bool isLeafNode() const
 	{
@@ -73,67 +75,68 @@ btQuantizedBvhNode
 		btAssert(!isLeafNode());
 		return -m_escapeIndexOrTriangleIndex;
 	}
-	int getTriangleIndex() const
+	int	getTriangleIndex() const
 	{
 		btAssert(isLeafNode());
-		unsigned int x = 0;
-		unsigned int y = (~(x & 0)) << (31 - MAX_NUM_PARTS_IN_BITS);
+		unsigned int x=0;
+		unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
 		// Get only the lower bits where the triangle index is stored
-		return (m_escapeIndexOrTriangleIndex & ~(y));
+		return (m_escapeIndexOrTriangleIndex&~(y));
 	}
-	int getPartId() const
+	int	getPartId() const
 	{
 		btAssert(isLeafNode());
 		// Get only the highest bits where the part index is stored
-		return (m_escapeIndexOrTriangleIndex >> (31 - MAX_NUM_PARTS_IN_BITS));
+		return (m_escapeIndexOrTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS));
 	}
-};
+}
+;
 
 /// btOptimizedBvhNode contains both internal and leaf node information.
 /// Total node size is 44 bytes / node. You can use the compressed version of 16 bytes.
-ATTRIBUTE_ALIGNED16(struct)
-btOptimizedBvhNode
+ATTRIBUTE_ALIGNED16 (struct) btOptimizedBvhNode
 {
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	//32 bytes
-	btVector3 m_aabbMinOrg;
-	btVector3 m_aabbMaxOrg;
+	btVector3	m_aabbMinOrg;
+	btVector3	m_aabbMaxOrg;
 
 	//4
-	int m_escapeIndex;
+	int	m_escapeIndex;
 
 	//8
 	//for child nodes
-	int m_subPart;
-	int m_triangleIndex;
+	int	m_subPart;
+	int	m_triangleIndex;
 
-	//pad the size to 64 bytes
-	char m_padding[20];
+//pad the size to 64 bytes
+	char	m_padding[20];
 };
 
+
 ///btBvhSubtreeInfo provides info to gather a subtree of limited size
-ATTRIBUTE_ALIGNED16(class)
-btBvhSubtreeInfo
+ATTRIBUTE_ALIGNED16(class) btBvhSubtreeInfo
 {
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	//12 bytes
-	unsigned short int m_quantizedAabbMin[3];
-	unsigned short int m_quantizedAabbMax[3];
+	unsigned short int	m_quantizedAabbMin[3];
+	unsigned short int	m_quantizedAabbMax[3];
 	//4 bytes, points to the root of the subtree
-	int m_rootNodeIndex;
+	int			m_rootNodeIndex;
 	//4 bytes
-	int m_subtreeSize;
-	int m_padding[3];
+	int			m_subtreeSize;
+	int			m_padding[3];
 
 	btBvhSubtreeInfo()
 	{
 		//memset(&m_padding[0], 0, sizeof(m_padding));
 	}
 
-	void setAabbFromQuantizeNode(const btQuantizedBvhNode& quantizedNode)
+
+	void	setAabbFromQuantizeNode(const btQuantizedBvhNode& quantizedNode)
 	{
 		m_quantizedAabbMin[0] = quantizedNode.m_quantizedAabbMin[0];
 		m_quantizedAabbMin[1] = quantizedNode.m_quantizedAabbMin[1];
@@ -142,12 +145,14 @@ public:
 		m_quantizedAabbMax[1] = quantizedNode.m_quantizedAabbMax[1];
 		m_quantizedAabbMax[2] = quantizedNode.m_quantizedAabbMax[2];
 	}
-};
+}
+;
+
 
 class btNodeOverlapCallback
 {
 public:
-	virtual ~btNodeOverlapCallback(){};
+	virtual ~btNodeOverlapCallback() {};
 
 	virtual void processNode(int subPart, int triangleIndex) = 0;
 };
@@ -155,16 +160,18 @@ public:
 #include "LinearMath/btAlignedAllocator.h"
 #include "LinearMath/btAlignedObjectArray.h"
 
+
+
 ///for code readability:
-typedef btAlignedObjectArray<btOptimizedBvhNode> NodeArray;
-typedef btAlignedObjectArray<btQuantizedBvhNode> QuantizedNodeArray;
-typedef btAlignedObjectArray<btBvhSubtreeInfo> BvhSubtreeInfoArray;
+typedef btAlignedObjectArray<btOptimizedBvhNode>	NodeArray;
+typedef btAlignedObjectArray<btQuantizedBvhNode>	QuantizedNodeArray;
+typedef btAlignedObjectArray<btBvhSubtreeInfo>		BvhSubtreeInfoArray;
+
 
 ///The btQuantizedBvh class stores an AABB tree that can be quickly traversed on CPU and Cell SPU.
-///It is used by the btBvhTriangleMeshShape as midphase.
+///It is used by the btBvhTriangleMeshShape as midphase, and by the btMultiSapBroadphase.
 ///It is recommended to use quantization for better performance and lower memory requirements.
-ATTRIBUTE_ALIGNED16(class)
-btQuantizedBvh
+ATTRIBUTE_ALIGNED16(class) btQuantizedBvh
 {
 public:
 	enum btTraversalMode
@@ -175,47 +182,54 @@ public:
 	};
 
 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;
+	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;
+	bool				m_useQuantization;
 
-	NodeArray m_leafNodes;
-	NodeArray m_contiguousNodes;
-	QuantizedNodeArray m_quantizedLeafNodes;
-	QuantizedNodeArray m_quantizedContiguousNodes;
 
-	btTraversalMode m_traversalMode;
-	BvhSubtreeInfoArray m_SubtreeHeaders;
+
+	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
 	mutable 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
-	void setInternalNodeAabbMin(int nodeIndex, const btVector3& aabbMin)
+	void	setInternalNodeAabbMin(int nodeIndex, const btVector3& aabbMin)
 	{
 		if (m_useQuantization)
 		{
-			quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0], aabbMin, 0);
-		}
-		else
+			quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] ,aabbMin,0);
+		} else
 		{
 			m_contiguousNodes[nodeIndex].m_aabbMinOrg = aabbMin;
+
 		}
 	}
-	void setInternalNodeAabbMax(int nodeIndex, const btVector3& aabbMax)
+	void	setInternalNodeAabbMax(int nodeIndex,const btVector3& aabbMax)
 	{
 		if (m_useQuantization)
 		{
-			quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0], aabbMax, 1);
-		}
-		else
+			quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0],aabbMax,1);
+		} else
 		{
 			m_contiguousNodes[nodeIndex].m_aabbMaxOrg = aabbMax;
 		}
@@ -229,102 +243,115 @@ protected:
 		}
 		//non-quantized
 		return m_leafNodes[nodeIndex].m_aabbMinOrg;
+
 	}
 	btVector3 getAabbMax(int nodeIndex) const
 	{
 		if (m_useQuantization)
 		{
 			return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMax[0]);
-		}
+		} 
 		//non-quantized
 		return m_leafNodes[nodeIndex].m_aabbMaxOrg;
+		
 	}
 
-	void setInternalNodeEscapeIndex(int nodeIndex, int escapeIndex)
+	
+	void	setInternalNodeEscapeIndex(int nodeIndex, int escapeIndex)
 	{
 		if (m_useQuantization)
 		{
 			m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = -escapeIndex;
-		}
+		} 
 		else
 		{
 			m_contiguousNodes[nodeIndex].m_escapeIndex = escapeIndex;
 		}
+
 	}
 
-	void mergeInternalNodeAabb(int nodeIndex, const btVector3& newAabbMin, const btVector3& newAabbMax)
+	void mergeInternalNodeAabb(int nodeIndex,const btVector3& newAabbMin,const btVector3& newAabbMax) 
 	{
 		if (m_useQuantization)
 		{
 			unsigned short int quantizedAabbMin[3];
 			unsigned short int quantizedAabbMax[3];
-			quantize(quantizedAabbMin, newAabbMin, 0);
-			quantize(quantizedAabbMax, newAabbMax, 1);
-			for (int i = 0; i < 3; i++)
+			quantize(quantizedAabbMin,newAabbMin,0);
+			quantize(quantizedAabbMax,newAabbMax,1);
+			for (int i=0;i<3;i++)
 			{
 				if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] > quantizedAabbMin[i])
 					m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] = quantizedAabbMin[i];
 
 				if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] < quantizedAabbMax[i])
 					m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] = quantizedAabbMax[i];
+
 			}
-		}
-		else
+		} else
 		{
 			//non-quantized
 			m_contiguousNodes[nodeIndex].m_aabbMinOrg.setMin(newAabbMin);
-			m_contiguousNodes[nodeIndex].m_aabbMaxOrg.setMax(newAabbMax);
+			m_contiguousNodes[nodeIndex].m_aabbMaxOrg.setMax(newAabbMax);		
 		}
 	}
 
-	void swapLeafNodes(int firstIndex, int secondIndex);
+	void	swapLeafNodes(int firstIndex,int secondIndex);
 
-	void assignInternalNodeFromLeafNode(int internalNode, int leafNodeIndex);
+	void	assignInternalNodeFromLeafNode(int internalNode,int leafNodeIndex);
 
 protected:
-	void buildTree(int startIndex, int endIndex);
 
-	int calcSplittingAxis(int startIndex, int endIndex);
+	
 
-	int sortAndCalcSplittingIndex(int startIndex, int endIndex, int splitAxis);
+	void	buildTree	(int startIndex,int endIndex);
 
-	void walkStacklessTree(btNodeOverlapCallback * nodeCallback, const btVector3& aabbMin, const btVector3& aabbMax) const;
+	int	calcSplittingAxis(int startIndex,int endIndex);
 
-	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;
+	int	sortAndCalcSplittingIndex(int startIndex,int endIndex,int splitAxis);
+	
+	void	walkStacklessTree(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+
+	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;
+	void	walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const;
 
 	///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
-	void walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantizedBvhNode* currentNode, btNodeOverlapCallback* nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax) const;
+	void	walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantizedBvhNode* currentNode,btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const;
 
 	///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
-	void walkRecursiveQuantizedTreeAgainstQuantizedTree(const btQuantizedBvhNode* treeNodeA, const btQuantizedBvhNode* treeNodeB, btNodeOverlapCallback* nodeCallback) const;
+	void	walkRecursiveQuantizedTreeAgainstQuantizedTree(const btQuantizedBvhNode* treeNodeA,const btQuantizedBvhNode* treeNodeB,btNodeOverlapCallback* nodeCallback) const;
+	
 
-	void updateSubtreeHeaders(int leftChildNodexIndex, int rightChildNodexIndex);
+
+
+	void	updateSubtreeHeaders(int leftChildNodexIndex,int rightChildNodexIndex);
 
 public:
+	
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
 	btQuantizedBvh();
 
 	virtual ~btQuantizedBvh();
 
+	
 	///***************************************** expert/internal use only *************************
-	void setQuantizationValues(const btVector3& bvhAabbMin, const btVector3& bvhAabbMax, btScalar quantizationMargin = btScalar(1.0));
-	QuantizedNodeArray& getLeafNodeArray() { return m_quantizedLeafNodes; }
+	void	setQuantizationValues(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,btScalar quantizationMargin=btScalar(1.0));
+	QuantizedNodeArray&	getLeafNodeArray() {			return	m_quantizedLeafNodes;	}
 	///buildInternal is expert use only: assumes that setQuantizationValues and LeafNodeArray are initialized
-	void buildInternal();
+	void	buildInternal();
 	///***************************************** expert/internal use only *************************
 
-	void reportAabbOverlappingNodex(btNodeOverlapCallback * nodeCallback, const btVector3& aabbMin, const btVector3& aabbMax) const;
-	void reportRayOverlappingNodex(btNodeOverlapCallback * nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const;
-	void reportBoxCastOverlappingNodex(btNodeOverlapCallback * nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax) const;
+	void	reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+	void	reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const;
+	void	reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin,const btVector3& aabbMax) const;
 
-	SIMD_FORCE_INLINE void quantize(unsigned short* out, const btVector3& point, int isMax) const
+		SIMD_FORCE_INLINE void quantize(unsigned short* out, const btVector3& point,int isMax) const
 	{
+
 		btAssert(m_useQuantization);
 
 		btAssert(point.getX() <= m_bvhAabbMax.getX());
@@ -341,114 +368,122 @@ public:
 		///@todo: double-check this
 		if (isMax)
 		{
-			out[0] = (unsigned short)(((unsigned short)(v.getX() + btScalar(1.)) | 1));
-			out[1] = (unsigned short)(((unsigned short)(v.getY() + btScalar(1.)) | 1));
-			out[2] = (unsigned short)(((unsigned short)(v.getZ() + btScalar(1.)) | 1));
-		}
-		else
+			out[0] = (unsigned short) (((unsigned short)(v.getX()+btScalar(1.)) | 1));
+			out[1] = (unsigned short) (((unsigned short)(v.getY()+btScalar(1.)) | 1));
+			out[2] = (unsigned short) (((unsigned short)(v.getZ()+btScalar(1.)) | 1));
+		} else
 		{
-			out[0] = (unsigned short)(((unsigned short)(v.getX()) & 0xfffe));
-			out[1] = (unsigned short)(((unsigned short)(v.getY()) & 0xfffe));
-			out[2] = (unsigned short)(((unsigned short)(v.getZ()) & 0xfffe));
+			out[0] = (unsigned short) (((unsigned short)(v.getX()) & 0xfffe));
+			out[1] = (unsigned short) (((unsigned short)(v.getY()) & 0xfffe));
+			out[2] = (unsigned short) (((unsigned short)(v.getZ()) & 0xfffe));
 		}
 
+
 #ifdef DEBUG_CHECK_DEQUANTIZATION
 		btVector3 newPoint = unQuantize(out);
 		if (isMax)
 		{
 			if (newPoint.getX() < point.getX())
 			{
-				printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n", newPoint.getX() - point.getX(), newPoint.getX(), point.getX());
+				printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n",newPoint.getX()-point.getX(), newPoint.getX(),point.getX());
 			}
 			if (newPoint.getY() < point.getY())
 			{
-				printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n", newPoint.getY() - point.getY(), newPoint.getY(), point.getY());
+				printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n",newPoint.getY()-point.getY(), newPoint.getY(),point.getY());
 			}
 			if (newPoint.getZ() < point.getZ())
 			{
-				printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n", newPoint.getZ() - point.getZ(), newPoint.getZ(), point.getZ());
+
+				printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n",newPoint.getZ()-point.getZ(), newPoint.getZ(),point.getZ());
 			}
-		}
-		else
+		} else
 		{
 			if (newPoint.getX() > point.getX())
 			{
-				printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n", newPoint.getX() - point.getX(), newPoint.getX(), point.getX());
+				printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n",newPoint.getX()-point.getX(), newPoint.getX(),point.getX());
 			}
 			if (newPoint.getY() > point.getY())
 			{
-				printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n", newPoint.getY() - point.getY(), newPoint.getY(), point.getY());
+				printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n",newPoint.getY()-point.getY(), newPoint.getY(),point.getY());
 			}
 			if (newPoint.getZ() > point.getZ())
 			{
-				printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n", newPoint.getZ() - point.getZ(), newPoint.getZ(), point.getZ());
+				printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n",newPoint.getZ()-point.getZ(), newPoint.getZ(),point.getZ());
 			}
 		}
-#endif  //DEBUG_CHECK_DEQUANTIZATION
+#endif //DEBUG_CHECK_DEQUANTIZATION
+
 	}
 
-	SIMD_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const btVector3& point2, int isMax) const
+
+	SIMD_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const btVector3& point2,int isMax) const
 	{
+
 		btAssert(m_useQuantization);
 
 		btVector3 clampedPoint(point2);
 		clampedPoint.setMax(m_bvhAabbMin);
 		clampedPoint.setMin(m_bvhAabbMax);
 
-		quantize(out, clampedPoint, isMax);
-	}
+		quantize(out,clampedPoint,isMax);
 
-	SIMD_FORCE_INLINE btVector3 unQuantize(const unsigned short* vecIn) const
+	}
+	
+	SIMD_FORCE_INLINE btVector3	unQuantize(const unsigned short* vecIn) const
 	{
-		btVector3 vecOut;
-		vecOut.setValue(
+			btVector3	vecOut;
+			vecOut.setValue(
 			(btScalar)(vecIn[0]) / (m_bvhQuantization.getX()),
 			(btScalar)(vecIn[1]) / (m_bvhQuantization.getY()),
 			(btScalar)(vecIn[2]) / (m_bvhQuantization.getZ()));
-		vecOut += m_bvhAabbMin;
-		return vecOut;
+			vecOut += m_bvhAabbMin;
+			return vecOut;
 	}
 
 	///setTraversalMode let's you choose between stackless, recursive or stackless cache friendly tree traversal. Note this is only implemented for quantized trees.
-	void setTraversalMode(btTraversalMode traversalMode)
+	void	setTraversalMode(btTraversalMode	traversalMode)
 	{
 		m_traversalMode = traversalMode;
 	}
 
-	SIMD_FORCE_INLINE QuantizedNodeArray& getQuantizedNodeArray()
-	{
-		return m_quantizedContiguousNodes;
+
+	SIMD_FORCE_INLINE QuantizedNodeArray&	getQuantizedNodeArray()
+	{	
+		return	m_quantizedContiguousNodes;
 	}
 
-	SIMD_FORCE_INLINE BvhSubtreeInfoArray& getSubtreeInfoArray()
+
+	SIMD_FORCE_INLINE BvhSubtreeInfoArray&	getSubtreeInfoArray()
 	{
 		return m_SubtreeHeaders;
 	}
 
-	////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////
 
 	/////Calculate space needed to store BVH for serialization
 	unsigned calculateSerializeBufferSize() const;
 
 	/// Data buffer MUST be 16 byte aligned
-	virtual bool serialize(void* o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const;
+	virtual bool serialize(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const;
 
 	///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
-	static btQuantizedBvh* deSerializeInPlace(void* i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
+	static btQuantizedBvh *deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
 
 	static unsigned int getAlignmentSerializationPadding();
-	//////////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////////
 
-	virtual int calculateSerializeBufferSizeNew() const;
+	
+	virtual	int	calculateSerializeBufferSizeNew() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
 
-	virtual void deSerializeFloat(struct btQuantizedBvhFloatData & quantizedBvhFloatData);
+	virtual	void deSerializeFloat(struct btQuantizedBvhFloatData& quantizedBvhFloatData);
 
-	virtual void deSerializeDouble(struct btQuantizedBvhDoubleData & quantizedBvhDoubleData);
+	virtual	void deSerializeDouble(struct btQuantizedBvhDoubleData& quantizedBvhDoubleData);
 
-	////////////////////////////////////////////////////////////////////
+
+////////////////////////////////////////////////////////////////////
 
 	SIMD_FORCE_INLINE bool isQuantized()
 	{
@@ -459,37 +494,38 @@ private:
 	// Special "copy" constructor that allows for in-place deserialization
 	// Prevents btVector3's default constructor from being called, but doesn't inialize much else
 	// ownsMemory should most likely be false if deserializing, and if you are not, don't call this (it also changes the function signature, which we need)
-	btQuantizedBvh(btQuantizedBvh & other, bool ownsMemory);
-};
+	btQuantizedBvh(btQuantizedBvh &other, bool ownsMemory);
 
-// clang-format off
-// parser needs * with the name
-struct btBvhSubtreeInfoData
+}
+;
+
+
+struct	btBvhSubtreeInfoData
 {
-	int m_rootNodeIndex;
-	int m_subtreeSize;
+	int			m_rootNodeIndex;
+	int			m_subtreeSize;
 	unsigned short m_quantizedAabbMin[3];
 	unsigned short m_quantizedAabbMax[3];
 };
 
 struct btOptimizedBvhNodeFloatData
 {
-	btVector3FloatData m_aabbMinOrg;
-	btVector3FloatData m_aabbMaxOrg;
-	int m_escapeIndex;
-	int m_subPart;
-	int m_triangleIndex;
+	btVector3FloatData	m_aabbMinOrg;
+	btVector3FloatData	m_aabbMaxOrg;
+	int	m_escapeIndex;
+	int	m_subPart;
+	int	m_triangleIndex;
 	char m_pad[4];
 };
 
 struct btOptimizedBvhNodeDoubleData
 {
-	btVector3DoubleData m_aabbMinOrg;
-	btVector3DoubleData m_aabbMaxOrg;
-	int m_escapeIndex;
-	int m_subPart;
-	int m_triangleIndex;
-	char m_pad[4];
+	btVector3DoubleData	m_aabbMinOrg;
+	btVector3DoubleData	m_aabbMaxOrg;
+	int	m_escapeIndex;
+	int	m_subPart;
+	int	m_triangleIndex;
+	char	m_pad[4];
 };
 
 
@@ -533,11 +569,13 @@ struct	btQuantizedBvhDoubleData
 	int							m_numSubtreeHeaders;
 	btBvhSubtreeInfoData		*m_subTreeInfoPtr;
 };
-// clang-format on
 
-SIMD_FORCE_INLINE int btQuantizedBvh::calculateSerializeBufferSizeNew() const
+
+SIMD_FORCE_INLINE	int	btQuantizedBvh::calculateSerializeBufferSizeNew() const
 {
 	return sizeof(btQuantizedBvhData);
 }
 
-#endif  //BT_QUANTIZED_BVH_H
+
+
+#endif //BT_QUANTIZED_BVH_H

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

@@ -24,45 +24,52 @@ subject to the following restrictions:
 
 #include <new>
 
-void btSimpleBroadphase::validate()
+extern int gOverlappingPairs;
+
+void	btSimpleBroadphase::validate()
 {
-	for (int i = 0; i < m_numHandles; i++)
+	for (int i=0;i<m_numHandles;i++)
 	{
-		for (int j = i + 1; j < m_numHandles; j++)
+		for (int j=i+1;j<m_numHandles;j++)
 		{
 			btAssert(&m_pHandles[i] != &m_pHandles[j]);
 		}
 	}
+	
 }
 
 btSimpleBroadphase::btSimpleBroadphase(int maxProxies, btOverlappingPairCache* overlappingPairCache)
-	: m_pairCache(overlappingPairCache),
-	  m_ownsPairCache(false),
-	  m_invalidPair(0)
+	:m_pairCache(overlappingPairCache),
+	m_ownsPairCache(false),
+	m_invalidPair(0)
 {
+
 	if (!overlappingPairCache)
 	{
-		void* mem = btAlignedAlloc(sizeof(btHashedOverlappingPairCache), 16);
-		m_pairCache = new (mem) btHashedOverlappingPairCache();
+		void* mem = btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16);
+		m_pairCache = new (mem)btHashedOverlappingPairCache();
 		m_ownsPairCache = true;
 	}
 
 	// allocate handles buffer and put all handles on free list
-	m_pHandlesRawPtr = btAlignedAlloc(sizeof(btSimpleBroadphaseProxy) * maxProxies, 16);
-	m_pHandles = new (m_pHandlesRawPtr) btSimpleBroadphaseProxy[maxProxies];
+	m_pHandlesRawPtr = btAlignedAlloc(sizeof(btSimpleBroadphaseProxy)*maxProxies,16);
+	m_pHandles = new(m_pHandlesRawPtr) btSimpleBroadphaseProxy[maxProxies];
 	m_maxHandles = maxProxies;
 	m_numHandles = 0;
 	m_firstFreeHandle = 0;
 	m_LastHandleIndex = -1;
+	
 
 	{
 		for (int i = m_firstFreeHandle; i < maxProxies; i++)
 		{
 			m_pHandles[i].SetNextFree(i + 1);
-			m_pHandles[i].m_uniqueId = i + 2;  //any UID will do, we just avoid too trivial values (0,1) for debugging purposes
+			m_pHandles[i].m_uniqueId = i+2;//any UID will do, we just avoid too trivial values (0,1) for debugging purposes
 		}
 		m_pHandles[maxProxies - 1].SetNextFree(0);
+	
 	}
+
 }
 
 btSimpleBroadphase::~btSimpleBroadphase()
@@ -76,25 +83,26 @@ btSimpleBroadphase::~btSimpleBroadphase()
 	}
 }
 
-btBroadphaseProxy* btSimpleBroadphase::createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* /*dispatcher*/)
+
+btBroadphaseProxy*	btSimpleBroadphase::createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* /*dispatcher*/,void* multiSapProxy)
 {
 	if (m_numHandles >= m_maxHandles)
 	{
 		btAssert(0);
-		return 0;  //should never happen, but don't let the game crash ;-)
+		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]);
+	btAssert(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);
+	btSimpleBroadphaseProxy* proxy = new (&m_pHandles[newHandleIndex])btSimpleBroadphaseProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy);
 
 	return proxy;
 }
 
-class RemovingOverlapCallback : public btOverlapCallback
+class	RemovingOverlapCallback : public btOverlapCallback
 {
 protected:
-	virtual bool processOverlap(btBroadphasePair& pair)
+	virtual bool	processOverlap(btBroadphasePair& pair)
 	{
 		(void)pair;
 		btAssert(0);
@@ -104,13 +112,12 @@ protected:
 
 class RemovePairContainingProxy
 {
-	btBroadphaseProxy* m_targetProxy;
 
-public:
+	btBroadphaseProxy*	m_targetProxy;
+	public:
 	virtual ~RemovePairContainingProxy()
 	{
 	}
-
 protected:
 	virtual bool processOverlap(btBroadphasePair& pair)
 	{
@@ -121,36 +128,38 @@ protected:
 	};
 };
 
-void btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg, btDispatcher* dispatcher)
+void	btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg,btDispatcher* dispatcher)
 {
-	m_pairCache->removeOverlappingPairsContainingProxy(proxyOrg, dispatcher);
+		
+		btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxyOrg);
+		freeHandle(proxy0);
 
-	btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxyOrg);
-	freeHandle(proxy0);
+		m_pairCache->removeOverlappingPairsContainingProxy(proxyOrg,dispatcher);
 
-	//validate();
+		//validate();
+		
 }
 
-void btSimpleBroadphase::getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const
+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*/)
+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;
 }
 
-void btSimpleBroadphase::rayTest(const btVector3& rayFrom, const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin, const btVector3& 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++)
+	for (int i=0; i <= m_LastHandleIndex; i++)
 	{
 		btSimpleBroadphaseProxy* proxy = &m_pHandles[i];
-		if (!proxy->m_clientObject)
+		if(!proxy->m_clientObject)
 		{
 			continue;
 		}
@@ -158,59 +167,69 @@ void btSimpleBroadphase::rayTest(const btVector3& rayFrom, const btVector3& rayT
 	}
 }
 
-void btSimpleBroadphase::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
+
+void	btSimpleBroadphase::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
 {
-	for (int i = 0; i <= m_LastHandleIndex; i++)
+	for (int i=0; i <= m_LastHandleIndex; i++)
 	{
 		btSimpleBroadphaseProxy* proxy = &m_pHandles[i];
-		if (!proxy->m_clientObject)
+		if(!proxy->m_clientObject)
 		{
 			continue;
 		}
-		if (TestAabbAgainstAabb2(aabbMin, aabbMax, proxy->m_aabbMin, proxy->m_aabbMax))
+		if (TestAabbAgainstAabb2(aabbMin,aabbMax,proxy->m_aabbMin,proxy->m_aabbMax))
 		{
 			callback.process(proxy);
 		}
 	}
 }
 
-bool btSimpleBroadphase::aabbOverlap(btSimpleBroadphaseProxy* proxy0, btSimpleBroadphaseProxy* proxy1)
+
+
+	
+
+
+
+bool	btSimpleBroadphase::aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1)
 {
-	return proxy0->m_aabbMin[0] <= proxy1->m_aabbMax[0] && proxy1->m_aabbMin[0] <= proxy0->m_aabbMax[0] &&
+	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];
+
 }
 
+
+
 //then remove non-overlapping ones
 class CheckOverlapCallback : public btOverlapCallback
 {
 public:
 	virtual bool processOverlap(btBroadphasePair& pair)
 	{
-		return (!btSimpleBroadphase::aabbOverlap(static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy0), static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy1)));
+		return (!btSimpleBroadphase::aabbOverlap(static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy0),static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy1)));
 	}
 };
 
-void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
+void	btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 {
 	//first check for new overlapping pairs
-	int i, j;
+	int i,j;
 	if (m_numHandles >= 0)
 	{
 		int new_largest_index = -1;
-		for (i = 0; i <= m_LastHandleIndex; i++)
+		for (i=0; i <= m_LastHandleIndex; i++)
 		{
 			btSimpleBroadphaseProxy* proxy0 = &m_pHandles[i];
-			if (!proxy0->m_clientObject)
+			if(!proxy0->m_clientObject)
 			{
 				continue;
 			}
 			new_largest_index = i;
-			for (j = i + 1; j <= m_LastHandleIndex; j++)
+			for (j=i+1; j <= m_LastHandleIndex; j++)
 			{
 				btSimpleBroadphaseProxy* proxy1 = &m_pHandles[j];
 				btAssert(proxy0 != proxy1);
-				if (!proxy1->m_clientObject)
+				if(!proxy1->m_clientObject)
 				{
 					continue;
 				}
@@ -218,20 +237,19 @@ void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 				btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
 				btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
 
-				if (aabbOverlap(p0, p1))
+				if (aabbOverlap(p0,p1))
 				{
-					if (!m_pairCache->findPair(proxy0, proxy1))
+					if ( !m_pairCache->findPair(proxy0,proxy1))
 					{
-						m_pairCache->addOverlappingPair(proxy0, proxy1);
+						m_pairCache->addOverlappingPair(proxy0,proxy1);
 					}
-				}
-				else
+				} else
 				{
 					if (!m_pairCache->hasDeferredRemoval())
 					{
-						if (m_pairCache->findPair(proxy0, proxy1))
+						if ( m_pairCache->findPair(proxy0,proxy1))
 						{
-							m_pairCache->removeOverlappingPair(proxy0, proxy1, dispatcher);
+							m_pairCache->removeOverlappingPair(proxy0,proxy1,dispatcher);
 						}
 					}
 				}
@@ -242,7 +260,8 @@ void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 
 		if (m_ownsPairCache && m_pairCache->hasDeferredRemoval())
 		{
-			btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray();
+
+			btBroadphasePairArray&	overlappingPairArray = m_pairCache->getOverlappingPairArray();
 
 			//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
 			overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
@@ -250,13 +269,16 @@ void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 			overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
 			m_invalidPair = 0;
 
+
 			btBroadphasePair previousPair;
 			previousPair.m_pProxy0 = 0;
 			previousPair.m_pProxy1 = 0;
 			previousPair.m_algorithm = 0;
 
-			for (i = 0; i < overlappingPairArray.size(); i++)
+
+			for (i=0;i<overlappingPairArray.size();i++)
 			{
+
 				btBroadphasePair& pair = overlappingPairArray[i];
 
 				bool isDuplicate = (pair == previousPair);
@@ -267,18 +289,16 @@ void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 
 				if (!isDuplicate)
 				{
-					bool hasOverlap = testAabbOverlap(pair.m_pProxy0, pair.m_pProxy1);
+					bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
 
 					if (hasOverlap)
 					{
-						needsRemoval = false;  //callback->processOverlap(pair);
-					}
-					else
+						needsRemoval = false;//callback->processOverlap(pair);
+					} else
 					{
 						needsRemoval = true;
 					}
-				}
-				else
+				} else
 				{
 					//remove duplicate
 					needsRemoval = true;
@@ -288,14 +308,16 @@ void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 
 				if (needsRemoval)
 				{
-					m_pairCache->cleanOverlappingPair(pair, dispatcher);
+					m_pairCache->cleanOverlappingPair(pair,dispatcher);
 
 					//		m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
 					//		m_overlappingPairArray.pop_back();
 					pair.m_pProxy0 = 0;
 					pair.m_pProxy1 = 0;
 					m_invalidPair++;
-				}
+					gOverlappingPairs--;
+				} 
+
 			}
 
 			///if you don't like to skip the invalid pairs in the array, execute following code:
@@ -307,19 +329,21 @@ void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
 
 			overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
 			m_invalidPair = 0;
-#endif  //CLEAN_INVALID_PAIRS
+#endif//CLEAN_INVALID_PAIRS
+
 		}
 	}
 }
 
-bool btSimpleBroadphase::testAabbOverlap(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
+
+bool btSimpleBroadphase::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
 {
 	btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
 	btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
-	return aabbOverlap(p0, p1);
+	return aabbOverlap(p0,p1);
 }
 
-void btSimpleBroadphase::resetPool(btDispatcher* dispatcher)
+void	btSimpleBroadphase::resetPool(btDispatcher* dispatcher)
 {
 	//not yet
 }

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

@@ -16,47 +16,57 @@ subject to the following restrictions:
 #ifndef BT_SIMPLE_BROADPHASE_H
 #define BT_SIMPLE_BROADPHASE_H
 
+
 #include "btOverlappingPairCache.h"
 
+
 struct btSimpleBroadphaseProxy : public btBroadphaseProxy
 {
-	int m_nextFree;
+	int			m_nextFree;
+	
+//	int			m_handleId;
 
-	//	int			m_handleId;
+	
+	btSimpleBroadphaseProxy() {};
 
-	btSimpleBroadphaseProxy(){};
-
-	btSimpleBroadphaseProxy(const btVector3& minpt, const btVector3& maxpt, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask)
-		: btBroadphaseProxy(minpt, maxpt, userPtr, collisionFilterGroup, collisionFilterMask)
+	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)
 	{
 		(void)shapeType;
 	}
+	
+	
+	SIMD_FORCE_INLINE void SetNextFree(int next) {m_nextFree = next;}
+	SIMD_FORCE_INLINE int GetNextFree() const {return m_nextFree;}
+
+	
+
 
-	SIMD_FORCE_INLINE void SetNextFree(int next) { m_nextFree = next; }
-	SIMD_FORCE_INLINE int GetNextFree() const { return m_nextFree; }
 };
 
 ///The SimpleBroadphase is just a unit-test for btAxisSweep3, bt32BitAxisSweep3, or btDbvtBroadphase, so use those classes instead.
 ///It is a brute force aabb culling broadphase based on O(n^2) aabb checks
 class btSimpleBroadphase : public btBroadphaseInterface
 {
-protected:
-	int m_numHandles;  // number of active handles
-	int m_maxHandles;  // max number of handles
-	int m_LastHandleIndex;
 
-	btSimpleBroadphaseProxy* m_pHandles;  // handles pool
+protected:
+
+	int		m_numHandles;						// number of active handles
+	int		m_maxHandles;						// max number of handles
+	int		m_LastHandleIndex;							
+	
+	btSimpleBroadphaseProxy* m_pHandles;						// handles pool
 
 	void* m_pHandlesRawPtr;
-	int m_firstFreeHandle;  // free handles list
-
+	int		m_firstFreeHandle;		// free handles list
+	
 	int allocHandle()
 	{
 		btAssert(m_numHandles < m_maxHandles);
 		int freeHandle = m_firstFreeHandle;
 		m_firstFreeHandle = m_pHandles[freeHandle].GetNextFree();
 		m_numHandles++;
-		if (freeHandle > m_LastHandleIndex)
+		if(freeHandle > m_LastHandleIndex)
 		{
 			m_LastHandleIndex = freeHandle;
 		}
@@ -65,9 +75,9 @@ protected:
 
 	void freeHandle(btSimpleBroadphaseProxy* proxy)
 	{
-		int handle = int(proxy - m_pHandles);
+		int handle = int(proxy-m_pHandles);
 		btAssert(handle >= 0 && handle < m_maxHandles);
-		if (handle == m_LastHandleIndex)
+		if(handle == m_LastHandleIndex)
 		{
 			m_LastHandleIndex--;
 		}
@@ -79,18 +89,20 @@ protected:
 		m_numHandles--;
 	}
 
-	btOverlappingPairCache* m_pairCache;
-	bool m_ownsPairCache;
+	btOverlappingPairCache*	m_pairCache;
+	bool	m_ownsPairCache;
 
-	int m_invalidPair;
+	int	m_invalidPair;
 
-	inline btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy)
+	
+	
+	inline btSimpleBroadphaseProxy*	getSimpleProxyFromProxy(btBroadphaseProxy* proxy)
 	{
 		btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxy);
 		return proxy0;
 	}
 
-	inline const btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy) const
+	inline const btSimpleBroadphaseProxy*	getSimpleProxyFromProxy(btBroadphaseProxy* proxy) const
 	{
 		const btSimpleBroadphaseProxy* proxy0 = static_cast<const btSimpleBroadphaseProxy*>(proxy);
 		return proxy0;
@@ -99,50 +111,61 @@ protected:
 	///reset broadphase internal structures, to ensure determinism/reproducability
 	virtual void resetPool(btDispatcher* dispatcher);
 
-	void validate();
+
+	void	validate();
 
 protected:
+
+
+	
+
 public:
-	btSimpleBroadphase(int maxProxies = 16384, btOverlappingPairCache* overlappingPairCache = 0);
+	btSimpleBroadphase(int maxProxies=16384,btOverlappingPairCache* overlappingPairCache=0);
 	virtual ~btSimpleBroadphase();
 
-	static bool aabbOverlap(btSimpleBroadphaseProxy* proxy0, btSimpleBroadphaseProxy* proxy1);
 
-	virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher);
+		static bool	aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1);
 
-	virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
 
-	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 btBroadphaseProxy*	createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
 
-	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 aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
+	virtual void	calculateOverlappingPairs(btDispatcher* dispatcher);
 
-	btOverlappingPairCache* getOverlappingPairCache()
+	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));
+	virtual void	aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
+		
+	btOverlappingPairCache*	getOverlappingPairCache()
 	{
 		return m_pairCache;
 	}
-	const btOverlappingPairCache* getOverlappingPairCache() const
+	const btOverlappingPairCache*	getOverlappingPairCache() const
 	{
 		return m_pairCache;
 	}
 
-	bool testAabbOverlap(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
+	bool	testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
+
 
 	///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
 	///will add some transform later
-	virtual void getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const
+	virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
 	{
-		aabbMin.setValue(-BT_LARGE_FLOAT, -BT_LARGE_FLOAT, -BT_LARGE_FLOAT);
-		aabbMax.setValue(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT);
+		aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
+		aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
 	}
 
-	virtual void printStats()
+	virtual void	printStats()
 	{
-		//		printf("btSimpleBroadphase.h\n");
-		//		printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
+//		printf("btSimpleBroadphase.h\n");
+//		printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
 	}
 };
 
-#endif  //BT_SIMPLE_BROADPHASE_H
+
+
+#endif //BT_SIMPLE_BROADPHASE_H
+

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

@@ -18,162 +18,145 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btTriangleShape.h"
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
 
-SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere, btTriangleShape* triangle, btScalar contactBreakingThreshold)
-	: m_sphere(sphere),
-	  m_triangle(triangle),
-	  m_contactBreakingThreshold(contactBreakingThreshold)
+
+SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle,btScalar contactBreakingThreshold)
+:m_sphere(sphere),
+m_triangle(triangle),
+m_contactBreakingThreshold(contactBreakingThreshold)
 {
+
 }
 
-void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw, bool swapResults)
+void	SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults)
 {
+
 	(void)debugDraw;
 	const btTransform& transformA = input.m_transformA;
 	const btTransform& transformB = input.m_transformB;
 
-	btVector3 point, normal;
+	btVector3 point,normal;
 	btScalar timeOfImpact = btScalar(1.);
 	btScalar depth = btScalar(0.);
-	//	output.m_distance = btScalar(BT_LARGE_FLOAT);
+//	output.m_distance = btScalar(BT_LARGE_FLOAT);
 	//move sphere into triangle space
-	btTransform sphereInTr = transformB.inverseTimes(transformA);
+	btTransform	sphereInTr = transformB.inverseTimes(transformA);
 
-	if (collide(sphereInTr.getOrigin(), point, normal, depth, timeOfImpact, m_contactBreakingThreshold))
+	if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact,m_contactBreakingThreshold))
 	{
 		if (swapResults)
 		{
-			btVector3 normalOnB = transformB.getBasis() * normal;
+			btVector3 normalOnB = transformB.getBasis()*normal;
 			btVector3 normalOnA = -normalOnB;
-			btVector3 pointOnA = transformB * point + normalOnB * depth;
-			output.addContactPoint(normalOnA, pointOnA, depth);
-		}
-		else
+			btVector3 pointOnA = transformB*point+normalOnB*depth;
+			output.addContactPoint(normalOnA,pointOnA,depth);
+		} else
 		{
-			output.addContactPoint(transformB.getBasis() * normal, transformB * point, depth);
+			output.addContactPoint(transformB.getBasis()*normal,transformB*point,depth);
 		}
 	}
+
 }
 
+
+
 // See also geometrictools.com
 // Basic idea: D = |p - (lo + t0*lv)| where t0 = lv . (p - lo) / lv . lv
-btScalar SegmentSqrDistance(const btVector3& from, const btVector3& to, const btVector3& p, btVector3& nearest);
+btScalar SegmentSqrDistance(const btVector3& from, const btVector3& to,const btVector3 &p, btVector3 &nearest);
 
-btScalar SegmentSqrDistance(const btVector3& from, const btVector3& to, const btVector3& p, btVector3& nearest)
-{
+btScalar SegmentSqrDistance(const btVector3& from, const btVector3& to,const btVector3 &p, btVector3 &nearest) {
 	btVector3 diff = p - from;
 	btVector3 v = to - from;
 	btScalar t = v.dot(diff);
-
-	if (t > 0)
-	{
+	
+	if (t > 0) {
 		btScalar dotVV = v.dot(v);
-		if (t < dotVV)
-		{
+		if (t < dotVV) {
 			t /= dotVV;
-			diff -= t * v;
-		}
-		else
-		{
+			diff -= t*v;
+		} else {
 			t = 1;
 			diff -= v;
 		}
-	}
-	else
+	} else
 		t = 0;
 
-	nearest = from + t * v;
-	return diff.dot(diff);
+	nearest = from + t*v;
+	return diff.dot(diff);	
 }
 
-bool SphereTriangleDetector::facecontains(const btVector3& p, const btVector3* vertices, btVector3& normal)
-{
+bool SphereTriangleDetector::facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal)  {
 	btVector3 lp(p);
 	btVector3 lnormal(normal);
-
+	
 	return pointInTriangle(vertices, lnormal, &lp);
 }
 
-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, btScalar contactBreakingThreshold)
 {
-	const btVector3* vertices = &m_triangle->getVertexPtr(0);
 
+	const btVector3* vertices = &m_triangle->getVertexPtr(0);
+	
 	btScalar radius = m_sphere->getRadius();
 	btScalar radiusWithThreshold = radius + contactBreakingThreshold;
 
-	btVector3 normal = (vertices[1] - vertices[0]).cross(vertices[2] - vertices[0]);
+	btVector3 normal = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]);
+	normal.normalize();
+	btVector3 p1ToCentre = sphereCenter - vertices[0];
+	btScalar distanceFromPlane = p1ToCentre.dot(normal);
 
-	btScalar l2 = normal.length2();
+	if (distanceFromPlane < btScalar(0.))
+	{
+		//triangle facing the other way
+		distanceFromPlane *= btScalar(-1.);
+		normal *= btScalar(-1.);
+	}
+
+	bool isInsideContactPlane = distanceFromPlane < radiusWithThreshold;
+	
+	// Check for contact / intersection
 	bool hasContact = false;
 	btVector3 contactPoint;
+	if (isInsideContactPlane) {
+		if (facecontains(sphereCenter,vertices,normal)) {
+			// Inside the contact wedge - touches a point on the shell plane
+			hasContact = true;
+			contactPoint = sphereCenter - normal*distanceFromPlane;
+		} else {
+			// Could be inside one of the contact capsules
+			btScalar contactCapsuleRadiusSqr = radiusWithThreshold*radiusWithThreshold;
+			btVector3 nearestOnEdge;
+			for (int i = 0; i < m_triangle->getNumEdges(); i++) {
+				
+				btVector3 pa;
+				btVector3 pb;
+				
+				m_triangle->getEdge(i,pa,pb);
 
-	if (l2 >= SIMD_EPSILON * SIMD_EPSILON)
-	{
-		normal /= btSqrt(l2);
-
-		btVector3 p1ToCentre = sphereCenter - vertices[0];
-		btScalar distanceFromPlane = p1ToCentre.dot(normal);
-
-		if (distanceFromPlane < btScalar(0.))
-		{
-			//triangle facing the other way
-			distanceFromPlane *= btScalar(-1.);
-			normal *= btScalar(-1.);
-		}
-
-		bool isInsideContactPlane = distanceFromPlane < radiusWithThreshold;
-
-		// Check for contact / intersection
-
-		if (isInsideContactPlane)
-		{
-			if (facecontains(sphereCenter, vertices, normal))
-			{
-				// Inside the contact wedge - touches a point on the shell plane
-				hasContact = true;
-				contactPoint = sphereCenter - normal * distanceFromPlane;
-			}
-			else
-			{
-				// Could be inside one of the contact capsules
-				btScalar contactCapsuleRadiusSqr = radiusWithThreshold * radiusWithThreshold;
-				btScalar minDistSqr = contactCapsuleRadiusSqr;
-				btVector3 nearestOnEdge;
-				for (int i = 0; i < m_triangle->getNumEdges(); i++)
-				{
-					btVector3 pa;
-					btVector3 pb;
-
-					m_triangle->getEdge(i, pa, pb);
-
-					btScalar distanceSqr = SegmentSqrDistance(pa, pb, sphereCenter, nearestOnEdge);
-					if (distanceSqr < minDistSqr)
-					{
-						// Yep, we're inside a capsule, and record the capsule with smallest distance
-						minDistSqr = distanceSqr;
-						hasContact = true;
-						contactPoint = nearestOnEdge;
-					}
+				btScalar distanceSqr = SegmentSqrDistance(pa,pb,sphereCenter, nearestOnEdge);
+				if (distanceSqr < contactCapsuleRadiusSqr) {
+					// Yep, we're inside a capsule
+					hasContact = true;
+					contactPoint = nearestOnEdge;
 				}
+				
 			}
 		}
 	}
 
-	if (hasContact)
-	{
+	if (hasContact) {
 		btVector3 contactToCentre = sphereCenter - contactPoint;
 		btScalar distanceSqr = contactToCentre.length2();
 
-		if (distanceSqr < radiusWithThreshold * radiusWithThreshold)
+		if (distanceSqr < radiusWithThreshold*radiusWithThreshold)
 		{
-			if (distanceSqr > SIMD_EPSILON)
+			if (distanceSqr>SIMD_EPSILON)
 			{
 				btScalar distance = btSqrt(distanceSqr);
 				resultNormal = contactToCentre;
 				resultNormal.normalize();
 				point = contactPoint;
-				depth = -(radius - distance);
-			}
-			else
+				depth = -(radius-distance);
+			} else
 			{
 				resultNormal = normal;
 				point = contactPoint;
@@ -182,34 +165,36 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter, btVector3& p
 			return true;
 		}
 	}
-
+	
 	return false;
 }
 
-bool SphereTriangleDetector::pointInTriangle(const btVector3 vertices[], const btVector3& normal, btVector3* p)
+
+bool SphereTriangleDetector::pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p )
 {
 	const btVector3* p1 = &vertices[0];
 	const btVector3* p2 = &vertices[1];
 	const btVector3* p3 = &vertices[2];
 
-	btVector3 edge1(*p2 - *p1);
-	btVector3 edge2(*p3 - *p2);
-	btVector3 edge3(*p1 - *p3);
+	btVector3 edge1( *p2 - *p1 );
+	btVector3 edge2( *p3 - *p2 );
+	btVector3 edge3( *p1 - *p3 );
 
-	btVector3 p1_to_p(*p - *p1);
-	btVector3 p2_to_p(*p - *p2);
-	btVector3 p3_to_p(*p - *p3);
-
-	btVector3 edge1_normal(edge1.cross(normal));
-	btVector3 edge2_normal(edge2.cross(normal));
-	btVector3 edge3_normal(edge3.cross(normal));
+	btVector3 p1_to_p( *p - *p1 );
+	btVector3 p2_to_p( *p - *p2 );
+	btVector3 p3_to_p( *p - *p3 );
 
+	btVector3 edge1_normal( edge1.cross(normal));
+	btVector3 edge2_normal( edge2.cross(normal));
+	btVector3 edge3_normal( edge3.cross(normal));
+	
 	btScalar r1, r2, r3;
-	r1 = edge1_normal.dot(p1_to_p);
-	r2 = edge2_normal.dot(p2_to_p);
-	r3 = edge3_normal.dot(p3_to_p);
-	if ((r1 > 0 && r2 > 0 && r3 > 0) ||
-		(r1 <= 0 && r2 <= 0 && r3 <= 0))
+	r1 = edge1_normal.dot( p1_to_p );
+	r2 = edge2_normal.dot( p2_to_p );
+	r3 = edge3_normal.dot( p3_to_p );
+	if ( ( r1 > 0 && r2 > 0 && r3 > 0 ) ||
+	     ( r1 <= 0 && r2 <= 0 && r3 <= 0 ) )
 		return true;
 	return false;
+
 }

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

@@ -18,26 +18,34 @@ subject to the following restrictions:
 
 #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
 
+
+
 class btSphereShape;
 class btTriangleShape;
 
+
+
 /// sphere-triangle to match the btDiscreteCollisionDetectorInterface
 struct SphereTriangleDetector : public btDiscreteCollisionDetectorInterface
 {
-	virtual void getClosestPoints(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw, bool swapResults = false);
+	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, btScalar contactBreakingThreshold);
 
-	virtual ~SphereTriangleDetector(){};
+	virtual ~SphereTriangleDetector() {};
 
-	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, btScalar	contactBreakingThreshold);
 
 private:
-	bool pointInTriangle(const btVector3 vertices[], const btVector3& normal, btVector3* p);
-	bool facecontains(const btVector3& p, const btVector3* vertices, btVector3& normal);
+
+	
+	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;
+	btScalar	m_contactBreakingThreshold;
+	
 };
-#endif  //BT_SPHERE_TRIANGLE_DETECTOR_H
+#endif //BT_SPHERE_TRIANGLE_DETECTOR_H
+

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

@@ -17,31 +17,31 @@ subject to the following restrictions:
 #include "btCollisionDispatcher.h"
 #include "btCollisionObject.h"
 
-btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
-	: btCollisionAlgorithm(ci)
+btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci)
+:btCollisionAlgorithm(ci)
 //,
 //m_colObj0(0),
 //m_colObj1(0)
 {
 }
-btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper*, const btCollisionObjectWrapper*)
-	: btCollisionAlgorithm(ci)
+btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* ,const btCollisionObjectWrapper* )
+: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();
-	//	}
+//	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();
+//		m_colObj0->activate();
+//		m_colObj1->activate();
 }

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

@@ -21,15 +21,16 @@ subject to the following restrictions:
 ///This class is not enabled yet (work-in-progress) to more aggressively activate objects.
 class btActivatingCollisionAlgorithm : public btCollisionAlgorithm
 {
-	//	btCollisionObject* m_colObj0;
-	//	btCollisionObject* m_colObj1;
-
-protected:
-	btActivatingCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci);
-
-	btActivatingCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap);
+//	btCollisionObject* m_colObj0;
+//	btCollisionObject* m_colObj1;
 
 public:
+
+	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci);
+
+	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
+
 	virtual ~btActivatingCollisionAlgorithm();
+
 };
-#endif  //__BT_ACTIVATING_COLLISION_ALGORITHM_H
+#endif //__BT_ACTIVATING_COLLISION_ALGORITHM_H

extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp

@@ -26,55 +26,61 @@ subject to the following restrictions:
 
 #define USE_PERSISTENT_CONTACTS 1
 
-btBox2dBox2dCollisionAlgorithm::btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* obj0Wrap, const btCollisionObjectWrapper* obj1Wrap)
-	: btActivatingCollisionAlgorithm(ci, obj0Wrap, obj1Wrap),
-	  m_ownManifold(false),
-	  m_manifoldPtr(mf)
+btBox2dBox2dCollisionAlgorithm::btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* obj0Wrap,const btCollisionObjectWrapper* obj1Wrap)
+: btActivatingCollisionAlgorithm(ci,obj0Wrap,obj1Wrap),
+m_ownManifold(false),
+m_manifoldPtr(mf)
 {
-	if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0Wrap->getCollisionObject(), obj1Wrap->getCollisionObject()))
+	if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0Wrap->getCollisionObject(),obj1Wrap->getCollisionObject()))
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(obj0Wrap->getCollisionObject(), obj1Wrap->getCollisionObject());
+		m_manifoldPtr = m_dispatcher->getNewManifold(obj0Wrap->getCollisionObject(),obj1Wrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 }
 
 btBox2dBox2dCollisionAlgorithm::~btBox2dBox2dCollisionAlgorithm()
 {
+	
 	if (m_ownManifold)
 	{
 		if (m_manifoldPtr)
 			m_dispatcher->releaseManifold(m_manifoldPtr);
 	}
+	
 }
 
-void b2CollidePolygons(btManifoldResult* manifold, const btBox2dShape* polyA, const btTransform& xfA, const btBox2dShape* polyB, const btTransform& xfB);
+
+void b2CollidePolygons(btManifoldResult* manifold,  const btBox2dShape* polyA, const btTransform& xfA, const btBox2dShape* polyB, const btTransform& xfB);
 
 //#include <stdio.h>
-void btBox2dBox2dCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
+void btBox2dBox2dCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
 	if (!m_manifoldPtr)
 		return;
 
+	
 	const btBox2dShape* box0 = (const btBox2dShape*)body0Wrap->getCollisionShape();
 	const btBox2dShape* box1 = (const btBox2dShape*)body1Wrap->getCollisionShape();
 
 	resultOut->setPersistentManifold(m_manifoldPtr);
 
-	b2CollidePolygons(resultOut, box0, body0Wrap->getWorldTransform(), box1, body1Wrap->getWorldTransform());
+	b2CollidePolygons(resultOut,box0,body0Wrap->getWorldTransform(),box1,body1Wrap->getWorldTransform());
 
 	//  refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
 	if (m_ownManifold)
 	{
 		resultOut->refreshContactPoints();
 	}
+
 }
 
-btScalar btBox2dBox2dCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/, btCollisionObject* /*body1*/, const btDispatcherInfo& /*dispatchInfo*/, btManifoldResult* /*resultOut*/)
+btScalar btBox2dBox2dCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/)
 {
 	//not yet
 	return 1.f;
 }
 
+
 struct ClipVertex
 {
 	btVector3 v;
@@ -83,16 +89,16 @@ struct ClipVertex
 	//b2ContactID id;
 };
 
-#define b2Dot(a, b) (a).dot(b)
-#define b2Mul(a, b) (a) * (b)
-#define b2MulT(a, b) (a).transpose() * (b)
-#define b2Cross(a, b) (a).cross(b)
-#define btCrossS(a, s) btVector3(s* a.getY(), -s* a.getX(), 0.f)
+#define b2Dot(a,b) (a).dot(b)
+#define b2Mul(a,b) (a)*(b)
+#define b2MulT(a,b) (a).transpose()*(b)
+#define b2Cross(a,b) (a).cross(b)
+#define btCrossS(a,s) btVector3(s * a.getY(), -s * a.getX(),0.f)
 
-int b2_maxManifoldPoints = 2;
+int b2_maxManifoldPoints =2;
 
 static int ClipSegmentToLine(ClipVertex vOut[2], ClipVertex vIn[2],
-							 const btVector3& normal, btScalar offset)
+					  const btVector3& normal, btScalar offset)
 {
 	// Start with no output points
 	int numOut = 0;
@@ -127,7 +133,7 @@ static int ClipSegmentToLine(ClipVertex vOut[2], ClipVertex vIn[2],
 
 // Find the separation between poly1 and poly2 for a give edge normal on poly1.
 static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1, int edge1,
-							   const btBox2dShape* poly2, const btTransform& xf2)
+							  const btBox2dShape* poly2, const btTransform& xf2)
 {
 	const btVector3* vertices1 = poly1->getVertices();
 	const btVector3* normals1 = poly1->getNormals();
@@ -145,8 +151,8 @@ static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1
 	int index = 0;
 	btScalar minDot = BT_LARGE_FLOAT;
 
-	if (count2 > 0)
-		index = (int)normal1.minDot(vertices2, count2, minDot);
+	if( count2 > 0 )
+		index = (int) normal1.minDot( vertices2, count2, minDot);
 
 	btVector3 v1 = b2Mul(xf1, vertices1[edge1]);
 	btVector3 v2 = b2Mul(xf2, vertices2[index]);
@@ -156,8 +162,8 @@ static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1
 
 // Find the max separation between poly1 and poly2 using edge normals from poly1.
 static btScalar FindMaxSeparation(int* edgeIndex,
-								  const btBox2dShape* poly1, const btTransform& xf1,
-								  const btBox2dShape* poly2, const btTransform& xf2)
+								 const btBox2dShape* poly1, const btTransform& xf1,
+								 const btBox2dShape* poly2, const btTransform& xf2)
 {
 	int count1 = poly1->getVertexCount();
 	const btVector3* normals1 = poly1->getNormals();
@@ -169,8 +175,8 @@ static btScalar FindMaxSeparation(int* edgeIndex,
 	// Find edge normal on poly1 that has the largest projection onto d.
 	int edge = 0;
 	btScalar maxDot;
-	if (count1 > 0)
-		edge = (int)dLocal1.maxDot(normals1, count1, maxDot);
+	if( count1 > 0 )
+		edge = (int) dLocal1.maxDot( normals1, count1, maxDot);
 
 	// Get the separation for the edge normal.
 	btScalar s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
@@ -218,7 +224,7 @@ static btScalar FindMaxSeparation(int* edgeIndex,
 	}
 
 	// Perform a local search for the best edge normal.
-	for (;;)
+	for ( ; ; )
 	{
 		if (increment == -1)
 			edge = bestEdge - 1 >= 0 ? bestEdge - 1 : count1 - 1;
@@ -279,14 +285,14 @@ static void FindIncidentEdge(ClipVertex c[2],
 	int i2 = i1 + 1 < count2 ? i1 + 1 : 0;
 
 	c[0].v = b2Mul(xf2, vertices2[i1]);
-	//	c[0].id.features.referenceEdge = (unsigned char)edge1;
-	//	c[0].id.features.incidentEdge = (unsigned char)i1;
-	//	c[0].id.features.incidentVertex = 0;
+//	c[0].id.features.referenceEdge = (unsigned char)edge1;
+//	c[0].id.features.incidentEdge = (unsigned char)i1;
+//	c[0].id.features.incidentVertex = 0;
 
 	c[1].v = b2Mul(xf2, vertices2[i2]);
-	//	c[1].id.features.referenceEdge = (unsigned char)edge1;
-	//	c[1].id.features.incidentEdge = (unsigned char)i2;
-	//	c[1].id.features.incidentVertex = 1;
+//	c[1].id.features.referenceEdge = (unsigned char)edge1;
+//	c[1].id.features.incidentEdge = (unsigned char)i2;
+//	c[1].id.features.incidentVertex = 1;
 }
 
 // Find edge normal of max separation on A - return if separating axis is found
@@ -297,9 +303,10 @@ static void FindIncidentEdge(ClipVertex c[2],
 
 // The normal points from 1 to 2
 void b2CollidePolygons(btManifoldResult* manifold,
-					   const btBox2dShape* polyA, const btTransform& xfA,
-					   const btBox2dShape* polyB, const btTransform& xfB)
+					  const btBox2dShape* polyA, const btTransform& xfA,
+					  const btBox2dShape* polyB, const btTransform& xfB)
 {
+
 	int edgeA = 0;
 	btScalar separationA = FindMaxSeparation(&edgeA, polyA, xfA, polyB, xfB);
 	if (separationA > 0.0f)
@@ -310,10 +317,10 @@ void b2CollidePolygons(btManifoldResult* manifold,
 	if (separationB > 0.0f)
 		return;
 
-	const btBox2dShape* poly1;  // reference poly
-	const btBox2dShape* poly2;  // incident poly
+	const btBox2dShape* poly1;	// reference poly
+	const btBox2dShape* poly2;	// incident poly
 	btTransform xf1, xf2;
-	int edge1;  // reference edge
+	int edge1;		// reference edge
 	unsigned char flip;
 	const btScalar k_relativeTol = 0.98f;
 	const btScalar k_absoluteTol = 0.001f;
@@ -345,13 +352,14 @@ void b2CollidePolygons(btManifoldResult* manifold,
 	const btVector3* vertices1 = poly1->getVertices();
 
 	btVector3 v11 = vertices1[edge1];
-	btVector3 v12 = edge1 + 1 < count1 ? vertices1[edge1 + 1] : vertices1[0];
+	btVector3 v12 = edge1 + 1 < count1 ? vertices1[edge1+1] : vertices1[0];
 
 	//btVector3 dv = v12 - v11;
 	btVector3 sideNormal = b2Mul(xf1.getBasis(), v12 - v11);
 	sideNormal.normalize();
 	btVector3 frontNormal = btCrossS(sideNormal, 1.0f);
-
+	
+	
 	v11 = b2Mul(xf1, v11);
 	v12 = b2Mul(xf1, v12);
 
@@ -361,12 +369,13 @@ void b2CollidePolygons(btManifoldResult* manifold,
 
 	// Clip incident edge against extruded edge1 side edges.
 	ClipVertex clipPoints1[2];
-	clipPoints1[0].v.setValue(0, 0, 0);
-	clipPoints1[1].v.setValue(0, 0, 0);
+	clipPoints1[0].v.setValue(0,0,0);
+	clipPoints1[1].v.setValue(0,0,0);
 
 	ClipVertex clipPoints2[2];
-	clipPoints2[0].v.setValue(0, 0, 0);
-	clipPoints2[1].v.setValue(0, 0, 0);
+	clipPoints2[0].v.setValue(0,0,0);
+	clipPoints2[1].v.setValue(0,0,0);
+
 
 	int np;
 
@@ -377,7 +386,7 @@ void b2CollidePolygons(btManifoldResult* manifold,
 		return;
 
 	// Clip to negative box side 1
-	np = ClipSegmentToLine(clipPoints2, clipPoints1, sideNormal, sideOffset2);
+	np = ClipSegmentToLine(clipPoints2, clipPoints1,  sideNormal, sideOffset2);
 
 	if (np < 2)
 	{
@@ -394,18 +403,19 @@ void b2CollidePolygons(btManifoldResult* manifold,
 
 		if (separation <= 0.0f)
 		{
+			
 			//b2ManifoldPoint* cp = manifold->points + pointCount;
 			//btScalar separation = separation;
 			//cp->localPoint1 = b2MulT(xfA, clipPoints2[i].v);
 			//cp->localPoint2 = b2MulT(xfB, clipPoints2[i].v);
 
-			manifold->addContactPoint(-manifoldNormal, clipPoints2[i].v, separation);
+			manifold->addContactPoint(-manifoldNormal,clipPoints2[i].v,separation);
 
-			//			cp->id = clipPoints2[i].id;
-			//			cp->id.features.flip = flip;
+//			cp->id = clipPoints2[i].id;
+//			cp->id.features.flip = flip;
 			++pointCount;
 		}
 	}
 
-	//	manifold->pointCount = pointCount;}
+//	manifold->pointCount = pointCount;}
 }

extern/bullet2/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h

@@ -26,22 +26,22 @@ class btPersistentManifold;
 ///box-box collision detection
 class btBox2dBox2dCollisionAlgorithm : public btActivatingCollisionAlgorithm
 {
-	bool m_ownManifold;
-	btPersistentManifold* m_manifoldPtr;
-
+	bool	m_ownManifold;
+	btPersistentManifold*	m_manifoldPtr;
+	
 public:
 	btBox2dBox2dCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
 		: btActivatingCollisionAlgorithm(ci) {}
 
-	virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
+	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
+	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
-	btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap);
+	btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
 
 	virtual ~btBox2dBox2dCollisionAlgorithm();
 
-	virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
 	{
 		if (m_manifoldPtr && m_ownManifold)
 		{
@@ -49,15 +49,18 @@ public:
 		}
 	}
 
-	struct CreateFunc : public btCollisionAlgorithmCreateFunc
+
+	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
-		virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 		{
 			int bbsize = sizeof(btBox2dBox2dCollisionAlgorithm);
 			void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
-			return new (ptr) btBox2dBox2dCollisionAlgorithm(0, ci, body0Wrap, body1Wrap);
+			return new(ptr) btBox2dBox2dCollisionAlgorithm(0,ci,body0Wrap,body1Wrap);
 		}
 	};
+
 };
 
-#endif  //BT_BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
+#endif //BT_BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
+

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

@@ -21,14 +21,14 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
 #define USE_PERSISTENT_CONTACTS 1
 
-btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
-	: btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
-	  m_ownManifold(false),
-	  m_manifoldPtr(mf)
+btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
+m_ownManifold(false),
+m_manifoldPtr(mf)
 {
-	if (!m_manifoldPtr && m_dispatcher->needsCollision(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject()))
+	if (!m_manifoldPtr && m_dispatcher->needsCollision(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject()))
 	{
-		m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
+		m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
 		m_ownManifold = true;
 	}
 }
@@ -42,27 +42,30 @@ btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm()
 	}
 }
 
-void btBoxBoxCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
+void btBoxBoxCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
 	if (!m_manifoldPtr)
 		return;
 
+	
 	const btBoxShape* box0 = (btBoxShape*)body0Wrap->getCollisionShape();
 	const btBoxShape* box1 = (btBoxShape*)body1Wrap->getCollisionShape();
 
+
+
 	/// report a contact. internally this will be kept persistent, and contact reduction is done
 	resultOut->setPersistentManifold(m_manifoldPtr);
-#ifndef USE_PERSISTENT_CONTACTS
+#ifndef USE_PERSISTENT_CONTACTS	
 	m_manifoldPtr->clearManifold();
-#endif  //USE_PERSISTENT_CONTACTS
+#endif //USE_PERSISTENT_CONTACTS
 
 	btDiscreteCollisionDetectorInterface::ClosestPointInput input;
 	input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
 	input.m_transformA = body0Wrap->getWorldTransform();
 	input.m_transformB = body1Wrap->getWorldTransform();
 
-	btBoxBoxDetector detector(box0, box1);
-	detector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
+	btBoxBoxDetector detector(box0,box1);
+	detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
 
 #ifdef USE_PERSISTENT_CONTACTS
 	//  refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
@@ -70,10 +73,11 @@ void btBoxBoxCollisionAlgorithm::processCollision(const btCollisionObjectWrapper
 	{
 		resultOut->refreshContactPoints();
 	}
-#endif  //USE_PERSISTENT_CONTACTS
+#endif //USE_PERSISTENT_CONTACTS
+
 }
 
-btScalar btBoxBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/, btCollisionObject* /*body1*/, const btDispatcherInfo& /*dispatchInfo*/, btManifoldResult* /*resultOut*/)
+btScalar btBoxBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/)
 {
 	//not yet
 	return 1.f;