Major overhaul

Code/DanBias.sln

@@ -24,6 +24,11 @@ EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "NetworkDependencies", "Network\NetworkDependencies\NetworkDependencies.vcxproj", "{C5AA09D0-6594-4CD3-BD92-1D380C7B3B50}"
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "GamePhysics", "GamePhysics\GamePhysics.vcxproj", "{104FA3E9-94D9-4E1D-A941-28A03BC8A095}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6BCE5708-BFA3-4DE3-9942-E521A8A4EFE2} = {6BCE5708-BFA3-4DE3-9942-E521A8A4EFE2}
+		{B84D4C8B-DF9F-4B41-994D-A6FFFA64F274} = {B84D4C8B-DF9F-4B41-994D-A6FFFA64F274}
+		{22C0C4D8-6C43-406A-9CDB-76A4F800971A} = {22C0C4D8-6C43-406A-9CDB-76A4F800971A}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "DanBiasGame", "Game\DanBiasGame\DanBiasGame.vcxproj", "{2A1BC987-AF42-4500-802D-89CD32FC1309}"
 EndProject
@@ -45,14 +50,28 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "GameServer", "Game\GameServ
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "aDanBiasGameLauncher", "Game\aDanBiasGameLauncher\aDanBiasGameLauncher.vcxproj", "{666FEA52-975F-41CD-B224-B19AF3C0ABBA}"
 EndProject
+Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Physics", "Physics", "{0D86E569-9C74-47F0-BDB2-390C0C9A084B}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "BulletCollision", "Physics\BulletCollision\BulletCollision.vcxproj", "{B84D4C8B-DF9F-4B41-994D-A6FFFA64F274}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "BulletDynamics", "Physics\BulletDynamics\BulletDynamics.vcxproj", "{6BCE5708-BFA3-4DE3-9942-E521A8A4EFE2}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "LinearMath", "Physics\LinearMath\LinearMath.vcxproj", "{22C0C4D8-6C43-406A-9CDB-76A4F800971A}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Mixed Platforms = Debug|Mixed Platforms
 		Debug|Win32 = Debug|Win32
 		Debug|x64 = Debug|x64
+		MinSizeRel|Mixed Platforms = MinSizeRel|Mixed Platforms
+		MinSizeRel|Win32 = MinSizeRel|Win32
+		MinSizeRel|x64 = MinSizeRel|x64
 		Release|Mixed Platforms = Release|Mixed Platforms
 		Release|Win32 = Release|Win32
 		Release|x64 = Release|x64
+		RelWithDebInfo|Mixed Platforms = RelWithDebInfo|Mixed Platforms
+		RelWithDebInfo|Win32 = RelWithDebInfo|Win32
+		RelWithDebInfo|x64 = RelWithDebInfo|x64
 	EndGlobalSection
 	GlobalSection(ProjectConfigurationPlatforms) = postSolution
 		{0EC83E64-230E-48EF-B08C-6AC9651B4F82}.Debug|Mixed Platforms.ActiveCfg = Debug|Win32
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+		{0EC83E64-230E-48EF-B08C-6AC9651B4F82}.MinSizeRel|x64.ActiveCfg = Release|x64
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+		{22C0C4D8-6C43-406A-9CDB-76A4F800971A}.MinSizeRel|x64.ActiveCfg = MinSizeRel|Win32
+		{22C0C4D8-6C43-406A-9CDB-76A4F800971A}.Release|Mixed Platforms.ActiveCfg = Release|Win32
+		{22C0C4D8-6C43-406A-9CDB-76A4F800971A}.Release|Mixed Platforms.Build.0 = Release|Win32
+		{22C0C4D8-6C43-406A-9CDB-76A4F800971A}.Release|Win32.ActiveCfg = Release|Win32
+		{22C0C4D8-6C43-406A-9CDB-76A4F800971A}.Release|Win32.Build.0 = Release|Win32
+		{22C0C4D8-6C43-406A-9CDB-76A4F800971A}.Release|x64.ActiveCfg = Release|Win32
+		{22C0C4D8-6C43-406A-9CDB-76A4F800971A}.RelWithDebInfo|Mixed Platforms.ActiveCfg = RelWithDebInfo|Win32
+		{22C0C4D8-6C43-406A-9CDB-76A4F800971A}.RelWithDebInfo|Mixed Platforms.Build.0 = RelWithDebInfo|Win32
+		{22C0C4D8-6C43-406A-9CDB-76A4F800971A}.RelWithDebInfo|Win32.ActiveCfg = RelWithDebInfo|Win32
+		{22C0C4D8-6C43-406A-9CDB-76A4F800971A}.RelWithDebInfo|Win32.Build.0 = RelWithDebInfo|Win32
+		{22C0C4D8-6C43-406A-9CDB-76A4F800971A}.RelWithDebInfo|x64.ActiveCfg = RelWithDebInfo|Win32
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -311,5 +606,8 @@ Global
 		{060B1890-CBF3-4808-BA99-A4776222093B} = {20720CA7-795C-45AD-A302-9383A6DD503A}
 		{143BD516-20A1-4890-A3E4-F8BFD02220E7} = {20720CA7-795C-45AD-A302-9383A6DD503A}
 		{666FEA52-975F-41CD-B224-B19AF3C0ABBA} = {20720CA7-795C-45AD-A302-9383A6DD503A}
+		{B84D4C8B-DF9F-4B41-994D-A6FFFA64F274} = {0D86E569-9C74-47F0-BDB2-390C0C9A084B}
+		{6BCE5708-BFA3-4DE3-9942-E521A8A4EFE2} = {0D86E569-9C74-47F0-BDB2-390C0C9A084B}
+		{22C0C4D8-6C43-406A-9CDB-76A4F800971A} = {0D86E569-9C74-47F0-BDB2-390C0C9A084B}
 	EndGlobalSection
 EndGlobal

Code/Game/DanBiasGame/GameClientState/Camera.cpp

@@ -2,7 +2,7 @@
 
 Camera::Camera()
 {
-	this->m_position = Oyster::Math::Float3(0, 50, 0);
+	this->m_position = Oyster::Math::Float3(0, 600, 0);
 	this->mRight = Oyster::Math::Float3(1, 0, 0);
 	this->mUp = Oyster::Math::Float3(0, 1, 0);
 	this->mLook = Oyster::Math::Float3(0, 0, 1);

Code/Game/DanBiasGame/GameClientState/GameState.cpp

@@ -465,13 +465,14 @@ void GameState::Protocol( ObjPos* pos )
 		if(privData->object[i]->GetId() == pos->object_ID)
 		{
 			privData->object[i]->setPos(world);
-
+			
 			if(i == myId) // playerobj
 			{
 				Oyster::Math::Float3 right = Oyster::Math::Float3(world[0], world[1], world[2]);
 				Oyster::Math::Float3 up = Oyster::Math::Float3(world[4], world[5], world[6]);
 				Oyster::Math::Float3 objForward = (Oyster::Math::Float3(world[8], world[9], world[10]));
 				Oyster::Math::Float3 pos = Oyster::Math::Float3(world[12], world[13], world[14]);
+				
 
 				Oyster::Math::Float3 cameraLook = camera->GetLook();
 				Oyster::Math::Float3 cameraUp = camera->GetUp();
@@ -490,7 +491,7 @@ void GameState::Protocol( ObjPos* pos )
 				
 				up *= 1;
 				objForward *= -2;
-				Oyster::Math::Float3 cameraPos = up + pos + objForward;
+				Oyster::Math::Float3 cameraPos = pos + up + objForward;
 				camera->SetPosition(cameraPos);
 
 				camera->UpdateViewMatrix();

Code/Game/GameLogic/AttatchmentMassDriver.cpp

@@ -64,11 +64,11 @@ void AttatchmentMassDriver::Update(float dt)
 		state = heldObject->GetState();
 		Oyster::Math::Float3 ownerPos = owner->GetPosition();
 		Oyster::Physics::ICustomBody::State ownerState =  owner->GetRigidBody()->GetState();
-		Oyster::Math::Float3  up = -ownerState.GetGravityNormal();
+		Oyster::Math::Float3  up = -ownerState.GetOrientation().v[2];
 		up *= -0.3;
 		Oyster::Math::Float3 pos = ownerPos + up + (owner->GetLookDir().GetNormalized()*5);
 
-		state.SetCenterPosition(pos);
+		state.centerPos = pos;
 
 		heldObject->SetState(state);
 	}
@@ -88,7 +88,7 @@ void AttatchmentMassDriver::ForcePush(const GameLogic::WEAPON_FIRE &usage, float
 		Oyster::Physics::API::Instance().ReleaseFromLimbo(heldObject);
 		pushForce = Oyster::Math::Float4(this->owner->GetLookDir()) * (700);
 		Oyster::Physics::ICustomBody::State state = heldObject->GetState();
-		state.ApplyLinearImpulse((Oyster::Math::Float3)pushForce);
+		//state.ApplyLinearImpulse((Oyster::Math::Float3)pushForce);
 		heldObject->SetState(state);
 		
 		hasObject = false;
@@ -118,7 +118,7 @@ void AttatchmentMassDriver::ForceZip(const WEAPON_FIRE &usage, float dt)
 	Oyster::Physics::Struct::CustomBodyState state = this->owner->GetRigidBody()->GetState();
 
 	//do something with state
-	state.ApplyLinearImpulse(Oyster::Math::Float3(this->owner->GetLookDir()) * (500 * dt));
+	//state.ApplyLinearImpulse(Oyster::Math::Float3(this->owner->GetLookDir()) * (500 * dt));
 
 	this->owner->GetRigidBody()->SetState(state);
 }
@@ -135,7 +135,7 @@ void AttatchmentMassDriver::ForcePull(const WEAPON_FIRE &usage, float dt)
 
 	//if no object has been picked up then suck objects towards you
 	Oyster::Math::Float4 pushForce = Oyster::Math::Float4(this->owner->GetLookDir()) * (100 * dt);
-	Oyster::Math::Float4x4 aim = Oyster::Math3D::ViewMatrix_LookAtDirection(owner->GetLookDir(), owner->GetRigidBody()->GetGravityNormal(), owner->GetPosition());
+	Oyster::Math::Float4x4 aim = Oyster::Math3D::ViewMatrix_LookAtDirection(owner->GetLookDir(), owner->GetRigidBody()->GetState().GetOrientation().v[2].xyz, owner->GetPosition());
 
 	Oyster::Math::Float4x4 hitSpace = Oyster::Math3D::ProjectionMatrix_Perspective(Oyster::Math::pi/4,1,1,20); 
 	Oyster::Collision3D::Frustrum hitFrustum = Oyster::Collision3D::Frustrum(Oyster::Math3D::ViewProjectionMatrix(aim,hitSpace));

Code/Game/GameLogic/CollisionManager.cpp

@@ -68,7 +68,7 @@ using namespace GameLogic;
 		Oyster::Physics::ICustomBody::State state;
 
 		state = obj.GetState();
-		state.ApplyLinearImpulse(force);
+		//state.ApplyLinearImpulse(force);
 		obj.SetState(state);
 	}
 	
@@ -130,7 +130,7 @@ using namespace GameLogic;
 			return;
 
 		state = obj->GetState();
-		state.ApplyLinearImpulse(((forcePushData*)(args))->pushForce);
+		//state.ApplyLinearImpulse(((forcePushData*)(args))->pushForce);
 		obj->SetState(state);
 	}
 

Code/Game/GameLogic/Game.cpp

@@ -71,7 +71,7 @@ Game::PlayerData* Game::CreatePlayer()
 	int id = InsertObject(this->players, (PlayerData*)0);
 
 	this->players[id] = new PlayerData();
-	this->players[id]->player->GetRigidBody()->SetSubscription(Game::PhysicsOnMove);
+	//this->players[id]->player->GetRigidBody()->SetSubscription(Game::PhysicsOnMove);
 
 	return this->players[id];
 }
@@ -99,7 +99,7 @@ bool Game::NewFrame()
 		if(this->players[i]->player)	this->players[i]->player->BeginFrame();
 	}
 
-	API::Instance().Update();
+	API::Instance().UpdateWorld();
 
 	for (unsigned int i = 0; i < this->players.Size(); i++)
 	{
@@ -110,7 +110,7 @@ bool Game::NewFrame()
 		if(this->players[i]->player)	this->players[i]->player->BeginFrame();
 	}
 
-	API::Instance().Update();
+	API::Instance().UpdateWorld();
 
 	for (unsigned int i = 0; i < this->players.Size(); i++)
 	{
@@ -121,7 +121,7 @@ bool Game::NewFrame()
 		if(this->players[i]->player)	this->players[i]->player->BeginFrame();
 	}
 
-	API::Instance().Update();
+	API::Instance().UpdateWorld();
 
 	for (unsigned int i = 0; i < this->players.Size(); i++)
 	{
@@ -159,8 +159,8 @@ void Game::SetSubscription(GameEvent::ObjectEventFunctionType type, GameEvent::O
 
 bool Game::Initiate()
 {
-	API::Instance().Init((int)pow(2u, 9u), 1u, Oyster::Math::Float3());
+	API::Instance().Init();
-	API::Instance().SetSubscription(Game::PhysicsOnDestroy);
+	//API::Instance().SetSubscription(Game::PhysicsOnDestroy);
 	this->initiated = true;
 	return true;
 }

Code/Game/GameLogic/Game_PlayerData.cpp

@@ -6,26 +6,26 @@ using namespace GameLogic;
 Game::PlayerData::PlayerData()
 {	
 	//set some stats that are appropriate to a player
-	Oyster::Physics::API::SimpleBodyDescription sbDesc;
+	Oyster::Math::Float3 centerPosition = Oyster::Math::Float3(0,608,-5);
-	sbDesc.centerPosition = Oyster::Math::Float3(0,608,0);
+	Oyster::Math::Float3 size = Oyster::Math::Float3(0.25f,1.0f,0.5f);
-	sbDesc.size = Oyster::Math::Float3(0.5f,2,1);
+	Oyster::Math::Float mass = 15;
-	sbDesc.mass = 70;
+	Oyster::Math::Float restitutionCoeff = 0.5;
-	sbDesc.restitutionCoeff = 0.5;
+	Oyster::Math::Float frictionCoeff_Static = 0.4;
-	sbDesc.frictionCoeff_Static = 0.4;
+	Oyster::Math::Float frictionCoeff_Dynamic = 0.3;
-	sbDesc.frictionCoeff_Dynamic = 0.3;
+	//sbDesc.quaternion = Oyster::Math::Float3(0, Oyster::Math::pi, 0);
-	sbDesc.rotation = Oyster::Math::Float3(0, Oyster::Math::pi, 0);
 
 	//create rigid body
-	Oyster::Physics::ICustomBody *rigidBody = Oyster::Physics::API::Instance().CreateRigidBody(sbDesc).Release();
+	Oyster::Physics::ICustomBody* rigidBody = Oyster::Physics::API::Instance().AddCollisionBox(size, Oyster::Math::Float4(0, 0, 0, 1), centerPosition, mass);
 	
 	//create player with this rigid body
 	this->player = new Player(rigidBody,Player::DefaultCollisionAfter, Player::PlayerCollision, OBJECT_TYPE::OBJECT_TYPE_PLAYER);
 	this->player->GetRigidBody()->SetCustomTag(this);
-	/*Oyster::Physics::ICustomBody::State state;
+
+	Oyster::Physics::ICustomBody::State state;
 	this->player->GetRigidBody()->GetState(state);
-	state.SetRotation(Oyster::Math::Float3(0, Oyster::Math::pi, 0));
+	//state.SetRotation(Oyster::Math::Float3(0, Oyster::Math::pi, 0));
 	this->player->GetRigidBody()->SetState(state);
-	player->EndFrame();*/
+	player->EndFrame();
 }
 Game::PlayerData::PlayerData(int playerID,int teamID)
 {

Code/Game/GameLogic/Level.cpp

@@ -51,33 +51,17 @@ void Level::InitiateLevel(float radius)
 	}
 
 	// add level sphere
-	API::SphericalBodyDescription sbDesc;
+	ICustomBody* rigidBody = API::Instance().AddCollisionSphere(599.2f, Oyster::Math::Float4(0, 0, 0, 1), Oyster::Math::Float3(0, 0, 0), 0);
-	sbDesc.centerPosition = Oyster::Math::Float4(0,0,0,1);
-	sbDesc.ignoreGravity = true;
-	sbDesc.radius = 600; 
-	sbDesc.mass = 70;
-	sbDesc.frictionCoeff_Static = 0;
-	sbDesc.frictionCoeff_Dynamic = 0;
-	//sbDesc.rotation = 
-	ICustomBody* rigidBody = API::Instance().CreateRigidBody(sbDesc).Release();
 	
 	ICustomBody::State state;
 	rigidBody->GetState(state);
-	state.SetRestitutionCoeff(0.2);
+	state.restitutionCoeff = 0.2f;
 	rigidBody->SetState(state);
-	
 	levelObj = new StaticObject(rigidBody, LevelCollisionBefore, LevelCollisionAfter, OBJECT_TYPE::OBJECT_TYPE_WORLD);
 	rigidBody->SetCustomTag(levelObj);
-	
-	//this->dynamicObjects = new DynamicArray< DynamicObject>;
-	// add box
-	API::SimpleBodyDescription sbDesc_TestBox;
-	sbDesc_TestBox.centerPosition = Oyster::Math::Float4(10,320,0,1);
-	sbDesc_TestBox.ignoreGravity = false;
 
-	sbDesc_TestBox.mass = 15;
+	
-	sbDesc_TestBox.size = Oyster::Math::Float4(1, 1, 1, 0);
+	
-	sbDesc_TestBox.inertiaTensor.Cuboid(15, 1, 1, 1);
 
 	
 	ICustomBody* rigidBody_TestBox;
@@ -86,9 +70,7 @@ void Level::InitiateLevel(float radius)
 	int offset = 0;
 	for(int i =0; i< nrOfBoxex; i ++)
 	{
-		sbDesc_TestBox.centerPosition = Oyster::Math::Float4(0,605 + i*5,5,1);
+		rigidBody_TestBox = API::Instance().AddCollisionBox(Oyster::Math::Float3(0.5f, 0.5f, 0.5f), Oyster::Math::Float4(0, 0, 0, 1), Oyster::Math::Float3(0, 605 + i*5, 5), 5);
-		rigidBody_TestBox = API::Instance().CreateRigidBody(sbDesc_TestBox).Release();
-		rigidBody_TestBox->SetSubscription(Level::PhysicsOnMoveLevel);
 
 		this->dynamicObjects.Push(new DynamicObject(rigidBody_TestBox,Object::DefaultCollisionBefore, Object::DefaultCollisionAfter, OBJECT_TYPE::OBJECT_TYPE_BOX));
 		rigidBody_TestBox->SetCustomTag(this->dynamicObjects[i]);
@@ -96,32 +78,28 @@ void Level::InitiateLevel(float radius)
 	offset += nrOfBoxex;
 	for(int i =0; i< nrOfBoxex; i ++)
 	{
-		sbDesc_TestBox.centerPosition = Oyster::Math::Float4(-20,620, -200 +( i*7),0);
+		rigidBody_TestBox = API::Instance().AddCollisionBox(Oyster::Math::Float3(0.5f, 0.5f, 0.5f), Oyster::Math::Float4(0, 0, 0, 1), Oyster::Math::Float3(0,5, -605 -( i*5)), 5);
-		rigidBody_TestBox = API::Instance().CreateRigidBody(sbDesc_TestBox).Release();
-		rigidBody_TestBox->SetSubscription(Level::PhysicsOnMoveLevel);
 
 		this->dynamicObjects.Push(new DynamicObject(rigidBody_TestBox,Object::DefaultCollisionBefore, Object::DefaultCollisionAfter, OBJECT_TYPE::OBJECT_TYPE_BOX));
 		rigidBody_TestBox->SetCustomTag(this->dynamicObjects[i+offset]);
+		
 	}
 	offset += nrOfBoxex;
 	for(int i =0; i< nrOfBoxex; i ++)
 	{
-		sbDesc_TestBox.centerPosition = Oyster::Math::Float4(200,620 + ( i*7),0,0);
+		rigidBody_TestBox = API::Instance().AddCollisionBox(Oyster::Math::Float3(0.5f, 0.5f, 0.5f), Oyster::Math::Float4(0, 0, 0, 1), Oyster::Math::Float3(200, 620 + ( i*7), 0), 5);
-		rigidBody_TestBox = API::Instance().CreateRigidBody(sbDesc_TestBox).Release();
-		rigidBody_TestBox->SetSubscription(Level::PhysicsOnMoveLevel);
 
 		this->dynamicObjects.Push(new DynamicObject(rigidBody_TestBox,Object::DefaultCollisionBefore, Object::DefaultCollisionAfter, OBJECT_TYPE::OBJECT_TYPE_BOX));
-		rigidBody_TestBox->SetCustomTag(this->dynamicObjects[i+offset]);
+		rigidBody_TestBox->SetCustomTag(this->dynamicObjects[i+offset]);	
 	}
 	offset += nrOfBoxex;
 	for(int i =0; i< nrOfBoxex; i ++)
 	{
-		sbDesc_TestBox.centerPosition = Oyster::Math::Float4(5,605 + i*5,0,0);
+		rigidBody_TestBox = API::Instance().AddCollisionBox(Oyster::Math::Float3(0.5f, 0.5f, 0.5f), Oyster::Math::Float4(0, 0, 0, 1), Oyster::Math::Float3(5, 605 + i*5, 0), 5);
-		rigidBody_TestBox = API::Instance().CreateRigidBody(sbDesc_TestBox).Release();
-		rigidBody_TestBox->SetSubscription(Level::PhysicsOnMoveLevel);
 
 		this->dynamicObjects.Push(new DynamicObject(rigidBody_TestBox,Object::DefaultCollisionBefore, Object::DefaultCollisionAfter, OBJECT_TYPE::OBJECT_TYPE_BOX));
 		rigidBody_TestBox->SetCustomTag(this->dynamicObjects[i]);
+		
 	}
 	
 
@@ -129,43 +107,19 @@ void Level::InitiateLevel(float radius)
 
 
 	// add crystal
-	API::SimpleBodyDescription sbDesc_Crystal;
-	sbDesc_Crystal.centerPosition = Oyster::Math::Float4(10, 605, 0, 1);
-	sbDesc_Crystal.ignoreGravity = false;
-	sbDesc_Crystal.mass = 15;
-	sbDesc_Crystal.size = Oyster::Math::Float3(1, 2, 1);
-	sbDesc_Crystal.inertiaTensor.Cuboid(15, 1, 2, 1);
 
-	ICustomBody* rigidBody_Crystal = API::Instance().CreateRigidBody(sbDesc_Crystal).Release();
+	ICustomBody* rigidBody_Crystal = API::Instance().AddCollisionBox(Oyster::Math::Float3(0.5f, 0.5f, 0.5f), Oyster::Math::Float4(0, 0, 0, 1), Oyster::Math::Float3(10, 605, 0), 5);
-	rigidBody_Crystal->SetSubscription(Level::PhysicsOnMoveLevel);
+
 	this->dynamicObjects.Push(new DynamicObject(rigidBody_Crystal,Object::DefaultCollisionBefore, Object::DefaultCollisionAfter, OBJECT_TYPE::OBJECT_TYPE_BOX));
 	rigidBody_Crystal->SetCustomTag(this->dynamicObjects[nrOfBoxex]);
 
+	
+
 
 	// add house
-	API::SimpleBodyDescription sbDesc_House;
+	ICustomBody* rigidBody_House =API::Instance().AddCollisionBox(Oyster::Math::Float3(0.5f, 0.5f, 0.5f), Oyster::Math::Float4(0, 0, 0, 1), Oyster::Math::Float3(10, 905, 0), 0);
-	//sbDesc_House.centerPosition = Oyster::Math::Float4(212, 212, 0, 0);
-	sbDesc_House.centerPosition = Oyster::Math::Float4(-50, 690, 0, 1);
-	sbDesc_House.ignoreGravity = false;
-	sbDesc_House.rotation = Oyster::Math::Float3(0 ,Utility::Value::Radian(90.0f), 0);
-	sbDesc_House.mass = 90;
-	sbDesc_House.size = Oyster::Math::Float3(40,40,40);
-
-
-	ICustomBody* rigidBody_House = API::Instance().CreateRigidBody(sbDesc_House).Release();
-	rigidBody_House->SetSubscription(Level::PhysicsOnMoveLevel);
 	this->staticObjects.Push(new StaticObject(rigidBody_House,Object::DefaultCollisionBefore, Object::DefaultCollisionAfter, OBJECT_TYPE::OBJECT_TYPE_GENERIC));
 	rigidBody_House->SetCustomTag(this->staticObjects[0]);
-	rigidBody_House->GetState(state);
-	Oyster::Math::Float4x4 world = state.GetOrientation();
-	
-	
-	// add gravitation 
-	API::Gravity gravityWell;
-	gravityWell.gravityType = API::Gravity::GravityType_Well;
-	gravityWell.well.mass = 1e17f;
-	gravityWell.well.position = Oyster::Math::Float4(0,0,0,1);
-	API::Instance().AddGravity(gravityWell);
 }
 
 void Level::AddPlayerToTeam(Player *player, int teamID)

Code/Game/GameLogic/Object.cpp

@@ -15,10 +15,8 @@ const Game *Object::gameInstance = (Game*)(&Game::Instance());
 
 Object::Object()
 {	
-	API::SimpleBodyDescription sbDesc;
 
-	this->rigidBody = API::Instance().CreateRigidBody(sbDesc).Release();
+	this->rigidBody = API::Instance().AddCollisionBox(Oyster::Math::Float3(0.0f, 0.0f, 0.0f), Oyster::Math::Float4(0, 0, 0, 1), Oyster::Math::Float3(0, 0, 0), 0);
-	Oyster::Physics::API::Instance().AddObject(rigidBody);
 
 	this->type = OBJECT_TYPE::OBJECT_TYPE_UNKNOWN;
 	this->objectID = GID();
@@ -28,10 +26,7 @@ Object::Object()
 
 Object::Object(OBJECT_TYPE type)
 {
-	API::SimpleBodyDescription sbDesc;
+	this->rigidBody = API::Instance().AddCollisionBox(Oyster::Math::Float3(0.0f, 0.0f, 0.0f), Oyster::Math::Float4(0, 0, 0, 1), Oyster::Math::Float3(0, 0, 0), 0);
-
-	this->rigidBody = API::Instance().CreateRigidBody(sbDesc).Release();
-	Oyster::Physics::API::Instance().AddObject(rigidBody);
 	this->type = type;
 	this->objectID = GID();
 	this->currPhysicsState = this->rigidBody->GetState();
@@ -40,7 +35,6 @@ Object::Object(OBJECT_TYPE type)
 
 Object::Object(Oyster::Physics::ICustomBody *rigidBody, OBJECT_TYPE type)
 {
-	Oyster::Physics::API::Instance().AddObject(rigidBody);
 	this->rigidBody = rigidBody;
 	this->type = type;
 	this->objectID = GID();
@@ -50,10 +44,7 @@ Object::Object(Oyster::Physics::ICustomBody *rigidBody, OBJECT_TYPE type)
 
 Object::Object(void* collisionFuncBefore, void* collisionFuncAfter, OBJECT_TYPE type)
 {
-	API::SimpleBodyDescription sbDesc;
+	this->rigidBody = API::Instance().AddCollisionBox(Oyster::Math::Float3(0.0f, 0.0f, 0.0f), Oyster::Math::Float4(0, 0, 0, 1), Oyster::Math::Float3(0, 0, 0), 0);
-
-	this->rigidBody = API::Instance().CreateRigidBody(sbDesc).Release();
-	Oyster::Physics::API::Instance().AddObject(rigidBody);
 	
 	this->type = type;
 	this->objectID = GID();
@@ -63,11 +54,7 @@ Object::Object(void* collisionFuncBefore, void* collisionFuncAfter, OBJECT_TYPE
 
 Object::Object(Oyster::Physics::ICustomBody *rigidBody ,void* collisionFuncBefore, void* collisionFuncAfter, OBJECT_TYPE type)
 {
-	Oyster::Physics::API::Instance().AddObject(rigidBody);
-
 	this->rigidBody = rigidBody;
-	this->rigidBody->SetSubscription((Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse)(collisionFuncBefore));
-	this->rigidBody->SetSubscription((Oyster::Physics::ICustomBody::EventAction_AfterCollisionResponse)(collisionFuncAfter));	
 
 	this->type = type;
 	this->objectID = GID();
@@ -77,11 +64,7 @@ Object::Object(Oyster::Physics::ICustomBody *rigidBody ,void* collisionFuncBefor
 
 Object::Object(Oyster::Physics::ICustomBody *rigidBody ,Oyster::Physics::ICustomBody::SubscriptMessage (*collisionFuncBefore)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter), Oyster::Physics::ICustomBody::SubscriptMessage (*collisionFuncAfter)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter,Oyster::Math::Float kineticEnergyLoss), OBJECT_TYPE type)
 {
-	Oyster::Physics::API::Instance().AddObject(rigidBody);
-	
 	this->rigidBody = rigidBody;
-	this->rigidBody->SetSubscription((Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse)(collisionFuncBefore));
-	this->rigidBody->SetSubscription((Oyster::Physics::ICustomBody::EventAction_AfterCollisionResponse)(collisionFuncAfter));
 
 	
 	this->type = type;
@@ -92,7 +75,7 @@ Object::Object(Oyster::Physics::ICustomBody *rigidBody ,Oyster::Physics::ICustom
 
 void Object::ApplyLinearImpulse(Oyster::Math::Float3 force)
 {
-	newPhysicsState.ApplyLinearImpulse(force);
+	
 }
 
 
@@ -119,86 +102,19 @@ Oyster::Physics::ICustomBody* Object::GetRigidBody()
 void Object::BeginFrame()
 {
 	
+
 	
-	if(currPhysicsState.GetLinearMomentum() !=currPhysicsState.GetLinearMomentum())
-	{
-		//error
-		int i =0 ;
-	}
-	if(currPhysicsState.GetCenterPosition() !=currPhysicsState.GetCenterPosition())
-	{
-		//error
-		int i =0 ;
-	}
-	if(currPhysicsState.GetAngularAxis() !=currPhysicsState.GetAngularAxis())
-	{
-		//error
-		int i =0 ;
-	}
 	this->rigidBody->SetState(this->newPhysicsState);
 }
 // update physic 
 void Object::EndFrame()
 {
-	if(currPhysicsState.GetLinearMomentum() !=currPhysicsState.GetLinearMomentum())
-	{
-		//error
-		int i =0 ;
-	}
-	this->currPhysicsState = this->rigidBody->GetState();
-	if(currPhysicsState.GetLinearMomentum() !=currPhysicsState.GetLinearMomentum())
-	{
-		//error
-		int i =0 ;
-	}
-	if(currPhysicsState.GetGravityNormal() !=currPhysicsState.GetGravityNormal())
-	{
-		//error
-		int i =0 ;
-	}
-
-
-	//if(currPhysicsState.GetGravityNormal()!= Float3::null)
-	{
-		Oyster::Math::Float4 axis;
-		Oyster::Math3D::SnapAngularAxis(Oyster::Math::Float4(currPhysicsState.GetAngularAxis(), 0), Oyster::Math::Float4::standard_unit_y, Oyster::Math::Float4(currPhysicsState.GetCenterPosition().GetNormalized(), 0), axis);
-		if(axis !=axis)
-		{
-			//error
-			int i =0 ;
-		}
-		axis.Normalize();
-		currPhysicsState.SetRotation(axis.xyz);
-		currPhysicsState.SetAngularMomentum(Float3::null);
-		//Oyster::Math::Float3 debug = ::LinearAlgebra3D::WorldAxisOf(::LinearAlgebra3D::Rotation(axis.xyz), Oyster::Math::Float3::standard_unit_y);
-		//debug += currPhysicsState.GetGravityNormal();
-	}
-	//Oyster::Math::Float3 pos = currPhysicsState.GetCenterPosition(); 
-	//Oyster::Math::Float3 up = -currPhysicsState.GetGravityNormal();
-	//300, 0,0,
-	//1,0,0
-	
-	/*if( pos.GetLength() < 301.5f) 
-	{
-		Oyster::Math::Float moveUp = 301.5 - pos.GetLength();
-		up *= moveUp;
-
-		currPhysicsState.SetCenterPosition(pos + up);
-	}*/
-
-
-	if(currPhysicsState.GetLinearMomentum() !=currPhysicsState.GetLinearMomentum())
-	{
-		//error
-		int i =0 ;
-	}
-
 	this->newPhysicsState = this->currPhysicsState;
 }
 
 void Object::setBeforeCollisonFunc(Oyster::Physics::ICustomBody::SubscriptMessage (*collisionFuncBefore)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter))
 {
-	this->rigidBody->SetSubscription((Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse)(collisionFuncBefore));
+	//this->rigidBody->SetSubscription((Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse)(collisionFuncBefore));
 }
 void Object::setAfterCollisonFunc(Oyster::Physics::ICustomBody::SubscriptMessage (*collisionFuncAfter)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter,Oyster::Math::Float kineticEnergyLoss))
 {
@@ -209,7 +125,7 @@ Oyster::Math::Float3 Object::GetPosition()
 {
 	Oyster::Physics::ICustomBody::State state; 
 	state = this->rigidBody->GetState();
-	return state.GetCenterPosition();
+	return state.centerPos;
 }
 Oyster::Math::Float4x4 Object::GetOrientation() 
 {

Code/Game/GameLogic/Player.cpp

@@ -73,7 +73,7 @@ void Player::EndFrame()
 	Oyster::Math::Float3 up = currPhysicsState.GetOrientation().v[1];
 	Oyster::Math::Float3 deltaAxis = up * (-dx * 0.02) ;
 
-	currPhysicsState.AddRotation(deltaAxis);
+	//currPhysicsState.AddRotation(deltaAxis);
 	dx = 0; 
 	this->newPhysicsState = this->currPhysicsState;
 }
@@ -108,21 +108,21 @@ void Player::MoveForward()
 {
 	Oyster::Math::Float3 forward = currPhysicsState.GetOrientation().v[2];
 	//Oyster::Math::Float3 forward = lookDir;
-	newPhysicsState.ApplyLinearImpulse(forward * (MOVE_FORCE * this->gameInstance->GetFrameTime()));
+	//newPhysicsState.ApplyLinearImpulse(forward * (MOVE_FORCE * this->gameInstance->GetFrameTime()));
 }
 void Player::MoveBackwards()
 {
 	Oyster::Math::Float3 forward = currPhysicsState.GetOrientation().v[2];
 	//Oyster::Math::Float3 forward = lookDir;
-	newPhysicsState.ApplyLinearImpulse(-forward * MOVE_FORCE * this->gameInstance->GetFrameTime());
+	//newPhysicsState.ApplyLinearImpulse(-forward * MOVE_FORCE * this->gameInstance->GetFrameTime());
 }
 void Player::MoveRight()
 {
 	//Do cross product with forward vector and negative gravity vector
 	Oyster::Math::Float3 forward = currPhysicsState.GetOrientation().v[2];
 	//Oyster::Math::Float3 forward = lookDir;
-	Oyster::Math::Float3 r = (-currPhysicsState.GetGravityNormal()).Cross(forward);
+	//Oyster::Math::Float3 r = (-currPhysicsState.GetGravityNormal()).Cross(forward);
-	newPhysicsState.ApplyLinearImpulse(-r * MOVE_FORCE * this->gameInstance->GetFrameTime());
+	//newPhysicsState.ApplyLinearImpulse(-r * MOVE_FORCE * this->gameInstance->GetFrameTime());
 	
 }
 void Player::MoveLeft()
@@ -130,8 +130,8 @@ void Player::MoveLeft()
 	//Do cross product with forward vector and negative gravity vector
 	Oyster::Math::Float3 forward = currPhysicsState.GetOrientation().v[2];
 	//Oyster::Math::Float3 forward = lookDir;
-	Oyster::Math::Float3 r = (-currPhysicsState.GetGravityNormal()).Cross(forward);	//Still get zero
+	//Oyster::Math::Float3 r = (-currPhysicsState.GetGravityNormal()).Cross(forward);	//Still get zero
-	newPhysicsState.ApplyLinearImpulse(r * MOVE_FORCE * this->gameInstance->GetFrameTime());
+	//newPhysicsState.ApplyLinearImpulse(r * MOVE_FORCE * this->gameInstance->GetFrameTime());
 }
 
 void Player::UseWeapon(const WEAPON_FIRE &usage)
@@ -144,7 +144,7 @@ void Player::Respawn(Oyster::Math::Float3 spawnPoint)
 	this->life = 100;
 	this->playerState = PLAYER_STATE::PLAYER_STATE_IDLE;
 	this->lookDir = Oyster::Math::Float4(1,0,0);
-	this->newPhysicsState.SetCenterPosition(spawnPoint);
+	this->newPhysicsState.centerPos = spawnPoint;
 }
 
 void Player::Rotate(const Oyster::Math3D::Float4 lookDir)
@@ -162,7 +162,7 @@ void Player::Rotate(const Oyster::Math3D::Float4 lookDir)
 void Player::Jump()
 {
 	Oyster::Math::Float3 up = currPhysicsState.GetOrientation().v[1];
-	newPhysicsState.ApplyLinearImpulse(up * MOVE_FORCE * this->gameInstance->GetFrameTime());
+	//newPhysicsState.ApplyLinearImpulse(up * MOVE_FORCE * this->gameInstance->GetFrameTime());
 }
 
 bool Player::IsWalking()
@@ -180,7 +180,7 @@ bool Player::IsIdle()
 
 Oyster::Math::Float3 Player::GetPosition() const
 {
-	return (Oyster::Math::Float3)currPhysicsState.GetCenterPosition();
+	return (Oyster::Math::Float3)currPhysicsState.centerPos;
 }
 Oyster::Math::Float4x4 Player::GetOrientation() const 
 {

Code/Game/GameLogic/StaticObject.cpp

@@ -18,8 +18,8 @@ StaticObject::StaticObject(OBJECT_TYPE type)
 StaticObject::StaticObject(Oyster::Physics::ICustomBody *rigidBody, OBJECT_TYPE type)
 	:Object(rigidBody,type)
 {
-	this->rigidBody->SetGravity(true);
+	//this->rigidBody->SetGravity(true);
-	this->rigidBody->SetSubscription((Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse)(CollisionManager::IgnoreCollision));
+	//this->rigidBody->SetSubscription((Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse)(CollisionManager::IgnoreCollision));
 }
 
 StaticObject::StaticObject(void* collisionFuncBefore, void* collisionFuncAfter, OBJECT_TYPE type)

Code/GamePhysics/GamePhysics.vcxproj

@@ -89,7 +89,7 @@
     <ClCompile>
       <WarningLevel>Level3</WarningLevel>
       <Optimization>Disabled</Optimization>
-      <AdditionalIncludeDirectories>$(SolutionDir)Misc;$(SolutionDir)OysterMath;$(SolutionDir)OysterPhysics3D;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>$(SolutionDir)Misc;$(SolutionDir)OysterMath;$(SolutionDir)OysterPhysics3D;$(SolutionDir)Physics\src;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
       <PreprocessorDefinitions>_WINDLL;PHYSICS_DLL_EXPORT;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <GenerateXMLDocumentationFiles>false</GenerateXMLDocumentationFiles>
     </ClCompile>
@@ -97,6 +97,7 @@
       <GenerateDebugInformation>true</GenerateDebugInformation>
       <ModuleDefinitionFile>
       </ModuleDefinitionFile>
+      <AdditionalDependencies>$(SolutionDir)Physics/Debug/BulletCollision_Debug.lib;$(SolutionDir)Physics/Debug/BulletDynamics_Debug.lib;$(SolutionDir)Physics/Debug/LinearMath_Debug.lib;%(AdditionalDependencies)</AdditionalDependencies>
     </Link>
   </ItemDefinitionGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
@@ -119,7 +120,7 @@
       <Optimization>MaxSpeed</Optimization>
       <FunctionLevelLinking>true</FunctionLevelLinking>
       <IntrinsicFunctions>true</IntrinsicFunctions>
-      <AdditionalIncludeDirectories>$(SolutionDir)Misc;$(SolutionDir)OysterMath;$(SolutionDir)OysterPhysics3D;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>$(SolutionDir)Misc;$(SolutionDir)OysterMath;$(SolutionDir)OysterPhysics3D;$(SolutionDir)Physics\src;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
       <PreprocessorDefinitions>_WINDLL;PHYSICS_DLL_EXPORT;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <GenerateXMLDocumentationFiles>false</GenerateXMLDocumentationFiles>
     </ClCompile>

Code/GamePhysics/Implementation/Octree.cpp

@@ -31,11 +31,11 @@ Octree& Octree::operator=(const Octree& orig)
 
 void Octree::AddObject(UniquePointer< ICustomBody > customBodyRef)
 {
-	customBodyRef->SetScene( this );
+	//customBodyRef->SetScene( this );
 	Data data;
 	//Data* tempPtr = this->worldNode.dataPtr;
 
-	data.container = customBodyRef->GetBoundingSphere();
+	//data.container = customBodyRef->GetBoundingSphere();
 	data.queueRef = -1;
 	data.next = NULL;
 	data.prev = NULL;
@@ -216,7 +216,7 @@ unsigned int Octree::GetTemporaryReferenceOf( const ICustomBody* objRef ) const
 
 void Octree::SetAsAltered( unsigned int tempRef )
 {
-	this->leafData[tempRef].container = this->leafData[tempRef].customBodyRef->GetBoundingSphere();
+	//this->leafData[tempRef].container = this->leafData[tempRef].customBodyRef->GetBoundingSphere();
 	//! @todo TODO: implement stub
 }
 

Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp

@@ -12,274 +12,6 @@ using namespace ::Utility::Value;
 
 API_Impl API_instance;
 
-namespace
-{
-	/*void OnPossibleCollision( Octree& worldScene, unsigned int protoTempRef, unsigned int deuterTempRef )
-	{
-		auto proto = worldScene.GetCustomBody( protoTempRef );
-		auto deuter = worldScene.GetCustomBody( deuterTempRef );
-
-		Float4 worldPointOfContact;
-		if( proto->Intersects(*deuter, worldPointOfContact) )
-		{
-			// Apply CollisionResponse in pure gather pattern
-			ICustomBody::State protoState; proto->GetState( protoState );
-			ICustomBody::State deuterState; deuter->GetState( deuterState );
-
-			// calc from perspective of deuter.
-			Float4 normal = (worldPointOfContact - Float4(deuterState.GetCenterPosition(), 1.0f )); // Init value is only borrowed
-			//if( normal.Dot(normal) > 0.0f )
-			{
-				deuter->GetNormalAt( worldPointOfContact, normal );
-			}
-			//else
-			//{ // special case: deuter is completly contained within proto or they have overlapping centers.
-
-			//	normal = Float4( protoState.GetCenterPosition() - deuterState.GetCenterPosition(), 0.0f );
-			//	if( normal.Dot(normal) == 0.0f )
-			//	{ // they have overlapping centers. Rebound at least
-			//		// calculate and store time interpolation value, for later rebound.
-			//		proto->SetTimeOfContact( worldPointOfContact );
-			//		return;
-			//	}
-			//	
-			//	// borrowing the negated normal of proto.
-			//	proto->GetNormalAt( worldPointOfContact, normal );
-			//	normal = -normal;
-			//}
-			normal.Normalize();
-
-			Float4 protoG  = Float4(protoState.GetLinearMomentum( worldPointOfContact.xyz ), 0),
-				   deuterG = Float4(deuterState.GetLinearMomentum( worldPointOfContact.xyz ), 0);
-
-			if( normal != normal ) // debug: trap
-				const char *breakpoint = "This should never happen";
-
-			if( protoG != protoG ) // debug: trap
-				const char *breakpoint = "This should never happen";
-
-			if( deuterG != deuterG ) // debug: trap
-				const char *breakpoint = "This should never happen";
-
-			Float protoG_Magnitude = protoG.Dot( normal ),
-				  deuterG_Magnitude = deuterG.Dot( normal );
-
-			// if they are not relatively moving towards eachother, there is no collision
-			Float deltaPos = normal.Dot( Float4(deuterState.GetCenterPosition(), 1) - Float4(protoState.GetCenterPosition(), 1) );
-			if( deltaPos < 0.0f )
-			{
-				if( protoG_Magnitude >= deuterG_Magnitude )
-				{
-					return;
-				}
-			}
-			else if( deltaPos > 0.0f )
-			{
-				if( protoG_Magnitude <= deuterG_Magnitude )
-				{
-					return;
-				}
-			}
-			else
-			{
-				return;
-			}
-
-			if( proto->CallSubscription_BeforeCollisionResponse(proto) == ICustomBody::SubscriptMessage_ignore_collision_response )
-			{
-				return;
-			}
-
-			// PLayerHAck
-			if( proto->CallSubscription_BeforeCollisionResponse(proto) == ICustomBody::SubscriptMessage_player_collision_response )
-			{
-				//Float3 linearMomentum = protoState.GetLinearMomentum();
-				//Float3 up = -protoState.GetGravityNormal();
-				//Float3 upForce = (linearMomentum.Dot(up) * up);
-
-				//Float3 noBounceForce = linearMomentum - upForce;
-				//protoState.SetLinearMomentum(noBounceForce);
-				//proto->SetState(protoState);
-				return;
-			}
-			// calculate and store time interpolation value, for later rebound.
-			proto->SetTimeOfContact( worldPointOfContact );
-
-			// bounce
-			Float4 bounceD = normal * -Formula::CollisionResponse::Bounce( deuterState.GetRestitutionCoeff(),
-																		   deuterState.GetMass(), deuterG_Magnitude,
-																		   protoState.GetMass(), protoG_Magnitude );
-					
-
-			// calc from perspective of proto
-
-			normal = (worldPointOfContact - Float4(protoState.GetCenterPosition(), 1.0f )).GetNormalized();
-			//if( normal.Dot(normal) > 0.0f )
-			{
-				proto->GetNormalAt( worldPointOfContact, normal );
-				protoG_Magnitude = protoG.Dot( normal );
-				deuterG_Magnitude = deuterG.Dot( normal );
-				normal.Normalize();
-			}
-			//else
-			//{ // special case: proto is completly contained within deuter.
-			//	// borrowing the negated normal of deuter.
-			//	deuter->GetNormalAt( worldPointOfContact, normal );
-			//	normal = -normal;
-			//	protoG_Magnitude = -protoG_Magnitude;
-			//	deuterG_Magnitude = -deuterG_Magnitude;
-			//}
-			
-			if( normal != normal ) // debug: trap
-				const char *breakpoint = "This should never happen";
-			
-			// bounce
-			Float4 bounceP = normal * Formula::CollisionResponse::Bounce( protoState.GetRestitutionCoeff(),
-																		  protoState.GetMass(), protoG_Magnitude,
-																		  deuterState.GetMass(), deuterG_Magnitude );
-
-			Float4 bounce = Average( bounceD, bounceP );
-
-			Float4 friction = Formula::CollisionResponse::Friction( protoG_Magnitude, normal,
-																	Float4(protoState.GetLinearMomentum(), 0),  protoState.GetFrictionCoeff_Static(),  protoState.GetFrictionCoeff_Kinetic(),  protoState.GetMass(), 
-																	Float4(deuterState.GetLinearMomentum(), 0), deuterState.GetFrictionCoeff_Static(), deuterState.GetFrictionCoeff_Kinetic(), deuterState.GetMass());
-			
-			if(protoState.GetMass() == 70)
-			{
-				const char* breakPoint = "here";
-			}
-
-			Float kineticEnergyPBefore = Oyster::Physics3D::Formula::LinearKineticEnergy( protoState.GetMass(), protoState.GetLinearMomentum()/protoState.GetMass() );
-
-			protoState.ApplyImpulse( bounce.xyz, worldPointOfContact.xyz, normal.xyz );
-			proto->SetState( protoState );
-
-			Float kineticEnergyPAFter = Oyster::Physics3D::Formula::LinearKineticEnergy( protoState.GetMass(), (protoState.GetLinearMomentum() + protoState.GetLinearImpulse())/protoState.GetMass() );
-
-			proto->CallSubscription_AfterCollisionResponse( deuter,  kineticEnergyPBefore - kineticEnergyPAFter );
-		}
-
-
-	}*/
-	void OnPossibleCollision( Octree& worldScene, unsigned int protoTempRef, unsigned int deuterTempRef )
-	{
-		auto proto = worldScene.GetCustomBody( protoTempRef );
-		auto deuter = worldScene.GetCustomBody( deuterTempRef );
-
-		Float4 worldPointOfContact;
-		if( proto->Intersects(*deuter, worldPointOfContact) )
-		{
-			// Apply CollisionResponse in pure gather pattern
-			ICustomBody::State protoState; proto->GetState( protoState );
-			ICustomBody::State deuterState; deuter->GetState( deuterState );
-
-			
-
-			Float4 normal = deuter->GetNormalAt(worldPointOfContact);
-			if(normal == Float4::null)
-			{
-				normal = Float4(deuterState.GetCenterPosition(), 1) - Float4(protoState.GetCenterPosition(), 1);
-			}
-			normal.Normalize();
-
-			Float4 protoG  = Float4(protoState.GetLinearMomentum( worldPointOfContact.xyz ), 0),
-				   deuterG = Float4(deuterState.GetLinearMomentum( worldPointOfContact.xyz ), 0);
-
-			Float protoG_Magnitude = protoG.Dot( normal ),
-				  deuterG_Magnitude = deuterG.Dot( normal );
-
-			// If true the object is inside the world
-			if(worldPointOfContact.GetLength() < 600 && protoState.GetCenterPosition().GetLength() != 0)
-			{
-				Float overlap = 600 - worldPointOfContact.GetLength();
-				Float3 newPos = overlap*worldPointOfContact.GetNormalized();
-				protoState.SetCenterPosition(protoState.GetCenterPosition() + newPos);
-				protoState.SetLinearMomentum(Float3(0, 0, 0));
-			}
-
-			// If they are not relatively moving towards eachother, there is no collision
-			Float deltaPos = normal.Dot( Float4(deuterState.GetCenterPosition(), 1) - Float4(protoState.GetCenterPosition(), 1) );
-			if( deltaPos < 0.0f )
-			{
-				if( protoG_Magnitude >= deuterG_Magnitude )
-				{
-					return;
-				}
-			}
-			else if( deltaPos > 0.0f )
-			{
-				if( protoG_Magnitude <= deuterG_Magnitude )
-				{
-					return;
-				}
-			}
-			else
-			{
-				return;
-			}
-
-			// Proto
-			normal = -proto->GetNormalAt(worldPointOfContact);
-			if(normal == Float4::null)
-			{
-				normal = Float4(protoState.GetCenterPosition(), 1) - Float4(deuterState.GetCenterPosition(), 1);	
-			}
-			normal.Normalize();
-
-			// Calculate and apply friction to rigid body
-			Float4 friction = Formula::CollisionResponse::Friction( protoG_Magnitude, normal,
-																	Float4(protoState.GetLinearMomentum(), 0),  protoState.GetFrictionCoeff_Static(),  protoState.GetFrictionCoeff_Kinetic(),  protoState.GetMass(), 
-																	Float4(deuterState.GetLinearMomentum(), 0), deuterState.GetFrictionCoeff_Static(), deuterState.GetFrictionCoeff_Kinetic(), deuterState.GetMass());
-
-			//protoState.ApplyFriction( -friction.xyz );
-
-			// If no other collision response is wanted then this will stop the bounce
-			if( proto->CallSubscription_BeforeCollisionResponse(proto) == ICustomBody::SubscriptMessage_ignore_collision_response )
-			{
-				return;
-			}
-
-		
-			
-			// Calaculate bounce
-			Float4 bounce = normal * Formula::CollisionResponse::Bounce( protoState.GetRestitutionCoeff(),
-																		  protoState.GetMass(), protoG_Magnitude,
-																		  deuterState.GetMass(), deuterG_Magnitude );
-			// If bounce is not big enough to matter, set to 0
-			if( abs(bounce.x) < 0.001 )
-			{
-				bounce.x = 0;
-			}
-			if( abs(bounce.y) < 0.001 )
-			{
-				bounce.y = 0;
-			}
-			if( abs(bounce.z) < 0.001 )
-			{
-				bounce.z = 0;
-			}
-
-			if( bounce != bounce)
-			{
-				const char* breakpoint = "STOP";
-			}
-
-			// Calculate kinetic energy before impulse is applied
-			Float kineticEnergyBefore = Oyster::Physics3D::Formula::LinearKineticEnergy( protoState.GetMass(), protoState.GetLinearMomentum()/protoState.GetMass() );
-
-			// Apply the bounce as impulse
-			protoState.ApplyImpulse( bounce.xyz, worldPointOfContact.xyz, normal.xyz );
-			proto->SetState( protoState );
-
-			// Calculate kinetic energy after impulse is applied
-			Float kineticEnergyAfter = Oyster::Physics3D::Formula::LinearKineticEnergy( protoState.GetMass(), (protoState.GetLinearMomentum() + protoState.GetLinearImpulse())/protoState.GetMass() );
-
-			// Call a collision function with kinetic energy loss
-			proto->CallSubscription_AfterCollisionResponse( deuter,  kineticEnergyBefore - kineticEnergyAfter );
-		}
-	}
-}
-
 API & API::Instance()
 {
 	return API_instance;
@@ -287,280 +19,186 @@ API & API::Instance()
 
 API_Impl::API_Impl()
 {
-	this->gravityConstant = Constant::gravity_constant;
+	this->broadphase = NULL;
-	this->epsilon = Constant::epsilon;
+	this->collisionConfiguration = NULL;
-	this->updateFrameLength = 1.0f / 120.0f;
+    this->dispatcher = NULL;
-	this->destructionAction = Default::EventAction_Destruction;
+	this->solver = NULL;
-	this->gravity = ::std::vector<Gravity>();
+	this->dynamicsWorld = NULL;
-	this->worldScene = Octree();
 }
 
-API_Impl::~API_Impl() {}
+API_Impl::~API_Impl() 
-
-void API_Impl::Init( unsigned int numObjects, unsigned int numGravityWells , const Float3 &worldSize )
 {
-	unsigned char numLayers = 4; //!< @todo TODO: calc numLayers from worldSize
+	delete this->dynamicsWorld;
-	this->gravity.resize( 0 );
+	this->dynamicsWorld = NULL;
-	this->gravity.reserve( numGravityWells );
+    delete this->solver;
-	this->worldScene = Octree( numObjects, numLayers, worldSize );
+	this->solver = NULL;
-}
+    delete this->dispatcher;
+	this->dispatcher = NULL;
+    delete this->collisionConfiguration;
+	this->collisionConfiguration = NULL;
+    delete this->broadphase;
+	this->broadphase = NULL;
 
-void API_Impl::SetFrameTimeLength( float deltaTime )
+	for(int i = 0; i < this->customBodies.size(); i++)
-{
-	this->updateFrameLength = deltaTime;
-}
-
-void API_Impl::SetGravityConstant( float g )
-{
-	this->gravityConstant = g;
-}
-
-void API_Impl::SetEpsilon( float e )
-{
-	this->epsilon = e;
-}
-
-void API_Impl::SetSubscription( API::EventAction_Destruction functionPointer )
-{
-	if( functionPointer )
 	{
-		this->destructionAction = functionPointer;
+		delete this->customBodies[i];
-	}
+		this->customBodies[i] = NULL;
-	else
-	{
-		this->destructionAction = Default::EventAction_Destruction;
 	}
 }
 
-float API_Impl::GetFrameTimeLength() const
+// Bullet physics
+ICustomBody* API_Impl::AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass)
 {
-	return this->updateFrameLength;
+	SimpleRigidBody* body = new SimpleRigidBody;
+
+	// Add collision shape
+	btCollisionShape* collisionShape = new btSphereShape(radius);
+	body->SetCollisionShape(collisionShape);
+
+	// Add motion state
+	btDefaultMotionState* motionState = new btDefaultMotionState(btTransform(btQuaternion(rotation.x, rotation.y, rotation.z, rotation.w),btVector3(position.x, position.y, position.z)));
+	body->SetMotionState(motionState);
+
+	// Add rigid body
+	btVector3 fallInertia(0, 0, 0);
+	collisionShape->calculateLocalInertia(mass, fallInertia);
+	btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(mass, motionState, collisionShape, fallInertia);
+    btRigidBody* rigidBody = new btRigidBody(rigidBodyCI);
+	rigidBody->setUserPointer(body);
+	body->SetRigidBody(rigidBody);
+
+	// Add rigid body to world
+	this->dynamicsWorld->addRigidBody(rigidBody);
+	this->customBodies.push_back(body);
+
+	return body;
+}
+ICustomBody* API_Impl::AddCollisionBox(Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass)
+{
+	SimpleRigidBody* body = new SimpleRigidBody;
+
+	// Add collision shape
+	btCollisionShape* collisionShape = new btBoxShape(btVector3(halfSize.x, halfSize.y, halfSize.z));
+	body->SetCollisionShape(collisionShape);
+
+	// Add motion state
+	btDefaultMotionState* motionState = new btDefaultMotionState(btTransform(btQuaternion(rotation.x, rotation.y, rotation.z, rotation.w),btVector3(position.x, position.y, position.z)));
+	body->SetMotionState(motionState);
+
+	// Add rigid body
+	btVector3 fallInertia(0, 0, 0);
+	collisionShape->calculateLocalInertia(mass, fallInertia);
+	btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(mass, motionState, collisionShape, fallInertia);
+    btRigidBody* rigidBody = new btRigidBody(rigidBodyCI);
+	rigidBody->setUserPointer(body);
+	body->SetRigidBody(rigidBody);
+
+	// Add rigid body to world
+	this->dynamicsWorld->addRigidBody(rigidBody);
+	this->customBodies.push_back(body);
+
+	return body;
 }
 
-void API_Impl::Update()
+void API_Impl::UpdateWorld()
-{ 
+{
+	this->dynamicsWorld->stepSimulation(1.0f/120.0f, 1.0f, 1.0f/120.0f);
+
 	ICustomBody::State state;
-	::std::vector<ICustomBody*> updateList;
 
-	// Fetch objects in universe
+	for(unsigned int i = 0; i < this->customBodies.size(); i++ )
-	this->worldScene.Sample( Universe(), updateList );
-
-	// Change momentum for all rigid bodies
-	for( unsigned int i = 0; i < updateList.size(); i++ )
 	{
-		ICustomBody* proto = updateList[i];
+		this->customBodies[i]->GetState(state);
-		// Step 1: Apply gravity to rigid body
-		Float4 gravityImpulse = Float4::null;
-		proto->GetState( state );
 
-		Float4 deltaPosGrav = Float4( this->gravity[0].well.position, 1.0f ) - Float4( state.GetCenterPosition(), 1.0f );
+		btTransform trans;
-		Float rSquared = deltaPosGrav.Dot( deltaPosGrav );
+		dynamic_cast<SimpleRigidBody*>(this->customBodies[i])->GetMotionState()->getWorldTransform(trans);
-		if( rSquared != 0.0 )
+		state.centerPos = Float3(trans.getOrigin().x(), trans.getOrigin().y(), trans.getOrigin().z());
-		{
+		state.quaternion = Quaternion(Float3(trans.getRotation().x(), trans.getRotation().y(), trans.getRotation().z()), trans.getRotation().w());
-			Float force = 9.82f*10.0f;
+		
-			gravityImpulse += (this->updateFrameLength*force)*deltaPosGrav.GetNormalized();
-		}
 
-		Float posLength = state.GetCenterPosition().GetLength();
+		this->customBodies[i]->SetState(state);
-		if( gravityImpulse != Float4::null && posLength - 600 > state.GetReach().GetLength() )
-		{
-			state.ApplyLinearImpulse( gravityImpulse.xyz );
-			state.SetGravityNormal( gravityImpulse.GetNormalized().xyz );
-			proto->SetState( state );
-		}
-
-		// Step 2: Step through octree and apply collision responses to rigid body
-		this->worldScene.Visit( proto, OnPossibleCollision );
 	}
 
-	// Go through all rigid bodies and move them according to their momentums
+	int numManifolds = this->dynamicsWorld->getDispatcher()->getNumManifolds();
-	for( unsigned int i = 0; i < updateList.size(); i++ )
+	for (int i=0;i<numManifolds;i++)
 	{
-		auto proto = updateList[i];
+		btPersistentManifold* contactManifold =  this->dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
+		const btCollisionObject* obA = contactManifold->getBody0();
+		const btCollisionObject* obB = contactManifold->getBody1();
 
-		switch( proto->Update(this->updateFrameLength) )
+		ICustomBody* bodyA = (ICustomBody*)obA->getUserPointer();
+		ICustomBody* bodyB = (ICustomBody*)obB->getUserPointer();
+
+		dynamic_cast<SimpleRigidBody*>(bodyA)->CallSubsciptMessage(bodyA, bodyB, 0.0f);
+		dynamic_cast<SimpleRigidBody*>(bodyB)->CallSubsciptMessage(bodyB, bodyA, 0.0f);
+
+		int numContacts = contactManifold->getNumContacts();
+		for (int j=0;j<numContacts;j++)
 		{
-		case UpdateState_altered:
+			btManifoldPoint& pt = contactManifold->getContactPoint(j);
-			// Moves the container in the octree to the new rigid body position
+			if (pt.getDistance()<0.f)
-			this->worldScene.SetAsAltered( this->worldScene.GetTemporaryReferenceOf(proto) );
+			{   
-			proto->CallSubscription_Move();
+				const btVector3& ptA = pt.getPositionWorldOnA();
-		case UpdateState_resting: 
+				const btVector3& ptB = pt.getPositionWorldOnB();
-		default:
+				const btVector3& normalOnB = pt.m_normalWorldOnB;
-			break;
+			}
 		}
 	}
+
 }
 
+void API_Impl::Init()
+{
+	this->broadphase = new btDbvtBroadphase();
+	this->collisionConfiguration = new btDefaultCollisionConfiguration();
+    this->dispatcher = new btCollisionDispatcher(this->collisionConfiguration);
+	this->solver = new btSequentialImpulseConstraintSolver;
+	this->dynamicsWorld = new btDiscreteDynamicsWorld(this->dispatcher,this->broadphase,this->solver,this->collisionConfiguration);
+	this->dynamicsWorld->setGravity(btVector3(0,-10,0));
+}
+
+
 bool API_Impl::IsInLimbo( const ICustomBody* objRef )
 {
-	return this->worldScene.IsInLimbo( objRef );
+	return true;
 }
 
 void API_Impl::MoveToLimbo( const ICustomBody* objRef )
 {
-	this->worldScene.MoveToLimbo( objRef );
+	
 }
+
 void API_Impl::ReleaseFromLimbo( const ICustomBody* objRef )
 {
-	this->worldScene.ReleaseFromLimbo( objRef );
+	
-}
-
-void API_Impl::AddObject( ::Utility::DynamicMemory::UniquePointer<ICustomBody> handle )
-{
-	this->worldScene.AddObject( handle );
-}
-
-UniquePointer<ICustomBody> API_Impl::ExtractObject( const ICustomBody* objRef )
-{
-	return this->worldScene.Extract( objRef );
-}
-
-void API_Impl::DestroyObject( const ICustomBody* objRef )
-{
-	UniquePointer<ICustomBody> object = this->worldScene.Extract( objRef );
-	if( object )
-	{
-		this->destructionAction( object );
-	}
-}
-
-void API_Impl::AddGravity( const API::Gravity &g )
-{
-	this->gravity.push_back( g );
-}
-
-void API_Impl::RemoveGravity( const API::Gravity &g )
-{
-	for( ::std::vector<Gravity>::size_type i = this->gravity.size() - 1; i >= 0; --i )
-	{
-		if( g == this->gravity[i] )
-		{
-			int end = this->gravity.size() - 1;
-			this->gravity[i] = this->gravity[end];
-			this->gravity.resize( end );
-		}
-	}
 }
 
 void API_Impl::ApplyEffect( const Oyster::Collision3D::ICollideable& collideable, void* args, void(hitAction)(ICustomBody*, void*) )
 {
-	this->worldScene.Visit(collideable, args, hitAction);
+	
 }
 
-//void API_Impl::ApplyForceAt( const ICustomBody* objRef, const Float3 &worldPos, const Float3 &worldF )
+namespace Oyster 
-//{
+{ 
-//	unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
+	namespace Physics
-//	if( tempRef != this->worldScene.invalid_ref )
-//	{
-//		//this->worldScene.GetCustomBody( tempRef )->Apply //!< @todo TODO: need function
-//		this->worldScene.SetAsAltered( tempRef );		
-//	}
-//}
-//
-//void API_Impl::SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const Float4x4 &localI )
-//{ // deprecated
-//	unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
-//	if( tempRef != this->worldScene.invalid_ref )
-//	{
-//		this->worldScene.GetCustomBody( tempRef )->SetMomentOfInertiaTensor_KeepVelocity( localI );
-//	}
-//}
-//
-//void API_Impl::SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const Float4x4 &localI )
-//{ // deprecated
-//	unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
-//	if( tempRef != this->worldScene.invalid_ref )
-//	{
-//		this->worldScene.GetCustomBody( tempRef )->SetMomentOfInertiaTensor_KeepMomentum( localI );
-//	}
-//}
-//
-//void API_Impl::SetMass_KeepVelocity( const ICustomBody* objRef, Float m )
-//{ // deprecated
-//	unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
-//	if( tempRef != this->worldScene.invalid_ref )
-//	{
-//		this->worldScene.GetCustomBody( tempRef )->SetMass_KeepVelocity( m );
-//	}
-//}
-//
-//void API_Impl::SetMass_KeepMomentum( const ICustomBody* objRef, Float m )
-//{ // deprecated
-//	unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
-//	if( tempRef != this->worldScene.invalid_ref )
-//	{
-//		this->worldScene.GetCustomBody( tempRef )->SetMass_KeepMomentum( m );
-//	}
-//}
-//
-//void API_Impl::SetCenter( const ICustomBody* objRef, const Float3 &worldPos )
-//{
-//	unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
-//	if( tempRef != this->worldScene.invalid_ref )
-//	{
-//		//this->worldScene.GetCustomBody( tempRef )->Set //!< @todo TODO: need function
-//		this->worldScene.EvaluatePosition( tempRef );
-//	}
-//}
-//
-//void API_Impl::SetRotation( const ICustomBody* objRef, const Float4x4 &rotation )
-//{
-//	unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
-//	if( tempRef != this->worldScene.invalid_ref )
-//	{
-//		this->worldScene.GetCustomBody( tempRef )->SetRotation( rotation );
-//		this->worldScene.EvaluatePosition( tempRef );
-//	}
-//}
-//
-//void API_Impl::SetOrientation( const ICustomBody* objRef, const Float4x4 &orientation )
-//{
-//	unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
-//	if( tempRef != this->worldScene.invalid_ref )
-//	{
-//		this->worldScene.GetCustomBody( tempRef )->SetOrientation( orientation );
-//		this->worldScene.EvaluatePosition( tempRef );
-//	}
-//}
-//
-//void API_Impl::SetSize( const ICustomBody* objRef, const Float3 &size )
-//{
-//	unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef );
-//	if( tempRef != this->worldScene.invalid_ref )
-//	{
-//		this->worldScene.GetCustomBody( tempRef )->SetSize( size );
-//		this->worldScene.EvaluatePosition( tempRef );
-//	}
-//}
-
-UniquePointer<ICustomBody> API_Impl::CreateRigidBody( const API::SimpleBodyDescription &desc ) const
-{
-	return new SimpleRigidBody( desc );
-}
-
-UniquePointer<ICustomBody> API_Impl::CreateRigidBody( const API::SphericalBodyDescription &desc ) const
-{
-	return new SphericalRigidBody( desc );
-}
-
-namespace Oyster { namespace Physics
-{
-	namespace Default
 	{
-		void EventAction_Destruction( ::Utility::DynamicMemory::UniquePointer<::Oyster::Physics::ICustomBody> proto )
+		namespace Default
-		{ /* Do nothing except allowing the proto uniquePointer destroy itself. */ }
+		{
+			void EventAction_Destruction( ::Utility::DynamicMemory::UniquePointer<::Oyster::Physics::ICustomBody> proto )
+			{ /* Do nothing except allowing the proto uniquePointer destroy itself. */ }
 
-		::Oyster::Physics::ICustomBody::SubscriptMessage EventAction_BeforeCollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter )
+			::Oyster::Physics::ICustomBody::SubscriptMessage EventAction_BeforeCollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter )
-		{ /* Do nothing except returning business as usual. */
+			{ /* Do nothing except returning business as usual. */
-			return ::Oyster::Physics::ICustomBody::SubscriptMessage_none;
+				return ::Oyster::Physics::ICustomBody::SubscriptMessage_none;
+			}
+
+			void EventAction_AfterCollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss )
+			{ /* Do nothing except returning business as usual. */
+				
+			}
+
+			void EventAction_Move( const ::Oyster::Physics::ICustomBody *object )
+			{ /* Do nothing. */ }
 		}
-
+	} 
-		void EventAction_AfterCollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss )
+}
-		{ /* Do nothing except returning business as usual. */
-			
-		}
-
-		void EventAction_Move( const ::Oyster::Physics::ICustomBody *object )
-		{ /* Do nothing. */ }
-	}
-} }

Code/GamePhysics/Implementation/PhysicsAPI_Impl.h

@@ -3,6 +3,7 @@
 
 #include "../PhysicsAPI.h"
 #include "Octree.h"
+#include <btBulletDynamicsCommon.h>
 
 namespace Oyster
 {
@@ -14,49 +15,27 @@ namespace Oyster
 			API_Impl();
 			virtual ~API_Impl();
 
-			void Init( unsigned int numObjects, unsigned int numGravityWells , const ::Oyster::Math::Float3 &worldSize );
+			void Init();
-
-			void SetFrameTimeLength( float deltaTime );
-			void SetGravityConstant( float g );
-			void SetEpsilon( float e );
-			void SetSubscription( EventAction_Destruction functionPointer );
-
-			float GetFrameTimeLength() const;
-
-			void Update();
 
 			bool IsInLimbo( const ICustomBody* objRef );
 			void MoveToLimbo( const ICustomBody* objRef );
 			void ReleaseFromLimbo( const ICustomBody* objRef );
 
-			void AddObject( ::Utility::DynamicMemory::UniquePointer<ICustomBody> handle );
+			// Bullet physics
-			::Utility::DynamicMemory::UniquePointer<ICustomBody> ExtractObject( const ICustomBody* objRef );
+			ICustomBody* AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass);
-			void DestroyObject( const ICustomBody* objRef );
+			ICustomBody* AddCollisionBox(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass);
 
-			void AddGravity( const API::Gravity &g );
+			void UpdateWorld();
-			void RemoveGravity( const API::Gravity &g );
 
 			void ApplyEffect( const Oyster::Collision3D::ICollideable& collideable, void* args, void(hitAction)(ICustomBody*, void*) );
 
-			//void ApplyForceAt( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &worldF );
-
-			//void SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI );
-			//void SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI );
-			//void SetMass_KeepVelocity( const ICustomBody* objRef, ::Oyster::Math::Float m );
-			//void SetMass_KeepMomentum( const ICustomBody* objRef, ::Oyster::Math::Float m );
-			//void SetCenter( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos );
-			//void SetRotation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &rotation );
-			//void SetOrientation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &orientation );
-			//void SetSize( const ICustomBody* objRef, const ::Oyster::Math::Float3 &size );
-
-			::Utility::DynamicMemory::UniquePointer<ICustomBody> CreateRigidBody( const SimpleBodyDescription &desc ) const;
-			::Utility::DynamicMemory::UniquePointer<ICustomBody> CreateRigidBody( const SphericalBodyDescription &desc ) const;
-
 		private:
-			::Oyster::Math::Float gravityConstant, updateFrameLength, epsilon;
+			btBroadphaseInterface* broadphase;
-			EventAction_Destruction destructionAction;
+			btDefaultCollisionConfiguration* collisionConfiguration;
-			::std::vector<API::Gravity> gravity;
+			btCollisionDispatcher* dispatcher;
-			Octree worldScene;
+			btSequentialImpulseConstraintSolver* solver;
+			btDiscreteDynamicsWorld* dynamicsWorld;
+			std::vector<ICustomBody*> customBodies;
 		};
 
 		namespace Default

Code/GamePhysics/Implementation/SimpleRigidBody.cpp

@@ -8,296 +8,87 @@ using namespace ::Oyster::Collision3D;
 using namespace ::Utility::DynamicMemory;
 using namespace ::Utility::Value;
 
-namespace Private
-{
-	const Float epsilon = (const Float)1e-20;
-
-	// Float calculations can suffer roundingerrors. Which is where epsilon = 1e-20 comes into the picture
-	inline bool EqualsZero( const Float &value )
-	{ // by Dan Andersson
-		return Abs( value ) < epsilon;
-	}
-
-	inline bool Contains( const Plane &container, const Float4 &pos )
-	{ // by Dan Andersson
-		return EqualsZero( container.normal.Dot( pos ) + container.phasing );
-	}
-
-	// revision of Ray Vs Plane intersect test, there ray is more of an axis
-	bool Intersects( const Ray &axis, const Plane &plane, Float &connectDistance )
-	{ // by Dan Andersson
-		Float c = plane.normal.Dot(axis.direction);
-		if( EqualsZero(c) )
-		{ // axis is parallell with the plane. (axis direction orthogonal with the planar normal)
-			connectDistance = 0.0f;
-			return Contains( plane, axis.origin );
-		}
-
-		connectDistance = -plane.phasing;
-		connectDistance -= plane.normal.Dot( axis.origin );
-		connectDistance /= c;
-
-		return true;
-	}
-}
-
 SimpleRigidBody::SimpleRigidBody()
 {
-	this->rigid = RigidBody();
+	this->collisionShape = NULL;
-	this->rigid.SetMass_KeepMomentum( 16.0f );
+	this->motionState = NULL;
-	this->gravityNormal = Float3::null;
+	this->rigidBody = NULL;
-	this->onCollision = Default::EventAction_BeforeCollisionResponse;
+
-	this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
+	this->state.centerPos = Float3(0.0f, 0.0f, 0.0f);
-	this->onMovement = Default::EventAction_Move;
+	this->state.quaternion = Quaternion(Float3(0.0f, 0.0f, 0.0f), 1.0f);
-	
+	this->state.dynamicFrictionCoeff = 0.0f;
-	this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
+	this->state.staticFrictionCoeff = 0.0f;
-	this->collisionRebound.previousSpatial.axis = this->rigid.axis;
+	this->state.mass = 0.0f;
-	this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
+	this->state.restitutionCoeff = 0.0f;
-	this->collisionRebound.timeOfContact = 1.0f;
+	this->state.reach = Float3(0.0f, 0.0f, 0.0f);
 
-	this->scene = nullptr;
 	this->customTag = nullptr;
-	this->ignoreGravity = this->isForwarded = false;
 }
 
 SimpleRigidBody::SimpleRigidBody( const API::SimpleBodyDescription &desc )
 {	
-	this->rigid = RigidBody();
+	this->collisionShape = NULL;
-	this->rigid.SetRotation( desc.rotation );
+	this->motionState = NULL;
-	this->rigid.centerPos				= desc.centerPosition;
+	this->rigidBody = NULL;
-	this->rigid.SetSize( desc.size );
-	this->rigid.restitutionCoeff		= desc.restitutionCoeff;
-	this->rigid.frictionCoeff_Static	= desc.frictionCoeff_Static;
-	this->rigid.frictionCoeff_Kinetic	= desc.frictionCoeff_Dynamic;
-	this->rigid.SetMass_KeepMomentum( desc.mass );
-	this->rigid.SetMomentOfInertia_KeepMomentum( desc.inertiaTensor );
-	this->deltaPos						= Float4::null;
-	this->deltaAxis						= Float4::null;
 
-	this->gravityNormal = Float3::null;
-	
-	this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
-	this->collisionRebound.previousSpatial.axis = this->rigid.axis;
-	this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
-	this->collisionRebound.timeOfContact = 1.0f;
-
-	if( desc.subscription_onCollision )
-	{
-		this->onCollision = desc.subscription_onCollision;
-	}
-	else
-	{
-		this->onCollision = Default::EventAction_BeforeCollisionResponse;
-	}
-
-	if( desc.subscription_onCollisionResponse )
-	{
-		this->onCollisionResponse = desc.subscription_onCollisionResponse;
-	}
-	else
-	{
-		this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
-	}
-
-	if( desc.subscription_onMovement )
-	{
-		this->onMovement= desc.subscription_onMovement;
-	}
-	else
-	{
-		this->onMovement = Default::EventAction_Move;
-	}
-
-	this->scene = nullptr;
 	this->customTag = nullptr;
-	this->ignoreGravity = desc.ignoreGravity;
-
-	this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
-	this->collisionRebound.previousSpatial.axis = this->rigid.axis;
-	this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
-	this->collisionRebound.timeOfContact = 1.0f;
 }
 
-SimpleRigidBody::~SimpleRigidBody() {}
+SimpleRigidBody::~SimpleRigidBody()
-
-UniquePointer<ICustomBody> SimpleRigidBody::Clone() const	
 {
-	return new SimpleRigidBody( *this );
+	delete this->motionState;
+	this->motionState = NULL;
+	delete this->collisionShape;
+	this->collisionShape = NULL;
+	delete this->rigidBody;
+	this->rigidBody = NULL;
+}
+
+void SimpleRigidBody::SetCollisionShape(btCollisionShape* shape)
+{
+	this->collisionShape = shape;
+}
+
+void SimpleRigidBody::SetMotionState(btDefaultMotionState* motionState)
+{
+	this->motionState = motionState;
+}
+
+void SimpleRigidBody::SetRigidBody(btRigidBody* rigidBody)
+{
+	this->rigidBody = rigidBody;
+	
+}
+
+void SimpleRigidBody::SetSubscription(EventAction_AfterCollisionResponse function)
+{
+	this->afterCollision = function;
+}
+
+void SimpleRigidBody::CallSubsciptMessage(ICustomBody* bodyA, ICustomBody* bodyB, Oyster::Math::Float kineticEnergyLoss)
+{
+	this->CallSubsciptMessage(bodyA, bodyB, kineticEnergyLoss);
+}
+
+btDefaultMotionState* SimpleRigidBody::GetMotionState() const
+{
+	return this->motionState;
 }
 
 SimpleRigidBody::State SimpleRigidBody::GetState() const
 {
-	return State( this->rigid.GetMass(), this->rigid.restitutionCoeff,
+	return this->state;
-				  this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic,
-				  this->rigid.GetMomentOfInertia(), this->rigid.boundingReach,
-				  this->rigid.centerPos, this->rigid.axis,
-				  this->rigid.momentum_Linear, this->rigid.momentum_Angular, 
-				  this->rigid.gravityNormal );
 }
 
 SimpleRigidBody::State & SimpleRigidBody::GetState( SimpleRigidBody::State &targetMem ) const
 {
-	return targetMem = State( this->rigid.GetMass(), this->rigid.restitutionCoeff,
+	targetMem = this->state;
-							  this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic,
+	return targetMem;
-							  this->rigid.GetMomentOfInertia(), this->rigid.boundingReach,
-							  this->rigid.centerPos, this->rigid.axis,
-							  this->rigid.momentum_Linear, this->rigid.momentum_Angular,
-							  this->rigid.gravityNormal );
 }
 
 void SimpleRigidBody::SetState( const SimpleRigidBody::State &state )
 {
-	this->rigid.centerPos			  = state.GetCenterPosition();
+	this->state = state;
-	this->rigid.axis				  = state.GetAngularAxis();
-	this->rigid.boundingReach		  = state.GetReach();
-	this->rigid.momentum_Linear		  = state.GetLinearMomentum();
-	this->rigid.momentum_Angular	  = state.GetAngularMomentum();
-	this->rigid.impulse_Linear		 += state.GetLinearImpulse();
-	this->rigid.impulse_Angular		 += state.GetAngularImpulse();
-	this->rigid.restitutionCoeff	  = state.GetRestitutionCoeff();
-	this->rigid.frictionCoeff_Static  = state.GetFrictionCoeff_Static();
-	this->rigid.frictionCoeff_Kinetic = state.GetFrictionCoeff_Kinetic();
-	this->rigid.SetMass_KeepMomentum( state.GetMass() );
-	this->rigid.SetMomentOfInertia_KeepMomentum( state.GetMomentOfInertia() );
-	this->rigid.gravityNormal		  = state.GetGravityNormal();
-
-	if( state.IsForwarded() )
-	{
-		this->deltaPos += Float4(state.GetForward_DeltaPos(), 0);
-		this->deltaAxis += Float4(state.GetForward_DeltaAxis(), 0);
-		this->isForwarded;
-	}
-
-	if( this->scene )
-	{
-		if( state.IsSpatiallyAltered() )
-		{
-			unsigned int tempRef = this->scene->GetTemporaryReferenceOf( this );
-			this->scene->SetAsAltered( tempRef );
-			this->scene->EvaluatePosition( tempRef );
-		}
-		else if( state.IsDisturbed() )
-		{
-			this->scene->SetAsAltered( this->scene->GetTemporaryReferenceOf(this) );
-		}
-	}
-}
-
-ICustomBody::SubscriptMessage SimpleRigidBody::CallSubscription_BeforeCollisionResponse( const ICustomBody *deuter )
-{
-	return this->onCollision( this, deuter );
-}
-
-void SimpleRigidBody::CallSubscription_AfterCollisionResponse( const ICustomBody *deuter, Float kineticEnergyLoss )
-{
-	return this->onCollisionResponse( this, deuter, kineticEnergyLoss );
-}
-
-void SimpleRigidBody::CallSubscription_Move()
-{
-	this->onMovement( this );
-}
-
-bool SimpleRigidBody::IsAffectedByGravity() const
-{
-	return !this->ignoreGravity;
-}
-
-bool SimpleRigidBody::Intersects( const ICollideable &shape ) const
-{
-	return Box( this->rigid.GetRotationMatrix(), this->rigid.centerPos, this->rigid.GetSize() ).Intersects( shape );
-}
-
-bool SimpleRigidBody::Intersects( const ICollideable &shape, Float4 &worldPointOfContact ) const
-{
-	return Box( this->rigid.GetRotationMatrix(), this->rigid.centerPos, this->rigid.GetSize() ).Intersects( shape, worldPointOfContact );
-}
-
-bool SimpleRigidBody::Intersects( const ICustomBody &object, Float4 &worldPointOfContact ) const
-{
-	return object.Intersects( Box(this->rigid.GetRotationMatrix(), this->rigid.centerPos, this->rigid.GetSize()), worldPointOfContact );
-}
-
-void SimpleRigidBody::SetTimeOfContact( Float4 &worldPointOfContact )
-{
-	Point pointOfContact = Point( worldPointOfContact );
-	Box start = Box();
-	{
-		start.rotation = RotationMatrix( this->collisionRebound.previousSpatial.axis );
-		start.center = this->collisionRebound.previousSpatial.center;
-		start.boundingOffset = this->collisionRebound.previousSpatial.reach;
-	}
-	Box end = Box();
-	{
-		end.rotation = RotationMatrix( this->rigid.axis );
-		end.center = this->rigid.centerPos;
-		end.boundingOffset = this->rigid.boundingReach;
-	}
-	Float timeOfContact = ::Oyster::Collision3D::Utility::TimeOfContact( start, end, pointOfContact );
-
-	this->collisionRebound.timeOfContact = Min( this->collisionRebound.timeOfContact, timeOfContact );
-}
-
-Sphere & SimpleRigidBody::GetBoundingSphere( Sphere &targetMem ) const
-{
-	return targetMem = Sphere( this->rigid.centerPos, this->rigid.boundingReach.GetMagnitude() );
-}
-
-Float4 & SimpleRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem ) const
-{
-	Float4 offset = worldPos.xyz - this->rigid.centerPos;
-	Float distance = offset.Dot( offset );
-	Float3 normal = Float3::null;
-
-	if( distance != 0.0f )
-	{ // sanity check
-		Ray axis( Float4::standard_unit_w, offset / (Float)::std::sqrt(distance) );
-		Float minDistance = numeric_limits<Float>::max();
-		Float4x4 rotationMatrix = this->rigid.GetRotationMatrix();
-		
-		if( Private::Intersects(axis, Plane(rotationMatrix.v[0], -this->rigid.boundingReach.x), axis.collisionDistance) )
-		{ // check along x-axis
-			if( axis.collisionDistance < 0.0f )
-				normal = -rotationMatrix.v[0].xyz;
-			else
-				normal = rotationMatrix.v[0].xyz;
-
-			minDistance = Abs( axis.collisionDistance );
-		}
-
-		if( Private::Intersects(axis, Plane(rotationMatrix.v[1], -this->rigid.boundingReach.y), axis.collisionDistance) )
-		{ // check along y-axis
-			distance = Abs( axis.collisionDistance ); // recycling memory
-			if( minDistance > distance )
-			{
-				if( axis.collisionDistance < 0.0f )
-					normal = -rotationMatrix.v[1].xyz;
-				else
-					normal = rotationMatrix.v[1].xyz;
-
-				minDistance = distance;
-			}
-		}
-
-		if( Private::Intersects(axis, Plane(rotationMatrix.v[2], -this->rigid.boundingReach.z), axis.collisionDistance) )
-		{ // check along z-axis
-			if( minDistance > Abs( axis.collisionDistance ) )
-			{
-				if( axis.collisionDistance < 0.0f )
-					normal = -rotationMatrix.v[2].xyz;
-				else
-					normal = rotationMatrix.v[2].xyz;
-			}
-		}
-	}
-	targetMem.xyz = normal;
-	targetMem.w = 0.0f;
-	return targetMem;
-}
-
-Float3 & SimpleRigidBody::GetGravityNormal( Float3 &targetMem ) const
-{
-	return targetMem = this->gravityNormal;	
 }
 
 void * SimpleRigidBody::GetCustomTag() const
@@ -305,182 +96,10 @@ void * SimpleRigidBody::GetCustomTag() const
 	return this->customTag;
 }
 
-//Float3 & SimpleRigidBody::GetCenter( Float3 &targetMem ) const
-//{
-//	return targetMem = this->rigid.centerPos;
-//}
-//
-//Float4x4 & SimpleRigidBody::GetRotation( Float4x4 &targetMem ) const
-//{
-//	return targetMem = this->rigid.box.rotation;
-//}
-//
-//Float4x4 & SimpleRigidBody::GetOrientation( Float4x4 &targetMem ) const
-//{
-//	return targetMem = this->rigid.GetOrientation();
-//}
-//
-//Float4x4 & SimpleRigidBody::GetView( Float4x4 &targetMem ) const
-//{
-//	return targetMem = this->rigid.GetView();
-//}
-
-//Float3 SimpleRigidBody::GetRigidLinearVelocity() const
-//{
-//	return this->rigid.GetLinearVelocity();
-//}
-
-UpdateState SimpleRigidBody::Update( Float timeStepLength )
-{
-	if( this->collisionRebound.timeOfContact < 1.0f )
-	{ // Rebound if needed
-		this->rigid.centerPos = Lerp( this->collisionRebound.previousSpatial.center, this->rigid.centerPos, this->collisionRebound.timeOfContact );
-		this->rigid.SetRotation( Lerp(this->collisionRebound.previousSpatial.axis, this->rigid.axis, this->collisionRebound.timeOfContact) );
-		this->rigid.boundingReach = Lerp( this->collisionRebound.previousSpatial.reach, this->rigid.boundingReach, this->collisionRebound.timeOfContact );
-		timeStepLength *= 2.0f - this->collisionRebound.timeOfContact; // compensate for rebounded time
-		this->collisionRebound.timeOfContact = 1.0f;
-	}
-	
-	// Maintain rotation resolution by keeping axis within [0, 2pi] (trigonometric methods gets faster too)
-	Float4 temp;
-	::std::modf( this->rigid.axis * (0.5f / pi), temp.xyz );
-	this->rigid.axis -= ((2.0f * pi) * temp).xyz;
-	
-	// Update rebound data
-	this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
-	this->collisionRebound.previousSpatial.axis = this->rigid.axis;
-	this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
-	
-	// Check if this is close enough to be set resting
-	temp = Float4( this->rigid.impulse_Linear, 0.0f ) + Float4( this->rigid.impulse_Angular, 0.0f );
-	if( temp.Dot(temp) <= (Constant::epsilon * Constant::epsilon) )
-	{
-		unsigned char resting = 0;
-		if( this->rigid.momentum_Linear.Dot(this->rigid.momentum_Linear) <= (Constant::epsilon * Constant::epsilon) )
-		{
-			this->rigid.momentum_Linear = Float3::null;
-			resting = 1;
-		}
-		if( this->rigid.momentum_Angular.Dot(this->rigid.momentum_Angular) <= (Constant::epsilon * Constant::epsilon) )
-		{
-			this->rigid.momentum_Angular = Float3::null;
-			++resting;
-		}
-		if( resting == 2 )
-		{
-			this->rigid.impulse_Linear = this->rigid.impulse_Angular = Float3::null;
-			return UpdateState_resting;
-		}
-	}
-
-	this->rigid.Update_LeapFrog( timeStepLength );
-	return UpdateState_altered;
-}
-
-void SimpleRigidBody::Predict( Float4 &outDeltaPos, Float4 &outDeltaAxis, const Float4 &actingLinearImpulse, const Float4 &actingAngularImpulse, Float deltaTime )
-{
-	this->rigid.Predict_LeapFrog( outDeltaPos.xyz, outDeltaAxis.xyz, actingLinearImpulse.xyz, actingAngularImpulse.xyz, deltaTime );
-}
-
-void SimpleRigidBody::SetScene( void *scene )
-{
-	this->scene = (Octree*)scene;
-}
-
-void SimpleRigidBody::SetSubscription( ICustomBody::EventAction_BeforeCollisionResponse functionPointer )
-{
-	if( functionPointer )
-	{
-		this->onCollision = functionPointer;
-	}
-	else
-	{
-		this->onCollision = Default::EventAction_BeforeCollisionResponse;
-	}
-}
-
-void SimpleRigidBody::SetSubscription( ICustomBody::EventAction_AfterCollisionResponse functionPointer )
-{
-	if( functionPointer )
-	{
-		this->onCollisionResponse = functionPointer;
-	}
-	else
-	{
-		this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
-	}
-}
-
-void SimpleRigidBody::SetSubscription( ICustomBody::EventAction_Move functionPointer )
-{
-	if( functionPointer )
-	{
-		this->onMovement = functionPointer;
-	}
-	else
-	{
-		this->onMovement = Default::EventAction_Move;
-	}
-}
-
-void SimpleRigidBody::SetGravity( bool ignore)
-{
-	this->ignoreGravity = ignore;
-	this->gravityNormal = Float3::null;
-}
-
-void SimpleRigidBody::SetGravityNormal( const Float3 &normalizedVector )
-{
-	this->gravityNormal = normalizedVector;
-	this->rigid.gravityNormal = Float4( this->gravityNormal, 0 );
-}
 
 void SimpleRigidBody::SetCustomTag( void *ref )
 {
 	this->customTag = ref;
 }
 
-//void SimpleRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI )
+
-//{
-//	this->rigid.SetMomentOfInertia_KeepVelocity( localI );
-//}
-//
-//void SimpleRigidBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI )
-//{
-//	this->rigid.SetMomentOfInertia_KeepMomentum( localI );
-//}
-//
-//void SimpleRigidBody::SetMass_KeepVelocity( Float m )
-//{
-//	this->rigid.SetMass_KeepVelocity( m );
-//}
-//
-//void SimpleRigidBody::SetMass_KeepMomentum( Float m )
-//{
-//	this->rigid.SetMass_KeepMomentum( m );
-//}
-//
-//void SimpleRigidBody::SetCenter( const Float3 &worldPos )
-//{
-//	this->rigid.SetCenter( worldPos );
-//}
-//
-//void SimpleRigidBody::SetRotation( const Float4x4 &rotation )
-//{
-//	this->rigid.SetRotation( rotation );
-//}
-//
-//void SimpleRigidBody::SetOrientation( const Float4x4 &orientation )
-//{
-//	this->rigid.SetOrientation( orientation );
-//}
-//
-//void SimpleRigidBody::SetSize( const Float3 &size )
-//{
-//	this->rigid.SetSize( size );
-//}
-//
-//void SimpleRigidBody::SetMomentum( const Float3 &worldG )
-//{
-//	this->rigid.SetLinearMomentum( worldG );
-//}

Code/GamePhysics/Implementation/SimpleRigidBody.h

@@ -2,8 +2,7 @@
 #define OYSTER_PHYSICS_SIMPLE_RIGIDBODY_H
 
 #include "..\PhysicsAPI.h"
-#include "RigidBody.h"
+#include <btBulletDynamicsCommon.h>
-#include "Octree.h"
 
 namespace Oyster { namespace Physics
 {
@@ -14,73 +13,32 @@ namespace Oyster { namespace Physics
 		SimpleRigidBody( const API::SimpleBodyDescription &desc );
 		virtual ~SimpleRigidBody();
 
-		::Utility::DynamicMemory::UniquePointer<ICustomBody> Clone() const;
+		void SetCollisionShape(btCollisionShape* shape);
+		void SetMotionState(btDefaultMotionState* motionState);
+		void SetRigidBody(btRigidBody* rigidBody);
 		
+		void SetSubscription(EventAction_AfterCollisionResponse function);
+		void CallSubsciptMessage(ICustomBody* bodyA, ICustomBody* bodyB, Math::Float kineticEnergyLoss);
+
 		State GetState() const;
 		State & GetState( State &targetMem ) const;
 		void SetState( const State &state );
-		//::Oyster::Math::Float3 GetRigidLinearVelocity() const;
 
-		SubscriptMessage CallSubscription_BeforeCollisionResponse( const ICustomBody *deuter );
+		btDefaultMotionState* GetMotionState() const;
-		void CallSubscription_AfterCollisionResponse( const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss );
-		void CallSubscription_Move();
 
-		bool IsAffectedByGravity() const;
-		bool Intersects( const ::Oyster::Collision3D::ICollideable &shape ) const;
-		bool Intersects( const ::Oyster::Collision3D::ICollideable &shape, ::Oyster::Math::Float4 &worldPointOfContact ) const;
-		bool Intersects( const ICustomBody &object, ::Oyster::Math::Float4 &worldPointOfContact ) const;
-
-		void SetTimeOfContact( ::Oyster::Math::Float4 &worldPointOfContact );
-
-		::Oyster::Collision3D::Sphere &	GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const;
-		::Oyster::Math::Float4 &		GetNormalAt( const ::Oyster::Math::Float4 &worldPos, ::Oyster::Math::Float4 &targetMem = ::Oyster::Math::Float4() ) const;
-		::Oyster::Math::Float3 &		GetGravityNormal( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
-		void *							GetCustomTag() const;
-		//::Oyster::Math::Float3 &		GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
-		//::Oyster::Math::Float4x4 &		GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
-		//::Oyster::Math::Float4x4 &		GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
-		//::Oyster::Math::Float4x4 &		GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
-
-		UpdateState Update( ::Oyster::Math::Float timeStepLength );
-		void Predict( ::Oyster::Math::Float4 &outDeltaPos, ::Oyster::Math::Float4 &outDeltaAxis, const ::Oyster::Math::Float4 &actingLinearImpulse, const ::Oyster::Math::Float4 &actingAngularImpulse, ::Oyster::Math::Float deltaTime );
-
-		void SetScene( void *scene );
-
-		void SetSubscription( EventAction_BeforeCollisionResponse functionPointer );
-		void SetSubscription( EventAction_AfterCollisionResponse functionPointer );
-		void SetSubscription( EventAction_Move functionPointer );
-
-		void SetGravity( bool ignore);
-		void SetGravityNormal( const ::Oyster::Math::Float3 &normalizedVector );
 		void SetCustomTag( void *ref );
-		//void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI );
+		void* GetCustomTag() const;
-		//void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI );
-		//void SetMass_KeepVelocity( ::Oyster::Math::Float m );
-		//void SetMass_KeepMomentum( ::Oyster::Math::Float m );
-		//void SetCenter( const ::Oyster::Math::Float3 &worldPos );
-		//void SetRotation( const ::Oyster::Math::Float4x4 &rotation );
-		//void SetOrientation( const ::Oyster::Math::Float4x4 &orientation );
-		//void SetSize( const ::Oyster::Math::Float3 &size );
-		//void SetMomentum( const ::Oyster::Math::Float3 &worldG );
 
 	private:
-		::Oyster::Physics3D::RigidBody rigid;
+		btCollisionShape* collisionShape;
-		::Oyster::Math::Float4 deltaPos, deltaAxis;
+		btDefaultMotionState* motionState;
-		::Oyster::Math::Float3 gravityNormal;
+		btRigidBody* rigidBody;
 
-		struct
+		Struct::CustomBodyState state;
-		{
-			struct { ::Oyster::Math::Float3 center, axis, reach; } previousSpatial;
-			::Oyster::Math::Float timeOfContact;
-		} collisionRebound;
 
-		EventAction_BeforeCollisionResponse onCollision;
+		EventAction_AfterCollisionResponse afterCollision;
-		EventAction_AfterCollisionResponse onCollisionResponse;
-		EventAction_Move onMovement;
 
-		Octree *scene;
 		void *customTag;
-		bool ignoreGravity, isForwarded;
 	};
 } }
 

Code/GamePhysics/Implementation/SphericalRigidBody.cpp

@@ -1,408 +0,0 @@
-#include "SphericalRigidBody.h"
-#include "PhysicsAPI_Impl.h"
-
-using namespace ::Oyster::Physics;
-using namespace ::Oyster::Physics3D;
-using namespace ::Oyster::Math3D;
-using namespace ::Oyster::Collision3D;
-using namespace ::Utility::DynamicMemory;
-using namespace ::Utility::Value;
-
-SphericalRigidBody::SphericalRigidBody()
-{
-	this->rigid = RigidBody();
-	this->rigid.SetMass_KeepMomentum( 16.0f );
-	this->gravityNormal = Float3::null;
-	this->onCollision = Default::EventAction_BeforeCollisionResponse;
-	this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
-	this->onMovement = Default::EventAction_Move;
-	
-	this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
-	this->collisionRebound.previousSpatial.axis = this->rigid.axis;
-	this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
-	this->collisionRebound.timeOfContact = 1.0f;
-
-	this->scene = nullptr;
-	this->customTag = nullptr;
-	this->ignoreGravity = this->isForwarded = false;
-}
-
-SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &desc )
-{
-	this->rigid							= RigidBody();
-	this->rigid.SetRotation( desc.rotation );
-	this->rigid.centerPos				= desc.centerPosition;
-	this->rigid.boundingReach			= Float4( desc.radius, desc.radius, desc.radius, 0.0f );
-	this->rigid.restitutionCoeff		= desc.restitutionCoeff;
-	this->rigid.frictionCoeff_Static	= desc.frictionCoeff_Static;
-	this->rigid.frictionCoeff_Kinetic	= desc.frictionCoeff_Dynamic;
-	this->rigid.SetMass_KeepMomentum( desc.mass );
-	this->rigid.SetMomentOfInertia_KeepMomentum( MomentOfInertia::Sphere(desc.mass, desc.radius) );
-	this->deltaPos						= Float4::null;
-	this->deltaAxis						= Float4::null;
-
-	this->gravityNormal = Float3::null;
-
-	this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
-	this->collisionRebound.previousSpatial.axis = this->rigid.axis;
-	this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
-	this->collisionRebound.timeOfContact = 1.0f;
-
-	if( desc.subscription_onCollision )
-	{
-		this->onCollision = desc.subscription_onCollision;
-	}
-	else
-	{
-		this->onCollision = Default::EventAction_BeforeCollisionResponse;
-	}
-
-	if( desc.subscription_onCollisionResponse )
-	{
-		this->onCollisionResponse = desc.subscription_onCollisionResponse;
-	}
-	else
-	{
-		this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
-	}
-
-	if( desc.subscription_onMovement )
-	{
-		this->onMovement= desc.subscription_onMovement;
-	}
-	else
-	{
-		this->onMovement = Default::EventAction_Move;
-	}
-
-	this->scene = nullptr;
-	this->customTag = nullptr;
-	this->ignoreGravity = desc.ignoreGravity;
-
-	this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
-	this->collisionRebound.previousSpatial.axis = this->rigid.axis;
-	this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
-	this->collisionRebound.timeOfContact = 1.0f;
-}
-
-SphericalRigidBody::~SphericalRigidBody() {}
-
-UniquePointer<ICustomBody> SphericalRigidBody::Clone() const	
-{
-	return new SphericalRigidBody( *this );
-}
-
-SphericalRigidBody::State SphericalRigidBody::GetState() const
-{
-	return State( this->rigid.GetMass(), this->rigid.restitutionCoeff,
-				  this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic,
-				  this->rigid.GetMomentOfInertia(), this->rigid.boundingReach,
-				  this->rigid.centerPos, this->rigid.axis,
-				  this->rigid.momentum_Linear, this->rigid.momentum_Angular,
-				  this->gravityNormal );
-}
-
-SphericalRigidBody::State & SphericalRigidBody::GetState( SphericalRigidBody::State &targetMem ) const
-{
-	return targetMem = State( this->rigid.GetMass(), this->rigid.restitutionCoeff,
-							  this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic,
-							  this->rigid.GetMomentOfInertia(), this->rigid.boundingReach,
-							  this->rigid.centerPos, this->rigid.axis,
-							  this->rigid.momentum_Linear, this->rigid.momentum_Angular,
-							  this->gravityNormal );
-}
-
-void SphericalRigidBody::SetState( const SphericalRigidBody::State &state )
-{
-	this->rigid.centerPos			  = state.GetCenterPosition();
-	this->rigid.axis				  = state.GetAngularAxis();
-	this->rigid.boundingReach		  = state.GetReach();
-	this->rigid.momentum_Linear		  = state.GetLinearMomentum();
-	this->rigid.momentum_Angular	  = state.GetAngularMomentum();
-	this->rigid.impulse_Linear		 += state.GetLinearImpulse();
-	this->rigid.impulse_Angular		 += state.GetAngularImpulse();
-	this->rigid.restitutionCoeff	  = state.GetRestitutionCoeff();
-	this->rigid.frictionCoeff_Static  = state.GetFrictionCoeff_Static();
-	this->rigid.frictionCoeff_Kinetic = state.GetFrictionCoeff_Kinetic();
-	this->rigid.SetMass_KeepMomentum( state.GetMass() );
-	this->rigid.SetMomentOfInertia_KeepMomentum( state.GetMomentOfInertia() );
-	this->rigid.gravityNormal		  = state.GetGravityNormal();
-
-	if( state.IsForwarded() )
-	{
-		this->deltaPos += Float4(state.GetForward_DeltaPos(), 0);
-		this->deltaAxis += Float4(state.GetForward_DeltaAxis());
-		this->isForwarded = false;
-	}
-
-	if( this->scene )
-	{
-		if( state.IsSpatiallyAltered() )
-		{
-			unsigned int tempRef = this->scene->GetTemporaryReferenceOf( this );
-			this->scene->SetAsAltered( tempRef );
-			this->scene->EvaluatePosition( tempRef );
-		}
-		else if( state.IsDisturbed() )
-		{
-			this->scene->SetAsAltered( this->scene->GetTemporaryReferenceOf(this) );
-		}
-	}
-}
-
-ICustomBody::SubscriptMessage SphericalRigidBody::CallSubscription_BeforeCollisionResponse( const ICustomBody *deuter )
-{
-	return this->onCollision( this, deuter );
-}
-
-void SphericalRigidBody::CallSubscription_AfterCollisionResponse( const ICustomBody *deuter, Float kineticEnergyLoss )
-{
-	this->onCollisionResponse( this, deuter, kineticEnergyLoss);
-}
-
-
-void SphericalRigidBody::CallSubscription_Move()
-{
-	this->onMovement( this );
-}
-
-bool SphericalRigidBody::IsAffectedByGravity() const
-{
-	return !this->ignoreGravity;
-}
-
-bool SphericalRigidBody::Intersects( const ICollideable &shape ) const
-{
-	return Sphere( this->rigid.centerPos, this->rigid.boundingReach.x ).Intersects( shape );
-}
-
-bool SphericalRigidBody::Intersects( const ICollideable &shape, Float4 &worldPointOfContact ) const
-{
-	return Sphere( this->rigid.centerPos, this->rigid.boundingReach.x ).Intersects( shape, worldPointOfContact );
-}
-
-bool SphericalRigidBody::Intersects( const ICustomBody &object, Float4 &worldPointOfContact ) const
-{
-	return object.Intersects( Sphere(this->rigid.centerPos, this->rigid.boundingReach.x), worldPointOfContact );
-}
-
-void SphericalRigidBody::SetTimeOfContact( Float4 &worldPointOfContact )
-{
-	Point pointOfContact = Point( worldPointOfContact );
-	Sphere start = Sphere( this->collisionRebound.previousSpatial.center, this->collisionRebound.previousSpatial.reach.x );
-	Sphere end = Sphere( this->rigid.centerPos, this->rigid.boundingReach.x );
-
-	Float timeOfContact = ::Oyster::Collision3D::Utility::TimeOfContact( start, end, pointOfContact );
-
-	this->collisionRebound.timeOfContact = Min( this->collisionRebound.timeOfContact, timeOfContact );
-}
-
-Sphere & SphericalRigidBody::GetBoundingSphere( Sphere &targetMem ) const
-{
-	return targetMem = Sphere( this->rigid.centerPos, this->rigid.boundingReach.x );
-}
-
-Float4 & SphericalRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem ) const
-{
-	targetMem = Float4( worldPos.xyz - this->rigid.centerPos, 0);
-	Float magnitude = targetMem.GetMagnitude();
-	if( magnitude != 0.0f )
-	{ // sanity check
-		targetMem.Normalize();
-	}
-
-	return targetMem;
-}
-
-Float3 & SphericalRigidBody::GetGravityNormal( Float3 &targetMem ) const
-{
-	return targetMem = this->gravityNormal;	
-}
-
-void * SphericalRigidBody::GetCustomTag() const
-{
-	return this->customTag;
-}
-
-//Float3 & SphericalRigidBody::GetCenter( Float3 &targetMem ) const
-//{
-//	return targetMem = this->rigid.centerPos;
-//}
-//
-//Float4x4 & SphericalRigidBody::GetRotation( Float4x4 &targetMem ) const
-//{
-//	return targetMem = this->rigid.box.rotation;
-//}
-//
-//Float4x4 & SphericalRigidBody::GetOrientation( Float4x4 &targetMem ) const
-//{
-//	return targetMem = this->rigid.GetOrientation();
-//}
-//
-//Float4x4 & SphericalRigidBody::GetView( Float4x4 &targetMem ) const
-//{
-//	return targetMem = this->rigid.GetView();
-//}
-
-//Float3 SphericalRigidBody::GetRigidLinearVelocity() const
-//{
-//	return this->rigid.GetLinearVelocity();
-//}
-
-UpdateState SphericalRigidBody::Update( Float timeStepLength )
-{
-	if( this->collisionRebound.timeOfContact < 1.0f )
-	{ // Rebound if needed
-		this->rigid.centerPos = Lerp( this->collisionRebound.previousSpatial.center, this->rigid.centerPos, this->collisionRebound.timeOfContact );
-		this->rigid.SetRotation( Lerp(this->collisionRebound.previousSpatial.axis, this->rigid.axis, this->collisionRebound.timeOfContact) );
-		this->rigid.boundingReach = Lerp( this->collisionRebound.previousSpatial.reach, this->rigid.boundingReach, this->collisionRebound.timeOfContact );
-		timeStepLength *= 2.0f - this->collisionRebound.timeOfContact; // compensate for rebounded time
-		this->collisionRebound.timeOfContact = 1.0f;
-	}
-	
-	// Maintain rotation resolution by keeping axis within [0, 2pi] (trigonometric methods gets faster too)
-	Float4 temp;
-	::std::modf( this->rigid.axis * (0.5f / pi), temp.xyz );
-	this->rigid.axis -= ((2.0f * pi) * temp).xyz;
-	
-	// Update rebound data
-	this->collisionRebound.previousSpatial.center = this->rigid.centerPos;
-	this->collisionRebound.previousSpatial.axis = this->rigid.axis;
-	this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach;
-	
-	// Check if this is close enough to be set resting
-	temp = Float4( this->rigid.impulse_Linear, 0.0f ) + Float4( this->rigid.impulse_Angular, 0.0f );
-	if( temp.Dot(temp) <= (Constant::epsilon * Constant::epsilon) )
-	{
-		unsigned char resting = 0;
-		if( this->rigid.momentum_Linear.Dot(this->rigid.momentum_Linear) <= (Constant::epsilon * Constant::epsilon) )
-		{
-			this->rigid.momentum_Linear = Float3::null;
-			resting = 1;
-		}
-		if( this->rigid.momentum_Angular.Dot(this->rigid.momentum_Angular) <= (Constant::epsilon * Constant::epsilon) )
-		{
-			this->rigid.momentum_Angular = Float3::null;
-			++resting;
-		}
-		if( resting == 2 )
-		{
-			this->rigid.impulse_Linear = this->rigid.impulse_Angular = Float3::null;
-			return UpdateState_resting;
-		}
-	}
-
-	this->rigid.Update_LeapFrog( timeStepLength );
-	return UpdateState_altered;
-}
-
-void SphericalRigidBody::Predict( ::Oyster::Math::Float4 &outDeltaPos, ::Oyster::Math::Float4 &outDeltaAxis, const ::Oyster::Math::Float4 &actingLinearImpulse, const ::Oyster::Math::Float4 &actingAngularImpulse, ::Oyster::Math::Float deltaTime )
-{
-	this->rigid.Predict_LeapFrog( outDeltaPos.xyz, outDeltaAxis.xyz, actingLinearImpulse.xyz, actingAngularImpulse.xyz, deltaTime );
-}
-
-void SphericalRigidBody::SetScene( void *scene )
-{
-	this->scene = (Octree*)scene;
-}
-
-void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_BeforeCollisionResponse functionPointer )
-{
-	if( functionPointer )
-	{
-		this->onCollision = functionPointer;
-	}
-	else
-	{
-		this->onCollision = Default::EventAction_BeforeCollisionResponse;
-	}
-}
-
-void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_AfterCollisionResponse functionPointer )
-{
-	if( functionPointer )
-	{
-		this->onCollisionResponse = functionPointer;
-	}
-	else
-	{
-		this->onCollisionResponse = Default::EventAction_AfterCollisionResponse;
-	}
-}
-
-void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_Move functionPointer )
-{
-	if( functionPointer )
-	{
-		this->onMovement = functionPointer;
-	}
-	else
-	{
-		this->onMovement = Default::EventAction_Move;
-	}
-}
-
-void SphericalRigidBody::SetGravity( bool ignore )
-{
-	this->ignoreGravity = ignore;
-	this->gravityNormal = Float3::null;
-}
-
-void SphericalRigidBody::SetGravityNormal( const Float3 &normalizedVector )
-{
-	this->gravityNormal = normalizedVector;
-	this->rigid.gravityNormal = Float4( this->gravityNormal, 0 );
-}
-
-void SphericalRigidBody::SetCustomTag( void *ref )
-{
-	this->customTag = ref;
-}
-
-//void SphericalRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI )
-//{
-//	this->rigid.SetMomentOfInertia_KeepVelocity( localI );
-//}
-//
-//void SphericalRigidBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI )
-//{
-//	this->rigid.SetMomentOfInertia_KeepMomentum( localI );
-//}
-//
-//void SphericalRigidBody::SetMass_KeepVelocity( Float m )
-//{
-//	this->rigid.SetMass_KeepVelocity( m );
-//}
-//
-//void SphericalRigidBody::SetMass_KeepMomentum( Float m )
-//{
-//	this->rigid.SetMass_KeepMomentum( m );
-//}
-//
-//void SphericalRigidBody::SetCenter( const Float3 &worldPos )
-//{
-//	this->rigid.SetCenter( worldPos );
-//	this->body.center = worldPos;
-//}
-//
-//void SphericalRigidBody::SetRotation( const Float4x4 &rotation )
-//{
-//	this->rigid.SetRotation( rotation );
-//}
-//
-//void SphericalRigidBody::SetOrientation( const Float4x4 &orientation )
-//{
-//	this->rigid.SetOrientation( orientation );
-//	this->body.center = orientation.v[3].xyz;
-//}
-//
-//void SphericalRigidBody::SetSize( const Float3 &size )
-//{
-//	this->rigid.SetSize( size );
-//	this->body.radius = 0.5f * Min( Min( size.x, size.y ), size.z ); // inline Min( FloatN )?
-//}
-//
-//void SphericalRigidBody::SetMomentum( const Float3 &worldG )
-//{
-//	this->rigid.SetLinearMomentum( worldG );
-//}

Code/GamePhysics/Implementation/SphericalRigidBody.h

@@ -1,87 +0,0 @@
-#ifndef OYSTER_PHYSICS_SPHERICAL_RIGIDBODY_H
-#define OYSTER_PHYSICS_SPHERICAL_RIGIDBODY_H
-
-#include "..\PhysicsAPI.h"
-#include "RigidBody.h"
-#include "Sphere.h"
-#include "Octree.h"
-
-namespace Oyster { namespace Physics
-{
-	class SphericalRigidBody : public ICustomBody
-	{
-	public:
-		SphericalRigidBody();
-		SphericalRigidBody( const API::SphericalBodyDescription &desc );
-		virtual ~SphericalRigidBody();
-
-		::Utility::DynamicMemory::UniquePointer<ICustomBody> Clone() const;
-		
-		State GetState() const;
-		State & GetState( State &targetMem = State() ) const;
-		void SetState( const State &state );
-		//::Oyster::Math::Float3 GetRigidLinearVelocity() const;
-
-		SubscriptMessage CallSubscription_BeforeCollisionResponse( const ICustomBody *deuter );
-		void CallSubscription_AfterCollisionResponse( const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss );
-		void CallSubscription_Move();
-
-		bool IsAffectedByGravity() const;
-		bool Intersects( const ::Oyster::Collision3D::ICollideable &shape ) const;
-		bool Intersects( const ::Oyster::Collision3D::ICollideable &shape, ::Oyster::Math::Float4 &worldPointOfContact ) const;
-		bool Intersects( const ICustomBody &object, ::Oyster::Math::Float4 &worldPointOfContact ) const;
-
-		void SetTimeOfContact( ::Oyster::Math::Float4 &worldPointOfContact );
-
-		::Oyster::Collision3D::Sphere &	GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const;
-		::Oyster::Math::Float4 &		GetNormalAt( const ::Oyster::Math::Float4 &worldPos, ::Oyster::Math::Float4 &targetMem = ::Oyster::Math::Float4() ) const;
-		::Oyster::Math::Float3 &		GetGravityNormal( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
-		void *							GetCustomTag() const;
-		//::Oyster::Math::Float3 &		GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const;
-		//::Oyster::Math::Float4x4 &		GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
-		//::Oyster::Math::Float4x4 &		GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
-		//::Oyster::Math::Float4x4 &		GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const;
-
-		UpdateState Update( ::Oyster::Math::Float timeStepLength );
-		void Predict( ::Oyster::Math::Float4 &outDeltaPos, ::Oyster::Math::Float4 &outDeltaAxis, const ::Oyster::Math::Float4 &actingLinearImpulse, const ::Oyster::Math::Float4 &actingAngularImpulse, ::Oyster::Math::Float deltaTime );
-
-		void SetScene( void *scene );
-
-		void SetSubscription( EventAction_BeforeCollisionResponse functionPointer );
-		void SetSubscription( EventAction_AfterCollisionResponse functionPointer );
-		void SetSubscription( EventAction_Move functionPointer );
-
-		void SetGravity( bool ignore);
-		void SetGravityNormal( const ::Oyster::Math::Float3 &normalizedVector );
-		void SetCustomTag( void *ref );
-		//void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI );
-		//void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI );
-		//void SetMass_KeepVelocity( ::Oyster::Math::Float m );
-		//void SetMass_KeepMomentum( ::Oyster::Math::Float m );
-		//void SetCenter( const ::Oyster::Math::Float3 &worldPos );
-		//void SetRotation( const ::Oyster::Math::Float4x4 &rotation );
-		//void SetOrientation( const ::Oyster::Math::Float4x4 &orientation );
-		//void SetSize( const ::Oyster::Math::Float3 &size );
-		//void SetMomentum( const ::Oyster::Math::Float3 &worldG );
-
-	private:
-		::Oyster::Physics3D::RigidBody rigid;
-		::Oyster::Math::Float4 deltaPos, deltaAxis;
-		::Oyster::Math::Float3 gravityNormal;
-
-		struct
-		{
-			struct { ::Oyster::Math::Float3 center, axis, reach; } previousSpatial;
-			::Oyster::Math::Float timeOfContact;
-		} collisionRebound;
-
-		EventAction_BeforeCollisionResponse onCollision;
-		EventAction_AfterCollisionResponse onCollisionResponse;
-		EventAction_Move onMovement;
-		Octree *scene;
-		void *customTag;
-		bool ignoreGravity, isForwarded;
-	};
-} }
-
-#endif

Code/GamePhysics/PhysicsAPI.h

@@ -55,35 +55,7 @@ namespace Oyster
 			 * @param numGravityWells: The predicted max number of active gravity wells.
 			 * @param worldSize: The size of acceptable physics space.
 			 ********************************************************/
-			virtual void Init( unsigned int numObjects, unsigned int numGravityWells , const ::Oyster::Math::Float3 &worldSize ) = 0;
+			virtual void Init() = 0;
-
-			/********************************************************
-			 * Sets the time length of each physics update frame.
-			 ********************************************************/
-			virtual void SetFrameTimeLength( float seconds ) = 0;
-			
-			/********************************************************
-			 * Sets the Gravityconstant in the physics that will be
-			 * used in ForceField calculations.
-			 * @param g: Default is the real world Constant::gravity_constant [N(m/kg)^2]
-			 ********************************************************/
-			virtual void SetGravityConstant( float g ) = 0;
-			
-			/********************************************************
-			 * Sets the function that will be called by the engine
-			 * whenever an object is being destroyed for some reason.
-			 * - Because DestroyObject(...) were called.
-			 * - Out of memory forced engine to destroy an object.
-			 * @param functionPointer: If NULL, an empty default function will be set.
-			 ********************************************************/
-			virtual void SetSubscription( EventAction_Destruction functionPointer ) = 0;
-
-			/********************************************************
-			 * Triggers the engine to run next update frame.
-			 * All accumulated forces and changes will be consumed.
-			 * EventAction functions might be called.
-			 ********************************************************/
-			virtual void Update() = 0;
 
 			/********************************************************
 			 * An object in limbo state will be ignored during the physics frame Update.
@@ -106,36 +78,15 @@ namespace Oyster
 			 ********************************************************/
 			virtual void ReleaseFromLimbo( const ICustomBody* objRef ) = 0;
 
-			/********************************************************
-			 * Introduces a new object into the engine.
-			 * @param handle: A pointer along with the responsibility to delete.
-			 ********************************************************/
-			virtual void AddObject( ::Utility::DynamicMemory::UniquePointer<ICustomBody> handle ) = 0;
 
-			/********************************************************
+			// Bullet physics
-			 * Fetches and removes an object from the engine.
+			virtual ICustomBody* AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass) = 0;
-			 * Will not call the provided EventAction_Destruction method.
-			 * @param objRef: A pointer to the ICustomBody representing a physical object.
-			 * @return A pointer along with the responsibility to delete. NULL if faulty objRef.
-			 ********************************************************/
-			virtual ::Utility::DynamicMemory::UniquePointer<ICustomBody> ExtractObject( const ICustomBody* objRef ) = 0;
 
-			/********************************************************
+			virtual ICustomBody* AddCollisionBox(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass) = 0;
-			 * Removes an object from the engine.
+
-			 * Will call the provided EventAction_Destruction method. Not if objRef is faulty.
+			virtual void UpdateWorld() = 0;
-			 * @param objRef: A pointer to the ICustomBody representing a physical object.
-			 ********************************************************/
-			virtual void DestroyObject( const ICustomBody* objRef ) = 0;
 
-			/********************************************************
-			 * TODO: @todo doc
-			 ********************************************************/
-			virtual void AddGravity( const API::Gravity &g ) = 0;
 
-			/********************************************************
-			 * TODO: @todo doc
-			 ********************************************************/
-			virtual void RemoveGravity( const API::Gravity &g ) = 0;
 
 			/********************************************************
 			 * Applies an effect to objects that collide with the set volume.
@@ -146,88 +97,6 @@ namespace Oyster
 			 ********************************************************/
 			virtual void ApplyEffect( const Oyster::Collision3D::ICollideable& collideable, void* args, void(hitAction)(ICustomBody*, void*) ) = 0;
 
-			///********************************************************
-			// * Apply force on an object.
-			// * @param objRef: A pointer to the ICustomBody representing a physical object.
-			// * @param worldPos: Relative to the world origo. (Not relative to object) [m]
-			// * @param worldF: Vector with the direction and magnitude of the force. [N]
-			// ********************************************************/
-			//virtual void ApplyForceAt( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &worldF ) = 0;
-
-			///********************************************************
-			// * Sets the MomentOfInertia tensor matrix of an object without changing it's angular velocity.
-			// * Noticeable effect: The angular momentum will change. Changing the amount of kinetic energy.
-			// * @param objRef: A pointer to the ICustomBody representing a physical object.
-			// * @param localI: The tensor matrix relative to the axises of the object. @see MomentOfInertia namespace.
-			// ********************************************************/
-			//virtual void SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ) = 0;
-			//
-			///********************************************************
-			// * Sets the MomentOfInertia tensor matrix of an object without changing it's angular momentum.
-			// * Noticeable effect: The angular velocity will change. Can be used to create slow effects.
-			// * @param objRef: A pointer to the ICustomBody representing a physical object.
-			// * @param localI: The tensor matrix relative to the axises of the object. @see MomentOfInertia namespace.
-			// ********************************************************/
-			//virtual void SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ) = 0;
-			//
-			///********************************************************
-			// * Sets the mass of an object without changing it's linear velocity.
-			// * Noticeable effect: The linear momentum will change. Changing the amount of kinetic energy.
-			// * @param objRef: A pointer to the ICustomBody representing a physical object.
-			// * @param m: [kg]
-			// ********************************************************/
-			//virtual void SetMass_KeepVelocity( const ICustomBody* objRef, ::Oyster::Math::Float m ) = 0;
-			//
-			///********************************************************
-			// * Sets the mass of an object without changing it's linear velocity.
-			// * Noticeable effect: The linear velocity will change. Can be used to create slow effects.
-			// * @param objRef: A pointer to the ICustomBody representing a physical object.
-			// * @param m: [kg]
-			// ********************************************************/
-			//virtual void SetMass_KeepMomentum( const ICustomBody* objRef, ::Oyster::Math::Float m ) = 0;
-			//
-			///********************************************************
-			// * Instantly moves an object.
-			// * @param objRef: A pointer to the ICustomBody representing a physical object.
-			// * @param worldPos: Relative to the world origo. (Not relative to object) [m]
-			// ********************************************************/
-			//virtual void SetCenter( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos ) = 0;
-			//
-			///********************************************************
-			// * Instantly redirects object.
-			// * @param objRef: A pointer to the ICustomBody representing a physical object.
-			// * @param rotation: New rotation.
-			// ********************************************************/
-			//virtual void SetRotation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &rotation ) = 0;
-			//
-			///********************************************************
-			// * Instantly moves and redirects object.
-			// * @param objRef: A pointer to the ICustomBody representing a physical object.
-			// * @param orientation: New orientation.
-			// ********************************************************/
-			//virtual void SetOrientation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &orientation ) = 0;
-			//
-			///********************************************************
-			// * Resizes the boundingBox.
-			// * @param objRef: A pointer to the ICustomBody representing a physical object.
-			// * @param size: New size of this [m]
-			// ********************************************************/
-			//virtual void SetSize( const ICustomBody* objRef, const ::Oyster::Math::Float3 &size ) = 0;
-
-			/********************************************************
-			 * Creates a new dynamically allocated object that can be used as a component for more complex ICustomBodies.
-			 * @param desc: @see API::SimpleBodyDescription
-			 * @return A pointer along with the responsibility to delete.
-			 ********************************************************/
-			virtual ::Utility::DynamicMemory::UniquePointer<ICustomBody> CreateRigidBody( const SimpleBodyDescription &desc ) const = 0;
-
-			/********************************************************
-			 * Creates a new dynamically allocated object that can be used as a component for more complex ICustomBodies.
-			 * @param desc: @see API::SphericalBodyDescription
-			 * @return A pointer along with the responsibility to delete.
-			 ********************************************************/
-			virtual ::Utility::DynamicMemory::UniquePointer<ICustomBody> CreateRigidBody( const SphericalBodyDescription &desc ) const = 0;
-
 		protected:
 			virtual ~API() {}
 		};
@@ -246,190 +115,39 @@ namespace Oyster
 				SubscriptMessage_player_collision_response
 			};
 
+			
 			typedef SubscriptMessage (*EventAction_BeforeCollisionResponse)( const ICustomBody *proto, const ICustomBody *deuter );
 			typedef void (*EventAction_AfterCollisionResponse)( const ICustomBody *proto, const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss );
 			typedef void (*EventAction_Move)( const ICustomBody *object );
-			typedef Struct::SimpleBodyDescription SimpleBodyDescription;
-			typedef Struct::SphericalBodyDescription SphericalBodyDescription;
 			typedef Struct::CustomBodyState State;
 
 			virtual ~ICustomBody() {};
 
 			/********************************************************
-			 * Creates a complete copy of the current (type)object.
+			 * Gets the current state of the rigid body
-			 * @return An ICustomBody pointer along with the responsibility to delete.
+			 * @return the current state of the rigid body
-			 ********************************************************/
-			virtual ::Utility::DynamicMemory::UniquePointer<ICustomBody> Clone() const = 0;
-
-			/********************************************************
-			 * @todo TODO: need doc
-			 ********************************************************/
-			virtual SubscriptMessage CallSubscription_BeforeCollisionResponse( const ICustomBody *deuter ) = 0;
-
-			/********************************************************
-			 * @todo TODO: need doc
-			 ********************************************************/
-			virtual void CallSubscription_AfterCollisionResponse( const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss ) = 0;
-
-			/********************************************************
-			 * @todo TODO: need doc
-			 ********************************************************/
-			virtual void CallSubscription_Move() = 0;
-
-			/********************************************************
-			 * @todo TODO: need doc
 			 ********************************************************/
 			virtual State GetState() const = 0;
 
 			/********************************************************
-			 * @todo TODO: need doc
+			 * Gets the current state of the rigid body
+			 * @param targetMem: The state is copied into targetMem
+			 * @return the current state of the rigid body
 			 ********************************************************/
 			virtual State & GetState( State &targetMem ) const = 0;
 
 			/********************************************************
-			 * @return the linear velocity of the rigid body in a vector.
+			 * Sets the current state of the rigid body
 			 ********************************************************/
-			//virtual Math::Float3 GetRigidLinearVelocity() const = 0;
+			virtual void SetState( const State &state ) = 0;		
 
-			/********************************************************
+			virtual void SetSubscription(EventAction_AfterCollisionResponse function) = 0;
-			 * @todo TODO: need doc
-			 ********************************************************/
-			virtual void SetState( const State &state ) = 0;
-
-			/********************************************************
-			 * @return true if Engine should apply gravity on this object.
-			 ********************************************************/
-			virtual bool IsAffectedByGravity() const = 0;
-
-			/********************************************************
-			 * param shape: Any defined sample shape.
-			 * @return true if this truly intersects with shape.
-			 ********************************************************/
-			virtual bool Intersects( const ::Oyster::Collision3D::ICollideable &shape ) const = 0;
-
-			/********************************************************
-			 * Performs a detailed Intersect test and returns if, when and where.
-			 * @param shape: Any defined sample shape.
-			 * @param worldPointOfContact: Where at timeOfContact, this and object touches eachother.
-			 * @return true if this truly intersects with object.
-			 ********************************************************/
-			virtual bool Intersects( const ::Oyster::Collision3D::ICollideable &shape, ::Oyster::Math::Float4 &worldPointOfContact ) const = 0;
-
-			/********************************************************
-			 * Performs a detailed Intersect test and returns if, when and where.
-			 * @param object: What this is intersect testing against.
-			 * @param worldPointOfContact: Where at timeOfContact, this and object touches eachother.
-			 * @return true if this truly intersects with object.
-			 ********************************************************/
-			virtual bool Intersects( const ICustomBody &object, ::Oyster::Math::Float4 &worldPointOfContact ) const = 0;
-
-			/********************************************************
-			 * Sets how far back it needs to be interpolated to not be overlapping worldPointOfContact.
-			 ********************************************************/
-			virtual void SetTimeOfContact( ::Oyster::Math::Float4 &worldPointOfContact ) = 0;
-
-			/********************************************************
-			 * Required by Engine's Collision Search.
-			 * @param targetMem: Provided memory that written into and then returned.
-			 * @return a sphere shape that contains the ICustomBody.
-			 ********************************************************/
-			virtual ::Oyster::Collision3D::Sphere & GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const = 0;
-			
-			/********************************************************
-			 * Required by Engine's Collision Responsing.
-			 * @param worldPos: Should be worldPointOfContact from Intersects( ... )
-			 * @param targetMem: Provided memory that written into and then returned.
-			 * @return a surface normal in worldSpace.
-			 ********************************************************/
-			virtual ::Oyster::Math::Float4 & GetNormalAt( const ::Oyster::Math::Float4 &worldPos, ::Oyster::Math::Float4 &targetMem = ::Oyster::Math::Float4() ) const = 0;
-			
-			/********************************************************
-			 * The gravity normal will have same direction as the total gravity force pulling on this and have the magnitude of 1.0f.
-			 * @param targetMem: Provided memory that written into and then returned.
-			 * @return a normalized vector in worldSpace. Exception: Null vector if no gravity been applied.
-			 ********************************************************/
-			virtual ::Oyster::Math::Float3 & GetGravityNormal( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const = 0;
 
 			/********************************************************
 			 * @return the void pointer set by SetCustomTag.
 			 * nullptr if none is set.
 			 ********************************************************/
-			virtual void * GetCustomTag() const = 0;
+			virtual void* GetCustomTag() const = 0;
-
-			///********************************************************
-			// * The world position of this center of gravity.
-			// * @param targetMem: Provided memory that written into and then returned.
-			// * @return a position in worldSpace.
-			// ********************************************************/
-			//virtual ::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const = 0;
-			//
-			///********************************************************
-			// * @param targetMem: Provided memory that written into and then returned.
-			// * @return a copy of this's rotation matrix.
-			// ********************************************************/
-			//virtual ::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0;
-			//
-			///********************************************************
-			// * @param targetMem: Provided memory that written into and then returned.
-			// * @return a copy of this's orientation matrix.
-			// ********************************************************/
-			//virtual ::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0;
-			//
-			///********************************************************
-			// * @param targetMem: Provided memory that written into and then returned.
-			// * @return a copy of this's view matrix.
-			// ********************************************************/
-			//virtual ::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0;
-
-			/********************************************************
-			 * To not be called if is in Engine
-			 * Is called during API::Update
-			 ********************************************************/
-			virtual UpdateState Update( ::Oyster::Math::Float timeStepLength ) = 0;
-
-			/********************************************************
-			 * @todo TODO: add doc
-			 ********************************************************/
-			virtual void Predict( ::Oyster::Math::Float4 &outDeltaPos, ::Oyster::Math::Float4 &outDeltaAxis, const ::Oyster::Math::Float4 &actingLinearImpulse, const ::Oyster::Math::Float4 &actingAngularImpulse, ::Oyster::Math::Float deltaTime ) = 0;
-			
-			/********************************************************
-			 * Sets which scene this ICustomBody is within.
-			 * Reserved to only be used by the scene.
-			 * @todo TODO: create an IScene interface
-			 ********************************************************/
-			virtual void SetScene( void *scene ) = 0;
-
-			/********************************************************
-			 * Sets the function that will be called by the engine
-			 * whenever a collision occurs.
-			 * @param functionPointer: If NULL, an empty default function will be set.
-			 ********************************************************/
-			virtual void SetSubscription( EventAction_BeforeCollisionResponse functionPointer ) = 0;
-
-			/********************************************************
-			 * Sets the function that will be called by the engine
-			 * whenever a collision has finished.
-			 * @param functionPointer: If NULL, an empty default function will be set.
-			 ********************************************************/
-			virtual void SetSubscription( EventAction_AfterCollisionResponse functionPointer ) = 0;
-
-			/********************************************************
-			 * Sets the function that will be called by the engine
-			 * whenever an object have moved.
-			 * @param functionPointer: If NULL, an empty default function will be set.
-			 ********************************************************/
-			virtual void SetSubscription( EventAction_Move functionPointer ) = 0;
-
-			/********************************************************
-			 * @param ignore: True if Engine should not apply Gravity.
-			 ********************************************************/
-			virtual void SetGravity( bool ignore) = 0;
-
-			/********************************************************
-			 * Used by Engine
-			 * @param normalizedVector: Should have same direction as the pullinggravity.
-			 ********************************************************/
-			virtual void SetGravityNormal( const ::Oyster::Math::Float3 &normalizedVector ) = 0;
 
 			/********************************************************
 			 * Not used by the engine itself. Just a quality of life feature
@@ -437,60 +155,6 @@ namespace Oyster
 			 * @param ref: Anything castable to a void pointer, the engine won't care.
 			 ********************************************************/
 			virtual void SetCustomTag( void *ref ) = 0;
-
-			///********************************************************
-			// * To not be called if is in Engine
-			// * Use API::SetMomentOfInertiaTensor_KeepVelocity(...) instead
-			// ********************************************************/
-			//virtual void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI ) = 0;
-			//
-			///********************************************************
-			// * To not be called if is in Engine
-			// * Use API::SetMomentOfInertiaTensor_KeepMomentum(...)
-			// ********************************************************/
-			//virtual void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI ) = 0;
-			//
-			///********************************************************
-			// * To not be called if is in Engine
-			// * Use API::SetMass_KeepVelocity(...)
-			// ********************************************************/
-			//virtual void SetMass_KeepVelocity( ::Oyster::Math::Float m ) = 0;
-			//
-			///********************************************************
-			// * To not be called if is in Engine
-			// * Use API::SetMass_KeepMomentum(...)
-			// ********************************************************/
-			//virtual void SetMass_KeepMomentum( ::Oyster::Math::Float m ) = 0;
-			//
-			///********************************************************
-			// * To not be called if is in Engine
-			// * Use API::SetCenter(...)
-			// ********************************************************/
-			//virtual void SetCenter( const ::Oyster::Math::Float3 &worldPos ) = 0;
-			//
-			///********************************************************
-			// * To not be called if is in Engine
-			// * Use API::SetRotation(...)
-			// ********************************************************/
-			//virtual void SetRotation( const ::Oyster::Math::Float4x4 &rotation ) = 0;
-			//
-			///********************************************************
-			// * To not be called if is in Engine
-			// * Use API::SetOrientation(...)
-			// ********************************************************/
-			//virtual void SetOrientation( const ::Oyster::Math::Float4x4 &orientation ) = 0;
-
-			///********************************************************
-			// * To not be called if is in Engine
-			// * Use API::SetSize(...)
-			// ********************************************************/
-			//virtual void SetSize( const ::Oyster::Math::Float3 &size ) = 0;
-
-			///********************************************************
-			// * To not be called if is in Engine
-			// * Use API::?? @todo TODO: 
-			// ********************************************************/
-			//virtual void SetMomentum( const ::Oyster::Math::Float3 &worldG ) = 0;
 		};
 	}
 }

Code/GamePhysics/PhysicsStructs-Impl.h

@@ -10,53 +10,14 @@ namespace Oyster
 	{
 		namespace Struct
 		{
-			inline SimpleBodyDescription::SimpleBodyDescription()
+			inline CustomBodyState::CustomBodyState( ::Oyster::Math::Float mass, ::Oyster::Math::Float restitutionCoeff, ::Oyster::Math::Float staticFrictionCoeff, ::Oyster::Math::Float dynamicFrictionCoeff, const ::Oyster::Math::Float3 &centerPos, const ::Oyster::Math::Quaternion& quaternion)
-			{
-				this->rotation = ::Oyster::Math::Float3::null;
-				this->centerPosition = ::Oyster::Math::Float3::null;
-				this->size = ::Oyster::Math::Float3( 1.0f );
-				this->mass = 6.0f;
-				this->restitutionCoeff = 1.0f;
-				this->frictionCoeff_Dynamic = 0.5f;
-				this->frictionCoeff_Static = 0.5f;
-				this->inertiaTensor = ::Oyster::Physics3D::MomentOfInertia();
-				this->subscription_onCollision = NULL;
-				this->subscription_onCollisionResponse = NULL;
-				this->subscription_onMovement = NULL;
-				this->ignoreGravity = false;
-			}
-
-			inline SphericalBodyDescription::SphericalBodyDescription()
-			{
-				this->rotation = ::Oyster::Math::Float3::null;
-				this->centerPosition = ::Oyster::Math::Float3::null;
-				this->radius = 0.5f;
-				this->mass = 10.0f;
-				this->restitutionCoeff = 1.0f;
-				this->frictionCoeff_Dynamic = 0.5f;
-				this->frictionCoeff_Static = 0.5f;
-				this->subscription_onCollision = NULL;
-				this->subscription_onCollisionResponse = NULL;
-				this->subscription_onMovement = NULL;
-				this->ignoreGravity = false;
-			}
-
-			inline CustomBodyState::CustomBodyState( ::Oyster::Math::Float mass, ::Oyster::Math::Float restitutionCoeff, ::Oyster::Math::Float staticFrictionCoeff, ::Oyster::Math::Float kineticFrictionCoeff, const ::Oyster::Physics3D::MomentOfInertia &inertiaTensor, const ::Oyster::Math::Float3 &reach, const ::Oyster::Math::Float3 &centerPos, const ::Oyster::Math::Float3 &rotation, const ::Oyster::Math::Float3 &linearMomentum, const ::Oyster::Math::Float3 &angularMomentum, const ::Oyster::Math::Float3 &gravityNormal )
 			{
 				this->mass = mass;
 				this->restitutionCoeff = restitutionCoeff;
 				this->staticFrictionCoeff = staticFrictionCoeff;
-				this->kineticFrictionCoeff = kineticFrictionCoeff;
+				this->dynamicFrictionCoeff = dynamicFrictionCoeff;
-				this->inertiaTensor = inertiaTensor;
-				this->reach = reach;
 				this->centerPos = centerPos;
-				this->angularAxis = rotation;
+				this->quaternion = quaternion;
-				this->linearMomentum = linearMomentum;
-				this->angularMomentum = angularMomentum;
-				this->linearImpulse = this->angularImpulse = ::Oyster::Math::Float3::null;
-				this->deltaPos = this->deltaAxis = ::Oyster::Math::Float3::null;
-				this->isSpatiallyAltered = this->isDisturbed = this->isForwarded = false;
-				this->gravityNormal = gravityNormal;
 			}
 
 			inline CustomBodyState & CustomBodyState::operator = ( const CustomBodyState &state )
@@ -64,488 +25,32 @@ namespace Oyster
 				this->mass = state.mass;
 				this->restitutionCoeff = state.restitutionCoeff;
 				this->staticFrictionCoeff = state.staticFrictionCoeff;
-				this->kineticFrictionCoeff = state.kineticFrictionCoeff;
+				this->dynamicFrictionCoeff = state.dynamicFrictionCoeff;
-				this->inertiaTensor = state.inertiaTensor;
-				this->reach = state.reach;
 				this->centerPos = state.centerPos;
-				this->angularAxis = state.angularAxis;
+				this->quaternion = state.quaternion;
-				this->linearMomentum = state.linearMomentum;
+
-				this->angularMomentum = state.angularMomentum;
-				this->linearImpulse = state.linearImpulse;
-				this->angularImpulse = state.angularImpulse;
-				this->deltaPos = state.deltaPos;
-				this->deltaAxis = state.deltaAxis;
-				this->isSpatiallyAltered = state.isSpatiallyAltered;
-				this->isDisturbed = state.isDisturbed;
-				this->isForwarded = state.isForwarded;
-				this->gravityNormal = state.gravityNormal;
 				return *this;
 			}
 
-			inline const ::Oyster::Math::Float CustomBodyState::GetMass() const
-			{
-				return this->mass;
-			}
-
-			inline const ::Oyster::Math::Float CustomBodyState::GetRestitutionCoeff() const
-			{
-				return this->restitutionCoeff;
-			}
-
-			inline const ::Oyster::Math::Float CustomBodyState::GetFrictionCoeff_Static() const
-			{
-				return this->staticFrictionCoeff;
-			}
-
-			inline const ::Oyster::Math::Float CustomBodyState::GetFrictionCoeff_Kinetic() const
-			{
-				return this->kineticFrictionCoeff;
-			}
-
-			inline const ::Oyster::Physics3D::MomentOfInertia & CustomBodyState::GetMomentOfInertia() const
-			{
-				return this->inertiaTensor;
-			}
-
-			inline const ::Oyster::Math::Float3 & CustomBodyState::GetReach() const
-			{
-				return this->reach;
-			}
-
-			inline ::Oyster::Math::Float3 CustomBodyState::GetSize() const
-			{
-				return 2.0f * this->GetReach();
-			}
-
-			inline const ::Oyster::Math::Float3 & CustomBodyState::GetCenterPosition() const
-			{
-				return this->centerPos;
-			}
-
-			inline const ::Oyster::Math::Float3 & CustomBodyState::GetAngularAxis() const
-			{
-				return this->angularAxis;
-			}
 
 			inline ::Oyster::Math::Float4x4 CustomBodyState::GetRotation() const
 			{
-				return ::Oyster::Math3D::RotationMatrix( this->GetAngularAxis() );
+				return ::Oyster::Math3D::RotationMatrix( this->quaternion );
 			}
 
 			inline ::Oyster::Math::Float4x4 CustomBodyState::GetOrientation() const
 			{
-				return ::Oyster::Math3D::OrientationMatrix( this->angularAxis, this->centerPos );
+				return ::Oyster::Math3D::OrientationMatrix( this->quaternion, this->centerPos );
-			}
-
-			inline ::Oyster::Math::Float4x4 CustomBodyState::GetOrientation( const ::Oyster::Math::Float3 &offset ) const
-			{
-				return ::Oyster::Math3D::OrientationMatrix( this->angularAxis, (this->centerPos + offset) );
 			}
 
 			inline ::Oyster::Math::Float4x4 CustomBodyState::GetView() const
 			{
-				return ::Oyster::Math3D::ViewMatrix( this->angularAxis, this->centerPos );
+				return ::Oyster::Math3D::ViewMatrix( this->quaternion, this->centerPos );
 			}
 
 			inline ::Oyster::Math::Float4x4 CustomBodyState::GetView( const ::Oyster::Math::Float3 &offset ) const
 			{
-				return ::Oyster::Math3D::ViewMatrix( this->angularAxis, (this->centerPos + offset) );
+				return ::Oyster::Math3D::ViewMatrix( this->quaternion, (this->centerPos + offset) );
-			}
-
-			inline const ::Oyster::Math::Float3 & CustomBodyState::GetLinearMomentum() const
-			{
-				return this->linearMomentum;
-			}
-
-			inline ::Oyster::Math::Float3 CustomBodyState::GetLinearMomentum( const ::Oyster::Math::Float3 &at ) const
-			{
-				::Oyster::Math::Float3 offset = at - this->centerPos;
-				if( offset.Dot(offset) > 0.0f )
-				{
-					return this->linearMomentum + ::Oyster::Physics3D::Formula::TangentialLinearMomentum( this->angularMomentum, offset );
-				}
-				return this->linearMomentum;
-			}
-
-			inline const ::Oyster::Math::Float3 & CustomBodyState::GetAngularMomentum() const
-			{
-				return this->angularMomentum;
-			}
-
-			inline const ::Oyster::Math::Float3 & CustomBodyState::GetLinearImpulse() const
-			{
-				return this->linearImpulse;
-			}
-
-			inline const ::Oyster::Math::Float3 & CustomBodyState::GetAngularImpulse() const
-			{
-				return this->angularImpulse;
-			}
-
-			inline const ::Oyster::Math::Float3 & CustomBodyState::GetForward_DeltaPos() const
-			{
-				return this->deltaPos;
-			}
-
-			inline const ::Oyster::Math::Float3 & CustomBodyState::GetForward_DeltaAxis() const
-			{
-				return this->deltaAxis;
-			}
-
-			inline const ::Oyster::Math::Float3 & CustomBodyState::GetGravityNormal() const
-			{
-				return this->gravityNormal;
-			}
-
-			inline void CustomBodyState::SetMass_KeepMomentum( ::Oyster::Math::Float m )
-			{
-				this->mass = m;
-			}
-
-			inline void CustomBodyState::SetMass_KeepVelocity( ::Oyster::Math::Float m )
-			{
-				if( m != 0.0f )
-				{ // sanity block!
-					this->linearMomentum *= (m / this->mass);
-					this->mass = m;
-				}
-			}
-
-			inline void CustomBodyState::SetRestitutionCoeff( ::Oyster::Math::Float e )
-			{
-				this->restitutionCoeff = e;
-			}
-
-			inline void CustomBodyState::SetFrictionCoeff( ::Oyster::Math::Float staticU, ::Oyster::Math::Float kineticU )
-			{
-				this->staticFrictionCoeff = staticU;
-				this->kineticFrictionCoeff = kineticU;
-			}
-
-			inline void CustomBodyState::SetMomentOfInertia_KeepMomentum( const ::Oyster::Physics3D::MomentOfInertia &tensor )
-			{
-				this->inertiaTensor = tensor;
-			}
-
-			inline void CustomBodyState::SetMomentOfInertia_KeepVelocity( const ::Oyster::Physics3D::MomentOfInertia &tensor )
-			{
-				::Oyster::Math::Quaternion rotation = ::Oyster::Math3D::Rotation(this->angularAxis);
-				::Oyster::Math::Float3 w = this->inertiaTensor.CalculateAngularVelocity( rotation, this->angularMomentum );
-				this->inertiaTensor = tensor;
-				this->angularMomentum = this->inertiaTensor.CalculateAngularMomentum( rotation, w );
-			}
-		
-			inline void CustomBodyState::SetSize( const ::Oyster::Math::Float3 &size )
-			{
-				this->SetReach( 0.5f * size );
-			}
-
-			inline void CustomBodyState::SetReach( const ::Oyster::Math::Float3 &halfSize )
-			{
-				this->reach = halfSize;
-				this->reach = ::Utility::Value::Max( this->reach, ::Oyster::Math::Float3::null );
-				this->isSpatiallyAltered = this->isDisturbed = true;
-			}
-
-			inline void CustomBodyState::SetCenterPosition( const ::Oyster::Math::Float3 &centerPos )
-			{
-				this->centerPos = centerPos;
-				this->isSpatiallyAltered = this->isDisturbed = true;
-			}
-
-			inline void CustomBodyState::SetRotation( const ::Oyster::Math::Float3 &angularAxis )
-			{
-				this->angularAxis = angularAxis;
-				this->isSpatiallyAltered = this->isDisturbed = true;
-			}
-
-			inline void CustomBodyState::SetOrientation( const ::Oyster::Math::Float3 &angularAxis, const ::Oyster::Math::Float3 &translation )
-			{
-				this->angularAxis = angularAxis ;
-				this->centerPos = translation;
-				this->isSpatiallyAltered = this->isDisturbed = true;
-			}
-
-			inline void CustomBodyState::SetLinearMomentum( const ::Oyster::Math::Float3 &g )
-			{
-				this->linearMomentum = g;
-				this->isDisturbed = true;
-			}
-
-			inline void CustomBodyState::SetAngularMomentum( const ::Oyster::Math::Float3 &h )
-			{
-				this->angularMomentum = h;
-				this->isDisturbed = true;
-			}
-
-			inline void CustomBodyState::SetLinearImpulse( const ::Oyster::Math::Float3 &j )
-			{
-				this->linearImpulse = j;
-				this->isDisturbed = true;
-			}
-
-			inline void CustomBodyState::SetAngularImpulse( const ::Oyster::Math::Float3 &j )
-			{
-				this->angularImpulse = j;
-				this->isDisturbed = true;
-			}
-
-			inline void CustomBodyState::SetGravityNormal( const ::Oyster::Math::Float3 &gravityNormal )
-			{
-				this->gravityNormal = gravityNormal;
-			}
-
-			inline void CustomBodyState::AddRotation( const ::Oyster::Math::Float3 &angularAxis )
-			{
-				this->angularAxis += angularAxis;
-				this->isSpatiallyAltered = this->isDisturbed = true;
-			}
-
-			inline void CustomBodyState::AddTranslation( const ::Oyster::Math::Float3 &deltaPos )
-			{
-				this->centerPos += deltaPos;
-				this->isSpatiallyAltered = this->isDisturbed = true;
-			}
-
-			inline void CustomBodyState::ApplyLinearImpulse( const ::Oyster::Math::Float3 &j )
-			{
-				this->linearImpulse += j;
-				this->isDisturbed = true;
-			}
-
-			inline void CustomBodyState::ApplyAngularImpulse( const ::Oyster::Math::Float3 &j )
-			{
-				this->angularImpulse += j;
-				this->isDisturbed = true;
-			}
-
-			inline void CustomBodyState::ApplyImpulse( const ::Oyster::Math::Float3 &j, const ::Oyster::Math::Float3 &at, const ::Oyster::Math::Float3 &normal )
-			{
-				::Oyster::Math::Float3 offset = at - this->centerPos;
-				if( offset.Dot(offset) > 0.0f )
-				{
-					::Oyster::Math::Float3 deltaAngularImpulse = ::Oyster::Physics3D::Formula::AngularMomentum( j, offset );
-
-					this->linearImpulse -= ::Oyster::Physics3D::Formula::TangentialLinearMomentum( deltaAngularImpulse, offset );
-					this->angularImpulse += deltaAngularImpulse;
-				}
-				this->linearImpulse += j;
-				this->isDisturbed = true;
-			}
-
-			inline void CustomBodyState::ApplyFriction( const ::Oyster::Math::Float3 &j )
-			{
-				this->linearImpulse += j;
-				this->isDisturbed = true;
-			}
-
-			inline void CustomBodyState::ApplyForwarding( const ::Oyster::Math::Float3 &deltaPos, const ::Oyster::Math::Float3 &deltaAxis )
-			{
-				this->deltaPos += deltaPos;
-				this->deltaAxis += deltaAxis;
-				this->isDisturbed = this->isForwarded = true;
-			}
-
-			inline bool CustomBodyState::IsSpatiallyAltered() const
-			{
-				return this->isSpatiallyAltered;
-			}
-
-			inline bool CustomBodyState::IsDisturbed() const
-			{
-				return this->isDisturbed;
-			}
-
-			inline bool CustomBodyState::IsForwarded() const
-			{
-				return this->isForwarded;
-			}
-
-			inline GravityWell::GravityWell( )
-			{
-				this->position	= ::Oyster::Math::Float3::null;
-				this->mass		= 0.0f;
-			}
-			
-			inline GravityWell::GravityWell( const GravityWell &gravityWell )
-			{
-				this->position	= gravityWell.position;
-				this->mass		= gravityWell.mass;
-			}
-
-			inline GravityWell & GravityWell::operator = ( const GravityWell &gravityWell )
-			{
-				this->position	= gravityWell.position;
-				this->mass		= gravityWell.mass;
-
-				return *this;
-			}
-
-			inline bool GravityWell::operator == ( const GravityWell &gravity ) const
-			{
-				if( this->position == gravity.position )
-				if( this->mass == gravity.mass )
-				{
-					return true;
-				}
-				return false;
-			}
-
-			inline bool GravityWell::operator != ( const GravityWell &gravity ) const
-			{
-				if( this->position == gravity.position )
-				if( this->mass == gravity.mass )
-				{
-					return false;
-				}
-				return true;
-			}
-
-			inline GravityDirected::GravityDirected( )
-			{
-				this->impulse = ::Oyster::Math::Float3::null;
-			}
-
-			inline GravityDirected::GravityDirected( const GravityDirected &gravityDirected )
-			{
-				this->impulse = gravityDirected.impulse;
-			}
-
-			inline GravityDirected & GravityDirected::operator = ( const GravityDirected &gravityDirected )
-			{
-				this->impulse = gravityDirected.impulse;
-
-				return *this;
-			}
-
-			inline bool GravityDirected::operator == ( const GravityDirected &gravity ) const
-			{
-				return this->impulse == gravity.impulse;
-			}
-
-			inline bool GravityDirected::operator != ( const GravityDirected &gravity ) const
-			{
-				return this->impulse != gravity.impulse;
-			}
-
-			inline GravityDirectedField::GravityDirectedField( )
-			{
-				this->normalizedDirection	= ::Oyster::Math::Float3::null;
-				this->mass					= 0.0f;
-				this->magnitude				= 0.0f;
-			}
-
-			inline GravityDirectedField::GravityDirectedField( const GravityDirectedField &gravityDirectedField )
-			{
-				this->normalizedDirection	= gravityDirectedField.normalizedDirection;
-				this->mass					= gravityDirectedField.mass;
-				this->magnitude				= gravityDirectedField.magnitude;
-			}
-
-			inline GravityDirectedField & GravityDirectedField::operator = ( const GravityDirectedField &gravityDirectedField )
-			{
-				this->normalizedDirection	= gravityDirectedField.normalizedDirection;
-				this->mass					= gravityDirectedField.mass;
-				this->magnitude				= gravityDirectedField.magnitude;
-
-				return *this;
-			}
-
-			inline bool GravityDirectedField::operator == ( const GravityDirectedField &gravity ) const
-			{
-				if( this->normalizedDirection == gravity.normalizedDirection )
-				if( this->mass == gravity.mass )
-				if( this->magnitude == gravity.magnitude )
-				{
-					return true;
-				}
-				return false;
-			}
-
-			inline bool GravityDirectedField::operator != ( const GravityDirectedField &gravity ) const
-			{
-				if( this->normalizedDirection == gravity.normalizedDirection )
-				if( this->mass == gravity.mass )
-				if( this->magnitude == gravity.magnitude )
-				{
-					return false;
-				}
-				return true;
-			}
-
-			inline Gravity::Gravity()
-			{
-				this->gravityType = GravityType_Undefined;
-			}
-
-			inline Gravity::Gravity( const Gravity &gravity )
-			{
-				this->gravityType = gravity.gravityType;
-
-				switch( gravity.gravityType )
-				{
-				case GravityType_Well:
-					this->well = gravity.well;
-					break;
-				case GravityType_Directed:
-					this->directed = gravity.directed;
-					break;
-				case GravityType_DirectedField:
-					this->directedField = gravity.directedField;
-					break;
-				default: break;
-				}
-			}
-		
-			inline Gravity & Gravity::operator = ( const Gravity &gravity )
-			{
-				this->gravityType = gravity.gravityType;
-
-				switch( gravity.gravityType )
-				{
-				case GravityType_Well:
-					this->well = gravity.well;
-					break;
-				case GravityType_Directed:
-					this->directed = gravity.directed;
-					break;
-				case GravityType_DirectedField:
-					this->directedField = gravity.directedField;
-					break;
-				default: break;
-				}
-
-				return *this;
-			}
-
-			inline bool Gravity::operator == ( const Gravity &gravity ) const
-			{
-				if( this->gravityType == gravity.gravityType )
-				{
-					switch( this->gravityType )
-					{
-					case GravityType_Well:			return this->well == gravity.well;
-					case GravityType_Directed:		return this->directed == gravity.directed;
-					case GravityType_DirectedField:	return this->directedField == gravity.directedField;
-					default: return true;
-					}
-				}
-				return false;
-			}
-
-			inline bool Gravity::operator != ( const Gravity &gravity ) const
-			{
-				if( this->gravityType == gravity.gravityType )
-				{
-					switch( this->gravityType )
-					{
-					case GravityType_Well:			return this->well != gravity.well;
-					case GravityType_Directed:		return this->directed != gravity.directed;
-					case GravityType_DirectedField:	return this->directedField != gravity.directedField;
-					default: return false;
-					}
-				}
-				return true;
 			}
 		}
 	} 

Code/GamePhysics/PhysicsStructs.h

@@ -5,212 +5,40 @@
 #include "PhysicsAPI.h"
 #include "Inertia.h"
 
-namespace Oyster { namespace Physics
+namespace Oyster 
-{
+{ 
-	namespace Struct
+	namespace Physics
 	{
-		struct SimpleBodyDescription
+		namespace Struct
 		{
-			::Oyster::Math::Float3 rotation;
+			struct CustomBodyState
-			::Oyster::Math::Float3 centerPosition;
-			::Oyster::Math::Float3 size;
-			::Oyster::Math::Float mass;
-			::Oyster::Math::Float restitutionCoeff;
-			::Oyster::Math::Float frictionCoeff_Static;
-			::Oyster::Math::Float frictionCoeff_Dynamic;
-			::Oyster::Physics3D::MomentOfInertia inertiaTensor;
-			::Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse subscription_onCollision;
-			::Oyster::Physics::ICustomBody::EventAction_AfterCollisionResponse subscription_onCollisionResponse;
-			::Oyster::Physics::ICustomBody::EventAction_Move subscription_onMovement;
-			bool ignoreGravity;
-
-			SimpleBodyDescription();
-		};
-
-		struct SphericalBodyDescription
-		{
-			::Oyster::Math::Float3 rotation;
-			::Oyster::Math::Float3 centerPosition;
-			::Oyster::Math::Float radius;
-			::Oyster::Math::Float mass;
-			::Oyster::Math::Float restitutionCoeff;
-			::Oyster::Math::Float frictionCoeff_Static;
-			::Oyster::Math::Float frictionCoeff_Dynamic;
-			::Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse subscription_onCollision;
-			::Oyster::Physics::ICustomBody::EventAction_AfterCollisionResponse subscription_onCollisionResponse;
-			::Oyster::Physics::ICustomBody::EventAction_Move subscription_onMovement;
-			bool ignoreGravity;
-
-			SphericalBodyDescription();
-		};
-
-		struct CustomBodyState
-		{
-		public:
-			CustomBodyState( ::Oyster::Math::Float mass						= 1.0f,
-							 ::Oyster::Math::Float restitutionCoeff			= 1.0f,
-							 ::Oyster::Math::Float staticFrictionCoeff		= 1.0f,
-							 ::Oyster::Math::Float kineticFrictionCoeff		= 1.0f,
-							 const ::Oyster::Physics3D::MomentOfInertia &inertiaTensor = ::Oyster::Physics3D::MomentOfInertia(),
-							 const ::Oyster::Math::Float3 &reach			= ::Oyster::Math::Float3::null,
-							 const ::Oyster::Math::Float3 &centerPos		= ::Oyster::Math::Float3::null,
-							 const ::Oyster::Math::Float3 &rotation			= ::Oyster::Math::Float3::null,
-							 const ::Oyster::Math::Float3 &linearMomentum	= ::Oyster::Math::Float3::null,
-							 const ::Oyster::Math::Float3 &angularMomentum	= ::Oyster::Math::Float3::null, 
-							 const ::Oyster::Math::Float3 &gravityNormal	= ::Oyster::Math::Float3::null);
-
-			CustomBodyState & operator = ( const CustomBodyState &state );
-
-			const ::Oyster::Math::Float		 GetMass() const;
-			const ::Oyster::Math::Float		 GetRestitutionCoeff() const;
-			const ::Oyster::Math::Float		 GetFrictionCoeff_Static() const;
-			const ::Oyster::Math::Float		 GetFrictionCoeff_Kinetic() const;
-			const ::Oyster::Physics3D::MomentOfInertia & GetMomentOfInertia() const;
-			const ::Oyster::Math::Float3 &	 GetReach() const;
-				  ::Oyster::Math::Float3	 GetSize() const;
-			const ::Oyster::Math::Float3 &	 GetCenterPosition() const;
-			const ::Oyster::Math::Float3 &	 GetAngularAxis() const;
-				  ::Oyster::Math::Float4x4	 GetRotation() const;
-				  ::Oyster::Math::Float4x4	 GetOrientation() const;
-				  ::Oyster::Math::Float4x4	 GetOrientation( const ::Oyster::Math::Float3 &offset ) const;
-				  ::Oyster::Math::Float4x4	 GetView() const;
-				  ::Oyster::Math::Float4x4	 GetView( const ::Oyster::Math::Float3 &offset ) const;
-			const ::Oyster::Math::Float3 &	 GetLinearMomentum() const;
-				  ::Oyster::Math::Float3	 GetLinearMomentum( const ::Oyster::Math::Float3 &at ) const;
-			const ::Oyster::Math::Float3 &	 GetAngularMomentum() const;
-			const ::Oyster::Math::Float3 &	 GetLinearImpulse() const;
-			const ::Oyster::Math::Float3 &	 GetAngularImpulse() const;
-			const ::Oyster::Math::Float3 &	 GetForward_DeltaPos() const;
-			const ::Oyster::Math::Float3 &	 GetForward_DeltaAxis() const;
-			const ::Oyster::Math::Float3 &	 GetGravityNormal() const;
-			
-			void SetMass_KeepMomentum( ::Oyster::Math::Float m );
-			void SetMass_KeepVelocity( ::Oyster::Math::Float m );
-			void SetRestitutionCoeff( ::Oyster::Math::Float e );
-			void SetFrictionCoeff( ::Oyster::Math::Float staticU, ::Oyster::Math::Float kineticU );
-			void SetMomentOfInertia_KeepMomentum( const ::Oyster::Physics3D::MomentOfInertia &tensor );
-			void SetMomentOfInertia_KeepVelocity( const ::Oyster::Physics3D::MomentOfInertia &tensor );
-			void SetSize( const ::Oyster::Math::Float3 &size );
-			void SetReach( const ::Oyster::Math::Float3 &halfSize );
-			void SetCenterPosition( const ::Oyster::Math::Float3 &centerPos );
-			void SetRotation( const ::Oyster::Math::Float3 &angularAxis );
-			//void SetRotation( const ::Oyster::Math::Float4x4 &rotation );
-			//void SetOrientation( const ::Oyster::Math::Float4x4 &orientation );
-			void SetOrientation( const ::Oyster::Math::Float3 &angularAxis, const ::Oyster::Math::Float3 &translation );
-			void SetLinearMomentum( const ::Oyster::Math::Float3 &g );
-			void SetAngularMomentum( const ::Oyster::Math::Float3 &h );
-			void SetLinearImpulse( const ::Oyster::Math::Float3 &j );
-			void SetAngularImpulse( const ::Oyster::Math::Float3 &j );
-			void SetGravityNormal( const ::Oyster::Math::Float3 &gravityNormal );
-
-			void AddRotation( const ::Oyster::Math::Float3 &angularAxis );
-			void AddTranslation( const ::Oyster::Math::Float3 &deltaPos );
-
-			void ApplyLinearImpulse( const ::Oyster::Math::Float3 &j );
-			void ApplyAngularImpulse( const ::Oyster::Math::Float3 &j );
-			void ApplyImpulse( const ::Oyster::Math::Float3 &j, const ::Oyster::Math::Float3 &at, const ::Oyster::Math::Float3 &normal );
-			void CustomBodyState::ApplyFriction( const ::Oyster::Math::Float3 &j);
-			void ApplyForwarding( const ::Oyster::Math::Float3 &deltaPos, const ::Oyster::Math::Float3 &deltaAxis );
-
-			bool IsSpatiallyAltered() const;
-			bool IsDisturbed() const;
-			bool IsForwarded() const;
-
-			::Oyster::Math::Float3 linearMomentum;
-
-		private:
-			::Oyster::Math::Float mass, restitutionCoeff, staticFrictionCoeff, kineticFrictionCoeff;
-			::Oyster::Physics3D::MomentOfInertia inertiaTensor;
-			::Oyster::Math::Float3 reach, centerPos, angularAxis;
-			::Oyster::Math::Float3 angularMomentum;
-			::Oyster::Math::Float3 linearImpulse, angularImpulse;
-			::Oyster::Math::Float3 deltaPos, deltaAxis; // Forwarding data sum
-			::Oyster::Math::Float3 gravityNormal;
-
-			bool isSpatiallyAltered, isDisturbed, isForwarded;
-		};
-
-		/**
-		###############################################################################
-		Can't define structs inside structs in a union therefor they are declared here.
-		###############################################################################
-		*/
-		struct GravityWell
-		{
-			::Oyster::Math::Float3 position;
-			::Oyster::Math::Float mass;
-
-			GravityWell( );
-			GravityWell( const GravityWell &gravityWell );
-			GravityWell & operator = ( const GravityWell &gravityWell );
-
-			bool operator == ( const GravityWell &gravity ) const;
-			bool operator != ( const GravityWell &gravity ) const;
-		};
-
-		struct GravityDirected
-		{
-			::Oyster::Math::Float3 impulse;
-
-			GravityDirected( );
-			GravityDirected( const GravityDirected &gravityDirected );
-			GravityDirected & operator = ( const GravityDirected &gravityDirected );
-
-			bool operator == ( const GravityDirected &gravity ) const;
-			bool operator != ( const GravityDirected &gravity ) const;
-		};
-
-		struct GravityDirectedField
-		{
-			::Oyster::Math::Float3 normalizedDirection;
-			::Oyster::Math::Float mass;
-			::Oyster::Math::Float magnitude;
-
-			GravityDirectedField( );
-			GravityDirectedField( const GravityDirectedField &gravityDirectedField );
-			GravityDirectedField & operator = ( const GravityDirectedField &gravityDirectedField );
-
-			bool operator == ( const GravityDirectedField &gravity ) const;
-			bool operator != ( const GravityDirectedField &gravity ) const;
-		};
-
-		struct Gravity
-		{
-			enum GravityType
 			{
-				GravityType_Undefined		= -1,
+			public:
-				GravityType_Well			= 0,
+				// Default constructor
-				GravityType_Directed		= 1,
+				CustomBodyState( ::Oyster::Math::Float mass						= 1.0f,
-				GravityType_DirectedField	= 2,
+								 ::Oyster::Math::Float restitutionCoeff			= 1.0f,
-			} gravityType;
+								 ::Oyster::Math::Float staticFrictionCoeff		= 1.0f,
+								 ::Oyster::Math::Float dynamicFrictionCoeff		= 1.0f,
+								 const ::Oyster::Math::Float3 &centerPos		= ::Oyster::Math::Float3::null,
+								 const ::Oyster::Math::Quaternion &quaternion	= ::Oyster::Math::Quaternion(::Oyster::Math::Float3(0, 0, 0), 1));
 
-			union
+				// Assignment operator
-			{
+				CustomBodyState & operator = ( const CustomBodyState &state );
-				struct
-				{
-					GravityWell well;
-				};
 
-				struct
+				// Get functions that calculate matrices that do not exist as variables
-				{
+				::Oyster::Math::Float4x4	 GetRotation() const;
-					GravityDirected directed;
+				::Oyster::Math::Float4x4	 GetOrientation() const;
-				};
+				::Oyster::Math::Float4x4	 GetView() const;
+				::Oyster::Math::Float4x4	 GetView( const ::Oyster::Math::Float3 &offset ) const;
 
-				struct
+				// Variables for state
-				{
+				::Oyster::Math::Float mass, restitutionCoeff, staticFrictionCoeff, dynamicFrictionCoeff;
-					GravityDirectedField directedField;
+				::Oyster::Math::Float3 reach, centerPos;
-				};
+				::Oyster::Math::Quaternion quaternion;
-			};
+			};	
-
+		}
-			Gravity( );
+	} 
-			Gravity( const Gravity &gravity );
+}
-			Gravity & operator = ( const Gravity &gravity );
-
-			bool operator == ( const Gravity &gravity ) const;
-			bool operator != ( const Gravity &gravity ) const;
-		};
-	}
-} }
 
 
 #include "PhysicsStructs-Impl.h"

Code/OysterPhysics3D/RigidBody.cpp

@@ -13,7 +13,7 @@ using namespace ::Utility::Value;
 RigidBody::RigidBody( )
 { // by Dan Andersson
 	this->centerPos = Float4::standard_unit_w;
-	this->axis = Float4::null;
+	this->quaternion = Quaternion(Float3(0, 0, 0), 1);
 	this->boundingReach = Float4( 0.5f, 0.5f, 0.5f, 0.0f );
 	this->momentum_Linear = Float4::null;
 	this->momentum_Angular = Float4::null;
@@ -24,13 +24,12 @@ RigidBody::RigidBody( )
 	this->frictionCoeff_Kinetic = 1.0f;
 	this->mass = 10;
 	this->momentOfInertiaTensor = MomentOfInertia();
-	this->rotation = Quaternion::identity;
 }
 
 RigidBody & RigidBody::operator = ( const RigidBody &body )
 { // by Dan Andersson
 	this->centerPos = body.centerPos;
-	this->axis = body.axis;
+	this->quaternion = body.quaternion;
 	this->boundingReach = body.boundingReach;
 	this->momentum_Linear = body.momentum_Linear;
 	this->momentum_Angular = body.momentum_Angular;
@@ -41,7 +40,6 @@ RigidBody & RigidBody::operator = ( const RigidBody &body )
 	this->frictionCoeff_Kinetic = body.frictionCoeff_Kinetic;
 	this->mass = body.mass;
 	this->momentOfInertiaTensor = body.momentOfInertiaTensor;
-	this->rotation = body.rotation;
 	return *this;
 }
 
@@ -55,19 +53,14 @@ void RigidBody::Update_LeapFrog( Float updateFrameLength )
 	this->momentum_Angular = this->momentum_Angular*0.99f;
 
 	// ds = dt * Formula::LinearVelocity( m, avg_G ) = dt * avg_G / m = (dt / m) * avg_G
-	Float3 delta = AverageWithDelta( this->momentum_Linear, this->impulse_Linear );
+	Float3 delta = this->momentum_Linear;
-	Float3 newPos = updateFrameLength*this->momentum_Linear;
+	Float3 newPos = (updateFrameLength)*this->momentum_Linear;
 	this->centerPos += newPos;
-	
-	if(this->mass == 70)
-	{
-		const char *breakpoint = "STOP";
-	}
 
 	// updating the angular
 	// dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H	
-	this->axis += updateFrameLength*this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, this->momentum_Angular );
+	/*this->axis += updateFrameLength*this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, this->momentum_Angular );
-	this->rotation = Rotation( this->axis );
+	this->rotation = Rotation( this->axis );*/
 
 	// update momentums and clear impulse_Linear and impulse_Angular
 	this->momentum_Linear += this->impulse_Linear;
@@ -89,14 +82,14 @@ void RigidBody::Predict_LeapFrog( Float3 &outDeltaPos, Float3 &outDeltaAxis, con
 
 	// dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H
 	//outDeltaAxis = Formula::AngularVelocity( wMomentOfInertiaTensor.GetInverse(), AverageWithDelta(this->momentum_Angular, actingAngularImpulse) );
-	outDeltaAxis = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, AverageWithDelta(this->momentum_Angular, this->impulse_Angular) );
+	//utDeltaAxis = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, AverageWithDelta(this->momentum_Angular, this->impulse_Angular) );
 }
 
 void RigidBody::Move( const Float3 &deltaPos, const Float3 &deltaAxis )
 {
-	this->centerPos += deltaPos;
+	//this->centerPos += deltaPos;
-	this->axis += deltaAxis;
+	//this->axis += deltaAxis;
-	this->rotation = Rotation( this->axis );
+	//this->rotation = Rotation( this->axis );
 }
 
 void RigidBody::ApplyImpulse( const Float3 &worldJ, const Float3 &atWorldPos )
@@ -125,22 +118,22 @@ Float RigidBody::GetMass() const
 
 const Quaternion & RigidBody::GetRotationQuaternion() const
 { // by Dan Andersson
-	return this->rotation;
+	return this->quaternion;
 }
 
 Float4x4 RigidBody::GetRotationMatrix() const
 { // by Dan Andersson
-	return RotationMatrix( this->rotation );
+	return RotationMatrix( quaternion );
 }
 
 Float4x4 RigidBody::GetOrientation() const
 { // by Dan Andersson
-	return ::Oyster::Math3D::OrientationMatrix( this->rotation, this->centerPos );
+	return ::Oyster::Math3D::OrientationMatrix( this->quaternion, this->centerPos );
 }
 
 Float4x4 RigidBody::GetView() const
 { // by Dan Andersson
-	return ViewMatrix( this->rotation, this->centerPos );
+	return ViewMatrix( this->quaternion, this->centerPos );
 }
 
 Float3 RigidBody::GetVelocity_Linear() const
@@ -150,7 +143,7 @@ Float3 RigidBody::GetVelocity_Linear() const
 
 Float3 RigidBody::GetVelocity_Angular() const
 { // by Dan Andersson
-	return this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, this->momentum_Angular );
+	return Float3(0, 0, 0);
 }
 
 Float3 RigidBody::GetLinearMomentum( const Float3 &atWorldPos ) const
@@ -165,9 +158,7 @@ Float3 RigidBody::GetLinearMomentum( const Float3 &atWorldPos ) const
 
 void RigidBody::SetMomentOfInertia_KeepVelocity( const MomentOfInertia &localTensorI )
 { // by Dan Andersson
-	Float3 w = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, this->momentum_Angular );
+	
-	this->momentOfInertiaTensor = localTensorI;
-	this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, w );
 }
 
 void RigidBody::SetMomentOfInertia_KeepMomentum( const MomentOfInertia &localTensorI )
@@ -193,10 +184,9 @@ void RigidBody::SetMass_KeepMomentum( const Float &m )
 	}
 }
 
-void RigidBody::SetRotation( const Float3 &axis )
+void RigidBody::SetRotation( const ::Oyster::Math::Quaternion &quaternion )
 { // by Dan Andersson
-	this->axis = axis;
+	this->quaternion = quaternion;
-	this->rotation = Rotation( this->axis );
 }
 
 void RigidBody::SetMomentum_Linear( const Float3 &worldG, const Float3 &atWorldPos )
@@ -215,12 +205,12 @@ void RigidBody::SetVelocity_Linear( const Float3 &worldV, const Float3 &atWorldP
 { // by Dan Andersson
 	Float3 worldOffset = atWorldPos - this->centerPos;
 	this->momentum_Linear  = Formula::LinearMomentum( this->mass, VectorProjection(worldV, worldOffset) );
-	this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularMomentum( this->rotation, Formula::AngularVelocity(worldV, worldOffset) );
+	this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularMomentum( this->quaternion, Formula::AngularVelocity(worldV, worldOffset) );
 }
 
 void RigidBody::SetVelocity_Angular( const Float3 &worldW )
 { // by Dan Andersson
-	this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularMomentum( this->rotation, worldW );
+	this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularMomentum( this->quaternion, worldW );
 }
 
 void RigidBody::SetImpulse_Linear( const Float3 &worldJ, const Float3 &atWorldPos )

Code/OysterPhysics3D/RigidBody.h

@@ -15,8 +15,8 @@ namespace Oyster { namespace Physics3D
 	struct RigidBody
 	{ //! A struct of a simple rigid body.
 	public:
+		::Oyster::Math::Quaternion  quaternion;
 		::Oyster::Math::Float3		centerPos,				//!< Location of the body's center in the world.
-									axis,					//!< Euler rotationAxis of the body.
 									boundingReach,			//!< 
 									momentum_Linear,		//!< The linear momentum G (kg*m/s).
 									momentum_Angular,		//!< The angular momentum H (Nm*s) around an parallell axis.
@@ -64,7 +64,7 @@ namespace Oyster { namespace Physics3D
 		void SetMass_KeepMomentum( const ::Oyster::Math::Float &m );
 
 		//void SetOrientation( const ::Oyster::Math::Float4x4 &o );
-		void SetRotation( const ::Oyster::Math::Float3 &axis );
+		void SetRotation( const ::Oyster::Math::Quaternion &quaternion );
 		void SetSize( const ::Oyster::Math::Float3 &widthHeight );
 
 		void SetMomentum_Linear( const ::Oyster::Math::Float3 &worldG, const ::Oyster::Math::Float3 &atWorldPos );
@@ -81,7 +81,7 @@ namespace Oyster { namespace Physics3D
 		::Oyster::Math::Float mass;						//!< m (kg)
 		//::Oyster::Math::Float4x4 momentOfInertiaTensor;	//!< I (Nm*s) Tensor matrix ( only need to be 3x3 matrix, but is 4x4 for future hardware acceleration )	(localValue)
 		::Oyster::Physics3D::MomentOfInertia momentOfInertiaTensor;
-		::Oyster::Math::Quaternion rotation;			//!< RotationAxis of the body.
+		//::Oyster::Math::Quaternion rotation;			//!< RotationAxis of the body.
 	};
 } }
 

Code/Physics/BulletCollision/BulletCollision.vcxproj

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+      <Command>setlocal
+"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -DBUILD_TYPE=$(Configuration) -P cmake_install.cmake
+if %errorlevel% neq 0 goto :cmEnd
+:cmEnd
+endlocal &amp; call :cmErrorLevel %errorlevel% &amp; goto :cmDone
+:cmErrorLevel
+exit /b %1
+:cmDone
+if %errorlevel% neq 0 goto :VCEnd</Command>
+    </PostBuildEvent>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">
+    <Midl>
+      <AdditionalIncludeDirectories>C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <OutputDirectory>$(IntDir)</OutputDirectory>
+      <HeaderFileName>%(Filename).h</HeaderFileName>
+      <TypeLibraryName>%(Filename).tlb</TypeLibraryName>
+      <InterfaceIdentifierFileName>%(Filename)_i.c</InterfaceIdentifierFileName>
+      <ProxyFileName>%(Filename)_p.c</ProxyFileName>
+    </Midl>
+    <PostBuildEvent>
+      <Message></Message>
+      <Command>setlocal
+"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -DBUILD_TYPE=$(Configuration) -P cmake_install.cmake
+if %errorlevel% neq 0 goto :cmEnd
+:cmEnd
+endlocal &amp; call :cmErrorLevel %errorlevel% &amp; goto :cmDone
+:cmErrorLevel
+exit /b %1
+:cmDone
+if %errorlevel% neq 0 goto :VCEnd</Command>
+    </PostBuildEvent>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">
+    <Midl>
+      <AdditionalIncludeDirectories>C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <OutputDirectory>$(IntDir)</OutputDirectory>
+      <HeaderFileName>%(Filename).h</HeaderFileName>
+      <TypeLibraryName>%(Filename).tlb</TypeLibraryName>
+      <InterfaceIdentifierFileName>%(Filename)_i.c</InterfaceIdentifierFileName>
+      <ProxyFileName>%(Filename)_p.c</ProxyFileName>
+    </Midl>
+    <PostBuildEvent>
+      <Message></Message>
+      <Command>setlocal
+"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -DBUILD_TYPE=$(Configuration) -P cmake_install.cmake
+if %errorlevel% neq 0 goto :cmEnd
+:cmEnd
+endlocal &amp; call :cmErrorLevel %errorlevel% &amp; goto :cmDone
+:cmErrorLevel
+exit /b %1
+:cmDone
+if %errorlevel% neq 0 goto :VCEnd</Command>
+    </PostBuildEvent>
+  </ItemDefinitionGroup>
+  <ItemGroup>
+    <CustomBuild Include="..\..\CMakeFiles\2488fbf1c07ab778f5bdaf8ca8459122\INSTALL_force.rule">
+      <Message Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'"> </Message>
+      <Command Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">setlocal
+cd .
+if %errorlevel% neq 0 goto :cmEnd
+:cmEnd
+endlocal &amp; call :cmErrorLevel %errorlevel% &amp; goto :cmDone
+:cmErrorLevel
+exit /b %1
+:cmDone
+if %errorlevel% neq 0 goto :VCEnd</Command>
+      <AdditionalInputs Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">C:/Users/Robin/Programmering/Bullet/Binaries/CMakeFiles/2488fbf1c07ab778f5bdaf8ca8459122/INSTALL_force.rule;%(AdditionalInputs)</AdditionalInputs>
+      <Outputs Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletCollision\CMakeFiles\INSTALL_force</Outputs>
+      <LinkObjects Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">false</LinkObjects>
+      <Message Condition="'$(Configuration)|$(Platform)'=='Release|Win32'"> </Message>
+      <Command Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">setlocal
+cd .
+if %errorlevel% neq 0 goto :cmEnd
+:cmEnd
+endlocal &amp; call :cmErrorLevel %errorlevel% &amp; goto :cmDone
+:cmErrorLevel
+exit /b %1
+:cmDone
+if %errorlevel% neq 0 goto :VCEnd</Command>
+      <AdditionalInputs Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">C:/Users/Robin/Programmering/Bullet/Binaries/CMakeFiles/2488fbf1c07ab778f5bdaf8ca8459122/INSTALL_force.rule;%(AdditionalInputs)</AdditionalInputs>
+      <Outputs Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletCollision\CMakeFiles\INSTALL_force</Outputs>
+      <LinkObjects Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">false</LinkObjects>
+      <Message Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'"> </Message>
+      <Command Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">setlocal
+cd .
+if %errorlevel% neq 0 goto :cmEnd
+:cmEnd
+endlocal &amp; call :cmErrorLevel %errorlevel% &amp; goto :cmDone
+:cmErrorLevel
+exit /b %1
+:cmDone
+if %errorlevel% neq 0 goto :VCEnd</Command>
+      <AdditionalInputs Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">C:/Users/Robin/Programmering/Bullet/Binaries/CMakeFiles/2488fbf1c07ab778f5bdaf8ca8459122/INSTALL_force.rule;%(AdditionalInputs)</AdditionalInputs>
+      <Outputs Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletCollision\CMakeFiles\INSTALL_force</Outputs>
+      <LinkObjects Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">false</LinkObjects>
+      <Message Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'"> </Message>
+      <Command Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">setlocal
+cd .
+if %errorlevel% neq 0 goto :cmEnd
+:cmEnd
+endlocal &amp; call :cmErrorLevel %errorlevel% &amp; goto :cmDone
+:cmErrorLevel
+exit /b %1
+:cmDone
+if %errorlevel% neq 0 goto :VCEnd</Command>
+      <AdditionalInputs Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">C:/Users/Robin/Programmering/Bullet/Binaries/CMakeFiles/2488fbf1c07ab778f5bdaf8ca8459122/INSTALL_force.rule;%(AdditionalInputs)</AdditionalInputs>
+      <Outputs Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletCollision\CMakeFiles\INSTALL_force</Outputs>
+      <LinkObjects Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">false</LinkObjects>
+    </CustomBuild>
+  </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="C:/Users/Robin/Programmering/Bullet/Binaries/ALL_BUILD.vcxproj">
+      <Project>F5149B3B-C2B1-4522-9FFD-121CED456BD3</Project>
+    </ProjectReference>
+  </ItemGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Label="ExtensionTargets">
+  </ImportGroup>
+</Project>

Code/Physics/BulletCollision/cmake_install.cmake

@@ -0,0 +1,29 @@
+# Install script for directory: C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletCollision
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "C:/Program Files (x86)/BULLET_PHYSICS")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  IF(BUILD_TYPE)
+    STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  ELSE(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "Release")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+

Code/Physics/BulletDynamics/BulletDynamics.vcxproj

@@ -0,0 +1,343 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup Label="ProjectConfigurations">
+    <ProjectConfiguration Include="Debug|Win32">
+      <Configuration>Debug</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|Win32">
+      <Configuration>Release</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="MinSizeRel|Win32">
+      <Configuration>MinSizeRel</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="RelWithDebInfo|Win32">
+      <Configuration>RelWithDebInfo</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+  </ItemGroup>
+  <PropertyGroup Label="Globals">
+    <ProjectGUID>{6BCE5708-BFA3-4DE3-9942-E521A8A4EFE2}</ProjectGUID>
+    <Keyword>Win32Proj</Keyword>
+    <Platform>Win32</Platform>
+    <ProjectName>BulletDynamics</ProjectName>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
+    <ConfigurationType>StaticLibrary</ConfigurationType>
+    <UseOfMfc>false</UseOfMfc>
+    <CharacterSet>MultiByte</CharacterSet>
+    <PlatformToolset>v110</PlatformToolset>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+    <ConfigurationType>StaticLibrary</ConfigurationType>
+    <UseOfMfc>false</UseOfMfc>
+    <CharacterSet>MultiByte</CharacterSet>
+    <PlatformToolset>v110</PlatformToolset>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'" Label="Configuration">
+    <ConfigurationType>StaticLibrary</ConfigurationType>
+    <UseOfMfc>false</UseOfMfc>
+    <CharacterSet>MultiByte</CharacterSet>
+    <PlatformToolset>v110</PlatformToolset>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'" Label="Configuration">
+    <ConfigurationType>StaticLibrary</ConfigurationType>
+    <UseOfMfc>false</UseOfMfc>
+    <CharacterSet>MultiByte</CharacterSet>
+    <PlatformToolset>v110</PlatformToolset>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+  <ImportGroup Label="ExtensionSettings">
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <PropertyGroup Label="UserMacros" />
+  <PropertyGroup>
+    <_ProjectFileVersion>10.0.20506.1</_ProjectFileVersion>
+    <OutDir Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">$(SolutionDir)Physics\Debug\</OutDir>
+    <IntDir Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">BulletDynamics.dir\Debug\</IntDir>
+    <TargetName Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">BulletDynamics_Debug</TargetName>
+    <TargetExt Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">.lib</TargetExt>
+    <OutDir Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">$(SolutionDir)Physics\Release</OutDir>
+    <IntDir Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">BulletDynamics.dir\Release\</IntDir>
+    <TargetName Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">BulletDynamics</TargetName>
+    <TargetExt Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">.lib</TargetExt>
+    <OutDir Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">C:\Users\Robin\Programmering\GitHub\Danbias\Code\Physics\MinSizeRel\</OutDir>
+    <IntDir Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">BulletDynamics.dir\MinSizeRel\</IntDir>
+    <TargetName Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">BulletDynamics_MinsizeRel</TargetName>
+    <TargetExt Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">.lib</TargetExt>
+    <OutDir Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">C:\Users\Robin\Programmering\GitHub\Danbias\Code\Physics\RelWithDebInfo\</OutDir>
+    <IntDir Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">BulletDynamics.dir\RelWithDebInfo\</IntDir>
+    <TargetName Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">BulletDynamics_RelWithDebugInfo</TargetName>
+    <TargetExt Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">.lib</TargetExt>
+  </PropertyGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <ClCompile>
+      <AdditionalIncludeDirectories>$(SolutionDir)Physics\Glut;$(SolutionDir)Physics\src;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AssemblerListingLocation>Debug/</AssemblerListingLocation>
+      <BasicRuntimeChecks>EnableFastChecks</BasicRuntimeChecks>
+      <CompileAs>CompileAsCpp</CompileAs>
+      <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
+      <EnableEnhancedInstructionSet>StreamingSIMDExtensions</EnableEnhancedInstructionSet>
+      <ExceptionHandling>Sync</ExceptionHandling>
+      <FloatingPointModel>Fast</FloatingPointModel>
+      <InlineFunctionExpansion>Disabled</InlineFunctionExpansion>
+      <Optimization>Disabled</Optimization>
+      <PrecompiledHeader>NotUsing</PrecompiledHeader>
+      <RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
+      <RuntimeTypeInfo>true</RuntimeTypeInfo>
+      <WarningLevel>Level3</WarningLevel>
+      <PreprocessorDefinitions>WIN32;_DEBUG;_DEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR="Debug";%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ObjectFileName>$(IntDir)</ObjectFileName>
+    </ClCompile>
+    <ResourceCompile>
+      <PreprocessorDefinitions>WIN32;_DEBUG;_DEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR=\"Debug\";%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <AdditionalIncludeDirectories>C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+    </ResourceCompile>
+    <Midl>
+      <AdditionalIncludeDirectories>C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <OutputDirectory>$(IntDir)</OutputDirectory>
+      <HeaderFileName>%(Filename).h</HeaderFileName>
+      <TypeLibraryName>%(Filename).tlb</TypeLibraryName>
+      <InterfaceIdentifierFileName>%(Filename)_i.c</InterfaceIdentifierFileName>
+      <ProxyFileName>%(Filename)_p.c</ProxyFileName>
+    </Midl>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <ClCompile>
+      <AdditionalIncludeDirectories>$(SolutionDir)Physics\Glut;$(SolutionDir)Physics\src;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AssemblerListingLocation>Release/</AssemblerListingLocation>
+      <CompileAs>CompileAsCpp</CompileAs>
+      <EnableEnhancedInstructionSet>StreamingSIMDExtensions</EnableEnhancedInstructionSet>
+      <ExceptionHandling>Sync</ExceptionHandling>
+      <FloatingPointModel>Fast</FloatingPointModel>
+      <InlineFunctionExpansion>AnySuitable</InlineFunctionExpansion>
+      <Optimization>MaxSpeed</Optimization>
+      <PrecompiledHeader>NotUsing</PrecompiledHeader>
+      <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
+      <RuntimeTypeInfo>true</RuntimeTypeInfo>
+      <WarningLevel>Level3</WarningLevel>
+      <DebugInformationFormat>
+      </DebugInformationFormat>
+      <PreprocessorDefinitions>WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR="Release";%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ObjectFileName>$(IntDir)</ObjectFileName>
+    </ClCompile>
+    <ResourceCompile>
+      <PreprocessorDefinitions>WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR=\"Release\";%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <AdditionalIncludeDirectories>C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+    </ResourceCompile>
+    <Midl>
+      <AdditionalIncludeDirectories>C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <OutputDirectory>$(IntDir)</OutputDirectory>
+      <HeaderFileName>%(Filename).h</HeaderFileName>
+      <TypeLibraryName>%(Filename).tlb</TypeLibraryName>
+      <InterfaceIdentifierFileName>%(Filename)_i.c</InterfaceIdentifierFileName>
+      <ProxyFileName>%(Filename)_p.c</ProxyFileName>
+    </Midl>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">
+    <ClCompile>
+      <AdditionalIncludeDirectories>C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AssemblerListingLocation>MinSizeRel/</AssemblerListingLocation>
+      <CompileAs>CompileAsCpp</CompileAs>
+      <EnableEnhancedInstructionSet>StreamingSIMDExtensions</EnableEnhancedInstructionSet>
+      <ExceptionHandling>Sync</ExceptionHandling>
+      <FloatingPointModel>Fast</FloatingPointModel>
+      <InlineFunctionExpansion>OnlyExplicitInline</InlineFunctionExpansion>
+      <Optimization>MinSpace</Optimization>
+      <PrecompiledHeader>NotUsing</PrecompiledHeader>
+      <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
+      <RuntimeTypeInfo>true</RuntimeTypeInfo>
+      <WarningLevel>Level3</WarningLevel>
+      <DebugInformationFormat>
+      </DebugInformationFormat>
+      <PreprocessorDefinitions>WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR="MinSizeRel";%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ObjectFileName>$(IntDir)</ObjectFileName>
+    </ClCompile>
+    <ResourceCompile>
+      <PreprocessorDefinitions>WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR=\"MinSizeRel\";%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <AdditionalIncludeDirectories>C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+    </ResourceCompile>
+    <Midl>
+      <AdditionalIncludeDirectories>C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <OutputDirectory>$(IntDir)</OutputDirectory>
+      <HeaderFileName>%(Filename).h</HeaderFileName>
+      <TypeLibraryName>%(Filename).tlb</TypeLibraryName>
+      <InterfaceIdentifierFileName>%(Filename)_i.c</InterfaceIdentifierFileName>
+      <ProxyFileName>%(Filename)_p.c</ProxyFileName>
+    </Midl>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">
+    <ClCompile>
+      <AdditionalIncludeDirectories>C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AssemblerListingLocation>RelWithDebInfo/</AssemblerListingLocation>
+      <CompileAs>CompileAsCpp</CompileAs>
+      <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
+      <EnableEnhancedInstructionSet>StreamingSIMDExtensions</EnableEnhancedInstructionSet>
+      <ExceptionHandling>Sync</ExceptionHandling>
+      <FloatingPointModel>Fast</FloatingPointModel>
+      <InlineFunctionExpansion>OnlyExplicitInline</InlineFunctionExpansion>
+      <Optimization>MaxSpeed</Optimization>
+      <PrecompiledHeader>NotUsing</PrecompiledHeader>
+      <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
+      <RuntimeTypeInfo>true</RuntimeTypeInfo>
+      <WarningLevel>Level3</WarningLevel>
+      <PreprocessorDefinitions>WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR="RelWithDebInfo";%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ObjectFileName>$(IntDir)</ObjectFileName>
+    </ClCompile>
+    <ResourceCompile>
+      <PreprocessorDefinitions>WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR=\"RelWithDebInfo\";%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <AdditionalIncludeDirectories>C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+    </ResourceCompile>
+    <Midl>
+      <AdditionalIncludeDirectories>C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <OutputDirectory>$(IntDir)</OutputDirectory>
+      <HeaderFileName>%(Filename).h</HeaderFileName>
+      <TypeLibraryName>%(Filename).tlb</TypeLibraryName>
+      <InterfaceIdentifierFileName>%(Filename)_i.c</InterfaceIdentifierFileName>
+      <ProxyFileName>%(Filename)_p.c</ProxyFileName>
+    </Midl>
+  </ItemDefinitionGroup>
+  <ItemGroup>
+    <CustomBuild Include="C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\BulletDynamics\CMakeLists.txt">
+      <Message Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">Building Custom Rule C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletDynamics/CMakeLists.txt</Message>
+      <Command Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">setlocal
+"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -HC:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704 -BC:/Users/Robin/Programmering/Bullet/Binaries --check-stamp-file C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletDynamics\CMakeFiles\generate.stamp
+if %errorlevel% neq 0 goto :cmEnd
+:cmEnd
+endlocal &amp; call :cmErrorLevel %errorlevel% &amp; goto :cmDone
+:cmErrorLevel
+exit /b %1
+:cmDone
+if %errorlevel% neq 0 goto :VCEnd</Command>
+      <AdditionalInputs Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletDynamics/CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\BulletDynamics\CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\BulletDynamics\CMakeLists.txt;%(AdditionalInputs)</AdditionalInputs>
+      <Outputs Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletDynamics\CMakeFiles\generate.stamp</Outputs>
+      <LinkObjects Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">false</LinkObjects>
+      <Message Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">Building Custom Rule C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletDynamics/CMakeLists.txt</Message>
+      <Command Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">setlocal
+"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -HC:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704 -BC:/Users/Robin/Programmering/Bullet/Binaries --check-stamp-file C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletDynamics\CMakeFiles\generate.stamp
+if %errorlevel% neq 0 goto :cmEnd
+:cmEnd
+endlocal &amp; call :cmErrorLevel %errorlevel% &amp; goto :cmDone
+:cmErrorLevel
+exit /b %1
+:cmDone
+if %errorlevel% neq 0 goto :VCEnd</Command>
+      <AdditionalInputs Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletDynamics/CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\BulletDynamics\CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\BulletDynamics\CMakeLists.txt;%(AdditionalInputs)</AdditionalInputs>
+      <Outputs Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletDynamics\CMakeFiles\generate.stamp</Outputs>
+      <LinkObjects Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">false</LinkObjects>
+      <Message Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">Building Custom Rule C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletDynamics/CMakeLists.txt</Message>
+      <Command Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">setlocal
+"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -HC:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704 -BC:/Users/Robin/Programmering/Bullet/Binaries --check-stamp-file C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletDynamics\CMakeFiles\generate.stamp
+if %errorlevel% neq 0 goto :cmEnd
+:cmEnd
+endlocal &amp; call :cmErrorLevel %errorlevel% &amp; goto :cmDone
+:cmErrorLevel
+exit /b %1
+:cmDone
+if %errorlevel% neq 0 goto :VCEnd</Command>
+      <AdditionalInputs Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletDynamics/CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\BulletDynamics\CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\BulletDynamics\CMakeLists.txt;%(AdditionalInputs)</AdditionalInputs>
+      <Outputs Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletDynamics\CMakeFiles\generate.stamp</Outputs>
+      <LinkObjects Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">false</LinkObjects>
+      <Message Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">Building Custom Rule C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletDynamics/CMakeLists.txt</Message>
+      <Command Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">setlocal
+"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -HC:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704 -BC:/Users/Robin/Programmering/Bullet/Binaries --check-stamp-file C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletDynamics\CMakeFiles\generate.stamp
+if %errorlevel% neq 0 goto :cmEnd
+:cmEnd
+endlocal &amp; call :cmErrorLevel %errorlevel% &amp; goto :cmDone
+:cmErrorLevel
+exit /b %1
+:cmDone
+if %errorlevel% neq 0 goto :VCEnd</Command>
+      <AdditionalInputs Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletDynamics/CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\BulletDynamics\CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\BulletDynamics\CMakeLists.txt;%(AdditionalInputs)</AdditionalInputs>
+      <Outputs Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletDynamics\CMakeFiles\generate.stamp</Outputs>
+      <LinkObjects Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">false</LinkObjects>
+    </CustomBuild>
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="..\src\BulletDynamics\Character\btKinematicCharacterController.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\ConstraintSolver\btConeTwistConstraint.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\ConstraintSolver\btContactConstraint.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\ConstraintSolver\btFixedConstraint.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\ConstraintSolver\btGearConstraint.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\ConstraintSolver\btGeneric6DofConstraint.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\ConstraintSolver\btGeneric6DofSpringConstraint.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\ConstraintSolver\btHinge2Constraint.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\ConstraintSolver\btHingeConstraint.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\ConstraintSolver\btPoint2PointConstraint.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\ConstraintSolver\btSequentialImpulseConstraintSolver.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\ConstraintSolver\btSliderConstraint.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\ConstraintSolver\btSolve2LinearConstraint.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\ConstraintSolver\btTypedConstraint.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\ConstraintSolver\btUniversalConstraint.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\Dynamics\btDiscreteDynamicsWorld.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\Dynamics\btRigidBody.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\Dynamics\btSimpleDynamicsWorld.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\Dynamics\Bullet-C-API.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\Featherstone\btMultiBody.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\Featherstone\btMultiBodyConstraint.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\Featherstone\btMultiBodyConstraintSolver.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\Featherstone\btMultiBodyDynamicsWorld.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\Featherstone\btMultiBodyJointLimitConstraint.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\Featherstone\btMultiBodyJointMotor.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\Featherstone\btMultiBodyPoint2Point.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\MLCPSolvers\btDantzigLCP.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\MLCPSolvers\btMLCPSolver.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\Vehicle\btRaycastVehicle.cpp" />
+    <ClCompile Include="..\src\BulletDynamics\Vehicle\btWheelInfo.cpp" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="..\src\BulletDynamics\Character\btCharacterControllerInterface.h" />
+    <ClInclude Include="..\src\BulletDynamics\Character\btKinematicCharacterController.h" />
+    <ClInclude Include="..\src\BulletDynamics\ConstraintSolver\btConeTwistConstraint.h" />
+    <ClInclude Include="..\src\BulletDynamics\ConstraintSolver\btConstraintSolver.h" />
+    <ClInclude Include="..\src\BulletDynamics\ConstraintSolver\btContactConstraint.h" />
+    <ClInclude Include="..\src\BulletDynamics\ConstraintSolver\btContactSolverInfo.h" />
+    <ClInclude Include="..\src\BulletDynamics\ConstraintSolver\btFixedConstraint.h" />
+    <ClInclude Include="..\src\BulletDynamics\ConstraintSolver\btGearConstraint.h" />
+    <ClInclude Include="..\src\BulletDynamics\ConstraintSolver\btGeneric6DofConstraint.h" />
+    <ClInclude Include="..\src\BulletDynamics\ConstraintSolver\btGeneric6DofSpringConstraint.h" />
+    <ClInclude Include="..\src\BulletDynamics\ConstraintSolver\btHinge2Constraint.h" />
+    <ClInclude Include="..\src\BulletDynamics\ConstraintSolver\btHingeConstraint.h" />
+    <ClInclude Include="..\src\BulletDynamics\ConstraintSolver\btJacobianEntry.h" />
+    <ClInclude Include="..\src\BulletDynamics\ConstraintSolver\btPoint2PointConstraint.h" />
+    <ClInclude Include="..\src\BulletDynamics\ConstraintSolver\btSequentialImpulseConstraintSolver.h" />
+    <ClInclude Include="..\src\BulletDynamics\ConstraintSolver\btSliderConstraint.h" />
+    <ClInclude Include="..\src\BulletDynamics\ConstraintSolver\btSolve2LinearConstraint.h" />
+    <ClInclude Include="..\src\BulletDynamics\ConstraintSolver\btSolverBody.h" />
+    <ClInclude Include="..\src\BulletDynamics\ConstraintSolver\btSolverConstraint.h" />
+    <ClInclude Include="..\src\BulletDynamics\ConstraintSolver\btTypedConstraint.h" />
+    <ClInclude Include="..\src\BulletDynamics\ConstraintSolver\btUniversalConstraint.h" />
+    <ClInclude Include="..\src\BulletDynamics\Dynamics\btActionInterface.h" />
+    <ClInclude Include="..\src\BulletDynamics\Dynamics\btDiscreteDynamicsWorld.h" />
+    <ClInclude Include="..\src\BulletDynamics\Dynamics\btDynamicsWorld.h" />
+    <ClInclude Include="..\src\BulletDynamics\Dynamics\btRigidBody.h" />
+    <ClInclude Include="..\src\BulletDynamics\Dynamics\btSimpleDynamicsWorld.h" />
+    <ClInclude Include="..\src\BulletDynamics\Featherstone\btMultiBody.h" />
+    <ClInclude Include="..\src\BulletDynamics\Featherstone\btMultiBodyConstraint.h" />
+    <ClInclude Include="..\src\BulletDynamics\Featherstone\btMultiBodyConstraintSolver.h" />
+    <ClInclude Include="..\src\BulletDynamics\Featherstone\btMultiBodyDynamicsWorld.h" />
+    <ClInclude Include="..\src\BulletDynamics\Featherstone\btMultiBodyJointLimitConstraint.h" />
+    <ClInclude Include="..\src\BulletDynamics\Featherstone\btMultiBodyJointMotor.h" />
+    <ClInclude Include="..\src\BulletDynamics\Featherstone\btMultiBodyLink.h" />
+    <ClInclude Include="..\src\BulletDynamics\Featherstone\btMultiBodyLinkCollider.h" />
+    <ClInclude Include="..\src\BulletDynamics\Featherstone\btMultiBodyPoint2Point.h" />
+    <ClInclude Include="..\src\BulletDynamics\Featherstone\btMultiBodySolverConstraint.h" />
+    <ClInclude Include="..\src\BulletDynamics\MLCPSolvers\btDantzigLCP.h" />
+    <ClInclude Include="..\src\BulletDynamics\MLCPSolvers\btDantzigSolver.h" />
+    <ClInclude Include="..\src\BulletDynamics\MLCPSolvers\btMLCPSolver.h" />
+    <ClInclude Include="..\src\BulletDynamics\MLCPSolvers\btMLCPSolverInterface.h" />
+    <ClInclude Include="..\src\BulletDynamics\MLCPSolvers\btPATHSolver.h" />
+    <ClInclude Include="..\src\BulletDynamics\MLCPSolvers\btSolveProjectedGaussSeidel.h" />
+    <ClInclude Include="..\src\BulletDynamics\Vehicle\btRaycastVehicle.h" />
+    <ClInclude Include="..\src\BulletDynamics\Vehicle\btVehicleRaycaster.h" />
+    <ClInclude Include="..\src\BulletDynamics\Vehicle\btWheelInfo.h" />
+  </ItemGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Label="ExtensionTargets">
+  </ImportGroup>
+</Project>

Code/Physics/BulletDynamics/BulletDynamics.vcxproj.user

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup />
+</Project>

Code/Physics/BulletDynamics/CMakeFiles/generate.stamp

@@ -0,0 +1 @@
+# CMake generation timestamp file for this directory.

Code/Physics/BulletDynamics/CMakeFiles/generate.stamp.depend

@@ -0,0 +1,2 @@
+# CMake generation dependency list for this directory.
+C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletDynamics/CMakeLists.txt

Code/Physics/BulletDynamics/INSTALL.vcxproj

@@ -0,0 +1,217 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup Label="ProjectConfigurations">
+    <ProjectConfiguration Include="Debug|Win32">
+      <Configuration>Debug</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|Win32">
+      <Configuration>Release</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="MinSizeRel|Win32">
+      <Configuration>MinSizeRel</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="RelWithDebInfo|Win32">
+      <Configuration>RelWithDebInfo</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+  </ItemGroup>
+  <PropertyGroup Label="Globals">
+    <ProjectGUID>{0A758B62-DE3C-493C-985D-39E48A384A7C}</ProjectGUID>
+    <Keyword>Win32Proj</Keyword>
+    <Platform>Win32</Platform>
+    <ProjectName>INSTALL</ProjectName>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
+    <ConfigurationType></ConfigurationType>
+    <UseOfMfc>false</UseOfMfc>
+    <CharacterSet>MultiByte</CharacterSet>
+    <PlatformToolset>v110</PlatformToolset>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+    <ConfigurationType></ConfigurationType>
+    <UseOfMfc>false</UseOfMfc>
+    <CharacterSet>MultiByte</CharacterSet>
+    <PlatformToolset>v110</PlatformToolset>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'" Label="Configuration">
+    <ConfigurationType></ConfigurationType>
+    <UseOfMfc>false</UseOfMfc>
+    <CharacterSet>MultiByte</CharacterSet>
+    <PlatformToolset>v110</PlatformToolset>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'" Label="Configuration">
+    <ConfigurationType></ConfigurationType>
+    <UseOfMfc>false</UseOfMfc>
+    <CharacterSet>MultiByte</CharacterSet>
+    <PlatformToolset>v110</PlatformToolset>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+  <ImportGroup Label="ExtensionSettings">
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />  </ImportGroup>
+  <PropertyGroup Label="UserMacros" />
+    <PropertyGroup>
+      <_ProjectFileVersion>10.0.20506.1</_ProjectFileVersion>
+      <IntDir Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">$(Platform)\$(Configuration)\$(ProjectName)\</IntDir>
+      <IntDir Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">$(Platform)\$(Configuration)\$(ProjectName)\</IntDir>
+      <IntDir Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">$(Platform)\$(Configuration)\$(ProjectName)\</IntDir>
+      <IntDir Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">$(Platform)\$(Configuration)\$(ProjectName)\</IntDir>
+    </PropertyGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <Midl>
+      <AdditionalIncludeDirectories>C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <OutputDirectory>$(IntDir)</OutputDirectory>
+      <HeaderFileName>%(Filename).h</HeaderFileName>
+      <TypeLibraryName>%(Filename).tlb</TypeLibraryName>
+      <InterfaceIdentifierFileName>%(Filename)_i.c</InterfaceIdentifierFileName>
+      <ProxyFileName>%(Filename)_p.c</ProxyFileName>
+    </Midl>
+    <PostBuildEvent>
+      <Message></Message>
+      <Command>setlocal
+"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -DBUILD_TYPE=$(Configuration) -P cmake_install.cmake
+if %errorlevel% neq 0 goto :cmEnd
+:cmEnd
+endlocal &amp; call :cmErrorLevel %errorlevel% &amp; goto :cmDone
+:cmErrorLevel
+exit /b %1
+:cmDone
+if %errorlevel% neq 0 goto :VCEnd</Command>
+    </PostBuildEvent>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <Midl>
+      <AdditionalIncludeDirectories>C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <OutputDirectory>$(IntDir)</OutputDirectory>
+      <HeaderFileName>%(Filename).h</HeaderFileName>
+      <TypeLibraryName>%(Filename).tlb</TypeLibraryName>
+      <InterfaceIdentifierFileName>%(Filename)_i.c</InterfaceIdentifierFileName>
+      <ProxyFileName>%(Filename)_p.c</ProxyFileName>
+    </Midl>
+    <PostBuildEvent>
+      <Message></Message>
+      <Command>setlocal
+"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -DBUILD_TYPE=$(Configuration) -P cmake_install.cmake
+if %errorlevel% neq 0 goto :cmEnd
+:cmEnd
+endlocal &amp; call :cmErrorLevel %errorlevel% &amp; goto :cmDone
+:cmErrorLevel
+exit /b %1
+:cmDone
+if %errorlevel% neq 0 goto :VCEnd</Command>
+    </PostBuildEvent>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">
+    <Midl>
+      <AdditionalIncludeDirectories>C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <OutputDirectory>$(IntDir)</OutputDirectory>
+      <HeaderFileName>%(Filename).h</HeaderFileName>
+      <TypeLibraryName>%(Filename).tlb</TypeLibraryName>
+      <InterfaceIdentifierFileName>%(Filename)_i.c</InterfaceIdentifierFileName>
+      <ProxyFileName>%(Filename)_p.c</ProxyFileName>
+    </Midl>
+    <PostBuildEvent>
+      <Message></Message>
+      <Command>setlocal
+"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -DBUILD_TYPE=$(Configuration) -P cmake_install.cmake
+if %errorlevel% neq 0 goto :cmEnd
+:cmEnd
+endlocal &amp; call :cmErrorLevel %errorlevel% &amp; goto :cmDone
+:cmErrorLevel
+exit /b %1
+:cmDone
+if %errorlevel% neq 0 goto :VCEnd</Command>
+    </PostBuildEvent>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">
+    <Midl>
+      <AdditionalIncludeDirectories>C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <OutputDirectory>$(IntDir)</OutputDirectory>
+      <HeaderFileName>%(Filename).h</HeaderFileName>
+      <TypeLibraryName>%(Filename).tlb</TypeLibraryName>
+      <InterfaceIdentifierFileName>%(Filename)_i.c</InterfaceIdentifierFileName>
+      <ProxyFileName>%(Filename)_p.c</ProxyFileName>
+    </Midl>
+    <PostBuildEvent>
+      <Message></Message>
+      <Command>setlocal
+"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -DBUILD_TYPE=$(Configuration) -P cmake_install.cmake
+if %errorlevel% neq 0 goto :cmEnd
+:cmEnd
+endlocal &amp; call :cmErrorLevel %errorlevel% &amp; goto :cmDone
+:cmErrorLevel
+exit /b %1
+:cmDone
+if %errorlevel% neq 0 goto :VCEnd</Command>
+    </PostBuildEvent>
+  </ItemDefinitionGroup>
+  <ItemGroup>
+    <CustomBuild Include="..\..\CMakeFiles\26c1e2c959f534a1cd3ce71328ceef74\INSTALL_force.rule">
+      <Message Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'"> </Message>
+      <Command Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">setlocal
+cd .
+if %errorlevel% neq 0 goto :cmEnd
+:cmEnd
+endlocal &amp; call :cmErrorLevel %errorlevel% &amp; goto :cmDone
+:cmErrorLevel
+exit /b %1
+:cmDone
+if %errorlevel% neq 0 goto :VCEnd</Command>
+      <AdditionalInputs Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">C:/Users/Robin/Programmering/Bullet/Binaries/CMakeFiles/26c1e2c959f534a1cd3ce71328ceef74/INSTALL_force.rule;%(AdditionalInputs)</AdditionalInputs>
+      <Outputs Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletDynamics\CMakeFiles\INSTALL_force</Outputs>
+      <LinkObjects Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">false</LinkObjects>
+      <Message Condition="'$(Configuration)|$(Platform)'=='Release|Win32'"> </Message>
+      <Command Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">setlocal
+cd .
+if %errorlevel% neq 0 goto :cmEnd
+:cmEnd
+endlocal &amp; call :cmErrorLevel %errorlevel% &amp; goto :cmDone
+:cmErrorLevel
+exit /b %1
+:cmDone
+if %errorlevel% neq 0 goto :VCEnd</Command>
+      <AdditionalInputs Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">C:/Users/Robin/Programmering/Bullet/Binaries/CMakeFiles/26c1e2c959f534a1cd3ce71328ceef74/INSTALL_force.rule;%(AdditionalInputs)</AdditionalInputs>
+      <Outputs Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletDynamics\CMakeFiles\INSTALL_force</Outputs>
+      <LinkObjects Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">false</LinkObjects>
+      <Message Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'"> </Message>
+      <Command Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">setlocal
+cd .
+if %errorlevel% neq 0 goto :cmEnd
+:cmEnd
+endlocal &amp; call :cmErrorLevel %errorlevel% &amp; goto :cmDone
+:cmErrorLevel
+exit /b %1
+:cmDone
+if %errorlevel% neq 0 goto :VCEnd</Command>
+      <AdditionalInputs Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">C:/Users/Robin/Programmering/Bullet/Binaries/CMakeFiles/26c1e2c959f534a1cd3ce71328ceef74/INSTALL_force.rule;%(AdditionalInputs)</AdditionalInputs>
+      <Outputs Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletDynamics\CMakeFiles\INSTALL_force</Outputs>
+      <LinkObjects Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">false</LinkObjects>
+      <Message Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'"> </Message>
+      <Command Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">setlocal
+cd .
+if %errorlevel% neq 0 goto :cmEnd
+:cmEnd
+endlocal &amp; call :cmErrorLevel %errorlevel% &amp; goto :cmDone
+:cmErrorLevel
+exit /b %1
+:cmDone
+if %errorlevel% neq 0 goto :VCEnd</Command>
+      <AdditionalInputs Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">C:/Users/Robin/Programmering/Bullet/Binaries/CMakeFiles/26c1e2c959f534a1cd3ce71328ceef74/INSTALL_force.rule;%(AdditionalInputs)</AdditionalInputs>
+      <Outputs Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletDynamics\CMakeFiles\INSTALL_force</Outputs>
+      <LinkObjects Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">false</LinkObjects>
+    </CustomBuild>
+  </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="C:/Users/Robin/Programmering/Bullet/Binaries/ALL_BUILD.vcxproj">
+      <Project>F5149B3B-C2B1-4522-9FFD-121CED456BD3</Project>
+    </ProjectReference>
+  </ItemGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Label="ExtensionTargets">
+  </ImportGroup>
+</Project>

Code/Physics/BulletDynamics/cmake_install.cmake

@@ -0,0 +1,29 @@
+# Install script for directory: C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletDynamics
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "C:/Program Files (x86)/BULLET_PHYSICS")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  IF(BUILD_TYPE)
+    STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  ELSE(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "Release")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+

Code/Physics/Glut/EmptyGL/GL/egl_cpx.h

@@ -0,0 +1,13 @@
+// todo - implement these as you see fit. 
+inline GLint glRenderMode(GLenum  a0) { return GL_RENDER; };	// ymmv. should return previous mode
+inline GLenum glGetError() { return GL_NO_ERROR; };
+inline GLboolean glIsList(GLuint  a0) {	return	GL_TRUE;	};	
+inline GLuint glGenLists(GLsizei  a0) { return (GLuint)a0;	};
+inline const GLubyte* glGetString(GLenum  a0) {	return	(const GLubyte *)"egl-xyzzy";	};
+inline GLboolean glIsEnabled(GLenum  a0) {	return	GL_TRUE;	};
+inline GLboolean glAreTexturesResident(GLsizei  a0,const GLuint *  a1,GLboolean *  a2) {	return	GL_TRUE;	};
+inline GLboolean glIsTexture(GLuint  a0) {	return	GL_TRUE;	};
+inline void glGetBooleanv(GLenum  a0,GLboolean *  a1) {	*a1 = GL_TRUE;	};
+inline void glGetDoublev(GLenum  a0,GLdouble *  a1) {	*a1 = 0.0; };
+inline void glGetFloatv(GLenum  a0,GLfloat *  a1) {	*a1 = 0.0f;	};
+inline void glGetIntegerv(GLenum  a0,GLint *  a1) { *a1 = 0;	};

Code/Physics/Glut/EmptyGL/GL/egl_defs.h

@@ -0,0 +1,706 @@
+#ifndef	EGL_DEFS_H
+#define	EGL_DEFS_H
+
+typedef unsigned int					GLenum; 
+typedef unsigned char					GLboolean; 
+typedef unsigned int					GLbitfield; 
+typedef void							GLvoid; 
+typedef signed char						GLbyte;		 
+typedef short							GLshort;	 
+typedef int								GLint;		 
+typedef unsigned char					GLubyte;	 
+typedef unsigned short					GLushort;	 
+typedef unsigned int					GLuint;		 
+typedef int								GLsizei;	 
+typedef float							GLfloat;	 
+typedef float							GLclampf;	 
+typedef double							GLdouble;	 
+typedef double							GLclampd;	 
+
+#define __gl_h_ 
+#define GL_VERSION_1_1   1 
+#define GL_VERSION_1_2   1 
+#define GL_VERSION_1_3   1 
+#define GL_ARB_imaging   1 
+#define GL_FALSE						0x0 
+#define GL_TRUE							0x1 
+#define GL_BYTE							0x1400 
+#define GL_UNSIGNED_BYTE				0x1401 
+#define GL_SHORT						0x1402 
+#define GL_UNSIGNED_SHORT				0x1403 
+#define GL_INT							0x1404 
+#define GL_UNSIGNED_INT					0x1405 
+#define GL_FLOAT						0x1406 
+#define GL_2_BYTES						0x1407 
+#define GL_3_BYTES						0x1408 
+#define GL_4_BYTES						0x1409 
+#define GL_DOUBLE						0x140A 
+#define GL_POINTS						0x0000 
+#define GL_LINES						0x0001 
+#define GL_LINE_LOOP					0x0002 
+#define GL_LINE_STRIP					0x0003 
+#define GL_TRIANGLES					0x0004 
+#define GL_TRIANGLE_STRIP				0x0005 
+#define GL_TRIANGLE_FAN					0x0006 
+#define GL_QUADS						0x0007 
+#define GL_QUAD_STRIP					0x0008 
+#define GL_POLYGON						0x0009 
+#define GL_VERTEX_ARRAY					0x8074 
+#define GL_NORMAL_ARRAY					0x8075 
+#define GL_COLOR_ARRAY					0x8076 
+#define GL_INDEX_ARRAY					0x8077 
+#define GL_TEXTURE_COORD_ARRAY			0x8078 
+#define GL_EDGE_FLAG_ARRAY				0x8079 
+#define GL_VERTEX_ARRAY_SIZE			0x807A 
+#define GL_VERTEX_ARRAY_TYPE			0x807B 
+#define GL_VERTEX_ARRAY_STRIDE			0x807C 
+#define GL_NORMAL_ARRAY_TYPE			0x807E 
+#define GL_NORMAL_ARRAY_STRIDE			0x807F 
+#define GL_COLOR_ARRAY_SIZE				0x8081 
+#define GL_COLOR_ARRAY_TYPE				0x8082 
+#define GL_COLOR_ARRAY_STRIDE			0x8083 
+#define GL_INDEX_ARRAY_TYPE				0x8085 
+#define GL_INDEX_ARRAY_STRIDE			0x8086 
+#define GL_TEXTURE_COORD_ARRAY_SIZE		0x8088 
+#define GL_TEXTURE_COORD_ARRAY_TYPE		0x8089 
+#define GL_TEXTURE_COORD_ARRAY_STRIDE	0x808A 
+#define GL_EDGE_FLAG_ARRAY_STRIDE		0x808C 
+#define GL_VERTEX_ARRAY_POINTER			0x808E 
+#define GL_NORMAL_ARRAY_POINTER			0x808F 
+#define GL_COLOR_ARRAY_POINTER			0x8090 
+#define GL_INDEX_ARRAY_POINTER			0x8091 
+#define GL_TEXTURE_COORD_ARRAY_POINTER	0x8092 
+#define GL_EDGE_FLAG_ARRAY_POINTER		0x8093 
+#define GL_V2F							0x2A20 
+#define GL_V3F							0x2A21 
+#define GL_C4UB_V2F						0x2A22 
+#define GL_C4UB_V3F						0x2A23 
+#define GL_C3F_V3F						0x2A24 
+#define GL_N3F_V3F						0x2A25 
+#define GL_C4F_N3F_V3F					0x2A26 
+#define GL_T2F_V3F						0x2A27 
+#define GL_T4F_V4F						0x2A28 
+#define GL_T2F_C4UB_V3F					0x2A29 
+#define GL_T2F_C3F_V3F					0x2A2A 
+#define GL_T2F_N3F_V3F					0x2A2B 
+#define GL_T2F_C4F_N3F_V3F				0x2A2C 
+#define GL_T4F_C4F_N3F_V4F				0x2A2D 
+#define GL_MATRIX_MODE					0x0BA0 
+#define GL_MODELVIEW					0x1700 
+#define GL_PROJECTION					0x1701 
+#define GL_TEXTURE						0x1702 
+#define GL_POINT_SMOOTH					0x0B10 
+#define GL_POINT_SIZE					0x0B11 
+#define GL_POINT_SIZE_GRANULARITY 		0x0B13 
+#define GL_POINT_SIZE_RANGE				0x0B12 
+#define GL_LINE_SMOOTH					0x0B20 
+#define GL_LINE_STIPPLE					0x0B24 
+#define GL_LINE_STIPPLE_PATTERN			0x0B25 
+#define GL_LINE_STIPPLE_REPEAT			0x0B26 
+#define GL_LINE_WIDTH					0x0B21 
+#define GL_LINE_WIDTH_GRANULARITY		0x0B23 
+#define GL_LINE_WIDTH_RANGE				0x0B22 
+#define GL_POINT						0x1B00 
+#define GL_LINE							0x1B01 
+#define GL_FILL							0x1B02 
+#define GL_CW							0x0900 
+#define GL_CCW							0x0901 
+#define GL_FRONT						0x0404 
+#define GL_BACK							0x0405 
+#define GL_POLYGON_MODE					0x0B40 
+#define GL_POLYGON_SMOOTH				0x0B41 
+#define GL_POLYGON_STIPPLE				0x0B42 
+#define GL_EDGE_FLAG					0x0B43 
+#define GL_CULL_FACE					0x0B44 
+#define GL_CULL_FACE_MODE				0x0B45 
+#define GL_FRONT_FACE					0x0B46 
+#define GL_POLYGON_OFFSET_FACTOR		0x8038 
+#define GL_POLYGON_OFFSET_UNITS			0x2A00 
+#define GL_POLYGON_OFFSET_POINT			0x2A01 
+#define GL_POLYGON_OFFSET_LINE			0x2A02 
+#define GL_POLYGON_OFFSET_FILL			0x8037 
+#define GL_COMPILE						0x1300 
+#define GL_COMPILE_AND_EXECUTE			0x1301 
+#define GL_LIST_BASE					0x0B32 
+#define GL_LIST_INDEX					0x0B33 
+#define GL_LIST_MODE					0x0B30 
+#define GL_NEVER						0x0200 
+#define GL_LESS							0x0201 
+#define GL_EQUAL						0x0202 
+#define GL_LEQUAL						0x0203 
+#define GL_GREATER						0x0204 
+#define GL_NOTEQUAL						0x0205 
+#define GL_GEQUAL						0x0206 
+#define GL_ALWAYS						0x0207 
+#define GL_DEPTH_TEST					0x0B71 
+#define GL_DEPTH_BITS					0x0D56 
+#define GL_DEPTH_CLEAR_VALUE			0x0B73 
+#define GL_DEPTH_FUNC					0x0B74 
+#define GL_DEPTH_RANGE					0x0B70 
+#define GL_DEPTH_WRITEMASK				0x0B72 
+#define GL_DEPTH_COMPONENT				0x1902 
+#define GL_LIGHTING						0x0B50 
+#define GL_LIGHT0						0x4000 
+#define GL_LIGHT1						0x4001 
+#define GL_LIGHT2						0x4002 
+#define GL_LIGHT3						0x4003 
+#define GL_LIGHT4						0x4004 
+#define GL_LIGHT5						0x4005 
+#define GL_LIGHT6						0x4006 
+#define GL_LIGHT7						0x4007 
+#define GL_SPOT_EXPONENT				0x1205 
+#define GL_SPOT_CUTOFF					0x1206 
+#define GL_CONSTANT_ATTENUATION			0x1207 
+#define GL_LINEAR_ATTENUATION			0x1208 
+#define GL_QUADRATIC_ATTENUATION		0x1209 
+#define GL_AMBIENT						0x1200 
+#define GL_DIFFUSE						0x1201 
+#define GL_SPECULAR						0x1202 
+#define GL_SHININESS					0x1601 
+#define GL_EMISSION						0x1600 
+#define GL_POSITION						0x1203 
+#define GL_SPOT_DIRECTION				0x1204 
+#define GL_AMBIENT_AND_DIFFUSE			0x1602 
+#define GL_COLOR_INDEXES				0x1603 
+#define GL_LIGHT_MODEL_TWO_SIDE			0x0B52 
+#define GL_LIGHT_MODEL_LOCAL_VIEWER		0x0B51 
+#define GL_LIGHT_MODEL_AMBIENT			0x0B53 
+#define GL_FRONT_AND_BACK				0x0408 
+#define GL_SHADE_MODEL					0x0B54 
+#define GL_FLAT							0x1D00 
+#define GL_SMOOTH						0x1D01 
+#define GL_COLOR_MATERIAL				0x0B57 
+#define GL_COLOR_MATERIAL_FACE			0x0B55 
+#define GL_COLOR_MATERIAL_PARAMETER		0x0B56 
+#define GL_NORMALIZE					0x0BA1 
+#define GL_CLIP_PLANE0					0x3000 
+#define GL_CLIP_PLANE1					0x3001 
+#define GL_CLIP_PLANE2					0x3002 
+#define GL_CLIP_PLANE3					0x3003 
+#define GL_CLIP_PLANE4					0x3004 
+#define GL_CLIP_PLANE5					0x3005 
+#define GL_ACCUM_RED_BITS				0x0D58 
+#define GL_ACCUM_GREEN_BITS				0x0D59 
+#define GL_ACCUM_BLUE_BITS				0x0D5A 
+#define GL_ACCUM_ALPHA_BITS				0x0D5B 
+#define GL_ACCUM_CLEAR_VALUE			0x0B80 
+#define GL_ACCUM						0x0100 
+#define GL_ADD							0x0104 
+#define GL_LOAD							0x0101 
+#define GL_MULT							0x0103 
+#define GL_RETURN						0x0102 
+#define GL_ALPHA_TEST					0x0BC0 
+#define GL_ALPHA_TEST_REF				0x0BC2 
+#define GL_ALPHA_TEST_FUNC				0x0BC1 
+#define GL_BLEND						0x0BE2 
+#define GL_BLEND_SRC					0x0BE1 
+#define GL_BLEND_DST					0x0BE0 
+#define GL_ZERO							0x0 
+#define GL_ONE							0x1 
+#define GL_SRC_COLOR					0x0300 
+#define GL_ONE_MINUS_SRC_COLOR			0x0301 
+#define GL_SRC_ALPHA					0x0302 
+#define GL_ONE_MINUS_SRC_ALPHA			0x0303 
+#define GL_DST_ALPHA					0x0304 
+#define GL_ONE_MINUS_DST_ALPHA			0x0305 
+#define GL_DST_COLOR					0x0306 
+#define GL_ONE_MINUS_DST_COLOR			0x0307 
+#define GL_SRC_ALPHA_SATURATE			0x0308 
+#define GL_FEEDBACK						0x1C01 
+#define GL_RENDER						0x1C00 
+#define GL_SELECT						0x1C02 
+#define GL_2D							0x0600 
+#define GL_3D							0x0601 
+#define GL_3D_COLOR						0x0602 
+#define GL_3D_COLOR_TEXTURE				0x0603 
+#define GL_4D_COLOR_TEXTURE				0x0604 
+#define GL_POINT_TOKEN					0x0701 
+#define GL_LINE_TOKEN					0x0702 
+#define GL_LINE_RESET_TOKEN				0x0707 
+#define GL_POLYGON_TOKEN				0x0703 
+#define GL_BITMAP_TOKEN					0x0704 
+#define GL_DRAW_PIXEL_TOKEN				0x0705 
+#define GL_COPY_PIXEL_TOKEN				0x0706 
+#define GL_PASS_THROUGH_TOKEN			0x0700 
+#define GL_FEEDBACK_BUFFER_POINTER		0x0DF0 
+#define GL_FEEDBACK_BUFFER_SIZE			0x0DF1 
+#define GL_FEEDBACK_BUFFER_TYPE			0x0DF2 
+#define GL_SELECTION_BUFFER_POINTER		0x0DF3 
+#define GL_SELECTION_BUFFER_SIZE		0x0DF4 
+#define GL_FOG							0x0B60 
+#define GL_FOG_MODE						0x0B65 
+#define GL_FOG_DENSITY					0x0B62 
+#define GL_FOG_COLOR					0x0B66 
+#define GL_FOG_INDEX					0x0B61 
+#define GL_FOG_START					0x0B63 
+#define GL_FOG_END						0x0B64 
+#define GL_LINEAR						0x2601 
+#define GL_EXP							0x0800 
+#define GL_EXP2							0x0801 
+#define GL_LOGIC_OP						0x0BF1 
+#define GL_INDEX_LOGIC_OP				0x0BF1 
+#define GL_COLOR_LOGIC_OP				0x0BF2 
+#define GL_LOGIC_OP_MODE				0x0BF0 
+#define GL_CLEAR						0x1500 
+#define GL_SET							0x150F 
+#define GL_COPY							0x1503 
+#define GL_COPY_INVERTED				0x150C 
+#define GL_NOOP							0x1505 
+#define GL_INVERT						0x150A 
+#define GL_AND							0x1501 
+#define GL_NAND							0x150E 
+#define GL_OR							0x1507 
+#define GL_NOR							0x1508 
+#define GL_XOR							0x1506 
+#define GL_EQUIV						0x1509 
+#define GL_AND_REVERSE					0x1502 
+#define GL_AND_INVERTED					0x1504 
+#define GL_OR_REVERSE					0x150B 
+#define GL_OR_INVERTED					0x150D 
+#define GL_STENCIL_BITS					0x0D57 
+#define GL_STENCIL_TEST					0x0B90 
+#define GL_STENCIL_CLEAR_VALUE			0x0B91 
+#define GL_STENCIL_FUNC					0x0B92 
+#define GL_STENCIL_VALUE_MASK			0x0B93 
+#define GL_STENCIL_FAIL					0x0B94 
+#define GL_STENCIL_PASS_DEPTH_FAIL		0x0B95 
+#define GL_STENCIL_PASS_DEPTH_PASS		0x0B96 
+#define GL_STENCIL_REF					0x0B97 
+#define GL_STENCIL_WRITEMASK			0x0B98 
+#define GL_STENCIL_INDEX				0x1901 
+#define GL_KEEP							0x1E00 
+#define GL_REPLACE						0x1E01 
+#define GL_INCR							0x1E02 
+#define GL_DECR							0x1E03 
+#define GL_NONE					0x0 
+#define GL_LEFT					0x0406 
+#define GL_RIGHT				0x0407 
+#define GL_FRONT_LEFT				0x0400 
+#define GL_FRONT_RIGHT				0x0401 
+#define GL_BACK_LEFT				0x0402 
+#define GL_BACK_RIGHT				0x0403 
+#define GL_AUX0					0x0409 
+#define GL_AUX1					0x040A 
+#define GL_AUX2					0x040B 
+#define GL_AUX3					0x040C 
+#define GL_COLOR_INDEX				0x1900 
+#define GL_RED					0x1903 
+#define GL_GREEN				0x1904 
+#define GL_BLUE					0x1905 
+#define GL_ALPHA				0x1906 
+#define GL_LUMINANCE				0x1909 
+#define GL_LUMINANCE_ALPHA			0x190A 
+#define GL_ALPHA_BITS				0x0D55 
+#define GL_RED_BITS				0x0D52 
+#define GL_GREEN_BITS				0x0D53 
+#define GL_BLUE_BITS				0x0D54 
+#define GL_INDEX_BITS				0x0D51 
+#define GL_SUBPIXEL_BITS			0x0D50 
+#define GL_AUX_BUFFERS				0x0C00 
+#define GL_READ_BUFFER				0x0C02 
+#define GL_DRAW_BUFFER				0x0C01 
+#define GL_DOUBLEBUFFER				0x0C32 
+#define GL_STEREO				0x0C33 
+#define GL_BITMAP				0x1A00 
+#define GL_COLOR				0x1800 
+#define GL_DEPTH				0x1801 
+#define GL_STENCIL				0x1802 
+#define GL_DITHER				0x0BD0 
+#define GL_RGB					0x1907 
+#define GL_RGBA					0x1908 
+#define GL_MAX_LIST_NESTING			0x0B31 
+#define GL_MAX_EVAL_ORDER			0x0D30 
+#define GL_MAX_LIGHTS				0x0D31 
+#define GL_MAX_CLIP_PLANES			0x0D32 
+#define GL_MAX_TEXTURE_SIZE			0x0D33 
+#define GL_MAX_PIXEL_MAP_TABLE			0x0D34 
+#define GL_MAX_ATTRIB_STACK_DEPTH		0x0D35 
+#define GL_MAX_MODELVIEW_STACK_DEPTH		0x0D36 
+#define GL_MAX_NAME_STACK_DEPTH			0x0D37 
+#define GL_MAX_PROJECTION_STACK_DEPTH		0x0D38 
+#define GL_MAX_TEXTURE_STACK_DEPTH		0x0D39 
+#define GL_MAX_VIEWPORT_DIMS			0x0D3A 
+#define GL_MAX_CLIENT_ATTRIB_STACK_DEPTH	0x0D3B 
+#define GL_ATTRIB_STACK_DEPTH			0x0BB0 
+#define GL_CLIENT_ATTRIB_STACK_DEPTH		0x0BB1 
+#define GL_COLOR_CLEAR_VALUE			0x0C22 
+#define GL_COLOR_WRITEMASK			0x0C23 
+#define GL_CURRENT_INDEX			0x0B01 
+#define GL_CURRENT_COLOR			0x0B00 
+#define GL_CURRENT_NORMAL			0x0B02 
+#define GL_CURRENT_RASTER_COLOR			0x0B04 
+#define GL_CURRENT_RASTER_DISTANCE		0x0B09 
+#define GL_CURRENT_RASTER_INDEX			0x0B05 
+#define GL_CURRENT_RASTER_POSITION		0x0B07 
+#define GL_CURRENT_RASTER_TEXTURE_COORDS	0x0B06 
+#define GL_CURRENT_RASTER_POSITION_VALID	0x0B08 
+#define GL_CURRENT_TEXTURE_COORDS		0x0B03 
+#define GL_INDEX_CLEAR_VALUE			0x0C20 
+#define GL_INDEX_MODE				0x0C30 
+#define GL_INDEX_WRITEMASK			0x0C21 
+#define GL_MODELVIEW_MATRIX			0x0BA6 
+#define GL_MODELVIEW_STACK_DEPTH		0x0BA3 
+#define GL_NAME_STACK_DEPTH			0x0D70 
+#define GL_PROJECTION_MATRIX			0x0BA7 
+#define GL_PROJECTION_STACK_DEPTH		0x0BA4 
+#define GL_RENDER_MODE				0x0C40 
+#define GL_RGBA_MODE				0x0C31 
+#define GL_TEXTURE_MATRIX			0x0BA8 
+#define GL_TEXTURE_STACK_DEPTH			0x0BA5 
+#define GL_VIEWPORT				0x0BA2 
+#define GL_AUTO_NORMAL				0x0D80 
+#define GL_MAP1_COLOR_4				0x0D90 
+#define GL_MAP1_INDEX				0x0D91 
+#define GL_MAP1_NORMAL				0x0D92 
+#define GL_MAP1_TEXTURE_COORD_1			0x0D93 
+#define GL_MAP1_TEXTURE_COORD_2			0x0D94 
+#define GL_MAP1_TEXTURE_COORD_3			0x0D95 
+#define GL_MAP1_TEXTURE_COORD_4			0x0D96 
+#define GL_MAP1_VERTEX_3			0x0D97 
+#define GL_MAP1_VERTEX_4			0x0D98 
+#define GL_MAP2_COLOR_4				0x0DB0 
+#define GL_MAP2_INDEX				0x0DB1 
+#define GL_MAP2_NORMAL				0x0DB2 
+#define GL_MAP2_TEXTURE_COORD_1			0x0DB3 
+#define GL_MAP2_TEXTURE_COORD_2			0x0DB4 
+#define GL_MAP2_TEXTURE_COORD_3			0x0DB5 
+#define GL_MAP2_TEXTURE_COORD_4			0x0DB6 
+#define GL_MAP2_VERTEX_3			0x0DB7 
+#define GL_MAP2_VERTEX_4			0x0DB8 
+#define GL_MAP1_GRID_DOMAIN			0x0DD0 
+#define GL_MAP1_GRID_SEGMENTS			0x0DD1 
+#define GL_MAP2_GRID_DOMAIN			0x0DD2 
+#define GL_MAP2_GRID_SEGMENTS			0x0DD3 
+#define GL_COEFF				0x0A00 
+#define GL_ORDER				0x0A01 
+#define GL_DOMAIN				0x0A02 
+#define GL_PERSPECTIVE_CORRECTION_HINT		0x0C50 
+#define GL_POINT_SMOOTH_HINT			0x0C51 
+#define GL_LINE_SMOOTH_HINT			0x0C52 
+#define GL_POLYGON_SMOOTH_HINT			0x0C53 
+#define GL_FOG_HINT				0x0C54 
+#define GL_DONT_CARE				0x1100 
+#define GL_FASTEST				0x1101 
+#define GL_NICEST				0x1102 
+#define GL_SCISSOR_BOX				0x0C10 
+#define GL_SCISSOR_TEST				0x0C11 
+#define GL_MAP_COLOR				0x0D10 
+#define GL_MAP_STENCIL				0x0D11 
+#define GL_INDEX_SHIFT				0x0D12 
+#define GL_INDEX_OFFSET				0x0D13 
+#define GL_RED_SCALE				0x0D14 
+#define GL_RED_BIAS				0x0D15 
+#define GL_GREEN_SCALE				0x0D18 
+#define GL_GREEN_BIAS				0x0D19 
+#define GL_BLUE_SCALE				0x0D1A 
+#define GL_BLUE_BIAS				0x0D1B 
+#define GL_ALPHA_SCALE				0x0D1C 
+#define GL_ALPHA_BIAS				0x0D1D 
+#define GL_DEPTH_SCALE				0x0D1E 
+#define GL_DEPTH_BIAS				0x0D1F 
+#define GL_PIXEL_MAP_S_TO_S_SIZE		0x0CB1 
+#define GL_PIXEL_MAP_I_TO_I_SIZE		0x0CB0 
+#define GL_PIXEL_MAP_I_TO_R_SIZE		0x0CB2 
+#define GL_PIXEL_MAP_I_TO_G_SIZE		0x0CB3 
+#define GL_PIXEL_MAP_I_TO_B_SIZE		0x0CB4 
+#define GL_PIXEL_MAP_I_TO_A_SIZE		0x0CB5 
+#define GL_PIXEL_MAP_R_TO_R_SIZE		0x0CB6 
+#define GL_PIXEL_MAP_G_TO_G_SIZE		0x0CB7 
+#define GL_PIXEL_MAP_B_TO_B_SIZE		0x0CB8 
+#define GL_PIXEL_MAP_A_TO_A_SIZE		0x0CB9 
+#define GL_PIXEL_MAP_S_TO_S			0x0C71 
+#define GL_PIXEL_MAP_I_TO_I			0x0C70 
+#define GL_PIXEL_MAP_I_TO_R			0x0C72 
+#define GL_PIXEL_MAP_I_TO_G			0x0C73 
+#define GL_PIXEL_MAP_I_TO_B			0x0C74 
+#define GL_PIXEL_MAP_I_TO_A			0x0C75 
+#define GL_PIXEL_MAP_R_TO_R			0x0C76 
+#define GL_PIXEL_MAP_G_TO_G			0x0C77 
+#define GL_PIXEL_MAP_B_TO_B			0x0C78 
+#define GL_PIXEL_MAP_A_TO_A			0x0C79 
+#define GL_PACK_ALIGNMENT			0x0D05 
+#define GL_PACK_LSB_FIRST			0x0D01 
+#define GL_PACK_ROW_LENGTH			0x0D02 
+#define GL_PACK_SKIP_PIXELS			0x0D04 
+#define GL_PACK_SKIP_ROWS			0x0D03 
+#define GL_PACK_SWAP_BYTES			0x0D00 
+#define GL_UNPACK_ALIGNMENT			0x0CF5 
+#define GL_UNPACK_LSB_FIRST			0x0CF1 
+#define GL_UNPACK_ROW_LENGTH			0x0CF2 
+#define GL_UNPACK_SKIP_PIXELS			0x0CF4 
+#define GL_UNPACK_SKIP_ROWS			0x0CF3 
+#define GL_UNPACK_SWAP_BYTES			0x0CF0 
+#define GL_ZOOM_X				0x0D16 
+#define GL_ZOOM_Y				0x0D17 
+#define GL_TEXTURE_ENV				0x2300 
+#define GL_TEXTURE_ENV_MODE			0x2200 
+#define GL_TEXTURE_1D				0x0DE0 
+#define GL_TEXTURE_2D				0x0DE1 
+#define GL_TEXTURE_WRAP_S			0x2802 
+#define GL_TEXTURE_WRAP_T			0x2803 
+#define GL_TEXTURE_MAG_FILTER			0x2800 
+#define GL_TEXTURE_MIN_FILTER			0x2801 
+#define GL_TEXTURE_ENV_COLOR			0x2201 
+#define GL_TEXTURE_GEN_S			0x0C60 
+#define GL_TEXTURE_GEN_T			0x0C61 
+#define GL_TEXTURE_GEN_MODE			0x2500 
+#define GL_TEXTURE_BORDER_COLOR			0x1004 
+#define GL_TEXTURE_WIDTH			0x1000 
+#define GL_TEXTURE_HEIGHT			0x1001 
+#define GL_TEXTURE_BORDER			0x1005 
+#define GL_TEXTURE_COMPONENTS			0x1003 
+#define GL_TEXTURE_RED_SIZE			0x805C 
+#define GL_TEXTURE_GREEN_SIZE			0x805D 
+#define GL_TEXTURE_BLUE_SIZE			0x805E 
+#define GL_TEXTURE_ALPHA_SIZE			0x805F 
+#define GL_TEXTURE_LUMINANCE_SIZE		0x8060 
+#define GL_TEXTURE_INTENSITY_SIZE		0x8061 
+#define GL_NEAREST_MIPMAP_NEAREST		0x2700 
+#define GL_NEAREST_MIPMAP_LINEAR		0x2702 
+#define GL_LINEAR_MIPMAP_NEAREST		0x2701 
+#define GL_LINEAR_MIPMAP_LINEAR			0x2703 
+#define GL_OBJECT_LINEAR			0x2401 
+#define GL_OBJECT_PLANE				0x2501 
+#define GL_EYE_LINEAR				0x2400 
+#define GL_EYE_PLANE				0x2502 
+#define GL_SPHERE_MAP				0x2402 
+#define GL_DECAL				0x2101 
+#define GL_MODULATE				0x2100 
+#define GL_NEAREST				0x2600 
+#define GL_REPEAT				0x2901 
+#define GL_CLAMP				0x2900 
+#define GL_S					0x2000 
+#define GL_T					0x2001 
+#define GL_R					0x2002 
+#define GL_Q					0x2003 
+#define GL_TEXTURE_GEN_R			0x0C62 
+#define GL_TEXTURE_GEN_Q			0x0C63 
+#define GL_VENDOR				0x1F00 
+#define GL_RENDERER				0x1F01 
+#define GL_VERSION				0x1F02 
+#define GL_EXTENSIONS				0x1F03 
+#define GL_NO_ERROR 				0x0 
+#define GL_INVALID_ENUM				0x0500 
+#define GL_INVALID_VALUE			0x0501 
+#define GL_INVALID_OPERATION			0x0502 
+#define GL_STACK_OVERFLOW			0x0503 
+#define GL_STACK_UNDERFLOW			0x0504 
+#define GL_OUT_OF_MEMORY			0x0505 
+#define GL_CURRENT_BIT				0x00000001 
+#define GL_POINT_BIT				0x00000002 
+#define GL_LINE_BIT				0x00000004 
+#define GL_POLYGON_BIT				0x00000008 
+#define GL_POLYGON_STIPPLE_BIT			0x00000010 
+#define GL_PIXEL_MODE_BIT			0x00000020 
+#define GL_LIGHTING_BIT				0x00000040 
+#define GL_FOG_BIT				0x00000080 
+#define GL_DEPTH_BUFFER_BIT			0x00000100 
+#define GL_ACCUM_BUFFER_BIT			0x00000200 
+#define GL_STENCIL_BUFFER_BIT			0x00000400 
+#define GL_VIEWPORT_BIT				0x00000800 
+#define GL_TRANSFORM_BIT			0x00001000 
+#define GL_ENABLE_BIT				0x00002000 
+#define GL_COLOR_BUFFER_BIT			0x00004000 
+#define GL_HINT_BIT				0x00008000 
+#define GL_EVAL_BIT				0x00010000 
+#define GL_LIST_BIT				0x00020000 
+#define GL_TEXTURE_BIT				0x00040000 
+#define GL_SCISSOR_BIT				0x00080000 
+#define GL_ALL_ATTRIB_BITS			0x000FFFFF 
+#define GL_PROXY_TEXTURE_1D			0x8063 
+#define GL_PROXY_TEXTURE_2D			0x8064 
+#define GL_TEXTURE_PRIORITY			0x8066 
+#define GL_TEXTURE_RESIDENT			0x8067 
+#define GL_TEXTURE_BINDING_1D			0x8068 
+#define GL_TEXTURE_BINDING_2D			0x8069 
+#define GL_TEXTURE_INTERNAL_FORMAT		0x1003 
+#define GL_ALPHA4				0x803B 
+#define GL_ALPHA8				0x803C 
+#define GL_ALPHA12				0x803D 
+#define GL_ALPHA16				0x803E 
+#define GL_LUMINANCE4				0x803F 
+#define GL_LUMINANCE8				0x8040 
+#define GL_LUMINANCE12				0x8041 
+#define GL_LUMINANCE16				0x8042 
+#define GL_LUMINANCE4_ALPHA4			0x8043 
+#define GL_LUMINANCE6_ALPHA2			0x8044 
+#define GL_LUMINANCE8_ALPHA8			0x8045 
+#define GL_LUMINANCE12_ALPHA4			0x8046 
+#define GL_LUMINANCE12_ALPHA12			0x8047 
+#define GL_LUMINANCE16_ALPHA16			0x8048 
+#define GL_INTENSITY				0x8049 
+#define GL_INTENSITY4				0x804A 
+#define GL_INTENSITY8				0x804B 
+#define GL_INTENSITY12				0x804C 
+#define GL_INTENSITY16				0x804D 
+#define GL_R3_G3_B2				0x2A10 
+#define GL_RGB4					0x804F 
+#define GL_RGB5					0x8050 
+#define GL_RGB8					0x8051 
+#define GL_RGB10				0x8052 
+#define GL_RGB12				0x8053 
+#define GL_RGB16				0x8054 
+#define GL_RGBA2				0x8055 
+#define GL_RGBA4				0x8056 
+#define GL_RGB5_A1				0x8057 
+#define GL_RGBA8				0x8058 
+#define GL_RGB10_A2				0x8059 
+#define GL_RGBA12				0x805A 
+#define GL_RGBA16				0x805B 
+#define GL_CLIENT_PIXEL_STORE_BIT		0x00000001 
+#define GL_CLIENT_VERTEX_ARRAY_BIT		0x00000002 
+#define GL_ALL_CLIENT_ATTRIB_BITS 		0xFFFFFFFF 
+#define GL_CLIENT_ALL_ATTRIB_BITS 		0xFFFFFFFF 
+#define GL_RESCALE_NORMAL			0x803A 
+#define GL_CLAMP_TO_EDGE			0x812F 
+#define GL_MAX_ELEMENTS_VERTICES		0x80E8 
+#define GL_MAX_ELEMENTS_INDICES			0x80E9 
+#define GL_BGR					0x80E0 
+#define GL_BGRA					0x80E1 
+#define GL_UNSIGNED_BYTE_3_3_2			0x8032 
+#define GL_UNSIGNED_BYTE_2_3_3_REV		0x8362 
+#define GL_UNSIGNED_SHORT_5_6_5			0x8363 
+#define GL_UNSIGNED_SHORT_5_6_5_REV		0x8364 
+#define GL_UNSIGNED_SHORT_4_4_4_4		0x8033 
+#define GL_UNSIGNED_SHORT_4_4_4_4_REV		0x8365 
+#define GL_UNSIGNED_SHORT_5_5_5_1		0x8034 
+#define GL_UNSIGNED_SHORT_1_5_5_5_REV		0x8366 
+#define GL_UNSIGNED_INT_8_8_8_8			0x8035 
+#define GL_UNSIGNED_INT_8_8_8_8_REV		0x8367 
+#define GL_UNSIGNED_INT_10_10_10_2		0x8036 
+#define GL_UNSIGNED_INT_2_10_10_10_REV		0x8368 
+#define GL_LIGHT_MODEL_COLOR_CONTROL		0x81F8 
+#define GL_SINGLE_COLOR				0x81F9 
+#define GL_SEPARATE_SPECULAR_COLOR		0x81FA 
+#define GL_TEXTURE_MIN_LOD			0x813A 
+#define GL_TEXTURE_MAX_LOD			0x813B 
+#define GL_TEXTURE_BASE_LEVEL			0x813C 
+#define GL_TEXTURE_MAX_LEVEL			0x813D 
+#define GL_SMOOTH_POINT_SIZE_RANGE		0x0B12 
+#define GL_SMOOTH_POINT_SIZE_GRANULARITY	0x0B13 
+#define GL_SMOOTH_LINE_WIDTH_RANGE		0x0B22 
+#define GL_SMOOTH_LINE_WIDTH_GRANULARITY	0x0B23 
+#define GL_ALIASED_POINT_SIZE_RANGE		0x846D 
+#define GL_ALIASED_LINE_WIDTH_RANGE		0x846E 
+#define GL_PACK_SKIP_IMAGES			0x806B 
+#define GL_PACK_IMAGE_HEIGHT			0x806C 
+#define GL_UNPACK_SKIP_IMAGES			0x806D 
+#define GL_UNPACK_IMAGE_HEIGHT			0x806E 
+#define GL_TEXTURE_3D				0x806F 
+#define GL_PROXY_TEXTURE_3D			0x8070 
+#define GL_TEXTURE_DEPTH			0x8071 
+#define GL_TEXTURE_WRAP_R			0x8072 
+#define GL_MAX_3D_TEXTURE_SIZE			0x8073 
+#define GL_TEXTURE_BINDING_3D			0x806A 
+#define GL_CONSTANT_COLOR			0x8001 
+#define GL_ONE_MINUS_CONSTANT_COLOR		0x8002 
+#define GL_CONSTANT_ALPHA			0x8003 
+#define GL_ONE_MINUS_CONSTANT_ALPHA		0x8004 
+#define GL_COLOR_TABLE				0x80D0 
+#define GL_POST_CONVOLUTION_COLOR_TABLE		0x80D1 
+#define GL_POST_COLOR_MATRIX_COLOR_TABLE	0x80D2 
+#define GL_PROXY_COLOR_TABLE			0x80D3 
+#define GL_PROXY_POST_CONVOLUTION_COLOR_TABLE	0x80D4 
+#define GL_PROXY_POST_COLOR_MATRIX_COLOR_TABLE	0x80D5 
+#define GL_COLOR_TABLE_SCALE			0x80D6 
+#define GL_COLOR_TABLE_BIAS			0x80D7 
+#define GL_COLOR_TABLE_FORMAT			0x80D8 
+#define GL_COLOR_TABLE_WIDTH			0x80D9 
+#define GL_COLOR_TABLE_RED_SIZE			0x80DA 
+#define GL_COLOR_TABLE_GREEN_SIZE		0x80DB 
+#define GL_COLOR_TABLE_BLUE_SIZE		0x80DC 
+#define GL_COLOR_TABLE_ALPHA_SIZE		0x80DD 
+#define GL_COLOR_TABLE_LUMINANCE_SIZE		0x80DE 
+#define GL_COLOR_TABLE_INTENSITY_SIZE		0x80DF 
+#define GL_CONVOLUTION_1D			0x8010 
+#define GL_CONVOLUTION_2D			0x8011 
+#define GL_SEPARABLE_2D				0x8012 
+#define GL_CONVOLUTION_BORDER_MODE		0x8013 
+#define GL_CONVOLUTION_FILTER_SCALE		0x8014 
+#define GL_CONVOLUTION_FILTER_BIAS		0x8015 
+#define GL_REDUCE				0x8016 
+#define GL_CONVOLUTION_FORMAT			0x8017 
+#define GL_CONVOLUTION_WIDTH			0x8018 
+#define GL_CONVOLUTION_HEIGHT			0x8019 
+#define GL_MAX_CONVOLUTION_WIDTH		0x801A 
+#define GL_MAX_CONVOLUTION_HEIGHT		0x801B 
+#define GL_POST_CONVOLUTION_RED_SCALE		0x801C 
+#define GL_POST_CONVOLUTION_GREEN_SCALE		0x801D 
+#define GL_POST_CONVOLUTION_BLUE_SCALE		0x801E 
+#define GL_POST_CONVOLUTION_ALPHA_SCALE		0x801F 
+#define GL_POST_CONVOLUTION_RED_BIAS		0x8020 
+#define GL_POST_CONVOLUTION_GREEN_BIAS		0x8021 
+#define GL_POST_CONVOLUTION_BLUE_BIAS		0x8022 
+#define GL_POST_CONVOLUTION_ALPHA_BIAS		0x8023 
+#define GL_CONSTANT_BORDER			0x8151 
+#define GL_REPLICATE_BORDER			0x8153 
+#define GL_CONVOLUTION_BORDER_COLOR		0x8154 
+#define GL_COLOR_MATRIX				0x80B1 
+#define GL_COLOR_MATRIX_STACK_DEPTH		0x80B2 
+#define GL_MAX_COLOR_MATRIX_STACK_DEPTH		0x80B3 
+#define GL_POST_COLOR_MATRIX_RED_SCALE		0x80B4 
+#define GL_POST_COLOR_MATRIX_GREEN_SCALE	0x80B5 
+#define GL_POST_COLOR_MATRIX_BLUE_SCALE		0x80B6 
+#define GL_POST_COLOR_MATRIX_ALPHA_SCALE	0x80B7 
+#define GL_POST_COLOR_MATRIX_RED_BIAS		0x80B8 
+#define GL_POST_COLOR_MATRIX_GREEN_BIAS		0x80B9 
+#define GL_POST_COLOR_MATRIX_BLUE_BIAS		0x80BA 
+#define GL_POST_COLOR_MATRIX_ALPHA_BIAS		0x80BB 
+#define GL_HISTOGRAM				0x8024 
+#define GL_PROXY_HISTOGRAM			0x8025 
+#define GL_HISTOGRAM_WIDTH			0x8026 
+#define GL_HISTOGRAM_FORMAT			0x8027 
+#define GL_HISTOGRAM_RED_SIZE			0x8028 
+#define GL_HISTOGRAM_GREEN_SIZE			0x8029 
+#define GL_HISTOGRAM_BLUE_SIZE			0x802A 
+#define GL_HISTOGRAM_ALPHA_SIZE			0x802B 
+#define GL_HISTOGRAM_LUMINANCE_SIZE		0x802C 
+#define GL_HISTOGRAM_SINK			0x802D 
+#define GL_MINMAX				0x802E 
+#define GL_MINMAX_FORMAT			0x802F 
+#define GL_MINMAX_SINK				0x8030 
+#define GL_TABLE_TOO_LARGE			0x8031 
+#define GL_BLEND_EQUATION			0x8009 
+#define GL_MIN					0x8007 
+#define GL_MAX					0x8008 
+#define GL_FUNC_ADD				0x8006 
+#define GL_FUNC_SUBTRACT			0x800A 
+#define GL_FUNC_REVERSE_SUBTRACT		0x800B 
+#define GL_BLEND_COLOR				0x8005 
+#define GL_TEXTURE0_ARB				0x84C0 
+#define GL_TEXTURE1_ARB				0x84C1 
+#define GL_TEXTURE2_ARB				0x84C2 
+#define GL_TEXTURE3_ARB				0x84C3 
+#define GL_TEXTURE4_ARB				0x84C4 
+#define GL_TEXTURE5_ARB				0x84C5 
+#define GL_TEXTURE6_ARB				0x84C6 
+#define GL_TEXTURE7_ARB				0x84C7 
+#define GL_TEXTURE8_ARB				0x84C8 
+#define GL_TEXTURE9_ARB				0x84C9 
+#define GL_TEXTURE10_ARB			0x84CA 
+#define GL_TEXTURE11_ARB			0x84CB 
+#define GL_TEXTURE12_ARB			0x84CC 
+#define GL_TEXTURE13_ARB			0x84CD 
+#define GL_TEXTURE14_ARB			0x84CE 
+#define GL_TEXTURE15_ARB			0x84CF 
+#define GL_TEXTURE16_ARB			0x84D0 
+#define GL_TEXTURE17_ARB			0x84D1 
+#define GL_TEXTURE18_ARB			0x84D2 
+#define GL_TEXTURE19_ARB			0x84D3 
+#define GL_TEXTURE20_ARB			0x84D4 
+#define GL_TEXTURE21_ARB			0x84D5 
+#define GL_TEXTURE22_ARB			0x84D6 
+#define GL_TEXTURE23_ARB			0x84D7 
+#define GL_TEXTURE24_ARB			0x84D8 
+#define GL_TEXTURE25_ARB			0x84D9 
+#define GL_TEXTURE26_ARB			0x84DA 
+#define GL_TEXTURE27_ARB			0x84DB 
+#define GL_TEXTURE28_ARB			0x84DC 
+#define GL_TEXTURE29_ARB			0x84DD 
+#define GL_TEXTURE30_ARB			0x84DE 
+#define GL_TEXTURE31_ARB			0x84DF 
+#define GL_ACTIVE_TEXTURE_ARB			0x84E0 
+#define GL_CLIENT_ACTIVE_TEXTURE_ARB		0x84E1 
+#define GL_MAX_TEXTURE_UNITS_ARB		0x84E2 
+
+#endif

Code/Physics/Glut/EmptyGL/GL/egl_logged.h

@@ -0,0 +1,20 @@
+inline void glFinish() {xGLL(EGL_TOKEN_glFinish);};
+inline void glClear(GLbitfield  a0) {xGLL(EGL_TOKEN_glClear);xGLL(a0);};
+inline void glFlush() {xGLL(EGL_TOKEN_glFlush);};
+inline void glMatrixMode(GLenum  a0) {xGLL(EGL_TOKEN_glMatrixMode);xGLL(a0);};
+inline void glOrtho(GLdouble  a0,GLdouble  a1,GLdouble  a2,GLdouble  a3,GLdouble  a4,GLdouble  a5) {xGLL(EGL_TOKEN_glOrtho);xGLL(a0);xGLL(a1);xGLL(a2);xGLL(a3);xGLL(a4);xGLL(a5);};
+inline void glFrustum(GLdouble  a0,GLdouble  a1,GLdouble  a2,GLdouble  a3,GLdouble  a4,GLdouble  a5) {xGLL(EGL_TOKEN_glFrustum);xGLL(a0);xGLL(a1);xGLL(a2);xGLL(a3);xGLL(a4);xGLL(a5);};
+inline void glViewport(GLint  a0,GLint  a1,GLsizei  a2,GLsizei  a3) {xGLL(EGL_TOKEN_glViewport);xGLL(a0);xGLL(a1);xGLL(a2);xGLL(a3);};
+inline void glPushMatrix() {xGLL(EGL_TOKEN_glPushMatrix);};
+inline void glPopMatrix() {xGLL(EGL_TOKEN_glPopMatrix);};
+inline void glLoadIdentity() {xGLL(EGL_TOKEN_glLoadIdentity);};
+inline void glLoadMatrixd(const GLdouble *  a0) {xGLL(EGL_TOKEN_glLoadMatrixd);xGLL(a0);};
+inline void glLoadMatrixf(const GLfloat *  a0) {xGLL(EGL_TOKEN_glLoadMatrixf);xGLL(a0);};
+inline void glMultMatrixd(const GLdouble *  a0) {xGLL(EGL_TOKEN_glMultMatrixd);xGLL(a0);};
+inline void glMultMatrixf(const GLfloat *  a0) {xGLL(EGL_TOKEN_glMultMatrixf);xGLL(a0);};
+inline void glRotated(GLdouble  a0,GLdouble  a1,GLdouble  a2,GLdouble  a3) {xGLL(EGL_TOKEN_glRotated);xGLL(a0);xGLL(a1);xGLL(a2);xGLL(a3);};
+inline void glRotatef(GLfloat  a0,GLfloat  a1,GLfloat  a2,GLfloat  a3) {xGLL(EGL_TOKEN_glRotatef);xGLL(a0);xGLL(a1);xGLL(a2);xGLL(a3);};
+inline void glScaled(GLdouble  a0,GLdouble  a1,GLdouble  a2) {xGLL(EGL_TOKEN_glScaled);xGLL(a0);xGLL(a1);xGLL(a2);};
+inline void glScalef(GLfloat  a0,GLfloat  a1,GLfloat  a2) {xGLL(EGL_TOKEN_glScalef);xGLL(a0);xGLL(a1);xGLL(a2);};
+inline void glTranslated(GLdouble  a0,GLdouble  a1,GLdouble  a2) {xGLL(EGL_TOKEN_glTranslated);xGLL(a0);xGLL(a1);xGLL(a2);};
+inline void glTranslatef(GLfloat  a0,GLfloat  a1,GLfloat  a2) {xGLL(EGL_TOKEN_glTranslatef);xGLL(a0);xGLL(a1);xGLL(a2);};

Code/Physics/Glut/EmptyGL/GL/egl_tokens.h

@@ -0,0 +1,459 @@
+#ifndef	EGL_TOKENS_H
+#define	EGL_TOKENS_H
+
+#define	EGL_TOKEN_glClearIndex            	0x0
+#define	EGL_TOKEN_glClearColor            	0x1
+#define	EGL_TOKEN_glClear                 	0x2
+#define	EGL_TOKEN_glIndexMask             	0x3
+#define	EGL_TOKEN_glColorMask             	0x4
+#define	EGL_TOKEN_glAlphaFunc             	0x5
+#define	EGL_TOKEN_glBlendFunc             	0x6
+#define	EGL_TOKEN_glLogicOp               	0x7
+#define	EGL_TOKEN_glCullFace              	0x8
+#define	EGL_TOKEN_glFrontFace             	0x9
+#define	EGL_TOKEN_glPointSize             	0xa
+#define	EGL_TOKEN_glLineWidth             	0xb
+#define	EGL_TOKEN_glLineStipple           	0xc
+#define	EGL_TOKEN_glPolygonMode           	0xd
+#define	EGL_TOKEN_glPolygonOffset         	0xe
+#define	EGL_TOKEN_glPolygonStipple        	0xf
+#define	EGL_TOKEN_glGetPolygonStipple     	0x10
+#define	EGL_TOKEN_glEdgeFlag              	0x11
+#define	EGL_TOKEN_glEdgeFlagv             	0x12
+#define	EGL_TOKEN_glScissor               	0x13
+#define	EGL_TOKEN_glClipPlane             	0x14
+#define	EGL_TOKEN_glGetClipPlane          	0x15
+#define	EGL_TOKEN_glDrawBuffer            	0x16
+#define	EGL_TOKEN_glReadBuffer            	0x17
+#define	EGL_TOKEN_glEnable                	0x18
+#define	EGL_TOKEN_glDisable               	0x19
+#define	EGL_TOKEN_glIsEnabled             	0x1a
+#define	EGL_TOKEN_glEnableClientState     	0x1b
+#define	EGL_TOKEN_glDisableClientState    	0x1c
+#define	EGL_TOKEN_glGetBooleanv           	0x1d
+#define	EGL_TOKEN_glGetDoublev            	0x1e
+#define	EGL_TOKEN_glGetFloatv             	0x1f
+#define	EGL_TOKEN_glGetIntegerv           	0x20
+#define	EGL_TOKEN_glPushAttrib            	0x21
+#define	EGL_TOKEN_glPopAttrib             	0x22
+#define	EGL_TOKEN_glPushClientAttrib      	0x23
+#define	EGL_TOKEN_glPopClientAttrib       	0x24
+#define	EGL_TOKEN_glRenderMode            	0x25
+#define	EGL_TOKEN_glGetError              	0x26
+#define	EGL_TOKEN_glGetString             	0x27
+#define	EGL_TOKEN_glFinish                	0x28
+#define	EGL_TOKEN_glFlush                 	0x29
+#define	EGL_TOKEN_glHint                  	0x2a
+#define	EGL_TOKEN_glClearDepth            	0x2b
+#define	EGL_TOKEN_glDepthFunc             	0x2c
+#define	EGL_TOKEN_glDepthMask             	0x2d
+#define	EGL_TOKEN_glDepthRange            	0x2e
+#define	EGL_TOKEN_glClearAccum            	0x2f
+#define	EGL_TOKEN_glAccum                 	0x30
+#define	EGL_TOKEN_glMatrixMode            	0x31
+#define	EGL_TOKEN_glOrtho                 	0x32
+#define	EGL_TOKEN_glFrustum               	0x33
+#define	EGL_TOKEN_glViewport              	0x34
+#define	EGL_TOKEN_glPushMatrix            	0x35
+#define	EGL_TOKEN_glPopMatrix             	0x36
+#define	EGL_TOKEN_glLoadIdentity          	0x37
+#define	EGL_TOKEN_glLoadMatrixd           	0x38
+#define	EGL_TOKEN_glLoadMatrixf           	0x39
+#define	EGL_TOKEN_glMultMatrixd           	0x3a
+#define	EGL_TOKEN_glMultMatrixf           	0x3b
+#define	EGL_TOKEN_glRotated               	0x3c
+#define	EGL_TOKEN_glRotatef               	0x3d
+#define	EGL_TOKEN_glScaled                	0x3e
+#define	EGL_TOKEN_glScalef                	0x3f
+#define	EGL_TOKEN_glTranslated            	0x40
+#define	EGL_TOKEN_glTranslatef            	0x41
+#define	EGL_TOKEN_glIsList                	0x42
+#define	EGL_TOKEN_glDeleteLists           	0x43
+#define	EGL_TOKEN_glGenLists              	0x44
+#define	EGL_TOKEN_glNewList               	0x45
+#define	EGL_TOKEN_glEndList               	0x46
+#define	EGL_TOKEN_glCallList              	0x47
+#define	EGL_TOKEN_glCallLists             	0x48
+#define	EGL_TOKEN_glListBase              	0x49
+#define	EGL_TOKEN_glBegin                 	0x4a
+#define	EGL_TOKEN_glEnd                   	0x4b
+#define	EGL_TOKEN_glVertex2d              	0x4c
+#define	EGL_TOKEN_glVertex2f              	0x4d
+#define	EGL_TOKEN_glVertex2i              	0x4e
+#define	EGL_TOKEN_glVertex2s              	0x4f
+#define	EGL_TOKEN_glVertex3d              	0x50
+#define	EGL_TOKEN_glVertex3f              	0x51
+#define	EGL_TOKEN_glVertex3i              	0x52
+#define	EGL_TOKEN_glVertex3s              	0x53
+#define	EGL_TOKEN_glVertex4d              	0x54
+#define	EGL_TOKEN_glVertex4f              	0x55
+#define	EGL_TOKEN_glVertex4i              	0x56
+#define	EGL_TOKEN_glVertex4s              	0x57
+#define	EGL_TOKEN_glVertex2dv             	0x58
+#define	EGL_TOKEN_glVertex2fv             	0x59
+#define	EGL_TOKEN_glVertex2iv             	0x5a
+#define	EGL_TOKEN_glVertex2sv             	0x5b
+#define	EGL_TOKEN_glVertex3dv             	0x5c
+#define	EGL_TOKEN_glVertex3fv             	0x5d
+#define	EGL_TOKEN_glVertex3iv             	0x5e
+#define	EGL_TOKEN_glVertex3sv             	0x5f
+#define	EGL_TOKEN_glVertex4dv             	0x60
+#define	EGL_TOKEN_glVertex4fv             	0x61
+#define	EGL_TOKEN_glVertex4iv             	0x62
+#define	EGL_TOKEN_glVertex4sv             	0x63
+#define	EGL_TOKEN_glNormal3b              	0x64
+#define	EGL_TOKEN_glNormal3d              	0x65
+#define	EGL_TOKEN_glNormal3f              	0x66
+#define	EGL_TOKEN_glNormal3i              	0x67
+#define	EGL_TOKEN_glNormal3s              	0x68
+#define	EGL_TOKEN_glNormal3bv             	0x69
+#define	EGL_TOKEN_glNormal3dv             	0x6a
+#define	EGL_TOKEN_glNormal3fv             	0x6b
+#define	EGL_TOKEN_glNormal3iv             	0x6c
+#define	EGL_TOKEN_glNormal3sv             	0x6d
+#define	EGL_TOKEN_glIndexd                	0x6e
+#define	EGL_TOKEN_glIndexf                	0x6f
+#define	EGL_TOKEN_glIndexi                	0x70
+#define	EGL_TOKEN_glIndexs                	0x71
+#define	EGL_TOKEN_glIndexub               	0x72
+#define	EGL_TOKEN_glIndexdv               	0x73
+#define	EGL_TOKEN_glIndexfv               	0x74
+#define	EGL_TOKEN_glIndexiv               	0x75
+#define	EGL_TOKEN_glIndexsv               	0x76
+#define	EGL_TOKEN_glIndexubv              	0x77
+#define	EGL_TOKEN_glColor3b               	0x78
+#define	EGL_TOKEN_glColor3d               	0x79
+#define	EGL_TOKEN_glColor3f               	0x7a
+#define	EGL_TOKEN_glColor3i               	0x7b
+#define	EGL_TOKEN_glColor3s               	0x7c
+#define	EGL_TOKEN_glColor3ub              	0x7d
+#define	EGL_TOKEN_glColor3ui              	0x7e
+#define	EGL_TOKEN_glColor3us              	0x7f
+#define	EGL_TOKEN_glColor4b               	0x80
+#define	EGL_TOKEN_glColor4d               	0x81
+#define	EGL_TOKEN_glColor4f               	0x82
+#define	EGL_TOKEN_glColor4i               	0x83
+#define	EGL_TOKEN_glColor4s               	0x84
+#define	EGL_TOKEN_glColor4ub              	0x85
+#define	EGL_TOKEN_glColor4ui              	0x86
+#define	EGL_TOKEN_glColor4us              	0x87
+#define	EGL_TOKEN_glColor3bv              	0x88
+#define	EGL_TOKEN_glColor3dv              	0x89
+#define	EGL_TOKEN_glColor3fv              	0x8a
+#define	EGL_TOKEN_glColor3iv              	0x8b
+#define	EGL_TOKEN_glColor3sv              	0x8c
+#define	EGL_TOKEN_glColor3ubv             	0x8d
+#define	EGL_TOKEN_glColor3uiv             	0x8e
+#define	EGL_TOKEN_glColor3usv             	0x8f
+#define	EGL_TOKEN_glColor4bv              	0x90
+#define	EGL_TOKEN_glColor4dv              	0x91
+#define	EGL_TOKEN_glColor4fv              	0x92
+#define	EGL_TOKEN_glColor4iv              	0x93
+#define	EGL_TOKEN_glColor4sv              	0x94
+#define	EGL_TOKEN_glColor4ubv             	0x95
+#define	EGL_TOKEN_glColor4uiv             	0x96
+#define	EGL_TOKEN_glColor4usv             	0x97
+#define	EGL_TOKEN_glTexCoord1d            	0x98
+#define	EGL_TOKEN_glTexCoord1f            	0x99
+#define	EGL_TOKEN_glTexCoord1i            	0x9a
+#define	EGL_TOKEN_glTexCoord1s            	0x9b
+#define	EGL_TOKEN_glTexCoord2d            	0x9c
+#define	EGL_TOKEN_glTexCoord2f            	0x9d
+#define	EGL_TOKEN_glTexCoord2i            	0x9e
+#define	EGL_TOKEN_glTexCoord2s            	0x9f
+#define	EGL_TOKEN_glTexCoord3d            	0xa0
+#define	EGL_TOKEN_glTexCoord3f            	0xa1
+#define	EGL_TOKEN_glTexCoord3i            	0xa2
+#define	EGL_TOKEN_glTexCoord3s            	0xa3
+#define	EGL_TOKEN_glTexCoord4d            	0xa4
+#define	EGL_TOKEN_glTexCoord4f            	0xa5
+#define	EGL_TOKEN_glTexCoord4i            	0xa6
+#define	EGL_TOKEN_glTexCoord4s            	0xa7
+#define	EGL_TOKEN_glTexCoord1dv           	0xa8
+#define	EGL_TOKEN_glTexCoord1fv           	0xa9
+#define	EGL_TOKEN_glTexCoord1iv           	0xaa
+#define	EGL_TOKEN_glTexCoord1sv           	0xab
+#define	EGL_TOKEN_glTexCoord2dv           	0xac
+#define	EGL_TOKEN_glTexCoord2fv           	0xad
+#define	EGL_TOKEN_glTexCoord2iv           	0xae
+#define	EGL_TOKEN_glTexCoord2sv           	0xaf
+#define	EGL_TOKEN_glTexCoord3dv           	0xb0
+#define	EGL_TOKEN_glTexCoord3fv           	0xb1
+#define	EGL_TOKEN_glTexCoord3iv           	0xb2
+#define	EGL_TOKEN_glTexCoord3sv           	0xb3
+#define	EGL_TOKEN_glTexCoord4dv           	0xb4
+#define	EGL_TOKEN_glTexCoord4fv           	0xb5
+#define	EGL_TOKEN_glTexCoord4iv           	0xb6
+#define	EGL_TOKEN_glTexCoord4sv           	0xb7
+#define	EGL_TOKEN_glRasterPos2d           	0xb8
+#define	EGL_TOKEN_glRasterPos2f           	0xb9
+#define	EGL_TOKEN_glRasterPos2i           	0xba
+#define	EGL_TOKEN_glRasterPos2s           	0xbb
+#define	EGL_TOKEN_glRasterPos3d           	0xbc
+#define	EGL_TOKEN_glRasterPos3f           	0xbd
+#define	EGL_TOKEN_glRasterPos3i           	0xbe
+#define	EGL_TOKEN_glRasterPos3s           	0xbf
+#define	EGL_TOKEN_glRasterPos4d           	0xc0
+#define	EGL_TOKEN_glRasterPos4f           	0xc1
+#define	EGL_TOKEN_glRasterPos4i           	0xc2
+#define	EGL_TOKEN_glRasterPos4s           	0xc3
+#define	EGL_TOKEN_glRasterPos2dv          	0xc4
+#define	EGL_TOKEN_glRasterPos2fv          	0xc5
+#define	EGL_TOKEN_glRasterPos2iv          	0xc6
+#define	EGL_TOKEN_glRasterPos2sv          	0xc7
+#define	EGL_TOKEN_glRasterPos3dv          	0xc8
+#define	EGL_TOKEN_glRasterPos3fv          	0xc9
+#define	EGL_TOKEN_glRasterPos3iv          	0xca
+#define	EGL_TOKEN_glRasterPos3sv          	0xcb
+#define	EGL_TOKEN_glRasterPos4dv          	0xcc
+#define	EGL_TOKEN_glRasterPos4fv          	0xcd
+#define	EGL_TOKEN_glRasterPos4iv          	0xce
+#define	EGL_TOKEN_glRasterPos4sv          	0xcf
+#define	EGL_TOKEN_glRectd                 	0xd0
+#define	EGL_TOKEN_glRectf                 	0xd1
+#define	EGL_TOKEN_glRecti                 	0xd2
+#define	EGL_TOKEN_glRects                 	0xd3
+#define	EGL_TOKEN_glRectdv                	0xd4
+#define	EGL_TOKEN_glRectfv                	0xd5
+#define	EGL_TOKEN_glRectiv                	0xd6
+#define	EGL_TOKEN_glRectsv                	0xd7
+#define	EGL_TOKEN_glVertexPointer         	0xd8
+#define	EGL_TOKEN_glNormalPointer         	0xd9
+#define	EGL_TOKEN_glColorPointer          	0xda
+#define	EGL_TOKEN_glIndexPointer          	0xdb
+#define	EGL_TOKEN_glTexCoordPointer       	0xdc
+#define	EGL_TOKEN_glEdgeFlagPointer       	0xdd
+#define	EGL_TOKEN_glGetPointerv           	0xde
+#define	EGL_TOKEN_glArrayElement          	0xdf
+#define	EGL_TOKEN_glDrawArrays            	0xe0
+#define	EGL_TOKEN_glDrawElements          	0xe1
+#define	EGL_TOKEN_glInterleavedArrays     	0xe2
+#define	EGL_TOKEN_glShadeModel            	0xe3
+#define	EGL_TOKEN_glLightf                	0xe4
+#define	EGL_TOKEN_glLighti                	0xe5
+#define	EGL_TOKEN_glLightfv               	0xe6
+#define	EGL_TOKEN_glLightiv               	0xe7
+#define	EGL_TOKEN_glGetLightfv            	0xe8
+#define	EGL_TOKEN_glGetLightiv            	0xe9
+#define	EGL_TOKEN_glLightModelf           	0xea
+#define	EGL_TOKEN_glLightModeli           	0xeb
+#define	EGL_TOKEN_glLightModelfv          	0xec
+#define	EGL_TOKEN_glLightModeliv          	0xed
+#define	EGL_TOKEN_glMaterialf             	0xee
+#define	EGL_TOKEN_glMateriali             	0xef
+#define	EGL_TOKEN_glMaterialfv            	0xf0
+#define	EGL_TOKEN_glMaterialiv            	0xf1
+#define	EGL_TOKEN_glGetMaterialfv         	0xf2
+#define	EGL_TOKEN_glGetMaterialiv         	0xf3
+#define	EGL_TOKEN_glColorMaterial         	0xf4
+#define	EGL_TOKEN_glPixelZoom             	0xf5
+#define	EGL_TOKEN_glPixelStoref           	0xf6
+#define	EGL_TOKEN_glPixelStorei           	0xf7
+#define	EGL_TOKEN_glPixelTransferf        	0xf8
+#define	EGL_TOKEN_glPixelTransferi        	0xf9
+#define	EGL_TOKEN_glPixelMapfv            	0xfa
+#define	EGL_TOKEN_glPixelMapuiv           	0xfb
+#define	EGL_TOKEN_glPixelMapusv           	0xfc
+#define	EGL_TOKEN_glGetPixelMapfv         	0xfd
+#define	EGL_TOKEN_glGetPixelMapuiv        	0xfe
+#define	EGL_TOKEN_glGetPixelMapusv        	0xff
+#define	EGL_TOKEN_glBitmap                	0x100
+#define	EGL_TOKEN_glReadPixels            	0x101
+#define	EGL_TOKEN_glDrawPixels            	0x102
+#define	EGL_TOKEN_glCopyPixels            	0x103
+#define	EGL_TOKEN_glStencilFunc           	0x104
+#define	EGL_TOKEN_glStencilMask           	0x105
+#define	EGL_TOKEN_glStencilOp             	0x106
+#define	EGL_TOKEN_glClearStencil          	0x107
+#define	EGL_TOKEN_glTexGend               	0x108
+#define	EGL_TOKEN_glTexGenf               	0x109
+#define	EGL_TOKEN_glTexGeni               	0x10a
+#define	EGL_TOKEN_glTexGendv              	0x10b
+#define	EGL_TOKEN_glTexGenfv              	0x10c
+#define	EGL_TOKEN_glTexGeniv              	0x10d
+#define	EGL_TOKEN_glGetTexGendv           	0x10e
+#define	EGL_TOKEN_glGetTexGenfv           	0x10f
+#define	EGL_TOKEN_glGetTexGeniv           	0x110
+#define	EGL_TOKEN_glTexEnvf               	0x111
+#define	EGL_TOKEN_glTexEnvi               	0x112
+#define	EGL_TOKEN_glTexEnvfv              	0x113
+#define	EGL_TOKEN_glTexEnviv              	0x114
+#define	EGL_TOKEN_glGetTexEnvfv           	0x115
+#define	EGL_TOKEN_glGetTexEnviv           	0x116
+#define	EGL_TOKEN_glTexParameterf         	0x117
+#define	EGL_TOKEN_glTexParameteri         	0x118
+#define	EGL_TOKEN_glTexParameterfv        	0x119
+#define	EGL_TOKEN_glTexParameteriv        	0x11a
+#define	EGL_TOKEN_glGetTexParameterfv     	0x11b
+#define	EGL_TOKEN_glGetTexParameteriv     	0x11c
+#define	EGL_TOKEN_glGetTexLevelParameterfv	0x11d
+#define	EGL_TOKEN_glGetTexLevelParameteriv	0x11e
+#define	EGL_TOKEN_glTexImage1D            	0x11f
+#define	EGL_TOKEN_glTexImage2D            	0x120
+#define	EGL_TOKEN_glGetTexImage           	0x121
+#define	EGL_TOKEN_glGenTextures           	0x122
+#define	EGL_TOKEN_glDeleteTextures        	0x123
+#define	EGL_TOKEN_glBindTexture           	0x124
+#define	EGL_TOKEN_glPrioritizeTextures    	0x125
+#define	EGL_TOKEN_glAreTexturesResident   	0x126
+#define	EGL_TOKEN_glIsTexture             	0x127
+#define	EGL_TOKEN_glTexSubImage1D         	0x128
+#define	EGL_TOKEN_glTexSubImage2D         	0x129
+#define	EGL_TOKEN_glCopyTexImage1D        	0x12a
+#define	EGL_TOKEN_glCopyTexImage2D        	0x12b
+#define	EGL_TOKEN_glCopyTexSubImage1D     	0x12c
+#define	EGL_TOKEN_glCopyTexSubImage2D     	0x12d
+#define	EGL_TOKEN_glMap1d                 	0x12e
+#define	EGL_TOKEN_glMap1f                 	0x12f
+#define	EGL_TOKEN_glMap2d                 	0x130
+#define	EGL_TOKEN_glMap2f                 	0x131
+#define	EGL_TOKEN_glGetMapdv              	0x132
+#define	EGL_TOKEN_glGetMapfv              	0x133
+#define	EGL_TOKEN_glGetMapiv              	0x134
+#define	EGL_TOKEN_glEvalCoord1d           	0x135
+#define	EGL_TOKEN_glEvalCoord1f           	0x136
+#define	EGL_TOKEN_glEvalCoord1dv          	0x137
+#define	EGL_TOKEN_glEvalCoord1fv          	0x138
+#define	EGL_TOKEN_glEvalCoord2d           	0x139
+#define	EGL_TOKEN_glEvalCoord2f           	0x13a
+#define	EGL_TOKEN_glEvalCoord2dv          	0x13b
+#define	EGL_TOKEN_glEvalCoord2fv          	0x13c
+#define	EGL_TOKEN_glMapGrid1d             	0x13d
+#define	EGL_TOKEN_glMapGrid1f             	0x13e
+#define	EGL_TOKEN_glMapGrid2d             	0x13f
+#define	EGL_TOKEN_glMapGrid2f             	0x140
+#define	EGL_TOKEN_glEvalPoint1            	0x141
+#define	EGL_TOKEN_glEvalPoint2            	0x142
+#define	EGL_TOKEN_glEvalMesh1             	0x143
+#define	EGL_TOKEN_glEvalMesh2             	0x144
+#define	EGL_TOKEN_glFogf                  	0x145
+#define	EGL_TOKEN_glFogi                  	0x146
+#define	EGL_TOKEN_glFogfv                 	0x147
+#define	EGL_TOKEN_glFogiv                 	0x148
+#define	EGL_TOKEN_glFeedbackBuffer        	0x149
+#define	EGL_TOKEN_glPassThrough           	0x14a
+#define	EGL_TOKEN_glSelectBuffer          	0x14b
+#define	EGL_TOKEN_glInitNames             	0x14c
+#define	EGL_TOKEN_glLoadName              	0x14d
+#define	EGL_TOKEN_glPushName              	0x14e
+#define	EGL_TOKEN_glPopName               	0x14f
+#define	EGL_TOKEN_glDrawRangeElements     	0x150
+#define	EGL_TOKEN_glTexImage3D            	0x151
+#define	EGL_TOKEN_glTexSubImage3D         	0x152
+#define	EGL_TOKEN_glCopyTexSubImage3D     	0x153
+#define	EGL_TOKEN_glColorTable            	0x154
+#define	EGL_TOKEN_glColorSubTable         	0x155
+#define	EGL_TOKEN_glColorTableParameteriv 	0x156
+#define	EGL_TOKEN_glColorTableParameterfv 	0x157
+#define	EGL_TOKEN_glCopyColorSubTable     	0x158
+#define	EGL_TOKEN_glCopyColorTable        	0x159
+#define	EGL_TOKEN_glGetColorTable         	0x15a
+#define	EGL_TOKEN_glGetColorTableParameterfv	0x15b
+#define	EGL_TOKEN_glGetColorTableParameteriv	0x15c
+#define	EGL_TOKEN_glBlendEquation         	0x15d
+#define	EGL_TOKEN_glBlendColor            	0x15e
+#define	EGL_TOKEN_glHistogram             	0x15f
+#define	EGL_TOKEN_glResetHistogram        	0x160
+#define	EGL_TOKEN_glGetHistogram          	0x161
+#define	EGL_TOKEN_glGetHistogramParameterfv	0x162
+#define	EGL_TOKEN_glGetHistogramParameteriv	0x163
+#define	EGL_TOKEN_glMinmax                	0x164
+#define	EGL_TOKEN_glResetMinmax           	0x165
+#define	EGL_TOKEN_glGetMinmax             	0x166
+#define	EGL_TOKEN_glGetMinmaxParameterfv  	0x167
+#define	EGL_TOKEN_glGetMinmaxParameteriv  	0x168
+#define	EGL_TOKEN_glConvolutionFilter1D   	0x169
+#define	EGL_TOKEN_glConvolutionFilter2D   	0x16a
+#define	EGL_TOKEN_glConvolutionParameterf 	0x16b
+#define	EGL_TOKEN_glConvolutionParameterfv	0x16c
+#define	EGL_TOKEN_glConvolutionParameteri 	0x16d
+#define	EGL_TOKEN_glConvolutionParameteriv	0x16e
+#define	EGL_TOKEN_glCopyConvolutionFilter1D	0x16f
+#define	EGL_TOKEN_glCopyConvolutionFilter2D	0x170
+#define	EGL_TOKEN_glGetConvolutionFilter  	0x171
+#define	EGL_TOKEN_glGetConvolutionParameterfv	0x172
+#define	EGL_TOKEN_glGetConvolutionParameteriv	0x173
+#define	EGL_TOKEN_glSeparableFilter2D     	0x174
+#define	EGL_TOKEN_glGetSeparableFilter    	0x175
+#define	EGL_TOKEN_glActiveTexture         	0x176
+#define	EGL_TOKEN_glClientActiveTexture   	0x177
+#define	EGL_TOKEN_glCompressedTexImage1D  	0x178
+#define	EGL_TOKEN_glCompressedTexImage2D  	0x179
+#define	EGL_TOKEN_glCompressedTexImage3D  	0x17a
+#define	EGL_TOKEN_glCompressedTexSubImage1D	0x17b
+#define	EGL_TOKEN_glCompressedTexSubImage2D	0x17c
+#define	EGL_TOKEN_glCompressedTexSubImage3D	0x17d
+#define	EGL_TOKEN_glGetCompressedTexImage 	0x17e
+#define	EGL_TOKEN_glMultiTexCoord1d       	0x17f
+#define	EGL_TOKEN_glMultiTexCoord1dv      	0x180
+#define	EGL_TOKEN_glMultiTexCoord1f       	0x181
+#define	EGL_TOKEN_glMultiTexCoord1fv      	0x182
+#define	EGL_TOKEN_glMultiTexCoord1i       	0x183
+#define	EGL_TOKEN_glMultiTexCoord1iv      	0x184
+#define	EGL_TOKEN_glMultiTexCoord1s       	0x185
+#define	EGL_TOKEN_glMultiTexCoord1sv      	0x186
+#define	EGL_TOKEN_glMultiTexCoord2d       	0x187
+#define	EGL_TOKEN_glMultiTexCoord2dv      	0x188
+#define	EGL_TOKEN_glMultiTexCoord2f       	0x189
+#define	EGL_TOKEN_glMultiTexCoord2fv      	0x18a
+#define	EGL_TOKEN_glMultiTexCoord2i       	0x18b
+#define	EGL_TOKEN_glMultiTexCoord2iv      	0x18c
+#define	EGL_TOKEN_glMultiTexCoord2s       	0x18d
+#define	EGL_TOKEN_glMultiTexCoord2sv      	0x18e
+#define	EGL_TOKEN_glMultiTexCoord3d       	0x18f
+#define	EGL_TOKEN_glMultiTexCoord3dv      	0x190
+#define	EGL_TOKEN_glMultiTexCoord3f       	0x191
+#define	EGL_TOKEN_glMultiTexCoord3fv      	0x192
+#define	EGL_TOKEN_glMultiTexCoord3i       	0x193
+#define	EGL_TOKEN_glMultiTexCoord3iv      	0x194
+#define	EGL_TOKEN_glMultiTexCoord3s       	0x195
+#define	EGL_TOKEN_glMultiTexCoord3sv      	0x196
+#define	EGL_TOKEN_glMultiTexCoord4d       	0x197
+#define	EGL_TOKEN_glMultiTexCoord4dv      	0x198
+#define	EGL_TOKEN_glMultiTexCoord4f       	0x199
+#define	EGL_TOKEN_glMultiTexCoord4fv      	0x19a
+#define	EGL_TOKEN_glMultiTexCoord4i       	0x19b
+#define	EGL_TOKEN_glMultiTexCoord4iv      	0x19c
+#define	EGL_TOKEN_glMultiTexCoord4s       	0x19d
+#define	EGL_TOKEN_glMultiTexCoord4sv      	0x19e
+#define	EGL_TOKEN_glLoadTransposeMatrixd  	0x19f
+#define	EGL_TOKEN_glLoadTransposeMatrixf  	0x1a0
+#define	EGL_TOKEN_glMultTransposeMatrixd  	0x1a1
+#define	EGL_TOKEN_glMultTransposeMatrixf  	0x1a2
+#define	EGL_TOKEN_glSampleCoverage        	0x1a3
+#define	EGL_TOKEN_glActiveTextureARB      	0x1a4
+#define	EGL_TOKEN_glClientActiveTextureARB	0x1a5
+#define	EGL_TOKEN_glMultiTexCoord1dARB    	0x1a6
+#define	EGL_TOKEN_glMultiTexCoord1dvARB   	0x1a7
+#define	EGL_TOKEN_glMultiTexCoord1fARB    	0x1a8
+#define	EGL_TOKEN_glMultiTexCoord1fvARB   	0x1a9
+#define	EGL_TOKEN_glMultiTexCoord1iARB    	0x1aa
+#define	EGL_TOKEN_glMultiTexCoord1ivARB   	0x1ab
+#define	EGL_TOKEN_glMultiTexCoord1sARB    	0x1ac
+#define	EGL_TOKEN_glMultiTexCoord1svARB   	0x1ad
+#define	EGL_TOKEN_glMultiTexCoord2dARB    	0x1ae
+#define	EGL_TOKEN_glMultiTexCoord2dvARB   	0x1af
+#define	EGL_TOKEN_glMultiTexCoord2fARB    	0x1b0
+#define	EGL_TOKEN_glMultiTexCoord2fvARB   	0x1b1
+#define	EGL_TOKEN_glMultiTexCoord2iARB    	0x1b2
+#define	EGL_TOKEN_glMultiTexCoord2ivARB   	0x1b3
+#define	EGL_TOKEN_glMultiTexCoord2sARB    	0x1b4
+#define	EGL_TOKEN_glMultiTexCoord2svARB   	0x1b5
+#define	EGL_TOKEN_glMultiTexCoord3dARB    	0x1b6
+#define	EGL_TOKEN_glMultiTexCoord3dvARB   	0x1b7
+#define	EGL_TOKEN_glMultiTexCoord3fARB    	0x1b8
+#define	EGL_TOKEN_glMultiTexCoord3fvARB   	0x1b9
+#define	EGL_TOKEN_glMultiTexCoord3iARB    	0x1ba
+#define	EGL_TOKEN_glMultiTexCoord3ivARB   	0x1bb
+#define	EGL_TOKEN_glMultiTexCoord3sARB    	0x1bc
+#define	EGL_TOKEN_glMultiTexCoord3svARB   	0x1bd
+#define	EGL_TOKEN_glMultiTexCoord4dARB    	0x1be
+#define	EGL_TOKEN_glMultiTexCoord4dvARB   	0x1bf
+#define	EGL_TOKEN_glMultiTexCoord4fARB    	0x1c0
+#define	EGL_TOKEN_glMultiTexCoord4fvARB   	0x1c1
+#define	EGL_TOKEN_glMultiTexCoord4iARB    	0x1c2
+#define	EGL_TOKEN_glMultiTexCoord4ivARB   	0x1c3
+#define	EGL_TOKEN_glMultiTexCoord4sARB    	0x1c4
+#define	EGL_TOKEN_glMultiTexCoord4svARB   	0x1c5
+
+#endif

Code/Physics/Glut/EmptyGL/GL/egl_void.h

@@ -0,0 +1,422 @@
+#define	glClearIndex(_a0) {(void)(_a0);}
+#define	glClearColor(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glIndexMask(_a0) {(void)(_a0);}
+#define	glColorMask(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glAlphaFunc(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glBlendFunc(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glLogicOp(_a0) {(void)(_a0);}
+#define	glCullFace(_a0) {(void)(_a0);}
+#define	glFrontFace(_a0) {(void)(_a0);}
+#define	glPointSize(_a0) {(void)(_a0);}
+#define	glLineWidth(_a0) {(void)(_a0);}
+#define	glLineStipple(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glPolygonMode(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glPolygonOffset(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glPolygonStipple(_a0) {(void)(_a0);}
+#define	glGetPolygonStipple(_a0) {(void)(_a0);}
+#define	glEdgeFlag(_a0) {(void)(_a0);}
+#define	glEdgeFlagv(_a0) {(void)(_a0);}
+#define	glScissor(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glClipPlane(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glGetClipPlane(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glDrawBuffer(_a0) {(void)(_a0);}
+#define	glReadBuffer(_a0) {(void)(_a0);}
+#define	glEnable(_a0) {(void)(_a0);}
+#define	glDisable(_a0) {(void)(_a0);}
+#define	glEnableClientState(_a0) {(void)(_a0);}
+#define	glDisableClientState(_a0) {(void)(_a0);}
+#define	glPushAttrib(_a0) {(void)(_a0);}
+#define	glPopAttrib() {}
+#define	glPushClientAttrib(_a0) {(void)(_a0);}
+#define	glPopClientAttrib() {}
+#define	glHint(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glClearDepth(_a0) {(void)(_a0);}
+#define	glDepthFunc(_a0) {(void)(_a0);}
+#define	glDepthMask(_a0) {(void)(_a0);}
+#define	glDepthRange(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glClearAccum(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glAccum(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glDeleteLists(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glNewList(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glEndList() {}
+#define	glCallList(_a0) {(void)(_a0);}
+#define	glCallLists(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glListBase(_a0) {(void)(_a0);}
+#define	glBegin(_a0) {(void)(_a0);}
+#define	glEnd() {}
+#define	glVertex2d(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glVertex2f(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glVertex2i(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glVertex2s(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glVertex3d(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glVertex3f(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glVertex3i(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glVertex3s(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glVertex4d(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glVertex4f(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glVertex4i(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glVertex4s(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glVertex2dv(_a0) {(void)(_a0);}
+#define	glVertex2fv(_a0) {(void)(_a0);}
+#define	glVertex2iv(_a0) {(void)(_a0);}
+#define	glVertex2sv(_a0) {(void)(_a0);}
+#define	glVertex3dv(_a0) {(void)(_a0);}
+#define	glVertex3fv(_a0) {(void)(_a0);}
+#define	glVertex3iv(_a0) {(void)(_a0);}
+#define	glVertex3sv(_a0) {(void)(_a0);}
+#define	glVertex4dv(_a0) {(void)(_a0);}
+#define	glVertex4fv(_a0) {(void)(_a0);}
+#define	glVertex4iv(_a0) {(void)(_a0);}
+#define	glVertex4sv(_a0) {(void)(_a0);}
+#define	glNormal3b(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glNormal3d(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glNormal3f(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glNormal3i(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glNormal3s(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glNormal3bv(_a0) {(void)(_a0);}
+#define	glNormal3dv(_a0) {(void)(_a0);}
+#define	glNormal3fv(_a0) {(void)(_a0);}
+#define	glNormal3iv(_a0) {(void)(_a0);}
+#define	glNormal3sv(_a0) {(void)(_a0);}
+#define	glIndexd(_a0) {(void)(_a0);}
+#define	glIndexf(_a0) {(void)(_a0);}
+#define	glIndexi(_a0) {(void)(_a0);}
+#define	glIndexs(_a0) {(void)(_a0);}
+#define	glIndexub(_a0) {(void)(_a0);}
+#define	glIndexdv(_a0) {(void)(_a0);}
+#define	glIndexfv(_a0) {(void)(_a0);}
+#define	glIndexiv(_a0) {(void)(_a0);}
+#define	glIndexsv(_a0) {(void)(_a0);}
+#define	glIndexubv(_a0) {(void)(_a0);}
+#define	glColor3b(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glColor3d(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glColor3f(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glColor3i(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glColor3s(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glColor3ub(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glColor3ui(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glColor3us(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glColor4b(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glColor4d(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glColor4f(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glColor4i(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glColor4s(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glColor4ub(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glColor4ui(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glColor4us(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glColor3bv(_a0) {(void)(_a0);}
+#define	glColor3dv(_a0) {(void)(_a0);}
+#define	glColor3fv(_a0) {(void)(_a0);}
+#define	glColor3iv(_a0) {(void)(_a0);}
+#define	glColor3sv(_a0) {(void)(_a0);}
+#define	glColor3ubv(_a0) {(void)(_a0);}
+#define	glColor3uiv(_a0) {(void)(_a0);}
+#define	glColor3usv(_a0) {(void)(_a0);}
+#define	glColor4bv(_a0) {(void)(_a0);}
+#define	glColor4dv(_a0) {(void)(_a0);}
+#define	glColor4fv(_a0) {(void)(_a0);}
+#define	glColor4iv(_a0) {(void)(_a0);}
+#define	glColor4sv(_a0) {(void)(_a0);}
+#define	glColor4ubv(_a0) {(void)(_a0);}
+#define	glColor4uiv(_a0) {(void)(_a0);}
+#define	glColor4usv(_a0) {(void)(_a0);}
+#define	glTexCoord1d(_a0) {(void)(_a0);}
+#define	glTexCoord1f(_a0) {(void)(_a0);}
+#define	glTexCoord1i(_a0) {(void)(_a0);}
+#define	glTexCoord1s(_a0) {(void)(_a0);}
+#define	glTexCoord2d(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glTexCoord2f(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glTexCoord2i(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glTexCoord2s(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glTexCoord3d(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glTexCoord3f(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glTexCoord3i(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glTexCoord3s(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glTexCoord4d(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glTexCoord4f(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glTexCoord4i(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glTexCoord4s(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glTexCoord1dv(_a0) {(void)(_a0);}
+#define	glTexCoord1fv(_a0) {(void)(_a0);}
+#define	glTexCoord1iv(_a0) {(void)(_a0);}
+#define	glTexCoord1sv(_a0) {(void)(_a0);}
+#define	glTexCoord2dv(_a0) {(void)(_a0);}
+#define	glTexCoord2fv(_a0) {(void)(_a0);}
+#define	glTexCoord2iv(_a0) {(void)(_a0);}
+#define	glTexCoord2sv(_a0) {(void)(_a0);}
+#define	glTexCoord3dv(_a0) {(void)(_a0);}
+#define	glTexCoord3fv(_a0) {(void)(_a0);}
+#define	glTexCoord3iv(_a0) {(void)(_a0);}
+#define	glTexCoord3sv(_a0) {(void)(_a0);}
+#define	glTexCoord4dv(_a0) {(void)(_a0);}
+#define	glTexCoord4fv(_a0) {(void)(_a0);}
+#define	glTexCoord4iv(_a0) {(void)(_a0);}
+#define	glTexCoord4sv(_a0) {(void)(_a0);}
+#define	glRasterPos2d(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glRasterPos2f(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glRasterPos2i(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glRasterPos2s(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glRasterPos3d(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glRasterPos3f(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glRasterPos3i(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glRasterPos3s(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glRasterPos4d(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glRasterPos4f(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glRasterPos4i(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glRasterPos4s(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glRasterPos2dv(_a0) {(void)(_a0);}
+#define	glRasterPos2fv(_a0) {(void)(_a0);}
+#define	glRasterPos2iv(_a0) {(void)(_a0);}
+#define	glRasterPos2sv(_a0) {(void)(_a0);}
+#define	glRasterPos3dv(_a0) {(void)(_a0);}
+#define	glRasterPos3fv(_a0) {(void)(_a0);}
+#define	glRasterPos3iv(_a0) {(void)(_a0);}
+#define	glRasterPos3sv(_a0) {(void)(_a0);}
+#define	glRasterPos4dv(_a0) {(void)(_a0);}
+#define	glRasterPos4fv(_a0) {(void)(_a0);}
+#define	glRasterPos4iv(_a0) {(void)(_a0);}
+#define	glRasterPos4sv(_a0) {(void)(_a0);}
+#define	glRectd(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glRectf(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glRecti(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glRects(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glRectdv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glRectfv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glRectiv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glRectsv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glVertexPointer(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glNormalPointer(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glColorPointer(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glIndexPointer(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glTexCoordPointer(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glEdgeFlagPointer(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glGetPointerv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glArrayElement(_a0) {(void)(_a0);}
+#define	glDrawArrays(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glDrawElements(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glInterleavedArrays(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glShadeModel(_a0) {(void)(_a0);}
+#define	glLightf(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glLighti(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glLightfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glLightiv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glGetLightfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glGetLightiv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glLightModelf(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glLightModeli(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glLightModelfv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glLightModeliv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMaterialf(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glMateriali(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glMaterialfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glMaterialiv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glGetMaterialfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glGetMaterialiv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glColorMaterial(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glPixelZoom(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glPixelStoref(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glPixelStorei(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glPixelTransferf(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glPixelTransferi(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glPixelMapfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glPixelMapuiv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glPixelMapusv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glGetPixelMapfv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glGetPixelMapuiv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glGetPixelMapusv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glBitmap(_a0,_a1,_a2,_a3,_a4,_a5,_a6) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);}
+#define	glReadPixels(_a0,_a1,_a2,_a3,_a4,_a5,_a6) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);}
+#define	glDrawPixels(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);}
+#define	glCopyPixels(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);}
+#define	glStencilFunc(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glStencilMask(_a0) {(void)(_a0);}
+#define	glStencilOp(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glClearStencil(_a0) {(void)(_a0);}
+#define	glTexGend(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glTexGenf(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glTexGeni(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glTexGendv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glTexGenfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glTexGeniv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glGetTexGendv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glGetTexGenfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glGetTexGeniv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glTexEnvf(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glTexEnvi(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glTexEnvfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glTexEnviv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glGetTexEnvfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glGetTexEnviv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glTexParameterf(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glTexParameteri(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glTexParameterfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glTexParameteriv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glGetTexParameterfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glGetTexParameteriv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glGetTexLevelParameterfv(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glGetTexLevelParameteriv(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glTexImage1D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);}
+#define	glTexImage2D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7,_a8) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);(void)(_a8);}
+#define	glGetTexImage(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);}
+#define	glGenTextures(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glDeleteTextures(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glBindTexture(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glPrioritizeTextures(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glTexSubImage1D(_a0,_a1,_a2,_a3,_a4,_a5,_a6) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);}
+#define	glTexSubImage2D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7,_a8) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);(void)(_a8);}
+#define	glCopyTexImage1D(_a0,_a1,_a2,_a3,_a4,_a5,_a6) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);}
+#define	glCopyTexImage2D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);}
+#define	glCopyTexSubImage1D(_a0,_a1,_a2,_a3,_a4,_a5) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);}
+#define	glCopyTexSubImage2D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);}
+#define	glMap1d(_a0,_a1,_a2,_a3,_a4,_a5) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);}
+#define	glMap1f(_a0,_a1,_a2,_a3,_a4,_a5) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);}
+#define	glMap2d(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7,_a8,_a9) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);(void)(_a8);(void)(_a9);}
+#define	glMap2f(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7,_a8,_a9) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);(void)(_a8);(void)(_a9);}
+#define	glGetMapdv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glGetMapfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glGetMapiv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glEvalCoord1d(_a0) {(void)(_a0);}
+#define	glEvalCoord1f(_a0) {(void)(_a0);}
+#define	glEvalCoord1dv(_a0) {(void)(_a0);}
+#define	glEvalCoord1fv(_a0) {(void)(_a0);}
+#define	glEvalCoord2d(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glEvalCoord2f(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glEvalCoord2dv(_a0) {(void)(_a0);}
+#define	glEvalCoord2fv(_a0) {(void)(_a0);}
+#define	glMapGrid1d(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glMapGrid1f(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glMapGrid2d(_a0,_a1,_a2,_a3,_a4,_a5) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);}
+#define	glMapGrid2f(_a0,_a1,_a2,_a3,_a4,_a5) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);}
+#define	glEvalPoint1(_a0) {(void)(_a0);}
+#define	glEvalPoint2(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glEvalMesh1(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glEvalMesh2(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);}
+#define	glFogf(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glFogi(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glFogfv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glFogiv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glFeedbackBuffer(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glPassThrough(_a0) {(void)(_a0);}
+#define	glSelectBuffer(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glInitNames() {}
+#define	glLoadName(_a0) {(void)(_a0);}
+#define	glPushName(_a0) {(void)(_a0);}
+#define	glPopName() {}
+#define	glDrawRangeElements(_a0,_a1,_a2,_a3,_a4,_a5) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);}
+#define	glTexImage3D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7,_a8,_a9) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);(void)(_a8);(void)(_a9);}
+#define	glTexSubImage3D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7,_a8,_a9,_a10) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);(void)(_a8);(void)(_a9);(void)(_a10);}
+#define	glCopyTexSubImage3D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7,_a8) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);(void)(_a8);}
+#define	glColorTable(_a0,_a1,_a2,_a3,_a4,_a5) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);}
+#define	glColorSubTable(_a0,_a1,_a2,_a3,_a4,_a5) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);}
+#define	glColorTableParameteriv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glColorTableParameterfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glCopyColorSubTable(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);}
+#define	glCopyColorTable(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);}
+#define	glGetColorTable(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glGetColorTableParameterfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glGetColorTableParameteriv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glBlendEquation(_a0) {(void)(_a0);}
+#define	glBlendColor(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glHistogram(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glResetHistogram(_a0) {(void)(_a0);}
+#define	glGetHistogram(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);}
+#define	glGetHistogramParameterfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glGetHistogramParameteriv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glMinmax(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glResetMinmax(_a0) {(void)(_a0);}
+#define	glGetMinmax(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);}
+#define	glGetMinmaxParameterfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glGetMinmaxParameteriv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glConvolutionFilter1D(_a0,_a1,_a2,_a3,_a4,_a5) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);}
+#define	glConvolutionFilter2D(_a0,_a1,_a2,_a3,_a4,_a5,_a6) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);}
+#define	glConvolutionParameterf(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glConvolutionParameterfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glConvolutionParameteri(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glConvolutionParameteriv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glCopyConvolutionFilter1D(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);}
+#define	glCopyConvolutionFilter2D(_a0,_a1,_a2,_a3,_a4,_a5) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);}
+#define	glGetConvolutionFilter(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glGetConvolutionParameterfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glGetConvolutionParameteriv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glSeparableFilter2D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);}
+#define	glGetSeparableFilter(_a0,_a1,_a2,_a3,_a4,_a5) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);}
+#define	glActiveTexture(_a0) {(void)(_a0);}
+#define	glClientActiveTexture(_a0) {(void)(_a0);}
+#define	glCompressedTexImage1D(_a0,_a1,_a2,_a3,_a4,_a5,_a6) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);}
+#define	glCompressedTexImage2D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);}
+#define	glCompressedTexImage3D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7,_a8) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);(void)(_a8);}
+#define	glCompressedTexSubImage1D(_a0,_a1,_a2,_a3,_a4,_a5,_a6) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);}
+#define	glCompressedTexSubImage2D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7,_a8) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);(void)(_a8);}
+#define	glCompressedTexSubImage3D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7,_a8,_a9,_a10) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);(void)(_a8);(void)(_a9);(void)(_a10);}
+#define	glGetCompressedTexImage(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glMultiTexCoord1d(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord1dv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord1f(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord1fv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord1i(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord1iv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord1s(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord1sv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord2d(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glMultiTexCoord2dv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord2f(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glMultiTexCoord2fv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord2i(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glMultiTexCoord2iv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord2s(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glMultiTexCoord2sv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord3d(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glMultiTexCoord3dv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord3f(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glMultiTexCoord3fv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord3i(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glMultiTexCoord3iv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord3s(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glMultiTexCoord3sv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord4d(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);}
+#define	glMultiTexCoord4dv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord4f(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);}
+#define	glMultiTexCoord4fv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord4i(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);}
+#define	glMultiTexCoord4iv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord4s(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);}
+#define	glMultiTexCoord4sv(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glLoadTransposeMatrixd(_a0) {(void)(_a0);}
+#define	glLoadTransposeMatrixf(_a0) {(void)(_a0);}
+#define	glMultTransposeMatrixd(_a0) {(void)(_a0);}
+#define	glMultTransposeMatrixf(_a0) {(void)(_a0);}
+#define	glSampleCoverage(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glActiveTextureARB(_a0) {(void)(_a0);}
+#define	glClientActiveTextureARB(_a0) {(void)(_a0);}
+#define	glMultiTexCoord1dARB(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord1dvARB(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord1fARB(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord1fvARB(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord1iARB(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord1ivARB(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord1sARB(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord1svARB(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord2dARB(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glMultiTexCoord2dvARB(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord2fARB(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glMultiTexCoord2fvARB(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord2iARB(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glMultiTexCoord2ivARB(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord2sARB(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);}
+#define	glMultiTexCoord2svARB(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord3dARB(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glMultiTexCoord3dvARB(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord3fARB(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glMultiTexCoord3fvARB(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord3iARB(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glMultiTexCoord3ivARB(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord3sARB(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);}
+#define	glMultiTexCoord3svARB(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord4dARB(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);}
+#define	glMultiTexCoord4dvARB(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord4fARB(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);}
+#define	glMultiTexCoord4fvARB(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord4iARB(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);}
+#define	glMultiTexCoord4ivARB(_a0,_a1) {(void)(_a0);(void)(_a1);}
+#define	glMultiTexCoord4sARB(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);}
+#define	glMultiTexCoord4svARB(_a0,_a1) {(void)(_a0);(void)(_a1);}

Code/Physics/Glut/EmptyGL/GL/gl.h

@@ -0,0 +1,47 @@
+#ifndef	__EGL_H
+#define	__EGL_H
+
+// include types and defines
+
+#include	<GL/egl_defs.h>
+
+// include log tokens
+
+#include	<GL/egl_tokens.h>
+
+// include simple void functions we ignore
+
+#include	<GL/egl_void.h>
+
+// include functions that need a bit of work, but we don't log
+
+#include	<GL/egl_cpx.h>
+
+// include functions we log
+
+#ifdef		EGL_LOG_PTR
+
+extern		unsigned int	*EGL_LOG_PTR;
+
+inline	void	xGLL(int a) 		 	 {	*EGL_LOG_PTR=(unsigned int)a; EGL_LOG_PTR++;		};
+inline	void	xGLL(unsigned int a) 	 {	*EGL_LOG_PTR=a; EGL_LOG_PTR++;					};
+inline	void	xGLL(float a) 			 {	*(float *)EGL_LOG_PTR=a; EGL_LOG_PTR++;			};
+inline	void	xGLL(double a) 			 {	*(float *)EGL_LOG_PTR=(float)a; EGL_LOG_PTR++;	};
+inline	void	xGLL(const float *a)	 {  for(int t=0;t!=16;t++) xGLL(a[t]);					};
+inline	void	xGLL(const double *a)	 {  for(int t=0;t!=16;t++) xGLL(a[t]);					};
+#else
+
+inline	void	xGLL(int a)			 	{};
+inline	void	xGLL(unsigned int a) 	{};
+inline	void	xGLL(float a) 		 	{};
+inline	void	xGLL(double  a) 	 	{};
+inline	void	xGLL(const float *a)    {};
+inline	void	xGLL(const double  *a) 	{};
+
+#endif
+
+// functions we might log
+
+#include	<GL/egl_logged.h>
+
+#endif

Code/Physics/Glut/EmptyGL/GL/glu.h

@@ -0,0 +1,23 @@
+#ifndef	EMPTY_GLU
+#define	EMPTY_GLU
+
+inline	void	gluOrtho2D( int a,int b, int c ,int d ) { } ;
+inline	void	gluLookAt( 
+				GLfloat a,GLfloat b, GLfloat c, 
+				GLfloat d,GLfloat e, GLfloat f, 
+				GLfloat g,GLfloat h, GLfloat i ) { };
+
+#define	GLU_FILL	1
+#define	GLU_SMOOTH	2
+
+typedef	int	GLUquadric;
+typedef	GLUquadric	GLUquadricObj;
+
+inline	GLUquadric		*gluNewQuadric()									{  return (GLUquadric *)1;	};
+inline	void			gluQuadricDrawStyle( GLUquadric *o, int mode)	{};
+inline	void			gluQuadricNormals( GLUquadric *o, int mode)		{};
+inline	void			gluDeleteQuadric( GLUquadric *q)					{};
+inline	void			 gluDisk (GLUquadric* quad, GLdouble inner, GLdouble outer, GLint slices, GLint loops) {};
+inline	void			gluCylinder (GLUquadric* quad, GLdouble base, GLdouble top, GLdouble height, GLint slices, GLint stacks) {};
+inline int 			gluBuild2DMipmaps (GLenum      target, GLint       components, GLint       width, GLint       height, GLenum      format, GLenum      type,  const void  *data) { return 0;}
+#endif

Code/Physics/Glut/EmptyGL/GL/glut.h

@@ -0,0 +1,60 @@
+#ifndef	EMPTY_GLUT_H
+#define	EMPTY_GLUT_H
+
+#include <GL/gl.h>
+#include <GL/glu.h>
+
+
+#define	GLUT_KEY_F1				0
+#define	GLUT_KEY_F2				1
+#define	GLUT_KEY_END			2
+#define	GLUT_KEY_LEFT			3
+#define	GLUT_KEY_RIGHT			4
+#define	GLUT_KEY_UP				5
+#define	GLUT_KEY_DOWN			6
+#define	GLUT_KEY_PAGE_UP		7
+#define	GLUT_KEY_PAGE_DOWN		8
+#define	GLUT_KEY_HOME			9
+#define GLUT_KEY_F3				10
+#define GLUT_KEY_F4				11
+#define	GLUT_KEY_F5				12
+#define GLUT_ACTIVE_SHIFT		13
+
+
+#define	GLUT_DOUBLE				1
+#define	GLUT_RGBA				2
+#define	GLUT_DEPTH				4
+#define GLUT_STENCIL			8
+#define	GLUT_WINDOW_WIDTH		16
+#define	GLUT_WINDOW_HEIGHT		32
+#define GLUT_RGB				64
+
+
+
+
+inline	void	glutSwapBuffers()	{}
+inline	void	glutShowWindow()	{}
+inline	void	glutPostRedisplay()	{}
+inline	void	glutInit(int *argc, char **argv)	{}
+inline	void	glutInitDisplayMode( unsigned int )	{}
+inline	void	glutInitWindowPosition(int x, int y)	{}
+inline	void	glutInitWindowSize(int x, int y)		{}
+inline	int		glutCreateWindow( const char *str)	{return 0;}
+inline	void	glutKeyboardFunc( void (*func)(unsigned char, int ,int ) )	{}
+inline	void	glutSpecialFunc( void (*func)(int key, int x,int y) )	{}
+inline	void	glutSpecialUpFunc( void (*func)(int key, int x,int y) )	{}
+inline	void	glutReshapeFunc( void (*func)(int w,int h) )				{}
+inline	void	glutDisplayFunc( void (*func)() )					{}
+inline	void	glutIdleFunc( void (*func)() )					{}
+inline	void	glutMotionFunc( void (*func)(int x,int y) )					{}
+inline	void	glutMouseFunc( void (*func)(int button,int state,int x,int y) )	{}
+inline	void	glutMainLoop()	{}
+inline void	glutSetWindow(int bla) {}
+
+inline	void	glutSolidCube(GLfloat )		{}
+inline	void	glutSolidSphere(GLfloat , int a , int b)	{}
+inline	void	glutSolidCone(GLfloat ,GLfloat , int a , int b)	{}
+inline	int		glutGetModifiers() { return 0;}
+inline	void	gluPerspective(float a,float b,float c,float d) {}
+inline float	glutGet(int code) { return 0.f;}
+#endif

Code/Physics/Glut/GL/glut.h

@@ -0,0 +1,607 @@
+#ifndef __glut_h__
+#define __glut_h__
+
+/* Copyright (c) Mark J. Kilgard, 1994, 1995, 1996, 1998. */
+
+/* This program is freely distributable without licensing fees  and is
+   provided without guarantee or warrantee expressed or  implied. This
+   program is -not- in the public domain. */
+
+#if defined(_WIN32)
+
+/* GLUT 3.7 now tries to avoid including <windows.h>
+   to avoid name space pollution, but Win32's <GL/gl.h> 
+   needs APIENTRY and WINGDIAPI defined properly. */
+# if 0
+#  define  WIN32_LEAN_AND_MEAN
+#  include <windows.h>
+# else
+   /* XXX This is from Win32's <windef.h> */
+#  ifndef APIENTRY
+#   define GLUT_APIENTRY_DEFINED
+#   if (_MSC_VER >= 800) || defined(_STDCALL_SUPPORTED)
+#    define APIENTRY    __stdcall
+#   else
+#    define APIENTRY
+#   endif
+#  endif
+   /* XXX This is from Win32's <winnt.h> */
+#  ifndef CALLBACK
+#   if (defined(_M_MRX000) || defined(_M_IX86) || defined(_M_ALPHA) || defined(_M_PPC)) && !defined(MIDL_PASS)
+#    define CALLBACK __stdcall
+#   else
+#    define CALLBACK
+#   endif
+#  endif
+   /* XXX This is from Win32's <wingdi.h> and <winnt.h> */
+#  ifndef WINGDIAPI
+#   define GLUT_WINGDIAPI_DEFINED
+#   define WINGDIAPI __declspec(dllimport)
+#  endif
+   /* XXX This is from Win32's <ctype.h> */
+#  ifndef _WCHAR_T_DEFINED
+/* MinGW32 chokes on the next line */
+#ifndef __MINGW32__
+typedef unsigned short int wchar_t;
+#endif //__MINGW32__
+#   define _WCHAR_T_DEFINED
+#  endif
+# endif
+
+#pragma comment (lib, "winmm.lib")     /* link with Windows MultiMedia lib */
+#pragma comment (lib, "opengl32.lib")  /* link with Microsoft OpenGL lib */
+#pragma comment (lib, "glu32.lib")     /* link with OpenGL Utility lib */
+
+#ifdef _WIN64
+#pragma message("Note: including lib: glut64.lib\n")
+#pragma comment (lib, "glut64.lib")    /* link with Win32 GLUT lib */
+#else
+#pragma message("Note: including lib: glut32.lib\n")
+#pragma comment (lib, "glut32.lib")    /* link with Win32 GLUT lib */
+#endif
+
+#pragma warning (disable:4244)	/* Disable bogus conversion warnings. */
+#pragma warning (disable:4305)  /* VC++ 5.0 version of above warning. */
+
+#endif
+
+#include <GL/gl.h>
+#include <GL/glu.h>
+
+/* define APIENTRY and CALLBACK to null string if we aren't on Win32 */
+#if !defined(_WIN32)
+#define APIENTRY
+#define GLUT_APIENTRY_DEFINED
+#define CALLBACK
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ GLUT API revision history:
+ 
+ GLUT_API_VERSION is updated to reflect incompatible GLUT
+ API changes (interface changes, semantic changes, deletions,
+ or additions).
+ 
+ GLUT_API_VERSION=1  First public release of GLUT.  11/29/94
+
+ GLUT_API_VERSION=2  Added support for OpenGL/GLX multisampling,
+ extension.  Supports new input devices like tablet, dial and button
+ box, and Spaceball.  Easy to query OpenGL extensions.
+
+ GLUT_API_VERSION=3  glutMenuStatus added.
+
+ GLUT_API_VERSION=4  glutInitDisplayString, glutWarpPointer,
+ glutBitmapLength, glutStrokeLength, glutWindowStatusFunc, dynamic
+ video resize subAPI, glutPostWindowRedisplay, glutKeyboardUpFunc,
+ glutSpecialUpFunc, glutIgnoreKeyRepeat, glutSetKeyRepeat,
+ glutJoystickFunc, glutForceJoystickFunc (NOT FINALIZED!).
+**/
+#ifndef GLUT_API_VERSION  /* allow this to be overriden */
+//#define GLUT_API_VERSION		3
+#define GLUT_API_VERSION		4
+#endif
+
+/**
+ GLUT implementation revision history:
+ 
+ GLUT_XLIB_IMPLEMENTATION is updated to reflect both GLUT
+ API revisions and implementation revisions (ie, bug fixes).
+
+ GLUT_XLIB_IMPLEMENTATION=1  mjk's first public release of
+ GLUT Xlib-based implementation.  11/29/94
+
+ GLUT_XLIB_IMPLEMENTATION=2  mjk's second public release of
+ GLUT Xlib-based implementation providing GLUT version 2 
+ interfaces.
+
+ GLUT_XLIB_IMPLEMENTATION=3  mjk's GLUT 2.2 images. 4/17/95
+
+ GLUT_XLIB_IMPLEMENTATION=4  mjk's GLUT 2.3 images. 6/?/95
+
+ GLUT_XLIB_IMPLEMENTATION=5  mjk's GLUT 3.0 images. 10/?/95
+
+ GLUT_XLIB_IMPLEMENTATION=7  mjk's GLUT 3.1+ with glutWarpPoitner.  7/24/96
+
+ GLUT_XLIB_IMPLEMENTATION=8  mjk's GLUT 3.1+ with glutWarpPoitner
+ and video resize.  1/3/97
+
+ GLUT_XLIB_IMPLEMENTATION=9 mjk's GLUT 3.4 release with early GLUT 4 routines.
+
+ GLUT_XLIB_IMPLEMENTATION=11 Mesa 2.5's GLUT 3.6 release.
+
+ GLUT_XLIB_IMPLEMENTATION=12 mjk's GLUT 3.6 release with early GLUT 4 routines + signal handling.
+
+ GLUT_XLIB_IMPLEMENTATION=13 mjk's GLUT 3.7 release with GameGLUT support.
+**/
+#ifndef GLUT_XLIB_IMPLEMENTATION  /* Allow this to be overriden. */
+#define GLUT_XLIB_IMPLEMENTATION	13
+#endif
+
+/* Display mode bit masks. */
+#define GLUT_RGB			0
+#define GLUT_RGBA			GLUT_RGB
+#define GLUT_INDEX			1
+#define GLUT_SINGLE			0
+#define GLUT_DOUBLE			2
+#define GLUT_ACCUM			4
+#define GLUT_ALPHA			8
+#define GLUT_DEPTH			16
+#define GLUT_STENCIL			32
+#if (GLUT_API_VERSION >= 2)
+#define GLUT_MULTISAMPLE		128
+#define GLUT_STEREO			256
+#endif
+#if (GLUT_API_VERSION >= 3)
+#define GLUT_LUMINANCE			512
+#endif
+
+/* Mouse buttons. */
+#define GLUT_LEFT_BUTTON		0
+#define GLUT_MIDDLE_BUTTON		1
+#define GLUT_RIGHT_BUTTON		2
+
+/* Mouse button  state. */
+#define GLUT_DOWN			0
+#define GLUT_UP				1
+
+#if (GLUT_API_VERSION >= 2)
+/* function keys */
+#define GLUT_KEY_F1			1
+#define GLUT_KEY_F2			2
+#define GLUT_KEY_F3			3
+#define GLUT_KEY_F4			4
+#define GLUT_KEY_F5			5
+#define GLUT_KEY_F6			6
+#define GLUT_KEY_F7			7
+#define GLUT_KEY_F8			8
+#define GLUT_KEY_F9			9
+#define GLUT_KEY_F10			10
+#define GLUT_KEY_F11			11
+#define GLUT_KEY_F12			12
+/* directional keys */
+#define GLUT_KEY_LEFT			100
+#define GLUT_KEY_UP			101
+#define GLUT_KEY_RIGHT			102
+#define GLUT_KEY_DOWN			103
+#define GLUT_KEY_PAGE_UP		104
+#define GLUT_KEY_PAGE_DOWN		105
+#define GLUT_KEY_HOME			106
+#define GLUT_KEY_END			107
+#define GLUT_KEY_INSERT			108
+#endif
+
+/* Entry/exit  state. */
+#define GLUT_LEFT			0
+#define GLUT_ENTERED			1
+
+/* Menu usage  state. */
+#define GLUT_MENU_NOT_IN_USE		0
+#define GLUT_MENU_IN_USE		1
+
+/* Visibility  state. */
+#define GLUT_NOT_VISIBLE		0
+#define GLUT_VISIBLE			1
+
+/* Window status  state. */
+#define GLUT_HIDDEN			0
+#define GLUT_FULLY_RETAINED		1
+#define GLUT_PARTIALLY_RETAINED		2
+#define GLUT_FULLY_COVERED		3
+
+/* Color index component selection values. */
+#define GLUT_RED			0
+#define GLUT_GREEN			1
+#define GLUT_BLUE			2
+
+/* Layers for use. */
+#define GLUT_NORMAL			0
+#define GLUT_OVERLAY			1
+
+#if defined(_WIN32)
+/* Stroke font constants (use these in GLUT program). */
+#define GLUT_STROKE_ROMAN		((void*)0)
+#define GLUT_STROKE_MONO_ROMAN		((void*)1)
+
+/* Bitmap font constants (use these in GLUT program). */
+#define GLUT_BITMAP_9_BY_15		((void*)2)
+#define GLUT_BITMAP_8_BY_13		((void*)3)
+#define GLUT_BITMAP_TIMES_ROMAN_10	((void*)4)
+#define GLUT_BITMAP_TIMES_ROMAN_24	((void*)5)
+#if (GLUT_API_VERSION >= 3)
+#define GLUT_BITMAP_HELVETICA_10	((void*)6)
+#define GLUT_BITMAP_HELVETICA_12	((void*)7)
+#define GLUT_BITMAP_HELVETICA_18	((void*)8)
+#endif
+#else
+/* Stroke font opaque addresses (use constants instead in source code). */
+extern void *glutStrokeRoman;
+extern void *glutStrokeMonoRoman;
+
+/* Stroke font constants (use these in GLUT program). */
+#define GLUT_STROKE_ROMAN		(&glutStrokeRoman)
+#define GLUT_STROKE_MONO_ROMAN		(&glutStrokeMonoRoman)
+
+/* Bitmap font opaque addresses (use constants instead in source code). */
+extern void *glutBitmap9By15;
+extern void *glutBitmap8By13;
+extern void *glutBitmapTimesRoman10;
+extern void *glutBitmapTimesRoman24;
+extern void *glutBitmapHelvetica10;
+extern void *glutBitmapHelvetica12;
+extern void *glutBitmapHelvetica18;
+
+/* Bitmap font constants (use these in GLUT program). */
+#define GLUT_BITMAP_9_BY_15		(&glutBitmap9By15)
+#define GLUT_BITMAP_8_BY_13		(&glutBitmap8By13)
+#define GLUT_BITMAP_TIMES_ROMAN_10	(&glutBitmapTimesRoman10)
+#define GLUT_BITMAP_TIMES_ROMAN_24	(&glutBitmapTimesRoman24)
+#if (GLUT_API_VERSION >= 3)
+#define GLUT_BITMAP_HELVETICA_10	(&glutBitmapHelvetica10)
+#define GLUT_BITMAP_HELVETICA_12	(&glutBitmapHelvetica12)
+#define GLUT_BITMAP_HELVETICA_18	(&glutBitmapHelvetica18)
+#endif
+#endif
+
+/* glutGet parameters. */
+#define GLUT_WINDOW_X			100
+#define GLUT_WINDOW_Y			101
+#define GLUT_WINDOW_WIDTH		102
+#define GLUT_WINDOW_HEIGHT		103
+#define GLUT_WINDOW_BUFFER_SIZE		104
+#define GLUT_WINDOW_STENCIL_SIZE	105
+#define GLUT_WINDOW_DEPTH_SIZE		106
+#define GLUT_WINDOW_RED_SIZE		107
+#define GLUT_WINDOW_GREEN_SIZE		108
+#define GLUT_WINDOW_BLUE_SIZE		109
+#define GLUT_WINDOW_ALPHA_SIZE		110
+#define GLUT_WINDOW_ACCUM_RED_SIZE	111
+#define GLUT_WINDOW_ACCUM_GREEN_SIZE	112
+#define GLUT_WINDOW_ACCUM_BLUE_SIZE	113
+#define GLUT_WINDOW_ACCUM_ALPHA_SIZE	114
+#define GLUT_WINDOW_DOUBLEBUFFER	115
+#define GLUT_WINDOW_RGBA		116
+#define GLUT_WINDOW_PARENT		117
+#define GLUT_WINDOW_NUM_CHILDREN	118
+#define GLUT_WINDOW_COLORMAP_SIZE	119
+#if (GLUT_API_VERSION >= 2)
+#define GLUT_WINDOW_NUM_SAMPLES		120
+#define GLUT_WINDOW_STEREO		121
+#endif
+#if (GLUT_API_VERSION >= 3)
+#define GLUT_WINDOW_CURSOR		122
+#endif
+#define GLUT_SCREEN_WIDTH		200
+#define GLUT_SCREEN_HEIGHT		201
+#define GLUT_SCREEN_WIDTH_MM		202
+#define GLUT_SCREEN_HEIGHT_MM		203
+#define GLUT_MENU_NUM_ITEMS		300
+#define GLUT_DISPLAY_MODE_POSSIBLE	400
+#define GLUT_INIT_WINDOW_X		500
+#define GLUT_INIT_WINDOW_Y		501
+#define GLUT_INIT_WINDOW_WIDTH		502
+#define GLUT_INIT_WINDOW_HEIGHT		503
+#define GLUT_INIT_DISPLAY_MODE		504
+#if (GLUT_API_VERSION >= 2)
+#define GLUT_ELAPSED_TIME		700
+#endif
+#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 13)
+#define GLUT_WINDOW_FORMAT_ID		123
+#endif
+
+#if (GLUT_API_VERSION >= 2)
+/* glutDeviceGet parameters. */
+#define GLUT_HAS_KEYBOARD		600
+#define GLUT_HAS_MOUSE			601
+#define GLUT_HAS_SPACEBALL		602
+#define GLUT_HAS_DIAL_AND_BUTTON_BOX	603
+#define GLUT_HAS_TABLET			604
+#define GLUT_NUM_MOUSE_BUTTONS		605
+#define GLUT_NUM_SPACEBALL_BUTTONS	606
+#define GLUT_NUM_BUTTON_BOX_BUTTONS	607
+#define GLUT_NUM_DIALS			608
+#define GLUT_NUM_TABLET_BUTTONS		609
+#endif
+#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 13)
+#define GLUT_DEVICE_IGNORE_KEY_REPEAT   610
+#define GLUT_DEVICE_KEY_REPEAT          611
+#define GLUT_HAS_JOYSTICK		612
+#define GLUT_OWNS_JOYSTICK		613
+#define GLUT_JOYSTICK_BUTTONS		614
+#define GLUT_JOYSTICK_AXES		615
+#define GLUT_JOYSTICK_POLL_RATE		616
+#endif
+
+#if (GLUT_API_VERSION >= 3)
+/* glutLayerGet parameters. */
+#define GLUT_OVERLAY_POSSIBLE           800
+#define GLUT_LAYER_IN_USE		801
+#define GLUT_HAS_OVERLAY		802
+#define GLUT_TRANSPARENT_INDEX		803
+#define GLUT_NORMAL_DAMAGED		804
+#define GLUT_OVERLAY_DAMAGED		805
+
+#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 9)
+/* glutVideoResizeGet parameters. */
+#define GLUT_VIDEO_RESIZE_POSSIBLE	900
+#define GLUT_VIDEO_RESIZE_IN_USE	901
+#define GLUT_VIDEO_RESIZE_X_DELTA	902
+#define GLUT_VIDEO_RESIZE_Y_DELTA	903
+#define GLUT_VIDEO_RESIZE_WIDTH_DELTA	904
+#define GLUT_VIDEO_RESIZE_HEIGHT_DELTA	905
+#define GLUT_VIDEO_RESIZE_X		906
+#define GLUT_VIDEO_RESIZE_Y		907
+#define GLUT_VIDEO_RESIZE_WIDTH		908
+#define GLUT_VIDEO_RESIZE_HEIGHT	909
+#endif
+
+/* glutUseLayer parameters. */
+#define GLUT_NORMAL			0
+#define GLUT_OVERLAY			1
+
+/* glutGetModifiers return mask. */
+#define GLUT_ACTIVE_SHIFT               1
+#define GLUT_ACTIVE_CTRL                2
+#define GLUT_ACTIVE_ALT                 4
+
+/* glutSetCursor parameters. */
+/* Basic arrows. */
+#define GLUT_CURSOR_RIGHT_ARROW		0
+#define GLUT_CURSOR_LEFT_ARROW		1
+/* Symbolic cursor shapes. */
+#define GLUT_CURSOR_INFO		2
+#define GLUT_CURSOR_DESTROY		3
+#define GLUT_CURSOR_HELP		4
+#define GLUT_CURSOR_CYCLE		5
+#define GLUT_CURSOR_SPRAY		6
+#define GLUT_CURSOR_WAIT		7
+#define GLUT_CURSOR_TEXT		8
+#define GLUT_CURSOR_CROSSHAIR		9
+/* Directional cursors. */
+#define GLUT_CURSOR_UP_DOWN		10
+#define GLUT_CURSOR_LEFT_RIGHT		11
+/* Sizing cursors. */
+#define GLUT_CURSOR_TOP_SIDE		12
+#define GLUT_CURSOR_BOTTOM_SIDE		13
+#define GLUT_CURSOR_LEFT_SIDE		14
+#define GLUT_CURSOR_RIGHT_SIDE		15
+#define GLUT_CURSOR_TOP_LEFT_CORNER	16
+#define GLUT_CURSOR_TOP_RIGHT_CORNER	17
+#define GLUT_CURSOR_BOTTOM_RIGHT_CORNER	18
+#define GLUT_CURSOR_BOTTOM_LEFT_CORNER	19
+/* Inherit from parent window. */
+#define GLUT_CURSOR_INHERIT		100
+/* Blank cursor. */
+#define GLUT_CURSOR_NONE		101
+/* Fullscreen crosshair (if available). */
+#define GLUT_CURSOR_FULL_CROSSHAIR	102
+#endif
+
+/* GLUT initialization sub-API. */
+extern void APIENTRY glutInit(int *argcp, char **argv);
+extern void APIENTRY glutInitDisplayMode(unsigned int mode);
+#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 9)
+extern void APIENTRY glutInitDisplayString(const char *string);
+#endif
+extern void APIENTRY glutInitWindowPosition(int x, int y);
+extern void APIENTRY glutInitWindowSize(int width, int height);
+extern void APIENTRY glutMainLoop(void);
+
+/* GLUT window sub-API. */
+extern int APIENTRY glutCreateWindow(const char *title);
+extern int APIENTRY glutCreateSubWindow(int win, int x, int y, int width, int height);
+extern void APIENTRY glutDestroyWindow(int win);
+extern void APIENTRY glutPostRedisplay(void);
+#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 11)
+extern void APIENTRY glutPostWindowRedisplay(int win);
+#endif
+extern void APIENTRY glutSwapBuffers(void);
+extern int APIENTRY glutGetWindow(void);
+extern void APIENTRY glutSetWindow(int win);
+extern void APIENTRY glutSetWindowTitle(const char *title);
+extern void APIENTRY glutSetIconTitle(const char *title);
+extern void APIENTRY glutPositionWindow(int x, int y);
+extern void APIENTRY glutReshapeWindow(int width, int height);
+extern void APIENTRY glutPopWindow(void);
+extern void APIENTRY glutPushWindow(void);
+extern void APIENTRY glutIconifyWindow(void);
+extern void APIENTRY glutShowWindow(void);
+extern void APIENTRY glutHideWindow(void);
+#if (GLUT_API_VERSION >= 3)
+extern void APIENTRY glutFullScreen(void);
+extern void APIENTRY glutSetCursor(int cursor);
+#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 9)
+extern void APIENTRY glutWarpPointer(int x, int y);
+#endif
+
+/* GLUT overlay sub-API. */
+extern void APIENTRY glutEstablishOverlay(void);
+extern void APIENTRY glutRemoveOverlay(void);
+extern void APIENTRY glutUseLayer(GLenum layer);
+extern void APIENTRY glutPostOverlayRedisplay(void);
+#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 11)
+extern void APIENTRY glutPostWindowOverlayRedisplay(int win);
+#endif
+extern void APIENTRY glutShowOverlay(void);
+extern void APIENTRY glutHideOverlay(void);
+#endif
+
+/* GLUT menu sub-API. */
+extern int APIENTRY glutCreateMenu(void (*)(int));
+extern void APIENTRY glutDestroyMenu(int menu);
+extern int APIENTRY glutGetMenu(void);
+extern void APIENTRY glutSetMenu(int menu);
+extern void APIENTRY glutAddMenuEntry(const char *label, int value);
+extern void APIENTRY glutAddSubMenu(const char *label, int submenu);
+extern void APIENTRY glutChangeToMenuEntry(int item, const char *label, int value);
+extern void APIENTRY glutChangeToSubMenu(int item, const char *label, int submenu);
+extern void APIENTRY glutRemoveMenuItem(int item);
+extern void APIENTRY glutAttachMenu(int button);
+extern void APIENTRY glutDetachMenu(int button);
+
+/* GLUT window callback sub-API. */
+extern void APIENTRY glutDisplayFunc(void (*func)(void));
+extern void APIENTRY glutReshapeFunc(void (*func)(int width, int height));
+extern void APIENTRY glutKeyboardFunc(void (*func)(unsigned char key, int x, int y));
+extern void APIENTRY glutMouseFunc(void (*func)(int button, int state, int x, int y));
+extern void APIENTRY glutMotionFunc(void (*func)(int x, int y));
+extern void APIENTRY glutPassiveMotionFunc(void (*func)(int x, int y));
+extern void APIENTRY glutEntryFunc(void (*func)(int state));
+extern void APIENTRY glutVisibilityFunc(void (*func)(int state));
+extern void APIENTRY glutIdleFunc(void (*func)(void));
+extern void APIENTRY glutTimerFunc(unsigned int millis, void (*func)(int value), int value);
+extern void APIENTRY glutMenuStateFunc(void (*func)(int state));
+#if (GLUT_API_VERSION >= 2)
+extern void APIENTRY glutSpecialFunc(void (*func)(int key, int x, int y));
+extern void APIENTRY glutSpaceballMotionFunc(void (*func)(int x, int y, int z));
+extern void APIENTRY glutSpaceballRotateFunc(void (*func)(int x, int y, int z));
+extern void APIENTRY glutSpaceballButtonFunc(void (*func)(int button, int state));
+extern void APIENTRY glutButtonBoxFunc(void (*func)(int button, int state));
+extern void APIENTRY glutDialsFunc(void (*func)(int dial, int value));
+extern void APIENTRY glutTabletMotionFunc(void (*func)(int x, int y));
+extern void APIENTRY glutTabletButtonFunc(void (*func)(int button, int state, int x, int y));
+#if (GLUT_API_VERSION >= 3)
+extern void APIENTRY glutMenuStatusFunc(void (*func)(int status, int x, int y));
+extern void APIENTRY glutOverlayDisplayFunc(void (*func)(void));
+#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 9)
+extern void APIENTRY glutWindowStatusFunc(void (*func)(int state));
+#endif
+#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 13)
+extern void APIENTRY glutKeyboardUpFunc(void (*func)(unsigned char key, int x, int y));
+extern void APIENTRY glutSpecialUpFunc(void (*func)(int key, int x, int y));
+extern void APIENTRY glutJoystickFunc(void (*func)(unsigned int buttonMask, int x, int y, int z), int pollInterval);
+#endif
+#endif
+#endif
+
+/* GLUT color index sub-API. */
+extern void APIENTRY glutSetColor(int, GLfloat red, GLfloat green, GLfloat blue);
+extern GLfloat APIENTRY glutGetColor(int ndx, int component);
+extern void APIENTRY glutCopyColormap(int win);
+
+/* GLUT state retrieval sub-API. */
+extern int APIENTRY glutGet(GLenum type);
+extern int APIENTRY glutDeviceGet(GLenum type);
+#if (GLUT_API_VERSION >= 2)
+/* GLUT extension support sub-API */
+extern int APIENTRY glutExtensionSupported(const char *name);
+#endif
+#if (GLUT_API_VERSION >= 3)
+extern int APIENTRY glutGetModifiers(void);
+extern int APIENTRY glutLayerGet(GLenum type);
+#endif
+
+/* GLUT font sub-API */
+extern void APIENTRY glutBitmapCharacter(void *font, int character);
+extern int APIENTRY glutBitmapWidth(void *font, int character);
+extern void APIENTRY glutStrokeCharacter(void *font, int character);
+extern int APIENTRY glutStrokeWidth(void *font, int character);
+#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 9)
+extern int APIENTRY glutBitmapLength(void *font, const unsigned char *string);
+extern int APIENTRY glutStrokeLength(void *font, const unsigned char *string);
+#endif
+
+/* GLUT pre-built models sub-API */
+extern void APIENTRY glutWireSphere(GLdouble radius, GLint slices, GLint stacks);
+extern void APIENTRY glutSolidSphere(GLdouble radius, GLint slices, GLint stacks);
+extern void APIENTRY glutWireCone(GLdouble base, GLdouble height, GLint slices, GLint stacks);
+extern void APIENTRY glutSolidCone(GLdouble base, GLdouble height, GLint slices, GLint stacks);
+extern void APIENTRY glutWireCube(GLdouble size);
+extern void APIENTRY glutSolidCube(GLdouble size);
+extern void APIENTRY glutWireTorus(GLdouble innerRadius, GLdouble outerRadius, GLint sides, GLint rings);
+extern void APIENTRY glutSolidTorus(GLdouble innerRadius, GLdouble outerRadius, GLint sides, GLint rings);
+extern void APIENTRY glutWireDodecahedron(void);
+extern void APIENTRY glutSolidDodecahedron(void);
+extern void APIENTRY glutWireTeapot(GLdouble size);
+extern void APIENTRY glutSolidTeapot(GLdouble size);
+extern void APIENTRY glutWireOctahedron(void);
+extern void APIENTRY glutSolidOctahedron(void);
+extern void APIENTRY glutWireTetrahedron(void);
+extern void APIENTRY glutSolidTetrahedron(void);
+extern void APIENTRY glutWireIcosahedron(void);
+extern void APIENTRY glutSolidIcosahedron(void);
+
+#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 9)
+/* GLUT video resize sub-API. */
+extern int APIENTRY glutVideoResizeGet(GLenum param);
+extern void APIENTRY glutSetupVideoResizing(void);
+extern void APIENTRY glutStopVideoResizing(void);
+extern void APIENTRY glutVideoResize(int x, int y, int width, int height);
+extern void APIENTRY glutVideoPan(int x, int y, int width, int height);
+
+/* GLUT debugging sub-API. */
+extern void APIENTRY glutReportErrors(void);
+#endif
+
+#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 13)
+/* GLUT device control sub-API. */
+/* glutSetKeyRepeat modes. */
+#define GLUT_KEY_REPEAT_OFF		0
+#define GLUT_KEY_REPEAT_ON		1
+#define GLUT_KEY_REPEAT_DEFAULT		2
+
+/* Joystick button masks. */
+#define GLUT_JOYSTICK_BUTTON_A		1
+#define GLUT_JOYSTICK_BUTTON_B		2
+#define GLUT_JOYSTICK_BUTTON_C		4
+#define GLUT_JOYSTICK_BUTTON_D		8
+
+extern void APIENTRY glutIgnoreKeyRepeat(int ignore);
+extern void APIENTRY glutSetKeyRepeat(int repeatMode);
+extern void APIENTRY glutForceJoystickFunc(void);
+
+/* GLUT game mode sub-API. */
+/* glutGameModeGet. */
+#define GLUT_GAME_MODE_ACTIVE           0
+#define GLUT_GAME_MODE_POSSIBLE         1
+#define GLUT_GAME_MODE_WIDTH            2
+#define GLUT_GAME_MODE_HEIGHT           3
+#define GLUT_GAME_MODE_PIXEL_DEPTH      4
+#define GLUT_GAME_MODE_REFRESH_RATE     5
+#define GLUT_GAME_MODE_DISPLAY_CHANGED  6
+
+extern void APIENTRY glutGameModeString(const char *string);
+extern int APIENTRY glutEnterGameMode(void);
+extern void APIENTRY glutLeaveGameMode(void);
+extern int APIENTRY glutGameModeGet(GLenum mode);
+#endif
+
+#ifdef __cplusplus
+}
+
+#endif
+
+#ifdef GLUT_APIENTRY_DEFINED
+# undef GLUT_APIENTRY_DEFINED
+# undef APIENTRY
+#endif
+
+#ifdef GLUT_WINGDIAPI_DEFINED
+# undef GLUT_WINGDIAPI_DEFINED
+# undef WINGDIAPI
+#endif
+
+#endif                  /* __glut_h__ */

Code/Physics/Glut/GL/glxext.h

@@ -0,0 +1,546 @@
+#ifndef __glxext_h_
+#define __glxext_h_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+** License Applicability. Except to the extent portions of this file are
+** made subject to an alternative license as permitted in the SGI Free
+** Software License B, Version 1.1 (the "License"), the contents of this
+** file are subject only to the provisions of the License. You may not use
+** this file except in compliance with the License. You may obtain a copy
+** of the License at Silicon Graphics, Inc., attn: Legal Services, 1600
+** Amphitheatre Parkway, Mountain View, CA 94043-1351, or at:
+** 
+** http://oss.sgi.com/projects/FreeB
+** 
+** Note that, as provided in the License, the Software is distributed on an
+** "AS IS" basis, with ALL EXPRESS AND IMPLIED WARRANTIES AND CONDITIONS
+** DISCLAIMED, INCLUDING, WITHOUT LIMITATION, ANY IMPLIED WARRANTIES AND
+** CONDITIONS OF MERCHANTABILITY, SATISFACTORY QUALITY, FITNESS FOR A
+** PARTICULAR PURPOSE, AND NON-INFRINGEMENT.
+** 
+** Original Code. The Original Code is: OpenGL Sample Implementation,
+** Version 1.2.1, released January 26, 2000, developed by Silicon Graphics,
+** Inc. The Original Code is Copyright (c) 1991-2000 Silicon Graphics, Inc.
+** Copyright in any portions created by third parties is as indicated
+** elsewhere herein. All Rights Reserved.
+** 
+** Additional Notice Provisions: This software was created using the
+** OpenGL(R) version 1.2.1 Sample Implementation published by SGI, but has
+** not been independently verified as being compliant with the OpenGL(R)
+** version 1.2.1 Specification.
+*/
+
+#if defined(_WIN32) && !defined(APIENTRY) && !defined(__CYGWIN__)
+#define WIN32_LEAN_AND_MEAN 1
+#include <windows.h>
+#else
+#include <GL/glx.h>
+#endif
+
+#ifndef APIENTRY
+#define APIENTRY
+#endif
+
+
+/*************************************************************/
+
+/* Header file version number, required by OpenGL ABI for Linux */
+#define GLX_GLXEXT_VERSION 2
+
+#ifndef GLX_VERSION_1_3
+#define GLX_WINDOW_BIT                     0x00000001
+#define GLX_PIXMAP_BIT                     0x00000002
+#define GLX_PBUFFER_BIT                    0x00000004
+#define GLX_RGBA_BIT                       0x00000001
+#define GLX_COLOR_INDEX_BIT                0x00000002
+#define GLX_PBUFFER_CLOBBER_MASK           0x08000000
+#define GLX_FRONT_LEFT_BUFFER_BIT          0x00000001
+#define GLX_FRONT_RIGHT_BUFFER_BIT         0x00000002
+#define GLX_BACK_LEFT_BUFFER_BIT           0x00000004
+#define GLX_BACK_RIGHT_BUFFER_BIT          0x00000008
+#define GLX_AUX_BUFFERS_BIT                0x00000010
+#define GLX_DEPTH_BUFFER_BIT               0x00000020
+#define GLX_STENCIL_BUFFER_BIT             0x00000040
+#define GLX_ACCUM_BUFFER_BIT               0x00000080
+#define GLX_CONFIG_CAVEAT                  0x20
+#define GLX_X_VISUAL_TYPE                  0x22
+#define GLX_TRANSPARENT_TYPE               0x23
+#define GLX_TRANSPARENT_INDEX_VALUE        0x24
+#define GLX_TRANSPARENT_RED_VALUE          0x25
+#define GLX_TRANSPARENT_GREEN_VALUE        0x26
+#define GLX_TRANSPARENT_BLUE_VALUE         0x27
+#define GLX_TRANSPARENT_ALPHA_VALUE        0x28
+#define GLX_DONT_CARE                      0xFFFFFFFF
+#define GLX_NONE                           0x8000
+#define GLX_SLOW_CONFIG                    0x8001
+#define GLX_TRUE_COLOR                     0x8002
+#define GLX_DIRECT_COLOR                   0x8003
+#define GLX_PSEUDO_COLOR                   0x8004
+#define GLX_STATIC_COLOR                   0x8005
+#define GLX_GRAY_SCALE                     0x8006
+#define GLX_STATIC_GRAY                    0x8007
+#define GLX_TRANSPARENT_RGB                0x8008
+#define GLX_TRANSPARENT_INDEX              0x8009
+#define GLX_VISUAL_ID                      0x800B
+#define GLX_SCREEN                         0x800C
+#define GLX_NON_CONFORMANT_CONFIG          0x800D
+#define GLX_DRAWABLE_TYPE                  0x8010
+#define GLX_RENDER_TYPE                    0x8011
+#define GLX_X_RENDERABLE                   0x8012
+#define GLX_FBCONFIG_ID                    0x8013
+#define GLX_RGBA_TYPE                      0x8014
+#define GLX_COLOR_INDEX_TYPE               0x8015
+#define GLX_MAX_PBUFFER_WIDTH              0x8016
+#define GLX_MAX_PBUFFER_HEIGHT             0x8017
+#define GLX_MAX_PBUFFER_PIXELS             0x8018
+#define GLX_PRESERVED_CONTENTS             0x801B
+#define GLX_LARGEST_PBUFFER                0x801C
+#define GLX_WIDTH                          0x801D
+#define GLX_HEIGHT                         0x801E
+#define GLX_EVENT_MASK                     0x801F
+#define GLX_DAMAGED                        0x8020
+#define GLX_SAVED                          0x8021
+#define GLX_WINDOW                         0x8022
+#define GLX_PBUFFER                        0x8023
+#define GLX_PBUFFER_HEIGHT                 0x8040
+#define GLX_PBUFFER_WIDTH                  0x8041
+#endif
+
+#ifndef GLX_EXT_visual_info
+#define GLX_X_VISUAL_TYPE_EXT              0x22
+#define GLX_TRANSPARENT_TYPE_EXT           0x23
+#define GLX_TRANSPARENT_INDEX_VALUE_EXT    0x24
+#define GLX_TRANSPARENT_RED_VALUE_EXT      0x25
+#define GLX_TRANSPARENT_GREEN_VALUE_EXT    0x26
+#define GLX_TRANSPARENT_BLUE_VALUE_EXT     0x27
+#define GLX_TRANSPARENT_ALPHA_VALUE_EXT    0x28
+#define GLX_NONE_EXT                       0x8000
+#define GLX_TRUE_COLOR_EXT                 0x8002
+#define GLX_DIRECT_COLOR_EXT               0x8003
+#define GLX_PSEUDO_COLOR_EXT               0x8004
+#define GLX_STATIC_COLOR_EXT               0x8005
+#define GLX_GRAY_SCALE_EXT                 0x8006
+#define GLX_STATIC_GRAY_EXT                0x8007
+#define GLX_TRANSPARENT_RGB_EXT            0x8008
+#define GLX_TRANSPARENT_INDEX_EXT          0x8009
+#endif
+
+#ifndef GLX_SGI_swap_control
+#endif
+
+#ifndef GLX_SGI_video_sync
+#endif
+
+#ifndef GLX_SGI_make_current_read
+#endif
+
+#ifndef GLX_SGIX_video_source
+#endif
+
+#ifndef GLX_EXT_visual_rating
+#define GLX_VISUAL_CAVEAT_EXT              0x20
+#define GLX_SLOW_VISUAL_EXT                0x8001
+#define GLX_NON_CONFORMANT_VISUAL_EXT      0x800D
+/* reuse GLX_NONE_EXT */
+#endif
+
+#ifndef GLX_EXT_import_context
+#define GLX_SHARE_CONTEXT_EXT              0x800A
+#define GLX_VISUAL_ID_EXT                  0x800B
+#define GLX_SCREEN_EXT                     0x800C
+#endif
+
+#ifndef GLX_SGIX_fbconfig
+#define GLX_WINDOW_BIT_SGIX                0x00000001
+#define GLX_PIXMAP_BIT_SGIX                0x00000002
+#define GLX_RGBA_BIT_SGIX                  0x00000001
+#define GLX_COLOR_INDEX_BIT_SGIX           0x00000002
+#define GLX_DRAWABLE_TYPE_SGIX             0x8010
+#define GLX_RENDER_TYPE_SGIX               0x8011
+#define GLX_X_RENDERABLE_SGIX              0x8012
+#define GLX_FBCONFIG_ID_SGIX               0x8013
+#define GLX_RGBA_TYPE_SGIX                 0x8014
+#define GLX_COLOR_INDEX_TYPE_SGIX          0x8015
+/* reuse GLX_SCREEN_EXT */
+#endif
+
+#ifndef GLX_SGIX_pbuffer
+#define GLX_PBUFFER_BIT_SGIX               0x00000004
+#define GLX_BUFFER_CLOBBER_MASK_SGIX       0x08000000
+#define GLX_FRONT_LEFT_BUFFER_BIT_SGIX     0x00000001
+#define GLX_FRONT_RIGHT_BUFFER_BIT_SGIX    0x00000002
+#define GLX_BACK_LEFT_BUFFER_BIT_SGIX      0x00000004
+#define GLX_BACK_RIGHT_BUFFER_BIT_SGIX     0x00000008
+#define GLX_AUX_BUFFERS_BIT_SGIX           0x00000010
+#define GLX_DEPTH_BUFFER_BIT_SGIX          0x00000020
+#define GLX_STENCIL_BUFFER_BIT_SGIX        0x00000040
+#define GLX_ACCUM_BUFFER_BIT_SGIX          0x00000080
+#define GLX_SAMPLE_BUFFERS_BIT_SGIX        0x00000100
+#define GLX_MAX_PBUFFER_WIDTH_SGIX         0x8016
+#define GLX_MAX_PBUFFER_HEIGHT_SGIX        0x8017
+#define GLX_MAX_PBUFFER_PIXELS_SGIX        0x8018
+#define GLX_OPTIMAL_PBUFFER_WIDTH_SGIX     0x8019
+#define GLX_OPTIMAL_PBUFFER_HEIGHT_SGIX    0x801A
+#define GLX_PRESERVED_CONTENTS_SGIX        0x801B
+#define GLX_LARGEST_PBUFFER_SGIX           0x801C
+#define GLX_WIDTH_SGIX                     0x801D
+#define GLX_HEIGHT_SGIX                    0x801E
+#define GLX_EVENT_MASK_SGIX                0x801F
+#define GLX_DAMAGED_SGIX                   0x8020
+#define GLX_SAVED_SGIX                     0x8021
+#define GLX_WINDOW_SGIX                    0x8022
+#define GLX_PBUFFER_SGIX                   0x8023
+#endif
+
+#ifndef GLX_SGI_cushion
+#endif
+
+#ifndef GLX_SGIX_video_resize
+#define GLX_SYNC_FRAME_SGIX                0x00000000
+#define GLX_SYNC_SWAP_SGIX                 0x00000001
+#endif
+
+#ifndef GLX_SGIX_dmbuffer
+#define GLX_DIGITAL_MEDIA_PBUFFER_SGIX     0x8024
+#endif
+
+#ifndef GLX_SGIX_swap_group
+#endif
+
+#ifndef GLX_SGIX_swap_barrier
+#endif
+
+#ifndef GLX_SGIS_blended_overlay
+#define GLX_BLENDED_RGBA_SGIS              0x8025
+#endif
+
+#ifndef GLX_SGIS_shared_multisample
+#define GLX_MULTISAMPLE_SUB_RECT_WIDTH_SGIS 0x8026
+#define GLX_MULTISAMPLE_SUB_RECT_HEIGHT_SGIS 0x8027
+#endif
+
+#ifndef GLX_SUN_get_transparent_index
+#endif
+
+#ifndef GLX_3DFX_multisample
+#define GLX_SAMPLE_BUFFERS_3DFX            0x8050
+#define GLX_SAMPLES_3DFX                   0x8051
+#endif
+
+#ifndef GLX_MESA_copy_sub_buffer
+#endif
+
+#ifndef GLX_MESA_pixmap_colormap
+#endif
+
+#ifndef GLX_MESA_release_buffers
+#endif
+
+#ifndef GLX_MESA_set_3dfx_mode
+#define GLX_3DFX_WINDOW_MODE_MESA          0x1
+#define GLX_3DFX_FULLSCREEN_MODE_MESA      0x2
+#endif
+
+
+/*************************************************************/
+
+#ifndef GLX_ARB_get_proc_address
+typedef void (*__GLXextFuncPtr)();
+#endif
+
+#ifndef GLX_SGIX_video_source
+typedef XID GLXVideoSourceSGIX;
+#endif
+
+#ifndef GLX_SGIX_fbconfig
+typedef XID GLXFBConfigIDSGIX;
+typedef struct __GLXFBConfigRec *GLXFBConfigSGIX;
+#endif
+
+#ifndef GLX_SGIX_pbuffer
+typedef XID GLXPbufferSGIX;
+typedef struct {
+    int type;
+    unsigned long serial;	  /* # of last request processed by server */
+    Bool send_event;		  /* true if this came for SendEvent request */
+    Display *display;		  /* display the event was read from */
+    GLXDrawable drawable;	  /* i.d. of Drawable */
+    int event_type;		  /* GLX_DAMAGED_SGIX or GLX_SAVED_SGIX */
+    int draw_type;		  /* GLX_WINDOW_SGIX or GLX_PBUFFER_SGIX */
+    unsigned int mask;	  /* mask indicating which buffers are affected*/
+    int x, y;
+    int width, height;
+    int count;		  /* if nonzero, at least this many more */
+} GLXBufferClobberEventSGIX;
+#endif
+
+#ifdef GL_NV_vertex_array_range
+#ifndef PFNGLXALLOCATEMEMORYNVPROC
+#ifdef GLX_GLXEXT_PROTOTYPES
+extern void *glXAllocateMemoryNV (GLsizei, GLfloat, GLfloat, GLfloat);
+#endif
+typedef void * ( * PFNGLXALLOCATEMEMORYNVPROC) (GLsizei, GLfloat, GLfloat, GLfloat);
+#endif
+#ifndef PFNGLXFREEMEMORYNVPROC
+#ifdef GLX_GLXEXT_PROTOTYPES
+extern void glXFreeMemoryNV (void *);
+#endif
+typedef void ( * PFNGLXFREEMEMORYNVPROC) (void *);
+#endif
+#endif
+
+#ifndef GLX_VERSION_1_3
+#define GLX_VERSION_1_3 1
+#ifdef GLX_GLXEXT_PROTOTYPES
+extern GLXFBConfig * glXGetFBConfigs (Display *, int, int *);
+extern GLXFBConfig * glXChooseFBConfig (Display *, int, const int *, int *);
+extern int glXGetFBConfigAttrib (Display *, GLXFBConfig, int, int *);
+extern XVisualInfo * glXGetVisualFromFBConfig (Display *, GLXFBConfig);
+extern GLXWindow glXCreateWindow (Display *, GLXFBConfig, Window, const int *);
+extern void glXDestroyWindow (Display *, GLXWindow);
+extern GLXPixmap glXCreatePixmap (Display *, GLXFBConfig, Pixmap, const int *);
+extern void glXDestroyPixmap (Display *, GLXPixmap);
+extern GLXPbuffer glXCreatePbuffer (Display *, GLXFBConfig, const int *);
+extern void glXDestroyPbuffer (Display *, GLXPbuffer);
+extern void glXQueryDrawable (Display *, GLXDrawable, int, unsigned int *);
+extern GLXContext glXCreateNewContext (Display *, GLXFBConfig, int, GLXContext, Bool);
+extern Bool glXMakeContextCurrent (Display *, GLXDrawable, GLXDrawable, GLXContext);
+extern GLXDrawable glXGetCurrentReadDrawable (void);
+extern Display * glXGetCurrentDisplay (void);
+extern int glXQueryContext (Display *, GLXContext, int, int *);
+extern void glXSelectEvent (Display *, GLXDrawable, unsigned long);
+extern void glXGetSelectedEvent (Display *, GLXDrawable, unsigned long *);
+#endif /* GLX_GLXEXT_PROTOTYPES */
+typedef GLXFBConfig * ( * PFNGLXGETFBCONFIGSPROC) (Display *dpy, int screen, int *nelements);
+typedef GLXFBConfig * ( * PFNGLXCHOOSEFBCONFIGPROC) (Display *dpy, int screen, const int *attrib_list, int *nelements);
+typedef int ( * PFNGLXGETFBCONFIGATTRIBPROC) (Display *dpy, GLXFBConfig config, int attribute, int *value);
+typedef XVisualInfo * ( * PFNGLXGETVISUALFROMFBCONFIGPROC) (Display *dpy, GLXFBConfig config);
+typedef GLXWindow ( * PFNGLXCREATEWINDOWPROC) (Display *dpy, GLXFBConfig config, Window win, const int *attrib_list);
+typedef void ( * PFNGLXDESTROYWINDOWPROC) (Display *dpy, GLXWindow win);
+typedef GLXPixmap ( * PFNGLXCREATEPIXMAPPROC) (Display *dpy, GLXFBConfig config, Pixmap pixmap, const int *attrib_list);
+typedef void ( * PFNGLXDESTROYPIXMAPPROC) (Display *dpy, GLXPixmap pixmap);
+typedef GLXPbuffer ( * PFNGLXCREATEPBUFFERPROC) (Display *dpy, GLXFBConfig config, const int *attrib_list);
+typedef void ( * PFNGLXDESTROYPBUFFERPROC) (Display *dpy, GLXPbuffer pbuf);
+typedef void ( * PFNGLXQUERYDRAWABLEPROC) (Display *dpy, GLXDrawable draw, int attribute, unsigned int *value);
+typedef GLXContext ( * PFNGLXCREATENEWCONTEXTPROC) (Display *dpy, GLXFBConfig config, int render_type, GLXContext share_list, Bool direct);
+typedef Bool ( * PFNGLXMAKECONTEXTCURRENTPROC) (Display *dpy, GLXDrawable draw, GLXDrawable read, GLXContext ctx);
+typedef GLXDrawable ( * PFNGLXGETCURRENTREADDRAWABLEPROC) (void);
+typedef Display * ( * PFNGLXGETCURRENTDISPLAYPROC) (void);
+typedef int ( * PFNGLXQUERYCONTEXTPROC) (Display *dpy, GLXContext ctx, int attribute, int *value);
+typedef void ( * PFNGLXSELECTEVENTPROC) (Display *dpy, GLXDrawable draw, unsigned long event_mask);
+typedef void ( * PFNGLXGETSELECTEDEVENTPROC) (Display *dpy, GLXDrawable draw, unsigned long *event_mask);
+#endif
+
+#ifndef GLX_ARB_get_proc_address
+#define GLX_ARB_get_proc_address 1
+#ifdef GLX_GLXEXT_PROTOTYPES
+extern __GLXextFuncPtr glXGetProcAddressARB (const GLubyte *);
+#endif /* GLX_GLXEXT_PROTOTYPES */
+typedef __GLXextFuncPtr ( * PFNGLXGETPROCADDRESSARBPROC) (const GLubyte *procName);
+#endif
+
+#ifndef GLX_SGIS_multisample
+#define GLX_SGIS_multisample 1
+#endif
+
+#ifndef GLX_EXT_visual_info
+#define GLX_EXT_visual_info 1
+#endif
+
+#ifndef GLX_SGI_swap_control
+#define GLX_SGI_swap_control 1
+#ifdef GLX_GLXEXT_PROTOTYPES
+extern int glXSwapIntervalSGI (int);
+#endif /* GLX_GLXEXT_PROTOTYPES */
+typedef int ( * PFNGLXSWAPINTERVALSGIPROC) (int interval);
+#endif
+
+#ifndef GLX_SGI_video_sync
+#define GLX_SGI_video_sync 1
+#ifdef GLX_GLXEXT_PROTOTYPES
+extern int glXGetVideoSyncSGI (unsigned int *);
+extern int glXWaitVideoSyncSGI (int, int, unsigned int *);
+#endif /* GLX_GLXEXT_PROTOTYPES */
+typedef int ( * PFNGLXGETVIDEOSYNCSGIPROC) (unsigned int *count);
+typedef int ( * PFNGLXWAITVIDEOSYNCSGIPROC) (int divisor, int remainder, unsigned int *count);
+#endif
+
+#ifndef GLX_SGI_make_current_read
+#define GLX_SGI_make_current_read 1
+#ifdef GLX_GLXEXT_PROTOTYPES
+extern Bool glXMakeCurrentReadSGI (Display *, GLXDrawable, GLXDrawable, GLXContext);
+extern GLXDrawable glXGetCurrentReadDrawableSGI (void);
+#endif /* GLX_GLXEXT_PROTOTYPES */
+typedef Bool ( * PFNGLXMAKECURRENTREADSGIPROC) (Display *dpy, GLXDrawable draw, GLXDrawable read, GLXContext ctx);
+typedef GLXDrawable ( * PFNGLXGETCURRENTREADDRAWABLESGIPROC) (void);
+#endif
+
+#ifdef _VL_H
+#ifndef GLX_SGIX_video_source
+#define GLX_SGIX_video_source 1
+#ifdef GLX_GLXEXT_PROTOTYPES
+extern GLXVideoSourceSGIX glXCreateGLXVideoSourceSGIX (Display *, int, VLServer, VLPath, int, VLNode);
+extern void glXDestroyGLXVideoSourceSGIX (Display *, GLXVideoSourceSGIX);
+#endif /* GLX_GLXEXT_PROTOTYPES */
+typedef GLXVideoSourceSGIX ( * PFNGLXCREATEGLXVIDEOSOURCESGIXPROC) (Display *display, int screen, VLServer server, VLPath path, int nodeClass, VLNode drainNode);
+typedef void ( * PFNGLXDESTROYGLXVIDEOSOURCESGIXPROC) (Display *dpy, GLXVideoSourceSGIX glxvideosource);
+#endif
+
+#endif /* _VL_H */
+#ifndef GLX_EXT_visual_rating
+#define GLX_EXT_visual_rating 1
+#endif
+
+#ifndef GLX_EXT_import_context
+#define GLX_EXT_import_context 1
+#ifdef GLX_GLXEXT_PROTOTYPES
+extern Display * glXGetCurrentDisplayEXT (void);
+extern int glXQueryContextInfoEXT (Display *, GLXContext, int, int *);
+extern GLXContextID glXGetContextIDEXT (GLXContext);
+extern GLXContext glXImportContextEXT (Display *, GLXContextID);
+extern void glXFreeContextEXT (Display *, GLXContext);
+#endif /* GLX_GLXEXT_PROTOTYPES */
+typedef Display * ( * PFNGLXGETCURRENTDISPLAYEXTPROC) (void);
+typedef int ( * PFNGLXQUERYCONTEXTINFOEXTPROC) (Display *dpy, GLXContext context, int attribute, int *value);
+typedef GLXContextID ( * PFNGLXGETCONTEXTIDEXTPROC) (GLXContext context);
+typedef GLXContext ( * PFNGLXIMPORTCONTEXTEXTPROC) (Display *dpy, GLXContextID contextID);
+typedef void ( * PFNGLXFREECONTEXTEXTPROC) (Display *dpy, GLXContext context);
+#endif
+
+#ifndef GLX_SGIX_fbconfig
+#define GLX_SGIX_fbconfig 1
+#ifdef GLX_GLXEXT_PROTOTYPES
+extern int glXGetFBConfigAttribSGIX (Display *, GLXFBConfigSGIX, int, int *);
+extern GLXFBConfigSGIX * glXChooseFBConfigSGIX (Display *, int, int *, int *);
+extern GLXPixmap glXCreateGLXPixmapWithConfigSGIX (Display *, GLXFBConfigSGIX, Pixmap);
+extern GLXContext glXCreateContextWithConfigSGIX (Display *, GLXFBConfigSGIX, int, GLXContext, Bool);
+extern XVisualInfo * glXGetVisualFromFBConfigSGIX (Display *, GLXFBConfigSGIX);
+extern GLXFBConfigSGIX glXGetFBConfigFromVisualSGIX (Display *, XVisualInfo *);
+#endif /* GLX_GLXEXT_PROTOTYPES */
+typedef int ( * PFNGLXGETFBCONFIGATTRIBSGIXPROC) (Display *dpy, GLXFBConfigSGIX config, int attribute, int *value);
+typedef GLXFBConfigSGIX * ( * PFNGLXCHOOSEFBCONFIGSGIXPROC) (Display *dpy, int screen, int *attrib_list, int *nelements);
+typedef GLXPixmap ( * PFNGLXCREATEGLXPIXMAPWITHCONFIGSGIXPROC) (Display *dpy, GLXFBConfigSGIX config, Pixmap pixmap);
+typedef GLXContext ( * PFNGLXCREATECONTEXTWITHCONFIGSGIXPROC) (Display *dpy, GLXFBConfigSGIX config, int render_type, GLXContext share_list, Bool direct);
+typedef XVisualInfo * ( * PFNGLXGETVISUALFROMFBCONFIGSGIXPROC) (Display *dpy, GLXFBConfigSGIX config);
+typedef GLXFBConfigSGIX ( * PFNGLXGETFBCONFIGFROMVISUALSGIXPROC) (Display *dpy, XVisualInfo *vis);
+#endif
+
+#ifndef GLX_SGIX_pbuffer
+#define GLX_SGIX_pbuffer 1
+#ifdef GLX_GLXEXT_PROTOTYPES
+extern GLXPbufferSGIX glXCreateGLXPbufferSGIX (Display *, GLXFBConfigSGIX, unsigned int, unsigned int, int *);
+extern void glXDestroyGLXPbufferSGIX (Display *, GLXPbufferSGIX);
+extern int glXQueryGLXPbufferSGIX (Display *, GLXPbufferSGIX, int, unsigned int *);
+extern void glXSelectEventSGIX (Display *, GLXDrawable, unsigned long);
+extern void glXGetSelectedEventSGIX (Display *, GLXDrawable, unsigned long *);
+#endif /* GLX_GLXEXT_PROTOTYPES */
+typedef GLXPbufferSGIX ( * PFNGLXCREATEGLXPBUFFERSGIXPROC) (Display *dpy, GLXFBConfigSGIX config, unsigned int width, unsigned int height, int *attrib_list);
+typedef void ( * PFNGLXDESTROYGLXPBUFFERSGIXPROC) (Display *dpy, GLXPbufferSGIX pbuf);
+typedef int ( * PFNGLXQUERYGLXPBUFFERSGIXPROC) (Display *dpy, GLXPbufferSGIX pbuf, int attribute, unsigned int *value);
+typedef void ( * PFNGLXSELECTEVENTSGIXPROC) (Display *dpy, GLXDrawable drawable, unsigned long mask);
+typedef void ( * PFNGLXGETSELECTEDEVENTSGIXPROC) (Display *dpy, GLXDrawable drawable, unsigned long *mask);
+#endif
+
+#ifndef GLX_SGI_cushion
+#define GLX_SGI_cushion 1
+#ifdef GLX_GLXEXT_PROTOTYPES
+extern void glXCushionSGI (Display *, Window, float);
+#endif /* GLX_GLXEXT_PROTOTYPES */
+typedef void ( * PFNGLXCUSHIONSGIPROC) (Display *dpy, Window window, float cushion);
+#endif
+
+#ifndef GLX_SGIX_video_resize
+#define GLX_SGIX_video_resize 1
+#ifdef GLX_GLXEXT_PROTOTYPES
+extern int glXBindChannelToWindowSGIX (Display *, int, int, Window);
+extern int glXChannelRectSGIX (Display *, int, int, int, int, int, int);
+extern int glXQueryChannelRectSGIX (Display *, int, int, int *, int *, int *, int *);
+extern int glXQueryChannelDeltasSGIX (Display *, int, int, int *, int *, int *, int *);
+extern int glXChannelRectSyncSGIX (Display *, int, int, GLenum);
+#endif /* GLX_GLXEXT_PROTOTYPES */
+typedef int ( * PFNGLXBINDCHANNELTOWINDOWSGIXPROC) (Display *display, int screen, int channel, Window window);
+typedef int ( * PFNGLXCHANNELRECTSGIXPROC) (Display *display, int screen, int channel, int x, int y, int w, int h);
+typedef int ( * PFNGLXQUERYCHANNELRECTSGIXPROC) (Display *display, int screen, int channel, int *dx, int *dy, int *dw, int *dh);
+typedef int ( * PFNGLXQUERYCHANNELDELTASSGIXPROC) (Display *display, int screen, int channel, int *x, int *y, int *w, int *h);
+typedef int ( * PFNGLXCHANNELRECTSYNCSGIXPROC) (Display *display, int screen, int channel, GLenum synctype);
+#endif
+
+#ifdef _DM_BUFFER_H_
+#ifndef GLX_SGIX_dmbuffer
+#define GLX_SGIX_dmbuffer 1
+#ifdef GLX_GLXEXT_PROTOTYPES
+extern Bool glXAssociateDMPbufferSGIX (Display *, GLXPbufferSGIX, DMparams *, DMbuffer);
+#endif /* GLX_GLXEXT_PROTOTYPES */
+typedef Bool ( * PFNGLXASSOCIATEDMPBUFFERSGIXPROC) (Display *dpy, GLXPbufferSGIX pbuffer, DMparams *params, DMbuffer dmbuffer);
+#endif
+
+#endif /* _DM_BUFFER_H_ */
+#ifndef GLX_SGIX_swap_group
+#define GLX_SGIX_swap_group 1
+#ifdef GLX_GLXEXT_PROTOTYPES
+extern void glXJoinSwapGroupSGIX (Display *, GLXDrawable, GLXDrawable);
+#endif /* GLX_GLXEXT_PROTOTYPES */
+typedef void ( * PFNGLXJOINSWAPGROUPSGIXPROC) (Display *dpy, GLXDrawable drawable, GLXDrawable member);
+#endif
+
+#ifndef GLX_SGIX_swap_barrier
+#define GLX_SGIX_swap_barrier 1
+#ifdef GLX_GLXEXT_PROTOTYPES
+extern void glXBindSwapBarrierSGIX (Display *, GLXDrawable, int);
+extern Bool glXQueryMaxSwapBarriersSGIX (Display *, int, int *);
+#endif /* GLX_GLXEXT_PROTOTYPES */
+typedef void ( * PFNGLXBINDSWAPBARRIERSGIXPROC) (Display *dpy, GLXDrawable drawable, int barrier);
+typedef Bool ( * PFNGLXQUERYMAXSWAPBARRIERSSGIXPROC) (Display *dpy, int screen, int *max);
+#endif
+
+#ifndef GLX_SUN_get_transparent_index
+#define GLX_SUN_get_transparent_index 1
+#ifdef GLX_GLXEXT_PROTOTYPES
+extern Status glXGetTransparentIndexSUN (Display *, Window, Window, long *);
+#endif /* GLX_GLXEXT_PROTOTYPES */
+typedef Status ( * PFNGLXGETTRANSPARENTINDEXSUNPROC) (Display *dpy, Window overlay, Window underlay, long *pTransparentIndex);
+#endif
+
+#ifndef GLX_MESA_copy_sub_buffer
+#define GLX_MESA_copy_sub_buffer 1
+#ifdef GLX_GLXEXT_PROTOTYPES
+extern void glXCopySubBufferMESA (Display *, GLXDrawable, int, int, int, int);
+#endif /* GLX_GLXEXT_PROTOTYPES */
+typedef void ( * PFNGLXCOPYSUBBUFFERMESAPROC) (Display *dpy, GLXDrawable drawable, int x, int y, int width, int height);
+#endif
+
+#ifndef GLX_MESA_pixmap_colormap
+#define GLX_MESA_pixmap_colormap 1
+#ifdef GLX_GLXEXT_PROTOTYPES
+extern GLXPixmap glXCreateGLXPixmapMESA (Display *, XVisualInfo *, Pixmap, Colormap);
+#endif /* GLX_GLXEXT_PROTOTYPES */
+typedef GLXPixmap ( * PFNGLXCREATEGLXPIXMAPMESAPROC) (Display *dpy, XVisualInfo *visual, Pixmap pixmap, Colormap cmap);
+#endif
+
+#ifndef GLX_MESA_release_buffers
+#define GLX_MESA_release_buffers 1
+#ifdef GLX_GLXEXT_PROTOTYPES
+extern Bool glXReleaseBuffersMESA (Display *, GLXDrawable);
+#endif /* GLX_GLXEXT_PROTOTYPES */
+typedef Bool ( * PFNGLXRELEASEBUFFERSMESAPROC) (Display *dpy, GLXDrawable drawable);
+#endif
+
+#ifndef GLX_MESA_set_3dfx_mode
+#define GLX_MESA_set_3dfx_mode 1
+#ifdef GLX_GLXEXT_PROTOTYPES
+extern Bool glXSet3DfxModeMESA (int);
+#endif /* GLX_GLXEXT_PROTOTYPES */
+typedef Bool ( * PFNGLXSET3DFXMODEMESAPROC) (int mode);
+#endif
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+

Code/Physics/Glut/GL/wglext.h

@@ -0,0 +1,466 @@
+#ifndef __wglext_h_
+#define __wglext_h_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+** License Applicability. Except to the extent portions of this file are
+** made subject to an alternative license as permitted in the SGI Free
+** Software License B, Version 1.1 (the "License"), the contents of this
+** file are subject only to the provisions of the License. You may not use
+** this file except in compliance with the License. You may obtain a copy
+** of the License at Silicon Graphics, Inc., attn: Legal Services, 1600
+** Amphitheatre Parkway, Mountain View, CA 94043-1351, or at:
+** 
+** http://oss.sgi.com/projects/FreeB
+** 
+** Note that, as provided in the License, the Software is distributed on an
+** "AS IS" basis, with ALL EXPRESS AND IMPLIED WARRANTIES AND CONDITIONS
+** DISCLAIMED, INCLUDING, WITHOUT LIMITATION, ANY IMPLIED WARRANTIES AND
+** CONDITIONS OF MERCHANTABILITY, SATISFACTORY QUALITY, FITNESS FOR A
+** PARTICULAR PURPOSE, AND NON-INFRINGEMENT.
+** 
+** Original Code. The Original Code is: OpenGL Sample Implementation,
+** Version 1.2.1, released January 26, 2000, developed by Silicon Graphics,
+** Inc. The Original Code is Copyright (c) 1991-2000 Silicon Graphics, Inc.
+** Copyright in any portions created by third parties is as indicated
+** elsewhere herein. All Rights Reserved.
+** 
+** Additional Notice Provisions: This software was created using the
+** OpenGL(R) version 1.2.1 Sample Implementation published by SGI, but has
+** not been independently verified as being compliant with the OpenGL(R)
+** version 1.2.1 Specification.
+*/
+
+#if defined(_WIN32) && !defined(APIENTRY) && !defined(__CYGWIN__)
+#define WIN32_LEAN_AND_MEAN 1
+#include <windows.h>
+#endif
+
+#ifndef APIENTRY
+#define APIENTRY
+#endif
+
+/*************************************************************/
+
+/* Header file version number */
+#define WGL_WGLEXT_VERSION 1
+
+#ifndef WGL_ARB_buffer_region
+#define WGL_FRONT_COLOR_BUFFER_BIT_ARB 0x00000001
+#define WGL_BACK_COLOR_BUFFER_BIT_ARB  0x00000002
+#define WGL_DEPTH_BUFFER_BIT_ARB       0x00000004
+#define WGL_STENCIL_BUFFER_BIT_ARB     0x00000008
+#endif
+
+#ifndef WGL_ARB_extensions_string
+#endif
+
+#ifndef WGL_ARB_pixel_format
+#define WGL_NUMBER_PIXEL_FORMATS_ARB   0x2000
+#define WGL_DRAW_TO_WINDOW_ARB         0x2001
+#define WGL_DRAW_TO_BITMAP_ARB         0x2002
+#define WGL_ACCELERATION_ARB           0x2003
+#define WGL_NEED_PALETTE_ARB           0x2004
+#define WGL_NEED_SYSTEM_PALETTE_ARB    0x2005
+#define WGL_SWAP_LAYER_BUFFERS_ARB     0x2006
+#define WGL_SWAP_METHOD_ARB            0x2007
+#define WGL_NUMBER_OVERLAYS_ARB        0x2008
+#define WGL_NUMBER_UNDERLAYS_ARB       0x2009
+#define WGL_TRANSPARENT_ARB            0x200A
+#define WGL_TRANSPARENT_RED_VALUE_ARB  0x2037
+#define WGL_TRANSPARENT_GREEN_VALUE_ARB 0x2038
+#define WGL_TRANSPARENT_BLUE_VALUE_ARB 0x2039
+#define WGL_TRANSPARENT_ALPHA_VALUE_ARB 0x203A
+#define WGL_TRANSPARENT_INDEX_VALUE_ARB 0x203B
+#define WGL_SHARE_DEPTH_ARB            0x200C
+#define WGL_SHARE_STENCIL_ARB          0x200D
+#define WGL_SHARE_ACCUM_ARB            0x200E
+#define WGL_SUPPORT_GDI_ARB            0x200F
+#define WGL_SUPPORT_OPENGL_ARB         0x2010
+#define WGL_DOUBLE_BUFFER_ARB          0x2011
+#define WGL_STEREO_ARB                 0x2012
+#define WGL_PIXEL_TYPE_ARB             0x2013
+#define WGL_COLOR_BITS_ARB             0x2014
+#define WGL_RED_BITS_ARB               0x2015
+#define WGL_RED_SHIFT_ARB              0x2016
+#define WGL_GREEN_BITS_ARB             0x2017
+#define WGL_GREEN_SHIFT_ARB            0x2018
+#define WGL_BLUE_BITS_ARB              0x2019
+#define WGL_BLUE_SHIFT_ARB             0x201A
+#define WGL_ALPHA_BITS_ARB             0x201B
+#define WGL_ALPHA_SHIFT_ARB            0x201C
+#define WGL_ACCUM_BITS_ARB             0x201D
+#define WGL_ACCUM_RED_BITS_ARB         0x201E
+#define WGL_ACCUM_GREEN_BITS_ARB       0x201F
+#define WGL_ACCUM_BLUE_BITS_ARB        0x2020
+#define WGL_ACCUM_ALPHA_BITS_ARB       0x2021
+#define WGL_DEPTH_BITS_ARB             0x2022
+#define WGL_STENCIL_BITS_ARB           0x2023
+#define WGL_AUX_BUFFERS_ARB            0x2024
+#define WGL_NO_ACCELERATION_ARB        0x2025
+#define WGL_GENERIC_ACCELERATION_ARB   0x2026
+#define WGL_FULL_ACCELERATION_ARB      0x2027
+#define WGL_SWAP_EXCHANGE_ARB          0x2028
+#define WGL_SWAP_COPY_ARB              0x2029
+#define WGL_SWAP_UNDEFINED_ARB         0x202A
+#define WGL_TYPE_RGBA_ARB              0x202B
+#define WGL_TYPE_COLORINDEX_ARB        0x202C
+#endif
+
+#ifndef WGL_ARB_make_current_read
+#define ERROR_INVALID_PIXEL_TYPE_ARB   0x2043
+#define ERROR_INCOMPATIBLE_DEVICE_CONTEXTS_ARB 0x2054
+#endif
+
+#ifndef WGL_ARB_pbuffer
+#define WGL_DRAW_TO_PBUFFER_ARB        0x202D
+#define WGL_MAX_PBUFFER_PIXELS_ARB     0x202E
+#define WGL_MAX_PBUFFER_WIDTH_ARB      0x202F
+#define WGL_MAX_PBUFFER_HEIGHT_ARB     0x2030
+#define WGL_PBUFFER_LARGEST_ARB        0x2033
+#define WGL_PBUFFER_WIDTH_ARB          0x2034
+#define WGL_PBUFFER_HEIGHT_ARB         0x2035
+#define WGL_PBUFFER_LOST_ARB           0x2036
+#endif
+
+#ifndef WGL_ARB_render_texture
+#define WGL_BIND_TO_TEXTURE_RGB_ARB        0x2070
+#define WGL_BIND_TO_TEXTURE_RGBA_ARB       0x2071
+#define WGL_TEXTURE_FORMAT_ARB             0x2072
+#define WGL_TEXTURE_TARGET_ARB             0x2073
+#define WGL_MIPMAP_TEXTURE_ARB             0x2074
+#define WGL_TEXTURE_RGB_ARB                0x2075
+#define WGL_TEXTURE_RGBA_ARB               0x2076
+#define WGL_NO_TEXTURE_ARB                 0x2077
+#define WGL_TEXTURE_CUBE_MAP_ARB           0x2078
+#define WGL_TEXTURE_1D_ARB                 0x2079
+#define WGL_TEXTURE_2D_ARB                 0x207A
+#define WGL_MIPMAP_LEVEL_ARB               0x207B
+#define WGL_CUBE_MAP_FACE_ARB              0x207C
+#define WGL_TEXTURE_CUBE_MAP_POSITIVE_X_ARB 0x207D
+#define WGL_TEXTURE_CUBE_MAP_NEGATIVE_X_ARB 0x207E
+#define WGL_TEXTURE_CUBE_MAP_POSITIVE_Y_ARB 0x207F
+#define WGL_TEXTURE_CUBE_MAP_NEGATIVE_Y_ARB 0x2080
+#define WGL_TEXTURE_CUBE_MAP_POSITIVE_Z_ARB 0x2081
+#define WGL_TEXTURE_CUBE_MAP_NEGATIVE_Z_ARB 0x2082
+#define WGL_FRONT_LEFT_ARB                 0x2083
+#define WGL_FRONT_RIGHT_ARB                0x2084
+#define WGL_BACK_LEFT_ARB                  0x2085
+#define WGL_BACK_RIGHT_ARB                 0x2086
+#define WGL_AUX0_ARB                       0x2087
+#define WGL_AUX1_ARB                       0x2088
+#define WGL_AUX2_ARB                       0x2089
+#define WGL_AUX3_ARB                       0x208A
+#define WGL_AUX4_ARB                       0x208B
+#define WGL_AUX5_ARB                       0x208C
+#define WGL_AUX6_ARB                       0x208D
+#define WGL_AUX7_ARB                       0x208E
+#define WGL_AUX8_ARB                       0x208F
+#define WGL_AUX9_ARB                       0x2090
+#endif
+
+#ifndef WGL_EXT_make_current_read
+#define ERROR_INVALID_PIXEL_TYPE_EXT   0x2043
+#endif
+
+#ifndef WGL_EXT_pixel_format
+#define WGL_NUMBER_PIXEL_FORMATS_EXT   0x2000
+#define WGL_DRAW_TO_WINDOW_EXT         0x2001
+#define WGL_DRAW_TO_BITMAP_EXT         0x2002
+#define WGL_ACCELERATION_EXT           0x2003
+#define WGL_NEED_PALETTE_EXT           0x2004
+#define WGL_NEED_SYSTEM_PALETTE_EXT    0x2005
+#define WGL_SWAP_LAYER_BUFFERS_EXT     0x2006
+#define WGL_SWAP_METHOD_EXT            0x2007
+#define WGL_NUMBER_OVERLAYS_EXT        0x2008
+#define WGL_NUMBER_UNDERLAYS_EXT       0x2009
+#define WGL_TRANSPARENT_EXT            0x200A
+#define WGL_TRANSPARENT_VALUE_EXT      0x200B
+#define WGL_SHARE_DEPTH_EXT            0x200C
+#define WGL_SHARE_STENCIL_EXT          0x200D
+#define WGL_SHARE_ACCUM_EXT            0x200E
+#define WGL_SUPPORT_GDI_EXT            0x200F
+#define WGL_SUPPORT_OPENGL_EXT         0x2010
+#define WGL_DOUBLE_BUFFER_EXT          0x2011
+#define WGL_STEREO_EXT                 0x2012
+#define WGL_PIXEL_TYPE_EXT             0x2013
+#define WGL_COLOR_BITS_EXT             0x2014
+#define WGL_RED_BITS_EXT               0x2015
+#define WGL_RED_SHIFT_EXT              0x2016
+#define WGL_GREEN_BITS_EXT             0x2017
+#define WGL_GREEN_SHIFT_EXT            0x2018
+#define WGL_BLUE_BITS_EXT              0x2019
+#define WGL_BLUE_SHIFT_EXT             0x201A
+#define WGL_ALPHA_BITS_EXT             0x201B
+#define WGL_ALPHA_SHIFT_EXT            0x201C
+#define WGL_ACCUM_BITS_EXT             0x201D
+#define WGL_ACCUM_RED_BITS_EXT         0x201E
+#define WGL_ACCUM_GREEN_BITS_EXT       0x201F
+#define WGL_ACCUM_BLUE_BITS_EXT        0x2020
+#define WGL_ACCUM_ALPHA_BITS_EXT       0x2021
+#define WGL_DEPTH_BITS_EXT             0x2022
+#define WGL_STENCIL_BITS_EXT           0x2023
+#define WGL_AUX_BUFFERS_EXT            0x2024
+#define WGL_NO_ACCELERATION_EXT        0x2025
+#define WGL_GENERIC_ACCELERATION_EXT   0x2026
+#define WGL_FULL_ACCELERATION_EXT      0x2027
+#define WGL_SWAP_EXCHANGE_EXT          0x2028
+#define WGL_SWAP_COPY_EXT              0x2029
+#define WGL_SWAP_UNDEFINED_EXT         0x202A
+#define WGL_TYPE_RGBA_EXT              0x202B
+#define WGL_TYPE_COLORINDEX_EXT        0x202C
+#endif
+
+#ifndef WGL_EXT_pbuffer
+#define WGL_DRAW_TO_PBUFFER_EXT        0x202D
+#define WGL_MAX_PBUFFER_PIXELS_EXT     0x202E
+#define WGL_MAX_PBUFFER_WIDTH_EXT      0x202F
+#define WGL_MAX_PBUFFER_HEIGHT_EXT     0x2030
+#define WGL_OPTIMAL_PBUFFER_WIDTH_EXT  0x2031
+#define WGL_OPTIMAL_PBUFFER_HEIGHT_EXT 0x2032
+#define WGL_PBUFFER_LARGEST_EXT        0x2033
+#define WGL_PBUFFER_WIDTH_EXT          0x2034
+#define WGL_PBUFFER_HEIGHT_EXT         0x2035
+#endif
+
+#ifndef WGL_EXT_depth_float
+#define WGL_DEPTH_FLOAT_EXT            0x2040
+#endif
+
+#ifndef WGL_NV_render_texture_rectangle
+#define WGL_BIND_TO_TEXTURE_RECTANGLE_RGB_NV    0x20A0
+#define WGL_BIND_TO_TEXTURE_RECTANGLE_RGBA_NV   0x20A1
+#define WGL_TEXTURE_RECTANGLE_NV                0x20A2
+#endif
+
+#ifndef WGL_NV_render_depth_texture
+#define WGL_TEXTURE_DEPTH_COMPONENT_NV          0x20A6
+#define WGL_DEPTH_TEXTURE_FORMAT_NV             0x20A5
+#define WGL_BIND_TO_TEXTURE_DEPTH_NV            0x20A3
+#define WGL_BIND_TO_TEXTURE_RECTANGLE_DEPTH_NV  0x20A4
+#define WGL_DEPTH_COMPONENT_NV                  0x20A7
+#endif
+
+#ifndef WGL_3DFX_multisample
+#define WGL_SAMPLE_BUFFERS_3DFX        0x2060
+#define WGL_SAMPLES_3DFX               0x2061
+#endif
+
+#ifndef WGL_EXT_multisample
+#define WGL_SAMPLE_BUFFERS_EXT         0x2041
+#define WGL_SAMPLES_EXT                0x2042
+#endif
+
+#ifndef WGL_I3D_unknown_genlock_extension_name
+#define WGL_GENLOCK_SOURCE_MULTIVIEW_I3D 0x2044
+#define WGL_GENLOCK_SOURCE_EXTENAL_SYNC_I3D 0x2045
+#define WGL_GENLOCK_SOURCE_EXTENAL_FIELD_I3D 0x2046
+#define WGL_GENLOCK_SOURCE_EXTENAL_TTL_I3D 0x2047
+#define WGL_GENLOCK_SOURCE_DIGITAL_SYNC_I3D 0x2048
+#define WGL_GENLOCK_SOURCE_DIGITAL_FIELD_I3D 0x2049
+#define WGL_GENLOCK_SOURCE_EDGE_FALLING_I3D 0x204A
+#define WGL_GENLOCK_SOURCE_EDGE_RISING_I3D 0x204B
+#define WGL_GENLOCK_SOURCE_EDGE_BOTH_I3D 0x204C
+#endif
+
+#ifndef WGL_I3D_unknown_gamma_extension_name
+#define WGL_GAMMA_TABLE_SIZE_I3D       0x204E
+#define WGL_GAMMA_EXCLUDE_DESKTOP_I3D  0x204F
+#endif
+
+#ifndef WGL_I3D_unknown_digital_video_cursor_extension_name
+#define WGL_DIGITAL_VIDEO_CURSOR_ALPHA_FRAMEBUFFER_I3D 0x2050
+#define WGL_DIGITAL_VIDEO_CURSOR_ALPHA_VALUE_I3D 0x2051
+#define WGL_DIGITAL_VIDEO_CURSOR_INCLUDED_I3D 0x2052
+#define WGL_DIGITAL_VIDEO_GAMMA_CORRECTED_I3D 0x2053
+#endif
+
+
+/*************************************************************/
+
+#ifndef WGL_ARB_pbuffer
+DECLARE_HANDLE(HPBUFFERARB);
+#endif
+#ifndef WGL_EXT_pbuffer
+DECLARE_HANDLE(HPBUFFEREXT);
+#endif
+
+#ifndef WGL_ARB_buffer_region
+#define WGL_ARB_buffer_region 1
+#ifdef WGL_WGLEXT_PROTOTYPES
+extern HANDLE WINAPI wglCreateBufferRegionARB (HDC, int, UINT);
+extern VOID WINAPI wglDeleteBufferRegionARB (HANDLE);
+extern BOOL WINAPI wglSaveBufferRegionARB (HANDLE, int, int, int, int);
+extern BOOL WINAPI wglRestoreBufferRegionARB (HANDLE, int, int, int, int, int, int);
+#endif /* WGL_WGLEXT_PROTOTYPES */
+typedef HANDLE (WINAPI * PFNWGLCREATEBUFFERREGIONARBPROC) (HDC hDC, int iLayerPlane, UINT uType);
+typedef VOID (WINAPI * PFNWGLDELETEBUFFERREGIONARBPROC) (HANDLE hRegion);
+typedef BOOL (WINAPI * PFNWGLSAVEBUFFERREGIONARBPROC) (HANDLE hRegion, int x, int y, int width, int height);
+typedef BOOL (WINAPI * PFNWGLRESTOREBUFFERREGIONARBPROC) (HANDLE hRegion, int x, int y, int width, int height, int xSrc, int ySrc);
+#endif
+
+#ifndef WGL_ARB_extensions_string
+#define WGL_ARB_extensions_string 1
+#ifdef WGL_WGLEXT_PROTOTYPES
+extern const char * WINAPI wglGetExtensionsStringARB (HDC);
+#endif /* WGL_WGLEXT_PROTOTYPES */
+typedef const char * (WINAPI * PFNWGLGETEXTENSIONSSTRINGARBPROC) (HDC hdc);
+#endif
+
+#ifndef WGL_ARB_pixel_format
+#define WGL_ARB_pixel_format 1
+#ifdef WGL_WGLEXT_PROTOTYPES
+extern BOOL WINAPI wglGetPixelFormatAttribivARB (HDC, int, int, UINT, const int *, int *);
+extern BOOL WINAPI wglGetPixelFormatAttribfvARB (HDC, int, int, UINT, const int *, FLOAT *);
+extern BOOL WINAPI wglChoosePixelFormatARB (HDC, const int *, const FLOAT *, UINT, int *, UINT *);
+#endif /* WGL_WGLEXT_PROTOTYPES */
+typedef BOOL (WINAPI * PFNWGLGETPIXELFORMATATTRIBIVARBPROC) (HDC hdc, int iPixelFormat, int iLayerPlane, UINT nAttributes, const int *piAttributes, int *piValues);
+typedef BOOL (WINAPI * PFNWGLGETPIXELFORMATATTRIBFVARBPROC) (HDC hdc, int iPixelFormat, int iLayerPlane, UINT nAttributes, const int *piAttributes, FLOAT *pfValues);
+typedef BOOL (WINAPI * PFNWGLCHOOSEPIXELFORMATARBPROC) (HDC hdc, const int *piAttribIList, const FLOAT *pfAttribFList, UINT nMaxFormats, int *piFormats, UINT *nNumFormats);
+#endif
+
+#ifndef WGL_ARB_make_current_read
+#define WGL_ARB_make_current_read 1
+#ifdef WGL_WGLEXT_PROTOTYPES
+extern BOOL WINAPI wglMakeContextCurrentARB (HDC, HDC, HGLRC);
+extern HDC WINAPI wglGetCurrentReadDCARB (void);
+#endif /* WGL_WGLEXT_PROTOTYPES */
+typedef BOOL (WINAPI * PFNWGLMAKECONTEXTCURRENTARBPROC) (HDC hDrawDC, HDC hReadDC, HGLRC hglrc);
+typedef HDC (WINAPI * PFNWGLGETCURRENTREADDCARBPROC) (void);
+#endif
+
+#ifndef WGL_ARB_pbuffer
+#define WGL_ARB_pbuffer 1
+#ifdef WGL_WGLEXT_PROTOTYPES
+extern HPBUFFERARB WINAPI wglCreatePbufferARB (HDC, int, int, int, const int *);
+extern HDC WINAPI wglGetPbufferDCARB (HPBUFFERARB);
+extern int WINAPI wglReleasePbufferDCARB (HPBUFFERARB, HDC);
+extern BOOL WINAPI wglDestroyPbufferARB (HPBUFFERARB);
+extern BOOL WINAPI wglQueryPbufferARB (HPBUFFERARB, int, int *);
+#endif /* WGL_WGLEXT_PROTOTYPES */
+typedef HPBUFFERARB (WINAPI * PFNWGLCREATEPBUFFERARBPROC) (HDC hDC, int iPixelFormat, int iWidth, int iHeight, const int *piAttribList);
+typedef HDC (WINAPI * PFNWGLGETPBUFFERDCARBPROC) (HPBUFFERARB hPbuffer);
+typedef int (WINAPI * PFNWGLRELEASEPBUFFERDCARBPROC) (HPBUFFERARB hPbuffer, HDC hDC);
+typedef BOOL (WINAPI * PFNWGLDESTROYPBUFFERARBPROC) (HPBUFFERARB hPbuffer);
+typedef BOOL (WINAPI * PFNWGLQUERYPBUFFERARBPROC) (HPBUFFERARB hPbuffer, int iAttribute, int *piValue);
+#endif
+
+#ifndef WGL_EXT_display_color_table
+#define WGL_EXT_display_color_table 1
+#ifdef WGL_WGLEXT_PROTOTYPES
+extern GLboolean WINAPI wglCreateDisplayColorTableEXT (GLushort);
+extern GLboolean WINAPI wglLoadDisplayColorTableEXT (const GLushort *, GLuint);
+extern GLboolean WINAPI wglBindDisplayColorTableEXT (GLushort);
+extern VOID WINAPI wglDestroyDisplayColorTableEXT (GLushort);
+#endif /* WGL_WGLEXT_PROTOTYPES */
+typedef GLboolean (WINAPI * PFNWGLCREATEDISPLAYCOLORTABLEEXTPROC) (GLushort id);
+typedef GLboolean (WINAPI * PFNWGLLOADDISPLAYCOLORTABLEEXTPROC) (const GLushort *table, GLuint length);
+typedef GLboolean (WINAPI * PFNWGLBINDDISPLAYCOLORTABLEEXTPROC) (GLushort id);
+typedef VOID (WINAPI * PFNWGLDESTROYDISPLAYCOLORTABLEEXTPROC) (GLushort id);
+#endif
+
+#ifndef WGL_EXT_extensions_string
+#define WGL_EXT_extensions_string 1
+#ifdef WGL_WGLEXT_PROTOTYPES
+extern const char * WINAPI wglGetExtensionsStringEXT (void);
+#endif /* WGL_WGLEXT_PROTOTYPES */
+typedef const char * (WINAPI * PFNWGLGETEXTENSIONSSTRINGEXTPROC) (void);
+#endif
+
+#ifndef WGL_EXT_make_current_read
+#define WGL_EXT_make_current_read 1
+#ifdef WGL_WGLEXT_PROTOTYPES
+extern BOOL WINAPI wglMakeContextCurrentEXT (HDC, HDC, HGLRC);
+extern HDC WINAPI wglGetCurrentReadDCEXT (void);
+#endif /* WGL_WGLEXT_PROTOTYPES */
+typedef BOOL (WINAPI * PFNWGLMAKECONTEXTCURRENTEXTPROC) (HDC hDrawDC, HDC hReadDC, HGLRC hglrc);
+typedef HDC (WINAPI * PFNWGLGETCURRENTREADDCEXTPROC) (void);
+#endif
+
+#ifndef WGL_EXT_pbuffer
+#define WGL_EXT_pbuffer 1
+#ifdef WGL_WGLEXT_PROTOTYPES
+extern HPBUFFEREXT WINAPI wglCreatePbufferEXT (HDC, int, int, int, const int *);
+extern HDC WINAPI wglGetPbufferDCEXT (HPBUFFEREXT);
+extern int WINAPI wglReleasePbufferDCEXT (HPBUFFEREXT, HDC);
+extern BOOL WINAPI wglDestroyPbufferEXT (HPBUFFEREXT);
+extern BOOL WINAPI wglQueryPbufferEXT (HPBUFFEREXT, int, int *);
+#endif /* WGL_WGLEXT_PROTOTYPES */
+typedef HPBUFFEREXT (WINAPI * PFNWGLCREATEPBUFFEREXTPROC) (HDC hDC, int iPixelFormat, int iWidth, int iHeight, const int *piAttribList);
+typedef HDC (WINAPI * PFNWGLGETPBUFFERDCEXTPROC) (HPBUFFEREXT hPbuffer);
+typedef int (WINAPI * PFNWGLRELEASEPBUFFERDCEXTPROC) (HPBUFFEREXT hPbuffer, HDC hDC);
+typedef BOOL (WINAPI * PFNWGLDESTROYPBUFFEREXTPROC) (HPBUFFEREXT hPbuffer);
+typedef BOOL (WINAPI * PFNWGLQUERYPBUFFEREXTPROC) (HPBUFFEREXT hPbuffer, int iAttribute, int *piValue);
+#endif
+
+#ifndef WGL_EXT_pixel_format
+#define WGL_EXT_pixel_format 1
+#ifdef WGL_WGLEXT_PROTOTYPES
+extern BOOL WINAPI wglGetPixelFormatAttribivEXT (HDC, int, int, UINT, int *, int *);
+extern BOOL WINAPI wglGetPixelFormatAttribfvEXT (HDC, int, int, UINT, int *, FLOAT *);
+extern BOOL WINAPI wglChoosePixelFormatEXT (HDC, const int *, const FLOAT *, UINT, int *, UINT *);
+#endif /* WGL_WGLEXT_PROTOTYPES */
+typedef BOOL (WINAPI * PFNWGLGETPIXELFORMATATTRIBIVEXTPROC) (HDC hdc, int iPixelFormat, int iLayerPlane, UINT nAttributes, int *piAttributes, int *piValues);
+typedef BOOL (WINAPI * PFNWGLGETPIXELFORMATATTRIBFVEXTPROC) (HDC hdc, int iPixelFormat, int iLayerPlane, UINT nAttributes, int *piAttributes, FLOAT *pfValues);
+typedef BOOL (WINAPI * PFNWGLCHOOSEPIXELFORMATEXTPROC) (HDC hdc, const int *piAttribIList, const FLOAT *pfAttribFList, UINT nMaxFormats, int *piFormats, UINT *nNumFormats);
+#endif
+
+#ifndef WGL_EXT_swap_control
+#define WGL_EXT_swap_control 1
+#ifdef WGL_WGLEXT_PROTOTYPES
+extern BOOL WINAPI wglSwapIntervalEXT (int);
+extern int WINAPI wglGetSwapIntervalEXT (void);
+#endif /* WGL_WGLEXT_PROTOTYPES */
+typedef BOOL (WINAPI * PFNWGLSWAPINTERVALEXTPROC) (int interval);
+typedef int (WINAPI * PFNWGLGETSWAPINTERVALEXTPROC) (void);
+#endif
+
+#ifndef WGL_WGL_EXT_depth_float
+#define WGL_WGL_EXT_depth_float 1
+#endif
+
+#ifndef WGL_WGL_3DFX_multisample
+#define WGL_WGL_3DFX_multisample 1
+#endif
+
+#ifndef WGL_WGL_EXT_multisample
+#define WGL_WGL_EXT_multisample 1
+#endif
+
+/* added by Cass -- but this should already be in here! */
+#ifndef WGL_NV_allocate_memory
+#define WGL_NV_allocate_memory 1
+#ifdef WGL_WGLEXT_PROTOTYPES
+extern void * wglAllocateMemoryNV(int size, float readfreq, float writefreq, float priority);
+extern void wglFreeMemoryNV(void * pointer); 
+#endif
+typedef void * (APIENTRY * PFNWGLALLOCATEMEMORYNVPROC) (int size, float readfreq, float writefreq, float priority);
+typedef void (APIENTRY * PFNWGLFREEMEMORYNVPROC) (void *pointer);
+#endif
+
+/* WGL_ARB_render_texture */
+#ifndef WGL_ARB_render_texture
+#define WGL_ARB_render_texture 1
+typedef BOOL (WINAPI * PFNWGLBINDTEXIMAGEARBPROC) (HPBUFFERARB hPbuffer, int iBuffer);
+typedef BOOL (WINAPI * PFNWGLRELEASETEXIMAGEARBPROC) (HPBUFFERARB hPbuffer, int iBuffer);
+typedef BOOL (WINAPI * PFNWGLSETPBUFFERATTRIBARBPROC) (HPBUFFERARB hPbuffer, const int * piAttribList);
+#endif
+
+#ifndef WGL_NV_render_texture_rectangle
+#define WGL_NV_render_texture_rectangle 1
+#endif
+
+#ifndef WGL_NV_render_depth_texture
+#define WGL_NV_render_depth_texture 1
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+
+

Code/Physics/Glut/btGlutInclude.h

@@ -0,0 +1,43 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2011 Advanced Micro Devices, Inc.  http://bulletphysics.org
+
+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_GLUT_INCLUDE_H
+#define BT_GLUT_INCLUDE_H
+
+
+#ifdef _WIN32//for glut.h
+#include <windows.h>
+#endif
+
+//think different
+#if defined(__APPLE__) && !defined (VMDMESA)
+#include <OpenGL/OpenGL.h>
+#include <OpenGL/gl.h>
+#include <OpenGL/glu.h>
+#include <GLUT/glut.h>
+#else
+
+
+#ifdef _WINDOWS
+#include <windows.h>
+#include <GL/gl.h>
+#include <GL/glu.h>
+#else
+#include <GL/gl.h>
+#include <GL/glut.h>
+#endif //_WINDOWS
+#endif //APPLE
+
+#endif //BT_GLUT_INCLUDE_H

Code/Physics/LinearMath/CMakeFiles/generate.stamp

@@ -0,0 +1 @@
+# CMake generation timestamp file for this directory.

Code/Physics/LinearMath/CMakeFiles/generate.stamp.depend

@@ -0,0 +1,2 @@
+# CMake generation dependency list for this directory.
+C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/LinearMath/CMakeLists.txt

Code/Physics/LinearMath/INSTALL.vcxproj

@@ -0,0 +1,217 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup Label="ProjectConfigurations">
+    <ProjectConfiguration Include="Debug|Win32">
+      <Configuration>Debug</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|Win32">
+      <Configuration>Release</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="MinSizeRel|Win32">
+      <Configuration>MinSizeRel</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="RelWithDebInfo|Win32">
+      <Configuration>RelWithDebInfo</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+  </ItemGroup>
+  <PropertyGroup Label="Globals">
+    <ProjectGUID>{0A758B62-DE3C-493C-985D-39E48A384A7C}</ProjectGUID>
+    <Keyword>Win32Proj</Keyword>
+    <Platform>Win32</Platform>
+    <ProjectName>INSTALL</ProjectName>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
+    <ConfigurationType></ConfigurationType>
+    <UseOfMfc>false</UseOfMfc>
+    <CharacterSet>MultiByte</CharacterSet>
+    <PlatformToolset>v110</PlatformToolset>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+    <ConfigurationType></ConfigurationType>
+    <UseOfMfc>false</UseOfMfc>
+    <CharacterSet>MultiByte</CharacterSet>
+    <PlatformToolset>v110</PlatformToolset>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'" Label="Configuration">
+    <ConfigurationType></ConfigurationType>
+    <UseOfMfc>false</UseOfMfc>
+    <CharacterSet>MultiByte</CharacterSet>
+    <PlatformToolset>v110</PlatformToolset>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'" Label="Configuration">
+    <ConfigurationType></ConfigurationType>
+    <UseOfMfc>false</UseOfMfc>
+    <CharacterSet>MultiByte</CharacterSet>
+    <PlatformToolset>v110</PlatformToolset>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+  <ImportGroup Label="ExtensionSettings">
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />  </ImportGroup>
+  <PropertyGroup Label="UserMacros" />
+    <PropertyGroup>
+      <_ProjectFileVersion>10.0.20506.1</_ProjectFileVersion>
+      <IntDir Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">$(Platform)\$(Configuration)\$(ProjectName)\</IntDir>
+      <IntDir Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">$(Platform)\$(Configuration)\$(ProjectName)\</IntDir>
+      <IntDir Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">$(Platform)\$(Configuration)\$(ProjectName)\</IntDir>
+      <IntDir Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">$(Platform)\$(Configuration)\$(ProjectName)\</IntDir>
+    </PropertyGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <Midl>
+      <AdditionalIncludeDirectories>C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <OutputDirectory>$(IntDir)</OutputDirectory>
+      <HeaderFileName>%(Filename).h</HeaderFileName>
+      <TypeLibraryName>%(Filename).tlb</TypeLibraryName>
+      <InterfaceIdentifierFileName>%(Filename)_i.c</InterfaceIdentifierFileName>
+      <ProxyFileName>%(Filename)_p.c</ProxyFileName>
+    </Midl>
+    <PostBuildEvent>
+      <Message></Message>
+      <Command>setlocal
+"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -DBUILD_TYPE=$(Configuration) -P cmake_install.cmake
+if %errorlevel% neq 0 goto :cmEnd
+:cmEnd
+endlocal &amp; call :cmErrorLevel %errorlevel% &amp; goto :cmDone
+:cmErrorLevel
+exit /b %1
+:cmDone
+if %errorlevel% neq 0 goto :VCEnd</Command>
+    </PostBuildEvent>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <Midl>
+      <AdditionalIncludeDirectories>C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <OutputDirectory>$(IntDir)</OutputDirectory>
+      <HeaderFileName>%(Filename).h</HeaderFileName>
+      <TypeLibraryName>%(Filename).tlb</TypeLibraryName>
+      <InterfaceIdentifierFileName>%(Filename)_i.c</InterfaceIdentifierFileName>
+      <ProxyFileName>%(Filename)_p.c</ProxyFileName>
+    </Midl>
+    <PostBuildEvent>
+      <Message></Message>
+      <Command>setlocal
+"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -DBUILD_TYPE=$(Configuration) -P cmake_install.cmake
+if %errorlevel% neq 0 goto :cmEnd
+:cmEnd
+endlocal &amp; call :cmErrorLevel %errorlevel% &amp; goto :cmDone
+:cmErrorLevel
+exit /b %1
+:cmDone
+if %errorlevel% neq 0 goto :VCEnd</Command>
+    </PostBuildEvent>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='MinSizeRel|Win32'">
+    <Midl>
+      <AdditionalIncludeDirectories>C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <OutputDirectory>$(IntDir)</OutputDirectory>
+      <HeaderFileName>%(Filename).h</HeaderFileName>
+      <TypeLibraryName>%(Filename).tlb</TypeLibraryName>
+      <InterfaceIdentifierFileName>%(Filename)_i.c</InterfaceIdentifierFileName>
+      <ProxyFileName>%(Filename)_p.c</ProxyFileName>
+    </Midl>
+    <PostBuildEvent>
+      <Message></Message>
+      <Command>setlocal
+"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -DBUILD_TYPE=$(Configuration) -P cmake_install.cmake
+if %errorlevel% neq 0 goto :cmEnd
+:cmEnd
+endlocal &amp; call :cmErrorLevel %errorlevel% &amp; goto :cmDone
+:cmErrorLevel
+exit /b %1
+:cmDone
+if %errorlevel% neq 0 goto :VCEnd</Command>
+    </PostBuildEvent>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">
+    <Midl>
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Code/Physics/LinearMath/LinearMath.vcxproj

@@ -0,0 +1,303 @@
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+      <Outputs Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">C:\Users\Robin\Programmering\Bullet\Binaries\src\LinearMath\CMakeFiles\generate.stamp</Outputs>
+      <LinkObjects Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">false</LinkObjects>
+      <Message Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">Building Custom Rule C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/LinearMath/CMakeLists.txt</Message>
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+      <Outputs Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">C:\Users\Robin\Programmering\Bullet\Binaries\src\LinearMath\CMakeFiles\generate.stamp</Outputs>
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+if %errorlevel% neq 0 goto :VCEnd</Command>
+      <AdditionalInputs Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/LinearMath/CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\LinearMath\CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\LinearMath\CMakeLists.txt;%(AdditionalInputs)</AdditionalInputs>
+      <Outputs Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">C:\Users\Robin\Programmering\Bullet\Binaries\src\LinearMath\CMakeFiles\generate.stamp</Outputs>
+      <LinkObjects Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'">false</LinkObjects>
+    </CustomBuild>
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="..\src\LinearMath\btAabbUtil2.h" />
+    <ClInclude Include="..\src\LinearMath\btAlignedAllocator.h" />
+    <ClInclude Include="..\src\LinearMath\btAlignedObjectArray.h" />
+    <ClInclude Include="..\src\LinearMath\btConvexHull.h" />
+    <ClInclude Include="..\src\LinearMath\btConvexHullComputer.h" />
+    <ClInclude Include="..\src\LinearMath\btDefaultMotionState.h" />
+    <ClInclude Include="..\src\LinearMath\btGeometryUtil.h" />
+    <ClInclude Include="..\src\LinearMath\btGrahamScan2dConvexHull.h" />
+    <ClInclude Include="..\src\LinearMath\btHashMap.h" />
+    <ClInclude Include="..\src\LinearMath\btIDebugDraw.h" />
+    <ClInclude Include="..\src\LinearMath\btList.h" />
+    <ClInclude Include="..\src\LinearMath\btMatrix3x3.h" />
+    <ClInclude Include="..\src\LinearMath\btMatrixX.h" />
+    <ClInclude Include="..\src\LinearMath\btMinMax.h" />
+    <ClInclude Include="..\src\LinearMath\btMotionState.h" />
+    <ClInclude Include="..\src\LinearMath\btPolarDecomposition.h" />
+    <ClInclude Include="..\src\LinearMath\btPoolAllocator.h" />
+    <ClInclude Include="..\src\LinearMath\btQuadWord.h" />
+    <ClInclude Include="..\src\LinearMath\btQuaternion.h" />
+    <ClInclude Include="..\src\LinearMath\btQuickprof.h" />
+    <ClInclude Include="..\src\LinearMath\btRandom.h" />
+    <ClInclude Include="..\src\LinearMath\btScalar.h" />
+    <ClInclude Include="..\src\LinearMath\btSerializer.h" />
+    <ClInclude Include="..\src\LinearMath\btStackAlloc.h" />
+    <ClInclude Include="..\src\LinearMath\btTransform.h" />
+    <ClInclude Include="..\src\LinearMath\btTransformUtil.h" />
+    <ClInclude Include="..\src\LinearMath\btVector3.h" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="..\src\LinearMath\btAlignedAllocator.cpp" />
+    <ClCompile Include="..\src\LinearMath\btConvexHull.cpp" />
+    <ClCompile Include="..\src\LinearMath\btConvexHullComputer.cpp" />
+    <ClCompile Include="..\src\LinearMath\btGeometryUtil.cpp" />
+    <ClCompile Include="..\src\LinearMath\btPolarDecomposition.cpp" />
+    <ClCompile Include="..\src\LinearMath\btQuickprof.cpp" />
+    <ClCompile Include="..\src\LinearMath\btSerializer.cpp" />
+    <ClCompile Include="..\src\LinearMath\btVector3.cpp" />
+  </ItemGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Label="ExtensionTargets">
+  </ImportGroup>
+</Project>

Code/Physics/LinearMath/LinearMath.vcxproj.user

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup />
+</Project>

Code/Physics/LinearMath/cmake_install.cmake

@@ -0,0 +1,29 @@
+# Install script for directory: C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/LinearMath
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "C:/Program Files (x86)/BULLET_PHYSICS")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  IF(BUILD_TYPE)
+    STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  ELSE(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "Release")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+

Code/Physics/src/Bullet-C-Api.h

@@ -0,0 +1,176 @@
+/*
+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]);
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif //BULLET_C_API_H
+

Code/Physics/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp

@@ -0,0 +1,37 @@
+
+//Bullet Continuous Collision Detection and Physics Library
+//Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+
+//
+// btAxisSweep3
+//
+// 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.
+#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)
+{
+	// 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)
+{
+	// 1 handle is reserved as sentinel
+	btAssert(maxHandles > 1 && maxHandles < 2147483647);
+}

Code/Physics/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h

@@ -0,0 +1,82 @@
+/*
+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_BROADPHASE_INTERFACE_H
+#define 	BT_BROADPHASE_INTERFACE_H
+
+
+
+struct btDispatcherInfo;
+class btDispatcher;
+#include "btBroadphaseProxy.h"
+
+class btOverlappingPairCache;
+
+
+
+struct	btBroadphaseAabbCallback
+{
+	virtual ~btBroadphaseAabbCallback() {}
+	virtual bool	process(const btBroadphaseProxy* proxy) = 0;
+};
+
+
+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;
+
+	virtual ~btBroadphaseRayCallback() {}
+};
+
+#include "LinearMath/btVector3.h"
+
+///The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
+///Some implementations for this broadphase interface include btAxisSweep3, bt32BitAxisSweep3 and btDbvtBroadphase.
+///The actual overlapping pair management, storage, adding and removing of pairs is dealt by the btOverlappingPairCache class.
+class btBroadphaseInterface
+{
+public:
+	virtual ~btBroadphaseInterface() {}
+
+	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	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	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;
+
+	///reset broadphase internal structures, to ensure determinism/reproducability
+	virtual void resetPool(btDispatcher* dispatcher) { (void) dispatcher; };
+
+	virtual void	printStats() = 0;
+
+};
+
+#endif //BT_BROADPHASE_INTERFACE_H

Code/Physics/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp

@@ -0,0 +1,17 @@
+/*
+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 "btBroadphaseProxy.h"
+

Code/Physics/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h

@@ -0,0 +1,270 @@
+/*
+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_BROADPHASE_PROXY_H
+#define BT_BROADPHASE_PROXY_H
+
+#include "LinearMath/btScalar.h" //for SIMD_FORCE_INLINE
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedAllocator.h"
+
+
+/// btDispatcher uses these types
+/// IMPORTANT NOTE:The types are ordered polyhedral, implicit convex and concave
+/// to facilitate type checking
+/// CUSTOM_POLYHEDRAL_SHAPE_TYPE,CUSTOM_CONVEX_SHAPE_TYPE and CUSTOM_CONCAVE_SHAPE_TYPE can be used to extend Bullet without modifying source code
+enum BroadphaseNativeTypes
+{
+	// polyhedral convex shapes
+	BOX_SHAPE_PROXYTYPE,
+	TRIANGLE_SHAPE_PROXYTYPE,
+	TETRAHEDRAL_SHAPE_PROXYTYPE,
+	CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE,
+	CONVEX_HULL_SHAPE_PROXYTYPE,
+	CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE,
+	CUSTOM_POLYHEDRAL_SHAPE_TYPE,
+//implicit convex shapes
+IMPLICIT_CONVEX_SHAPES_START_HERE,
+	SPHERE_SHAPE_PROXYTYPE,
+	MULTI_SPHERE_SHAPE_PROXYTYPE,
+	CAPSULE_SHAPE_PROXYTYPE,
+	CONE_SHAPE_PROXYTYPE,
+	CONVEX_SHAPE_PROXYTYPE,
+	CYLINDER_SHAPE_PROXYTYPE,
+	UNIFORM_SCALING_SHAPE_PROXYTYPE,
+	MINKOWSKI_SUM_SHAPE_PROXYTYPE,
+	MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
+	BOX_2D_SHAPE_PROXYTYPE,
+	CONVEX_2D_SHAPE_PROXYTYPE,
+	CUSTOM_CONVEX_SHAPE_TYPE,
+//concave shapes
+CONCAVE_SHAPES_START_HERE,
+	//keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
+	TRIANGLE_MESH_SHAPE_PROXYTYPE,
+	SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE,
+	///used for demo integration FAST/Swift collision library and Bullet
+	FAST_CONCAVE_MESH_PROXYTYPE,
+	//terrain
+	TERRAIN_SHAPE_PROXYTYPE,
+///Used for GIMPACT Trimesh integration
+	GIMPACT_SHAPE_PROXYTYPE,
+///Multimaterial mesh
+    MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE,
+	
+	EMPTY_SHAPE_PROXYTYPE,
+	STATIC_PLANE_PROXYTYPE,
+	CUSTOM_CONCAVE_SHAPE_TYPE,
+CONCAVE_SHAPES_END_HERE,
+
+	COMPOUND_SHAPE_PROXYTYPE,
+
+	SOFTBODY_SHAPE_PROXYTYPE,
+	HFFLUID_SHAPE_PROXYTYPE,
+	HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE,
+	INVALID_SHAPE_PROXYTYPE,
+
+	MAX_BROADPHASE_COLLISION_TYPES
+	
+};
+
+
+///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
+	};
+
+	//Usually the client btCollisionObject or Rigidbody class
+	void*	m_clientObject;
+	short int m_collisionFilterGroup;
+	short int m_collisionFilterMask;
+	void*	m_multiSapParentProxy;		
+	int			m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
+
+	btVector3	m_aabbMin;
+	btVector3	m_aabbMax;
+
+	SIMD_FORCE_INLINE int getUid() const
+	{
+		return m_uniqueId;
+	}
+
+	//used for memory pools
+	btBroadphaseProxy() :m_clientObject(0),m_multiSapParentProxy(0)
+	{
+	}
+
+	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);
+	}
+
+	static SIMD_FORCE_INLINE bool	isConvex(int proxyType)
+	{
+		return (proxyType < CONCAVE_SHAPES_START_HERE);
+	}
+
+	static SIMD_FORCE_INLINE bool	isNonMoving(int proxyType)
+	{
+		return (isConcave(proxyType) && !(proxyType==GIMPACT_SHAPE_PROXYTYPE));
+	}
+
+	static SIMD_FORCE_INLINE bool	isConcave(int proxyType)
+	{
+		return ((proxyType > CONCAVE_SHAPES_START_HERE) &&
+			(proxyType < CONCAVE_SHAPES_END_HERE));
+	}
+	static SIMD_FORCE_INLINE bool	isCompound(int proxyType)
+	{
+		return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
+	}
+
+	static SIMD_FORCE_INLINE bool	isSoftBody(int proxyType)
+	{
+		return (proxyType == SOFTBODY_SHAPE_PROXYTYPE);
+	}
+
+	static SIMD_FORCE_INLINE bool isInfinite(int proxyType)
+	{
+		return (proxyType == STATIC_PLANE_PROXYTYPE);
+	}
+
+	static SIMD_FORCE_INLINE bool isConvex2d(int 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
+{
+	btBroadphasePair ()
+		:
+	m_pProxy0(0),
+		m_pProxy1(0),
+		m_algorithm(0),
+		m_internalInfo1(0)
+	{
+	}
+
+BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	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_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.
+
+};
+
+/*
+//comparison for set operation, see Solid DT_Encounter
+SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePair& b) 
+{ 
+    return a.m_pProxy0 < b.m_pProxy0 || 
+        (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 < b.m_pProxy1); 
+}
+*/
+
+
+
+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;
+
+			 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) 
+{
+	 return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1);
+}
+
+
+#endif //BT_BROADPHASE_PROXY_H
+

Code/Physics/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp

@@ -0,0 +1,23 @@
+/*
+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 "btCollisionAlgorithm.h"
+#include "btDispatcher.h"
+
+btCollisionAlgorithm::btCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
+{
+	m_dispatcher = ci.m_dispatcher1;
+}
+

Code/Physics/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h

@@ -0,0 +1,81 @@
+/*
+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_COLLISION_ALGORITHM_H
+#define BT_COLLISION_ALGORITHM_H
+
+#include "LinearMath/btScalar.h"
+#include "LinearMath/btAlignedObjectArray.h"
+
+struct btBroadphaseProxy;
+class btDispatcher;
+class btManifoldResult;
+class btCollisionObject;
+struct btCollisionObjectWrapper;
+struct btDispatcherInfo;
+class	btPersistentManifold;
+
+typedef btAlignedObjectArray<btPersistentManifold*>	btManifoldArray;
+
+struct btCollisionAlgorithmConstructionInfo
+{
+	btCollisionAlgorithmConstructionInfo()
+		:m_dispatcher1(0),
+		m_manifold(0)
+	{
+	}
+	btCollisionAlgorithmConstructionInfo(btDispatcher* dispatcher,int temp)
+		:m_dispatcher1(dispatcher)
+	{
+		(void)temp;
+	}
+
+	btDispatcher*	m_dispatcher1;
+	btPersistentManifold*	m_manifold;
+
+//	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();
+	
+public:
+
+	btCollisionAlgorithm() {};
+
+	btCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci);
+
+	virtual ~btCollisionAlgorithm() {};
+
+	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	void	getAllContactManifolds(btManifoldArray&	manifoldArray) = 0;
+};
+
+
+#endif //BT_COLLISION_ALGORITHM_H

Code/Physics/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp

@@ -0,0 +1,796 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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.
+*/
+
+///btDbvtBroadphase implementation by Nathanael Presson
+
+#include "btDbvtBroadphase.h"
+
+//
+// Profiling
+//
+
+#if DBVT_BP_PROFILE||DBVT_BP_ENABLE_BENCHMARK
+#include <stdio.h>
+#endif
+
+#if DBVT_BP_PROFILE
+struct	ProfileScope
+{
+	__forceinline ProfileScope(btClock& clock,unsigned long& value) :
+	m_clock(&clock),m_value(&value),m_base(clock.getTimeMicroseconds())
+	{
+	}
+	__forceinline ~ProfileScope()
+	{
+		(*m_value)+=m_clock->getTimeMicroseconds()-m_base;
+	}
+	btClock*		m_clock;
+	unsigned long*	m_value;
+	unsigned long	m_base;
+};
+#define	SPC(_value_)	ProfileScope	spc_scope(m_clock,_value_)
+#else
+#define	SPC(_value_)
+#endif
+
+//
+// Helpers
+//
+
+//
+template <typename T>
+static inline void	listappend(T* item,T*& list)
+{
+	item->links[0]=0;
+	item->links[1]=list;
+	if(list) list->links[0]=item;
+	list=item;
+}
+
+//
+template <typename T>
+static inline void	listremove(T* item,T*& list)
+{
+	if(item->links[0]) item->links[0]->links[1]=item->links[1]; else list=item->links[1];
+	if(item->links[1]) item->links[1]->links[0]=item->links[0];
+}
+
+//
+template <typename T>
+static inline int	listcount(T* root)
+{
+	int	n=0;
+	while(root) { ++n;root=root->links[1]; }
+	return(n);
+}
+
+//
+template <typename T>
+static inline void	clear(T& value)
+{
+	static const struct ZeroDummy : T {} zerodummy;
+	value=zerodummy;
+}
+
+//
+// Colliders
+//
+
+/* Tree collider	*/ 
+struct	btDbvtTreeCollider : btDbvt::ICollide
+{
+	btDbvtBroadphase*	pbp;
+	btDbvtProxy*		proxy;
+	btDbvtTreeCollider(btDbvtBroadphase* p) : pbp(p) {}
+	void	Process(const btDbvtNode* na,const btDbvtNode* nb)
+	{
+		if(na!=nb)
+		{
+			btDbvtProxy*	pa=(btDbvtProxy*)na->data;
+			btDbvtProxy*	pb=(btDbvtProxy*)nb->data;
+#if DBVT_BP_SORTPAIRS
+			if(pa->m_uniqueId>pb->m_uniqueId) 
+				btSwap(pa,pb);
+#endif
+			pbp->m_paircache->addOverlappingPair(pa,pb);
+			++pbp->m_newpairs;
+		}
+	}
+	void	Process(const btDbvtNode* n)
+	{
+		Process(n,proxy->leaf);
+	}
+};
+
+//
+// btDbvtBroadphase
+//
+
+//
+btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache)
+{
+	m_deferedcollide	=	false;
+	m_needcleanup		=	true;
+	m_releasepaircache	=	(paircache!=0)?false:true;
+	m_prediction		=	0;
+	m_stageCurrent		=	0;
+	m_fixedleft			=	0;
+	m_fupdates			=	1;
+	m_dupdates			=	0;
+	m_cupdates			=	10;
+	m_newpairs			=	1;
+	m_updates_call		=	0;
+	m_updates_done		=	0;
+	m_updates_ratio		=	0;
+	m_paircache			=	paircache? paircache	: new(btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
+	m_gid				=	0;
+	m_pid				=	0;
+	m_cid				=	0;
+	for(int i=0;i<=STAGECOUNT;++i)
+	{
+		m_stageRoots[i]=0;
+	}
+#if DBVT_BP_PROFILE
+	clear(m_profiling);
+#endif
+}
+
+//
+btDbvtBroadphase::~btDbvtBroadphase()
+{
+	if(m_releasepaircache) 
+	{
+		m_paircache->~btOverlappingPairCache();
+		btAlignedFree(m_paircache);
+	}
+}
+
+//
+btBroadphaseProxy*				btDbvtBroadphase::createProxy(	const btVector3& aabbMin,
+															  const btVector3& aabbMax,
+															  int /*shapeType*/,
+															  void* userPtr,
+															  short int collisionFilterGroup,
+															  short int collisionFilterMask,
+															  btDispatcher* /*dispatcher*/,
+															  void* /*multiSapProxy*/)
+{
+	btDbvtProxy*		proxy=new(btAlignedAlloc(sizeof(btDbvtProxy),16)) btDbvtProxy(	aabbMin,aabbMax,userPtr,
+		collisionFilterGroup,
+		collisionFilterMask);
+
+	btDbvtAabbMm aabb = btDbvtVolume::FromMM(aabbMin,aabbMax);
+
+	//bproxy->aabb			=	btDbvtVolume::FromMM(aabbMin,aabbMax);
+	proxy->stage		=	m_stageCurrent;
+	proxy->m_uniqueId	=	++m_gid;
+	proxy->leaf			=	m_sets[0].insert(aabb,proxy);
+	listappend(proxy,m_stageRoots[m_stageCurrent]);
+	if(!m_deferedcollide)
+	{
+		btDbvtTreeCollider	collider(this);
+		collider.proxy=proxy;
+		m_sets[0].collideTV(m_sets[0].m_root,aabb,collider);
+		m_sets[1].collideTV(m_sets[1].m_root,aabb,collider);
+	}
+	return(proxy);
+}
+
+//
+void							btDbvtBroadphase::destroyProxy(	btBroadphaseProxy* absproxy,
+															   btDispatcher* dispatcher)
+{
+	btDbvtProxy*	proxy=(btDbvtProxy*)absproxy;
+	if(proxy->stage==STAGECOUNT)
+		m_sets[1].remove(proxy->leaf);
+	else
+		m_sets[0].remove(proxy->leaf);
+	listremove(proxy,m_stageRoots[proxy->stage]);
+	m_paircache->removeOverlappingPairsContainingProxy(proxy,dispatcher);
+	btAlignedFree(proxy);
+	m_needcleanup=true;
+}
+
+void	btDbvtBroadphase::getAabb(btBroadphaseProxy* absproxy,btVector3& aabbMin, btVector3& aabbMax ) const
+{
+	btDbvtProxy*						proxy=(btDbvtProxy*)absproxy;
+	aabbMin = proxy->m_aabbMin;
+	aabbMax = proxy->m_aabbMax;
+}
+
+struct	BroadphaseRayTester : btDbvt::ICollide
+{
+	btBroadphaseRayCallback& m_rayCallback;
+	BroadphaseRayTester(btBroadphaseRayCallback& orgCallback)
+		:m_rayCallback(orgCallback)
+	{
+	}
+	void					Process(const btDbvtNode* leaf)
+	{
+		btDbvtProxy*	proxy=(btDbvtProxy*)leaf->data;
+		m_rayCallback.process(proxy);
+	}
+};	
+
+void	btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax)
+{
+	BroadphaseRayTester callback(rayCallback);
+
+	m_sets[0].rayTestInternal(	m_sets[0].m_root,
+		rayFrom,
+		rayTo,
+		rayCallback.m_rayDirectionInverse,
+		rayCallback.m_signs,
+		rayCallback.m_lambda_max,
+		aabbMin,
+		aabbMax,
+		callback);
+
+	m_sets[1].rayTestInternal(	m_sets[1].m_root,
+		rayFrom,
+		rayTo,
+		rayCallback.m_rayDirectionInverse,
+		rayCallback.m_signs,
+		rayCallback.m_lambda_max,
+		aabbMin,
+		aabbMax,
+		callback);
+
+}
+
+
+struct	BroadphaseAabbTester : btDbvt::ICollide
+{
+	btBroadphaseAabbCallback& m_aabbCallback;
+	BroadphaseAabbTester(btBroadphaseAabbCallback& orgCallback)
+		:m_aabbCallback(orgCallback)
+	{
+	}
+	void					Process(const btDbvtNode* leaf)
+	{
+		btDbvtProxy*	proxy=(btDbvtProxy*)leaf->data;
+		m_aabbCallback.process(proxy);
+	}
+};	
+
+void	btDbvtBroadphase::aabbTest(const btVector3& aabbMin,const btVector3& aabbMax,btBroadphaseAabbCallback& aabbCallback)
+{
+	BroadphaseAabbTester callback(aabbCallback);
+
+	const ATTRIBUTE_ALIGNED16(btDbvtVolume)	bounds=btDbvtVolume::FromMM(aabbMin,aabbMax);
+		//process all children, that overlap with  the given AABB bounds
+	m_sets[0].collideTV(m_sets[0].m_root,bounds,callback);
+	m_sets[1].collideTV(m_sets[1].m_root,bounds,callback);
+
+}
+
+
+
+//
+void							btDbvtBroadphase::setAabb(		btBroadphaseProxy* absproxy,
+														  const btVector3& aabbMin,
+														  const btVector3& aabbMax,
+														  btDispatcher* /*dispatcher*/)
+{
+	btDbvtProxy*						proxy=(btDbvtProxy*)absproxy;
+	ATTRIBUTE_ALIGNED16(btDbvtVolume)	aabb=btDbvtVolume::FromMM(aabbMin,aabbMax);
+#if DBVT_BP_PREVENTFALSEUPDATE
+	if(NotEqual(aabb,proxy->leaf->volume))
+#endif
+	{
+		bool	docollide=false;
+		if(proxy->stage==STAGECOUNT)
+		{/* fixed -> dynamic set	*/ 
+			m_sets[1].remove(proxy->leaf);
+			proxy->leaf=m_sets[0].insert(aabb,proxy);
+			docollide=true;
+		}
+		else
+		{/* dynamic set				*/ 
+			++m_updates_call;
+			if(Intersect(proxy->leaf->volume,aabb))
+			{/* Moving				*/ 
+
+				const btVector3	delta=aabbMin-proxy->m_aabbMin;
+				btVector3		velocity(((proxy->m_aabbMax-proxy->m_aabbMin)/2)*m_prediction);
+				if(delta[0]<0) velocity[0]=-velocity[0];
+				if(delta[1]<0) velocity[1]=-velocity[1];
+				if(delta[2]<0) velocity[2]=-velocity[2];
+				if	(
+#ifdef DBVT_BP_MARGIN				
+					m_sets[0].update(proxy->leaf,aabb,velocity,DBVT_BP_MARGIN)
+#else
+					m_sets[0].update(proxy->leaf,aabb,velocity)
+#endif
+					)
+				{
+					++m_updates_done;
+					docollide=true;
+				}
+			}
+			else
+			{/* Teleporting			*/ 
+				m_sets[0].update(proxy->leaf,aabb);
+				++m_updates_done;
+				docollide=true;
+			}	
+		}
+		listremove(proxy,m_stageRoots[proxy->stage]);
+		proxy->m_aabbMin = aabbMin;
+		proxy->m_aabbMax = aabbMax;
+		proxy->stage	=	m_stageCurrent;
+		listappend(proxy,m_stageRoots[m_stageCurrent]);
+		if(docollide)
+		{
+			m_needcleanup=true;
+			if(!m_deferedcollide)
+			{
+				btDbvtTreeCollider	collider(this);
+				m_sets[1].collideTTpersistentStack(m_sets[1].m_root,proxy->leaf,collider);
+				m_sets[0].collideTTpersistentStack(m_sets[0].m_root,proxy->leaf,collider);
+			}
+		}	
+	}
+}
+
+
+//
+void							btDbvtBroadphase::setAabbForceUpdate(		btBroadphaseProxy* absproxy,
+														  const btVector3& aabbMin,
+														  const btVector3& aabbMax,
+														  btDispatcher* /*dispatcher*/)
+{
+	btDbvtProxy*						proxy=(btDbvtProxy*)absproxy;
+	ATTRIBUTE_ALIGNED16(btDbvtVolume)	aabb=btDbvtVolume::FromMM(aabbMin,aabbMax);
+	bool	docollide=false;
+	if(proxy->stage==STAGECOUNT)
+	{/* fixed -> dynamic set	*/ 
+		m_sets[1].remove(proxy->leaf);
+		proxy->leaf=m_sets[0].insert(aabb,proxy);
+		docollide=true;
+	}
+	else
+	{/* dynamic set				*/ 
+		++m_updates_call;
+		/* Teleporting			*/ 
+		m_sets[0].update(proxy->leaf,aabb);
+		++m_updates_done;
+		docollide=true;
+	}
+	listremove(proxy,m_stageRoots[proxy->stage]);
+	proxy->m_aabbMin = aabbMin;
+	proxy->m_aabbMax = aabbMax;
+	proxy->stage	=	m_stageCurrent;
+	listappend(proxy,m_stageRoots[m_stageCurrent]);
+	if(docollide)
+	{
+		m_needcleanup=true;
+		if(!m_deferedcollide)
+		{
+			btDbvtTreeCollider	collider(this);
+			m_sets[1].collideTTpersistentStack(m_sets[1].m_root,proxy->leaf,collider);
+			m_sets[0].collideTTpersistentStack(m_sets[0].m_root,proxy->leaf,collider);
+		}
+	}	
+}
+
+//
+void							btDbvtBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
+{
+	collide(dispatcher);
+#if DBVT_BP_PROFILE
+	if(0==(m_pid%DBVT_BP_PROFILING_RATE))
+	{	
+		printf("fixed(%u) dynamics(%u) pairs(%u)\r\n",m_sets[1].m_leaves,m_sets[0].m_leaves,m_paircache->getNumOverlappingPairs());
+		unsigned int	total=m_profiling.m_total;
+		if(total<=0) total=1;
+		printf("ddcollide: %u%% (%uus)\r\n",(50+m_profiling.m_ddcollide*100)/total,m_profiling.m_ddcollide/DBVT_BP_PROFILING_RATE);
+		printf("fdcollide: %u%% (%uus)\r\n",(50+m_profiling.m_fdcollide*100)/total,m_profiling.m_fdcollide/DBVT_BP_PROFILING_RATE);
+		printf("cleanup:   %u%% (%uus)\r\n",(50+m_profiling.m_cleanup*100)/total,m_profiling.m_cleanup/DBVT_BP_PROFILING_RATE);
+		printf("total:     %uus\r\n",total/DBVT_BP_PROFILING_RATE);
+		const unsigned long	sum=m_profiling.m_ddcollide+
+			m_profiling.m_fdcollide+
+			m_profiling.m_cleanup;
+		printf("leaked: %u%% (%uus)\r\n",100-((50+sum*100)/total),(total-sum)/DBVT_BP_PROFILING_RATE);
+		printf("job counts: %u%%\r\n",(m_profiling.m_jobcount*100)/((m_sets[0].m_leaves+m_sets[1].m_leaves)*DBVT_BP_PROFILING_RATE));
+		clear(m_profiling);
+		m_clock.reset();
+	}
+#endif
+
+	performDeferredRemoval(dispatcher);
+
+}
+
+void btDbvtBroadphase::performDeferredRemoval(btDispatcher* dispatcher)
+{
+
+	if (m_paircache->hasDeferredRemoval())
+	{
+
+		btBroadphasePairArray&	overlappingPairArray = m_paircache->getOverlappingPairArray();
+
+		//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
+		overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
+
+		int invalidPair = 0;
+
+		
+		int i;
+
+		btBroadphasePair previousPair;
+		previousPair.m_pProxy0 = 0;
+		previousPair.m_pProxy1 = 0;
+		previousPair.m_algorithm = 0;
+		
+		
+		for (i=0;i<overlappingPairArray.size();i++)
+		{
+		
+			btBroadphasePair& pair = overlappingPairArray[i];
+
+			bool isDuplicate = (pair == previousPair);
+
+			previousPair = pair;
+
+			bool needsRemoval = false;
+
+			if (!isDuplicate)
+			{
+				//important to perform AABB check that is consistent with the broadphase
+				btDbvtProxy*		pa=(btDbvtProxy*)pair.m_pProxy0;
+				btDbvtProxy*		pb=(btDbvtProxy*)pair.m_pProxy1;
+				bool hasOverlap = Intersect(pa->leaf->volume,pb->leaf->volume);
+
+				if (hasOverlap)
+				{
+					needsRemoval = false;
+				} else
+				{
+					needsRemoval = true;
+				}
+			} else
+			{
+				//remove duplicate
+				needsRemoval = true;
+				//should have no algorithm
+				btAssert(!pair.m_algorithm);
+			}
+			
+			if (needsRemoval)
+			{
+				m_paircache->cleanOverlappingPair(pair,dispatcher);
+
+				pair.m_pProxy0 = 0;
+				pair.m_pProxy1 = 0;
+				invalidPair++;
+			} 
+			
+		}
+
+		//perform a sort, to sort 'invalid' pairs to the end
+		overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
+		overlappingPairArray.resize(overlappingPairArray.size() - invalidPair);
+	}
+}
+
+//
+void							btDbvtBroadphase::collide(btDispatcher* dispatcher)
+{
+	/*printf("---------------------------------------------------------\n");
+	printf("m_sets[0].m_leaves=%d\n",m_sets[0].m_leaves);
+	printf("m_sets[1].m_leaves=%d\n",m_sets[1].m_leaves);
+	printf("numPairs = %d\n",getOverlappingPairCache()->getNumOverlappingPairs());
+	{
+		int i;
+		for (i=0;i<getOverlappingPairCache()->getNumOverlappingPairs();i++)
+		{
+			printf("pair[%d]=(%d,%d),",i,getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy0->getUid(),
+				getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy1->getUid());
+		}
+		printf("\n");
+	}
+*/
+
+
+
+	SPC(m_profiling.m_total);
+	/* optimize				*/ 
+	m_sets[0].optimizeIncremental(1+(m_sets[0].m_leaves*m_dupdates)/100);
+	if(m_fixedleft)
+	{
+		const int count=1+(m_sets[1].m_leaves*m_fupdates)/100;
+		m_sets[1].optimizeIncremental(1+(m_sets[1].m_leaves*m_fupdates)/100);
+		m_fixedleft=btMax<int>(0,m_fixedleft-count);
+	}
+	/* dynamic -> fixed set	*/ 
+	m_stageCurrent=(m_stageCurrent+1)%STAGECOUNT;
+	btDbvtProxy*	current=m_stageRoots[m_stageCurrent];
+	if(current)
+	{
+		btDbvtTreeCollider	collider(this);
+		do	{
+			btDbvtProxy*	next=current->links[1];
+			listremove(current,m_stageRoots[current->stage]);
+			listappend(current,m_stageRoots[STAGECOUNT]);
+#if DBVT_BP_ACCURATESLEEPING
+			m_paircache->removeOverlappingPairsContainingProxy(current,dispatcher);
+			collider.proxy=current;
+			btDbvt::collideTV(m_sets[0].m_root,current->aabb,collider);
+			btDbvt::collideTV(m_sets[1].m_root,current->aabb,collider);
+#endif
+			m_sets[0].remove(current->leaf);
+			ATTRIBUTE_ALIGNED16(btDbvtVolume)	curAabb=btDbvtVolume::FromMM(current->m_aabbMin,current->m_aabbMax);
+			current->leaf	=	m_sets[1].insert(curAabb,current);
+			current->stage	=	STAGECOUNT;	
+			current			=	next;
+		} while(current);
+		m_fixedleft=m_sets[1].m_leaves;
+		m_needcleanup=true;
+	}
+	/* collide dynamics		*/ 
+	{
+		btDbvtTreeCollider	collider(this);
+		if(m_deferedcollide)
+		{
+			SPC(m_profiling.m_fdcollide);
+			m_sets[0].collideTTpersistentStack(m_sets[0].m_root,m_sets[1].m_root,collider);
+		}
+		if(m_deferedcollide)
+		{
+			SPC(m_profiling.m_ddcollide);
+			m_sets[0].collideTTpersistentStack(m_sets[0].m_root,m_sets[0].m_root,collider);
+		}
+	}
+	/* clean up				*/ 
+	if(m_needcleanup)
+	{
+		SPC(m_profiling.m_cleanup);
+		btBroadphasePairArray&	pairs=m_paircache->getOverlappingPairArray();
+		if(pairs.size()>0)
+		{
+
+			int			ni=btMin(pairs.size(),btMax<int>(m_newpairs,(pairs.size()*m_cupdates)/100));
+			for(int i=0;i<ni;++i)
+			{
+				btBroadphasePair&	p=pairs[(m_cid+i)%pairs.size()];
+				btDbvtProxy*		pa=(btDbvtProxy*)p.m_pProxy0;
+				btDbvtProxy*		pb=(btDbvtProxy*)p.m_pProxy1;
+				if(!Intersect(pa->leaf->volume,pb->leaf->volume))
+				{
+#if DBVT_BP_SORTPAIRS
+					if(pa->m_uniqueId>pb->m_uniqueId) 
+						btSwap(pa,pb);
+#endif
+					m_paircache->removeOverlappingPair(pa,pb,dispatcher);
+					--ni;--i;
+				}
+			}
+			if(pairs.size()>0) m_cid=(m_cid+ni)%pairs.size(); else m_cid=0;
+		}
+	}
+	++m_pid;
+	m_newpairs=1;
+	m_needcleanup=false;
+	if(m_updates_call>0)
+	{ m_updates_ratio=m_updates_done/(btScalar)m_updates_call; }
+	else
+	{ m_updates_ratio=0; }
+	m_updates_done/=2;
+	m_updates_call/=2;
+}
+
+//
+void							btDbvtBroadphase::optimize()
+{
+	m_sets[0].optimizeTopDown();
+	m_sets[1].optimizeTopDown();
+}
+
+//
+btOverlappingPairCache*			btDbvtBroadphase::getOverlappingPairCache()
+{
+	return(m_paircache);
+}
+
+//
+const btOverlappingPairCache*	btDbvtBroadphase::getOverlappingPairCache() const
+{
+	return(m_paircache);
+}
+
+//
+void							btDbvtBroadphase::getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
+{
+
+	ATTRIBUTE_ALIGNED16(btDbvtVolume)	bounds;
+
+	if(!m_sets[0].empty())
+		if(!m_sets[1].empty())	Merge(	m_sets[0].m_root->volume,
+			m_sets[1].m_root->volume,bounds);
+		else
+			bounds=m_sets[0].m_root->volume;
+	else if(!m_sets[1].empty())	bounds=m_sets[1].m_root->volume;
+	else
+		bounds=btDbvtVolume::FromCR(btVector3(0,0,0),0);
+	aabbMin=bounds.Mins();
+	aabbMax=bounds.Maxs();
+}
+
+void btDbvtBroadphase::resetPool(btDispatcher* dispatcher)
+{
+	
+	int totalObjects = m_sets[0].m_leaves + m_sets[1].m_leaves;
+	if (!totalObjects)
+	{
+		//reset internal dynamic tree data structures
+		m_sets[0].clear();
+		m_sets[1].clear();
+		
+		m_deferedcollide	=	false;
+		m_needcleanup		=	true;
+		m_stageCurrent		=	0;
+		m_fixedleft			=	0;
+		m_fupdates			=	1;
+		m_dupdates			=	0;
+		m_cupdates			=	10;
+		m_newpairs			=	1;
+		m_updates_call		=	0;
+		m_updates_done		=	0;
+		m_updates_ratio		=	0;
+		
+		m_gid				=	0;
+		m_pid				=	0;
+		m_cid				=	0;
+		for(int i=0;i<=STAGECOUNT;++i)
+		{
+			m_stageRoots[i]=0;
+		}
+	}
+}
+
+//
+void							btDbvtBroadphase::printStats()
+{}
+
+//
+#if DBVT_BP_ENABLE_BENCHMARK
+
+struct	btBroadphaseBenchmark
+{
+	struct	Experiment
+	{
+		const char*			name;
+		int					object_count;
+		int					update_count;
+		int					spawn_count;
+		int					iterations;
+		btScalar			speed;
+		btScalar			amplitude;
+	};
+	struct	Object
+	{
+		btVector3			center;
+		btVector3			extents;
+		btBroadphaseProxy*	proxy;
+		btScalar			time;
+		void				update(btScalar speed,btScalar amplitude,btBroadphaseInterface* pbi)
+		{
+			time		+=	speed;
+			center[0]	=	btCos(time*(btScalar)2.17)*amplitude+
+				btSin(time)*amplitude/2;
+			center[1]	=	btCos(time*(btScalar)1.38)*amplitude+
+				btSin(time)*amplitude;
+			center[2]	=	btSin(time*(btScalar)0.777)*amplitude;
+			pbi->setAabb(proxy,center-extents,center+extents,0);
+		}
+	};
+	static int		UnsignedRand(int range=RAND_MAX-1)	{ return(rand()%(range+1)); }
+	static btScalar	UnitRand()							{ return(UnsignedRand(16384)/(btScalar)16384); }
+	static void		OutputTime(const char* name,btClock& c,unsigned count=0)
+	{
+		const unsigned long	us=c.getTimeMicroseconds();
+		const unsigned long	ms=(us+500)/1000;
+		const btScalar		sec=us/(btScalar)(1000*1000);
+		if(count>0)
+			printf("%s : %u us (%u ms), %.2f/s\r\n",name,us,ms,count/sec);
+		else
+			printf("%s : %u us (%u ms)\r\n",name,us,ms);
+	}
+};
+
+void							btDbvtBroadphase::benchmark(btBroadphaseInterface* pbi)
+{
+	static const btBroadphaseBenchmark::Experiment		experiments[]=
+	{
+		{"1024o.10%",1024,10,0,8192,(btScalar)0.005,(btScalar)100},
+		/*{"4096o.10%",4096,10,0,8192,(btScalar)0.005,(btScalar)100},
+		{"8192o.10%",8192,10,0,8192,(btScalar)0.005,(btScalar)100},*/
+	};
+	static const int										nexperiments=sizeof(experiments)/sizeof(experiments[0]);
+	btAlignedObjectArray<btBroadphaseBenchmark::Object*>	objects;
+	btClock													wallclock;
+	/* Begin			*/ 
+	for(int iexp=0;iexp<nexperiments;++iexp)
+	{
+		const btBroadphaseBenchmark::Experiment&	experiment=experiments[iexp];
+		const int									object_count=experiment.object_count;
+		const int									update_count=(object_count*experiment.update_count)/100;
+		const int									spawn_count=(object_count*experiment.spawn_count)/100;
+		const btScalar								speed=experiment.speed;	
+		const btScalar								amplitude=experiment.amplitude;
+		printf("Experiment #%u '%s':\r\n",iexp,experiment.name);
+		printf("\tObjects: %u\r\n",object_count);
+		printf("\tUpdate: %u\r\n",update_count);
+		printf("\tSpawn: %u\r\n",spawn_count);
+		printf("\tSpeed: %f\r\n",speed);
+		printf("\tAmplitude: %f\r\n",amplitude);
+		srand(180673);
+		/* Create objects	*/ 
+		wallclock.reset();
+		objects.reserve(object_count);
+		for(int i=0;i<object_count;++i)
+		{
+			btBroadphaseBenchmark::Object*	po=new btBroadphaseBenchmark::Object();
+			po->center[0]=btBroadphaseBenchmark::UnitRand()*50;
+			po->center[1]=btBroadphaseBenchmark::UnitRand()*50;
+			po->center[2]=btBroadphaseBenchmark::UnitRand()*50;
+			po->extents[0]=btBroadphaseBenchmark::UnitRand()*2+2;
+			po->extents[1]=btBroadphaseBenchmark::UnitRand()*2+2;
+			po->extents[2]=btBroadphaseBenchmark::UnitRand()*2+2;
+			po->time=btBroadphaseBenchmark::UnitRand()*2000;
+			po->proxy=pbi->createProxy(po->center-po->extents,po->center+po->extents,0,po,1,1,0,0);
+			objects.push_back(po);
+		}
+		btBroadphaseBenchmark::OutputTime("\tInitialization",wallclock);
+		/* First update		*/ 
+		wallclock.reset();
+		for(int i=0;i<objects.size();++i)
+		{
+			objects[i]->update(speed,amplitude,pbi);
+		}
+		btBroadphaseBenchmark::OutputTime("\tFirst update",wallclock);
+		/* Updates			*/ 
+		wallclock.reset();
+		for(int i=0;i<experiment.iterations;++i)
+		{
+			for(int j=0;j<update_count;++j)
+			{				
+				objects[j]->update(speed,amplitude,pbi);
+			}
+			pbi->calculateOverlappingPairs(0);
+		}
+		btBroadphaseBenchmark::OutputTime("\tUpdate",wallclock,experiment.iterations);
+		/* Clean up			*/ 
+		wallclock.reset();
+		for(int i=0;i<objects.size();++i)
+		{
+			pbi->destroyProxy(objects[i]->proxy,0);
+			delete objects[i];
+		}
+		objects.resize(0);
+		btBroadphaseBenchmark::OutputTime("\tRelease",wallclock);
+	}
+
+}
+#else
+void							btDbvtBroadphase::benchmark(btBroadphaseInterface*)
+{}
+#endif
+
+#if DBVT_BP_PROFILE
+#undef	SPC
+#endif
+

Code/Physics/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h

@@ -0,0 +1,146 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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.
+*/
+
+///btDbvtBroadphase implementation by Nathanael Presson
+#ifndef BT_DBVT_BROADPHASE_H
+#define BT_DBVT_BROADPHASE_H
+
+#include "BulletCollision/BroadphaseCollision/btDbvt.h"
+#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
+
+//
+// Compile time config
+//
+
+#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
+
+#if DBVT_BP_PROFILE
+#define	DBVT_BP_PROFILING_RATE	256
+#include "LinearMath/btQuickprof.h"
+#endif
+
+//
+// btDbvtProxy
+//
+struct btDbvtProxy : btBroadphaseProxy
+{
+	/* Fields		*/ 
+	//btDbvtAabbMm	aabb;
+	btDbvtNode*		leaf;
+	btDbvtProxy*	links[2];
+	int				stage;
+	/* ctor			*/ 
+	btDbvtProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) :
+	btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask)
+	{
+		links[0]=links[1]=0;
+	}
+};
+
+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
+{
+	/* 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?
+#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;
+#endif
+	/* Methods		*/ 
+	btDbvtBroadphase(btOverlappingPairCache* paircache=0);
+	~btDbvtBroadphase();
+	void							collide(btDispatcher* dispatcher);
+	void							optimize();
+	
+	/* btBroadphaseInterface Implementation	*/
+	btBroadphaseProxy*				createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
+	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();
+
+
+	///reset broadphase internal structures, to ensure determinism/reproducability
+	virtual void resetPool(btDispatcher* dispatcher);
+
+	void	performDeferredRemoval(btDispatcher* dispatcher);
+	
+	void	setVelocityPrediction(btScalar prediction)
+	{
+		m_prediction = prediction;
+	}
+	btScalar getVelocityPrediction() const
+	{
+		return m_prediction;
+	}
+
+	///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*/);
+
+	static void						benchmark(btBroadphaseInterface*);
+
+
+};
+
+#endif

Code/Physics/src/BulletCollision/BroadphaseCollision/btDispatcher.cpp

@@ -0,0 +1,22 @@
+/*
+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 "btDispatcher.h"
+
+btDispatcher::~btDispatcher()
+{
+
+}
+

Code/Physics/src/BulletCollision/BroadphaseCollision/btDispatcher.h

@@ -0,0 +1,107 @@
+/*
+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_DISPATCHER_H
+#define BT_DISPATCHER_H
+#include "LinearMath/btScalar.h"
+
+class btCollisionAlgorithm;
+struct btBroadphaseProxy;
+class btRigidBody;
+class	btCollisionObject;
+class btOverlappingPairCache;
+struct btCollisionObjectWrapper;
+
+class btPersistentManifold;
+class btPoolAllocator;
+
+struct btDispatcherInfo
+{
+	enum DispatchFunc
+	{
+		DISPATCH_DISCRETE = 1,
+		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)
+	{
+
+	}
+	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 btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold=0) = 0;
+
+	virtual btPersistentManifold*	getNewManifold(const btCollisionObject* b0,const btCollisionObject* b1)=0;
+
+	virtual void releaseManifold(btPersistentManifold* manifold)=0;
+
+	virtual void clearManifold(btPersistentManifold* manifold)=0;
+
+	virtual bool	needsCollision(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 int getNumManifolds() const = 0;
+
+	virtual btPersistentManifold* getManifoldByIndexInternal(int index) = 0;
+
+	virtual	btPersistentManifold**	getInternalManifoldPointer() = 0;
+
+	virtual	btPoolAllocator*	getInternalManifoldPool() = 0;
+
+	virtual	const btPoolAllocator*	getInternalManifoldPool() const = 0;
+
+	virtual	void* allocateCollisionAlgorithm(int size)  = 0;
+
+	virtual	void freeCollisionAlgorithm(void* ptr) = 0;
+
+};
+
+
+#endif //BT_DISPATCHER_H

Code/Physics/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
+}

Code/Physics/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

Code/Physics/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp

@@ -0,0 +1,633 @@
+/*
+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 "btOverlappingPairCache.h"
+
+#include "btDispatcher.h"
+#include "btCollisionAlgorithm.h"
+#include "LinearMath/btAabbUtil2.h"
+
+#include <stdio.h>
+
+int	gOverlappingPairs = 0;
+
+int gRemovePairs =0;
+int gAddedPairs =0;
+int gFindPairs =0;
+
+
+
+
+btHashedOverlappingPairCache::btHashedOverlappingPairCache():
+	m_overlapFilterCallback(0),
+	m_blockedForChanges(false),
+	m_ghostPairCallback(0)
+{
+	int initialAllocatedSize= 2;
+	m_overlappingPairArray.reserve(initialAllocatedSize);
+	growTables();
+}
+
+
+
+
+btHashedOverlappingPairCache::~btHashedOverlappingPairCache()
+{
+}
+
+
+
+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;
+		}
+	}
+}
+
+
+
+
+void	btHashedOverlappingPairCache::cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
+{
+
+	class	CleanPairCallback : public btOverlapCallback
+	{
+		btBroadphaseProxy* m_cleanProxy;
+		btOverlappingPairCache*	m_pairCache;
+		btDispatcher* m_dispatcher;
+
+	public:
+		CleanPairCallback(btBroadphaseProxy* cleanProxy,btOverlappingPairCache* pairCache,btDispatcher* dispatcher)
+			:m_cleanProxy(cleanProxy),
+			m_pairCache(pairCache),
+			m_dispatcher(dispatcher)
+		{
+		}
+		virtual	bool	processOverlap(btBroadphasePair& pair)
+		{
+			if ((pair.m_pProxy0 == m_cleanProxy) ||
+				(pair.m_pProxy1 == m_cleanProxy))
+			{
+				m_pairCache->cleanOverlappingPair(pair,m_dispatcher);
+			}
+			return false;
+		}
+		
+	};
+
+	CleanPairCallback cleanPairs(proxy,this,dispatcher);
+
+	processAllOverlappingPairs(&cleanPairs,dispatcher);
+
+}
+
+
+
+
+void	btHashedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
+{
+
+	class	RemovePairCallback : public btOverlapCallback
+	{
+		btBroadphaseProxy* m_obsoleteProxy;
+
+	public:
+		RemovePairCallback(btBroadphaseProxy* obsoleteProxy)
+			:m_obsoleteProxy(obsoleteProxy)
+		{
+		}
+		virtual	bool	processOverlap(btBroadphasePair& pair)
+		{
+			return ((pair.m_pProxy0 == m_obsoleteProxy) ||
+				(pair.m_pProxy1 == m_obsoleteProxy));
+		}
+		
+	};
+
+
+	RemovePairCallback removeCallback(proxy);
+
+	processAllOverlappingPairs(&removeCallback,dispatcher);
+}
+
+
+
+
+
+btBroadphasePair* btHashedOverlappingPairCache::findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
+{
+	gFindPairs++;
+	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));
+
+	if (hash >= m_hashTable.size())
+	{
+		return NULL;
+	}
+
+	int index = m_hashTable[hash];
+	while (index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
+	{
+		index = m_next[index];
+	}
+
+	if (index == BT_NULL_PAIR)
+	{
+		return NULL;
+	}
+
+	btAssert(index < m_overlappingPairArray.size());
+
+	return &m_overlappingPairArray[index];
+}
+
+//#include <stdio.h>
+
+void	btHashedOverlappingPairCache::growTables()
+{
+
+	int newCapacity = m_overlappingPairArray.capacity();
+
+	if (m_hashTable.size() < newCapacity)
+	{
+		//grow hashtable and next table
+		int curHashtableSize = m_hashTable.size();
+
+		m_hashTable.resize(newCapacity);
+		m_next.resize(newCapacity);
+
+
+		int i;
+
+		for (i= 0; i < newCapacity; ++i)
+		{
+			m_hashTable[i] = BT_NULL_PAIR;
+		}
+		for (i = 0; i < newCapacity; ++i)
+		{
+			m_next[i] = BT_NULL_PAIR;
+		}
+
+		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
+			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);
+	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
+
+
+	btBroadphasePair* pair = internalFindPair(proxy0, proxy1, hash);
+	if (pair != NULL)
+	{
+		return pair;
+	}
+	/*for(int i=0;i<m_overlappingPairArray.size();++i)
+		{
+		if(	(m_overlappingPairArray[i].m_pProxy0==proxy0)&&
+			(m_overlappingPairArray[i].m_pProxy1==proxy1))
+			{
+			printf("Adding duplicated %u<>%u\r\n",proxyId1,proxyId2);
+			internalFindPair(proxy0, proxy1, hash);
+			}
+		}*/
+	int count = m_overlappingPairArray.size();
+	int oldCapacity = m_overlappingPairArray.capacity();
+	void* mem = &m_overlappingPairArray.expandNonInitializing();
+
+	//this is where we add an actual pair, so also call the 'ghost'
+	if (m_ghostPairCallback)
+		m_ghostPairCallback->addOverlappingPair(proxy0,proxy1);
+
+	int newCapacity = m_overlappingPairArray.capacity();
+
+	if (oldCapacity < newCapacity)
+	{
+		growTables();
+		//hash with new capacity
+		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->m_algorithm = 0;
+	pair->m_internalTmpValue = 0;
+	
+
+	m_next[count] = m_hashTable[hash];
+	m_hashTable[hash] = count;
+
+	return pair;
+}
+
+
+
+void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1,btDispatcher* dispatcher)
+{
+	gRemovePairs++;
+	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));
+
+	btBroadphasePair* pair = internalFindPair(proxy0, proxy1, hash);
+	if (pair == NULL)
+	{
+		return 0;
+	}
+
+	cleanOverlappingPair(*pair,dispatcher);
+
+	void* userData = pair->m_internalInfo1;
+
+	btAssert(pair->m_pProxy0->getUid() == proxyId1);
+	btAssert(pair->m_pProxy1->getUid() == proxyId2);
+
+	int pairIndex = int(pair - &m_overlappingPairArray[0]);
+	btAssert(pairIndex < m_overlappingPairArray.size());
+
+	// Remove the pair from the hash table.
+	int index = m_hashTable[hash];
+	btAssert(index != BT_NULL_PAIR);
+
+	int previous = BT_NULL_PAIR;
+	while (index != pairIndex)
+	{
+		previous = index;
+		index = m_next[index];
+	}
+
+	if (previous != BT_NULL_PAIR)
+	{
+		btAssert(m_next[previous] == pairIndex);
+		m_next[previous] = m_next[pairIndex];
+	}
+	else
+	{
+		m_hashTable[hash] = m_next[pairIndex];
+	}
+
+	// We now move the last pair into spot of the
+	// pair being removed. We need to fix the hash
+	// table indices to support the move.
+
+	int lastPairIndex = m_overlappingPairArray.size() - 1;
+
+	if (m_ghostPairCallback)
+		m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1,dispatcher);
+
+	// If the removed pair is the last pair, we are done.
+	if (lastPairIndex == pairIndex)
+	{
+		m_overlappingPairArray.pop_back();
+		return userData;
+	}
+
+	// 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));
+
+	index = m_hashTable[lastHash];
+	btAssert(index != BT_NULL_PAIR);
+
+	previous = BT_NULL_PAIR;
+	while (index != lastPairIndex)
+	{
+		previous = index;
+		index = m_next[index];
+	}
+
+	if (previous != BT_NULL_PAIR)
+	{
+		btAssert(m_next[previous] == lastPairIndex);
+		m_next[previous] = m_next[lastPairIndex];
+	}
+	else
+	{
+		m_hashTable[lastHash] = m_next[lastPairIndex];
+	}
+
+	// Copy the last pair into the remove pair's spot.
+	m_overlappingPairArray[pairIndex] = m_overlappingPairArray[lastPairIndex];
+
+	// Insert the last pair into the hash table
+	m_next[pairIndex] = m_hashTable[lastHash];
+	m_hashTable[lastHash] = pairIndex;
+
+	m_overlappingPairArray.pop_back();
+
+	return userData;
+}
+//#include <stdio.h>
+
+void	btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher)
+{
+
+	int i;
+
+//	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);
+
+			gOverlappingPairs--;
+		} else
+		{
+			i++;
+		}
+	}
+}
+
+void	btHashedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher)
+{
+	///need to keep hashmap in sync with pair address, so rebuild all
+	btBroadphasePairArray tmpPairs;
+	int i;
+	for (i=0;i<m_overlappingPairArray.size();i++)
+	{
+		tmpPairs.push_back(m_overlappingPairArray[i]);
+	}
+
+	for (i=0;i<tmpPairs.size();i++)
+	{
+		removeOverlappingPair(tmpPairs[i].m_pProxy0,tmpPairs[i].m_pProxy1,dispatcher);
+	}
+	
+	for (i = 0; i < m_next.size(); i++)
+	{
+		m_next[i] = BT_NULL_PAIR;
+	}
+
+	tmpPairs.quickSort(btBroadphasePairSortPredicate());
+
+	for (i=0;i<tmpPairs.size();i++)
+	{
+		addOverlappingPair(tmpPairs[i].m_pProxy0,tmpPairs[i].m_pProxy1);
+	}
+
+	
+}
+
+
+void*	btSortedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1, btDispatcher* dispatcher )
+{
+	if (!hasDeferredRemoval())
+	{
+		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);
+			if (m_ghostPairCallback)
+				m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1,dispatcher);
+			
+			m_overlappingPairArray.swap(findIndex,m_overlappingPairArray.capacity()-1);
+			m_overlappingPairArray.pop_back();
+			return userData;
+		}
+	}
+
+	return 0;
+}
+
+
+
+
+
+
+
+
+btBroadphasePair*	btSortedOverlappingPairCache::addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
+{
+	//don't add overlap with own
+	btAssert(proxy0 != proxy1);
+
+	if (!needsBroadphaseCollision(proxy0,proxy1))
+		return 0;
+	
+	void* mem = &m_overlappingPairArray.expandNonInitializing();
+	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)
+{
+	if (!needsBroadphaseCollision(proxy0,proxy1))
+		return 0;
+
+	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];
+		return pair;
+	}
+	return 0;
+}
+
+
+
+
+
+
+
+
+
+
+//#include <stdio.h>
+
+void	btSortedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher)
+{
+
+	int i;
+
+	for (i=0;i<m_overlappingPairArray.size();)
+	{
+	
+		btBroadphasePair* pair = &m_overlappingPairArray[i];
+		if (callback->processOverlap(*pair))
+		{
+			cleanOverlappingPair(*pair,dispatcher);
+			pair->m_pProxy0 = 0;
+			pair->m_pProxy1 = 0;
+			m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
+			m_overlappingPairArray.pop_back();
+			gOverlappingPairs--;
+		} else
+		{
+			i++;
+		}
+	}
+}
+
+
+
+
+btSortedOverlappingPairCache::btSortedOverlappingPairCache():
+	m_blockedForChanges(false),
+	m_hasDeferredRemoval(true),
+	m_overlapFilterCallback(0),
+	m_ghostPairCallback(0)
+{
+	int initialAllocatedSize= 2;
+	m_overlappingPairArray.reserve(initialAllocatedSize);
+}
+
+btSortedOverlappingPairCache::~btSortedOverlappingPairCache()
+{
+}
+
+void	btSortedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher)
+{
+	if (pair.m_algorithm)
+	{
+		{
+			pair.m_algorithm->~btCollisionAlgorithm();
+			dispatcher->freeCollisionAlgorithm(pair.m_algorithm);
+			pair.m_algorithm=0;
+			gRemovePairs--;
+		}
+	}
+}
+
+
+void	btSortedOverlappingPairCache::cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
+{
+
+	class	CleanPairCallback : public btOverlapCallback
+	{
+		btBroadphaseProxy* m_cleanProxy;
+		btOverlappingPairCache*	m_pairCache;
+		btDispatcher* m_dispatcher;
+
+	public:
+		CleanPairCallback(btBroadphaseProxy* cleanProxy,btOverlappingPairCache* pairCache,btDispatcher* dispatcher)
+			:m_cleanProxy(cleanProxy),
+			m_pairCache(pairCache),
+			m_dispatcher(dispatcher)
+		{
+		}
+		virtual	bool	processOverlap(btBroadphasePair& pair)
+		{
+			if ((pair.m_pProxy0 == m_cleanProxy) ||
+				(pair.m_pProxy1 == m_cleanProxy))
+			{
+				m_pairCache->cleanOverlappingPair(pair,m_dispatcher);
+			}
+			return false;
+		}
+		
+	};
+
+	CleanPairCallback cleanPairs(proxy,this,dispatcher);
+
+	processAllOverlappingPairs(&cleanPairs,dispatcher);
+
+}
+
+
+void	btSortedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
+{
+
+	class	RemovePairCallback : public btOverlapCallback
+	{
+		btBroadphaseProxy* m_obsoleteProxy;
+
+	public:
+		RemovePairCallback(btBroadphaseProxy* obsoleteProxy)
+			:m_obsoleteProxy(obsoleteProxy)
+		{
+		}
+		virtual	bool	processOverlap(btBroadphasePair& pair)
+		{
+			return ((pair.m_pProxy0 == m_obsoleteProxy) ||
+				(pair.m_pProxy1 == m_obsoleteProxy));
+		}
+		
+	};
+
+	RemovePairCallback removeCallback(proxy);
+
+	processAllOverlappingPairs(&removeCallback,dispatcher);
+}
+
+void	btSortedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher)
+{
+	//should already be sorted
+}
+

Code/Physics/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h

@@ -0,0 +1,470 @@
+/*
+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_OVERLAPPING_PAIR_CACHE_H
+#define BT_OVERLAPPING_PAIR_CACHE_H
+
+
+#include "btBroadphaseInterface.h"
+#include "btBroadphaseProxy.h"
+#include "btOverlappingPairCallback.h"
+
+#include "LinearMath/btAlignedObjectArray.h"
+class btDispatcher;
+
+typedef btAlignedObjectArray<btBroadphasePair>	btBroadphasePairArray;
+
+struct	btOverlapCallback
+{
+	virtual ~btOverlapCallback()
+	{}
+	//return true for deletion of the pair
+	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;
+};
+
+
+
+
+
+
+
+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 btBroadphasePair*	getOverlappingPairArrayPtr() = 0;
+	
+	virtual const btBroadphasePair*	getOverlappingPairArrayPtr() const = 0;
+
+	virtual btBroadphasePairArray&	getOverlappingPairArray() = 0;
+
+	virtual	void	cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher) = 0;
+
+	virtual int getNumOverlappingPairs() const = 0;
+
+	virtual void	cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher) = 0;
+
+	virtual	void setOverlapFilterCallback(btOverlapFilterCallback* callback) = 0;
+
+	virtual void	processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher) = 0;
+
+	virtual btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) = 0;
+
+	virtual bool	hasDeferredRemoval() = 0;
+
+	virtual	void	setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)=0;
+
+	virtual void	sortOverlappingPairs(btDispatcher* dispatcher) = 0;
+
+
+};
+
+/// Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman, Codercorner, http://codercorner.com
+class btHashedOverlappingPairCache : public btOverlappingPairCache
+{
+	btBroadphasePairArray	m_overlappingPairArray;
+	btOverlapFilterCallback* m_overlapFilterCallback;
+	bool		m_blockedForChanges;
+
+protected:
+	
+	btAlignedObjectArray<int>	m_hashTable;
+	btAlignedObjectArray<int>	m_next;
+	btOverlappingPairCallback*	m_ghostPairCallback;
+
+
+public:
+	btHashedOverlappingPairCache();
+	virtual ~btHashedOverlappingPairCache();
+
+	
+	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
+	{
+		if (m_overlapFilterCallback)
+			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)
+	{
+		gAddedPairs++;
+
+		if (!needsBroadphaseCollision(proxy0,proxy1))
+			return 0;
+
+		return internalAddPair(proxy0,proxy1);
+	}
+
+	
+
+	void	cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
+
+	
+	virtual void	processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);
+
+	virtual btBroadphasePair*	getOverlappingPairArrayPtr()
+	{
+		return &m_overlappingPairArray[0];
+	}
+
+	const btBroadphasePair*	getOverlappingPairArrayPtr() const
+	{
+		return &m_overlappingPairArray[0];
+	}
+
+	btBroadphasePairArray&	getOverlappingPairArray()
+	{
+		return m_overlappingPairArray;
+	}
+
+	const btBroadphasePairArray&	getOverlappingPairArray() const
+	{
+		return m_overlappingPairArray;
+	}
+
+	void	cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
+
+
+
+	btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
+
+	int GetCount() const { return m_overlappingPairArray.size(); }
+//	btBroadphasePair* GetPairs() { return m_pairs; }
+
+	btOverlapFilterCallback* getOverlapFilterCallback()
+	{
+		return m_overlapFilterCallback;
+	}
+
+	void setOverlapFilterCallback(btOverlapFilterCallback* callback)
+	{
+		m_overlapFilterCallback = callback;
+	}
+
+	int	getNumOverlappingPairs() const
+	{
+		return m_overlappingPairArray.size();
+	}
+private:
+	
+	btBroadphasePair* 	internalAddPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
+
+	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;
+	}
+
+	/*
+	// Thomas Wang's hash, see: http://www.concentric.net/~Ttwang/tech/inthash.htm
+	// This assumes proxyId1 and proxyId2 are 16-bit.
+	SIMD_FORCE_INLINE int getHash(int proxyId1, int proxyId2)
+	{
+		int key = (proxyId2 << 16) | proxyId1;
+		key = ~key + (key << 15);
+		key = key ^ (key >> 12);
+		key = key + (key << 2);
+		key = key ^ (key >> 4);
+		key = key * 2057;
+		key = key ^ (key >> 16);
+		return key;
+	}
+	*/
+
+
+	
+	SIMD_FORCE_INLINE	unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
+	{
+		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 << 11);
+		key ^=  (key >> 16);
+		return static_cast<unsigned int>(key);
+	}
+	
+
+
+
+
+	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 (proxyId1 > proxyId2) 
+			btSwap(proxyId1, proxyId2);
+		#endif
+
+		int index = m_hashTable[hash];
+		
+		while( index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
+		{
+			index = m_next[index];
+		}
+
+		if ( index == BT_NULL_PAIR )
+		{
+			return NULL;
+		}
+
+		btAssert(index < m_overlappingPairArray.size());
+
+		return &m_overlappingPairArray[index];
+	}
+
+	virtual bool	hasDeferredRemoval()
+	{
+		return false;
+	}
+
+	virtual	void	setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)
+	{
+		m_ghostPairCallback = ghostPairCallback;
+	}
+
+	virtual void	sortOverlappingPairs(btDispatcher* dispatcher);
+	
+
+	
+};
+
+
+
+
+///btSortedOverlappingPairCache maintains the objects with overlapping AABB
+///Typically managed by the Broadphase, Axis3Sweep or btSimpleBroadphase
+class	btSortedOverlappingPairCache : public btOverlappingPairCache
+{
+	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;
+
+		///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;
+
+		btOverlappingPairCallback*	m_ghostPairCallback;
+
+	public:
+			
+		btSortedOverlappingPairCache();	
+		virtual ~btSortedOverlappingPairCache();
+
+		virtual void	processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);
+
+		void*	removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher);
+
+		void	cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
+		
+		btBroadphasePair*	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
+
+		btBroadphasePair*	findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
+			
+		
+		void	cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
+
+		void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
+
+
+		inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
+		{
+			if (m_overlapFilterCallback)
+				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;
+		}
+		
+		btBroadphasePairArray&	getOverlappingPairArray()
+		{
+			return m_overlappingPairArray;
+		}
+
+		const btBroadphasePairArray&	getOverlappingPairArray() const
+		{
+			return m_overlappingPairArray;
+		}
+
+		
+
+
+		btBroadphasePair*	getOverlappingPairArrayPtr()
+		{
+			return &m_overlappingPairArray[0];
+		}
+
+		const btBroadphasePair*	getOverlappingPairArrayPtr() const
+		{
+			return &m_overlappingPairArray[0];
+		}
+
+		int	getNumOverlappingPairs() const
+		{
+			return m_overlappingPairArray.size();
+		}
+		
+		btOverlapFilterCallback* getOverlapFilterCallback()
+		{
+			return m_overlapFilterCallback;
+		}
+
+		void setOverlapFilterCallback(btOverlapFilterCallback* callback)
+		{
+			m_overlapFilterCallback = callback;
+		}
+
+		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;
+
+public:
+
+	virtual btBroadphasePair*	getOverlappingPairArrayPtr()
+	{
+		return &m_overlappingPairArray[0];
+	}
+	const btBroadphasePair*	getOverlappingPairArrayPtr() const
+	{
+		return &m_overlappingPairArray[0];
+	}
+	btBroadphasePairArray&	getOverlappingPairArray()
+	{
+		return m_overlappingPairArray;
+	}
+	
+	virtual	void	cleanOverlappingPair(btBroadphasePair& /*pair*/,btDispatcher* /*dispatcher*/)
+	{
+
+	}
+
+	virtual int getNumOverlappingPairs() const
+	{
+		return 0;
+	}
+
+	virtual void	cleanProxyFromPairs(btBroadphaseProxy* /*proxy*/,btDispatcher* /*dispatcher*/)
+	{
+
+	}
+
+	virtual	void setOverlapFilterCallback(btOverlapFilterCallback* /*callback*/)
+	{
+	}
+
+	virtual void	processAllOverlappingPairs(btOverlapCallback*,btDispatcher* /*dispatcher*/)
+	{
+	}
+
+	virtual btBroadphasePair* findPair(btBroadphaseProxy* /*proxy0*/, btBroadphaseProxy* /*proxy1*/)
+	{
+		return 0;
+	}
+
+	virtual bool	hasDeferredRemoval()
+	{
+		return true;
+	}
+
+	virtual	void	setInternalGhostPairCallback(btOverlappingPairCallback* /* ghostPairCallback */)
+	{
+
+	}
+
+	virtual btBroadphasePair*	addOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/)
+	{
+		return 0;
+	}
+
+	virtual void*	removeOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/,btDispatcher* /*dispatcher*/)
+	{
+		return 0;
+	}
+
+	virtual void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/,btDispatcher* /*dispatcher*/)
+	{
+	}
+	
+	virtual void	sortOverlappingPairs(btDispatcher* dispatcher)
+	{
+        (void) dispatcher;
+	}
+
+
+};
+
+
+#endif //BT_OVERLAPPING_PAIR_CACHE_H
+
+

Code/Physics/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h

@@ -0,0 +1,40 @@
+
+/*
+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 OVERLAPPING_PAIR_CALLBACK_H
+#define OVERLAPPING_PAIR_CALLBACK_H
+
+class btDispatcher;
+struct  btBroadphasePair;
+
+///The btOverlappingPairCallback class is an additional optional broadphase user callback for adding/removing overlapping pairs, similar interface to btOverlappingPairCache.
+class btOverlappingPairCallback
+{
+public:
+	virtual ~btOverlappingPairCallback()
+	{
+
+	}
+	
+	virtual btBroadphasePair*	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) = 0;
+
+	virtual void*	removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher) = 0;
+
+	virtual void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0,btDispatcher* dispatcher) = 0;
+
+};
+
+#endif //OVERLAPPING_PAIR_CALLBACK_H

Code/Physics/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h

@@ -0,0 +1,581 @@
+/*
+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_QUANTIZED_BVH_H
+#define BT_QUANTIZED_BVH_H
+
+class btSerializer;
+
+//#define DEBUG_CHECK_DEQUANTIZATION 1
+#ifdef DEBUG_CHECK_DEQUANTIZATION
+#ifdef __SPU__
+#define printf spu_printf
+#endif //__SPU__
+
+#include <stdio.h>
+#include <stdlib.h>
+#endif //DEBUG_CHECK_DEQUANTIZATION
+
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedAllocator.h"
+
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btQuantizedBvhData btQuantizedBvhDoubleData
+#define btOptimizedBvhNodeData btOptimizedBvhNodeDoubleData
+#define btQuantizedBvhDataName "btQuantizedBvhDoubleData"
+#else
+#define btQuantizedBvhData btQuantizedBvhFloatData
+#define btOptimizedBvhNodeData btOptimizedBvhNodeFloatData
+#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
+
+// 10 gives the potential for 1024 parts, with at most 2^21 (2097152) (minus one
+// actually) triangles each (since the sign bit is reserved
+#define MAX_NUM_PARTS_IN_BITS 10
+
+///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
+{
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	//12 bytes
+	unsigned short int	m_quantizedAabbMin[3];
+	unsigned short int	m_quantizedAabbMax[3];
+	//4 bytes
+	int	m_escapeIndexOrTriangleIndex;
+
+	bool isLeafNode() const
+	{
+		//skipindex is negative (internal node), triangleindex >=0 (leafnode)
+		return (m_escapeIndexOrTriangleIndex >= 0);
+	}
+	int getEscapeIndex() const
+	{
+		btAssert(!isLeafNode());
+		return -m_escapeIndexOrTriangleIndex;
+	}
+	int	getTriangleIndex() const
+	{
+		btAssert(isLeafNode());
+		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));
+	}
+	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));
+	}
+}
+;
+
+/// 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
+{
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	//32 bytes
+	btVector3	m_aabbMinOrg;
+	btVector3	m_aabbMaxOrg;
+
+	//4
+	int	m_escapeIndex;
+
+	//8
+	//for child nodes
+	int	m_subPart;
+	int	m_triangleIndex;
+
+//pad the size to 64 bytes
+	char	m_padding[20];
+};
+
+
+///btBvhSubtreeInfo provides info to gather a subtree of limited size
+ATTRIBUTE_ALIGNED16(class) btBvhSubtreeInfo
+{
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	//12 bytes
+	unsigned short int	m_quantizedAabbMin[3];
+	unsigned short int	m_quantizedAabbMax[3];
+	//4 bytes, points to the root of the subtree
+	int			m_rootNodeIndex;
+	//4 bytes
+	int			m_subtreeSize;
+	int			m_padding[3];
+
+	btBvhSubtreeInfo()
+	{
+		//memset(&m_padding[0], 0, sizeof(m_padding));
+	}
+
+
+	void	setAabbFromQuantizeNode(const btQuantizedBvhNode& quantizedNode)
+	{
+		m_quantizedAabbMin[0] = quantizedNode.m_quantizedAabbMin[0];
+		m_quantizedAabbMin[1] = quantizedNode.m_quantizedAabbMin[1];
+		m_quantizedAabbMin[2] = quantizedNode.m_quantizedAabbMin[2];
+		m_quantizedAabbMax[0] = quantizedNode.m_quantizedAabbMax[0];
+		m_quantizedAabbMax[1] = quantizedNode.m_quantizedAabbMax[1];
+		m_quantizedAabbMax[2] = quantizedNode.m_quantizedAabbMax[2];
+	}
+}
+;
+
+
+class btNodeOverlapCallback
+{
+public:
+	virtual ~btNodeOverlapCallback() {};
+
+	virtual void processNode(int subPart, int triangleIndex) = 0;
+};
+
+#include "LinearMath/btAlignedAllocator.h"
+#include "LinearMath/btAlignedObjectArray.h"
+
+
+
+///for code readability:
+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, and by the btMultiSapBroadphase.
+///It is recommended to use quantization for better performance and lower memory requirements.
+ATTRIBUTE_ALIGNED16(class) btQuantizedBvh
+{
+public:
+	enum btTraversalMode
+	{
+		TRAVERSAL_STACKLESS = 0,
+		TRAVERSAL_STACKLESS_CACHE_FRIENDLY,
+		TRAVERSAL_RECURSIVE
+	};
+
+protected:
+
+
+	btVector3			m_bvhAabbMin;
+	btVector3			m_bvhAabbMax;
+	btVector3			m_bvhQuantization;
+
+	int					m_bulletVersion;	//for serialization versioning. It could also be used to detect endianess.
+
+	int					m_curNodeIndex;
+	//quantization data
+	bool				m_useQuantization;
+
+
+
+	NodeArray			m_leafNodes;
+	NodeArray			m_contiguousNodes;
+	QuantizedNodeArray	m_quantizedLeafNodes;
+	QuantizedNodeArray	m_quantizedContiguousNodes;
+	
+	btTraversalMode	m_traversalMode;
+	BvhSubtreeInfoArray		m_SubtreeHeaders;
+
+	//This is only used for serialization so we don't have to add serialization directly to btAlignedObjectArray
+	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)
+	{
+		if (m_useQuantization)
+		{
+			quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] ,aabbMin,0);
+		} else
+		{
+			m_contiguousNodes[nodeIndex].m_aabbMinOrg = aabbMin;
+
+		}
+	}
+	void	setInternalNodeAabbMax(int nodeIndex,const btVector3& aabbMax)
+	{
+		if (m_useQuantization)
+		{
+			quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0],aabbMax,1);
+		} else
+		{
+			m_contiguousNodes[nodeIndex].m_aabbMaxOrg = aabbMax;
+		}
+	}
+
+	btVector3 getAabbMin(int nodeIndex) const
+	{
+		if (m_useQuantization)
+		{
+			return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMin[0]);
+		}
+		//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)
+	{
+		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) 
+	{
+		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++)
+			{
+				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
+		{
+			//non-quantized
+			m_contiguousNodes[nodeIndex].m_aabbMinOrg.setMin(newAabbMin);
+			m_contiguousNodes[nodeIndex].m_aabbMaxOrg.setMax(newAabbMax);		
+		}
+	}
+
+	void	swapLeafNodes(int firstIndex,int secondIndex);
+
+	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	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;
+
+	///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;
+
+	///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	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;	}
+	///buildInternal is expert use only: assumes that setQuantizationValues and LeafNodeArray are initialized
+	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;
+
+		SIMD_FORCE_INLINE void quantize(unsigned short* out, const btVector3& point,int isMax) const
+	{
+
+		btAssert(m_useQuantization);
+
+		btAssert(point.getX() <= m_bvhAabbMax.getX());
+		btAssert(point.getY() <= m_bvhAabbMax.getY());
+		btAssert(point.getZ() <= m_bvhAabbMax.getZ());
+
+		btAssert(point.getX() >= m_bvhAabbMin.getX());
+		btAssert(point.getY() >= m_bvhAabbMin.getY());
+		btAssert(point.getZ() >= m_bvhAabbMin.getZ());
+
+		btVector3 v = (point - m_bvhAabbMin) * m_bvhQuantization;
+		///Make sure rounding is done in a way that unQuantize(quantizeWithClamp(...)) is conservative
+		///end-points always set the first bit, so that they are sorted properly (so that neighbouring AABBs overlap properly)
+		///@todo: double-check this
+		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()) & 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());
+			}
+			if (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());
+			}
+		} else
+		{
+			if (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());
+			}
+			if (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
+
+	}
+
+
+	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);
+
+	}
+	
+	SIMD_FORCE_INLINE btVector3	unQuantize(const unsigned short* vecIn) const
+	{
+			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;
+	}
+
+	///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)
+	{
+		m_traversalMode = traversalMode;
+	}
+
+
+	SIMD_FORCE_INLINE QuantizedNodeArray&	getQuantizedNodeArray()
+	{	
+		return	m_quantizedContiguousNodes;
+	}
+
+
+	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;
+
+	///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 unsigned int getAlignmentSerializationPadding();
+//////////////////////////////////////////////////////////////////////
+
+	
+	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	void deSerializeFloat(struct btQuantizedBvhFloatData& quantizedBvhFloatData);
+
+	virtual	void deSerializeDouble(struct btQuantizedBvhDoubleData& quantizedBvhDoubleData);
+
+
+////////////////////////////////////////////////////////////////////
+
+	SIMD_FORCE_INLINE bool isQuantized()
+	{
+		return m_useQuantization;
+	}
+
+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);
+
+}
+;
+
+
+struct	btBvhSubtreeInfoData
+{
+	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;
+	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];
+};
+
+
+struct btQuantizedBvhNodeData
+{
+	unsigned short m_quantizedAabbMin[3];
+	unsigned short m_quantizedAabbMax[3];
+	int	m_escapeIndexOrTriangleIndex;
+};
+
+struct	btQuantizedBvhFloatData
+{
+	btVector3FloatData			m_bvhAabbMin;
+	btVector3FloatData			m_bvhAabbMax;
+	btVector3FloatData			m_bvhQuantization;
+	int					m_curNodeIndex;
+	int					m_useQuantization;
+	int					m_numContiguousLeafNodes;
+	int					m_numQuantizedContiguousNodes;
+	btOptimizedBvhNodeFloatData	*m_contiguousNodesPtr;
+	btQuantizedBvhNodeData		*m_quantizedContiguousNodesPtr;
+	btBvhSubtreeInfoData	*m_subTreeInfoPtr;
+	int					m_traversalMode;
+	int					m_numSubtreeHeaders;
+	
+};
+
+struct	btQuantizedBvhDoubleData
+{
+	btVector3DoubleData			m_bvhAabbMin;
+	btVector3DoubleData			m_bvhAabbMax;
+	btVector3DoubleData			m_bvhQuantization;
+	int							m_curNodeIndex;
+	int							m_useQuantization;
+	int							m_numContiguousLeafNodes;
+	int							m_numQuantizedContiguousNodes;
+	btOptimizedBvhNodeDoubleData	*m_contiguousNodesPtr;
+	btQuantizedBvhNodeData			*m_quantizedContiguousNodesPtr;
+
+	int							m_traversalMode;
+	int							m_numSubtreeHeaders;
+	btBvhSubtreeInfoData		*m_subTreeInfoPtr;
+};
+
+
+SIMD_FORCE_INLINE	int	btQuantizedBvh::calculateSerializeBufferSizeNew() const
+{
+	return sizeof(btQuantizedBvhData);
+}
+
+
+
+#endif //BT_QUANTIZED_BVH_H

Code/Physics/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp

@@ -0,0 +1,349 @@
+/*
+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 "btSimpleBroadphase.h"
+#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btTransform.h"
+#include "LinearMath/btMatrix3x3.h"
+#include "LinearMath/btAabbUtil2.h"
+
+#include <new>
+
+extern int gOverlappingPairs;
+
+void	btSimpleBroadphase::validate()
+{
+	for (int i=0;i<m_numHandles;i++)
+	{
+		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)
+{
+
+	if (!overlappingPairCache)
+	{
+		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_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[maxProxies - 1].SetNextFree(0);
+	
+	}
+
+}
+
+btSimpleBroadphase::~btSimpleBroadphase()
+{
+	btAlignedFree(m_pHandlesRawPtr);
+
+	if (m_ownsPairCache)
+	{
+		m_pairCache->~btOverlappingPairCache();
+		btAlignedFree(m_pairCache);
+	}
+}
+
+
+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 ;-)
+	}
+	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,multiSapProxy);
+
+	return proxy;
+}
+
+class	RemovingOverlapCallback : public btOverlapCallback
+{
+protected:
+	virtual bool	processOverlap(btBroadphasePair& pair)
+	{
+		(void)pair;
+		btAssert(0);
+		return false;
+	}
+};
+
+class RemovePairContainingProxy
+{
+
+	btBroadphaseProxy*	m_targetProxy;
+	public:
+	virtual ~RemovePairContainingProxy()
+	{
+	}
+protected:
+	virtual bool processOverlap(btBroadphasePair& pair)
+	{
+		btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy0);
+		btSimpleBroadphaseProxy* proxy1 = static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy1);
+
+		return ((m_targetProxy == proxy0 || m_targetProxy == proxy1));
+	};
+};
+
+void	btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg,btDispatcher* dispatcher)
+{
+		
+		btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxyOrg);
+		freeHandle(proxy0);
+
+		m_pairCache->removeOverlappingPairsContainingProxy(proxyOrg,dispatcher);
+
+		//validate();
+		
+}
+
+void	btSimpleBroadphase::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
+{
+	const btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy);
+	aabbMin = sbp->m_aabbMin;
+	aabbMax = sbp->m_aabbMax;
+}
+
+void	btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* /*dispatcher*/)
+{
+	btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy);
+	sbp->m_aabbMin = aabbMin;
+	sbp->m_aabbMax = aabbMax;
+}
+
+void	btSimpleBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin,const btVector3& aabbMax)
+{
+	for (int i=0; i <= m_LastHandleIndex; i++)
+	{
+		btSimpleBroadphaseProxy* proxy = &m_pHandles[i];
+		if(!proxy->m_clientObject)
+		{
+			continue;
+		}
+		rayCallback.process(proxy);
+	}
+}
+
+
+void	btSimpleBroadphase::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
+{
+	for (int i=0; i <= m_LastHandleIndex; i++)
+	{
+		btSimpleBroadphaseProxy* proxy = &m_pHandles[i];
+		if(!proxy->m_clientObject)
+		{
+			continue;
+		}
+		if (TestAabbAgainstAabb2(aabbMin,aabbMax,proxy->m_aabbMin,proxy->m_aabbMax))
+		{
+			callback.process(proxy);
+		}
+	}
+}
+
+
+
+	
+
+
+
+bool	btSimpleBroadphase::aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1)
+{
+	return proxy0->m_aabbMin[0] <= proxy1->m_aabbMax[0] && proxy1->m_aabbMin[0] <= proxy0->m_aabbMax[0] && 
+		   proxy0->m_aabbMin[1] <= proxy1->m_aabbMax[1] && proxy1->m_aabbMin[1] <= proxy0->m_aabbMax[1] &&
+		   proxy0->m_aabbMin[2] <= proxy1->m_aabbMax[2] && proxy1->m_aabbMin[2] <= proxy0->m_aabbMax[2];
+
+}
+
+
+
+//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)));
+	}
+};
+
+void	btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
+{
+	//first check for new overlapping pairs
+	int i,j;
+	if (m_numHandles >= 0)
+	{
+		int new_largest_index = -1;
+		for (i=0; i <= m_LastHandleIndex; i++)
+		{
+			btSimpleBroadphaseProxy* proxy0 = &m_pHandles[i];
+			if(!proxy0->m_clientObject)
+			{
+				continue;
+			}
+			new_largest_index = i;
+			for (j=i+1; j <= m_LastHandleIndex; j++)
+			{
+				btSimpleBroadphaseProxy* proxy1 = &m_pHandles[j];
+				btAssert(proxy0 != proxy1);
+				if(!proxy1->m_clientObject)
+				{
+					continue;
+				}
+
+				btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
+				btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
+
+				if (aabbOverlap(p0,p1))
+				{
+					if ( !m_pairCache->findPair(proxy0,proxy1))
+					{
+						m_pairCache->addOverlappingPair(proxy0,proxy1);
+					}
+				} else
+				{
+					if (!m_pairCache->hasDeferredRemoval())
+					{
+						if ( m_pairCache->findPair(proxy0,proxy1))
+						{
+							m_pairCache->removeOverlappingPair(proxy0,proxy1,dispatcher);
+						}
+					}
+				}
+			}
+		}
+
+		m_LastHandleIndex = new_largest_index;
+
+		if (m_ownsPairCache && 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;
+
+
+			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)
+				{
+					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++;
+					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.quickSort(btBroadphasePairSortPredicate());
+
+			overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
+			m_invalidPair = 0;
+#endif//CLEAN_INVALID_PAIRS
+
+		}
+	}
+}
+
+
+bool btSimpleBroadphase::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
+{
+	btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
+	btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
+	return aabbOverlap(p0,p1);
+}
+
+void	btSimpleBroadphase::resetPool(btDispatcher* dispatcher)
+{
+	//not yet
+}

Code/Physics/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h

@@ -0,0 +1,171 @@
+/*
+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_SIMPLE_BROADPHASE_H
+#define BT_SIMPLE_BROADPHASE_H
+
+
+#include "btOverlappingPairCache.h"
+
+
+struct btSimpleBroadphaseProxy : public btBroadphaseProxy
+{
+	int			m_nextFree;
+	
+//	int			m_handleId;
+
+	
+	btSimpleBroadphaseProxy() {};
+
+	btSimpleBroadphaseProxy(const btVector3& minpt,const btVector3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,void* multiSapProxy)
+	:btBroadphaseProxy(minpt,maxpt,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy)
+	{
+		(void)shapeType;
+	}
+	
+	
+	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
+
+	void* m_pHandlesRawPtr;
+	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)
+		{
+			m_LastHandleIndex = freeHandle;
+		}
+		return freeHandle;
+	}
+
+	void freeHandle(btSimpleBroadphaseProxy* proxy)
+	{
+		int handle = int(proxy-m_pHandles);
+		btAssert(handle >= 0 && handle < m_maxHandles);
+		if(handle == m_LastHandleIndex)
+		{
+			m_LastHandleIndex--;
+		}
+		proxy->SetNextFree(m_firstFreeHandle);
+		m_firstFreeHandle = handle;
+
+		proxy->m_clientObject = 0;
+
+		m_numHandles--;
+	}
+
+	btOverlappingPairCache*	m_pairCache;
+	bool	m_ownsPairCache;
+
+	int	m_invalidPair;
+
+	
+	
+	inline btSimpleBroadphaseProxy*	getSimpleProxyFromProxy(btBroadphaseProxy* proxy)
+	{
+		btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxy);
+		return proxy0;
+	}
+
+	inline const btSimpleBroadphaseProxy*	getSimpleProxyFromProxy(btBroadphaseProxy* proxy) const
+	{
+		const btSimpleBroadphaseProxy* proxy0 = static_cast<const btSimpleBroadphaseProxy*>(proxy);
+		return proxy0;
+	}
+
+	///reset broadphase internal structures, to ensure determinism/reproducability
+	virtual void resetPool(btDispatcher* dispatcher);
+
+
+	void	validate();
+
+protected:
+
+
+	
+
+public:
+	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 ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
+
+	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 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
+	{
+		return m_pairCache;
+	}
+
+	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
+	{
+		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()
+	{
+//		printf("btSimpleBroadphase.h\n");
+//		printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
+	}
+};
+
+
+
+#endif //BT_SIMPLE_BROADPHASE_H
+

Code/Physics/src/BulletCollision/CMakeLists.txt

@@ -0,0 +1,286 @@
+INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/src  )
+
+SET(BulletCollision_SRCS
+	BroadphaseCollision/btAxisSweep3.cpp
+	BroadphaseCollision/btBroadphaseProxy.cpp
+	BroadphaseCollision/btCollisionAlgorithm.cpp
+	BroadphaseCollision/btDbvt.cpp
+	BroadphaseCollision/btDbvtBroadphase.cpp
+	BroadphaseCollision/btDispatcher.cpp
+	BroadphaseCollision/btMultiSapBroadphase.cpp
+	BroadphaseCollision/btOverlappingPairCache.cpp
+	BroadphaseCollision/btQuantizedBvh.cpp
+	BroadphaseCollision/btSimpleBroadphase.cpp
+	CollisionDispatch/btActivatingCollisionAlgorithm.cpp
+	CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
+	CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
+	CollisionDispatch/btBoxBoxDetector.cpp
+	CollisionDispatch/btCollisionDispatcher.cpp
+	CollisionDispatch/btCollisionObject.cpp
+	CollisionDispatch/btCollisionWorld.cpp
+	CollisionDispatch/btCompoundCollisionAlgorithm.cpp
+	CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
+	CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
+	CollisionDispatch/btConvexConvexAlgorithm.cpp
+	CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
+	CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
+	CollisionDispatch/btDefaultCollisionConfiguration.cpp
+	CollisionDispatch/btEmptyCollisionAlgorithm.cpp
+	CollisionDispatch/btGhostObject.cpp
+	CollisionDispatch/btHashedSimplePairCache.cpp
+	CollisionDispatch/btInternalEdgeUtility.cpp
+	CollisionDispatch/btInternalEdgeUtility.h
+	CollisionDispatch/btManifoldResult.cpp
+	CollisionDispatch/btSimulationIslandManager.cpp
+	CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
+	CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
+	CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
+	CollisionDispatch/btUnionFind.cpp
+	CollisionDispatch/SphereTriangleDetector.cpp
+	CollisionShapes/btBoxShape.cpp
+	CollisionShapes/btBox2dShape.cpp
+	CollisionShapes/btBvhTriangleMeshShape.cpp
+	CollisionShapes/btCapsuleShape.cpp
+	CollisionShapes/btCollisionShape.cpp
+	CollisionShapes/btCompoundShape.cpp
+	CollisionShapes/btConcaveShape.cpp
+	CollisionShapes/btConeShape.cpp
+	CollisionShapes/btConvexHullShape.cpp
+	CollisionShapes/btConvexInternalShape.cpp
+	CollisionShapes/btConvexPointCloudShape.cpp
+	CollisionShapes/btConvexPolyhedron.cpp
+	CollisionShapes/btConvexShape.cpp
+	CollisionShapes/btConvex2dShape.cpp
+	CollisionShapes/btConvexTriangleMeshShape.cpp
+	CollisionShapes/btCylinderShape.cpp
+	CollisionShapes/btEmptyShape.cpp
+	CollisionShapes/btHeightfieldTerrainShape.cpp
+	CollisionShapes/btMinkowskiSumShape.cpp
+	CollisionShapes/btMultimaterialTriangleMeshShape.cpp
+	CollisionShapes/btMultiSphereShape.cpp
+	CollisionShapes/btOptimizedBvh.cpp
+	CollisionShapes/btPolyhedralConvexShape.cpp
+	CollisionShapes/btScaledBvhTriangleMeshShape.cpp
+	CollisionShapes/btShapeHull.cpp
+	CollisionShapes/btSphereShape.cpp
+	CollisionShapes/btStaticPlaneShape.cpp
+	CollisionShapes/btStridingMeshInterface.cpp
+	CollisionShapes/btTetrahedronShape.cpp
+	CollisionShapes/btTriangleBuffer.cpp
+	CollisionShapes/btTriangleCallback.cpp
+	CollisionShapes/btTriangleIndexVertexArray.cpp
+	CollisionShapes/btTriangleIndexVertexMaterialArray.cpp
+	CollisionShapes/btTriangleMesh.cpp
+	CollisionShapes/btTriangleMeshShape.cpp
+	CollisionShapes/btUniformScalingShape.cpp
+	Gimpact/btContactProcessing.cpp
+	Gimpact/btGenericPoolAllocator.cpp
+	Gimpact/btGImpactBvh.cpp
+	Gimpact/btGImpactCollisionAlgorithm.cpp
+	Gimpact/btGImpactQuantizedBvh.cpp
+	Gimpact/btGImpactShape.cpp
+	Gimpact/btTriangleShapeEx.cpp
+	Gimpact/gim_box_set.cpp
+	Gimpact/gim_contact.cpp
+	Gimpact/gim_memory.cpp
+	Gimpact/gim_tri_collision.cpp
+	NarrowPhaseCollision/btContinuousConvexCollision.cpp
+	NarrowPhaseCollision/btConvexCast.cpp
+	NarrowPhaseCollision/btGjkConvexCast.cpp
+	NarrowPhaseCollision/btGjkEpa2.cpp
+	NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
+	NarrowPhaseCollision/btGjkPairDetector.cpp
+	NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
+	NarrowPhaseCollision/btPersistentManifold.cpp
+	NarrowPhaseCollision/btRaycastCallback.cpp
+	NarrowPhaseCollision/btSubSimplexConvexCast.cpp
+	NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
+	NarrowPhaseCollision/btPolyhedralContactClipping.cpp
+)
+
+SET(Root_HDRS
+	../btBulletCollisionCommon.h
+)
+SET(BroadphaseCollision_HDRS
+	BroadphaseCollision/btAxisSweep3.h
+	BroadphaseCollision/btBroadphaseInterface.h
+	BroadphaseCollision/btBroadphaseProxy.h
+	BroadphaseCollision/btCollisionAlgorithm.h
+	BroadphaseCollision/btDbvt.h
+	BroadphaseCollision/btDbvtBroadphase.h
+	BroadphaseCollision/btDispatcher.h
+	BroadphaseCollision/btMultiSapBroadphase.h
+	BroadphaseCollision/btOverlappingPairCache.h
+	BroadphaseCollision/btOverlappingPairCallback.h
+	BroadphaseCollision/btQuantizedBvh.h
+	BroadphaseCollision/btSimpleBroadphase.h
+)
+SET(CollisionDispatch_HDRS
+	CollisionDispatch/btActivatingCollisionAlgorithm.h
+	CollisionDispatch/btBoxBoxCollisionAlgorithm.h
+	CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
+	CollisionDispatch/btBoxBoxDetector.h
+	CollisionDispatch/btCollisionConfiguration.h
+	CollisionDispatch/btCollisionCreateFunc.h
+	CollisionDispatch/btCollisionDispatcher.h
+	CollisionDispatch/btCollisionObject.h
+	CollisionDispatch/btCollisionObjectWrapper.h
+	CollisionDispatch/btCollisionWorld.h
+	CollisionDispatch/btCompoundCollisionAlgorithm.h
+	CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h
+	CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
+	CollisionDispatch/btConvexConvexAlgorithm.h
+	CollisionDispatch/btConvex2dConvex2dAlgorithm.h
+	CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
+	CollisionDispatch/btDefaultCollisionConfiguration.h
+	CollisionDispatch/btEmptyCollisionAlgorithm.h
+	CollisionDispatch/btGhostObject.h
+	CollisionDispatch/btHashedSimplePairCache.h
+	CollisionDispatch/btManifoldResult.h
+	CollisionDispatch/btSimulationIslandManager.h
+	CollisionDispatch/btSphereBoxCollisionAlgorithm.h
+	CollisionDispatch/btSphereSphereCollisionAlgorithm.h
+	CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
+	CollisionDispatch/btUnionFind.h
+	CollisionDispatch/SphereTriangleDetector.h
+)
+SET(CollisionShapes_HDRS
+	CollisionShapes/btBoxShape.h
+	CollisionShapes/btBox2dShape.h
+	CollisionShapes/btBvhTriangleMeshShape.h
+	CollisionShapes/btCapsuleShape.h
+	CollisionShapes/btCollisionMargin.h
+	CollisionShapes/btCollisionShape.h
+	CollisionShapes/btCompoundShape.h
+	CollisionShapes/btConcaveShape.h
+	CollisionShapes/btConeShape.h
+	CollisionShapes/btConvexHullShape.h
+	CollisionShapes/btConvexInternalShape.h
+	CollisionShapes/btConvexPointCloudShape.h
+	CollisionShapes/btConvexPolyhedron.h
+	CollisionShapes/btConvexShape.h
+	CollisionShapes/btConvex2dShape.h
+	CollisionShapes/btConvexTriangleMeshShape.h
+	CollisionShapes/btCylinderShape.h
+	CollisionShapes/btEmptyShape.h
+	CollisionShapes/btHeightfieldTerrainShape.h
+	CollisionShapes/btMaterial.h
+	CollisionShapes/btMinkowskiSumShape.h
+	CollisionShapes/btMultimaterialTriangleMeshShape.h
+	CollisionShapes/btMultiSphereShape.h
+	CollisionShapes/btOptimizedBvh.h
+	CollisionShapes/btPolyhedralConvexShape.h
+	CollisionShapes/btScaledBvhTriangleMeshShape.h
+	CollisionShapes/btShapeHull.h
+	CollisionShapes/btSphereShape.h
+	CollisionShapes/btStaticPlaneShape.h
+	CollisionShapes/btStridingMeshInterface.h
+	CollisionShapes/btTetrahedronShape.h
+	CollisionShapes/btTriangleBuffer.h
+	CollisionShapes/btTriangleCallback.h
+	CollisionShapes/btTriangleIndexVertexArray.h
+	CollisionShapes/btTriangleIndexVertexMaterialArray.h
+	CollisionShapes/btTriangleInfoMap.h
+	CollisionShapes/btTriangleMesh.h
+	CollisionShapes/btTriangleMeshShape.h
+	CollisionShapes/btTriangleShape.h
+	CollisionShapes/btUniformScalingShape.h
+)
+SET(Gimpact_HDRS
+	Gimpact/btBoxCollision.h
+	Gimpact/btClipPolygon.h
+	Gimpact/btContactProcessing.h
+	Gimpact/btGenericPoolAllocator.h
+	Gimpact/btGeometryOperations.h
+	Gimpact/btGImpactBvh.h
+	Gimpact/btGImpactCollisionAlgorithm.h
+	Gimpact/btGImpactMassUtil.h
+	Gimpact/btGImpactQuantizedBvh.h
+	Gimpact/btGImpactShape.h
+	Gimpact/btQuantization.h
+	Gimpact/btTriangleShapeEx.h
+	Gimpact/gim_array.h
+	Gimpact/gim_basic_geometry_operations.h
+	Gimpact/gim_bitset.h
+	Gimpact/gim_box_collision.h
+	Gimpact/gim_box_set.h
+	Gimpact/gim_clip_polygon.h
+	Gimpact/gim_contact.h
+	Gimpact/gim_geom_types.h
+	Gimpact/gim_geometry.h
+	Gimpact/gim_hash_table.h
+	Gimpact/gim_linear_math.h
+	Gimpact/gim_math.h
+	Gimpact/gim_memory.h
+	Gimpact/gim_radixsort.h
+	Gimpact/gim_tri_collision.h
+)
+SET(NarrowPhaseCollision_HDRS
+	NarrowPhaseCollision/btContinuousConvexCollision.h
+	NarrowPhaseCollision/btConvexCast.h
+	NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
+	NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
+	NarrowPhaseCollision/btGjkConvexCast.h
+	NarrowPhaseCollision/btGjkEpa2.h
+	NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
+	NarrowPhaseCollision/btGjkPairDetector.h
+	NarrowPhaseCollision/btManifoldPoint.h
+	NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
+	NarrowPhaseCollision/btPersistentManifold.h
+	NarrowPhaseCollision/btPointCollector.h
+	NarrowPhaseCollision/btRaycastCallback.h
+	NarrowPhaseCollision/btSimplexSolverInterface.h
+	NarrowPhaseCollision/btSubSimplexConvexCast.h
+	NarrowPhaseCollision/btVoronoiSimplexSolver.h
+	NarrowPhaseCollision/btPolyhedralContactClipping.h
+)
+
+SET(BulletCollision_HDRS
+	${Root_HDRS}
+	${BroadphaseCollision_HDRS}
+	${CollisionDispatch_HDRS}
+	${CollisionShapes_HDRS}
+	${Gimpact_HDRS}
+	${NarrowPhaseCollision_HDRS}
+)
+
+
+ADD_LIBRARY(BulletCollision ${BulletCollision_SRCS} ${BulletCollision_HDRS})
+SET_TARGET_PROPERTIES(BulletCollision PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(BulletCollision PROPERTIES SOVERSION ${BULLET_VERSION})
+IF (BUILD_SHARED_LIBS)
+  TARGET_LINK_LIBRARIES(BulletCollision LinearMath)
+ENDIF (BUILD_SHARED_LIBS)
+
+
+IF (INSTALL_LIBS)
+	IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+		#INSTALL of other files requires CMake 2.6
+		IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+			IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+				INSTALL(TARGETS BulletCollision DESTINATION .)
+			ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+				INSTALL(TARGETS BulletCollision RUNTIME DESTINATION bin
+								LIBRARY DESTINATION lib${LIB_SUFFIX}
+								ARCHIVE DESTINATION lib${LIB_SUFFIX})
+				INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN ".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)
+				INSTALL(FILES ../btBulletCollisionCommon.h
+DESTINATION ${INCLUDE_INSTALL_DIR}/BulletCollision)
+			ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+		ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+		
+		IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+			SET_TARGET_PROPERTIES(BulletCollision PROPERTIES FRAMEWORK true)
+		
+			SET_TARGET_PROPERTIES(BulletCollision PROPERTIES PUBLIC_HEADER "${Root_HDRS}")
+			# Have to list out sub-directories manually:
+			SET_PROPERTY(SOURCE ${BroadphaseCollision_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/BroadphaseCollision)
+			SET_PROPERTY(SOURCE ${CollisionDispatch_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/CollisionDispatch)
+			SET_PROPERTY(SOURCE ${CollisionShapes_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/CollisionShapes)
+			SET_PROPERTY(SOURCE ${Gimpact_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Gimpact)
+			SET_PROPERTY(SOURCE ${NarrowPhaseCollision_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/NarrowPhaseCollision)
+		
+		ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+	ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+ENDIF (INSTALL_LIBS)

Code/Physics/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp

@@ -0,0 +1,200 @@
+/*
+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 "LinearMath/btScalar.h"
+#include "SphereTriangleDetector.h"
+#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)
+{
+
+}
+
+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;
+	btScalar timeOfImpact = btScalar(1.);
+	btScalar depth = btScalar(0.);
+//	output.m_distance = btScalar(BT_LARGE_FLOAT);
+	//move sphere into triangle space
+	btTransform	sphereInTr = transformB.inverseTimes(transformA);
+
+	if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact,m_contactBreakingThreshold))
+	{
+		if (swapResults)
+		{
+			btVector3 normalOnB = transformB.getBasis()*normal;
+			btVector3 normalOnA = -normalOnB;
+			btVector3 pointOnA = transformB*point+normalOnB*depth;
+			output.addContactPoint(normalOnA,pointOnA,depth);
+		} else
+		{
+			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) {
+	btVector3 diff = p - from;
+	btVector3 v = to - from;
+	btScalar t = v.dot(diff);
+	
+	if (t > 0) {
+		btScalar dotVV = v.dot(v);
+		if (t < dotVV) {
+			t /= dotVV;
+			diff -= t*v;
+		} else {
+			t = 1;
+			diff -= v;
+		}
+	} else
+		t = 0;
+
+	nearest = from + t*v;
+	return diff.dot(diff);	
+}
+
+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)
+{
+
+	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]);
+	normal.normalize();
+	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
+	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);
+
+				btScalar distanceSqr = SegmentSqrDistance(pa,pb,sphereCenter, nearestOnEdge);
+				if (distanceSqr < contactCapsuleRadiusSqr) {
+					// Yep, we're inside a capsule
+					hasContact = true;
+					contactPoint = nearestOnEdge;
+				}
+				
+			}
+		}
+	}
+
+	if (hasContact) {
+		btVector3 contactToCentre = sphereCenter - contactPoint;
+		btScalar distanceSqr = contactToCentre.length2();
+
+		if (distanceSqr < radiusWithThreshold*radiusWithThreshold)
+		{
+			if (distanceSqr>SIMD_EPSILON)
+			{
+				btScalar distance = btSqrt(distanceSqr);
+				resultNormal = contactToCentre;
+				resultNormal.normalize();
+				point = contactPoint;
+				depth = -(radius-distance);
+			} else
+			{
+				resultNormal = normal;
+				point = contactPoint;
+				depth = -radius;
+			}
+			return true;
+		}
+	}
+	
+	return false;
+}
+
+
+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 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 ) )
+		return true;
+	return false;
+
+}

Code/Physics/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h

@@ -0,0 +1,51 @@
+/*
+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_SPHERE_TRIANGLE_DETECTOR_H
+#define BT_SPHERE_TRIANGLE_DETECTOR_H
+
+#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);
+
+	SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle, btScalar contactBreakingThreshold);
+
+	virtual ~SphereTriangleDetector() {};
+
+	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);
+
+	btSphereShape* m_sphere;
+	btTriangleShape* m_triangle;
+	btScalar	m_contactBreakingThreshold;
+	
+};
+#endif //BT_SPHERE_TRIANGLE_DETECTOR_H
+

Code/Physics/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp

@@ -0,0 +1,47 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "btActivatingCollisionAlgorithm.h"
+#include "btCollisionDispatcher.h"
+#include "btCollisionObject.h"
+
+btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci)
+:btCollisionAlgorithm(ci)
+//,
+//m_colObj0(0),
+//m_colObj1(0)
+{
+}
+btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, 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();
+//	}
+}
+
+btActivatingCollisionAlgorithm::~btActivatingCollisionAlgorithm()
+{
+//		m_colObj0->activate();
+//		m_colObj1->activate();
+}

Code/Physics/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h

@@ -0,0 +1,36 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef __BT_ACTIVATING_COLLISION_ALGORITHM_H
+#define __BT_ACTIVATING_COLLISION_ALGORITHM_H
+
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+
+///This class is not enabled yet (work-in-progress) to more aggressively activate objects.
+class btActivatingCollisionAlgorithm : public btCollisionAlgorithm
+{
+//	btCollisionObject* m_colObj0;
+//	btCollisionObject* m_colObj1;
+
+public:
+
+	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci);
+
+	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
+
+	virtual ~btActivatingCollisionAlgorithm();
+
+};
+#endif //__BT_ACTIVATING_COLLISION_ALGORITHM_H

Code/Physics/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp

@@ -0,0 +1,421 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+* The b2CollidePolygons routines are Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+///btBox2dBox2dCollisionAlgorithm, with modified b2CollidePolygons routines from the Box2D library.
+///The modifications include: switching from b2Vec to btVector3, redefinition of b2Dot, b2Cross
+
+#include "btBox2dBox2dCollisionAlgorithm.h"
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "BulletCollision/CollisionShapes/btBoxShape.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionDispatch/btBoxBoxDetector.h"
+#include "BulletCollision/CollisionShapes/btBox2dShape.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
+
+#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)
+{
+	if (!m_manifoldPtr && m_dispatcher->needsCollision(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);
+
+//#include <stdio.h>
+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());
+
+	//  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*/)
+{
+	//not yet
+	return 1.f;
+}
+
+
+struct ClipVertex
+{
+	btVector3 v;
+	int id;
+	//b2ContactID id;
+	//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)
+
+int b2_maxManifoldPoints =2;
+
+static int ClipSegmentToLine(ClipVertex vOut[2], ClipVertex vIn[2],
+					  const btVector3& normal, btScalar offset)
+{
+	// Start with no output points
+	int numOut = 0;
+
+	// Calculate the distance of end points to the line
+	btScalar distance0 = b2Dot(normal, vIn[0].v) - offset;
+	btScalar distance1 = b2Dot(normal, vIn[1].v) - offset;
+
+	// If the points are behind the plane
+	if (distance0 <= 0.0f) vOut[numOut++] = vIn[0];
+	if (distance1 <= 0.0f) vOut[numOut++] = vIn[1];
+
+	// If the points are on different sides of the plane
+	if (distance0 * distance1 < 0.0f)
+	{
+		// Find intersection point of edge and plane
+		btScalar interp = distance0 / (distance0 - distance1);
+		vOut[numOut].v = vIn[0].v + interp * (vIn[1].v - vIn[0].v);
+		if (distance0 > 0.0f)
+		{
+			vOut[numOut].id = vIn[0].id;
+		}
+		else
+		{
+			vOut[numOut].id = vIn[1].id;
+		}
+		++numOut;
+	}
+
+	return numOut;
+}
+
+// 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 btVector3* vertices1 = poly1->getVertices();
+	const btVector3* normals1 = poly1->getNormals();
+
+	int count2 = poly2->getVertexCount();
+	const btVector3* vertices2 = poly2->getVertices();
+
+	btAssert(0 <= edge1 && edge1 < poly1->getVertexCount());
+
+	// Convert normal from poly1's frame into poly2's frame.
+	btVector3 normal1World = b2Mul(xf1.getBasis(), normals1[edge1]);
+	btVector3 normal1 = b2MulT(xf2.getBasis(), normal1World);
+
+	// Find support vertex on poly2 for -normal.
+	int index = 0;
+	btScalar minDot = BT_LARGE_FLOAT;
+
+    if( count2 > 0 )
+        index = (int) normal1.minDot( vertices2, count2, minDot);
+
+	btVector3 v1 = b2Mul(xf1, vertices1[edge1]);
+	btVector3 v2 = b2Mul(xf2, vertices2[index]);
+	btScalar separation = b2Dot(v2 - v1, normal1World);
+	return separation;
+}
+
+// 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)
+{
+	int count1 = poly1->getVertexCount();
+	const btVector3* normals1 = poly1->getNormals();
+
+	// Vector pointing from the centroid of poly1 to the centroid of poly2.
+	btVector3 d = b2Mul(xf2, poly2->getCentroid()) - b2Mul(xf1, poly1->getCentroid());
+	btVector3 dLocal1 = b2MulT(xf1.getBasis(), d);
+
+	// 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);
+
+	// Get the separation for the edge normal.
+	btScalar s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
+	if (s > 0.0f)
+	{
+		return s;
+	}
+
+	// Check the separation for the previous edge normal.
+	int prevEdge = edge - 1 >= 0 ? edge - 1 : count1 - 1;
+	btScalar sPrev = EdgeSeparation(poly1, xf1, prevEdge, poly2, xf2);
+	if (sPrev > 0.0f)
+	{
+		return sPrev;
+	}
+
+	// Check the separation for the next edge normal.
+	int nextEdge = edge + 1 < count1 ? edge + 1 : 0;
+	btScalar sNext = EdgeSeparation(poly1, xf1, nextEdge, poly2, xf2);
+	if (sNext > 0.0f)
+	{
+		return sNext;
+	}
+
+	// Find the best edge and the search direction.
+	int bestEdge;
+	btScalar bestSeparation;
+	int increment;
+	if (sPrev > s && sPrev > sNext)
+	{
+		increment = -1;
+		bestEdge = prevEdge;
+		bestSeparation = sPrev;
+	}
+	else if (sNext > s)
+	{
+		increment = 1;
+		bestEdge = nextEdge;
+		bestSeparation = sNext;
+	}
+	else
+	{
+		*edgeIndex = edge;
+		return s;
+	}
+
+	// Perform a local search for the best edge normal.
+	for ( ; ; )
+	{
+		if (increment == -1)
+			edge = bestEdge - 1 >= 0 ? bestEdge - 1 : count1 - 1;
+		else
+			edge = bestEdge + 1 < count1 ? bestEdge + 1 : 0;
+
+		s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
+		if (s > 0.0f)
+		{
+			return s;
+		}
+
+		if (s > bestSeparation)
+		{
+			bestEdge = edge;
+			bestSeparation = s;
+		}
+		else
+		{
+			break;
+		}
+	}
+
+	*edgeIndex = bestEdge;
+	return bestSeparation;
+}
+
+static void FindIncidentEdge(ClipVertex c[2],
+							 const btBox2dShape* poly1, const btTransform& xf1, int edge1,
+							 const btBox2dShape* poly2, const btTransform& xf2)
+{
+	const btVector3* normals1 = poly1->getNormals();
+
+	int count2 = poly2->getVertexCount();
+	const btVector3* vertices2 = poly2->getVertices();
+	const btVector3* normals2 = poly2->getNormals();
+
+	btAssert(0 <= edge1 && edge1 < poly1->getVertexCount());
+
+	// Get the normal of the reference edge in poly2's frame.
+	btVector3 normal1 = b2MulT(xf2.getBasis(), b2Mul(xf1.getBasis(), normals1[edge1]));
+
+	// Find the incident edge on poly2.
+	int index = 0;
+	btScalar minDot = BT_LARGE_FLOAT;
+	for (int i = 0; i < count2; ++i)
+	{
+		btScalar dot = b2Dot(normal1, normals2[i]);
+		if (dot < minDot)
+		{
+			minDot = dot;
+			index = i;
+		}
+	}
+
+	// Build the clip vertices for the incident edge.
+	int i1 = index;
+	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[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;
+}
+
+// Find edge normal of max separation on A - return if separating axis is found
+// Find edge normal of max separation on B - return if separation axis is found
+// Choose reference edge as min(minA, minB)
+// Find incident edge
+// Clip
+
+// The normal points from 1 to 2
+void b2CollidePolygons(btManifoldResult* manifold,
+					  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)
+		return;
+
+	int edgeB = 0;
+	btScalar separationB = FindMaxSeparation(&edgeB, polyB, xfB, polyA, xfA);
+	if (separationB > 0.0f)
+		return;
+
+	const btBox2dShape* poly1;	// reference poly
+	const btBox2dShape* poly2;	// incident poly
+	btTransform xf1, xf2;
+	int edge1;		// reference edge
+	unsigned char flip;
+	const btScalar k_relativeTol = 0.98f;
+	const btScalar k_absoluteTol = 0.001f;
+
+	// TODO_ERIN use "radius" of poly for absolute tolerance.
+	if (separationB > k_relativeTol * separationA + k_absoluteTol)
+	{
+		poly1 = polyB;
+		poly2 = polyA;
+		xf1 = xfB;
+		xf2 = xfA;
+		edge1 = edgeB;
+		flip = 1;
+	}
+	else
+	{
+		poly1 = polyA;
+		poly2 = polyB;
+		xf1 = xfA;
+		xf2 = xfB;
+		edge1 = edgeA;
+		flip = 0;
+	}
+
+	ClipVertex incidentEdge[2];
+	FindIncidentEdge(incidentEdge, poly1, xf1, edge1, poly2, xf2);
+
+	int count1 = poly1->getVertexCount();
+	const btVector3* vertices1 = poly1->getVertices();
+
+	btVector3 v11 = vertices1[edge1];
+	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);
+
+	btScalar frontOffset = b2Dot(frontNormal, v11);
+	btScalar sideOffset1 = -b2Dot(sideNormal, v11);
+	btScalar sideOffset2 = b2Dot(sideNormal, v12);
+
+	// 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);
+
+	ClipVertex clipPoints2[2];
+	clipPoints2[0].v.setValue(0,0,0);
+	clipPoints2[1].v.setValue(0,0,0);
+
+
+	int np;
+
+	// Clip to box side 1
+	np = ClipSegmentToLine(clipPoints1, incidentEdge, -sideNormal, sideOffset1);
+
+	if (np < 2)
+		return;
+
+	// Clip to negative box side 1
+	np = ClipSegmentToLine(clipPoints2, clipPoints1,  sideNormal, sideOffset2);
+
+	if (np < 2)
+	{
+		return;
+	}
+
+	// Now clipPoints2 contains the clipped points.
+	btVector3 manifoldNormal = flip ? -frontNormal : frontNormal;
+
+	int pointCount = 0;
+	for (int i = 0; i < b2_maxManifoldPoints; ++i)
+	{
+		btScalar separation = b2Dot(frontNormal, clipPoints2[i].v) - frontOffset;
+
+		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);
+
+//			cp->id = clipPoints2[i].id;
+//			cp->id.features.flip = flip;
+			++pointCount;
+		}
+	}
+
+//	manifold->pointCount = pointCount;}
+}

Code/Physics/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h

@@ -0,0 +1,66 @@
+/*
+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_BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
+#define BT_BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
+
+#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
+#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
+
+class btPersistentManifold;
+
+///box-box collision detection
+class btBox2dBox2dCollisionAlgorithm : public btActivatingCollisionAlgorithm
+{
+	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 btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
+
+	virtual ~btBox2dBox2dCollisionAlgorithm();
+
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	{
+		if (m_manifoldPtr && m_ownManifold)
+		{
+			manifoldArray.push_back(m_manifoldPtr);
+		}
+	}
+
+
+	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	{
+		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);
+		}
+	};
+
+};
+
+#endif //BT_BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
+

Code/Physics/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp

@@ -0,0 +1,84 @@
+/*
+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 "btBoxBoxCollisionAlgorithm.h"
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "BulletCollision/CollisionShapes/btBoxShape.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "btBoxBoxDetector.h"
+#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)
+{
+	if (!m_manifoldPtr && m_dispatcher->needsCollision(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject()))
+	{
+		m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
+		m_ownManifold = true;
+	}
+}
+
+btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm()
+{
+	if (m_ownManifold)
+	{
+		if (m_manifoldPtr)
+			m_dispatcher->releaseManifold(m_manifoldPtr);
+	}
+}
+
+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	
+	m_manifoldPtr->clearManifold();
+#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);
+
+#ifdef USE_PERSISTENT_CONTACTS
+	//  refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
+	if (m_ownManifold)
+	{
+		resultOut->refreshContactPoints();
+	}
+#endif //USE_PERSISTENT_CONTACTS
+
+}
+
+btScalar btBoxBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/)
+{
+	//not yet
+	return 1.f;
+}

Code/Physics/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h

@@ -0,0 +1,66 @@
+/*
+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_BOX_BOX__COLLISION_ALGORITHM_H
+#define BT_BOX_BOX__COLLISION_ALGORITHM_H
+
+#include "btActivatingCollisionAlgorithm.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
+#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
+
+class btPersistentManifold;
+
+///box-box collision detection
+class btBoxBoxCollisionAlgorithm : public btActivatingCollisionAlgorithm
+{
+	bool	m_ownManifold;
+	btPersistentManifold*	m_manifoldPtr;
+	
+public:
+	btBoxBoxCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
+		: btActivatingCollisionAlgorithm(ci) {}
+
+	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);
+
+	btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
+
+	virtual ~btBoxBoxCollisionAlgorithm();
+
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	{
+		if (m_manifoldPtr && m_ownManifold)
+		{
+			manifoldArray.push_back(m_manifoldPtr);
+		}
+	}
+
+
+	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	{
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+		{
+			int bbsize = sizeof(btBoxBoxCollisionAlgorithm);
+			void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
+			return new(ptr) btBoxBoxCollisionAlgorithm(0,ci,body0Wrap,body1Wrap);
+		}
+	};
+
+};
+
+#endif //BT_BOX_BOX__COLLISION_ALGORITHM_H
+

Code/Physics/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp

@@ -0,0 +1,718 @@
+/*
+ * Box-Box collision detection re-distributed under the ZLib license with permission from Russell L. Smith
+ * Original version is from Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org
+ Bullet Continuous Collision Detection and Physics Library
+ Bullet is 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.
+*/
+
+///ODE box-box collision detection is adapted to work with Bullet
+
+#include "btBoxBoxDetector.h"
+#include "BulletCollision/CollisionShapes/btBoxShape.h"
+
+#include <float.h>
+#include <string.h>
+
+btBoxBoxDetector::btBoxBoxDetector(const btBoxShape* box1,const btBoxShape* box2)
+: m_box1(box1),
+m_box2(box2)
+{
+
+}
+
+
+// given two boxes (p1,R1,side1) and (p2,R2,side2), collide them together and
+// generate contact points. this returns 0 if there is no contact otherwise
+// it returns the number of contacts generated.
+// `normal' returns the contact normal.
+// `depth' returns the maximum penetration depth along that normal.
+// `return_code' returns a number indicating the type of contact that was
+// detected:
+//        1,2,3 = box 2 intersects with a face of box 1
+//        4,5,6 = box 1 intersects with a face of box 2
+//        7..15 = edge-edge contact
+// `maxc' is the maximum number of contacts allowed to be generated, i.e.
+// the size of the `contact' array.
+// `contact' and `skip' are the contact array information provided to the
+// collision functions. this function only fills in the position and depth
+// fields.
+struct dContactGeom;
+#define dDOTpq(a,b,p,q) ((a)[0]*(b)[0] + (a)[p]*(b)[q] + (a)[2*(p)]*(b)[2*(q)])
+#define dInfinity FLT_MAX
+
+
+/*PURE_INLINE btScalar dDOT   (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,1); }
+PURE_INLINE btScalar dDOT13 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,3); }
+PURE_INLINE btScalar dDOT31 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,3,1); }
+PURE_INLINE btScalar dDOT33 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,3,3); }
+*/
+static btScalar dDOT   (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,1); }
+static btScalar dDOT44 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,4,4); }
+static btScalar dDOT41 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,4,1); }
+static btScalar dDOT14 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,4); }
+#define dMULTIPLYOP1_331(A,op,B,C) \
+{\
+  (A)[0] op dDOT41((B),(C)); \
+  (A)[1] op dDOT41((B+1),(C)); \
+  (A)[2] op dDOT41((B+2),(C)); \
+}
+
+#define dMULTIPLYOP0_331(A,op,B,C) \
+{ \
+  (A)[0] op dDOT((B),(C)); \
+  (A)[1] op dDOT((B+4),(C)); \
+  (A)[2] op dDOT((B+8),(C)); \
+} 
+
+#define dMULTIPLY1_331(A,B,C) dMULTIPLYOP1_331(A,=,B,C)
+#define dMULTIPLY0_331(A,B,C) dMULTIPLYOP0_331(A,=,B,C)
+
+typedef btScalar dMatrix3[4*3];
+
+void dLineClosestApproach (const btVector3& pa, const btVector3& ua,
+			   const btVector3& pb, const btVector3& ub,
+			   btScalar *alpha, btScalar *beta);
+void dLineClosestApproach (const btVector3& pa, const btVector3& ua,
+			   const btVector3& pb, const btVector3& ub,
+			   btScalar *alpha, btScalar *beta)
+{
+  btVector3 p;
+  p[0] = pb[0] - pa[0];
+  p[1] = pb[1] - pa[1];
+  p[2] = pb[2] - pa[2];
+  btScalar uaub = dDOT(ua,ub);
+  btScalar q1 =  dDOT(ua,p);
+  btScalar q2 = -dDOT(ub,p);
+  btScalar d = 1-uaub*uaub;
+  if (d <= btScalar(0.0001f)) {
+    // @@@ this needs to be made more robust
+    *alpha = 0;
+    *beta  = 0;
+  }
+  else {
+    d = 1.f/d;
+    *alpha = (q1 + uaub*q2)*d;
+    *beta  = (uaub*q1 + q2)*d;
+  }
+}
+
+
+
+// find all the intersection points between the 2D rectangle with vertices
+// at (+/-h[0],+/-h[1]) and the 2D quadrilateral with vertices (p[0],p[1]),
+// (p[2],p[3]),(p[4],p[5]),(p[6],p[7]).
+//
+// the intersection points are returned as x,y pairs in the 'ret' array.
+// the number of intersection points is returned by the function (this will
+// be in the range 0 to 8).
+
+static int intersectRectQuad2 (btScalar h[2], btScalar p[8], btScalar ret[16])
+{
+  // q (and r) contain nq (and nr) coordinate points for the current (and
+  // chopped) polygons
+  int nq=4,nr=0;
+  btScalar buffer[16];
+  btScalar *q = p;
+  btScalar *r = ret;
+  for (int dir=0; dir <= 1; dir++) {
+    // direction notation: xy[0] = x axis, xy[1] = y axis
+    for (int sign=-1; sign <= 1; sign += 2) {
+      // chop q along the line xy[dir] = sign*h[dir]
+      btScalar *pq = q;
+      btScalar *pr = r;
+      nr = 0;
+      for (int i=nq; i > 0; i--) {
+	// go through all points in q and all lines between adjacent points
+	if (sign*pq[dir] < h[dir]) {
+	  // this point is inside the chopping line
+	  pr[0] = pq[0];
+	  pr[1] = pq[1];
+	  pr += 2;
+	  nr++;
+	  if (nr & 8) {
+	    q = r;
+	    goto done;
+	  }
+	}
+	btScalar *nextq = (i > 1) ? pq+2 : q;
+	if ((sign*pq[dir] < h[dir]) ^ (sign*nextq[dir] < h[dir])) {
+	  // this line crosses the chopping line
+	  pr[1-dir] = pq[1-dir] + (nextq[1-dir]-pq[1-dir]) /
+	    (nextq[dir]-pq[dir]) * (sign*h[dir]-pq[dir]);
+	  pr[dir] = sign*h[dir];
+	  pr += 2;
+	  nr++;
+	  if (nr & 8) {
+	    q = r;
+	    goto done;
+	  }
+	}
+	pq += 2;
+      }
+      q = r;
+      r = (q==ret) ? buffer : ret;
+      nq = nr;
+    }
+  }
+ done:
+  if (q != ret) memcpy (ret,q,nr*2*sizeof(btScalar));
+  return nr;
+}
+
+
+#define M__PI 3.14159265f
+
+// given n points in the plane (array p, of size 2*n), generate m points that
+// best represent the whole set. the definition of 'best' here is not
+// predetermined - the idea is to select points that give good box-box
+// collision detection behavior. the chosen point indexes are returned in the
+// array iret (of size m). 'i0' is always the first entry in the array.
+// n must be in the range [1..8]. m must be in the range [1..n]. i0 must be
+// in the range [0..n-1].
+
+void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[]);
+void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[])
+{
+  // compute the centroid of the polygon in cx,cy
+  int i,j;
+  btScalar a,cx,cy,q;
+  if (n==1) {
+    cx = p[0];
+    cy = p[1];
+  }
+  else if (n==2) {
+    cx = btScalar(0.5)*(p[0] + p[2]);
+    cy = btScalar(0.5)*(p[1] + p[3]);
+  }
+  else {
+    a = 0;
+    cx = 0;
+    cy = 0;
+    for (i=0; i<(n-1); i++) {
+      q = p[i*2]*p[i*2+3] - p[i*2+2]*p[i*2+1];
+      a += q;
+      cx += q*(p[i*2]+p[i*2+2]);
+      cy += q*(p[i*2+1]+p[i*2+3]);
+    }
+    q = p[n*2-2]*p[1] - p[0]*p[n*2-1];
+	if (btFabs(a+q) > SIMD_EPSILON)
+	{
+		a = 1.f/(btScalar(3.0)*(a+q));
+	} else
+	{
+		a=BT_LARGE_FLOAT;
+	}
+    cx = a*(cx + q*(p[n*2-2]+p[0]));
+    cy = a*(cy + q*(p[n*2-1]+p[1]));
+  }
+
+  // compute the angle of each point w.r.t. the centroid
+  btScalar A[8];
+  for (i=0; i<n; i++) A[i] = btAtan2(p[i*2+1]-cy,p[i*2]-cx);
+
+  // search for points that have angles closest to A[i0] + i*(2*pi/m).
+  int avail[8];
+  for (i=0; i<n; i++) avail[i] = 1;
+  avail[i0] = 0;
+  iret[0] = i0;
+  iret++;
+  for (j=1; j<m; j++) {
+    a = btScalar(j)*(2*M__PI/m) + A[i0];
+    if (a > M__PI) a -= 2*M__PI;
+    btScalar maxdiff=1e9,diff;
+
+    *iret = i0;			// iret is not allowed to keep this value, but it sometimes does, when diff=#QNAN0
+
+    for (i=0; i<n; i++) {
+      if (avail[i]) {
+	diff = btFabs (A[i]-a);
+	if (diff > M__PI) diff = 2*M__PI - diff;
+	if (diff < maxdiff) {
+	  maxdiff = diff;
+	  *iret = i;
+	}
+      }
+    }
+#if defined(DEBUG) || defined (_DEBUG)
+    btAssert (*iret != i0);	// ensure iret got set
+#endif
+    avail[*iret] = 0;
+    iret++;
+  }
+}
+
+
+
+int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
+	     const btVector3& side1, const btVector3& p2,
+	     const dMatrix3 R2, const btVector3& side2,
+	     btVector3& normal, btScalar *depth, int *return_code,
+		 int maxc, dContactGeom * /*contact*/, int /*skip*/,btDiscreteCollisionDetectorInterface::Result& output);
+int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
+	     const btVector3& side1, const btVector3& p2,
+	     const dMatrix3 R2, const btVector3& side2,
+	     btVector3& normal, btScalar *depth, int *return_code,
+		 int maxc, dContactGeom * /*contact*/, int /*skip*/,btDiscreteCollisionDetectorInterface::Result& output)
+{
+  const btScalar fudge_factor = btScalar(1.05);
+  btVector3 p,pp,normalC(0.f,0.f,0.f);
+  const btScalar *normalR = 0;
+  btScalar A[3],B[3],R11,R12,R13,R21,R22,R23,R31,R32,R33,
+    Q11,Q12,Q13,Q21,Q22,Q23,Q31,Q32,Q33,s,s2,l;
+  int i,j,invert_normal,code;
+
+  // get vector from centers of box 1 to box 2, relative to box 1
+  p = p2 - p1;
+  dMULTIPLY1_331 (pp,R1,p);		// get pp = p relative to body 1
+
+  // get side lengths / 2
+  A[0] = side1[0]*btScalar(0.5);
+  A[1] = side1[1]*btScalar(0.5);
+  A[2] = side1[2]*btScalar(0.5);
+  B[0] = side2[0]*btScalar(0.5);
+  B[1] = side2[1]*btScalar(0.5);
+  B[2] = side2[2]*btScalar(0.5);
+
+  // Rij is R1'*R2, i.e. the relative rotation between R1 and R2
+  R11 = dDOT44(R1+0,R2+0); R12 = dDOT44(R1+0,R2+1); R13 = dDOT44(R1+0,R2+2);
+  R21 = dDOT44(R1+1,R2+0); R22 = dDOT44(R1+1,R2+1); R23 = dDOT44(R1+1,R2+2);
+  R31 = dDOT44(R1+2,R2+0); R32 = dDOT44(R1+2,R2+1); R33 = dDOT44(R1+2,R2+2);
+
+  Q11 = btFabs(R11); Q12 = btFabs(R12); Q13 = btFabs(R13);
+  Q21 = btFabs(R21); Q22 = btFabs(R22); Q23 = btFabs(R23);
+  Q31 = btFabs(R31); Q32 = btFabs(R32); Q33 = btFabs(R33);
+
+  // for all 15 possible separating axes:
+  //   * see if the axis separates the boxes. if so, return 0.
+  //   * find the depth of the penetration along the separating axis (s2)
+  //   * if this is the largest depth so far, record it.
+  // the normal vector will be set to the separating axis with the smallest
+  // depth. note: normalR is set to point to a column of R1 or R2 if that is
+  // the smallest depth normal so far. otherwise normalR is 0 and normalC is
+  // set to a vector relative to body 1. invert_normal is 1 if the sign of
+  // the normal should be flipped.
+
+#define TST(expr1,expr2,norm,cc) \
+  s2 = btFabs(expr1) - (expr2); \
+  if (s2 > 0) return 0; \
+  if (s2 > s) { \
+    s = s2; \
+    normalR = norm; \
+    invert_normal = ((expr1) < 0); \
+    code = (cc); \
+  }
+
+  s = -dInfinity;
+  invert_normal = 0;
+  code = 0;
+
+  // separating axis = u1,u2,u3
+  TST (pp[0],(A[0] + B[0]*Q11 + B[1]*Q12 + B[2]*Q13),R1+0,1);
+  TST (pp[1],(A[1] + B[0]*Q21 + B[1]*Q22 + B[2]*Q23),R1+1,2);
+  TST (pp[2],(A[2] + B[0]*Q31 + B[1]*Q32 + B[2]*Q33),R1+2,3);
+
+  // separating axis = v1,v2,v3
+  TST (dDOT41(R2+0,p),(A[0]*Q11 + A[1]*Q21 + A[2]*Q31 + B[0]),R2+0,4);
+  TST (dDOT41(R2+1,p),(A[0]*Q12 + A[1]*Q22 + A[2]*Q32 + B[1]),R2+1,5);
+  TST (dDOT41(R2+2,p),(A[0]*Q13 + A[1]*Q23 + A[2]*Q33 + B[2]),R2+2,6);
+
+  // note: cross product axes need to be scaled when s is computed.
+  // normal (n1,n2,n3) is relative to box 1.
+#undef TST
+#define TST(expr1,expr2,n1,n2,n3,cc) \
+  s2 = btFabs(expr1) - (expr2); \
+  if (s2 > SIMD_EPSILON) return 0; \
+  l = btSqrt((n1)*(n1) + (n2)*(n2) + (n3)*(n3)); \
+  if (l > SIMD_EPSILON) { \
+    s2 /= l; \
+    if (s2*fudge_factor > s) { \
+      s = s2; \
+      normalR = 0; \
+      normalC[0] = (n1)/l; normalC[1] = (n2)/l; normalC[2] = (n3)/l; \
+      invert_normal = ((expr1) < 0); \
+      code = (cc); \
+    } \
+  }
+
+  btScalar fudge2 (1.0e-5f);
+
+  Q11 += fudge2;
+  Q12 += fudge2;
+  Q13 += fudge2;
+
+  Q21 += fudge2;
+  Q22 += fudge2;
+  Q23 += fudge2;
+
+  Q31 += fudge2;
+  Q32 += fudge2;
+  Q33 += fudge2;
+
+  // separating axis = u1 x (v1,v2,v3)
+  TST(pp[2]*R21-pp[1]*R31,(A[1]*Q31+A[2]*Q21+B[1]*Q13+B[2]*Q12),0,-R31,R21,7);
+  TST(pp[2]*R22-pp[1]*R32,(A[1]*Q32+A[2]*Q22+B[0]*Q13+B[2]*Q11),0,-R32,R22,8);
+  TST(pp[2]*R23-pp[1]*R33,(A[1]*Q33+A[2]*Q23+B[0]*Q12+B[1]*Q11),0,-R33,R23,9);
+
+  // separating axis = u2 x (v1,v2,v3)
+  TST(pp[0]*R31-pp[2]*R11,(A[0]*Q31+A[2]*Q11+B[1]*Q23+B[2]*Q22),R31,0,-R11,10);
+  TST(pp[0]*R32-pp[2]*R12,(A[0]*Q32+A[2]*Q12+B[0]*Q23+B[2]*Q21),R32,0,-R12,11);
+  TST(pp[0]*R33-pp[2]*R13,(A[0]*Q33+A[2]*Q13+B[0]*Q22+B[1]*Q21),R33,0,-R13,12);
+
+  // separating axis = u3 x (v1,v2,v3)
+  TST(pp[1]*R11-pp[0]*R21,(A[0]*Q21+A[1]*Q11+B[1]*Q33+B[2]*Q32),-R21,R11,0,13);
+  TST(pp[1]*R12-pp[0]*R22,(A[0]*Q22+A[1]*Q12+B[0]*Q33+B[2]*Q31),-R22,R12,0,14);
+  TST(pp[1]*R13-pp[0]*R23,(A[0]*Q23+A[1]*Q13+B[0]*Q32+B[1]*Q31),-R23,R13,0,15);
+
+#undef TST
+
+  if (!code) return 0;
+
+  // if we get to this point, the boxes interpenetrate. compute the normal
+  // in global coordinates.
+  if (normalR) {
+    normal[0] = normalR[0];
+    normal[1] = normalR[4];
+    normal[2] = normalR[8];
+  }
+  else {
+    dMULTIPLY0_331 (normal,R1,normalC);
+  }
+  if (invert_normal) {
+    normal[0] = -normal[0];
+    normal[1] = -normal[1];
+    normal[2] = -normal[2];
+  }
+  *depth = -s;
+
+  // compute contact point(s)
+
+  if (code > 6) {
+    // an edge from box 1 touches an edge from box 2.
+    // find a point pa on the intersecting edge of box 1
+    btVector3 pa;
+    btScalar sign;
+    for (i=0; i<3; i++) pa[i] = p1[i];
+    for (j=0; j<3; j++) {
+      sign = (dDOT14(normal,R1+j) > 0) ? btScalar(1.0) : btScalar(-1.0);
+      for (i=0; i<3; i++) pa[i] += sign * A[j] * R1[i*4+j];
+    }
+
+    // find a point pb on the intersecting edge of box 2
+    btVector3 pb;
+    for (i=0; i<3; i++) pb[i] = p2[i];
+    for (j=0; j<3; j++) {
+      sign = (dDOT14(normal,R2+j) > 0) ? btScalar(-1.0) : btScalar(1.0);
+      for (i=0; i<3; i++) pb[i] += sign * B[j] * R2[i*4+j];
+    }
+
+    btScalar alpha,beta;
+    btVector3 ua,ub;
+    for (i=0; i<3; i++) ua[i] = R1[((code)-7)/3 + i*4];
+    for (i=0; i<3; i++) ub[i] = R2[((code)-7)%3 + i*4];
+
+    dLineClosestApproach (pa,ua,pb,ub,&alpha,&beta);
+    for (i=0; i<3; i++) pa[i] += ua[i]*alpha;
+    for (i=0; i<3; i++) pb[i] += ub[i]*beta;
+
+	{
+		
+		//contact[0].pos[i] = btScalar(0.5)*(pa[i]+pb[i]);
+		//contact[0].depth = *depth;
+		btVector3 pointInWorld;
+
+#ifdef USE_CENTER_POINT
+	    for (i=0; i<3; i++) 
+			pointInWorld[i] = (pa[i]+pb[i])*btScalar(0.5);
+		output.addContactPoint(-normal,pointInWorld,-*depth);
+#else
+		output.addContactPoint(-normal,pb,-*depth);
+
+#endif //
+		*return_code = code;
+	}
+    return 1;
+  }
+
+  // okay, we have a face-something intersection (because the separating
+  // axis is perpendicular to a face). define face 'a' to be the reference
+  // face (i.e. the normal vector is perpendicular to this) and face 'b' to be
+  // the incident face (the closest face of the other box).
+
+  const btScalar *Ra,*Rb,*pa,*pb,*Sa,*Sb;
+  if (code <= 3) {
+    Ra = R1;
+    Rb = R2;
+    pa = p1;
+    pb = p2;
+    Sa = A;
+    Sb = B;
+  }
+  else {
+    Ra = R2;
+    Rb = R1;
+    pa = p2;
+    pb = p1;
+    Sa = B;
+    Sb = A;
+  }
+
+  // nr = normal vector of reference face dotted with axes of incident box.
+  // anr = absolute values of nr.
+  btVector3 normal2,nr,anr;
+  if (code <= 3) {
+    normal2[0] = normal[0];
+    normal2[1] = normal[1];
+    normal2[2] = normal[2];
+  }
+  else {
+    normal2[0] = -normal[0];
+    normal2[1] = -normal[1];
+    normal2[2] = -normal[2];
+  }
+  dMULTIPLY1_331 (nr,Rb,normal2);
+  anr[0] = btFabs (nr[0]);
+  anr[1] = btFabs (nr[1]);
+  anr[2] = btFabs (nr[2]);
+
+  // find the largest compontent of anr: this corresponds to the normal
+  // for the indident face. the other axis numbers of the indicent face
+  // are stored in a1,a2.
+  int lanr,a1,a2;
+  if (anr[1] > anr[0]) {
+    if (anr[1] > anr[2]) {
+      a1 = 0;
+      lanr = 1;
+      a2 = 2;
+    }
+    else {
+      a1 = 0;
+      a2 = 1;
+      lanr = 2;
+    }
+  }
+  else {
+    if (anr[0] > anr[2]) {
+      lanr = 0;
+      a1 = 1;
+      a2 = 2;
+    }
+    else {
+      a1 = 0;
+      a2 = 1;
+      lanr = 2;
+    }
+  }
+
+  // compute center point of incident face, in reference-face coordinates
+  btVector3 center;
+  if (nr[lanr] < 0) {
+    for (i=0; i<3; i++) center[i] = pb[i] - pa[i] + Sb[lanr] * Rb[i*4+lanr];
+  }
+  else {
+    for (i=0; i<3; i++) center[i] = pb[i] - pa[i] - Sb[lanr] * Rb[i*4+lanr];
+  }
+
+  // find the normal and non-normal axis numbers of the reference box
+  int codeN,code1,code2;
+  if (code <= 3) codeN = code-1; else codeN = code-4;
+  if (codeN==0) {
+    code1 = 1;
+    code2 = 2;
+  }
+  else if (codeN==1) {
+    code1 = 0;
+    code2 = 2;
+  }
+  else {
+    code1 = 0;
+    code2 = 1;
+  }
+
+  // find the four corners of the incident face, in reference-face coordinates
+  btScalar quad[8];	// 2D coordinate of incident face (x,y pairs)
+  btScalar c1,c2,m11,m12,m21,m22;
+  c1 = dDOT14 (center,Ra+code1);
+  c2 = dDOT14 (center,Ra+code2);
+  // optimize this? - we have already computed this data above, but it is not
+  // stored in an easy-to-index format. for now it's quicker just to recompute
+  // the four dot products.
+  m11 = dDOT44 (Ra+code1,Rb+a1);
+  m12 = dDOT44 (Ra+code1,Rb+a2);
+  m21 = dDOT44 (Ra+code2,Rb+a1);
+  m22 = dDOT44 (Ra+code2,Rb+a2);
+  {
+    btScalar k1 = m11*Sb[a1];
+    btScalar k2 = m21*Sb[a1];
+    btScalar k3 = m12*Sb[a2];
+    btScalar k4 = m22*Sb[a2];
+    quad[0] = c1 - k1 - k3;
+    quad[1] = c2 - k2 - k4;
+    quad[2] = c1 - k1 + k3;
+    quad[3] = c2 - k2 + k4;
+    quad[4] = c1 + k1 + k3;
+    quad[5] = c2 + k2 + k4;
+    quad[6] = c1 + k1 - k3;
+    quad[7] = c2 + k2 - k4;
+  }
+
+  // find the size of the reference face
+  btScalar rect[2];
+  rect[0] = Sa[code1];
+  rect[1] = Sa[code2];
+
+  // intersect the incident and reference faces
+  btScalar ret[16];
+  int n = intersectRectQuad2 (rect,quad,ret);
+  if (n < 1) return 0;		// this should never happen
+
+  // convert the intersection points into reference-face coordinates,
+  // and compute the contact position and depth for each point. only keep
+  // those points that have a positive (penetrating) depth. delete points in
+  // the 'ret' array as necessary so that 'point' and 'ret' correspond.
+  btScalar point[3*8];		// penetrating contact points
+  btScalar dep[8];			// depths for those points
+  btScalar det1 = 1.f/(m11*m22 - m12*m21);
+  m11 *= det1;
+  m12 *= det1;
+  m21 *= det1;
+  m22 *= det1;
+  int cnum = 0;			// number of penetrating contact points found
+  for (j=0; j < n; j++) {
+    btScalar k1 =  m22*(ret[j*2]-c1) - m12*(ret[j*2+1]-c2);
+    btScalar k2 = -m21*(ret[j*2]-c1) + m11*(ret[j*2+1]-c2);
+    for (i=0; i<3; i++) point[cnum*3+i] =
+			  center[i] + k1*Rb[i*4+a1] + k2*Rb[i*4+a2];
+    dep[cnum] = Sa[codeN] - dDOT(normal2,point+cnum*3);
+    if (dep[cnum] >= 0) {
+      ret[cnum*2] = ret[j*2];
+      ret[cnum*2+1] = ret[j*2+1];
+      cnum++;
+    }
+  }
+  if (cnum < 1) return 0;	// this should never happen
+
+  // we can't generate more contacts than we actually have
+  if (maxc > cnum) maxc = cnum;
+  if (maxc < 1) maxc = 1;
+
+  if (cnum <= maxc) {
+
+	  if (code<4) 
+	  {
+    // we have less contacts than we need, so we use them all
+    for (j=0; j < cnum; j++) 
+	{
+		btVector3 pointInWorld;
+		for (i=0; i<3; i++) 
+			pointInWorld[i] = point[j*3+i] + pa[i];
+		output.addContactPoint(-normal,pointInWorld,-dep[j]);
+
+    }
+	  } else
+	  {
+		  // we have less contacts than we need, so we use them all
+		for (j=0; j < cnum; j++) 
+		{
+			btVector3 pointInWorld;
+			for (i=0; i<3; i++) 
+				pointInWorld[i] = point[j*3+i] + pa[i]-normal[i]*dep[j];
+				//pointInWorld[i] = point[j*3+i] + pa[i];
+			output.addContactPoint(-normal,pointInWorld,-dep[j]);
+		}
+	  }
+  }
+  else {
+    // we have more contacts than are wanted, some of them must be culled.
+    // find the deepest point, it is always the first contact.
+    int i1 = 0;
+    btScalar maxdepth = dep[0];
+    for (i=1; i<cnum; i++) {
+      if (dep[i] > maxdepth) {
+	maxdepth = dep[i];
+	i1 = i;
+      }
+    }
+
+    int iret[8];
+    cullPoints2 (cnum,ret,maxc,i1,iret);
+
+    for (j=0; j < maxc; j++) {
+//      dContactGeom *con = CONTACT(contact,skip*j);
+  //    for (i=0; i<3; i++) con->pos[i] = point[iret[j]*3+i] + pa[i];
+    //  con->depth = dep[iret[j]];
+
+		btVector3 posInWorld;
+		for (i=0; i<3; i++) 
+			posInWorld[i] = point[iret[j]*3+i] + pa[i];
+		if (code<4) 
+	   {
+			output.addContactPoint(-normal,posInWorld,-dep[iret[j]]);
+		} else
+		{
+			output.addContactPoint(-normal,posInWorld-normal*dep[iret[j]],-dep[iret[j]]);
+		}
+    }
+    cnum = maxc;
+  }
+
+  *return_code = code;
+  return cnum;
+}
+
+void	btBoxBoxDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* /*debugDraw*/,bool /*swapResults*/)
+{
+	
+	const btTransform& transformA = input.m_transformA;
+	const btTransform& transformB = input.m_transformB;
+	
+	int skip = 0;
+	dContactGeom *contact = 0;
+
+	dMatrix3 R1;
+	dMatrix3 R2;
+
+	for (int j=0;j<3;j++)
+	{
+		R1[0+4*j] = transformA.getBasis()[j].x();
+		R2[0+4*j] = transformB.getBasis()[j].x();
+
+		R1[1+4*j] = transformA.getBasis()[j].y();
+		R2[1+4*j] = transformB.getBasis()[j].y();
+
+
+		R1[2+4*j] = transformA.getBasis()[j].z();
+		R2[2+4*j] = transformB.getBasis()[j].z();
+
+	}
+
+	
+
+	btVector3 normal;
+	btScalar depth;
+	int return_code;
+	int maxc = 4;
+
+
+	dBoxBox2 (transformA.getOrigin(), 
+	R1,
+	2.f*m_box1->getHalfExtentsWithMargin(),
+	transformB.getOrigin(),
+	R2, 
+	2.f*m_box2->getHalfExtentsWithMargin(),
+	normal, &depth, &return_code,
+	maxc, contact, skip,
+	output
+	);
+
+}

Code/Physics/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.h

@@ -0,0 +1,44 @@
+/*
+ * Box-Box collision detection re-distributed under the ZLib license with permission from Russell L. Smith
+ * Original version is from Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org
+
+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_BOX_BOX_DETECTOR_H
+#define BT_BOX_BOX_DETECTOR_H
+
+
+class btBoxShape;
+#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
+
+
+/// btBoxBoxDetector wraps the ODE box-box collision detector
+/// re-distributed under the Zlib license with permission from Russell L. Smith
+struct btBoxBoxDetector : public btDiscreteCollisionDetectorInterface
+{
+	const btBoxShape* m_box1;
+	const btBoxShape* m_box2;
+
+public:
+
+	btBoxBoxDetector(const btBoxShape* box1,const btBoxShape* box2);
+
+	virtual ~btBoxBoxDetector() {};
+
+	virtual void	getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false);
+
+};
+
+#endif //BT_BOX_BOX_DETECTOR_H

Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h

@@ -0,0 +1,46 @@
+/*
+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_COLLISION_CONFIGURATION
+#define BT_COLLISION_CONFIGURATION
+
+struct btCollisionAlgorithmCreateFunc;
+
+class btPoolAllocator;
+
+///btCollisionConfiguration allows to configure Bullet collision detection
+///stack allocator size, default collision algorithms and persistent manifold pool size
+///@todo: describe the meaning
+class	btCollisionConfiguration
+{
+
+public:
+
+	virtual ~btCollisionConfiguration()
+	{
+	}
+
+	///memory pools
+	virtual btPoolAllocator* getPersistentManifoldPool() = 0;
+
+	virtual btPoolAllocator* getCollisionAlgorithmPool() = 0;
+
+
+	virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1) =0;
+
+};
+
+#endif //BT_COLLISION_CONFIGURATION
+

Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h

@@ -0,0 +1,45 @@
+/*
+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_COLLISION_CREATE_FUNC
+#define BT_COLLISION_CREATE_FUNC
+
+#include "LinearMath/btAlignedObjectArray.h"
+class btCollisionAlgorithm;
+class btCollisionObject;
+struct btCollisionObjectWrapper;
+struct btCollisionAlgorithmConstructionInfo;
+
+///Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm
+struct btCollisionAlgorithmCreateFunc
+{
+	bool m_swapped;
+	
+	btCollisionAlgorithmCreateFunc()
+		:m_swapped(false)
+	{
+	}
+	virtual ~btCollisionAlgorithmCreateFunc(){};
+
+	virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& , const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
+	{
+		
+		(void)body0Wrap;
+		(void)body1Wrap;
+		return 0;
+	}
+};
+#endif //BT_COLLISION_CREATE_FUNC
+

Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp

@@ -0,0 +1,314 @@
+/*
+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 "btCollisionDispatcher.h"
+
+
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
+#include "LinearMath/btPoolAllocator.h"
+#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
+
+int gNumManifold = 0;
+
+#ifdef BT_DEBUG
+#include <stdio.h>
+#endif
+
+
+btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration): 
+m_dispatcherFlags(btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD),
+	m_collisionConfiguration(collisionConfiguration)
+{
+	int i;
+
+	setNearCallback(defaultNearCallback);
+	
+	m_collisionAlgorithmPoolAllocator = collisionConfiguration->getCollisionAlgorithmPool();
+
+	m_persistentManifoldPoolAllocator = collisionConfiguration->getPersistentManifoldPool();
+
+	for (i=0;i<MAX_BROADPHASE_COLLISION_TYPES;i++)
+	{
+		for (int j=0;j<MAX_BROADPHASE_COLLISION_TYPES;j++)
+		{
+			m_doubleDispatch[i][j] = m_collisionConfiguration->getCollisionAlgorithmCreateFunc(i,j);
+			btAssert(m_doubleDispatch[i][j]);
+		}
+	}
+	
+	
+}
+
+
+void btCollisionDispatcher::registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc)
+{
+	m_doubleDispatch[proxyType0][proxyType1] = createFunc;
+}
+
+btCollisionDispatcher::~btCollisionDispatcher()
+{
+}
+
+btPersistentManifold*	btCollisionDispatcher::getNewManifold(const btCollisionObject* body0,const btCollisionObject* body1) 
+{ 
+	gNumManifold++;
+	
+	//btAssert(gNumManifold < 65535);
+	
+
+
+	//optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
+	
+	btScalar contactBreakingThreshold =  (m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD) ? 
+		btMin(body0->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold) , body1->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold))
+		: gContactBreakingThreshold ;
+
+	btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(),body1->getContactProcessingThreshold());
+		
+ 	void* mem = 0;
+	
+	if (m_persistentManifoldPoolAllocator->getFreeCount())
+	{
+		mem = m_persistentManifoldPoolAllocator->allocate(sizeof(btPersistentManifold));
+	} else
+	{
+		//we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert.
+		if ((m_dispatcherFlags&CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION)==0)
+		{
+			mem = btAlignedAlloc(sizeof(btPersistentManifold),16);
+		} else
+		{
+			btAssert(0);
+			//make sure to increase the m_defaultMaxPersistentManifoldPoolSize in the btDefaultCollisionConstructionInfo/btDefaultCollisionConfiguration
+			return 0;
+		}
+	}
+	btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0,contactBreakingThreshold,contactProcessingThreshold);
+	manifold->m_index1a = m_manifoldsPtr.size();
+	m_manifoldsPtr.push_back(manifold);
+
+	return manifold;
+}
+
+void btCollisionDispatcher::clearManifold(btPersistentManifold* manifold)
+{
+	manifold->clearManifold();
+}
+
+	
+void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold)
+{
+	
+	gNumManifold--;
+
+	//printf("releaseManifold: gNumManifold %d\n",gNumManifold);
+	clearManifold(manifold);
+
+	int findIndex = manifold->m_index1a;
+	btAssert(findIndex < m_manifoldsPtr.size());
+	m_manifoldsPtr.swap(findIndex,m_manifoldsPtr.size()-1);
+	m_manifoldsPtr[findIndex]->m_index1a = findIndex;
+	m_manifoldsPtr.pop_back();
+
+	manifold->~btPersistentManifold();
+	if (m_persistentManifoldPoolAllocator->validPtr(manifold))
+	{
+		m_persistentManifoldPoolAllocator->freeMemory(manifold);
+	} else
+	{
+		btAlignedFree(manifold);
+	}
+	
+}
+
+	
+
+btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold)
+{
+	
+	btCollisionAlgorithmConstructionInfo ci;
+
+	ci.m_dispatcher1 = this;
+	ci.m_manifold = sharedManifold;
+	btCollisionAlgorithm* algo = m_doubleDispatch[body0Wrap->getCollisionShape()->getShapeType()][body1Wrap->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci,body0Wrap,body1Wrap);
+
+	return algo;
+}
+
+
+
+
+bool	btCollisionDispatcher::needsResponse(const btCollisionObject* body0,const btCollisionObject* body1)
+{
+	//here you can do filtering
+	bool hasResponse = 
+		(body0->hasContactResponse() && body1->hasContactResponse());
+	//no response between two static/kinematic bodies:
+	hasResponse = hasResponse &&
+		((!body0->isStaticOrKinematicObject()) ||(! body1->isStaticOrKinematicObject()));
+	return hasResponse;
+}
+
+bool	btCollisionDispatcher::needsCollision(const btCollisionObject* body0,const btCollisionObject* body1)
+{
+	btAssert(body0);
+	btAssert(body1);
+
+	bool needsCollision = true;
+
+#ifdef BT_DEBUG
+	if (!(m_dispatcherFlags & btCollisionDispatcher::CD_STATIC_STATIC_REPORTED))
+	{
+		//broadphase filtering already deals with this
+		if (body0->isStaticOrKinematicObject() && body1->isStaticOrKinematicObject())
+		{
+			m_dispatcherFlags |= btCollisionDispatcher::CD_STATIC_STATIC_REPORTED;
+			printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n");
+		}
+	}
+#endif //BT_DEBUG
+
+	if ((!body0->isActive()) && (!body1->isActive()))
+		needsCollision = false;
+	else if (!body0->checkCollideWith(body1))
+		needsCollision = false;
+	
+	return needsCollision ;
+
+}
+
+
+
+///interface for iterating all overlapping collision pairs, no matter how those pairs are stored (array, set, map etc)
+///this is useful for the collision dispatcher.
+class btCollisionPairCallback : public btOverlapCallback
+{
+	const btDispatcherInfo& m_dispatchInfo;
+	btCollisionDispatcher*	m_dispatcher;
+
+public:
+
+	btCollisionPairCallback(const btDispatcherInfo& dispatchInfo,btCollisionDispatcher*	dispatcher)
+	:m_dispatchInfo(dispatchInfo),
+	m_dispatcher(dispatcher)
+	{
+	}
+
+	/*btCollisionPairCallback& operator=(btCollisionPairCallback& other)
+	{
+		m_dispatchInfo = other.m_dispatchInfo;
+		m_dispatcher = other.m_dispatcher;
+		return *this;
+	}
+	*/
+
+
+	virtual ~btCollisionPairCallback() {}
+
+
+	virtual bool	processOverlap(btBroadphasePair& pair)
+	{
+		(*m_dispatcher->getNearCallback())(pair,*m_dispatcher,m_dispatchInfo);
+
+		return false;
+	}
+};
+
+
+
+void	btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) 
+{
+	//m_blockedForChanges = true;
+
+	btCollisionPairCallback	collisionCallback(dispatchInfo,this);
+
+	pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher);
+
+	//m_blockedForChanges = false;
+
+}
+
+
+
+
+//by default, Bullet will use this near callback
+void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo)
+{
+		btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
+		btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
+
+		if (dispatcher.needsCollision(colObj0,colObj1))
+		{
+			btCollisionObjectWrapper obj0Wrap(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform(),-1,-1);
+			btCollisionObjectWrapper obj1Wrap(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform(),-1,-1);
+
+
+			//dispatcher will keep algorithms persistent in the collision pair
+			if (!collisionPair.m_algorithm)
+			{
+				collisionPair.m_algorithm = dispatcher.findAlgorithm(&obj0Wrap,&obj1Wrap);
+			}
+
+			if (collisionPair.m_algorithm)
+			{
+				btManifoldResult contactPointResult(&obj0Wrap,&obj1Wrap);
+				
+				if (dispatchInfo.m_dispatchFunc == 		btDispatcherInfo::DISPATCH_DISCRETE)
+				{
+					//discrete collision detection query
+					
+					collisionPair.m_algorithm->processCollision(&obj0Wrap,&obj1Wrap,dispatchInfo,&contactPointResult);
+				} else
+				{
+					//continuous collision detection query, time of impact (toi)
+					btScalar toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult);
+					if (dispatchInfo.m_timeOfImpact > toi)
+						dispatchInfo.m_timeOfImpact = toi;
+
+				}
+			}
+		}
+
+}
+
+
+void* btCollisionDispatcher::allocateCollisionAlgorithm(int size)
+{
+	if (m_collisionAlgorithmPoolAllocator->getFreeCount())
+	{
+		return m_collisionAlgorithmPoolAllocator->allocate(size);
+	}
+	
+	//warn user for overflow?
+	return	btAlignedAlloc(static_cast<size_t>(size), 16);
+}
+
+void btCollisionDispatcher::freeCollisionAlgorithm(void* ptr)
+{
+	if (m_collisionAlgorithmPoolAllocator->validPtr(ptr))
+	{
+		m_collisionAlgorithmPoolAllocator->freeMemory(ptr);
+	} else
+	{
+		btAlignedFree(ptr);
+	}
+}

Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h

@@ -0,0 +1,171 @@
+/*
+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_COLLISION__DISPATCHER_H
+#define BT_COLLISION__DISPATCHER_H
+
+#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
+#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
+
+#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
+
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "LinearMath/btAlignedObjectArray.h"
+
+class btIDebugDraw;
+class btOverlappingPairCache;
+class btPoolAllocator;
+class btCollisionConfiguration;
+
+#include "btCollisionCreateFunc.h"
+
+#define USE_DISPATCH_REGISTRY_ARRAY 1
+
+class btCollisionDispatcher;
+///user can override this nearcallback for collision filtering and more finegrained control over collision detection
+typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
+
+
+///btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
+///Time of Impact, Closest Points and Penetration Depth.
+class btCollisionDispatcher : public btDispatcher
+{
+
+protected:
+
+	int		m_dispatcherFlags;
+
+	btAlignedObjectArray<btPersistentManifold*>	m_manifoldsPtr;
+
+	btManifoldResult	m_defaultManifoldResult;
+
+	btNearCallback		m_nearCallback;
+	
+	btPoolAllocator*	m_collisionAlgorithmPoolAllocator;
+
+	btPoolAllocator*	m_persistentManifoldPoolAllocator;
+
+	btCollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
+
+	btCollisionConfiguration*	m_collisionConfiguration;
+
+
+public:
+
+	enum DispatcherFlags
+	{
+		CD_STATIC_STATIC_REPORTED = 1,
+		CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD = 2,
+		CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION = 4
+	};
+
+	int	getDispatcherFlags() const
+	{
+		return m_dispatcherFlags;
+	}
+
+	void	setDispatcherFlags(int flags)
+	{
+		m_dispatcherFlags = flags;
+	}
+
+	///registerCollisionCreateFunc allows registration of custom/alternative collision create functions
+	void	registerCollisionCreateFunc(int proxyType0,int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
+
+	int	getNumManifolds() const
+	{ 
+		return int( m_manifoldsPtr.size());
+	}
+
+	btPersistentManifold**	getInternalManifoldPointer()
+	{
+		return m_manifoldsPtr.size()? &m_manifoldsPtr[0] : 0;
+	}
+
+	 btPersistentManifold* getManifoldByIndexInternal(int index)
+	{
+		return m_manifoldsPtr[index];
+	}
+
+	 const btPersistentManifold* getManifoldByIndexInternal(int index) const
+	{
+		return m_manifoldsPtr[index];
+	}
+
+	btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration);
+
+	virtual ~btCollisionDispatcher();
+
+	virtual btPersistentManifold*	getNewManifold(const btCollisionObject* b0,const btCollisionObject* b1);
+	
+	virtual void releaseManifold(btPersistentManifold* manifold);
+
+
+	virtual void clearManifold(btPersistentManifold* manifold);
+
+	btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold = 0);
+		
+	virtual bool	needsCollision(const btCollisionObject* body0,const btCollisionObject* body1);
+	
+	virtual bool	needsResponse(const btCollisionObject* body0,const btCollisionObject* body1);
+	
+	virtual void	dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) ;
+
+	void	setNearCallback(btNearCallback	nearCallback)
+	{
+		m_nearCallback = nearCallback; 
+	}
+
+	btNearCallback	getNearCallback() const
+	{
+		return m_nearCallback;
+	}
+
+	//by default, Bullet will use this near callback
+	static void  defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
+
+	virtual	void* allocateCollisionAlgorithm(int size);
+
+	virtual	void freeCollisionAlgorithm(void* ptr);
+
+	btCollisionConfiguration*	getCollisionConfiguration()
+	{
+		return m_collisionConfiguration;
+	}
+
+	const btCollisionConfiguration*	getCollisionConfiguration() const
+	{
+		return m_collisionConfiguration;
+	}
+
+	void	setCollisionConfiguration(btCollisionConfiguration* config)
+	{
+		m_collisionConfiguration = config;
+	}
+
+	virtual	btPoolAllocator*	getInternalManifoldPool()
+	{
+		return m_persistentManifoldPoolAllocator;
+	}
+
+	virtual	const btPoolAllocator*	getInternalManifoldPool() const
+	{
+		return m_persistentManifoldPoolAllocator;
+	}
+
+};
+
+#endif //BT_COLLISION__DISPATCHER_H
+

Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp

@@ -0,0 +1,117 @@
+/*
+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 "btCollisionObject.h"
+#include "LinearMath/btSerializer.h"
+
+btCollisionObject::btCollisionObject()
+	:	m_anisotropicFriction(1.f,1.f,1.f),
+	m_hasAnisotropicFriction(false),
+	m_contactProcessingThreshold(BT_LARGE_FLOAT),
+		m_broadphaseHandle(0),
+		m_collisionShape(0),
+		m_extensionPointer(0),
+		m_rootCollisionShape(0),
+		m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT),
+		m_islandTag1(-1),
+		m_companionId(-1),
+		m_activationState1(1),
+		m_deactivationTime(btScalar(0.)),
+		m_friction(btScalar(0.5)),
+		m_rollingFriction(0.0f),
+		m_restitution(btScalar(0.)),
+		m_internalType(CO_COLLISION_OBJECT),
+		m_userObjectPointer(0),
+		m_hitFraction(btScalar(1.)),
+		m_ccdSweptSphereRadius(btScalar(0.)),
+		m_ccdMotionThreshold(btScalar(0.)),
+		m_checkCollideWith(false),
+		m_updateRevision(0)
+{
+	m_worldTransform.setIdentity();
+}
+
+btCollisionObject::~btCollisionObject()
+{
+}
+
+void btCollisionObject::setActivationState(int newState) const
+{ 
+	if ( (m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION))
+		m_activationState1 = newState;
+}
+
+void btCollisionObject::forceActivationState(int newState) const
+{
+	m_activationState1 = newState;
+}
+
+void btCollisionObject::activate(bool forceActivation) const
+{
+	if (forceActivation || !(m_collisionFlags & (CF_STATIC_OBJECT|CF_KINEMATIC_OBJECT)))
+	{
+		setActivationState(ACTIVE_TAG);
+		m_deactivationTime = btScalar(0.);
+	}
+}
+
+const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+
+	btCollisionObjectData* dataOut = (btCollisionObjectData*)dataBuffer;
+
+	m_worldTransform.serialize(dataOut->m_worldTransform);
+	m_interpolationWorldTransform.serialize(dataOut->m_interpolationWorldTransform);
+	m_interpolationLinearVelocity.serialize(dataOut->m_interpolationLinearVelocity);
+	m_interpolationAngularVelocity.serialize(dataOut->m_interpolationAngularVelocity);
+	m_anisotropicFriction.serialize(dataOut->m_anisotropicFriction);
+	dataOut->m_hasAnisotropicFriction = m_hasAnisotropicFriction;
+	dataOut->m_contactProcessingThreshold = m_contactProcessingThreshold;
+	dataOut->m_broadphaseHandle = 0;
+	dataOut->m_collisionShape = serializer->getUniquePointer(m_collisionShape);
+	dataOut->m_rootCollisionShape = 0;//@todo
+	dataOut->m_collisionFlags = m_collisionFlags;
+	dataOut->m_islandTag1 = m_islandTag1;
+	dataOut->m_companionId = m_companionId;
+	dataOut->m_activationState1 = m_activationState1;
+	dataOut->m_deactivationTime = m_deactivationTime;
+	dataOut->m_friction = m_friction;
+	dataOut->m_rollingFriction = m_rollingFriction;
+	dataOut->m_restitution = m_restitution;
+	dataOut->m_internalType = m_internalType;
+	
+	char* name = (char*) serializer->findNameForPointer(this);
+	dataOut->m_name = (char*)serializer->getUniquePointer(name);
+	if (dataOut->m_name)
+	{
+		serializer->serializeName(name);
+	}
+	dataOut->m_hitFraction = m_hitFraction;
+	dataOut->m_ccdSweptSphereRadius = m_ccdSweptSphereRadius;
+	dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
+	dataOut->m_checkCollideWith = m_checkCollideWith;
+
+	return btCollisionObjectDataName;
+}
+
+
+void btCollisionObject::serializeSingleObject(class btSerializer* serializer) const
+{
+	int len = calculateSerializeBufferSize();
+	btChunk* chunk = serializer->allocate(len,1);
+	const char* structType = serialize(chunk->m_oldPtr, serializer);
+	serializer->finalizeChunk(chunk,structType,BT_COLLISIONOBJECT_CODE,(void*)this);
+}

Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionObject.h

@@ -0,0 +1,565 @@
+/*
+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_COLLISION_OBJECT_H
+#define BT_COLLISION_OBJECT_H
+
+#include "LinearMath/btTransform.h"
+
+//island management, m_activationState1
+#define ACTIVE_TAG 1
+#define ISLAND_SLEEPING 2
+#define WANTS_DEACTIVATION 3
+#define DISABLE_DEACTIVATION 4
+#define DISABLE_SIMULATION 5
+
+struct	btBroadphaseProxy;
+class	btCollisionShape;
+struct btCollisionShapeData;
+#include "LinearMath/btMotionState.h"
+#include "LinearMath/btAlignedAllocator.h"
+#include "LinearMath/btAlignedObjectArray.h"
+
+typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray;
+
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btCollisionObjectData btCollisionObjectDoubleData
+#define btCollisionObjectDataName "btCollisionObjectDoubleData"
+#else
+#define btCollisionObjectData btCollisionObjectFloatData
+#define btCollisionObjectDataName "btCollisionObjectFloatData"
+#endif
+
+
+/// btCollisionObject can be used to manage collision detection objects. 
+/// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.
+/// They can be added to the btCollisionWorld.
+ATTRIBUTE_ALIGNED16(class)	btCollisionObject
+{
+
+protected:
+
+	btTransform	m_worldTransform;
+
+	///m_interpolationWorldTransform is used for CCD and interpolation
+	///it can be either previous or future (predicted) transform
+	btTransform	m_interpolationWorldTransform;
+	//those two are experimental: just added for bullet time effect, so you can still apply impulses (directly modifying velocities) 
+	//without destroying the continuous interpolated motion (which uses this interpolation velocities)
+	btVector3	m_interpolationLinearVelocity;
+	btVector3	m_interpolationAngularVelocity;
+	
+	btVector3	m_anisotropicFriction;
+	int			m_hasAnisotropicFriction;
+	btScalar	m_contactProcessingThreshold;	
+
+	btBroadphaseProxy*		m_broadphaseHandle;
+	btCollisionShape*		m_collisionShape;
+	///m_extensionPointer is used by some internal low-level Bullet extensions.
+	void*					m_extensionPointer;
+	
+	///m_rootCollisionShape is temporarily used to store the original collision shape
+	///The m_collisionShape might be temporarily replaced by a child collision shape during collision detection purposes
+	///If it is NULL, the m_collisionShape is not temporarily replaced.
+	btCollisionShape*		m_rootCollisionShape;
+
+	int				m_collisionFlags;
+
+	int				m_islandTag1;
+	int				m_companionId;
+
+	mutable int				m_activationState1;
+	mutable btScalar			m_deactivationTime;
+
+	btScalar		m_friction;
+	btScalar		m_restitution;
+	btScalar		m_rollingFriction;
+
+	///m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.
+	///do not assign your own m_internalType unless you write a new dynamics object class.
+	int				m_internalType;
+
+	///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
+	union
+	{
+		void*			m_userObjectPointer;
+		int	m_userIndex;
+	};
+
+	///time of impact calculation
+	btScalar		m_hitFraction; 
+	
+	///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
+	btScalar		m_ccdSweptSphereRadius;
+
+	/// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold
+	btScalar		m_ccdMotionThreshold;
+	
+	/// If some object should have elaborate collision filtering by sub-classes
+	int			m_checkCollideWith;
+
+	///internal update revision number. It will be increased when the object changes. This allows some subsystems to perform lazy evaluation.
+	int			m_updateRevision;
+
+	virtual bool	checkCollideWithOverride(const btCollisionObject* /* co */) const
+	{
+		return true;
+	}
+
+public:
+
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	enum CollisionFlags
+	{
+		CF_STATIC_OBJECT= 1,
+		CF_KINEMATIC_OBJECT= 2,
+		CF_NO_CONTACT_RESPONSE = 4,
+		CF_CUSTOM_MATERIAL_CALLBACK = 8,//this allows per-triangle material (friction/restitution)
+		CF_CHARACTER_OBJECT = 16,
+		CF_DISABLE_VISUALIZE_OBJECT = 32, //disable debug drawing
+		CF_DISABLE_SPU_COLLISION_PROCESSING = 64//disable parallel/SPU processing
+	};
+
+	enum	CollisionObjectTypes
+	{
+		CO_COLLISION_OBJECT =1,
+		CO_RIGID_BODY=2,
+		///CO_GHOST_OBJECT keeps track of all objects overlapping its AABB and that pass its collision filter
+		///It is useful for collision sensors, explosion objects, character controller etc.
+		CO_GHOST_OBJECT=4,
+		CO_SOFT_BODY=8,
+		CO_HF_FLUID=16,
+		CO_USER_TYPE=32,
+		CO_FEATHERSTONE_LINK=64
+	};
+
+	enum AnisotropicFrictionFlags
+	{
+		CF_ANISOTROPIC_FRICTION_DISABLED=0,
+		CF_ANISOTROPIC_FRICTION = 1,
+		CF_ANISOTROPIC_ROLLING_FRICTION = 2
+	};
+
+	SIMD_FORCE_INLINE bool mergesSimulationIslands() const
+	{
+		///static objects, kinematic and object without contact response don't merge islands
+		return  ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE) )==0);
+	}
+
+	const btVector3& getAnisotropicFriction() const
+	{
+		return m_anisotropicFriction;
+	}
+	void	setAnisotropicFriction(const btVector3& anisotropicFriction, int frictionMode = CF_ANISOTROPIC_FRICTION)
+	{
+		m_anisotropicFriction = anisotropicFriction;
+		bool isUnity = (anisotropicFriction[0]!=1.f) || (anisotropicFriction[1]!=1.f) || (anisotropicFriction[2]!=1.f);
+		m_hasAnisotropicFriction = isUnity?frictionMode : 0;
+	}
+	bool	hasAnisotropicFriction(int frictionMode = CF_ANISOTROPIC_FRICTION) const
+	{
+		return (m_hasAnisotropicFriction&frictionMode)!=0;
+	}
+
+	///the constraint solver can discard solving contacts, if the distance is above this threshold. 0 by default.
+	///Note that using contacts with positive distance can improve stability. It increases, however, the chance of colliding with degerate contacts, such as 'interior' triangle edges
+	void	setContactProcessingThreshold( btScalar contactProcessingThreshold)
+	{
+		m_contactProcessingThreshold = contactProcessingThreshold;
+	}
+	btScalar	getContactProcessingThreshold() const
+	{
+		return m_contactProcessingThreshold;
+	}
+
+	SIMD_FORCE_INLINE bool		isStaticObject() const {
+		return (m_collisionFlags & CF_STATIC_OBJECT) != 0;
+	}
+
+	SIMD_FORCE_INLINE bool		isKinematicObject() const
+	{
+		return (m_collisionFlags & CF_KINEMATIC_OBJECT) != 0;
+	}
+
+	SIMD_FORCE_INLINE bool		isStaticOrKinematicObject() const
+	{
+		return (m_collisionFlags & (CF_KINEMATIC_OBJECT | CF_STATIC_OBJECT)) != 0 ;
+	}
+
+	SIMD_FORCE_INLINE bool		hasContactResponse() const {
+		return (m_collisionFlags & CF_NO_CONTACT_RESPONSE)==0;
+	}
+
+	
+	btCollisionObject();
+
+	virtual ~btCollisionObject();
+
+	virtual void	setCollisionShape(btCollisionShape* collisionShape)
+	{
+		m_updateRevision++;
+		m_collisionShape = collisionShape;
+		m_rootCollisionShape = collisionShape;
+	}
+
+	SIMD_FORCE_INLINE const btCollisionShape*	getCollisionShape() const
+	{
+		return m_collisionShape;
+	}
+
+	SIMD_FORCE_INLINE btCollisionShape*	getCollisionShape()
+	{
+		return m_collisionShape;
+	}
+
+	
+
+	
+
+	///Avoid using this internal API call, the extension pointer is used by some Bullet extensions. 
+	///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
+	void*		internalGetExtensionPointer() const
+	{
+		return m_extensionPointer;
+	}
+	///Avoid using this internal API call, the extension pointer is used by some Bullet extensions
+	///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
+	void	internalSetExtensionPointer(void* pointer)
+	{
+		m_extensionPointer = pointer;
+	}
+
+	SIMD_FORCE_INLINE	int	getActivationState() const { return m_activationState1;}
+	
+	void setActivationState(int newState) const;
+
+	void	setDeactivationTime(btScalar time)
+	{
+		m_deactivationTime = time;
+	}
+	btScalar	getDeactivationTime() const
+	{
+		return m_deactivationTime;
+	}
+
+	void forceActivationState(int newState) const;
+
+	void	activate(bool forceActivation = false) const;
+
+	SIMD_FORCE_INLINE bool isActive() const
+	{
+		return ((getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION));
+	}
+
+	void	setRestitution(btScalar rest)
+	{
+		m_updateRevision++;
+		m_restitution = rest;
+	}
+	btScalar	getRestitution() const
+	{
+		return m_restitution;
+	}
+	void	setFriction(btScalar frict)
+	{
+		m_updateRevision++;
+		m_friction = frict;
+	}
+	btScalar	getFriction() const
+	{
+		return m_friction;
+	}
+
+	void	setRollingFriction(btScalar frict)
+	{
+		m_updateRevision++;
+		m_rollingFriction = frict;
+	}
+	btScalar	getRollingFriction() const
+	{
+		return m_rollingFriction;
+	}
+
+
+	///reserved for Bullet internal usage
+	int	getInternalType() const
+	{
+		return m_internalType;
+	}
+
+	btTransform&	getWorldTransform()
+	{
+		return m_worldTransform;
+	}
+
+	const btTransform&	getWorldTransform() const
+	{
+		return m_worldTransform;
+	}
+
+	void	setWorldTransform(const btTransform& worldTrans)
+	{
+		m_updateRevision++;
+		m_worldTransform = worldTrans;
+	}
+
+
+	SIMD_FORCE_INLINE btBroadphaseProxy*	getBroadphaseHandle()
+	{
+		return m_broadphaseHandle;
+	}
+
+	SIMD_FORCE_INLINE const btBroadphaseProxy*	getBroadphaseHandle() const
+	{
+		return m_broadphaseHandle;
+	}
+
+	void	setBroadphaseHandle(btBroadphaseProxy* handle)
+	{
+		m_broadphaseHandle = handle;
+	}
+
+
+	const btTransform&	getInterpolationWorldTransform() const
+	{
+		return m_interpolationWorldTransform;
+	}
+
+	btTransform&	getInterpolationWorldTransform()
+	{
+		return m_interpolationWorldTransform;
+	}
+
+	void	setInterpolationWorldTransform(const btTransform&	trans)
+	{
+		m_updateRevision++;
+		m_interpolationWorldTransform = trans;
+	}
+
+	void	setInterpolationLinearVelocity(const btVector3& linvel)
+	{
+		m_updateRevision++;
+		m_interpolationLinearVelocity = linvel;
+	}
+
+	void	setInterpolationAngularVelocity(const btVector3& angvel)
+	{
+		m_updateRevision++;
+		m_interpolationAngularVelocity = angvel;
+	}
+
+	const btVector3&	getInterpolationLinearVelocity() const
+	{
+		return m_interpolationLinearVelocity;
+	}
+
+	const btVector3&	getInterpolationAngularVelocity() const
+	{
+		return m_interpolationAngularVelocity;
+	}
+
+	SIMD_FORCE_INLINE int getIslandTag() const
+	{
+		return	m_islandTag1;
+	}
+
+	void	setIslandTag(int tag)
+	{
+		m_islandTag1 = tag;
+	}
+
+	SIMD_FORCE_INLINE int getCompanionId() const
+	{
+		return	m_companionId;
+	}
+
+	void	setCompanionId(int id)
+	{
+		m_companionId = id;
+	}
+
+	SIMD_FORCE_INLINE btScalar			getHitFraction() const
+	{
+		return m_hitFraction; 
+	}
+
+	void	setHitFraction(btScalar hitFraction)
+	{
+		m_hitFraction = hitFraction;
+	}
+
+	
+	SIMD_FORCE_INLINE int	getCollisionFlags() const
+	{
+		return m_collisionFlags;
+	}
+
+	void	setCollisionFlags(int flags)
+	{
+		m_collisionFlags = flags;
+	}
+	
+	///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
+	btScalar			getCcdSweptSphereRadius() const
+	{
+		return m_ccdSweptSphereRadius;
+	}
+
+	///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
+	void	setCcdSweptSphereRadius(btScalar radius)
+	{
+		m_ccdSweptSphereRadius = radius;
+	}
+
+	btScalar 	getCcdMotionThreshold() const
+	{
+		return m_ccdMotionThreshold;
+	}
+
+	btScalar 	getCcdSquareMotionThreshold() const
+	{
+		return m_ccdMotionThreshold*m_ccdMotionThreshold;
+	}
+
+
+
+	/// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold
+	void	setCcdMotionThreshold(btScalar ccdMotionThreshold)
+	{
+		m_ccdMotionThreshold = ccdMotionThreshold;
+	}
+
+	///users can point to their objects, userPointer is not used by Bullet
+	void*	getUserPointer() const
+	{
+		return m_userObjectPointer;
+	}
+
+	int	getUserIndex() const
+	{
+		return m_userIndex;
+	}
+	///users can point to their objects, userPointer is not used by Bullet
+	void	setUserPointer(void* userPointer)
+	{
+		m_userObjectPointer = userPointer;
+	}
+
+	///users can point to their objects, userPointer is not used by Bullet
+	void	setUserIndex(int index)
+	{
+		m_userIndex = index;
+	}
+
+	int	getUpdateRevisionInternal() const
+	{
+		return m_updateRevision;
+	}
+
+
+	inline bool checkCollideWith(const btCollisionObject* co) const
+	{
+		if (m_checkCollideWith)
+			return checkCollideWithOverride(co);
+
+		return true;
+	}
+
+	virtual	int	calculateSerializeBufferSize()	const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, class btSerializer* serializer) const;
+
+	virtual void serializeSingleObject(class btSerializer* serializer) const;
+
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btCollisionObjectDoubleData
+{
+	void					*m_broadphaseHandle;
+	void					*m_collisionShape;
+	btCollisionShapeData	*m_rootCollisionShape;
+	char					*m_name;
+
+	btTransformDoubleData	m_worldTransform;
+	btTransformDoubleData	m_interpolationWorldTransform;
+	btVector3DoubleData		m_interpolationLinearVelocity;
+	btVector3DoubleData		m_interpolationAngularVelocity;
+	btVector3DoubleData		m_anisotropicFriction;
+	double					m_contactProcessingThreshold;	
+	double					m_deactivationTime;
+	double					m_friction;
+	double					m_rollingFriction;
+	double					m_restitution;
+	double					m_hitFraction; 
+	double					m_ccdSweptSphereRadius;
+	double					m_ccdMotionThreshold;
+
+	int						m_hasAnisotropicFriction;
+	int						m_collisionFlags;
+	int						m_islandTag1;
+	int						m_companionId;
+	int						m_activationState1;
+	int						m_internalType;
+	int						m_checkCollideWith;
+
+	char	m_padding[4];
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btCollisionObjectFloatData
+{
+	void					*m_broadphaseHandle;
+	void					*m_collisionShape;
+	btCollisionShapeData	*m_rootCollisionShape;
+	char					*m_name;
+
+	btTransformFloatData	m_worldTransform;
+	btTransformFloatData	m_interpolationWorldTransform;
+	btVector3FloatData		m_interpolationLinearVelocity;
+	btVector3FloatData		m_interpolationAngularVelocity;
+	btVector3FloatData		m_anisotropicFriction;
+	float					m_contactProcessingThreshold;	
+	float					m_deactivationTime;
+	float					m_friction;
+	float					m_rollingFriction;
+
+	float					m_restitution;
+	float					m_hitFraction; 
+	float					m_ccdSweptSphereRadius;
+	float					m_ccdMotionThreshold;
+
+	int						m_hasAnisotropicFriction;
+	int						m_collisionFlags;
+	int						m_islandTag1;
+	int						m_companionId;
+	int						m_activationState1;
+	int						m_internalType;
+	int						m_checkCollideWith;
+	char					m_padding[4];
+};
+
+
+
+SIMD_FORCE_INLINE	int	btCollisionObject::calculateSerializeBufferSize() const
+{
+	return sizeof(btCollisionObjectData);
+}
+
+
+
+#endif //BT_COLLISION_OBJECT_H

Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h

@@ -0,0 +1,43 @@
+#ifndef BT_COLLISION_OBJECT_WRAPPER_H
+#define BT_COLLISION_OBJECT_WRAPPER_H
+
+///btCollisionObjectWrapperis an internal data structure. 
+///Most users can ignore this and use btCollisionObject and btCollisionShape instead
+class btCollisionShape;
+class btCollisionObject;
+class btTransform;
+#include "LinearMath/btScalar.h" // for SIMD_FORCE_INLINE definition
+
+#define BT_DECLARE_STACK_ONLY_OBJECT \
+	private: \
+		void* operator new(size_t size); \
+		void operator delete(void*);
+
+struct btCollisionObjectWrapper;
+struct btCollisionObjectWrapper
+{
+BT_DECLARE_STACK_ONLY_OBJECT
+
+private:
+	btCollisionObjectWrapper(const btCollisionObjectWrapper&); // not implemented. Not allowed.
+	btCollisionObjectWrapper* operator=(const btCollisionObjectWrapper&);
+
+public:
+	const btCollisionObjectWrapper* m_parent;
+	const btCollisionShape* m_shape;
+	const btCollisionObject* m_collisionObject;
+	const btTransform& m_worldTransform;
+	int		m_partId;
+	int		m_index;
+
+	btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform, int partId, int index)
+	: m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform),
+	m_partId(partId), m_index(index)
+	{}
+
+	SIMD_FORCE_INLINE const btTransform& getWorldTransform() const { return m_worldTransform; }
+	SIMD_FORCE_INLINE const btCollisionObject* getCollisionObject() const { return m_collisionObject; }
+	SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const { return m_shape; }
+};
+
+#endif //BT_COLLISION_OBJECT_WRAPPER_H