Added Bullet library.

Only windows projectfiles for now.
Will ask Hans to get unix makefiles done.

extern/bullet/Bullet/BroadphaseCollision/BroadphaseInterface.h

@@ -0,0 +1,32 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef		BROADPHASE_INTERFACE_H
+#define 	BROADPHASE_INTERFACE_H
+
+
+struct	DispatcherInfo;
+class Dispatcher;
+struct BroadphaseProxy;
+#include "SimdVector3.h"
+
+///BroadphaseInterface for aabb-overlapping object pairs
+class BroadphaseInterface
+{
+public:
+	virtual BroadphaseProxy*	CreateProxy(  void *object,int type, const SimdVector3& min,  const SimdVector3& max) =0;
+	virtual void	DestroyProxy(BroadphaseProxy* proxy)=0;
+	virtual void	SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax)=0;
+	virtual void	CleanProxyFromPairs(BroadphaseProxy* proxy)=0;
+	virtual void	DispatchAllCollisionPairs(Dispatcher&	dispatcher,DispatcherInfo& dispatchInfo)=0;
+
+};
+
+#endif //BROADPHASE_INTERFACE_H

extern/bullet/Bullet/BroadphaseCollision/BroadphaseProxy.cpp

@@ -0,0 +1,12 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#include "BroadphaseProxy.h"
+

extern/bullet/Bullet/BroadphaseCollision/BroadphaseProxy.h

@@ -0,0 +1,125 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef BROADPHASE_PROXY_H
+#define BROADPHASE_PROXY_H
+
+
+
+/// Dispatcher uses these types
+/// IMPORTANT NOTE:The types are ordered polyhedral, implicit convex and concave
+/// to facilitate type checking
+enum BroadphaseNativeTypes
+{
+// polyhedral convex shapes
+	BOX_SHAPE_PROXYTYPE,
+	TRIANGLE_SHAPE_PROXYTYPE,
+	TETRAHEDRAL_SHAPE_PROXYTYPE,
+	CONVEX_HULL_SHAPE_PROXYTYPE,
+//implicit convex shapes
+IMPLICIT_CONVEX_SHAPES_START_HERE,
+	SPHERE_SHAPE_PROXYTYPE,
+	MULTI_SPHERE_SHAPE_PROXYTYPE,
+	CONE_SHAPE_PROXYTYPE,
+	CONVEX_SHAPE_PROXYTYPE,
+	CYLINDER_SHAPE_PROXYTYPE,
+	MINKOWSKI_SUM_SHAPE_PROXYTYPE,
+	MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
+//concave shapes
+CONCAVE_SHAPES_START_HERE,
+	//keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
+	TRIANGLE_MESH_SHAPE_PROXYTYPE,
+
+	MAX_BROADPHASE_COLLISION_TYPES
+};
+
+
+///BroadphaseProxy
+struct BroadphaseProxy
+{
+	BroadphaseProxy() :m_clientObject(0),m_clientObjectType(-1){}
+	BroadphaseProxy(void* object,int type)
+		:m_clientObject(object),
+		m_clientObjectType(type)
+	{
+	}
+
+	void        *m_clientObject;
+
+	int GetClientObjectType ( ) const { return m_clientObjectType;}
+
+	
+	void	SetClientObjectType( int type ) { 
+		m_clientObjectType = type; 
+	}
+
+	bool IsConvexShape()
+	{
+		return (GetClientObjectType () < TRIANGLE_MESH_SHAPE_PROXYTYPE);
+	}
+	bool IsConcaveShape()
+	{
+		return (GetClientObjectType() > CONCAVE_SHAPES_START_HERE);
+	}
+
+protected:
+	int			 m_clientObjectType;
+};
+
+class CollisionAlgorithm;
+
+struct BroadphaseProxy;
+
+#define SIMPLE_MAX_ALGORITHMS 2
+
+/// contains a pair of aabb-overlapping objects
+struct BroadphasePair
+{
+	BroadphasePair ()
+		:
+	m_pProxy0(0),
+		m_pProxy1(0)
+	{
+		for (int i=0;i<SIMPLE_MAX_ALGORITHMS;i++)
+		{
+			m_algorithms[i] = 0;
+		}
+	}
+
+	BroadphasePair(const BroadphasePair& other)
+		:		m_pProxy0(other.m_pProxy0),
+				m_pProxy1(other.m_pProxy1)
+	{
+		for (int i=0;i<SIMPLE_MAX_ALGORITHMS;i++)
+		{
+			m_algorithms[i] = other.m_algorithms[i];
+		}
+	}
+	BroadphasePair(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
+		:
+		m_pProxy0(&proxy0),
+		m_pProxy1(&proxy1)
+	{
+		for (int i=0;i<SIMPLE_MAX_ALGORITHMS;i++)
+	{
+			m_algorithms[i] = 0;
+		}
+
+	}
+
+	
+	BroadphaseProxy* m_pProxy0;
+	BroadphaseProxy* m_pProxy1;
+	
+	mutable CollisionAlgorithm* m_algorithms[SIMPLE_MAX_ALGORITHMS];
+};
+
+#endif //BROADPHASE_PROXY_H
+

extern/bullet/Bullet/BroadphaseCollision/CollisionAlgorithm.cpp

@@ -0,0 +1,18 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#include "CollisionAlgorithm.h"
+#include "CollisionDispatcher.h"
+
+CollisionAlgorithm::CollisionAlgorithm(const CollisionAlgorithmConstructionInfo& ci)
+{
+	m_dispatcher = ci.m_dispatcher;
+}
+

extern/bullet/Bullet/BroadphaseCollision/CollisionAlgorithm.h

@@ -0,0 +1,62 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef COLLISION_ALGORITHM_H
+#define COLLISION_ALGORITHM_H
+
+struct BroadphaseProxy;
+class Dispatcher;
+
+struct CollisionAlgorithmConstructionInfo
+{
+	CollisionAlgorithmConstructionInfo()
+		:m_dispatcher(0)
+	{
+	}
+	CollisionAlgorithmConstructionInfo(Dispatcher* dispatcher,int temp)
+		:m_dispatcher(dispatcher)
+	{
+	}
+
+	Dispatcher*	m_dispatcher;
+
+	int	GetDispatcherId();
+
+};
+
+
+///CollisionAlgorithm is an collision interface that is compatible with the Broadphase and Dispatcher.
+///It is persistent over frames
+class CollisionAlgorithm
+{
+
+protected:
+
+	Dispatcher*	m_dispatcher;
+
+protected:
+	int	GetDispatcherId();
+	
+public:
+
+	CollisionAlgorithm() {};
+
+	CollisionAlgorithm(const CollisionAlgorithmConstructionInfo& ci);
+
+	virtual ~CollisionAlgorithm() {};
+
+	virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount, bool useContinuous) = 0;
+
+	virtual float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount) = 0;
+
+};
+
+
+#endif //COLLISION_ALGORITHM_H

extern/bullet/Bullet/BroadphaseCollision/CollisionDispatcher.cpp

@@ -0,0 +1,17 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#include "CollisionDispatcher.h"
+
+Dispatcher::~Dispatcher()
+{
+
+}
+

extern/bullet/Bullet/BroadphaseCollision/CollisionDispatcher.h

@@ -0,0 +1,71 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef COLLISION_DISPATCHER_H
+#define COLLISION_DISPATCHER_H
+
+class CollisionAlgorithm;
+struct BroadphaseProxy;
+class RigidBody;
+
+enum CollisionDispatcherId
+{
+	RIGIDBODY_DISPATCHER = 0,
+	RAGDOLL_DISPATCHER
+};
+
+class PersistentManifold;
+
+struct DispatcherInfo
+{
+	enum DispatchFunc
+	{
+		DISPATCH_DISCRETE = 1,
+		DISPATCH_CONTINUOUS
+	};
+	DispatcherInfo()
+		:m_dispatchFunc(DISPATCH_DISCRETE),
+		m_timeOfImpact(1.f),
+		m_useContinuous(false)
+	{
+
+	}
+	float	m_timeStep;
+	int		m_stepCount;
+	int		m_dispatchFunc;
+	float	m_timeOfImpact;
+	bool	m_useContinuous;
+	
+};
+
+/// Collision Dispatcher can be used in combination with broadphase and collision algorithms.
+class Dispatcher
+{
+
+
+public:
+	virtual ~Dispatcher() ;
+
+	virtual CollisionAlgorithm* FindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1) = 0;
+
+	//
+	// asume dispatchers to have unique id's in the range [0..max dispacher]
+	//
+	virtual int GetUniqueId() = 0;
+
+	virtual PersistentManifold*	GetNewManifold(void* body0,void* body1)=0;
+
+	virtual void ReleaseManifold(PersistentManifold* manifold)=0;
+
+
+};
+
+
+#endif //COLLISION_DISPATCHER_H

extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.cpp

@@ -0,0 +1,273 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#include "SimpleBroadphase.h"
+#include "BroadphaseCollision/CollisionDispatcher.h"
+#include "BroadphaseCollision/CollisionAlgorithm.h"
+
+#include "SimdVector3.h"
+#include "SimdTransform.h"
+#include "SimdMatrix3x3.h"
+#include <vector>
+#include "NarrowPhaseCollision/CollisionMargin.h"
+
+SimpleBroadphase::SimpleBroadphase()
+:  m_firstFreeProxy(0),
+  m_numProxies(0),
+ m_blockedForChanges(false),
+ m_NumOverlapBroadphasePair(0)
+{
+	int i;
+	for (i=0;i<SIMPLE_MAX_PROXIES;i++)
+	{
+		m_freeProxies[i] = i;
+	}
+}
+
+SimpleBroadphase::~SimpleBroadphase()
+{
+	/*int i;
+	for (i=m_numProxies-1;i>=0;i--)
+	{
+		BP_Proxy* proxy = m_pProxies[i]; 
+		destroyProxy(proxy);
+	}
+	*/
+}
+
+
+BroadphaseProxy*	SimpleBroadphase::CreateProxy( void *object, int type, const SimdVector3& min,  const SimdVector3& max) 
+{
+	if (m_numProxies >= SIMPLE_MAX_PROXIES)
+	{
+		assert(0);
+		return 0; //should never happen, but don't let the game crash ;-)
+	}
+	assert(min[0]<= max[0] && min[1]<= max[1] && min[2]<= max[2]);
+
+	int freeIndex= m_freeProxies[m_firstFreeProxy];
+	BroadphaseProxy* proxy = new (&m_proxies[freeIndex])SimpleBroadphaseProxy(object,type,min,max);
+	m_firstFreeProxy++;
+
+	m_pProxies[m_numProxies] = proxy;
+	m_numProxies++;
+
+	return proxy;
+}
+void	SimpleBroadphase::DestroyProxy(BroadphaseProxy* proxy)
+{
+		m_numProxies--;
+		BroadphaseProxy* proxy1 = &m_proxies[0];
+	
+		int index = proxy - proxy1;
+		m_freeProxies[--m_firstFreeProxy] = index;
+
+}
+
+SimpleBroadphaseProxy*	SimpleBroadphase::GetSimpleProxyFromProxy(BroadphaseProxy* proxy)
+{
+	SimpleBroadphaseProxy* proxy0 = static_cast<SimpleBroadphaseProxy*>(proxy);
+
+	int index = proxy0 - &m_proxies[0];
+	assert(index < m_numProxies);
+
+	SimpleBroadphaseProxy* sbp = &m_proxies[index];
+	return sbp;
+}
+void	SimpleBroadphase::SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax)
+{
+	SimpleBroadphaseProxy* sbp = GetSimpleProxyFromProxy(proxy);
+	sbp->m_min = aabbMin;
+	sbp->m_max = aabbMax;
+}
+
+void	SimpleBroadphase::CleanOverlappingPair(BroadphasePair& pair)
+{
+	for (int dispatcherId=0;dispatcherId<SIMPLE_MAX_ALGORITHMS;dispatcherId++)
+	{
+		if (pair.m_algorithms[dispatcherId])
+		{
+			{
+				delete pair.m_algorithms[dispatcherId];
+				pair.m_algorithms[dispatcherId]=0;
+			}
+		}
+	}
+}
+
+
+void	SimpleBroadphase::CleanProxyFromPairs(BroadphaseProxy* proxy)
+{
+	for (int i=0;i<m_NumOverlapBroadphasePair;i++)
+	{
+		BroadphasePair& pair = m_OverlappingPairs[i];
+		if (pair.m_pProxy0 == proxy ||
+				pair.m_pProxy1 == proxy)
+		{
+			CleanOverlappingPair(pair);
+		}
+	}
+}
+
+void	SimpleBroadphase::AddOverlappingPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
+{
+	BroadphasePair pair(*proxy0,*proxy1);
+	m_OverlappingPairs[m_NumOverlapBroadphasePair] = pair;
+
+	int i;
+	for (i=0;i<SIMPLE_MAX_ALGORITHMS;i++)
+	{
+		assert(!m_OverlappingPairs[m_NumOverlapBroadphasePair].m_algorithms[i]);
+		m_OverlappingPairs[m_NumOverlapBroadphasePair].m_algorithms[i] = 0;
+	}
+	m_NumOverlapBroadphasePair++;
+}
+	
+bool	SimpleBroadphase::FindPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
+{
+	bool found = false;
+	int i;
+	for (i=m_NumOverlapBroadphasePair-1;i>=0;i--)
+	{
+		BroadphasePair& pair = m_OverlappingPairs[i];
+		if (((pair.m_pProxy0 == proxy0) && (pair.m_pProxy1 == proxy1)) ||
+			((pair.m_pProxy0 == proxy1) && (pair.m_pProxy1 == proxy0)))
+		{
+			found = true;
+			break;
+		}
+	}	
+
+	return found;
+}
+void	SimpleBroadphase::RemoveOverlappingPair(BroadphasePair& pair)
+{
+    CleanOverlappingPair(pair);
+	int	index = &pair - &m_OverlappingPairs[0];
+	//remove efficiently, swap with the last
+	m_OverlappingPairs[index] = m_OverlappingPairs[m_NumOverlapBroadphasePair-1];
+	m_NumOverlapBroadphasePair--;
+}
+
+bool	SimpleBroadphase::AabbOverlap(SimpleBroadphaseProxy* proxy0,SimpleBroadphaseProxy* proxy1)
+{
+	return proxy0->m_min[0] <= proxy1->m_max[0] && proxy1->m_min[0] <= proxy0->m_max[0] && 
+		   proxy0->m_min[1] <= proxy1->m_max[1] && proxy1->m_min[1] <= proxy0->m_max[1] &&
+		   proxy0->m_min[2] <= proxy1->m_max[2] && proxy1->m_min[2] <= proxy0->m_max[2];
+
+}
+void	SimpleBroadphase::RefreshOverlappingPairs()
+{
+	//first check for new overlapping pairs
+	int i,j;
+
+	for (i=0;i<m_numProxies;i++)
+	{
+		BroadphaseProxy* proxy0 = m_pProxies[i];
+		for (j=i+1;j<m_numProxies;j++)
+		{
+			BroadphaseProxy* proxy1 = m_pProxies[j];
+			SimpleBroadphaseProxy* p0 = GetSimpleProxyFromProxy(proxy0);
+			SimpleBroadphaseProxy* p1 = GetSimpleProxyFromProxy(proxy1);
+
+			if (AabbOverlap(p0,p1))
+			{
+				if ( !FindPair(proxy0,proxy1))
+				{
+					AddOverlappingPair(proxy0,proxy1);
+				}
+			}
+
+		}
+	}
+
+	//then remove non-overlapping ones
+	for (i=0;i<m_NumOverlapBroadphasePair;i++)
+	{
+		BroadphasePair& pair = m_OverlappingPairs[i];
+		SimpleBroadphaseProxy* proxy0 = GetSimpleProxyFromProxy(pair.m_pProxy0);
+		SimpleBroadphaseProxy* proxy1 = GetSimpleProxyFromProxy(pair.m_pProxy1);
+		if (!AabbOverlap(proxy0,proxy1))
+		{
+            RemoveOverlappingPair(pair);
+		}
+	}
+
+	//BroadphasePair	m_OverlappingPairs[SIMPLE_MAX_OVERLAP];
+	//int	m_NumOverlapBroadphasePair;
+
+}
+
+void	SimpleBroadphase::DispatchAllCollisionPairs(Dispatcher&	dispatcher,DispatcherInfo& dispatchInfo)
+{
+	m_blockedForChanges = true;
+
+	int i;
+	
+	int dispatcherId = dispatcher.GetUniqueId();
+
+	RefreshOverlappingPairs();
+
+	for (i=0;i<m_NumOverlapBroadphasePair;i++)
+	{
+		
+		BroadphasePair& pair = m_OverlappingPairs[i];
+		
+		if (dispatcherId>= 0)
+		{
+			//dispatcher will keep algorithms persistent in the collision pair
+			if (!pair.m_algorithms[dispatcherId])
+			{
+				pair.m_algorithms[dispatcherId] = dispatcher.FindAlgorithm(
+					*pair.m_pProxy0,
+					*pair.m_pProxy1);
+			}
+
+			if (pair.m_algorithms[dispatcherId])
+			{
+				if (dispatchInfo.m_dispatchFunc == 		DispatcherInfo::DISPATCH_DISCRETE)
+				{
+					pair.m_algorithms[dispatcherId]->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo.m_timeStep,dispatchInfo.m_stepCount,dispatchInfo.m_useContinuous);
+				} else
+				{
+					float toi = pair.m_algorithms[dispatcherId]->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo.m_timeStep,dispatchInfo.m_stepCount);
+					if (dispatchInfo.m_timeOfImpact > toi)
+						dispatchInfo.m_timeOfImpact = toi;
+
+				}
+			}
+		} else
+		{
+			//non-persistent algorithm dispatcher
+				CollisionAlgorithm* algo = dispatcher.FindAlgorithm(
+					*pair.m_pProxy0,
+					*pair.m_pProxy1);
+
+				if (algo)
+				{
+					if (dispatchInfo.m_dispatchFunc == 		DispatcherInfo::DISPATCH_DISCRETE)
+					{
+						algo->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo.m_timeStep,dispatchInfo.m_stepCount,dispatchInfo.m_useContinuous);
+					} else
+					{
+						float toi = algo->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo.m_timeStep,dispatchInfo.m_stepCount);
+						if (dispatchInfo.m_timeOfImpact > toi)
+							dispatchInfo.m_timeOfImpact = toi;
+					}
+				}
+		}
+
+	}
+
+	m_blockedForChanges = false;
+
+}
+
+

extern/bullet/Bullet/BroadphaseCollision/SimpleBroadphase.h

@@ -0,0 +1,78 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef SIMPLE_BROADPHASE_H
+#define SIMPLE_BROADPHASE_H
+
+#define SIMPLE_MAX_PROXIES 8192
+#define SIMPLE_MAX_OVERLAP 4096
+
+#include "BroadphaseInterface.h"
+#include "BroadphaseProxy.h"
+#include "SimdPoint3.h"
+
+struct SimpleBroadphaseProxy : public BroadphaseProxy
+{
+	SimdVector3	m_min;
+	SimdVector3	m_max;
+	
+	SimpleBroadphaseProxy() {};
+
+	SimpleBroadphaseProxy(void* object,int type,const SimdPoint3& minpt,const SimdPoint3& maxpt)
+	:BroadphaseProxy(object,type),
+	m_min(minpt),m_max(maxpt)		
+	{
+	}
+	
+
+};
+
+///SimpleBroadphase is a brute force aabb culling broadphase based on O(n^2) aabb checks
+class SimpleBroadphase : public BroadphaseInterface
+{
+
+	SimpleBroadphaseProxy	m_proxies[SIMPLE_MAX_PROXIES];
+	int				m_freeProxies[SIMPLE_MAX_PROXIES];
+	int				m_firstFreeProxy;
+
+	BroadphaseProxy* m_pProxies[SIMPLE_MAX_PROXIES];
+	int				m_numProxies;
+
+	//during the dispatch, check that user doesn't destroy/create proxy
+	bool		m_blockedForChanges;
+
+	BroadphasePair	m_OverlappingPairs[SIMPLE_MAX_OVERLAP];
+	int	m_NumOverlapBroadphasePair;
+
+	
+	SimpleBroadphaseProxy*	GetSimpleProxyFromProxy(BroadphaseProxy* proxy);
+
+	bool	AabbOverlap(SimpleBroadphaseProxy* proxy0,SimpleBroadphaseProxy* proxy1);
+	void	RemoveOverlappingPair(BroadphasePair& pair);
+	void	CleanOverlappingPair(BroadphasePair& pair);
+	void	AddOverlappingPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
+	bool	FindPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
+	void	RefreshOverlappingPairs();
+public:
+	SimpleBroadphase();
+	virtual ~SimpleBroadphase();
+
+	virtual BroadphaseProxy*	CreateProxy(  void *object,int type, const SimdVector3& min,  const SimdVector3& max) ;
+	virtual void	DestroyProxy(BroadphaseProxy* proxy);
+	virtual void	SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax);
+	virtual void	CleanProxyFromPairs(BroadphaseProxy* proxy);
+	virtual void	DispatchAllCollisionPairs(Dispatcher&	dispatcher,DispatcherInfo& dispatchInfo);
+
+};
+
+
+
+#endif //SIMPLE_BROADPHASE_H
+

extern/bullet/Bullet/Bullet3.dsp

@@ -0,0 +1,412 @@
+# Microsoft Developer Studio Project File - Name="Bullet" - Package Owner=<4>
+# Microsoft Developer Studio Generated Build File, Format Version 6.00
+# ** DO NOT EDIT **
+
+# TARGTYPE "Win32 (x86) Static Library" 0x0104
+
+CFG=Bullet - Win32 Debug
+!MESSAGE This is not a valid makefile. To build this project using NMAKE,
+!MESSAGE use the Export Makefile command and run
+!MESSAGE 
+!MESSAGE NMAKE /f "Bullet3.mak".
+!MESSAGE 
+!MESSAGE You can specify a configuration when running NMAKE
+!MESSAGE by defining the macro CFG on the command line. For example:
+!MESSAGE 
+!MESSAGE NMAKE /f "Bullet3.mak" CFG="Bullet - Win32 Debug"
+!MESSAGE 
+!MESSAGE Possible choices for configuration are:
+!MESSAGE 
+!MESSAGE "Bullet - Win32 Release" (based on "Win32 (x86) Static Library")
+!MESSAGE "Bullet - Win32 Debug" (based on "Win32 (x86) Static Library")
+!MESSAGE 
+
+# Begin Project
+# PROP AllowPerConfigDependencies 0
+# PROP Scc_ProjName ""
+# PROP Scc_LocalPath ""
+CPP=cl.exe
+RSC=rc.exe
+
+!IF  "$(CFG)" == "Bullet - Win32 Release"
+
+# PROP BASE Use_MFC 0
+# PROP BASE Use_Debug_Libraries 0
+# PROP BASE Output_Dir "Release"
+# PROP BASE Intermediate_Dir "Release"
+# PROP BASE Target_Dir ""
+# PROP Use_MFC 0
+# PROP Use_Debug_Libraries 0
+# PROP Output_Dir "Release"
+# PROP Intermediate_Dir "Release"
+# PROP Target_Dir ""
+MTL=midl.exe
+LINK32=link.exe -lib
+# ADD BASE CPP /nologo /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_MBCS" /D "_LIB" /YX /FD /c
+# ADD CPP /nologo /MT /W3 /GX /Zd /O2 /I "../LinearMath" /I "." /D "NDEBUG" /D "_LIB" /D "WIN32" /D "_MBCS" /D "BUM_INLINED" /D "USE_ALGEBRAIC" /YX /FD /c
+# ADD BASE RSC /l 0x409 /d "NDEBUG"
+# ADD RSC /l 0x409 /d "NDEBUG"
+BSC32=bscmake.exe
+# ADD BASE BSC32 /nologo
+# ADD BSC32 /nologo
+LIB32=link.exe -lib
+# ADD BASE LIB32 /nologo
+# ADD LIB32 /nologo
+
+!ELSEIF  "$(CFG)" == "Bullet - Win32 Debug"
+
+# PROP BASE Use_MFC 0
+# PROP BASE Use_Debug_Libraries 1
+# PROP BASE Output_Dir "Debug"
+# PROP BASE Intermediate_Dir "Debug"
+# PROP BASE Target_Dir ""
+# PROP Use_MFC 0
+# PROP Use_Debug_Libraries 1
+# PROP Output_Dir "Debug"
+# PROP Intermediate_Dir "Debug"
+# PROP Target_Dir ""
+MTL=midl.exe
+LINK32=link.exe -lib
+# ADD BASE CPP /nologo /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_MBCS" /D "_LIB" /YX /FD /GZ /c
+# ADD CPP /nologo /MTd /W3 /Gm /GX /ZI /Od /I "../LinearMath" /I "." /D "_DEBUG" /D "_LIB" /D "WIN32" /D "_MBCS" /D "BUM_INLINED" /D "USE_ALGEBRAIC" /YX /FD /GZ /c
+# ADD BASE RSC /l 0x409 /d "_DEBUG"
+# ADD RSC /l 0x409 /d "_DEBUG"
+BSC32=bscmake.exe
+# ADD BASE BSC32 /nologo
+# ADD BSC32 /nologo
+LIB32=link.exe -lib
+# ADD BASE LIB32 /nologo
+# ADD LIB32 /nologo
+
+!ENDIF 
+
+# Begin Target
+
+# Name "Bullet - Win32 Release"
+# Name "Bullet - Win32 Debug"
+# Begin Group "NarrowPhaseCollision"
+
+# PROP Default_Filter ""
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\BU_AlgebraicPolynomialSolver.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\BU_AlgebraicPolynomialSolver.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\BU_Collidable.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\BU_Collidable.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\BU_CollisionPair.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\BU_CollisionPair.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\BU_EdgeEdge.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\BU_EdgeEdge.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\BU_MotionStateInterface.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\BU_PolynomialSolverInterface.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\BU_Screwing.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\BU_Screwing.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\BU_StaticMotionState.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\BU_VertexPoly.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\BU_VertexPoly.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\CollisionMargin.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\ContinuousConvexCollision.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\ContinuousConvexCollision.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\ConvexCast.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\ConvexCast.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\ConvexPenetrationDepthSolver.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\DiscreteCollisionDetectorInterface.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\GjkConvexCast.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\GjkConvexCast.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\GjkPairDetector.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\GjkPairDetector.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\ManifoldPoint.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\MinkowskiPenetrationDepthSolver.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\MinkowskiPenetrationDepthSolver.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\PersistentManifold.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\PersistentManifold.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\PointCollector.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\RaycastCallback.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\RaycastCallback.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\SimplexSolverInterface.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\SubSimplexConvexCast.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\SubSimplexConvexCast.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\VoronoiSimplexSolver.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\NarrowPhaseCollision\VoronoiSimplexSolver.h
+# End Source File
+# End Group
+# Begin Group "BroadphaseCollision"
+
+# PROP Default_Filter ""
+# Begin Source File
+
+SOURCE=.\BroadphaseCollision\BroadPhaseInterface.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\BroadphaseCollision\BroadphaseProxy.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\BroadphaseCollision\BroadphaseProxy.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\BroadphaseCollision\CollisionAlgorithm.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\BroadphaseCollision\CollisionAlgorithm.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\BroadphaseCollision\CollisionDispatcher.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\BroadphaseCollision\CollisionDispatcher.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\BroadphaseCollision\SimpleBroadphase.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\BroadphaseCollision\SimpleBroadphase.h
+# End Source File
+# End Group
+# Begin Group "CollisionShapes"
+
+# PROP Default_Filter ""
+# Begin Source File
+
+SOURCE=.\CollisionShapes\BoxShape.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\BoxShape.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\CollisionShape.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\CollisionShape.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\ConeShape.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\ConeShape.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\ConvexHullShape.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\ConvexHullShape.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\ConvexShape.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\ConvexShape.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\CylinderShape.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\CylinderShape.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\MinkowskiSumShape.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\MinkowskiSumShape.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\MultiSphereShape.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\MultiSphereShape.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\PolyhedralConvexShape.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\PolyhedralConvexShape.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\Simplex1to4Shape.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\Simplex1to4Shape.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\SphereShape.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\SphereShape.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\StridingMeshInterface.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\StridingMeshInterface.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\TriangleCallback.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\TriangleMesh.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\TriangleMesh.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\TriangleMeshShape.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\TriangleMeshShape.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionShapes\TriangleShape.h
+# End Source File
+# End Group
+# End Target
+# End Project

extern/bullet/Bullet/Bullet3_vc7.vcproj

@@ -0,0 +1,427 @@
+<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+	ProjectType="Visual C++"
+	Version="7.10"
+	Name="Bullet3ContinuousCollision"
+	ProjectGUID="{FFD3C64A-30E2-4BC7-BC8F-51818C320400}"
+	SccProjectName=""
+	SccLocalPath="">
+	<Platforms>
+		<Platform
+			Name="Win32"/>
+	</Platforms>
+	<Configurations>
+		<Configuration
+			Name="Debug|Win32"
+			OutputDirectory=".\Debug"
+			IntermediateDirectory=".\Debug"
+			ConfigurationType="4"
+			UseOfMFC="0"
+			ATLMinimizesCRunTimeLibraryUsage="FALSE"
+			CharacterSet="2">
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				AdditionalIncludeDirectories=".;..\LinearMath"
+				PreprocessorDefinitions="_DEBUG;_LIB;WIN32;BUM_INLINED;USE_ALGEBRAIC"
+				BasicRuntimeChecks="3"
+				RuntimeLibrary="1"
+				UsePrecompiledHeader="2"
+				PrecompiledHeaderFile=".\Debug/Bullet.pch"
+				AssemblerListingLocation=".\Debug/"
+				ObjectFile=".\Debug/"
+				ProgramDataBaseFileName=".\Debug/"
+				WarningLevel="3"
+				SuppressStartupBanner="TRUE"
+				DebugInformationFormat="4"
+				CompileAs="0"/>
+			<Tool
+				Name="VCCustomBuildTool"/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile=".\Debug\Bullet.lib"
+				SuppressStartupBanner="TRUE"/>
+			<Tool
+				Name="VCMIDLTool"/>
+			<Tool
+				Name="VCPostBuildEventTool"/>
+			<Tool
+				Name="VCPreBuildEventTool"/>
+			<Tool
+				Name="VCPreLinkEventTool"/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="_DEBUG"
+				Culture="1033"/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"/>
+			<Tool
+				Name="VCManagedWrapperGeneratorTool"/>
+			<Tool
+				Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
+		</Configuration>
+		<Configuration
+			Name="Release|Win32"
+			OutputDirectory=".\Release"
+			IntermediateDirectory=".\Release"
+			ConfigurationType="4"
+			UseOfMFC="0"
+			ATLMinimizesCRunTimeLibraryUsage="FALSE"
+			CharacterSet="2">
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="2"
+				InlineFunctionExpansion="1"
+				AdditionalIncludeDirectories=".;..\LinearMath"
+				PreprocessorDefinitions="NDEBUG;_LIB;WIN32;BUM_INLINED;USE_ALGEBRAIC"
+				StringPooling="TRUE"
+				RuntimeLibrary="0"
+				EnableFunctionLevelLinking="TRUE"
+				UsePrecompiledHeader="2"
+				PrecompiledHeaderFile=".\Release/Bullet.pch"
+				AssemblerListingLocation=".\Release/"
+				ObjectFile=".\Release/"
+				ProgramDataBaseFileName=".\Release/"
+				WarningLevel="3"
+				SuppressStartupBanner="TRUE"
+				DebugInformationFormat="2"
+				CompileAs="0"/>
+			<Tool
+				Name="VCCustomBuildTool"/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="..\..\..\..\build\msvc_7\libs\extern\Bullet.lib"
+				SuppressStartupBanner="TRUE"/>
+			<Tool
+				Name="VCMIDLTool"/>
+			<Tool
+				Name="VCPostBuildEventTool"
+				CommandLine="ECHO Copying header files
+IF NOT EXIST ..\..\..\..\build\msvc_7\extern\bullet\include MKDIR ..\..\..\..\build\msvc_7\extern\bullet\include
+IF NOT EXIST ..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision MKDIR ..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision
+IF NOT EXIST ..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes MKDIR ..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes
+IF NOT EXIST ..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision MKDIR ..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision
+
+XCOPY /Y ..\LinearMath\*.h ..\..\..\..\build\msvc_7\extern\bullet\include
+XCOPY /Y ..\Bullet\BroadphaseCollision\*.h ..\..\..\..\build\msvc_7\extern\bullet\include\BroadphaseCollision
+XCOPY /Y ..\Bullet\CollisionShapes\*.h ..\..\..\..\build\msvc_7\extern\bullet\include\CollisionShapes
+XCOPY /Y ..\Bullet\NarrowPhaseCollision\*.h ..\..\..\..\build\msvc_7\extern\bullet\include\NarrowPhaseCollision
+
+ECHO Done
+"/>
+			<Tool
+				Name="VCPreBuildEventTool"/>
+			<Tool
+				Name="VCPreLinkEventTool"/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="NDEBUG"
+				Culture="1033"/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"/>
+			<Tool
+				Name="VCManagedWrapperGeneratorTool"/>
+			<Tool
+				Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
+		</Configuration>
+	</Configurations>
+	<References>
+	</References>
+	<Files>
+		<Filter
+			Name="NarrowPhaseCollision"
+			Filter="">
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_AlgebraicPolynomialSolver.cpp">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_AlgebraicPolynomialSolver.h">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_Collidable.cpp">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_Collidable.h">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_CollisionPair.cpp">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_CollisionPair.h">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_EdgeEdge.cpp">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_EdgeEdge.h">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_MotionStateInterface.h">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_PolynomialSolverInterface.h">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_Screwing.cpp">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_Screwing.h">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_StaticMotionState.h">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_VertexPoly.cpp">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_VertexPoly.h">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\CollisionMargin.h">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\ContinuousConvexCollision.cpp">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\ContinuousConvexCollision.h">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\ConvexCast.h">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\ConvexPenetrationDepthSolver.h">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\DiscreteCollisionDetectorInterface.h">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\GjkConvexCast.cpp">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\GjkConvexCast.h">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\GjkPairDetector.cpp">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\GjkPairDetector.h">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\ManifoldPoint.h">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\MinkowskiPenetrationDepthSolver.cpp">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\MinkowskiPenetrationDepthSolver.h">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\PersistentManifold.cpp">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\PersistentManifold.h">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\PointCollector.h">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\RaycastCallback.cpp">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\RaycastCallback.h">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\SimplexSolverInterface.h">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\SubSimplexConvexCast.cpp">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\SubSimplexConvexCast.h">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\VoronoiSimplexSolver.cpp">
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\VoronoiSimplexSolver.h">
+			</File>
+		</Filter>
+		<Filter
+			Name="CollisionShapes"
+			Filter="">
+			<File
+				RelativePath=".\CollisionShapes\BoxShape.cpp">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\BoxShape.h">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\CollisionShape.cpp">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\CollisionShape.h">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\ConeShape.cpp">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\ConeShape.h">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\ConvexHullShape.cpp">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\ConvexHullShape.h">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\ConvexShape.cpp">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\ConvexShape.h">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\CylinderShape.cpp">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\CylinderShape.h">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\MinkowskiSumShape.cpp">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\MinkowskiSumShape.h">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\MultiSphereShape.cpp">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\MultiSphereShape.h">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\PolyhedralConvexShape.cpp">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\PolyhedralConvexShape.h">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\Simplex1to4Shape.cpp">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\Simplex1to4Shape.h">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\SphereShape.cpp">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\SphereShape.h">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\StridingMeshInterface.cpp">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\StridingMeshInterface.h">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\TriangleCallback.h">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\TriangleMesh.cpp">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\TriangleMesh.h">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\TriangleMeshShape.cpp">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\TriangleMeshShape.h">
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\TriangleShape.h">
+			</File>
+		</Filter>
+		<Filter
+			Name="BroadphaseCollision"
+			Filter="">
+			<File
+				RelativePath=".\BroadphaseCollision\BroadPhaseInterface.h">
+			</File>
+			<File
+				RelativePath=".\BroadphaseCollision\BroadphaseProxy.cpp">
+			</File>
+			<File
+				RelativePath=".\BroadphaseCollision\BroadphaseProxy.h">
+			</File>
+			<File
+				RelativePath=".\BroadphaseCollision\CollisionAlgorithm.cpp">
+			</File>
+			<File
+				RelativePath=".\BroadphaseCollision\CollisionAlgorithm.h">
+			</File>
+			<File
+				RelativePath=".\BroadphaseCollision\CollisionDispatcher.cpp">
+			</File>
+			<File
+				RelativePath=".\BroadphaseCollision\CollisionDispatcher.h">
+			</File>
+			<File
+				RelativePath=".\BroadphaseCollision\SimpleBroadphase.cpp">
+			</File>
+			<File
+				RelativePath=".\BroadphaseCollision\SimpleBroadphase.h">
+			</File>
+		</Filter>
+		<Filter
+			Name="LinearAlgebra"
+			Filter="">
+			<File
+				RelativePath="..\LinearMath\AabbUtil2.h">
+			</File>
+			<File
+				RelativePath="..\LinearMath\GEN_List.h">
+			</File>
+			<File
+				RelativePath="..\LinearMath\GEN_MinMax.h">
+			</File>
+			<File
+				RelativePath="..\LinearMath\GEN_random.h">
+			</File>
+			<File
+				RelativePath="..\LinearMath\SimdMatrix3x3.h">
+			</File>
+			<File
+				RelativePath="..\LinearMath\SimdMinMax.h">
+			</File>
+			<File
+				RelativePath="..\LinearMath\SimdPoint3.h">
+			</File>
+			<File
+				RelativePath="..\LinearMath\SimdQuadword.h">
+			</File>
+			<File
+				RelativePath="..\LinearMath\SimdQuaternion.h">
+			</File>
+			<File
+				RelativePath="..\LinearMath\SimdScalar.h">
+			</File>
+			<File
+				RelativePath="..\LinearMath\SimdTransform.h">
+			</File>
+			<File
+				RelativePath="..\LinearMath\SimdTransformUtil.h">
+			</File>
+			<File
+				RelativePath="..\LinearMath\SimdVector3.h">
+			</File>
+		</Filter>
+		<File
+			RelativePath=".\NarrowPhaseCollision\ConvexCast.cpp">
+		</File>
+	</Files>
+	<Globals>
+	</Globals>
+</VisualStudioProject>

extern/bullet/Bullet/Bullet3_vc8.sln

@@ -0,0 +1,20 @@
+
+Microsoft Visual Studio Solution File, Format Version 9.00
+# Visual Studio 2005
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Bullet3ContinuousCollision", "Bullet3_vc8.vcproj", "{FFD3C64A-30E2-4BC7-BC8F-51818C320400}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Win32 = Debug|Win32
+		Release|Win32 = Release|Win32
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400}.Debug|Win32.ActiveCfg = Debug|Win32
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400}.Debug|Win32.Build.0 = Debug|Win32
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400}.Release|Win32.ActiveCfg = Release|Win32
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400}.Release|Win32.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal

extern/bullet/Bullet/Bullet3_vc8.vcproj

@@ -0,0 +1,552 @@
+<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+	ProjectType="Visual C++"
+	Version="8.00"
+	Name="Bullet3ContinuousCollision"
+	ProjectGUID="{FFD3C64A-30E2-4BC7-BC8F-51818C320400}"
+	SignManifests="true"
+	>
+	<Platforms>
+		<Platform
+			Name="Win32"
+		/>
+	</Platforms>
+	<ToolFiles>
+	</ToolFiles>
+	<Configurations>
+		<Configuration
+			Name="Debug|Win32"
+			OutputDirectory=".\Debug"
+			IntermediateDirectory=".\Debug"
+			ConfigurationType="4"
+			UseOfMFC="0"
+			ATLMinimizesCRunTimeLibraryUsage="false"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				AdditionalIncludeDirectories=".;..\LinearMath"
+				PreprocessorDefinitions="_DEBUG;_LIB;WIN32;BUM_INLINED;USE_ALGEBRAIC"
+				BasicRuntimeChecks="3"
+				RuntimeLibrary="1"
+				UsePrecompiledHeader="0"
+				PrecompiledHeaderFile=""
+				AssemblerListingLocation=".\Debug/"
+				ObjectFile=".\Debug/"
+				ProgramDataBaseFileName=".\Debug/"
+				WarningLevel="3"
+				SuppressStartupBanner="true"
+				DebugInformationFormat="4"
+				CompileAs="0"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="_DEBUG"
+				Culture="1033"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile=".\Debug\Bullet.lib"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+		<Configuration
+			Name="Release|Win32"
+			OutputDirectory=".\Release"
+			IntermediateDirectory=".\Release"
+			ConfigurationType="4"
+			UseOfMFC="0"
+			ATLMinimizesCRunTimeLibraryUsage="false"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="2"
+				InlineFunctionExpansion="1"
+				AdditionalIncludeDirectories=".;..\LinearMath"
+				PreprocessorDefinitions="NDEBUG;_LIB;WIN32;BUM_INLINED;USE_ALGEBRAIC"
+				StringPooling="true"
+				RuntimeLibrary="0"
+				EnableFunctionLevelLinking="true"
+				UsePrecompiledHeader="0"
+				PrecompiledHeaderFile=""
+				AssemblerListingLocation=".\Release/"
+				ObjectFile=".\Release/"
+				ProgramDataBaseFileName=".\Release/"
+				WarningLevel="3"
+				SuppressStartupBanner="true"
+				DebugInformationFormat="3"
+				CompileAs="0"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+				PreprocessorDefinitions="NDEBUG"
+				Culture="1033"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile=".\Release\Bullet.lib"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+	</Configurations>
+	<References>
+	</References>
+	<Files>
+		<Filter
+			Name="NarrowPhaseCollision"
+			>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_AlgebraicPolynomialSolver.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_AlgebraicPolynomialSolver.h"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_Collidable.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_Collidable.h"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_CollisionPair.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_CollisionPair.h"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_EdgeEdge.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_EdgeEdge.h"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_MotionStateInterface.h"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_PolynomialSolverInterface.h"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_Screwing.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_Screwing.h"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_StaticMotionState.h"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_VertexPoly.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\BU_VertexPoly.h"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\CollisionMargin.h"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\ContinuousConvexCollision.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\ContinuousConvexCollision.h"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\ConvexCast.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\ConvexCast.h"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\ConvexPenetrationDepthSolver.h"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\DiscreteCollisionDetectorInterface.h"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\GjkConvexCast.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\GjkConvexCast.h"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\GjkPairDetector.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\GjkPairDetector.h"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\ManifoldPoint.h"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\ManifoldPointCollector.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\ManifoldPointCollector.h"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\MinkowskiPenetrationDepthSolver.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\MinkowskiPenetrationDepthSolver.h"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\PersistentManifold.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\PersistentManifold.h"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\PointCollector.h"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\RaycastCallback.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\RaycastCallback.h"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\SimplexSolverInterface.h"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\SubSimplexConvexCast.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\SubSimplexConvexCast.h"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\VoronoiSimplexSolver.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\NarrowPhaseCollision\VoronoiSimplexSolver.h"
+				>
+			</File>
+		</Filter>
+		<Filter
+			Name="CollisionShapes"
+			>
+			<File
+				RelativePath=".\CollisionShapes\BoxShape.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\BoxShape.h"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\CollisionShape.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\CollisionShape.h"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\ConeShape.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\ConeShape.h"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\ConvexHullShape.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\ConvexHullShape.h"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\ConvexShape.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\ConvexShape.h"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\CylinderShape.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\CylinderShape.h"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\MinkowskiSumShape.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\MinkowskiSumShape.h"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\MultiSphereShape.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\MultiSphereShape.h"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\PolyhedralConvexShape.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\PolyhedralConvexShape.h"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\Simplex1to4Shape.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\Simplex1to4Shape.h"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\SphereShape.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\SphereShape.h"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\StridingMeshInterface.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\StridingMeshInterface.h"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\TriangleCallback.h"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\TriangleMeshShape.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\TriangleMeshShape.h"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionShapes\TriangleShape.h"
+				>
+			</File>
+		</Filter>
+		<Filter
+			Name="BroadphaseCollision"
+			>
+			<File
+				RelativePath=".\BroadphaseCollision\BroadPhaseInterface.h"
+				>
+			</File>
+			<File
+				RelativePath=".\BroadphaseCollision\BroadphaseProxy.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\BroadphaseCollision\BroadphaseProxy.h"
+				>
+			</File>
+			<File
+				RelativePath=".\BroadphaseCollision\CollisionAlgorithm.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\BroadphaseCollision\CollisionAlgorithm.h"
+				>
+			</File>
+			<File
+				RelativePath=".\BroadphaseCollision\CollisionDispatcher.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\BroadphaseCollision\CollisionDispatcher.h"
+				>
+			</File>
+			<File
+				RelativePath=".\BroadphaseCollision\SimpleBroadphase.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\BroadphaseCollision\SimpleBroadphase.h"
+				>
+			</File>
+		</Filter>
+		<Filter
+			Name="LinearAlgebra"
+			>
+			<File
+				RelativePath="..\LinearMath\AabbUtil2.h"
+				>
+			</File>
+			<File
+				RelativePath="..\LinearMath\GEN_List.h"
+				>
+			</File>
+			<File
+				RelativePath="..\LinearMath\GEN_MinMax.h"
+				>
+			</File>
+			<File
+				RelativePath="..\LinearMath\GEN_random.h"
+				>
+			</File>
+			<File
+				RelativePath="..\LinearMath\SimdMatrix3x3.h"
+				>
+			</File>
+			<File
+				RelativePath="..\LinearMath\SimdMinMax.h"
+				>
+			</File>
+			<File
+				RelativePath="..\LinearMath\SimdPoint3.h"
+				>
+			</File>
+			<File
+				RelativePath="..\LinearMath\SimdQuadword.h"
+				>
+			</File>
+			<File
+				RelativePath="..\LinearMath\SimdQuaternion.h"
+				>
+			</File>
+			<File
+				RelativePath="..\LinearMath\SimdScalar.h"
+				>
+			</File>
+			<File
+				RelativePath="..\LinearMath\SimdTransform.h"
+				>
+			</File>
+			<File
+				RelativePath="..\LinearMath\SimdTransformUtil.h"
+				>
+			</File>
+			<File
+				RelativePath="..\LinearMath\SimdVector3.h"
+				>
+			</File>
+		</Filter>
+	</Files>
+	<Globals>
+	</Globals>
+</VisualStudioProject>

extern/bullet/Bullet/CollisionShapes/BoxShape.cpp

@@ -0,0 +1,34 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+ */
+
+#include "BoxShape.h"
+
+
+void BoxShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
+{
+	SimdVector3 halfExtents = GetHalfExtents();
+
+	SimdMatrix3x3 abs_b = t.getBasis().absolute();  
+	SimdPoint3 center = t.getOrigin();
+	SimdVector3 extent = SimdVector3(abs_b[0].dot(halfExtents),
+		   abs_b[1].dot(halfExtents),
+		  abs_b[2].dot(halfExtents));
+	extent += SimdVector3(GetMargin(),GetMargin(),GetMargin());
+
+
+	//todo: this is a quick fix, we need to enlarge the aabb dependent on several criteria
+	//extent += SimdVector3(.2f,.2f,.2f);
+
+	aabbMin = center - extent;
+	aabbMax = center + extent;
+
+
+}

extern/bullet/Bullet/CollisionShapes/BoxShape.h

@@ -0,0 +1,274 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+ */
+
+#ifndef OBB_BOX_MINKOWSKI_H
+#define OBB_BOX_MINKOWSKI_H
+
+#include "PolyhedralConvexShape.h"
+#include "NarrowPhaseCollision/CollisionMargin.h"
+#include "BroadphaseCollision/BroadphaseProxy.h"
+#include "SimdPoint3.h"
+#include "SimdMinMax.h"
+
+///BoxShape implements both a feature based (vertex/edge/plane) and implicit (getSupportingVertex) Box
+class BoxShape: public PolyhedralConvexShape
+{
+
+	SimdVector3	m_boxHalfExtents1;
+
+
+public:
+
+	virtual ~BoxShape()
+	{
+
+	}
+
+	SimdVector3 GetHalfExtents() const{ return m_boxHalfExtents1 * m_localScaling;}
+ 	//const SimdVector3& GetHalfExtents() const{ return m_boxHalfExtents1;}
+
+
+	
+	virtual int	GetShapeType() const { return BOX_SHAPE_PROXYTYPE;}
+
+	virtual SimdVector3	LocalGetSupportingVertex(const SimdVector3& vec) const
+	{
+		
+		SimdVector3 halfExtents = GetHalfExtents();
+
+		SimdVector3 supVertex;
+		supVertex = SimdPoint3(vec.x() < SimdScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
+                     vec.y() < SimdScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
+                     vec.z() < SimdScalar(0.0f) ? -halfExtents.z() : halfExtents.z()); 
+  
+
+		if ( GetMargin()!=0.f )
+		{
+			SimdVector3 vecnorm = vec;
+			if (vecnorm .length2() == 0.f)
+			{
+				vecnorm.setValue(-1.f,-1.f,-1.f);
+			} 
+			vecnorm.normalize();
+			supVertex+= GetMargin() * vecnorm;
+		}
+		return supVertex;
+	}
+
+
+	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
+	{
+		SimdVector3 halfExtents = GetHalfExtents();
+
+		return SimdVector3(vec.x() < SimdScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
+                    vec.y() < SimdScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
+                    vec.z() < SimdScalar(0.0f) ? -halfExtents.z() : halfExtents.z()); 
+	}
+
+
+	BoxShape( const SimdVector3& boxHalfExtents) :  m_boxHalfExtents1(boxHalfExtents){};
+	
+	virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
+
+	
+
+	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
+	{
+		float margin = GetMargin();
+		SimdVector3 halfExtents = GetHalfExtents();
+
+		SimdScalar lx=2.f*(halfExtents.x()+margin);
+		SimdScalar ly=2.f*(halfExtents.y()+margin);
+		SimdScalar lz=2.f*(halfExtents.z()+margin);
+		const SimdScalar x2 = lx*lx;
+		const SimdScalar y2 = ly*ly;
+		const SimdScalar z2 = lz*lz;
+		const SimdScalar scaledmass = mass * 0.08333333f;
+
+		inertia = scaledmass * (SimdVector3(y2+z2,x2+z2,x2+y2));
+
+//		inertia.x() = scaledmass * (y2+z2);
+//		inertia.y() = scaledmass * (x2+z2);
+//		inertia.z() = scaledmass * (x2+y2);
+	}
+
+
+	virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const
+	{
+		//this plane might not be aligned...
+		SimdVector4 plane ;
+		GetPlaneEquation(plane,i);
+		planeNormal = SimdVector3(plane.getX(),plane.getY(),plane.getZ());
+		planeSupport = LocalGetSupportingVertex(-planeNormal);
+	}
+
+	
+	virtual int GetNumPlanes() const
+	{
+		return 6;
+	}	
+	
+	virtual int	GetNumVertices() const 
+	{
+		return 8;
+	}
+
+	virtual int GetNumEdges() const
+	{
+		return 12;
+	}
+
+
+	virtual void GetVertex(int i,SimdVector3& vtx) const
+	{
+		SimdVector3 halfExtents = GetHalfExtents();
+
+		vtx = SimdVector3(
+				halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
+				halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
+				halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
+	}
+	
+
+	virtual void	GetPlaneEquation(SimdVector4& plane,int i) const
+	{
+		SimdVector3 halfExtents = GetHalfExtents();
+
+		switch (i)
+		{
+		case 0:
+			plane.setValue(1.f,0.f,0.f);
+			plane[3] = -halfExtents.x();
+			break;
+		case 1:
+			plane.setValue(-1.f,0.f,0.f);
+			plane[3] = -halfExtents.x();
+			break;
+		case 2:
+			plane.setValue(0.f,1.f,0.f);
+			plane[3] = -halfExtents.y();
+			break;
+		case 3:
+			plane.setValue(0.f,-1.f,0.f);
+			plane[3] = -halfExtents.y();
+			break;
+		case 4:
+			plane.setValue(0.f,0.f,1.f);
+			plane[3] = -halfExtents.z();
+			break;
+		case 5:
+			plane.setValue(0.f,0.f,-1.f);
+			plane[3] = -halfExtents.z();
+			break;
+		default:
+			assert(0);
+		}
+	}
+
+	
+	virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
+	//virtual void GetEdge(int i,Edge& edge) const
+	{
+		int edgeVert0 = 0;
+		int edgeVert1 = 0;
+
+		switch (i)
+		{
+		case 0:
+				edgeVert0 = 0;
+				edgeVert1 = 1;
+			break;
+		case 1:
+				edgeVert0 = 0;
+				edgeVert1 = 2;
+			break;
+		case 2:
+			edgeVert0 = 1;
+			edgeVert1 = 3;
+
+			break;
+		case 3:
+			edgeVert0 = 2;
+			edgeVert1 = 3;
+			break;
+		case 4:
+			edgeVert0 = 0;
+			edgeVert1 = 4;
+			break;
+		case 5:
+			edgeVert0 = 1;
+			edgeVert1 = 5;
+
+			break;
+		case 6:
+			edgeVert0 = 2;
+			edgeVert1 = 6;
+			break;
+		case 7:
+			edgeVert0 = 3;
+			edgeVert1 = 7;
+			break;
+		case 8:
+			edgeVert0 = 4;
+			edgeVert1 = 5;
+			break;
+		case 9:
+			edgeVert0 = 4;
+			edgeVert1 = 6;
+			break;
+		case 10:
+			edgeVert0 = 5;
+			edgeVert1 = 7;
+			break;
+		case 11:
+			edgeVert0 = 6;
+			edgeVert1 = 7;
+			break;
+		default:
+			ASSERT(0);
+
+		}
+
+		GetVertex(edgeVert0,pa );
+		GetVertex(edgeVert1,pb );
+	}
+
+
+
+
+	
+	virtual	bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
+	{
+		SimdVector3 halfExtents = GetHalfExtents();
+
+		//SimdScalar minDist = 2*tolerance;
+		
+		bool result =	(pt.x() <= (halfExtents.x()+tolerance)) &&
+						(pt.x() >= (-halfExtents.x()-tolerance)) &&
+						(pt.y() <= (halfExtents.y()+tolerance)) &&
+						(pt.y() >= (-halfExtents.y()-tolerance)) &&
+						(pt.z() <= (halfExtents.z()+tolerance)) &&
+						(pt.z() >= (-halfExtents.z()-tolerance));
+		
+		return result;
+	}
+
+
+	//debugging
+	virtual char*	GetName()const
+	{
+		return "Box";
+	}
+
+
+};
+
+#endif //OBB_BOX_MINKOWSKI_H

extern/bullet/Bullet/CollisionShapes/CollisionShape.cpp

@@ -0,0 +1,70 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#include "CollisionShapes/CollisionShape.h"
+
+void	CollisionShape::GetBoundingSphere(SimdVector3& center,SimdScalar& radius) const
+{
+	SimdTransform tr;
+	tr.setIdentity();
+	SimdVector3 aabbMin,aabbMax;
+
+	GetAabb(tr,aabbMin,aabbMax);
+
+	radius = (aabbMax-aabbMin).length()*0.5f;
+	center = (aabbMin+aabbMax)*0.5f;
+}
+
+float	CollisionShape::GetAngularMotionDisc() const
+{
+	SimdVector3	center;
+	float disc;
+	GetBoundingSphere(center,disc);
+	disc += (center).length();
+	return disc;
+}
+
+void CollisionShape::CalculateTemporalAabb(const SimdTransform& curTrans,const SimdVector3& linvel,const SimdVector3& angvel,SimdScalar timeStep, SimdVector3& temporalAabbMin,SimdVector3& temporalAabbMax)
+{
+	//start with static aabb
+	GetAabb(curTrans,temporalAabbMin,temporalAabbMax);
+
+	float temporalAabbMaxx = temporalAabbMax.getX();
+	float temporalAabbMaxy = temporalAabbMax.getY();
+	float temporalAabbMaxz = temporalAabbMax.getZ();
+	float temporalAabbMinx = temporalAabbMin.getX();
+	float temporalAabbMiny = temporalAabbMin.getY();
+	float temporalAabbMinz = temporalAabbMin.getZ();
+
+	// add linear motion
+	SimdVector3 linMotion = linvel*timeStep;
+	//todo: simd would have a vector max/min operation, instead of per-element access
+	if (linMotion.x() > 0.f)
+		temporalAabbMaxx += linMotion.x(); 
+	else
+		temporalAabbMinx += linMotion.x();
+	if (linMotion.y() > 0.f)
+		temporalAabbMaxy += linMotion.y(); 
+	else
+		temporalAabbMiny += linMotion.y();
+	if (linMotion.z() > 0.f)
+		temporalAabbMaxz += linMotion.z(); 
+	else
+		temporalAabbMinz += linMotion.z();
+
+	//add conservative angular motion
+	SimdScalar angularMotion = angvel.length() * GetAngularMotionDisc() * timeStep;
+	SimdVector3 angularMotion3d(angularMotion,angularMotion,angularMotion);
+	temporalAabbMin = SimdVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz);
+	temporalAabbMax = SimdVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz);
+
+	temporalAabbMin -= angularMotion3d;
+	temporalAabbMax += angularMotion3d;
+}

extern/bullet/Bullet/CollisionShapes/CollisionShape.h

@@ -0,0 +1,76 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef COLLISION_SHAPE_H
+#define COLLISION_SHAPE_H
+
+#include "SimdTransform.h"
+#include "SimdVector3.h"
+#include <SimdMatrix3x3.h>
+#include "SimdPoint3.h"
+#include "BroadphaseCollision/BroadphaseProxy.h" //for the shape types
+
+///CollisionShape provides generic interface for collidable objects
+class CollisionShape
+{
+
+public:
+
+	CollisionShape()
+	:m_tempDebug(0)
+	{
+	}
+	virtual ~CollisionShape()
+	{
+	}
+
+	virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const =0;
+
+	virtual void	GetBoundingSphere(SimdVector3& center,SimdScalar& radius) const;
+
+	virtual float	GetAngularMotionDisc() const;
+
+	virtual int		GetShapeType() const=0;
+
+	///CalculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
+	///result is conservative
+	void CalculateTemporalAabb(const SimdTransform& curTrans,const SimdVector3& linvel,const SimdVector3& angvel,SimdScalar timeStep, SimdVector3& temporalAabbMin,SimdVector3& temporalAabbMax);
+
+	bool	IsPolyhedral() const
+	{
+		return (GetShapeType() < IMPLICIT_CONVEX_SHAPES_START_HERE);
+	}
+
+	bool	IsConvex() const
+	{
+		return (GetShapeType() < CONCAVE_SHAPES_START_HERE);
+	}
+	bool	IsConcave() const
+	{
+		return (GetShapeType() > CONCAVE_SHAPES_START_HERE);
+	}
+
+
+	virtual void	setLocalScaling(const SimdVector3& scaling) =0;
+
+	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia) = 0;
+
+//debugging support
+	virtual char*	GetName()const =0 ;
+	const char* GetExtraDebugInfo() const { return m_tempDebug;}
+	void  SetExtraDebugInfo(const char* extraDebugInfo) { m_tempDebug = extraDebugInfo;}
+	const char * m_tempDebug;
+//endif debugging support
+
+
+};	
+
+#endif //COLLISION_SHAPE_H
+

extern/bullet/Bullet/CollisionShapes/ConeShape.cpp

@@ -0,0 +1,85 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#include "ConeShape.h"
+#include "SimdPoint3.h"
+
+#ifdef WIN32
+static int coneindices[3] = {1,2,0};
+#else
+static int coneindices[3] = {2,1,0};
+#endif
+
+ConeShape::ConeShape (SimdScalar radius,SimdScalar height):
+m_radius (radius),
+m_height(height)
+{
+	SimdVector3 halfExtents;
+	m_sinAngle = (m_radius / sqrt(m_radius * m_radius + m_height * m_height));
+}
+
+
+SimdVector3 ConeShape::ConeLocalSupport(const SimdVector3& v) const
+{
+	
+	float halfHeight = m_height * 0.5f;
+
+ if (v[coneindices[1]] > v.length() * m_sinAngle)
+ {
+	SimdVector3 tmp;
+
+	tmp[coneindices[0]] = 0.f;
+	tmp[coneindices[1]] = halfHeight;
+	tmp[coneindices[2]] = 0.f;
+	return tmp;
+ }
+  else {
+    SimdScalar s = sqrtf(v[coneindices[0]] * v[coneindices[0]] + v[coneindices[2]] * v[coneindices[2]]);
+    if (s > SIMD_EPSILON) {
+      SimdScalar d = m_radius / s;
+	  SimdVector3 tmp;
+	  tmp[coneindices[0]] = v[coneindices[0]] * d;
+	  tmp[coneindices[1]] = -halfHeight;
+	  tmp[coneindices[2]] = v[coneindices[2]] * d;
+	  return tmp;
+    }
+    else  {
+		SimdVector3 tmp;
+		tmp[coneindices[0]] = 0.f;
+		tmp[coneindices[1]] = -halfHeight;
+		tmp[coneindices[2]] = 0.f;
+		return tmp;
+	}
+  }
+
+}
+
+SimdVector3	ConeShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec) const
+{
+		return ConeLocalSupport(vec);
+}
+
+SimdVector3	ConeShape::LocalGetSupportingVertex(const SimdVector3& vec)  const
+{
+	SimdVector3 supVertex = ConeLocalSupport(vec);
+	if ( GetMargin()!=0.f )
+	{
+		SimdVector3 vecnorm = vec;
+		if (vecnorm .length2() == 0.f)
+		{
+			vecnorm.setValue(-1.f,-1.f,-1.f);
+		} 
+		vecnorm.normalize();
+		supVertex+= GetMargin() * vecnorm;
+	}
+	return supVertex;
+}
+
+

extern/bullet/Bullet/CollisionShapes/ConeShape.h

@@ -0,0 +1,73 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef CONE_MINKOWSKI_H
+#define CONE_MINKOWSKI_H
+
+#include "ConvexShape.h"
+#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
+
+/// implements cone shape interface
+class ConeShape : public ConvexShape
+
+{
+
+	float m_sinAngle;
+	float m_radius;
+	float m_height;
+	
+	SimdVector3 ConeLocalSupport(const SimdVector3& v) const;
+
+
+public:
+	ConeShape (SimdScalar radius,SimdScalar height);
+	
+	virtual SimdVector3	LocalGetSupportingVertex(const SimdVector3& vec) const;
+	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec) const;
+
+
+	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
+	{
+		SimdTransform identity;
+		identity.setIdentity();
+		SimdVector3 aabbMin,aabbMax;
+		GetAabb(identity,aabbMin,aabbMax);
+
+		SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
+
+		float margin = GetMargin();
+
+		SimdScalar lx=2.f*(halfExtents.x()+margin);
+		SimdScalar ly=2.f*(halfExtents.y()+margin);
+		SimdScalar lz=2.f*(halfExtents.z()+margin);
+		const SimdScalar x2 = lx*lx;
+		const SimdScalar y2 = ly*ly;
+		const SimdScalar z2 = lz*lz;
+		const SimdScalar scaledmass = mass * 0.08333333f;
+
+		inertia = scaledmass * (SimdVector3(y2+z2,x2+z2,x2+y2));
+
+//		inertia.x() = scaledmass * (y2+z2);
+//		inertia.y() = scaledmass * (x2+z2);
+//		inertia.z() = scaledmass * (x2+y2);
+	}
+
+
+
+		virtual int	GetShapeType() const { return CONE_SHAPE_PROXYTYPE; }
+
+		virtual char*	GetName()const 
+		{
+			return "Cone";
+		}
+};
+
+
+#endif //CONE_MINKOWSKI_H

extern/bullet/Bullet/CollisionShapes/ConvexHullShape.cpp

@@ -0,0 +1,146 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+ */
+
+#include "ConvexHullShape.h"
+#include "NarrowPhaseCollision/CollisionMargin.h"
+
+#include "SimdQuaternion.h"
+
+
+ConvexHullShape ::ConvexHullShape (SimdPoint3* points,int numPoints)
+{
+	m_points.resize(numPoints);
+	for (int i=0;i<numPoints;i++)
+		m_points[i] = points[i];
+}
+
+SimdVector3	ConvexHullShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
+{
+	SimdVector3 supVec(0.f,0.f,0.f);
+	SimdScalar newDot,maxDot = -1e30f;
+
+	SimdVector3 vec = vec0;
+	SimdScalar lenSqr = vec.length2();
+	if (lenSqr < 0.0001f)
+	{
+		vec.setValue(1,0,0);
+	} else
+	{
+		float rlen = 1.f / sqrtf(lenSqr );
+		vec *= rlen;
+	}
+
+
+	for (int i=0;i<m_points.size();i++)
+	{
+		SimdPoint3 vtx = m_points[i] * m_localScaling;
+
+		newDot = vec.dot(vtx);
+		if (newDot > maxDot)
+		{
+			maxDot = newDot;
+			supVec = vtx;
+		}
+	}
+	return supVec;
+}
+
+
+SimdVector3	ConvexHullShape::LocalGetSupportingVertex(const SimdVector3& vec)const
+{
+	SimdVector3 supVertex = LocalGetSupportingVertexWithoutMargin(vec);
+
+	if ( GetMargin()!=0.f )
+	{
+		SimdVector3 vecnorm = vec;
+		if (vecnorm .length2() == 0.f)
+		{
+			vecnorm.setValue(-1.f,-1.f,-1.f);
+		} 
+		vecnorm.normalize();
+		supVertex+= GetMargin() * vecnorm;
+	}
+	return supVertex;
+}
+
+
+
+
+
+void	ConvexHullShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
+{
+	//not yet, return box inertia
+
+	float margin = GetMargin();
+
+	SimdTransform ident;
+	ident.setIdentity();
+	SimdVector3 aabbMin,aabbMax;
+	GetAabb(ident,aabbMin,aabbMax);
+	SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
+
+	SimdScalar lx=2.f*(halfExtents.x()+margin);
+	SimdScalar ly=2.f*(halfExtents.y()+margin);
+	SimdScalar lz=2.f*(halfExtents.z()+margin);
+	const SimdScalar x2 = lx*lx;
+	const SimdScalar y2 = ly*ly;
+	const SimdScalar z2 = lz*lz;
+	const SimdScalar scaledmass = mass * 0.08333333f;
+
+	inertia = scaledmass * (SimdVector3(y2+z2,x2+z2,x2+y2));
+
+}
+
+
+
+//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
+//Please note that you can debug-draw ConvexHullShape with the Raytracer Demo
+int	ConvexHullShape::GetNumVertices() const
+{
+	return m_points.size();
+}
+
+int ConvexHullShape::GetNumEdges() const
+{
+	return m_points.size()*m_points.size();
+}
+
+void ConvexHullShape::GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
+{
+
+	int index0 = i%m_points.size();
+	int index1 = i/m_points.size();
+	pa = m_points[index0];
+	pb = m_points[index1];
+}
+
+void ConvexHullShape::GetVertex(int i,SimdPoint3& vtx) const
+{
+	vtx = m_points[i];
+}
+
+int	ConvexHullShape::GetNumPlanes() const
+{
+	return 0;
+}
+
+void ConvexHullShape::GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const
+{
+	assert(0);
+}
+
+//not yet
+bool ConvexHullShape::IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
+{
+	assert(0);
+	return false;
+}
+

extern/bullet/Bullet/CollisionShapes/ConvexHullShape.h

@@ -0,0 +1,59 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+ */
+
+#ifndef CONVEX_HULL_SHAPE_H
+#define CONVEX_HULL_SHAPE_H
+
+#include "PolyhedralConvexShape.h"
+#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
+
+#include <vector>
+
+///ConvexHullShape implements an implicit (getSupportingVertex) Convex Hull of a Point Cloud (vertices)
+///No connectivity is needed. LocalGetSupportingVertex iterates linearly though all vertices.
+///on modern hardware, due to cache coherency this isn't that bad. Complex algorithms tend to trash the cash.
+///(memory is much slower then the cpu)
+class ConvexHullShape : public PolyhedralConvexShape
+{
+	std::vector<SimdPoint3>	m_points;
+
+public:
+	ConvexHullShape(SimdPoint3* points,int numPoints);
+
+	void AddPoint(const SimdPoint3& point)
+	{
+		m_points.push_back(point);
+	}
+	virtual SimdVector3	LocalGetSupportingVertex(const SimdVector3& vec)const;
+	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
+
+	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
+
+	virtual int	GetShapeType()const { return CONVEX_HULL_SHAPE_PROXYTYPE; }
+
+	//debugging
+	virtual char*	GetName()const {return "Convex";}
+
+	
+	virtual int	GetNumVertices() const;
+	virtual int GetNumEdges() const;
+	virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const;
+	virtual void GetVertex(int i,SimdPoint3& vtx) const;
+	virtual int	GetNumPlanes() const;
+	virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const;
+	virtual	bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const;
+
+
+
+};
+
+
+#endif //CONVEX_HULL_SHAPE_H

extern/bullet/Bullet/CollisionShapes/ConvexShape.cpp

@@ -0,0 +1,67 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+ */
+
+#include "ConvexShape.h"
+
+ConvexShape::~ConvexShape()
+{
+
+}
+
+ConvexShape::ConvexShape()
+:m_collisionMargin(CONVEX_DISTANCE_MARGIN),
+m_localScaling(1.f,1.f,1.f)
+{
+}
+
+
+void	ConvexShape::setLocalScaling(const SimdVector3& scaling)
+{
+	m_localScaling = scaling;
+}
+
+
+
+void	ConvexShape::GetAabbSlow(const SimdTransform& trans,SimdVector3&minAabb,SimdVector3&maxAabb) const
+{
+
+	SimdScalar margin = 0.05f;
+	for (int i=0;i<3;i++)
+	{
+		SimdVector3 vec(0.f,0.f,0.f);
+		vec[i] = 1.f;
+		SimdVector3 tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis()));
+		maxAabb[i] = tmp[i]+margin;
+		vec[i] = -1.f;
+		tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis()));
+		minAabb[i] = tmp[i]-margin;
+	}
+};
+
+SimdVector3	ConvexShape::LocalGetSupportingVertex(const SimdVector3& vec)const
+ {
+	 SimdVector3	supVertex = LocalGetSupportingVertexWithoutMargin(vec);
+
+	if ( GetMargin()!=0.f )
+	{
+		SimdVector3 vecnorm = vec;
+		if (vecnorm .length2() == 0.f)
+		{
+			vecnorm.setValue(-1.f,-1.f,-1.f);
+		} 
+		vecnorm.normalize();
+		supVertex+= GetMargin() * vecnorm;
+	}
+	return supVertex;
+
+ }
+
+

extern/bullet/Bullet/CollisionShapes/ConvexShape.h

@@ -0,0 +1,74 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+ */
+
+#ifndef CONVEX_SHAPE_INTERFACE1
+#define CONVEX_SHAPE_INTERFACE1
+
+#include "CollisionShape.h"
+
+#include "SimdVector3.h"
+#include "SimdTransform.h"
+#include "SimdMatrix3x3.h"
+#include <vector>
+#include "NarrowPhaseCollision/CollisionMargin.h"
+
+//todo: get rid of this ConvexCastResult thing!
+struct ConvexCastResult;
+
+
+/// ConvexShape is an abstract shape interface.
+/// The explicit part provides plane-equations, the implicit part provides GetClosestPoint interface.
+/// used in combination with GJK or ConvexCast
+class ConvexShape : public CollisionShape
+{
+public:
+	ConvexShape();
+
+	virtual ~ConvexShape();
+
+	virtual SimdVector3	LocalGetSupportingVertex(const SimdVector3& vec)const;
+	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec) const= 0;
+
+	// testing for hullnode code
+
+	///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
+	void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
+	{
+		GetAabbSlow(t,aabbMin,aabbMax);
+	}
+
+
+	
+	virtual void GetAabbSlow(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
+
+
+	virtual void	setLocalScaling(const SimdVector3& scaling);
+
+
+	virtual void	SetMargin(float margin)
+	{
+		m_collisionMargin = margin;
+	}
+	virtual float	GetMargin() const
+	{
+		return m_collisionMargin;
+	}
+private:
+	SimdScalar	m_collisionMargin;
+	//local scaling. collisionMargin is not scaled !
+protected:
+	SimdVector3	m_localScaling;
+
+};
+
+
+
+#endif //CONVEX_SHAPE_INTERFACE1

extern/bullet/Bullet/CollisionShapes/CylinderShape.cpp

@@ -0,0 +1,169 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+ */
+
+#include "CylinderShape.h"
+#include "SimdPoint3.h"
+
+CylinderShape::CylinderShape (const SimdVector3& halfExtents)
+:BoxShape(halfExtents)
+{
+
+}
+
+
+CylinderShapeX::CylinderShapeX (const SimdVector3& halfExtents)
+:CylinderShape(halfExtents)
+{
+}
+
+
+CylinderShapeZ::CylinderShapeZ (const SimdVector3& halfExtents)
+:CylinderShape(halfExtents)
+{
+}
+
+
+
+SimdVector3 CylinderLocalSupportX(const SimdVector3& halfExtents,const SimdVector3& v) 
+{
+const int cylinderUpAxis = 0;
+const int XX = 1;
+const int YY = 0;
+const int ZZ = 2;
+
+	//mapping depends on how cylinder local orientation is
+	// extents of the cylinder is: X,Y is for radius, and Z for height
+
+
+	float radius = halfExtents[XX];
+	float halfHeight = halfExtents[cylinderUpAxis];
+
+
+    SimdVector3 tmp;
+	SimdScalar d ;
+
+    SimdScalar s = sqrtf(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
+    if (s != SimdScalar(0.0))
+	{
+        d = radius / s;  
+		tmp[XX] = v[XX] * d;
+		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+		tmp[ZZ] = v[ZZ] * d;
+		return tmp;
+	}
+    else
+	{
+	    tmp[XX] = radius;
+		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+		tmp[ZZ] = SimdScalar(0.0);
+		return tmp;
+    }
+
+
+}
+
+
+
+
+
+
+SimdVector3 CylinderLocalSupportY(const SimdVector3& halfExtents,const SimdVector3& v) 
+{
+
+const int cylinderUpAxis = 1;
+const int XX = 0;
+const int YY = 1;
+const int ZZ = 2;
+
+
+	float radius = halfExtents[XX];
+	float halfHeight = halfExtents[cylinderUpAxis];
+
+
+    SimdVector3 tmp;
+	SimdScalar d ;
+
+    SimdScalar s = sqrtf(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
+    if (s != SimdScalar(0.0))
+	{
+        d = radius / s;  
+		tmp[XX] = v[XX] * d;
+		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+		tmp[ZZ] = v[ZZ] * d;
+		return tmp;
+	}
+    else
+	{
+	    tmp[XX] = radius;
+		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+		tmp[ZZ] = SimdScalar(0.0);
+		return tmp;
+    }
+
+}
+
+SimdVector3 CylinderLocalSupportZ(const SimdVector3& halfExtents,const SimdVector3& v) 
+{
+const int cylinderUpAxis = 2;
+const int XX = 0;
+const int YY = 2;
+const int ZZ = 1;
+
+	//mapping depends on how cylinder local orientation is
+	// extents of the cylinder is: X,Y is for radius, and Z for height
+
+
+	float radius = halfExtents[XX];
+	float halfHeight = halfExtents[cylinderUpAxis];
+
+
+    SimdVector3 tmp;
+	SimdScalar d ;
+
+    SimdScalar s = sqrtf(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
+    if (s != SimdScalar(0.0))
+	{
+        d = radius / s;  
+		tmp[XX] = v[XX] * d;
+		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+		tmp[ZZ] = v[ZZ] * d;
+		return tmp;
+	}
+    else
+	{
+	    tmp[XX] = radius;
+		tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
+		tmp[ZZ] = SimdScalar(0.0);
+		return tmp;
+    }
+
+
+}
+
+SimdVector3	CylinderShapeX::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
+{
+	return CylinderLocalSupportX(GetHalfExtents(),vec);
+}
+SimdVector3	CylinderShapeZ::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
+{
+	return CylinderLocalSupportZ(GetHalfExtents(),vec);
+}
+SimdVector3	CylinderShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
+{
+	return CylinderLocalSupportY(GetHalfExtents(),vec);
+}
+
+
+
+
+
+
+

extern/bullet/Bullet/CollisionShapes/CylinderShape.h

@@ -0,0 +1,63 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+ */
+
+#ifndef CYLINDER_MINKOWSKI_H
+#define CYLINDER_MINKOWSKI_H
+
+#include "BoxShape.h"
+#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
+#include "SimdVector3.h"
+
+/// implements cylinder shape interface
+class CylinderShape : public BoxShape
+
+{
+
+public:
+	CylinderShape (const SimdVector3& halfExtents);
+	
+
+	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
+
+
+
+
+	//use box inertia
+	//	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
+
+	virtual int	GetShapeType() const
+	{
+		return CYLINDER_SHAPE_PROXYTYPE;
+	}
+	
+
+
+};
+
+class CylinderShapeX : public CylinderShape
+{
+public:
+	CylinderShapeX (const SimdVector3& halfExtents);
+
+	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
+};
+
+class CylinderShapeZ : public CylinderShape
+{
+public:
+	CylinderShapeZ (const SimdVector3& halfExtents);
+
+	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
+
+};
+
+
+#endif //CYLINDER_MINKOWSKI_H

extern/bullet/Bullet/CollisionShapes/MinkowskiSumShape.cpp

@@ -0,0 +1,39 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#include "MinkowskiSumShape.h"
+
+
+MinkowskiSumShape::MinkowskiSumShape(ConvexShape* shapeA,ConvexShape* shapeB)
+:m_shapeA(shapeA),
+m_shapeB(shapeB)
+{
+	m_transA.setIdentity();
+	m_transB.setIdentity();
+}
+
+SimdVector3 MinkowskiSumShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
+{
+	SimdVector3 supVertexA = m_transA(m_shapeA->LocalGetSupportingVertexWithoutMargin(vec*m_transA.getBasis()));
+	SimdVector3 supVertexB = m_transB(m_shapeB->LocalGetSupportingVertexWithoutMargin(vec*m_transB.getBasis()));
+	return supVertexA + supVertexB;
+}
+
+float	MinkowskiSumShape::GetMargin() const
+{
+	return m_shapeA->GetMargin() + m_shapeB->GetMargin();
+}
+
+
+void	MinkowskiSumShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
+{
+	assert(0);
+	inertia.setValue(0,0,0);
+}

extern/bullet/Bullet/CollisionShapes/MinkowskiSumShape.h

@@ -0,0 +1,54 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef MINKOWSKI_SUM_SHAPE_H
+#define MINKOWSKI_SUM_SHAPE_H
+
+#include "ConvexShape.h"
+#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
+
+/// MinkowskiSumShape represents implicit (getSupportingVertex) based minkowski sum of two convex implicit shapes.
+class MinkowskiSumShape : public ConvexShape
+{
+
+	SimdTransform	m_transA;
+	SimdTransform	m_transB;
+	ConvexShape*	m_shapeA;
+	ConvexShape*	m_shapeB;
+
+public:
+
+	MinkowskiSumShape(ConvexShape* shapeA,ConvexShape* shapeB);
+
+	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
+
+	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
+
+	void	SetTransformA(const SimdTransform&	transA) { m_transA = transA;}
+	void	SetTransformB(const SimdTransform&	transB) { m_transB = transB;}
+
+	const SimdTransform& GetTransformA()const  { return m_transA;}
+	const SimdTransform& GetTransformB()const  { return m_transB;}
+
+
+	virtual int	GetShapeType() const { return MINKOWSKI_SUM_SHAPE_PROXYTYPE; }
+
+	virtual float	GetMargin() const;
+
+	const ConvexShape*	GetShapeA() const { return m_shapeA;}
+	const ConvexShape*	GetShapeB() const { return m_shapeB;}
+
+	virtual char*	GetName()const 
+	{
+		return "MinkowskiSum";
+	}
+};
+
+#endif //MINKOWSKI_SUM_SHAPE_H

extern/bullet/Bullet/CollisionShapes/MultiSphereShape.cpp

@@ -0,0 +1,115 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#include "MultiSphereShape.h"
+#include "NarrowPhaseCollision/CollisionMargin.h"
+#include "SimdQuaternion.h"
+
+MultiSphereShape::MultiSphereShape (const SimdVector3& inertiaHalfExtents,const SimdVector3* positions,const SimdScalar* radi,int numSpheres)
+:m_inertiaHalfExtents(inertiaHalfExtents)
+{
+	m_minRadius = 1e30f;
+
+	m_numSpheres = numSpheres;
+	for (int i=0;i<m_numSpheres;i++)
+	{
+		m_localPositions[i] = positions[i];
+		m_radi[i] = radi[i];
+		if (radi[i] < m_minRadius)
+			m_minRadius = radi[i];
+	}
+	SetMargin(m_minRadius);
+
+}
+
+
+
+ 
+ SimdVector3	MultiSphereShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
+{
+	int i;
+	SimdVector3 supVec(0,0,0);
+
+	SimdScalar maxDot(-1e30f);
+
+
+	SimdVector3 vec = vec0;
+	SimdScalar lenSqr = vec.length2();
+	if (lenSqr < 0.0001f)
+	{
+		vec.setValue(1,0,0);
+	} else
+	{
+		float rlen = 1.f / sqrtf(lenSqr );
+		vec *= rlen;
+	}
+
+	SimdVector3 vtx;
+	SimdScalar newDot;
+
+	const SimdVector3* pos = &m_localPositions[0];
+	const SimdScalar* rad = &m_radi[0];
+
+	for (i=0;i<m_numSpheres;i++)
+	{
+		vtx = (*pos) +vec*((*rad)-m_minRadius);
+		pos++;
+		rad++;
+		newDot = vec.dot(vtx);
+		if (newDot > maxDot)
+		{
+			maxDot = newDot;
+			supVec = vtx;
+		}
+	}
+
+	return supVec;
+
+}
+
+
+
+
+
+
+
+
+
+
+void	MultiSphereShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
+{
+	//as an approximation, take the inertia of the box that bounds the spheres
+
+	SimdTransform ident;
+	ident.setIdentity();
+//	SimdVector3 aabbMin,aabbMax;
+
+//	GetAabb(ident,aabbMin,aabbMax);
+
+	SimdVector3 halfExtents = m_inertiaHalfExtents;//(aabbMax - aabbMin)* 0.5f;
+
+	float margin = CONVEX_DISTANCE_MARGIN;
+
+	SimdScalar lx=2.f*(halfExtents[0]+margin);
+	SimdScalar ly=2.f*(halfExtents[1]+margin);
+	SimdScalar lz=2.f*(halfExtents[2]+margin);
+	const SimdScalar x2 = lx*lx;
+	const SimdScalar y2 = ly*ly;
+	const SimdScalar z2 = lz*lz;
+	const SimdScalar scaledmass = mass * 0.08333333f;
+
+	inertia[0] = scaledmass * (y2+z2);
+	inertia[1] = scaledmass * (x2+z2);
+	inertia[2] = scaledmass * (x2+y2);
+
+}
+
+
+

extern/bullet/Bullet/CollisionShapes/MultiSphereShape.h

@@ -0,0 +1,55 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef MULTI_SPHERE_MINKOWSKI_H
+#define MULTI_SPHERE_MINKOWSKI_H
+
+#include "ConvexShape.h"
+#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
+
+#define MAX_NUM_SPHERES 5
+
+///MultiSphereShape represents implicit convex hull of a collection of spheres (using getSupportingVertex)
+class MultiSphereShape : public ConvexShape
+
+{
+	
+	SimdVector3 m_localPositions[MAX_NUM_SPHERES];
+	SimdScalar  m_radi[MAX_NUM_SPHERES];
+	SimdVector3	m_inertiaHalfExtents;
+
+	int m_numSpheres;
+	float m_minRadius;
+
+
+
+
+
+public:
+	MultiSphereShape (const SimdVector3& inertiaHalfExtents,const SimdVector3* positions,const SimdScalar* radi,int numSpheres);
+
+	///CollisionShape Interface
+	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
+
+	/// ConvexShape Interface
+	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
+
+
+	virtual int	GetShapeType() const { return MULTI_SPHERE_SHAPE_PROXYTYPE; }
+
+	virtual char*	GetName()const 
+	{
+		return "MultiSphere";
+	}
+
+};
+
+
+#endif //MULTI_SPHERE_MINKOWSKI_H

extern/bullet/Bullet/CollisionShapes/PolyhedralConvexShape.cpp

@@ -0,0 +1,52 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#include <CollisionShapes/PolyhedralConvexShape.h>
+
+PolyhedralConvexShape::PolyhedralConvexShape()
+
+{
+}
+
+SimdVector3	PolyhedralConvexShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
+{
+	int i;
+	SimdVector3 supVec(0,0,0);
+
+	SimdScalar maxDot(-1e30f);
+
+	SimdVector3 vec = vec0;
+	SimdScalar lenSqr = vec.length2();
+	if (lenSqr < 0.0001f)
+	{
+		vec.setValue(1,0,0);
+	} else
+	{
+		float rlen = 1.f / sqrtf(lenSqr );
+		vec *= rlen;
+	}
+
+	SimdVector3 vtx;
+	SimdScalar newDot;
+
+	for (i=0;i<GetNumVertices();i++)
+	{
+		GetVertex(i,vtx);
+		newDot = vec.dot(vtx);
+		if (newDot > maxDot)
+		{
+			maxDot = newDot;
+			supVec = vtx;
+		}
+	}
+
+	return supVec;
+
+}

extern/bullet/Bullet/CollisionShapes/PolyhedralConvexShape.h

@@ -0,0 +1,43 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef BU_SHAPE
+#define BU_SHAPE
+
+#include <SimdPoint3.h>
+#include <SimdMatrix3x3.h>
+#include <CollisionShapes/ConvexShape.h>
+
+
+///PolyhedralConvexShape is an interface class for feature based (vertex/edge/face) convex shapes.
+class PolyhedralConvexShape : public ConvexShape
+{
+
+public:
+
+	PolyhedralConvexShape();
+	
+	//brute force implementations
+	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
+
+
+	virtual int	GetNumVertices() const = 0 ;
+	virtual int GetNumEdges() const = 0;
+	virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const = 0;
+	virtual void GetVertex(int i,SimdPoint3& vtx) const = 0;
+	virtual int	GetNumPlanes() const = 0;
+	virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const = 0;
+//	virtual int GetIndex(int i) const = 0 ; 
+
+	virtual	bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const = 0;
+	
+};
+
+#endif //BU_SHAPE

extern/bullet/Bullet/CollisionShapes/Simplex1to4Shape.cpp

@@ -0,0 +1,188 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#include "Simplex1to4Shape.h"
+#include "SimdMatrix3x3.h"
+
+BU_Simplex1to4::BU_Simplex1to4()
+:m_numVertices(0)
+{
+}
+
+BU_Simplex1to4::BU_Simplex1to4(const SimdPoint3& pt0)
+:m_numVertices(0)
+{
+	AddVertex(pt0);
+}
+
+BU_Simplex1to4::BU_Simplex1to4(const SimdPoint3& pt0,const SimdPoint3& pt1)
+:m_numVertices(0)
+{
+	AddVertex(pt0);
+	AddVertex(pt1);
+}
+
+BU_Simplex1to4::BU_Simplex1to4(const SimdPoint3& pt0,const SimdPoint3& pt1,const SimdPoint3& pt2)
+:m_numVertices(0)
+{
+	AddVertex(pt0);
+	AddVertex(pt1);
+	AddVertex(pt2);
+}
+
+BU_Simplex1to4::BU_Simplex1to4(const SimdPoint3& pt0,const SimdPoint3& pt1,const SimdPoint3& pt2,const SimdPoint3& pt3)
+:m_numVertices(0)
+{
+	AddVertex(pt0);
+	AddVertex(pt1);
+	AddVertex(pt2);
+	AddVertex(pt3);
+}
+
+
+
+
+
+void BU_Simplex1to4::AddVertex(const SimdPoint3& pt)
+{
+	m_vertices[m_numVertices++] = pt;
+}
+
+
+int	BU_Simplex1to4::GetNumVertices() const
+{
+	return m_numVertices;
+}
+
+int BU_Simplex1to4::GetNumEdges() const
+{
+	//euler formula, F-E+V = 2, so E = F+V-2
+
+	switch (m_numVertices)
+	{
+	case 0:
+		return 0;
+	case 1: return 0;
+	case 2: return 1;
+	case 3: return 3;
+	case 4: return 6;
+
+
+	}
+
+	return 0;
+}
+
+void BU_Simplex1to4::GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
+{
+	
+    switch (m_numVertices)
+	{
+
+	case 2: 
+		pa = m_vertices[0];
+		pb = m_vertices[1];
+		break;
+	case 3:  
+		switch (i)
+		{
+		case 0:
+			pa = m_vertices[0];
+			pb = m_vertices[1];
+			break;
+		case 1:
+			pa = m_vertices[1];
+			pb = m_vertices[2];
+			break;
+		case 2:
+			pa = m_vertices[2];
+			pb = m_vertices[0];
+			break;
+
+		}
+		break;
+	case 4: 
+		switch (i)
+		{
+		case 0:
+			pa = m_vertices[0];
+			pb = m_vertices[1];
+			break;
+		case 1:
+			pa = m_vertices[1];
+			pb = m_vertices[2];
+			break;
+		case 2:
+			pa = m_vertices[2];
+			pb = m_vertices[0];
+			break;
+		case 3:
+			pa = m_vertices[0];
+			pb = m_vertices[3];
+			break;
+		case 4:
+			pa = m_vertices[1];
+			pb = m_vertices[3];
+			break;
+		case 5:
+			pa = m_vertices[2];
+			pb = m_vertices[3];
+			break;
+		}
+
+	}
+
+
+
+
+}
+
+void BU_Simplex1to4::GetVertex(int i,SimdPoint3& vtx) const
+{
+	vtx = m_vertices[i];
+}
+
+int	BU_Simplex1to4::GetNumPlanes() const
+{
+	switch (m_numVertices)
+	{
+	case 0:
+			return 0;
+	case 1:
+			return 0;
+	case 2:
+			return 0;
+	case 3:
+			return 2;
+	case 4:
+			return 4;
+	default:
+		{
+		}
+	}
+	return 0;
+}
+
+
+void BU_Simplex1to4::GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i) const
+{
+	
+}
+
+int BU_Simplex1to4::GetIndex(int i) const
+{
+	return 0;
+}
+
+bool BU_Simplex1to4::IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
+{
+	return false;
+}
+

extern/bullet/Bullet/CollisionShapes/Simplex1to4Shape.h

@@ -0,0 +1,74 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef BU_SIMPLEX_1TO4_SHAPE
+#define BU_SIMPLEX_1TO4_SHAPE
+
+
+#include <CollisionShapes/PolyhedralConvexShape.h>
+#include "BroadphaseCollision/BroadphaseProxy.h"
+
+
+///BU_Simplex1to4 implements feature based and implicit simplex of up to 4 vertices (tetrahedron, triangle, line, vertex).
+class BU_Simplex1to4 : public PolyhedralConvexShape
+{
+protected:
+
+	int	m_numVertices;
+	SimdPoint3	m_vertices[4];
+
+public:
+	BU_Simplex1to4();
+
+	BU_Simplex1to4(const SimdPoint3& pt0);
+	BU_Simplex1to4(const SimdPoint3& pt0,const SimdPoint3& pt1);
+	BU_Simplex1to4(const SimdPoint3& pt0,const SimdPoint3& pt1,const SimdPoint3& pt2);
+	BU_Simplex1to4(const SimdPoint3& pt0,const SimdPoint3& pt1,const SimdPoint3& pt2,const SimdPoint3& pt3);
+
+    
+	void	Reset()
+	{
+		m_numVertices = 0;
+	}
+	
+	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
+	{
+		inertia = SimdVector3(1.f,1.f,1.f);
+	}
+
+	virtual int	GetShapeType() const{ return TETRAHEDRAL_SHAPE_PROXYTYPE; }
+
+	void AddVertex(const SimdPoint3& pt);
+
+	//PolyhedralConvexShape interface
+
+	virtual int	GetNumVertices() const;
+
+	virtual int GetNumEdges() const;
+
+	virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const;
+	
+	virtual void GetVertex(int i,SimdPoint3& vtx) const;
+
+	virtual int	GetNumPlanes() const;
+
+	virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i) const;
+
+	virtual int GetIndex(int i) const;
+
+	virtual	bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const;
+
+
+	///GetName is for debugging
+	virtual  char*	GetName()const { return "BU_Simplex1to4";}
+
+};
+
+#endif //BU_SIMPLEX_1TO4_SHAPE

extern/bullet/Bullet/CollisionShapes/SphereShape.cpp

@@ -0,0 +1,58 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+ */
+
+#include "SphereShape.h"
+#include "NarrowPhaseCollision/CollisionMargin.h"
+
+#include "SimdQuaternion.h"
+
+
+SphereShape ::SphereShape (SimdScalar radius)
+: m_radius(radius)
+{
+	SetMargin( radius );
+}
+
+SimdVector3	SphereShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
+{
+	return SimdVector3(0.f,0.f,0.f);
+}
+
+SimdVector3	SphereShape::LocalGetSupportingVertex(const SimdVector3& vec)const
+{
+	SimdScalar len = vec.length2();
+	if (fabsf(len) < 0.0001f)
+	{
+		return SimdVector3(GetMargin(),GetMargin(),GetMargin());
+	} 
+	return vec *  (GetMargin() / sqrtf(len));
+}
+
+
+void SphereShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
+{
+	const SimdVector3& center = t.getOrigin();
+	SimdScalar radius = m_radius + CONVEX_DISTANCE_MARGIN;
+	radius += 1;
+
+	const SimdVector3 extent(radius,radius,radius);
+
+	aabbMin = center - extent;
+	aabbMax = center + extent;
+}
+
+
+
+void	SphereShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
+{
+  SimdScalar elem = 0.4f * mass * m_radius*m_radius;
+	inertia[0] = inertia[1] = inertia[2] = elem;
+}

extern/bullet/Bullet/CollisionShapes/SphereShape.h

@@ -0,0 +1,46 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+ */
+
+#ifndef SPHERE_MINKOWSKI_H
+#define SPHERE_MINKOWSKI_H
+
+#include "ConvexShape.h"
+#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
+
+///SphereShape implements an implicit (getSupportingVertex) Sphere
+class SphereShape : public ConvexShape
+
+{
+	SimdScalar m_radius;
+
+public:
+	SphereShape (SimdScalar radius);
+	
+	
+	virtual SimdVector3	LocalGetSupportingVertex(const SimdVector3& vec)const;
+	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
+
+
+	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
+
+	virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
+
+	virtual int	GetShapeType() const { return SPHERE_SHAPE_PROXYTYPE; }
+
+	SimdScalar	GetRadius() { return m_radius;}
+
+	//debugging
+	virtual char*	GetName()const {return "SPHERE";}
+
+};
+
+
+#endif //SPHERE_MINKOWSKI_H

extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.cpp

@@ -0,0 +1,16 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#include "StridingMeshInterface.h"
+
+StridingMeshInterface::~StridingMeshInterface()
+{
+
+}

extern/bullet/Bullet/CollisionShapes/StridingMeshInterface.h

@@ -0,0 +1,69 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef STRIDING_MESHINTERFACE_H
+#define STRIDING_MESHINTERFACE_H
+
+#include "SimdVector3.h"
+
+/// PHY_ScalarType enumerates possible scalar types.
+/// See the StridingMeshInterface for its use
+typedef enum PHY_ScalarType {
+	PHY_FLOAT,
+	PHY_DOUBLE,
+	PHY_INTEGER,
+	PHY_SHORT,
+	PHY_FIXEDPOINT88
+} PHY_ScalarType;
+
+///	StridingMeshInterface is the interface class for high performance access to triangle meshes
+/// It allows for sharing graphics and collision meshes. Also it provides locking/unlocking of graphics meshes that are in gpu memory.
+class  StridingMeshInterface
+{
+	protected:
+	
+		SimdVector3 m_scaling;
+
+	public:
+		StridingMeshInterface() :m_scaling(1.f,1.f,1.f)
+		{
+			
+		}
+
+		virtual ~StridingMeshInterface();
+		/// get read and write access to a subpart of a triangle mesh
+		/// this subpart has a continuous array of vertices and indices
+		/// in this way the mesh can be handled as chunks of memory with striding
+		/// very similar to OpenGL vertexarray support
+		/// make a call to unLockVertexBase when the read and write access is finished	
+	virtual void	getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0)=0;
+		
+
+		/// unLockVertexBase finishes the access to a subpart of the triangle mesh
+		/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
+		virtual void	unLockVertexBase(int subpart)=0;
+
+		/// getNumSubParts returns the number of seperate subparts
+		/// each subpart has a continuous array of vertices and indices
+		virtual int		getNumSubParts()=0;
+
+		virtual void	preallocateVertices(int numverts)=0;
+		virtual void	preallocateIndices(int numindices)=0;
+
+		const SimdVector3&	getScaling() {
+			return m_scaling;
+		}
+		void	setScaling(const SimdVector3& scaling)
+		{
+			m_scaling = scaling;
+		}
+};
+
+#endif //STRIDING_MESHINTERFACE_H

extern/bullet/Bullet/CollisionShapes/TriangleCallback.h

@@ -0,0 +1,25 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef TRIANGLE_CALLBACK_H
+#define TRIANGLE_CALLBACK_H
+
+#include "SimdVector3.h"
+
+
+class TriangleCallback
+{
+public:
+
+	virtual ~TriangleCallback();
+	virtual void ProcessTriangle(SimdVector3* triangle) = 0;
+};
+
+#endif //TRIANGLE_CALLBACK_H

extern/bullet/Bullet/CollisionShapes/TriangleMesh.cpp

@@ -0,0 +1,39 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#include "TriangleMesh.h"
+#include <assert.h>
+
+static int	myindices[3] = {0,1,2};
+
+TriangleMesh::TriangleMesh ()
+{
+
+}
+
+void	TriangleMesh::getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart)
+{
+	numverts = 3;
+	*vertexbase = (unsigned char*)&m_triangles[subpart];
+	type = PHY_FLOAT;
+	stride = sizeof(SimdVector3);
+
+
+	numfaces = 1;
+	*indexbase = (unsigned char*) &myindices[0];
+	indicestype = PHY_INTEGER;
+	indexstride = sizeof(int);
+
+}
+
+int		TriangleMesh::getNumSubParts()
+{
+	return m_triangles.size();
+}

extern/bullet/Bullet/CollisionShapes/TriangleMesh.h

@@ -0,0 +1,63 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#ifndef TRIANGLE_MESH_H
+#define TRIANGLE_MESH_H
+
+#include "CollisionShapes/StridingMeshInterface.h"
+#include <vector>
+#include <SimdVector3.h>
+
+struct MyTriangle
+{
+	SimdVector3	m_vert0;
+	SimdVector3	m_vert1;
+	SimdVector3	m_vert2;
+};
+
+///TriangleMesh provides storage for a concave triangle mesh. It can be used as data for the TriangleMeshShape.
+class TriangleMesh : public StridingMeshInterface
+{
+	std::vector<MyTriangle>	m_triangles;
+
+	public:
+		TriangleMesh ();
+
+		void	AddTriangle(const SimdVector3& vertex0,const SimdVector3& vertex1,const SimdVector3& vertex2)
+		{
+			MyTriangle tri;
+			tri.m_vert0 = vertex0;
+			tri.m_vert1 = vertex1;
+			tri.m_vert2 = vertex2;
+			m_triangles.push_back(tri);
+		}
+
+
+//StridingMeshInterface interface implementation
+
+		virtual void	getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0);
+
+		/// unLockVertexBase finishes the access to a subpart of the triangle mesh
+		/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
+		virtual void	unLockVertexBase(int subpart) {}
+
+		/// getNumSubParts returns the number of seperate subparts
+		/// each subpart has a continuous array of vertices and indices
+		virtual int		getNumSubParts();
+		
+		virtual void	preallocateVertices(int numverts){}
+		virtual void	preallocateIndices(int numindices){}
+
+
+
+};
+
+#endif //TRIANGLE_MESH_H

extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp

@@ -0,0 +1,182 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#include "TriangleMeshShape.h"
+#include "SimdVector3.h"
+#include "SimdQuaternion.h"
+#include "StridingMeshInterface.h"
+#include "AabbUtil2.h"
+
+
+
+TriangleMeshShape::TriangleMeshShape(StridingMeshInterface* meshInterface)
+: m_meshInterface(meshInterface)
+{
+}
+
+TriangleMeshShape::~TriangleMeshShape()
+{
+		
+}
+
+
+
+
+void TriangleMeshShape::GetAabb(const SimdTransform& trans,SimdVector3& aabbMin,SimdVector3& aabbMax) const
+{
+	SimdScalar margin = 0.5f;
+	for (int i=0;i<3;i++)
+	{
+		SimdVector3 vec(0.f,0.f,0.f);
+		vec[i] = 1.f;
+		SimdVector3 tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis()));
+		aabbMax[i] = tmp[i]+margin;
+		vec[i] = -1.f;
+		tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis()));
+		aabbMin[i] = tmp[i]-margin;
+	}
+}
+
+
+TriangleCallback::~TriangleCallback()
+{
+
+}
+
+class SupportVertexCallback : public TriangleCallback
+{
+
+	SimdVector3 m_supportVertexLocal;
+public:
+
+	SimdTransform	m_worldTrans;
+	SimdScalar m_maxDot;
+	SimdVector3 m_supportVecLocal;
+
+	SupportVertexCallback(const SimdVector3& supportVecWorld,const SimdTransform& trans)
+		: m_supportVertexLocal(0.f,0.f,0.f), m_worldTrans(trans) ,m_maxDot(-1e30f)
+		
+	{
+		m_supportVecLocal = supportVecWorld * m_worldTrans.getBasis();
+	}
+
+	virtual void ProcessTriangle( SimdVector3* triangle)
+	{
+		for (int i=0;i<3;i++)
+		{
+			SimdScalar dot = m_supportVecLocal.dot(triangle[i]);
+			if (dot > m_maxDot)
+			{
+				m_maxDot = dot;
+				m_supportVertexLocal = triangle[i];
+			}
+		}
+	}
+
+	SimdVector3 GetSupportVertexWorldSpace()
+	{
+		return m_worldTrans(m_supportVertexLocal);
+	}
+
+	SimdVector3	GetSupportVertexLocal()
+	{
+		return m_supportVertexLocal;
+	}
+
+};
+
+	
+void TriangleMeshShape::setLocalScaling(const SimdVector3& scaling)
+{
+	m_meshInterface->setScaling(scaling);
+}
+
+void	TriangleMeshShape::ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
+{
+
+	SimdVector3 meshScaling = m_meshInterface->getScaling();
+	int numtotalphysicsverts = 0;
+	int part,graphicssubparts = m_meshInterface->getNumSubParts();
+	for (part=0;part<graphicssubparts ;part++)
+	{
+		unsigned char * vertexbase;
+		unsigned char * indexbase;
+		int indexstride;
+		PHY_ScalarType type;
+		PHY_ScalarType gfxindextype;
+		int stride,numverts,numtriangles;
+		m_meshInterface->getLockedVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
+		numtotalphysicsverts+=numtriangles*3; //upper bound
+
+	
+		int gfxindex;
+		SimdVector3 triangle[3];
+
+		for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+		{
+		
+			int	graphicsindex=0;
+
+			for (int j=2;j>=0;j--)
+			{
+				ASSERT(gfxindextype == PHY_INTEGER);
+				int* gfxbase = (int*)(indexbase+gfxindex*indexstride);
+				graphicsindex = gfxbase[j];
+				float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
+
+				triangle[j] = SimdVector3(
+					graphicsbase[0]*meshScaling.getX(),
+					graphicsbase[1]*meshScaling.getY(),
+					graphicsbase[2]*meshScaling.getZ());
+			}
+
+			if (TestTriangleAgainstAabb2(&triangle[0],aabbMin,aabbMax))
+			{
+				//check aabb in triangle-space, before doing this
+				callback->ProcessTriangle(triangle);
+			}
+			
+		}
+		
+		m_meshInterface->unLockVertexBase(part);
+	}
+
+
+}
+
+
+
+
+
+void	TriangleMeshShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
+{
+	//moving concave objects not supported
+	assert(0);
+	inertia.setValue(0.f,0.f,0.f);
+}
+
+
+SimdVector3 TriangleMeshShape::LocalGetSupportingVertex(const SimdVector3& vec) const
+{
+	SimdVector3 supportVertex;
+
+	SimdTransform ident;
+	ident.setIdentity();
+
+	SupportVertexCallback supportCallback(vec,ident);
+
+	SimdVector3 aabbMax(1e30f,1e30f,1e30f);
+	
+	ProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
+		
+	supportVertex = supportCallback.GetSupportVertexLocal();
+
+	return supportVertex;
+}

extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.h

@@ -0,0 +1,63 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef TRIANGLE_MESH_SHAPE_H
+#define TRIANGLE_MESH_SHAPE_H
+
+#include "CollisionShapes/CollisionShape.h"
+#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
+
+#include "StridingMeshInterface.h"
+#include "TriangleCallback.h"
+
+
+
+///Concave triangle mesh. Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
+class TriangleMeshShape : public CollisionShape
+{
+
+	StridingMeshInterface* m_meshInterface;
+	
+public:
+	TriangleMeshShape(StridingMeshInterface* meshInterface);
+
+	virtual ~TriangleMeshShape();
+
+
+	
+	virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec) const;
+
+	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
+	{
+		assert(0);
+		return LocalGetSupportingVertex(vec);
+	}
+
+	virtual int	GetShapeType() const
+	{
+		return TRIANGLE_MESH_SHAPE_PROXYTYPE;
+	}
+
+	virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
+
+	void	ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
+
+	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
+
+	virtual void	setLocalScaling(const SimdVector3& scaling);
+	
+
+	//debugging
+	virtual char*	GetName()const {return "TRIANGLEMESH";}
+
+
+};
+
+#endif //TRIANGLE_MESH_SHAPE_H

extern/bullet/Bullet/CollisionShapes/TriangleShape.h

@@ -0,0 +1,146 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef OBB_TRIANGLE_MINKOWSKI_H
+#define OBB_TRIANGLE_MINKOWSKI_H
+
+#include "ConvexShape.h"
+#include "CollisionShapes/BoxShape.h"
+
+class TriangleShape : public PolyhedralConvexShape
+{
+
+
+public:
+
+	SimdVector3	m_vertices1[3];
+
+
+	virtual int GetNumVertices() const
+	{
+		return 3;
+	}
+
+	const SimdVector3& GetVertexPtr(int index) const
+	{
+		return m_vertices1[index];
+	}
+	virtual void GetVertex(int index,SimdVector3& vert) const
+	{
+		vert = m_vertices1[index];
+	}
+	virtual int	GetShapeType() const
+	{
+		return TRIANGLE_SHAPE_PROXYTYPE;
+	}
+
+	virtual int GetNumEdges() const
+	{
+		return 3;
+	}
+	
+	virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
+	{
+		GetVertex(i,pa);
+		GetVertex((i+1)%3,pb);
+	}
+
+	virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax)const 
+	{
+//		ASSERT(0);
+		GetAabbSlow(t,aabbMin,aabbMax);
+	}
+
+	SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& dir)const 
+	{
+		SimdVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2]));
+	  	return m_vertices1[dots.maxAxis()];
+
+	}
+
+
+	TriangleShape(const SimdVector3& p0,const SimdVector3& p1,const SimdVector3& p2)
+	{
+		m_vertices1[0] = p0;
+		m_vertices1[1] = p1;
+		m_vertices1[2] = p2;
+	}
+
+	
+
+	virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i) const
+	{
+		GetPlaneEquation(i,planeNormal,planeSupport);
+	}
+
+	virtual int	GetNumPlanes() const
+	{
+		return 1;
+	}
+
+	void CalcNormal(SimdVector3& normal) const
+	{
+		normal = (m_vertices1[1]-m_vertices1[0]).cross(m_vertices1[2]-m_vertices1[0]);
+		normal.normalize();
+	}
+
+	virtual void GetPlaneEquation(int i, SimdVector3& planeNormal,SimdPoint3& planeSupport) const
+	{
+		CalcNormal(planeNormal);
+		planeSupport = m_vertices1[0];
+	}
+
+	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
+	{
+		ASSERT(0);
+		inertia.setValue(0.f,0.f,0.f);
+	}
+
+		virtual	bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
+	{
+		SimdVector3 normal;
+		CalcNormal(normal);
+		//distance to plane
+		SimdScalar dist = pt.dot(normal);
+		SimdScalar planeconst = m_vertices1[0].dot(normal);
+		dist -= planeconst;
+		if (dist >= -tolerance && dist <= tolerance)
+		{
+			//inside check on edge-planes
+			int i;
+			for (i=0;i<3;i++)
+			{
+				SimdPoint3 pa,pb;
+				GetEdge(i,pa,pb);
+				SimdVector3 edge = pb-pa;
+				SimdVector3 edgeNormal = edge.cross(normal);
+				edgeNormal.normalize();
+				SimdScalar dist = pt.dot( edgeNormal);
+				SimdScalar edgeConst = pa.dot(edgeNormal);
+				dist -= edgeConst;
+				if (dist < -tolerance)
+					return false;
+			}
+			
+			return true;
+		}
+
+		return false;
+	}
+		//debugging
+		virtual char*	GetName()const
+		{
+			return "Triangle";
+		}
+
+
+};
+
+#endif //OBB_TRIANGLE_MINKOWSKI_H

extern/bullet/Bullet/Doxyfile

@@ -0,0 +1,746 @@
+# Doxyfile 1.2.4
+
+# This file describes the settings to be used by doxygen for a project
+#
+# All text after a hash (#) is considered a comment and will be ignored
+# The format is:
+#       TAG = value [value, ...]
+# For lists items can also be appended using:
+#       TAG += value [value, ...]
+# Values that contain spaces should be placed between quotes (" ")
+
+#---------------------------------------------------------------------------
+# General configuration options
+#---------------------------------------------------------------------------
+
+# The PROJECT_NAME tag is a single word (or a sequence of words surrounded 
+# by quotes) that should identify the project. 
+PROJECT_NAME           = Continuous Collision Detection Library
+
+# The PROJECT_NUMBER tag can be used to enter a project or revision number. 
+# This could be handy for archiving the generated documentation or 
+# if some version control system is used.
+
+PROJECT_NUMBER         = 
+
+# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) 
+# base path where the generated documentation will be put. 
+# If a relative path is entered, it will be relative to the location 
+# where doxygen was started. If left blank the current directory will be used.
+
+OUTPUT_DIRECTORY       = 
+
+# The OUTPUT_LANGUAGE tag is used to specify the language in which all 
+# documentation generated by doxygen is written. Doxygen will use this 
+# information to generate all constant output in the proper language. 
+# The default language is English, other supported languages are: 
+# Dutch, French, Italian, Czech, Swedish, German, Finnish, Japanese, 
+# Korean, Hungarian, Norwegian, Spanish, Romanian, Russian, Croatian, 
+# Polish, Portuguese and Slovene.
+
+OUTPUT_LANGUAGE        = English
+
+# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in 
+# documentation are documented, even if no documentation was available. 
+# Private class members and static file members will be hidden unless 
+# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES 
+
+EXTRACT_ALL            = YES
+
+# If the EXTRACT_PRIVATE tag is set to YES all private members of a class 
+# will be included in the documentation. 
+
+EXTRACT_PRIVATE        = YES
+
+# If the EXTRACT_STATIC tag is set to YES all static members of a file 
+# will be included in the documentation. 
+
+EXTRACT_STATIC         = YES
+
+# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all 
+# undocumented members of documented classes, files or namespaces. 
+# If set to NO (the default) these members will be included in the 
+# various overviews, but no documentation section is generated. 
+# This option has no effect if EXTRACT_ALL is enabled. 
+
+HIDE_UNDOC_MEMBERS     = NO
+
+# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all 
+# undocumented classes that are normally visible in the class hierarchy. 
+# If set to NO (the default) these class will be included in the various 
+# overviews. This option has no effect if EXTRACT_ALL is enabled. 
+
+HIDE_UNDOC_CLASSES     = NO
+
+# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will 
+# include brief member descriptions after the members that are listed in 
+# the file and class documentation (similar to JavaDoc). 
+# Set to NO to disable this. 
+
+BRIEF_MEMBER_DESC      = YES
+
+# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend 
+# the brief description of a member or function before the detailed description. 
+# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the 
+# brief descriptions will be completely suppressed. 
+
+REPEAT_BRIEF           = YES
+
+# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then 
+# Doxygen will generate a detailed section even if there is only a brief 
+# description. 
+
+ALWAYS_DETAILED_SEC    = NO
+
+# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full 
+# path before files name in the file list and in the header files. If set 
+# to NO the shortest path that makes the file name unique will be used. 
+
+FULL_PATH_NAMES        = NO
+
+# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag 
+# can be used to strip a user defined part of the path. Stripping is 
+# only done if one of the specified strings matches the left-hand part of 
+# the path. It is allowed to use relative paths in the argument list.
+
+STRIP_FROM_PATH        = 
+
+# The INTERNAL_DOCS tag determines if documentation 
+# that is typed after a \internal command is included. If the tag is set 
+# to NO (the default) then the documentation will be excluded. 
+# Set it to YES to include the internal documentation. 
+
+INTERNAL_DOCS          = NO
+
+# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will 
+# generate a class diagram (in Html and LaTeX) for classes with base or 
+# super classes. Setting the tag to NO turns the diagrams off. 
+
+CLASS_DIAGRAMS         = YES
+
+# If the SOURCE_BROWSER tag is set to YES then a list of source files will 
+# be generated. Documented entities will be cross-referenced with these sources. 
+
+SOURCE_BROWSER         = YES
+
+# Setting the INLINE_SOURCES tag to YES will include the body 
+# of functions and classes directly in the documentation. 
+
+INLINE_SOURCES         = NO
+
+# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct 
+# doxygen to hide any special comment blocks from generated source code 
+# fragments. Normal C and C++ comments will always remain visible. 
+
+STRIP_CODE_COMMENTS    = YES
+
+# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate 
+# file names in lower case letters. If set to YES upper case letters are also 
+# allowed. This is useful if you have classes or files whose names only differ 
+# in case and if your file system supports case sensitive file names. Windows 
+# users are adviced to set this option to NO.
+
+CASE_SENSE_NAMES       = YES
+
+# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen 
+# will show members with their full class and namespace scopes in the 
+# documentation. If set to YES the scope will be hidden. 
+
+HIDE_SCOPE_NAMES       = NO
+
+# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen 
+# will generate a verbatim copy of the header file for each class for 
+# which an include is specified. Set to NO to disable this. 
+
+VERBATIM_HEADERS       = YES
+
+# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen 
+# will put list of the files that are included by a file in the documentation 
+# of that file. 
+
+SHOW_INCLUDE_FILES     = YES
+
+# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen 
+# will interpret the first line (until the first dot) of a JavaDoc-style 
+# comment as the brief description. If set to NO, the JavaDoc 
+# comments  will behave just like the Qt-style comments (thus requiring an 
+# explict @brief command for a brief description. 
+
+JAVADOC_AUTOBRIEF      = YES
+
+# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented 
+# member inherits the documentation from any documented member that it 
+# reimplements. 
+
+INHERIT_DOCS           = YES
+
+# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] 
+# is inserted in the documentation for inline members. 
+
+INLINE_INFO            = YES
+
+# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen 
+# will sort the (detailed) documentation of file and class members 
+# alphabetically by member name. If set to NO the members will appear in 
+# declaration order. 
+
+SORT_MEMBER_DOCS       = YES
+
+# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC 
+# tag is set to YES, then doxygen will reuse the documentation of the first 
+# member in the group (if any) for the other members of the group. By default 
+# all members of a group must be documented explicitly.
+
+DISTRIBUTE_GROUP_DOC   = NO
+
+# The TAB_SIZE tag can be used to set the number of spaces in a tab. 
+# Doxygen uses this value to replace tabs by spaces in code fragments. 
+
+TAB_SIZE               = 8
+
+# The ENABLE_SECTIONS tag can be used to enable conditional 
+# documentation sections, marked by \if sectionname ... \endif. 
+
+ENABLED_SECTIONS       = 
+
+# The GENERATE_TODOLIST tag can be used to enable (YES) or 
+# disable (NO) the todo list. This list is created by putting \todo 
+# commands in the documentation.
+
+GENERATE_TODOLIST      = YES
+
+# The GENERATE_TESTLIST tag can be used to enable (YES) or 
+# disable (NO) the test list. This list is created by putting \test 
+# commands in the documentation.
+
+GENERATE_TESTLIST      = YES
+
+# This tag can be used to specify a number of aliases that acts 
+# as commands in the documentation. An alias has the form "name=value". 
+# For example adding "sideeffect=\par Side Effects:\n" will allow you to 
+# put the command \sideeffect (or @sideeffect) in the documentation, which 
+# will result in a user defined paragraph with heading "Side Effects:". 
+# You can put \n's in the value part of an alias to insert newlines. 
+
+ALIASES                = 
+
+#---------------------------------------------------------------------------
+# configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+
+# The QUIET tag can be used to turn on/off the messages that are generated 
+# by doxygen. Possible values are YES and NO. If left blank NO is used. 
+
+QUIET                  = NO
+
+# The WARNINGS tag can be used to turn on/off the warning messages that are 
+# generated by doxygen. Possible values are YES and NO. If left blank 
+# NO is used. 
+
+WARNINGS               = YES
+
+# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings 
+# for undocumented members. If EXTRACT_ALL is set to YES then this flag will 
+# automatically be disabled. 
+
+WARN_IF_UNDOCUMENTED   = YES
+
+# The WARN_FORMAT tag determines the format of the warning messages that 
+# doxygen can produce. The string should contain the $file, $line, and $text 
+# tags, which will be replaced by the file and line number from which the 
+# warning originated and the warning text. 
+
+WARN_FORMAT            = "$file:$line: $text"
+
+# The WARN_LOGFILE tag can be used to specify a file to which warning 
+# and error messages should be written. If left blank the output is written 
+# to stderr. 
+
+WARN_LOGFILE           = 
+
+#---------------------------------------------------------------------------
+# configuration options related to the input files
+#---------------------------------------------------------------------------
+
+# The INPUT tag can be used to specify the files and/or directories that contain 
+# documented source files. You may enter file names like "myfile.cpp" or 
+# directories like "/usr/src/myproject". Separate the files or directories 
+# with spaces. 
+
+INPUT                  = .
+
+
+# If the value of the INPUT tag contains directories, you can use the 
+# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp 
+# and *.h) to filter out the source-files in the directories. If left 
+# blank all files are included. 
+
+FILE_PATTERNS          = *.h *.cpp *.c
+
+# The RECURSIVE tag can be used to turn specify whether or not subdirectories 
+# should be searched for input files as well. Possible values are YES and NO. 
+# If left blank NO is used. 
+
+RECURSIVE              = YES
+
+# The EXCLUDE tag can be used to specify files and/or directories that should 
+# excluded from the INPUT source files. This way you can easily exclude a 
+# subdirectory from a directory tree whose root is specified with the INPUT tag. 
+
+EXCLUDE                = 
+
+# If the value of the INPUT tag contains directories, you can use the 
+# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude 
+# certain files from those directories. 
+
+EXCLUDE_PATTERNS       = 
+
+# The EXAMPLE_PATH tag can be used to specify one or more files or 
+# directories that contain example code fragments that are included (see 
+# the \include command). 
+
+EXAMPLE_PATH           = 
+
+# If the value of the EXAMPLE_PATH tag contains directories, you can use the 
+# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp 
+# and *.h) to filter out the source-files in the directories. If left 
+# blank all files are included. 
+
+EXAMPLE_PATTERNS       = 
+
+# The IMAGE_PATH tag can be used to specify one or more files or 
+# directories that contain image that are included in the documentation (see 
+# the \image command). 
+
+IMAGE_PATH             = 
+
+# The INPUT_FILTER tag can be used to specify a program that doxygen should 
+# invoke to filter for each input file. Doxygen will invoke the filter program 
+# by executing (via popen()) the command <filter> <input-file>, where <filter> 
+# is the value of the INPUT_FILTER tag, and <input-file> is the name of an 
+# input file. Doxygen will then use the output that the filter program writes 
+# to standard output. 
+
+INPUT_FILTER           = 
+
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using 
+# INPUT_FILTER) will be used to filter the input files when producing source 
+# files to browse. 
+
+FILTER_SOURCE_FILES    = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+
+# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index 
+# of all compounds will be generated. Enable this if the project 
+# contains a lot of classes, structs, unions or interfaces. 
+
+ALPHABETICAL_INDEX     = NO
+
+# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then 
+# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns 
+# in which this list will be split (can be a number in the range [1..20]) 
+
+COLS_IN_ALPHA_INDEX    = 5
+
+# In case all classes in a project start with a common prefix, all 
+# classes will be put under the same header in the alphabetical index. 
+# The IGNORE_PREFIX tag can be used to specify one or more prefixes that 
+# should be ignored while generating the index headers. 
+
+IGNORE_PREFIX          = 
+
+#---------------------------------------------------------------------------
+# configuration options related to the HTML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_HTML tag is set to YES (the default) Doxygen will 
+# generate HTML output. 
+
+GENERATE_HTML          = YES
+
+# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. 
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be 
+# put in front of it. If left blank `html' will be used as the default path. 
+
+HTML_OUTPUT            = html
+
+# The HTML_HEADER tag can be used to specify a personal HTML header for 
+# each generated HTML page. If it is left blank doxygen will generate a 
+# standard header.
+
+HTML_HEADER            = 
+
+# The HTML_FOOTER tag can be used to specify a personal HTML footer for 
+# each generated HTML page. If it is left blank doxygen will generate a 
+# standard footer.
+
+HTML_FOOTER            = 
+
+# The HTML_STYLESHEET tag can be used to specify a user defined cascading 
+# style sheet that is used by each HTML page. It can be used to 
+# fine-tune the look of the HTML output. If the tag is left blank doxygen 
+# will generate a default style sheet 
+
+HTML_STYLESHEET        = 
+
+# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, 
+# files or namespaces will be aligned in HTML using tables. If set to 
+# NO a bullet list will be used. 
+
+HTML_ALIGN_MEMBERS     = YES
+
+# If the GENERATE_HTMLHELP tag is set to YES, additional index files 
+# will be generated that can be used as input for tools like the 
+# Microsoft HTML help workshop to generate a compressed HTML help file (.chm) 
+# of the generated HTML documentation. 
+
+GENERATE_HTMLHELP      = NO
+
+# The DISABLE_INDEX tag can be used to turn on/off the condensed index at 
+# top of each HTML page. The value NO (the default) enables the index and 
+# the value YES disables it. 
+
+DISABLE_INDEX          = NO
+
+# This tag can be used to set the number of enum values (range [1..20]) 
+# that doxygen will group on one line in the generated HTML documentation. 
+
+ENUM_VALUES_PER_LINE   = 4
+
+# If the GENERATE_TREEVIEW tag is set to YES, a side pannel will be
+# generated containing a tree-like index structure (just like the one that 
+# is generated for HTML Help). For this to work a browser that supports 
+# JavaScript and frames is required (for instance Netscape 4.0+ 
+# or Internet explorer 4.0+). 
+
+GENERATE_TREEVIEW      = NO
+
+# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be 
+# used to set the initial width (in pixels) of the frame in which the tree 
+# is shown. 
+
+TREEVIEW_WIDTH         = 250
+
+#---------------------------------------------------------------------------
+# configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will 
+# generate Latex output. 
+
+GENERATE_LATEX         = NO
+
+# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. 
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be 
+# put in front of it. If left blank `latex' will be used as the default path. 
+
+LATEX_OUTPUT           = latex
+
+# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact 
+# LaTeX documents. This may be useful for small projects and may help to 
+# save some trees in general. 
+
+COMPACT_LATEX          = NO
+
+# The PAPER_TYPE tag can be used to set the paper type that is used 
+# by the printer. Possible values are: a4, a4wide, letter, legal and 
+# executive. If left blank a4wide will be used. 
+
+PAPER_TYPE             = a4wide
+
+# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX 
+# packages that should be included in the LaTeX output. 
+
+EXTRA_PACKAGES         = 
+
+# The LATEX_HEADER tag can be used to specify a personal LaTeX header for 
+# the generated latex document. The header should contain everything until 
+# the first chapter. If it is left blank doxygen will generate a 
+# standard header. Notice: only use this tag if you know what you are doing! 
+
+LATEX_HEADER           = 
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated 
+# is prepared for conversion to pdf (using ps2pdf). The pdf file will 
+# contain links (just like the HTML output) instead of page references 
+# This makes the output suitable for online browsing using a pdf viewer. 
+
+PDF_HYPERLINKS         = NO
+
+# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of 
+# plain latex in the generated Makefile. Set this option to YES to get a 
+# higher quality PDF documentation. 
+
+USE_PDFLATEX           = NO
+
+# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. 
+# command to the generated LaTeX files. This will instruct LaTeX to keep 
+# running if errors occur, instead of asking the user for help. 
+# This option is also used when generating formulas in HTML. 
+
+LATEX_BATCHMODE        = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the RTF output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output 
+# The RTF output is optimised for Word 97 and may not look very pretty with 
+# other RTF readers or editors.
+
+GENERATE_RTF           = NO
+
+# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. 
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be 
+# put in front of it. If left blank `rtf' will be used as the default path. 
+
+RTF_OUTPUT             = rtf
+
+# If the COMPACT_RTF tag is set to YES Doxygen generates more compact 
+# RTF documents. This may be useful for small projects and may help to 
+# save some trees in general. 
+
+COMPACT_RTF            = NO
+
+# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated 
+# will contain hyperlink fields. The RTF file will 
+# contain links (just like the HTML output) instead of page references. 
+# This makes the output suitable for online browsing using a WORD or other. 
+# programs which support those fields. 
+# Note: wordpad (write) and others do not support links. 
+
+RTF_HYPERLINKS         = NO
+
+# Load stylesheet definitions from file. Syntax is similar to doxygen's 
+# config file, i.e. a series of assigments. You only have to provide 
+# replacements, missing definitions are set to their default value. 
+
+RTF_STYLESHEET_FILE    = 
+
+#---------------------------------------------------------------------------
+# configuration options related to the man page output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_MAN tag is set to YES (the default) Doxygen will 
+# generate man pages 
+
+GENERATE_MAN           = NO
+
+# The MAN_OUTPUT tag is used to specify where the man pages will be put. 
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be 
+# put in front of it. If left blank `man' will be used as the default path. 
+
+MAN_OUTPUT             = man
+
+# The MAN_EXTENSION tag determines the extension that is added to 
+# the generated man pages (default is the subroutine's section .3) 
+
+MAN_EXTENSION          = .3
+
+#---------------------------------------------------------------------------
+# configuration options related to the XML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_XML tag is set to YES Doxygen will 
+# generate an XML file that captures the structure of 
+# the code including all documentation. Warning: This feature 
+# is still experimental and very incomplete.
+
+GENERATE_XML           = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor   
+#---------------------------------------------------------------------------
+
+# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will 
+# evaluate all C-preprocessor directives found in the sources and include 
+# files. 
+
+ENABLE_PREPROCESSING   = YES
+
+# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro 
+# names in the source code. If set to NO (the default) only conditional 
+# compilation will be performed. Macro expansion can be done in a controlled 
+# way by setting EXPAND_ONLY_PREDEF to YES. 
+
+MACRO_EXPANSION        = NO
+
+# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES 
+# then the macro expansion is limited to the macros specified with the 
+# PREDEFINED and EXPAND_AS_PREDEFINED tags. 
+
+EXPAND_ONLY_PREDEF     = NO
+
+# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files 
+# in the INCLUDE_PATH (see below) will be search if a #include is found. 
+
+SEARCH_INCLUDES        = YES
+
+# The INCLUDE_PATH tag can be used to specify one or more directories that 
+# contain include files that are not input files but should be processed by 
+# the preprocessor. 
+
+INCLUDE_PATH           = ../../generic/extern
+
+# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard 
+# patterns (like *.h and *.hpp) to filter out the header-files in the 
+# directories. If left blank, the patterns specified with FILE_PATTERNS will 
+# be used. 
+
+INCLUDE_FILE_PATTERNS  = 
+
+# The PREDEFINED tag can be used to specify one or more macro names that 
+# are defined before the preprocessor is started (similar to the -D option of 
+# gcc). The argument of the tag is a list of macros of the form: name 
+# or name=definition (no spaces). If the definition and the = are 
+# omitted =1 is assumed. 
+
+PREDEFINED             = 
+
+# If the MACRO_EXPANSION and EXPAND_PREDEF_ONLY tags are set to YES then 
+# this tag can be used to specify a list of macro names that should be expanded. 
+# The macro definition that is found in the sources will be used. 
+# Use the PREDEFINED tag if you want to use a different macro definition. 
+
+EXPAND_AS_DEFINED      = 
+
+#---------------------------------------------------------------------------
+# Configuration::addtions related to external references   
+#---------------------------------------------------------------------------
+
+# The TAGFILES tag can be used to specify one or more tagfiles. 
+
+TAGFILES               = 
+
+# When a file name is specified after GENERATE_TAGFILE, doxygen will create 
+# a tag file that is based on the input files it reads. 
+
+GENERATE_TAGFILE       = 
+
+# If the ALLEXTERNALS tag is set to YES all external classes will be listed 
+# in the class index. If set to NO only the inherited external classes 
+# will be listed. 
+
+ALLEXTERNALS           = NO
+
+# The PERL_PATH should be the absolute path and name of the perl script 
+# interpreter (i.e. the result of `which perl'). 
+
+PERL_PATH              = /usr/bin/perl
+
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool   
+#---------------------------------------------------------------------------
+
+# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is 
+# available from the path. This tool is part of Graphviz, a graph visualization 
+# toolkit from AT&T and Lucent Bell Labs. The other options in this section 
+# have no effect if this option is set to NO (the default) 
+
+HAVE_DOT               = YES
+
+# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen 
+# will generate a graph for each documented class showing the direct and 
+# indirect inheritance relations. Setting this tag to YES will force the 
+# the CLASS_DIAGRAMS tag to NO.
+
+CLASS_GRAPH            = YES
+
+# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen 
+# will generate a graph for each documented class showing the direct and 
+# indirect implementation dependencies (inheritance, containment, and 
+# class references variables) of the class with other documented classes. 
+
+COLLABORATION_GRAPH    = YES
+
+# If the ENABLE_PREPROCESSING, INCLUDE_GRAPH, and HAVE_DOT tags are set to 
+# YES then doxygen will generate a graph for each documented file showing 
+# the direct and indirect include dependencies of the file with other 
+# documented files. 
+
+INCLUDE_GRAPH          = YES
+
+# If the ENABLE_PREPROCESSING, INCLUDED_BY_GRAPH, and HAVE_DOT tags are set to 
+# YES then doxygen will generate a graph for each documented header file showing 
+# the documented files that directly or indirectly include this file 
+
+INCLUDED_BY_GRAPH      = YES
+
+# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen 
+# will graphical hierarchy of all classes instead of a textual one. 
+
+GRAPHICAL_HIERARCHY    = YES
+
+# The tag DOT_PATH can be used to specify the path where the dot tool can be 
+# found. If left blank, it is assumed the dot tool can be found on the path. 
+
+DOT_PATH               = 
+
+# The MAX_DOT_GRAPH_WIDTH tag can be used to set the maximum allowed width 
+# (in pixels) of the graphs generated by dot. If a graph becomes larger than 
+# this value, doxygen will try to truncate the graph, so that it fits within 
+# the specified constraint. Beware that most browsers cannot cope with very 
+# large images. 
+
+MAX_DOT_GRAPH_WIDTH    = 1024
+
+# The MAX_DOT_GRAPH_HEIGHT tag can be used to set the maximum allows height 
+# (in pixels) of the graphs generated by dot. If a graph becomes larger than 
+# this value, doxygen will try to truncate the graph, so that it fits within 
+# the specified constraint. Beware that most browsers cannot cope with very 
+# large images. 
+
+MAX_DOT_GRAPH_HEIGHT   = 1024
+
+# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will 
+# generate a legend page explaining the meaning of the various boxes and 
+# arrows in the dot generated graphs. 
+
+GENERATE_LEGEND        = YES
+
+#---------------------------------------------------------------------------
+# Configuration::addtions related to the search engine   
+#---------------------------------------------------------------------------
+
+# The SEARCHENGINE tag specifies whether or not a search engine should be 
+# used. If set to NO the values of all tags below this one will be ignored. 
+
+SEARCHENGINE           = NO
+
+# The CGI_NAME tag should be the name of the CGI script that 
+# starts the search engine (doxysearch) with the correct parameters. 
+# A script with this name will be generated by doxygen. 
+
+CGI_NAME               = search.cgi
+
+# The CGI_URL tag should be the absolute URL to the directory where the 
+# cgi binaries are located. See the documentation of your http daemon for 
+# details. 
+
+CGI_URL                = 
+
+# The DOC_URL tag should be the absolute URL to the directory where the 
+# documentation is located. If left blank the absolute path to the 
+# documentation, with file:// prepended to it, will be used. 
+
+DOC_URL                = 
+
+# The DOC_ABSPATH tag should be the absolute path to the directory where the 
+# documentation is located. If left blank the directory on the local machine 
+# will be used. 
+
+DOC_ABSPATH            = 
+
+# The BIN_ABSPATH tag must point to the directory where the doxysearch binary 
+# is installed. 
+
+BIN_ABSPATH            = c:\program files\doxygen\bin
+
+# The EXT_DOC_PATHS tag can be used to specify one or more paths to 
+# documentation generated for other projects. This allows doxysearch to search 
+# the documentation for these projects as well. 
+
+EXT_DOC_PATHS          = 

extern/bullet/Bullet/NarrowPhaseCollision/BU_AlgebraicPolynomialSolver.cpp

@@ -0,0 +1,355 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#include "BU_AlgebraicPolynomialSolver.h"
+#include <math.h>
+#include <SimdMinMax.h>
+
+int BU_AlgebraicPolynomialSolver::Solve2Quadratic(SimdScalar p, SimdScalar q) 
+{ 
+
+	SimdScalar basic_h_local;
+	SimdScalar basic_h_local_delta;
+	
+	basic_h_local       = p * 0.5f; 
+   basic_h_local_delta = basic_h_local * basic_h_local - q; 
+   if (basic_h_local_delta > 0.0f)  { 
+      basic_h_local_delta = sqrtf(basic_h_local_delta); 
+      m_roots[0]  = - basic_h_local + basic_h_local_delta; 
+      m_roots[1]  = - basic_h_local - basic_h_local_delta; 
+      return 2; 
+   } 
+   else if (SimdGreaterEqual(basic_h_local_delta, SIMD_EPSILON)) { 
+      m_roots[0]  = - basic_h_local; 
+      return 1; 
+   } 
+   else { 
+      return 0; 
+   } 
+ }
+
+
+int BU_AlgebraicPolynomialSolver::Solve2QuadraticFull(SimdScalar a,SimdScalar b, SimdScalar c) 
+{ 
+    SimdScalar radical = b * b - 4.0f * a * c;
+    if(radical >= 0.f)
+    {
+        SimdScalar sqrtRadical = sqrtf(radical); 
+        SimdScalar idenom = 1.0f/(2.0f * a);
+        m_roots[0]=(-b + sqrtRadical) * idenom;
+        m_roots[1]=(-b - sqrtRadical) * idenom;
+		return 2;
+	}
+	return 0;
+}
+
+
+#define cubic_rt(x) \
+ ((x) > 0.0f ? powf((SimdScalar)(x), 0.333333333333333333333333f) : \
+  ((x) < 0.0f ? -powf((SimdScalar)-(x), 0.333333333333333333333333f) : 0.0f))
+
+
+
+/*                                                                           */
+/* this function solves the following cubic equation:                        */
+/*                                                                           */
+/*              3          2                                                */
+/*      lead * x   +  a * x   +  b * x  +  c  =  0.                          */
+/*                                                                           */
+/* it returns the number of different roots found, and stores the roots in   */
+/* roots[0,2]. it returns -1 for a degenerate equation 0 = 0.                */
+/*                                                                           */
+int BU_AlgebraicPolynomialSolver::Solve3Cubic(SimdScalar lead, SimdScalar a, SimdScalar b, SimdScalar c)
+{ 
+   SimdScalar p, q, r;
+   SimdScalar delta, u, phi;
+   SimdScalar dummy;
+
+   if (lead != 1.0) {
+      /*                                                                     */
+      /* transform into normal form: x^3 + a x^2 + b x + c = 0               */
+      /*                                                                     */
+      if (SimdEqual(lead, SIMD_EPSILON)) {
+         /*                                                                  */
+         /* we have  a x^2 + b x + c = 0                                     */
+         /*                                                                  */
+         if (SimdEqual(a, SIMD_EPSILON)) {
+            /*                                                               */
+            /* we have  b x + c = 0                                          */
+            /*                                                               */
+            if (SimdEqual(b, SIMD_EPSILON)) {
+               if (SimdEqual(c, SIMD_EPSILON)) {
+                  return -1;
+               }
+               else {
+                  return 0;
+               }
+            }
+            else {
+               m_roots[0] = -c / b;
+               return 1;
+            }
+         }
+         else {
+            p = c / a;
+            q = b / a;
+            return Solve2QuadraticFull(a,b,c);
+         }
+      }
+      else {
+         a = a / lead;
+         b = b / lead;
+         c = c / lead;
+      }
+   }
+               
+   /*                                                                        */
+   /* we substitute  x = y - a / 3  in order to eliminate the quadric term.  */
+   /* we get   x^3 + p x + q = 0                                             */
+   /*                                                                        */
+   a /= 3.0f;
+   u  = a * a;
+   p  = b / 3.0f - u;
+   q  = a * (2.0f * u - b) + c;
+
+   /*                                                                        */
+   /* now use Cardano's formula                                              */
+   /*                                                                        */
+   if (SimdEqual(p, SIMD_EPSILON)) {
+      if (SimdEqual(q, SIMD_EPSILON)) {
+         /*                                                                  */
+         /* one triple root                                                  */
+         /*                                                                  */
+         m_roots[0] = -a;
+         return 1;
+      }
+      else {
+         /*                                                                  */
+         /* one real and two complex roots                                   */
+         /*                                                                  */
+         m_roots[0] = cubic_rt(-q) - a;
+         return 1;
+      }
+   }
+
+   q /= 2.0f;
+   delta = p * p * p + q * q;
+   if (delta > 0.0f) {
+      /*                                                                     */
+      /* one real and two complex roots. note that  v = -p / u.              */
+      /*                                                                     */
+      u = -q + sqrtf(delta);
+      u = cubic_rt(u);
+      m_roots[0] = u - p / u - a;
+      return 1;
+   }
+   else if (delta < 0.0) {
+      /*                                                                     */
+      /* Casus irreducibilis: we have three real roots                       */
+      /*                                                                     */
+      r        = sqrtf(-p);
+      p       *= -r;
+      r       *= 2.0;
+      phi      = acosf(-q / p) / 3.0f;
+      dummy    = SIMD_2_PI / 3.0f; 
+      m_roots[0] = r * cosf(phi) - a;
+      m_roots[1] = r * cosf(phi + dummy) - a;
+      m_roots[2] = r * cosf(phi - dummy) - a;
+      return 3;
+   }
+   else {
+      /*                                                                     */
+      /* one single and one SimdScalar root                                      */
+      /*                                                                     */
+      r = cubic_rt(-q);
+      m_roots[0] = 2.0f * r - a;
+      m_roots[1] = -r - a;
+      return 2;
+   }
+}
+
+
+/*                                                                           */
+/* this function solves the following quartic equation:                      */
+/*                                                                           */
+/*             4           3          2                                      */
+/*     lead * x   +  a *  x   +  b * x   +  c * x  +  d = 0.                 */
+/*                                                                           */
+/* it returns the number of different roots found, and stores the roots in   */
+/* roots[0,3]. it returns -1 for a degenerate equation 0 = 0.                */
+/*                                                                           */
+int BU_AlgebraicPolynomialSolver::Solve4Quartic(SimdScalar lead, SimdScalar a, SimdScalar b, SimdScalar c, SimdScalar d)
+{ 
+   SimdScalar p, q ,r;
+   SimdScalar u, v, w;
+   int i, num_roots, num_tmp;
+   //SimdScalar tmp[2];
+
+   if (lead != 1.0) {
+      /*                                                                     */
+      /* transform into normal form: x^4 + a x^3 + b x^2 + c x + d = 0       */
+      /*                                                                     */
+      if (SimdEqual(lead, SIMD_EPSILON)) {
+         /*                                                                  */
+         /* we have  a x^3 + b x^2 + c x + d = 0                             */
+         /*                                                                  */
+         if (SimdEqual(a, SIMD_EPSILON)) { 
+            /*                                                               */
+            /* we have  b x^2 + c x + d = 0                                  */
+            /*                                                               */
+            if (SimdEqual(b, SIMD_EPSILON)) {
+               /*                                                            */
+               /* we have  c x + d = 0                                       */
+               /*                                                            */
+               if (SimdEqual(c, SIMD_EPSILON)) {
+                  if (SimdEqual(d, SIMD_EPSILON)) {
+                     return -1;
+                  }
+                  else {
+                     return 0;
+                  }
+               }
+               else {
+                  m_roots[0] = -d / c;
+                  return 1;
+               }
+            }
+            else {
+               p = c / b;
+               q = d / b;
+               return Solve2QuadraticFull(b,c,d);
+               
+            }
+         }
+         else { 
+            return Solve3Cubic(1.0, b / a, c / a, d / a);
+         }
+      }
+      else {
+         a = a / lead;
+         b = b / lead;
+         c = c / lead;
+         d = d / lead;
+      }
+   }
+
+   /*                                                                        */
+   /* we substitute  x = y - a / 4  in order to eliminate the cubic term.    */
+   /* we get:  y^4 + p y^2 + q y + r = 0.                                    */
+   /*                                                                        */
+   a /= 4.0f;
+   p  = b - 6.0f * a * a;
+   q  = a * (8.0f * a * a - 2.0f * b) + c;
+   r  = a * (a * (b - 3.f * a * a) - c) + d;
+   if (SimdEqual(q, SIMD_EPSILON)) {
+      /*                                                                     */
+      /* biquadratic equation:  y^4 + p y^2 + r = 0.                         */
+      /*                                                                     */
+      num_roots = Solve2Quadratic(p, r);
+      if (num_roots > 0) {                 
+         if (m_roots[0] > 0.0f) {
+            if (num_roots > 1)  {
+               if ((m_roots[1] > 0.0f)  &&  (m_roots[1] != m_roots[0])) {
+                  u        = sqrtf(m_roots[1]);
+                  m_roots[2] =  u - a;
+                  m_roots[3] = -u - a;
+                  u        = sqrtf(m_roots[0]);
+                  m_roots[0] =  u - a;
+                  m_roots[1] = -u - a;
+                  return 4;
+               }
+               else {
+                  u        = sqrtf(m_roots[0]);
+                  m_roots[0] =  u - a;
+                  m_roots[1] = -u - a;
+                  return 2;
+               }
+            }
+            else {
+               u        = sqrtf(m_roots[0]);
+               m_roots[0] =  u - a;
+               m_roots[1] = -u - a;
+               return 2;
+            }
+         }
+      }
+      return 0;
+   }
+   else if (SimdEqual(r, SIMD_EPSILON)) {
+      /*                                                                     */
+      /* no absolute term:  y (y^3 + p y + q) = 0.                           */
+      /*                                                                     */
+      num_roots = Solve3Cubic(1.0, 0.0, p, q);
+      for (i = 0;  i < num_roots;  ++i)  m_roots[i] -= a;
+      if (num_roots != -1) {
+         m_roots[num_roots] = -a;
+         ++num_roots;
+      }
+      else {
+         m_roots[0]  = -a;
+         num_roots = 1;;
+      }
+      return num_roots;
+   }
+   else {
+      /*                                                                     */
+      /* we solve the resolvent cubic equation                               */
+      /*                                                                     */
+      num_roots = Solve3Cubic(1.0f, -0.5f * p, -r, 0.5f * r * p - 0.125f * q * q);
+      if (num_roots == -1) {
+         num_roots = 1;
+         m_roots[0]  = 0.0f;
+      }
+
+      /*                                                                     */
+      /* build two quadric equations                                         */
+      /*                                                                     */
+      w = m_roots[0];
+      u = w * w - r;
+      v = 2.0f * w - p;
+
+      if (SimdEqual(u, SIMD_EPSILON))
+         u = 0.0;
+      else if (u > 0.0f)
+         u = sqrtf(u);
+      else
+         return 0;
+      
+      if (SimdEqual(v, SIMD_EPSILON))
+         v = 0.0;
+      else if (v > 0.0f)
+         v = sqrtf(v);
+      else
+         return 0;
+
+      if (q < 0.0f)  v = -v;
+      w -= u;
+      num_roots=Solve2Quadratic(v, w);
+      for (i = 0;  i < num_roots;  ++i)  
+	  {
+		  m_roots[i] -= a;
+	  }
+      w += 2.0f *u;
+	  SimdScalar tmp[2];
+	  tmp[0] = m_roots[0];
+	  tmp[1] = m_roots[1];
+
+      num_tmp = Solve2Quadratic(-v, w);
+      for (i = 0;  i < num_tmp;  ++i)
+	  {
+		 m_roots[i + num_roots] = tmp[i] - a;
+		 m_roots[i]=tmp[i];
+	  }
+
+      return  (num_tmp + num_roots);
+   }
+}
+

extern/bullet/Bullet/NarrowPhaseCollision/BU_AlgebraicPolynomialSolver.h

@@ -0,0 +1,40 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#ifndef BU_ALGEBRAIC_POLYNOMIAL_SOLVER_H
+#define BU_ALGEBRAIC_POLYNOMIAL_SOLVER_H
+
+#include "BU_PolynomialSolverInterface.h"
+
+/// BU_AlgebraicPolynomialSolver implements polynomial root finding by analytically solving algebraic equations.
+/// Polynomials up to 4rd degree are supported, Cardano's formula is used for 3rd degree
+class BU_AlgebraicPolynomialSolver : public BUM_PolynomialSolverInterface
+{
+public:
+	BU_AlgebraicPolynomialSolver() {};
+
+	int Solve2Quadratic(SimdScalar p, SimdScalar q);
+	int Solve2QuadraticFull(SimdScalar a,SimdScalar b, SimdScalar c);
+	int	Solve3Cubic(SimdScalar lead, SimdScalar a, SimdScalar b, SimdScalar c);
+	int Solve4Quartic(SimdScalar lead, SimdScalar a, SimdScalar b, SimdScalar c, SimdScalar d);
+	
+
+	SimdScalar GetRoot(int i) const 
+	{
+		return m_roots[i];
+	}
+
+private:
+	SimdScalar	m_roots[4];
+
+};
+
+#endif //BU_ALGEBRAIC_POLYNOMIAL_SOLVER_H

extern/bullet/Bullet/NarrowPhaseCollision/BU_Collidable.cpp

@@ -0,0 +1,20 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#include "BU_Collidable.h"
+#include "CollisionShapes/CollisionShape.h"
+#include <SimdTransform.h>
+#include "BU_MotionStateInterface.h"
+
+BU_Collidable::BU_Collidable(BU_MotionStateInterface& motion,PolyhedralConvexShape& shape,void* userPointer )
+:m_motionState(motion),m_shape(shape),m_userPointer(userPointer)
+{
+}

extern/bullet/Bullet/NarrowPhaseCollision/BU_Collidable.h

@@ -0,0 +1,52 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#ifndef BU_COLLIDABLE
+#define BU_COLLIDABLE
+
+
+class PolyhedralConvexShape;
+class BU_MotionStateInterface;
+#include <SimdPoint3.h>
+
+class BU_Collidable
+{
+public:
+	BU_Collidable(BU_MotionStateInterface& motion,PolyhedralConvexShape& shape, void* userPointer);
+
+	void*		GetUserPointer() const
+	{
+		return m_userPointer;
+	}
+
+	BU_MotionStateInterface&	GetMotionState()
+	{
+		return m_motionState;
+	}
+	inline const BU_MotionStateInterface&	GetMotionState() const
+	{
+		return m_motionState;
+	}
+	
+	inline const PolyhedralConvexShape&	GetShape() const
+	{
+		return m_shape;
+	};
+
+
+private:
+	BU_MotionStateInterface& m_motionState;
+	PolyhedralConvexShape&	m_shape;
+	void*		m_userPointer;
+
+};
+
+#endif //BU_COLLIDABLE

extern/bullet/Bullet/NarrowPhaseCollision/BU_CollisionPair.cpp

@@ -0,0 +1,576 @@
+
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#include "BU_CollisionPair.h"
+#include "NarrowPhaseCollision/BU_VertexPoly.h"
+#include "NarrowPhaseCollision/BU_EdgeEdge.h"
+#include "BU_Collidable.h"
+
+
+#include "BU_MotionStateInterface.h"
+#include "CollisionShapes/PolyhedralConvexShape.h"
+#include <SimdMinMax.h>
+#include "SimdTransformUtil.h"
+
+
+
+BU_CollisionPair::BU_CollisionPair(const PolyhedralConvexShape* convexA,const PolyhedralConvexShape* convexB,SimdScalar tolerance)
+: m_convexA(convexA),m_convexB(convexB),m_screwing(SimdVector3(0,0,0),SimdVector3(0,0,0)),
+m_tolerance(tolerance)
+{
+
+}
+
+// if there exists a time-of-impact between any feature_pair (edgeA,edgeB),
+// (vertexA,faceB) or (vertexB,faceA) in [0..1], report true and smallest time
+
+
+/*
+bool BU_CollisionPair::GetTimeOfImpact(const SimdVector3& linearMotionA,const SimdQuaternion& angularMotionA,const SimdVector3& linearMotionB,const SimdQuaternion& angularMotionB, SimdScalar& toi,SimdTransform& impactTransA,SimdTransform& impactTransB)
+
+*/
+
+bool BU_CollisionPair::calcTimeOfImpact(
+					const SimdTransform& fromA,
+					const SimdTransform& toA,
+					const SimdTransform& fromB,
+					const SimdTransform& toB,
+					CastResult& result)
+{
+
+
+
+	
+	SimdVector3 linvelA,angvelA;
+	SimdVector3 linvelB,angvelB;
+
+	SimdTransformUtil::CalculateVelocity(fromA,toA,1.f,linvelA,angvelA);
+	SimdTransformUtil::CalculateVelocity(fromB,toB,1.f,linvelB,angvelB);
+
+
+	SimdVector3 linearMotionA = toA.getOrigin() - fromA.getOrigin();
+	SimdQuaternion angularMotionA(0,0,0,1.f);
+	SimdVector3 linearMotionB = toB.getOrigin() - fromB.getOrigin();
+	SimdQuaternion angularMotionB(0,0,0,1);
+	
+
+
+	result.m_fraction = 1.f;
+
+	SimdTransform impactTransA;
+	SimdTransform impactTransB;
+
+	int index=0;
+
+	SimdScalar toiUnscaled=result.m_fraction;
+	const SimdScalar toiUnscaledLimit = result.m_fraction;
+
+	SimdTransform a2w;
+	a2w = fromA;
+	SimdTransform b2w = fromB;
+
+/* debugging code
+	{
+		const int numvertsB = m_convexB->GetNumVertices();
+		for (int v=0;v<numvertsB;v++)
+		{
+			SimdPoint3 pt;
+			m_convexB->GetVertex(v,pt);
+			pt = b2w * pt;
+			char buf[1000];
+
+			if (pt.y() < 0.)
+			{
+				sprintf(buf,"PRE ERROR (%d) %.20E %.20E %.20E!!!!!!!!!\n",v,pt.x(),pt.y(),pt.z());
+				if (debugFile)
+					fwrite(buf,1,strlen(buf),debugFile);
+			} else
+			{
+				sprintf(buf,"PRE %d = %.20E,%.20E,%.20E\n",v,pt.x(),pt.y(),pt.z());
+				if (debugFile)
+					fwrite(buf,1,strlen(buf),debugFile);
+
+			}
+		}
+	}
+*/
+
+
+	SimdTransform b2wp = b2w;
+	
+	b2wp.setOrigin(b2w.getOrigin() + linearMotionB);
+	b2wp.setRotation( b2w.getRotation() + angularMotionB);
+
+	impactTransB = b2wp;
+	
+	SimdTransform a2wp;
+	a2wp.setOrigin(a2w.getOrigin()+ linearMotionA);
+	a2wp.setRotation(a2w.getRotation()+angularMotionA);
+
+	impactTransA = a2wp;
+
+	SimdTransform a2winv;
+	a2winv = a2w.inverse();
+
+	SimdTransform b2wpinv;
+	b2wpinv = b2wp.inverse();
+
+	SimdTransform b2winv;
+	b2winv = b2w.inverse();
+
+	SimdTransform a2wpinv;
+	a2wpinv = a2wp.inverse();
+
+		//Redon's version with concatenated transforms
+
+	SimdTransform relative;
+
+	relative = b2w * b2wpinv * a2wp * a2winv;
+
+	//relative = a2winv * a2wp  * b2wpinv * b2w;
+
+	SimdQuaternion qrel;
+	relative.getBasis().getRotation(qrel);
+
+	SimdVector3 linvel = relative.getOrigin();
+
+	if (linvel.length() < SCREWEPSILON)
+	{
+		linvel.setValue(0.,0.,0.);
+	}
+	SimdVector3 angvel;
+	angvel[0] = 2.f * asinf (qrel[0]);
+	angvel[1] = 2.f * asinf (qrel[1]);
+	angvel[2] = 2.f * asinf (qrel[2]);
+	
+	if (angvel.length() < SCREWEPSILON)
+	{
+		angvel.setValue(0.f,0.f,0.f);
+	}
+
+	//Redon's version with concatenated transforms
+	m_screwing = BU_Screwing(linvel,angvel);
+	
+	SimdTransform w2s;
+	m_screwing.LocalMatrix(w2s);
+
+	SimdTransform s2w;
+	s2w = w2s.inverse();
+
+	//impactTransA = a2w;
+	//impactTransB = b2w;
+
+	bool hit = false;
+	
+	if (SimdFuzzyZero(m_screwing.GetS()) && SimdFuzzyZero(m_screwing.GetW()))
+	{
+		//W = 0 , S = 0 , no collision
+		//toi = 0;
+	/*	
+		{
+			const int numvertsB = m_convexB->GetNumVertices();
+			for (int v=0;v<numvertsB;v++)
+			{
+				SimdPoint3 pt;
+				m_convexB->GetVertex(v,pt);
+				pt = impactTransB * pt;
+				char buf[1000];
+				
+				if (pt.y() < 0.)
+				{
+					sprintf(buf,"EARLY POST ERROR (%d) %.20E,%.20E,%.20E!!!!!!!!!\n",v,pt.x(),pt.y(),pt.z());
+					if (debugFile)
+						fwrite(buf,1,strlen(buf),debugFile);
+				}
+				else
+				{
+					sprintf(buf,"EARLY POST %d = %.20E,%.20E,%.20E\n",v,pt.x(),pt.y(),pt.z());
+					if (debugFile)
+						fwrite(buf,1,strlen(buf),debugFile);
+				}
+			}
+		}
+	*/	
+		
+		return false;//don't continue moving within epsilon
+	}
+
+#define EDGEEDGE
+#ifdef EDGEEDGE
+
+	BU_EdgeEdge edgeEdge;
+
+	//for all edged in A check agains all edges in B
+	for (int ea = 0;ea < m_convexA->GetNumEdges();ea++)
+	{
+		SimdPoint3 pA0,pA1;
+
+		m_convexA->GetEdge(ea,pA0,pA1);
+
+		pA0= a2w * pA0;//in world space
+		pA0 = w2s * pA0;//in screwing space
+
+		pA1= a2w * pA1;//in world space
+		pA1 = w2s * pA1;//in screwing space
+
+		int numedgesB = m_convexB->GetNumEdges();
+		for (int eb = 0; eb < numedgesB;eb++)
+		{
+			{
+				SimdPoint3 pB0,pB1;
+				m_convexB->GetEdge(eb,pB0,pB1);
+
+				pB0= b2w * pB0;//in world space
+				pB0 = w2s * pB0;//in screwing space
+
+				pB1= b2w * pB1;//in world space
+				pB1 = w2s * pB1;//in screwing space
+
+
+				SimdScalar lambda,mu;
+				
+				toiUnscaled = 1.;
+
+				SimdVector3 edgeDirA(pA1-pA0);
+				SimdVector3 edgeDirB(pB1-pB0);
+
+				if (edgeEdge.GetTimeOfImpact(m_screwing,pA0,edgeDirA,pB0,edgeDirB,toiUnscaled,lambda,mu))
+				{
+					//printf("edgeedge potential hit\n");
+					if (toiUnscaled>=0)
+					{
+						if (toiUnscaled < toiUnscaledLimit)							
+						{
+		
+							//inside check is already done by checking the mu and gamma !
+
+							SimdPoint3 vtx  = pA0+lambda * (pA1-pA0);
+							SimdPoint3 hitpt = m_screwing.InBetweenPosition(vtx,toiUnscaled);
+							
+							SimdPoint3 hitptWorld =   s2w * hitpt;
+							{
+
+								if (toiUnscaled < result.m_fraction)
+									result.m_fraction = toiUnscaled;
+
+								hit = true;
+
+								SimdVector3 hitNormal = edgeDirB.cross(edgeDirA);
+								
+								hitNormal = m_screwing.InBetweenVector(hitNormal,toiUnscaled);
+							
+
+								hitNormal.normalize();
+								
+								//an approximated normal can be calculated by taking the cross product of both edges
+								//take care of the sign !
+								
+								SimdVector3 hitNormalWorld = s2w.getBasis() * hitNormal ;
+						
+								SimdScalar dist = m_screwing.GetU().dot(hitNormalWorld);
+								if (dist > 0)
+									hitNormalWorld *= -1;
+								
+								//todo: this is the wrong point, because b2winv is still at begin of motion
+								// not at time-of-impact location!
+								//bhitpt = b2winv * hitptWorld;
+
+//								m_manifold.SetContactPoint(BUM_FeatureEdgeEdge,index,ea,eb,hitptWorld,hitNormalWorld);
+							}
+					
+						}
+					}
+				}
+			}
+
+			index++;
+		}
+	};
+#endif //EDGEEDGE
+
+#define VERTEXFACE
+#ifdef VERTEXFACE
+
+	// for all vertices in A, for each face in B,do vertex-face
+	{
+		const int numvertsA = m_convexA->GetNumVertices();
+		for (int v=0;v<numvertsA;v++)
+		//int v=3;
+
+		{
+			SimdPoint3 vtx;
+			m_convexA->GetVertex(v,vtx);
+
+			vtx = a2w * vtx;//in world space
+			vtx = w2s * vtx;//in screwing space
+
+			const int numplanesB = m_convexB->GetNumPlanes();
+
+			for (int p = 0 ; p < numplanesB; p++)
+			//int p=2;
+			{
+
+				{
+				
+					SimdVector3 planeNorm;
+					SimdPoint3 planeSupport;
+
+					m_convexB->GetPlane(planeNorm,planeSupport,p);
+
+
+					planeSupport = b2w * planeSupport;//transform to world space
+					SimdVector3 planeNormWorld =  b2w.getBasis() * planeNorm;
+				
+					planeSupport =  w2s * planeSupport  ; //transform to screwing space
+					planeNorm =  w2s.getBasis() * planeNormWorld;
+
+					planeNorm.normalize();
+
+					SimdScalar d = planeSupport.dot(planeNorm);
+					
+					SimdVector4 planeEq(planeNorm[0],planeNorm[1],planeNorm[2],d);
+				
+					BU_VertexPoly vtxApolyB;
+
+					toiUnscaled = 1.;
+
+					if ((p==2) && (v==6))
+					{
+//						printf("%f toiUnscaled\n",toiUnscaled);
+
+					}
+					if (vtxApolyB.GetTimeOfImpact(m_screwing,vtx,planeEq,toiUnscaled,false))
+					{
+					
+
+
+						
+						if (toiUnscaled >= 0. )
+						{
+							//not only collect the first point, get every contactpoint, later we have to check the
+							//manifold properly!
+
+							if (toiUnscaled <= toiUnscaledLimit)
+							{
+	//							printf("toiUnscaled %f\n",toiUnscaled );
+
+								SimdPoint3 hitpt = m_screwing.InBetweenPosition(vtx,toiUnscaled);
+								SimdVector3 hitNormal = m_screwing.InBetweenVector(planeNorm ,toiUnscaled);
+
+								SimdVector3 hitNormalWorld = s2w.getBasis() * hitNormal ;
+								SimdPoint3 hitptWorld = s2w * hitpt;
+
+
+								hitpt = b2winv * hitptWorld;
+								//vertex has to be 'within' the facet's boundary
+								if (m_convexB->IsInside(hitpt,m_tolerance))
+								{
+//									m_manifold.SetContactPoint(BUM_FeatureVertexFace, index,v,p,hitptWorld,hitNormalWorld);
+									
+									if (toiUnscaled < result.m_fraction)
+										result.m_fraction= toiUnscaled;
+									hit = true;
+
+								}
+							}
+						}
+					}
+					
+				}
+
+				index++;
+			}
+		}
+	}
+
+	//
+	// for all vertices in B, for each face in A,do vertex-face
+	//copy and pasted from all verts A -> all planes B so potential typos!
+	//todo: make this into one method with a kind of 'swapped' logic
+	//
+	{
+		const int numvertsB = m_convexB->GetNumVertices();
+		for (int v=0;v<numvertsB;v++)
+		//int v=0;
+
+		{
+			SimdPoint3 vtx;
+			m_convexB->GetVertex(v,vtx);
+
+			vtx = b2w * vtx;//in world space
+/*
+			
+			char buf[1000];
+
+			if (vtx.y() < 0.)
+			{
+				sprintf(buf,"ERROR !!!!!!!!!\n",v,vtx.x(),vtx.y(),vtx.z());
+				if (debugFile)
+					fwrite(buf,1,strlen(buf),debugFile);
+			}
+			sprintf(buf,"vertexWorld(%d) = (%.20E,%.20E,%.20E)\n",v,vtx.x(),vtx.y(),vtx.z());
+			if (debugFile)
+				fwrite(buf,1,strlen(buf),debugFile);
+
+*/			
+			vtx = w2s * vtx;//in screwing space
+
+			const int numplanesA = m_convexA->GetNumPlanes();
+
+			for (int p = 0 ; p < numplanesA; p++)
+			//int p=2;
+			{
+
+				{
+					SimdVector3 planeNorm;
+					SimdPoint3 planeSupport;
+
+					m_convexA->GetPlane(planeNorm,planeSupport,p);
+
+
+					planeSupport = a2w * planeSupport;//transform to world space
+					SimdVector3 planeNormWorld =  a2w.getBasis() * planeNorm;
+				
+					planeSupport =  w2s * planeSupport  ; //transform to screwing space
+					planeNorm =  w2s.getBasis() * planeNormWorld;
+
+					planeNorm.normalize();
+
+					SimdScalar d = planeSupport.dot(planeNorm);
+					
+					SimdVector4 planeEq(planeNorm[0],planeNorm[1],planeNorm[2],d);
+				
+					BU_VertexPoly vtxBpolyA;
+
+					toiUnscaled = 1.;
+
+					if (vtxBpolyA.GetTimeOfImpact(m_screwing,vtx,planeEq,toiUnscaled,true))
+					{
+						if (toiUnscaled>=0.)
+						{
+							if (toiUnscaled < toiUnscaledLimit)
+							{
+								SimdPoint3 hitpt = m_screwing.InBetweenPosition( vtx , -toiUnscaled);
+								SimdVector3 hitNormal = m_screwing.InBetweenVector(-planeNorm ,-toiUnscaled);
+								SimdScalar len =  hitNormal.length()-1;
+
+								//assert( SimdFuzzyZero(len) );
+
+								
+								SimdVector3 hitNormalWorld = s2w.getBasis() * hitNormal ;
+								SimdPoint3 hitptWorld = s2w * hitpt;
+								hitpt = a2winv * hitptWorld;
+							
+							
+								//vertex has to be 'within' the facet's boundary
+								if (m_convexA->IsInside(hitpt,m_tolerance))
+								{
+									
+//									m_manifold.SetContactPoint(BUM_FeatureFaceVertex,index,p,v,hitptWorld,hitNormalWorld);
+									if (toiUnscaled <result.m_fraction)
+										result.m_fraction = toiUnscaled;
+									hit = true;
+								}
+							}
+						
+						}
+					
+					}
+					}
+
+			}
+		
+			index++;
+		}
+	}
+	
+
+#endif// VERTEXFACE
+
+	//the manifold now consists of all points/normals generated by feature-pairs that have a time-of-impact within this frame
+	//in addition there are contact points from previous frames
+	//we have to cleanup the manifold, using an additional epsilon/tolerance
+	//as long as the distance from the contactpoint (in worldspace) to both objects is within this epsilon we keep the point
+	//else throw it away
+	
+
+	if (hit)
+	{
+
+		//try to avoid numerical drift on close contact
+		
+		if (result.m_fraction < 0.00001)
+		{
+//			printf("toiUnscaledMin< 0.00001\n");
+			impactTransA = a2w;
+			impactTransB = b2w;
+
+		} else
+		{
+
+			//SimdScalar vel = linearMotionB.length();
+			
+			//todo: check this margin
+			result.m_fraction *= 0.99f;
+
+			//move B to new position
+			impactTransB.setOrigin(b2w.getOrigin()+ result.m_fraction*linearMotionB);
+			SimdQuaternion ornB = b2w.getRotation()+angularMotionB*result.m_fraction;
+			ornB.normalize();
+			impactTransB.setRotation(ornB);
+
+			//now transform A
+			SimdTransform a2s,a2b;
+			a2s.mult( w2s , a2w);
+			a2s= m_screwing.InBetweenTransform(a2s,result.m_fraction);
+			a2s.multInverseLeft(w2s,a2s);
+			a2b.multInverseLeft(b2w, a2s);
+
+			//transform by motion B
+			impactTransA.mult(impactTransB, a2b);
+			//normalize rotation
+			SimdQuaternion orn;
+			impactTransA.getBasis().getRotation(orn);
+			orn.normalize();
+			impactTransA.setBasis(SimdMatrix3x3(orn));
+		}
+	}
+
+/*
+	{
+		const int numvertsB = m_convexB->GetNumVertices();
+		for (int v=0;v<numvertsB;v++)
+		{
+			SimdPoint3 pt;
+			m_convexB->GetVertex(v,pt);
+			pt = impactTransB * pt;
+			char buf[1000];
+
+			if (pt.y() < 0.)
+			{
+				sprintf(buf,"POST ERROR (%d) %.20E,%.20E,%.20E!!!!!!!!!\n",v,pt.x(),pt.y(),pt.z());
+				if (debugFile)
+					fwrite(buf,1,strlen(buf),debugFile);
+			}
+			else
+			{
+				sprintf(buf,"POST %d = %.20E,%.20E,%.20E\n",v,pt.x(),pt.y(),pt.z());
+				if (debugFile)
+					fwrite(buf,1,strlen(buf),debugFile);
+			}
+		}
+	}
+*/
+	return hit;
+}
+
+

extern/bullet/Bullet/NarrowPhaseCollision/BU_CollisionPair.h

@@ -0,0 +1,49 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#ifndef BU_COLLISIONPAIR
+#define BU_COLLISIONPAIR
+
+#include <NarrowPhaseCollision/BU_Screwing.h>
+#include <NarrowPhaseCollision/ConvexCast.h>
+
+
+#include <SimdQuaternion.h>
+
+class PolyhedralConvexShape;
+
+
+///BU_CollisionPair implements collision algorithm for algebraic time of impact calculation of feature based shapes.
+class BU_CollisionPair : public ConvexCast
+{
+	
+public:
+	BU_CollisionPair(const PolyhedralConvexShape* convexA,const PolyhedralConvexShape* convexB,SimdScalar tolerance=0.2f);
+	//toi
+
+	virtual bool	calcTimeOfImpact(
+					const SimdTransform& fromA,
+					const SimdTransform& toA,
+					const SimdTransform& fromB,
+					const SimdTransform& toB,
+					CastResult& result);
+
+	
+	
+
+private:
+	const PolyhedralConvexShape*	m_convexA;
+	const PolyhedralConvexShape*	m_convexB;
+	BU_Screwing	m_screwing;
+	SimdScalar	m_tolerance;
+	
+};
+#endif //BU_COLLISIONPAIR

extern/bullet/Bullet/NarrowPhaseCollision/BU_EdgeEdge.cpp

@@ -0,0 +1,573 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#include "BU_EdgeEdge.h"
+#include "BU_Screwing.h"
+#include <SimdPoint3.h>
+#include <SimdPoint3.h>
+
+//#include "BU_IntervalArithmeticPolynomialSolver.h"
+#include "BU_AlgebraicPolynomialSolver.h"
+
+#define USE_ALGEBRAIC
+#ifdef USE_ALGEBRAIC	
+#define BU_Polynomial BU_AlgebraicPolynomialSolver
+#else	
+#define BU_Polynomial BU_IntervalArithmeticPolynomialSolver
+#endif
+
+BU_EdgeEdge::BU_EdgeEdge()
+{
+}
+
+
+bool BU_EdgeEdge::GetTimeOfImpact(
+								  const BU_Screwing& screwAB,
+								  const SimdPoint3& a,//edge in object A
+								  const SimdVector3& u,
+								  const SimdPoint3& c,//edge in object B
+								  const SimdVector3& v,
+								  SimdScalar &minTime,
+								  SimdScalar &lambda1,
+								  SimdScalar& mu1
+								  
+								  )
+{
+	bool hit=false;
+	
+	SimdScalar lambda;
+	SimdScalar mu;
+	
+	const SimdScalar w=screwAB.GetW();
+	const SimdScalar s=screwAB.GetS();
+	
+	if (SimdFuzzyZero(s) &&
+		SimdFuzzyZero(w))
+	{
+		//no motion, no collision
+		return false;
+	}
+	
+	if (SimdFuzzyZero(w) )
+	{
+		//pure translation W=0, S <> 0
+		//no trig, f(t)=t
+		SimdScalar det = u.y()*v.x()-u.x()*v.y();
+		if (!SimdFuzzyZero(det))
+		{		
+			lambda = (a.x()*v.y() - c.x() * v.y() - v.x() * a.y() + v.x() * c.y()) / det;
+			mu = (u.y() * a.x() - u.y() * c.x() - u.x() * a.y() + u.x() * c.y()) / det;
+
+			if (mu >=0 && mu <= 1 && lambda >= 0 && lambda <= 1)
+			{
+				// single potential collision is
+				SimdScalar t = (c.z()-a.z()+mu*v.z()-lambda*u.z())/s;
+				//if this is on the edge, and time t within [0..1] report hit
+				if (t>=0 && t <= minTime)
+				{
+					hit = true;
+					lambda1 = lambda;
+					mu1 = mu;
+					minTime=t;
+				}
+			}
+			
+		} else
+		{
+			//parallel case, not yet
+		}
+	} else
+	{
+		if (SimdFuzzyZero(s) )
+		{
+			if (SimdFuzzyZero(u.z()) )
+			{
+				if (SimdFuzzyZero(v.z()) )
+				{
+					//u.z()=0,v.z()=0
+					if (SimdFuzzyZero(a.z()-c.z()))
+					{
+						//printf("NOT YET planar problem, 4 vertex=edge cases\n");
+						
+					} else
+					{
+						//printf("parallel but distinct planes, no collision\n");
+						return false;
+					}
+					
+				} else
+				{
+					SimdScalar mu = (a.z() - c.z())/v.z();
+					if (0<=mu && mu <= 1)
+					{
+					//	printf("NOT YET//u.z()=0,v.z()<>0\n");
+					} else
+					{
+						return false;
+					}
+					
+				}
+			} else
+			{
+				//u.z()<>0
+				
+				if (SimdFuzzyZero(v.z()) )
+				{
+					//printf("u.z()<>0,v.z()=0\n");
+					lambda =  (c.z() - a.z())/u.z();
+					if (0<=lambda && lambda <= 1)
+					{
+						//printf("u.z()<>0,v.z()=0\n");
+						SimdPoint3 rotPt(a.x()+lambda * u.x(), a.y()+lambda * u.y(),0.f);
+						SimdScalar r2 = rotPt.length2();//px*px + py*py;
+						
+						//either y=a*x+b, or x = a*x+b...
+						//depends on whether value v.x() is zero or not
+						SimdScalar aa;
+						SimdScalar bb;
+						
+						if (SimdFuzzyZero(v.x()))
+						{
+							aa = v.x()/v.y();
+							bb= c.x()+  (-c.y() /v.y()) *v.x();
+						} else
+						{
+							//line is c+mu*v;
+							//x = c.x()+mu*v.x();
+							//mu = ((x-c.x())/v.x());
+							//y = c.y()+((x-c.x())/v.x())*v.y();
+							//y = c.y()+  (-c.x() /v.x()) *v.y() + (x /v.x())   *v.y();
+							//y = a*x+b,where a = v.y()/v.x(), b= c.y()+  (-c.x() /v.x()) *v.y();
+							aa = v.y()/v.x();
+							bb= c.y()+  (-c.x() /v.x()) *v.y();
+						}
+						
+						SimdScalar disc = aa*aa*r2 + r2 - bb*bb;
+						if (disc <0)
+						{
+							//edge doesn't intersect the circle (motion of the vertex)
+							return false;
+						}
+						SimdScalar rad = sqrtf(r2);
+						
+						if (SimdFuzzyZero(disc))
+						{
+							SimdPoint3 intersectPt;
+							
+							SimdScalar mu;
+							//intersectionPoint edge with circle;
+							if (SimdFuzzyZero(v.x()))
+							{
+								intersectPt.setY( (-2*aa*bb)/(2*(aa*aa+1)));
+								intersectPt.setX( aa*intersectPt.y()+bb );
+								mu = ((intersectPt.y()-c.y())/v.y());
+							} else
+							{
+								intersectPt.setX((-2*aa*bb)/(2*(aa*aa+1)));
+								intersectPt.setY(aa*intersectPt.x()+bb);
+								mu = ((intersectPt.getX()-c.getX())/v.getX());
+								
+							}
+							
+							if (0 <= mu && mu <= 1)
+							{
+								hit = Calc2DRotationPointPoint(rotPt,rad,screwAB.GetW(),intersectPt,minTime);
+							}
+							//only one solution
+						} else
+						{
+							//two points...
+							//intersectionPoint edge with circle;
+							SimdPoint3 intersectPt;
+							//intersectionPoint edge with circle;
+							if (SimdFuzzyZero(v.x()))
+							{
+								SimdScalar mu;
+								
+								intersectPt.setY((-2.f*aa*bb+2.f*sqrtf(disc))/(2.f*(aa*aa+1.f)));
+								intersectPt.setX(aa*intersectPt.y()+bb);
+								mu = ((intersectPt.getY()-c.getY())/v.getY());
+								if (0.f <= mu && mu <= 1.f)
+								{
+									hit = Calc2DRotationPointPoint(rotPt,rad,screwAB.GetW(),intersectPt,minTime);
+								}
+								intersectPt.setY((-2.f*aa*bb-2.f*sqrtf(disc))/(2.f*(aa*aa+1.f)));
+								intersectPt.setX(aa*intersectPt.y()+bb);
+								mu = ((intersectPt.getY()-c.getY())/v.getY());
+								if (0 <= mu && mu <= 1)
+								{
+									hit = hit || Calc2DRotationPointPoint(rotPt,rad,screwAB.GetW(),intersectPt,minTime);
+								}
+								
+							} else
+							{
+								SimdScalar mu;
+								
+								intersectPt.setX((-2.f*aa*bb+2.f*sqrtf(disc))/(2*(aa*aa+1.f)));
+								intersectPt.setY(aa*intersectPt.x()+bb);
+								mu = ((intersectPt.getX()-c.getX())/v.getX());
+								if (0 <= mu && mu <= 1)
+								{
+									hit = Calc2DRotationPointPoint(rotPt,rad,screwAB.GetW(),intersectPt,minTime);
+								}
+								intersectPt.setX((-2.f*aa*bb-2.f*sqrtf(disc))/(2.f*(aa*aa+1.f)));
+								intersectPt.setY(aa*intersectPt.x()+bb);
+								mu = ((intersectPt.getX()-c.getX())/v.getX());
+								if (0.f <= mu && mu <= 1.f)
+								{
+									hit = hit || Calc2DRotationPointPoint(rotPt,rad,screwAB.GetW(),intersectPt,minTime);
+								}
+							}
+						}
+						
+						
+						
+						int k=0;
+						
+					} else
+					{
+						return false;
+					}
+					
+					
+				} else
+				{
+					//u.z()<>0,v.z()<>0
+					//printf("general case with s=0\n");
+					hit = GetTimeOfImpactGeneralCase(screwAB,a,u,c,v,minTime,lambda,mu);
+					if (hit)
+					{
+						lambda1 = lambda;
+						mu1 = mu;
+						
+					}
+				}
+			}
+			
+		} else
+		{
+			//printf("general case, W<>0,S<>0\n");
+			hit = GetTimeOfImpactGeneralCase(screwAB,a,u,c,v,minTime,lambda,mu);
+			if (hit)
+			{
+				lambda1 = lambda;
+				mu1 = mu;
+			}
+			
+		}
+		
+		
+		//W <> 0,pure rotation
+	}
+	
+	return hit;
+}
+
+
+bool BU_EdgeEdge::GetTimeOfImpactGeneralCase(
+											 const BU_Screwing& screwAB,
+											 const SimdPoint3& a,//edge in object A
+											 const SimdVector3& u,
+											 const SimdPoint3& c,//edge in object B
+											 const SimdVector3& v,
+											 SimdScalar &minTime,
+											 SimdScalar &lambda,
+											 SimdScalar& mu
+											 
+											 )
+{
+	bool hit = false;
+	
+	SimdScalar coefs[4];
+	BU_Polynomial polynomialSolver;
+	int numroots = 0;
+	
+	SimdScalar eps=1e-15f;
+	SimdScalar eps2=1e-20f;
+	SimdScalar s=screwAB.GetS();
+	SimdScalar w = screwAB.GetW();
+	
+	SimdScalar ax = a.x();
+	SimdScalar ay = a.y();
+	SimdScalar az = a.z();
+	SimdScalar cx = c.x();
+	SimdScalar cy = c.y();
+	SimdScalar cz = c.z();
+	SimdScalar vx = v.x();
+	SimdScalar vy = v.y();
+	SimdScalar vz = v.z();
+	SimdScalar ux = u.x();
+	SimdScalar uy = u.y();
+	SimdScalar uz = u.z();
+	
+	
+	if (!SimdFuzzyZero(v.z()))
+	{
+		
+		//Maple Autogenerated C code
+		SimdScalar t1,t2,t3,t4,t7,t8,t10;
+		SimdScalar t13,t14,t15,t16,t17,t18,t19,t20;
+		SimdScalar t21,t22,t23,t24,t25,t26,t27,t28,t29,t30;
+		SimdScalar t31,t32,t33,t34,t35,t36,t39,t40;
+		SimdScalar t41,t43,t48;
+		SimdScalar t63;
+		
+		SimdScalar aa,bb,cc,dd;//the coefficients
+		
+		t1 = v.y()*s;      t2 = t1*u.x();
+		t3 = v.x()*s;
+		t4 = t3*u.y();
+		t7 = tanf(w/2.0f);
+		t8 = 1.0f/t7;
+		t10 = 1.0f/v.z();
+		aa = (t2-t4)*t8*t10;
+		t13 = a.x()*t7;
+		t14 = u.z()*v.y();
+		t15 = t13*t14;
+		t16 = u.x()*v.z();
+		t17 = a.y()*t7;
+		t18 = t16*t17;
+		t19 = u.y()*v.z();
+		t20 = t13*t19;
+		t21 = v.y()*u.x();
+		t22 = c.z()*t7;
+		t23 = t21*t22;
+		t24 = v.x()*a.z();
+		t25 = t7*u.y();
+		t26 = t24*t25;
+		t27 = c.y()*t7;
+		t28 = t16*t27;
+		t29 = a.z()*t7;
+		t30 = t21*t29;
+		t31 = u.z()*v.x();
+		t32 = t31*t27;
+		t33 = t31*t17;
+		t34 = c.x()*t7;
+		t35 = t34*t19;
+		t36 = t34*t14;
+		t39 = v.x()*c.z();
+		t40 = t39*t25;
+		t41 = 2.0f*t1*u.y()-t15+t18-t20-t23-t26+t28+t30+t32+t33-t35-t36+2.0f*t3*u.x()+t40;
+		bb = t41*t8*t10;
+		t43 = t7*u.x();
+		t48 = u.y()*v.y();
+		cc = (-2.0f*t39*t43+2.0f*t24*t43+t4-2.0f*t48*t22+2.0f*t34*t16-2.0f*t31*t13-t2
+			-2.0f*t17*t14+2.0f*t19*t27+2.0f*t48*t29)*t8*t10;
+		t63 = -t36+t26+t32-t40+t23+t35-t20+t18-t28-t33+t15-t30;
+		dd = t63*t8*t10;
+		
+		coefs[0]=aa;
+		coefs[1]=bb;
+		coefs[2]=cc;
+		coefs[3]=dd;
+		
+	} else
+	{
+		
+		SimdScalar t1,t2,t3,t4,t7,t8,t10;
+		SimdScalar t13,t14,t15,t16,t17,t18,t19,t20;
+		SimdScalar t21,t22,t23,t24,t25,t26,t27,t28,t29,t30;
+		SimdScalar t31,t32,t33,t34,t35,t36,t37,t38,t57;
+		SimdScalar p1,p2,p3,p4;
+
+	  t1 = uy*s;
+      t2 = t1*vx;
+      t3 = ux*s;
+      t4 = t3*vy;
+      t7 = tanf(w/2.0f);
+      t8 = 1/t7;
+      t10 = 1/uz;
+      t13 = ux*az;
+      t14 = t7*vy;
+      t15 = t13*t14;
+      t16 = ax*t7;
+      t17 = uy*vz;
+      t18 = t16*t17;
+      t19 = cx*t7;
+      t20 = t19*t17;
+      t21 = vy*uz;
+      t22 = t19*t21;
+      t23 = ay*t7;
+      t24 = vx*uz;
+      t25 = t23*t24;
+      t26 = uy*cz;
+      t27 = t7*vx;
+      t28 = t26*t27;
+      t29 = t16*t21;
+      t30 = cy*t7;
+      t31 = ux*vz;
+      t32 = t30*t31;
+      t33 = ux*cz;
+      t34 = t33*t14;
+      t35 = t23*t31;
+      t36 = t30*t24;
+      t37 = uy*az;
+      t38 = t37*t27;
+
+	  p4 = (-t2+t4)*t8*t10;
+      p3 = 2.0f*t1*vy+t15-t18-t20-t22+t25+t28-t29+t32-t34+t35+t36-t38+2.0f*t3*vx;
+      p2 = -2.0f*t33*t27-2.0f*t26*t14-2.0f*t23*t21+2.0f*t37*t14+2.0f*t30*t17+2.0f*t13
+*t27+t2-t4+2.0f*t19*t31-2.0f*t16*t24;
+      t57 = -t22+t29+t36-t25-t32+t34+t35-t28-t15+t20-t18+t38;
+      p1 = t57*t8*t10;
+
+	coefs[0] = p4;
+	coefs[1] = p3;
+	coefs[2] = p2;
+	coefs[1] = p1;
+		
+	}
+	
+	numroots = polynomialSolver.Solve3Cubic(coefs[0],coefs[1],coefs[2],coefs[3]);
+	
+	for (int i=0;i<numroots;i++)
+	{
+		//SimdScalar tau = roots[i];//polynomialSolver.GetRoot(i);
+		SimdScalar tau = polynomialSolver.GetRoot(i);
+		
+		//check whether mu and lambda are in range [0..1]
+		
+		if (!SimdFuzzyZero(v.z()))
+		{
+			SimdScalar A1=(ux-ux*tau*tau-2.f*tau*uy)-((1.f+tau*tau)*vx*uz/vz);
+			SimdScalar B1=((1.f+tau*tau)*(cx*tanf(1.f/2.f*w)*vz+
+				vx*az*tanf(1.f/2.f*w)-vx*cz*tanf(1.f/2.f*w)+
+				vx*s*tau)/tanf(1.f/2.f*w)/vz)-(ax-ax*tau*tau-2.f*tau*ay);
+			lambda = B1/A1;
+			
+			mu = (a.z()-c.z()+lambda*u.z()+(s*tau)/(tanf(w/2.f)))/v.z();
+			
+			
+			//double check in original equation
+			
+			SimdScalar lhs = (a.x()+lambda*u.x())
+				*((1.f-tau*tau)/(1.f+tau*tau))-
+				(a.y()+lambda*u.y())*((2.f*tau)/(1.f+tau*tau));
+			
+			lhs = lambda*((ux-ux*tau*tau-2.f*tau*uy)-((1.f+tau*tau)*vx*uz/vz));
+			
+			SimdScalar rhs = c.x()+mu*v.x();
+			
+			rhs = ((1.f+tau*tau)*(cx*tanf(1.f/2.f*w)*vz+vx*az*tanf(1.f/2.f*w)-
+				vx*cz*tanf(1.f/2.f*w)+vx*s*tau)/(tanf(1.f/2.f*w)*vz))-
+				
+				(ax-ax*tau*tau-2.f*tau*ay);
+			
+			SimdScalar res = coefs[0]*tau*tau*tau+
+				coefs[1]*tau*tau+
+				coefs[2]*tau+
+				coefs[3];
+			
+			//lhs should be rhs !
+			
+			if (0.<= mu && mu <=1 && 0.<=lambda && lambda <= 1)
+			{
+				
+			} else
+			{
+				//skip this solution, not really touching
+				continue;				
+			}
+			
+		}
+		
+		SimdScalar t = 2.f*atanf(tau)/screwAB.GetW();
+		//tau = tan (wt/2) so 2*atan (tau)/w
+		if (t>=0.f && t<minTime)
+		{
+#ifdef STATS_EDGE_EDGE
+			printf(" ax = %12.12f\n ay = %12.12f\n az = %12.12f\n",a.x(),a.y(),a.z());
+			printf(" ux = %12.12f\n uy = %12.12f\n uz = %12.12f\n",u.x(),u.y(),u.z());
+			printf(" cx = %12.12f\n cy = %12.12f\n cz = %12.12f\n",c.x(),c.y(),c.z());
+			printf(" vx = %12.12f\n vy = %12.12f\n vz = %12.12f\n",v.x(),v.y(),v.z());
+			printf(" s  = %12.12f\n w  = %12.12f\n",       s,     w);
+			
+			printf(" tau = %12.12f \n lambda = %12.12f \n mu = %f\n",tau,lambda,mu); 
+			printf(" ---------------------------------------------\n"); 
+			
+#endif
+			
+			//	v,u,a,c,s,w
+			
+			//	BU_IntervalArithmeticPolynomialSolver iaSolver;
+			//	int numroots2 = iaSolver.Solve3Cubic(coefs[0],coefs[1],coefs[2],coefs[3]);
+			
+			minTime = t;
+			hit = true;
+		}
+	}
+	
+	return hit;
+}
+
+
+//C -S
+//S C
+
+bool BU_EdgeEdge::Calc2DRotationPointPoint(const SimdPoint3& rotPt, SimdScalar rotRadius, SimdScalar rotW,const SimdPoint3& intersectPt,SimdScalar& minTime)
+{
+	bool hit = false;
+	
+	// now calculate the planeEquation for the vertex motion,
+	// and check if the intersectionpoint is at the positive side
+	SimdPoint3 rotPt1(cosf(rotW)*rotPt.x()-sinf(rotW)*rotPt.y(),
+	sinf(rotW)*rotPt.x()+cosf(rotW)*rotPt.y(),
+	0.f);
+
+	SimdVector3 rotVec = rotPt1-rotPt;
+	
+	SimdVector3 planeNormal( -rotVec.y() , rotVec.x() ,0.f);
+	
+	//SimdPoint3 pt(a.x(),a.y());//for sake of readability,could write dot directly
+	SimdScalar planeD = planeNormal.dot(rotPt1);
+	
+	SimdScalar dist = (planeNormal.dot(intersectPt)-planeD);
+	hit = (dist >= -0.001);
+	
+	//if (hit)
+	{
+		//		minTime = 0;
+		//calculate the time of impact, using the fact of
+		//toi = alpha / screwAB.getW();
+		// cos (alpha) = adjacent/hypothenuse;
+		//adjacent = dotproduct(ipedge,point);
+		//hypothenuse = sqrt(r2);
+		SimdScalar adjacent = intersectPt.dot(rotPt)/rotRadius;
+		SimdScalar hypo = rotRadius;
+		SimdScalar alpha = acosf(adjacent/hypo);
+		SimdScalar t = alpha / rotW;
+		if (t >= 0 && t < minTime)
+		{
+			hit = true;
+			minTime = t;
+		} else
+		{
+			hit = false;
+		}
+		
+	}
+	return hit;
+}
+
+bool BU_EdgeEdge::GetTimeOfImpactVertexEdge(
+											const BU_Screwing& screwAB,
+											const SimdPoint3& a,//edge in object A
+											const SimdVector3& u,
+											const SimdPoint3& c,//edge in object B
+											const SimdVector3& v,
+											SimdScalar &minTime,
+											SimdScalar &lamda,
+											SimdScalar& mu
+											
+											)
+{
+	return false;
+}

extern/bullet/Bullet/NarrowPhaseCollision/BU_EdgeEdge.h

@@ -0,0 +1,71 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#ifndef BU_EDGEEDGE
+#define BU_EDGEEDGE
+
+class BU_Screwing;
+#include <SimdTransform.h>
+#include <SimdPoint3.h>
+#include <SimdVector3.h>
+
+//class BUM_Point2;
+
+#include <SimdScalar.h>
+
+///BU_EdgeEdge implements algebraic time of impact calculation between two (angular + linear) moving edges.
+class BU_EdgeEdge
+{
+public:
+	
+
+	BU_EdgeEdge();
+	bool GetTimeOfImpact(
+		const BU_Screwing& screwAB,
+		const SimdPoint3& a,//edge in object A
+		const SimdVector3& u,
+		const SimdPoint3& c,//edge in object B
+		const SimdVector3& v,
+		SimdScalar &minTime,
+		SimdScalar &lamda,
+		SimdScalar& mu
+		);
+private:
+
+	bool Calc2DRotationPointPoint(const SimdPoint3& rotPt, SimdScalar rotRadius, SimdScalar rotW,const SimdPoint3& intersectPt,SimdScalar& minTime);
+	bool GetTimeOfImpactGeneralCase(
+		const BU_Screwing& screwAB,
+		const SimdPoint3& a,//edge in object A
+		const SimdVector3& u,
+		const SimdPoint3& c,//edge in object B
+		const SimdVector3& v,
+		SimdScalar &minTime,
+		SimdScalar &lamda,
+		SimdScalar& mu
+
+		);
+
+	
+	bool GetTimeOfImpactVertexEdge(
+		const BU_Screwing& screwAB,
+		const SimdPoint3& a,//edge in object A
+		const SimdVector3& u,
+		const SimdPoint3& c,//edge in object B
+		const SimdVector3& v,
+		SimdScalar &minTime,
+		SimdScalar &lamda,
+		SimdScalar& mu
+
+		);
+
+};
+
+#endif //BU_EDGEEDGE

extern/bullet/Bullet/NarrowPhaseCollision/BU_MotionStateInterface.h

@@ -0,0 +1,45 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#ifndef BU_MOTIONSTATE
+#define BU_MOTIONSTATE
+
+
+#include <SimdTransform.h>
+#include <SimdPoint3.h>
+#include <SimdQuaternion.h>
+
+class BU_MotionStateInterface
+{
+public:
+	virtual ~BU_MotionStateInterface(){};
+
+	virtual void	SetTransform(const SimdTransform& trans) = 0;
+	virtual void	GetTransform(SimdTransform& trans) const = 0; 
+
+	virtual void	SetPosition(const SimdPoint3& position) = 0;
+	virtual void	GetPosition(SimdPoint3& position) const = 0; 
+
+	virtual void	SetOrientation(const SimdQuaternion& orientation) = 0;
+	virtual void	GetOrientation(SimdQuaternion& orientation) const = 0; 
+
+	virtual void	SetBasis(const SimdMatrix3x3& basis) = 0;
+	virtual void	GetBasis(SimdMatrix3x3& basis) const = 0; 
+
+	virtual void	SetLinearVelocity(const SimdVector3& linvel) = 0;
+	virtual void	GetLinearVelocity(SimdVector3& linvel) const = 0;
+	
+	virtual void	GetAngularVelocity(SimdVector3& angvel) const = 0;
+	virtual void	SetAngularVelocity(const SimdVector3& angvel) = 0;
+
+};
+
+#endif //BU_MOTIONSTATE

extern/bullet/Bullet/NarrowPhaseCollision/BU_PolynomialSolverInterface.h

@@ -0,0 +1,26 @@
+
+#ifndef BUM_POLYNOMIAL_SOLVER_INTERFACE
+#define BUM_POLYNOMIAL_SOLVER_INTERFACE
+
+#include <SimdScalar.h>
+//
+//BUM_PolynomialSolverInterface is interface class for polynomial root finding.
+//The number of roots is returned as a result, query GetRoot to get the actual solution.
+//
+class BUM_PolynomialSolverInterface
+{
+public:
+	virtual ~BUM_PolynomialSolverInterface() {};
+
+	
+//	virtual int Solve2QuadraticFull(SimdScalar a,SimdScalar b, SimdScalar c) = 0;
+	
+	virtual int	Solve3Cubic(SimdScalar lead, SimdScalar a, SimdScalar b, SimdScalar c) = 0;
+	
+	virtual int Solve4Quartic(SimdScalar lead, SimdScalar a, SimdScalar b, SimdScalar c, SimdScalar d) = 0;
+
+	virtual SimdScalar GetRoot(int i) const = 0;
+
+};
+
+#endif //BUM_POLYNOMIAL_SOLVER_INTERFACE

extern/bullet/Bullet/NarrowPhaseCollision/BU_Screwing.cpp

@@ -0,0 +1,197 @@
+/*
+ * Copyright (c) 2005 Stephane Redon / Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#include "BU_Screwing.h"
+
+
+
+
+
+BU_Screwing::BU_Screwing(const SimdVector3& relLinVel,const SimdVector3& relAngVel) {
+
+
+	const SimdScalar dx=relLinVel[0];
+	const SimdScalar dy=relLinVel[1];
+	const SimdScalar dz=relLinVel[2];
+	const SimdScalar wx=relAngVel[0];
+	const SimdScalar wy=relAngVel[1];
+	const SimdScalar wz=relAngVel[2];
+
+	// Compute the screwing parameters :
+	// w : total amount of rotation
+	// s : total amount of translation
+	// u : vector along the screwing axis (||u||=1)
+	// o : point on the screwing axis
+	
+	m_w=sqrtf(wx*wx+wy*wy+wz*wz);
+	//if (!w) {
+	if (fabs(m_w)<SCREWEPSILON ) {
+
+		assert(m_w == 0.f);
+
+		m_w=0.;
+		m_s=sqrtf(dx*dx+dy*dy+dz*dz);
+		if (fabs(m_s)<SCREWEPSILON ) {
+			assert(m_s == 0.);
+
+			m_s=0.;
+			m_u=SimdPoint3(0.,0.,1.);
+			m_o=SimdPoint3(0.,0.,0.);
+		}
+		else {
+			float t=1.f/m_s;
+			m_u=SimdPoint3(dx*t,dy*t,dz*t);
+			m_o=SimdPoint3(0.f,0.f,0.f);
+		}
+	}
+	else { // there is some rotation
+		
+		// we compute u
+		
+		float v(1.f/m_w);
+		m_u=SimdPoint3(wx*v,wy*v,wz*v); // normalization
+		
+		// decomposition of the translation along u and one orthogonal vector
+		
+		SimdPoint3 t(dx,dy,dz);
+		m_s=t.dot(m_u); // component along u
+		if (fabs(m_s)<SCREWEPSILON)
+		{
+			//printf("m_s component along u < SCREWEPSILION\n");
+			m_s=0.f;
+		}
+		SimdPoint3 n1(t-(m_s*m_u)); // the remaining part (which is orthogonal to u)
+		
+		// now we have to compute o
+		
+		SimdScalar len = n1.length2();
+		//(len >= BUM_EPSILON2) {
+		if (n1[0] || n1[1] || n1[2]) { // n1 is not the zero vector
+			n1.normalize();
+			SimdVector3 n1orth=m_u.cross(n1);
+
+			float n2x=cosf(0.5f*m_w);
+			float n2y=sinf(0.5f*m_w);
+			
+			m_o=0.5f*t.dot(n1)*(n1+n2x/n2y*n1orth);
+		}
+		else 
+		{
+			m_o=SimdPoint3(0.f,0.f,0.f);
+		}
+		
+	}
+	
+}
+
+//Then, I need to compute Pa, the matrix from the reference (global) frame to
+//the screwing frame :
+
+
+void BU_Screwing::LocalMatrix(SimdTransform &t) const {
+//So the whole computations do this : align the Oz axis along the
+//	screwing axis (thanks to u), and then find two others orthogonal axes to
+//	complete the basis.
+		
+		if ((m_u[0]>SCREWEPSILON)||(m_u[0]<-SCREWEPSILON)||(m_u[1]>SCREWEPSILON)||(m_u[1]<-SCREWEPSILON)) 
+		{ 
+			// to avoid numerical problems
+			float n=sqrtf(m_u[0]*m_u[0]+m_u[1]*m_u[1]);
+			float invn=1.0f/n;
+			SimdMatrix3x3 mat;
+
+	  		mat[0][0]=-m_u[1]*invn;
+			mat[0][1]=m_u[0]*invn;
+			mat[0][2]=0.f;
+	
+			mat[1][0]=-m_u[0]*invn*m_u[2];
+			mat[1][1]=-m_u[1]*invn*m_u[2];
+			mat[1][2]=n;
+
+			mat[2][0]=m_u[0];
+			mat[2][1]=m_u[1];
+			mat[2][2]=m_u[2];
+			
+			t.setOrigin(SimdPoint3(
+				  m_o[0]*m_u[1]*invn-m_o[1]*m_u[0]*invn,
+				-(m_o[0]*mat[1][0]+m_o[1]*mat[1][1]+m_o[2]*n),
+				-(m_o[0]*m_u[0]+m_o[1]*m_u[1]+m_o[2]*m_u[2])));
+
+			t.setBasis(mat);
+
+		}
+		else {
+
+			SimdMatrix3x3 m;
+
+			m[0][0]=1.;
+			m[1][0]=0.;
+			m[2][0]=0.;
+
+			m[0][1]=0.f;
+			m[1][1]=float(SimdSign(m_u[2]));
+			m[2][1]=0.f;
+
+			m[0][2]=0.f;
+			m[1][2]=0.f;
+			m[2][2]=float(SimdSign(m_u[2]));
+
+			t.setOrigin(SimdPoint3(
+					-m_o[0],
+					-SimdSign(m_u[2])*m_o[1],
+					-SimdSign(m_u[2])*m_o[2]
+				));
+			t.setBasis(m);
+
+		}
+}
+
+//gives interpolated transform for time in [0..1] in screwing frame
+SimdTransform	BU_Screwing::InBetweenTransform(const SimdTransform& tr,SimdScalar t) const
+{
+	SimdPoint3 org = tr.getOrigin();
+
+	SimdPoint3 neworg (
+	org.x()*cosf(m_w*t)-org.y()*sinf(m_w*t),
+	org.x()*sinf(m_w*t)+org.y()*cosf(m_w*t),
+	org.z()+m_s*CalculateF(t));
+		
+	SimdTransform newtr;
+	newtr.setOrigin(neworg);
+	SimdMatrix3x3 basis = tr.getBasis();
+	SimdMatrix3x3 basisorg = tr.getBasis();
+
+	SimdQuaternion rot(SimdVector3(0.,0.,1.),m_w*t);
+	SimdQuaternion tmpOrn;
+	tr.getBasis().getRotation(tmpOrn);
+	rot = rot *  tmpOrn;
+
+	//to avoid numerical drift, normalize quaternion
+	rot.normalize();
+	newtr.setBasis(SimdMatrix3x3(rot));
+	return newtr;
+
+}
+
+
+SimdScalar BU_Screwing::CalculateF(SimdScalar t) const
+{
+	SimdScalar result;
+	if (!m_w)
+	{
+		result = t;
+	} else
+	{
+		result = ( tanf((m_w*t)/2.f) / tanf(m_w/2.f));
+	}
+	return result;
+}
+	

extern/bullet/Bullet/NarrowPhaseCollision/BU_Screwing.h

@@ -0,0 +1,72 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#ifndef B_SCREWING_H
+#define B_SCREWING_H
+
+
+#include <SimdVector3.h>
+#include <SimdPoint3.h>
+#include <SimdTransform.h>
+
+
+#define SCREWEPSILON 0.00001f
+
+///BU_Screwing implements screwing motion interpolation.
+class BU_Screwing
+{
+public:
+
+	
+	BU_Screwing(const SimdVector3& relLinVel,const SimdVector3& relAngVel);
+
+	~BU_Screwing() {
+	};
+	
+	SimdScalar CalculateF(SimdScalar t) const;
+	//gives interpolated position for time in [0..1] in screwing frame
+
+	inline SimdPoint3	InBetweenPosition(const SimdPoint3& pt,SimdScalar t) const
+	{
+		return SimdPoint3(
+		pt.x()*cosf(m_w*t)-pt.y()*sinf(m_w*t),
+		pt.x()*sinf(m_w*t)+pt.y()*cosf(m_w*t),
+		pt.z()+m_s*CalculateF(t));
+	}
+
+	inline SimdVector3	InBetweenVector(const SimdVector3& vec,SimdScalar t) const
+	{
+		return SimdVector3(
+		vec.x()*cosf(m_w*t)-vec.y()*sinf(m_w*t),
+		vec.x()*sinf(m_w*t)+vec.y()*cosf(m_w*t),
+		vec.z());
+	}
+
+	//gives interpolated transform for time in [0..1] in screwing frame
+	SimdTransform	InBetweenTransform(const SimdTransform& tr,SimdScalar t) const;
+
+	
+	//gives matrix from global frame into screwing frame
+	void	LocalMatrix(SimdTransform &t) const;
+
+	inline const SimdVector3& GetU() const {	return m_u;}
+	inline const SimdVector3& GetO() const {return m_o;}
+	inline const SimdScalar GetS() const{ return m_s;}
+	inline const SimdScalar GetW() const { return m_w;}
+	
+private:
+	float		m_w;
+	float		m_s;
+	SimdVector3 m_u;
+	SimdVector3	m_o;
+};
+
+#endif //B_SCREWING_H

extern/bullet/Bullet/NarrowPhaseCollision/BU_StaticMotionState.h

@@ -0,0 +1,86 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#ifndef BU_STATIC_MOTIONSTATE
+#define BU_STATIC_MOTIONSTATE
+
+
+#include <CollisionShapes/BU_MotionStateInterface.h>
+
+class BU_StaticMotionState :public BU_MotionStateInterface
+{
+public:
+	virtual ~BU_StaticMotionState(){};
+
+	virtual void	SetTransform(const SimdTransform& trans)
+	{
+		m_trans = trans;
+	}
+	virtual void	GetTransform(SimdTransform& trans) const
+	{
+		trans = m_trans;
+	}
+	virtual void	SetPosition(const SimdPoint3& position)
+	{
+		m_trans.setOrigin( position );
+	}
+	virtual void	GetPosition(SimdPoint3& position) const
+	{
+		position = m_trans.getOrigin();
+	}
+
+	virtual void	SetOrientation(const SimdQuaternion& orientation)
+	{
+		m_trans.setRotation( orientation);
+	}
+	virtual void	GetOrientation(SimdQuaternion& orientation) const
+	{
+		orientation = m_trans.getRotation();
+	}
+
+	virtual void	SetBasis(const SimdMatrix3x3& basis)
+	{
+		m_trans.setBasis( basis);
+	}
+	virtual void	GetBasis(SimdMatrix3x3& basis) const
+	{ 
+		basis = m_trans.getBasis();
+	}
+
+	virtual void	SetLinearVelocity(const SimdVector3& linvel)
+	{
+		m_linearVelocity = linvel;
+	}
+	virtual void	GetLinearVelocity(SimdVector3& linvel) const
+	{
+		linvel = m_linearVelocity;
+	}
+	
+	virtual void	SetAngularVelocity(const SimdVector3& angvel)
+	{
+		m_angularVelocity = angvel;
+	}
+	virtual void	GetAngularVelocity(SimdVector3& angvel) const
+	{
+		angvel = m_angularVelocity;
+	}
+
+
+
+protected:
+
+	SimdTransform	m_trans;
+	SimdVector3		m_angularVelocity;
+	SimdVector3		m_linearVelocity;
+
+};
+
+#endif //BU_STATIC_MOTIONSTATE

extern/bullet/Bullet/NarrowPhaseCollision/BU_VertexPoly.cpp

@@ -0,0 +1,154 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+
+#include "BU_VertexPoly.h"
+#include "BU_Screwing.h"
+#include <SimdTransform.h>
+#include <SimdPoint3.h>
+#include <SimdVector3.h>
+
+#define USE_ALGEBRAIC
+#ifdef USE_ALGEBRAIC
+	#include "BU_AlgebraicPolynomialSolver.h"
+	#define BU_Polynomial BU_AlgebraicPolynomialSolver
+#else
+	#include "BU_IntervalArithmeticPolynomialSolver.h"
+	#define BU_Polynomial BU_IntervalArithmeticPolynomialSolver
+#endif
+
+inline bool      TestFuzzyZero(SimdScalar x) { return fabsf(x) < 0.0001f; }
+
+
+BU_VertexPoly::BU_VertexPoly()
+{
+
+}
+//return true if a collision will occur between [0..1]
+//false otherwise. If true, minTime contains the time of impact
+bool BU_VertexPoly::GetTimeOfImpact(
+		const BU_Screwing& screwAB,
+		const SimdPoint3& a,
+		const SimdVector4& planeEq,
+		SimdScalar &minTime,bool swapAB)
+{
+
+	bool hit = false;
+
+	// precondition: s=0 and w= 0 is catched by caller!
+	if (TestFuzzyZero(screwAB.GetS()) &&
+		TestFuzzyZero(screwAB.GetW()))
+	{
+		return false;
+	}
+
+
+	//case w<>0 and s<> 0
+	const SimdScalar w=screwAB.GetW();
+	const SimdScalar s=screwAB.GetS();
+
+	SimdScalar coefs[4];
+	const SimdScalar p=planeEq[0];
+	const SimdScalar q=planeEq[1];
+	const SimdScalar r=planeEq[2];
+	const SimdScalar d=planeEq[3];
+
+	const SimdVector3 norm(p,q,r);
+	BU_Polynomial polynomialSolver;
+	int numroots = 0;
+
+	SimdScalar eps=1e-80f;
+	SimdScalar eps2=1e-100f;
+	
+	if (TestFuzzyZero(screwAB.GetS()) )	
+	{
+		//S = 0 , W <> 0
+		
+		//ax^3+bx^2+cx+d=0
+		coefs[0]=0.;
+		coefs[1]=(-p*a.x()-q*a.y()+r*a.z()-d);
+		coefs[2]=-2*p*a.y()+2*q*a.x();
+		coefs[3]=p*a.x()+q*a.y()+r*a.z()-d;
+
+//		numroots = polynomialSolver.Solve3Cubic(coefs[0],coefs[1],coefs[2],coefs[3]);
+		numroots = polynomialSolver.Solve2QuadraticFull(coefs[1],coefs[2],coefs[3]);
+
+	} else
+	{
+		if (TestFuzzyZero(screwAB.GetW()))
+		{
+			// W = 0 , S <> 0
+			//pax+qay+r(az+st)=d
+			
+			SimdScalar dist = (d - a.dot(norm));
+
+			if (TestFuzzyZero(r))
+			{
+				if (TestFuzzyZero(dist))
+				{
+					// no hit
+				} else
+				{
+					// todo a a' might hit sides of polygon T
+					//printf("unhandled case, w=0,s<>0,r<>0, a a' might hit sides of polygon T \n");
+				}
+				
+			} else
+			{
+				SimdScalar etoi = (dist)/(r*screwAB.GetS());
+				if (swapAB)
+					etoi *= -1;
+
+				if (etoi >= 0. && etoi <= minTime)
+				{
+					minTime = etoi;
+					hit = true;
+				}
+			}
+
+		} else
+		{
+				//ax^3+bx^2+cx+d=0
+
+				//degenerate coefficients mess things up :(
+				SimdScalar ietsje = (r*s)/tanf(w/2.f);
+				if (ietsje*ietsje < 0.01f)
+					ietsje = 0.f;
+
+				coefs[0]=ietsje;//(r*s)/tan(w/2.);
+				coefs[1]=(-p*a.x()-q*a.y()+r*a.z()-d);
+				coefs[2]=-2.f*p*a.y()+2.f*q*a.x()+ietsje;//((r*s)/(tan(w/2.)));
+				coefs[3]=p*a.x()+q*a.y()+r*a.z()-d;
+
+				numroots = polynomialSolver.Solve3Cubic(coefs[0],coefs[1],coefs[2],coefs[3]);
+		}
+	}
+
+
+	for (int i=0;i<numroots;i++)
+	{
+		SimdScalar tau = polynomialSolver.GetRoot(i);
+
+		SimdScalar t = 2.f*atanf(tau)/w;
+		//tau = tan (wt/2) so 2*atan (tau)/w
+		if (swapAB)
+		{
+			t *= -1.;
+		}
+		if (t>=0 && t<minTime)
+		{
+			minTime = t;
+			hit = true;
+		}
+	}
+	
+	return hit;
+}

extern/bullet/Bullet/NarrowPhaseCollision/BU_VertexPoly.h

@@ -0,0 +1,38 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#ifndef VERTEX_POLY_H
+#define VERTEX_POLY_H
+
+
+class BU_Screwing;
+#include <SimdTransform.h>
+#include <SimdPoint3.h>
+#include <SimdScalar.h>
+
+///BU_VertexPoly implements algebraic time of impact calculation between vertex and a plane.
+class BU_VertexPoly
+{
+public:
+	BU_VertexPoly();
+	bool GetTimeOfImpact(
+		const BU_Screwing& screwAB,
+		const SimdPoint3& vtx,
+		const SimdVector4& planeEq,
+		SimdScalar &minTime,
+		bool swapAB);
+
+private:
+
+	//cached data (frame coherency etc.) here
+
+};
+#endif //VERTEX_POLY_H

extern/bullet/Bullet/NarrowPhaseCollision/CollisionMargin.h

@@ -0,0 +1,11 @@
+#ifndef COLLISION_MARGIN_H
+#define COLLISION_MARGIN_H
+
+//used by Gjk and some other algorithms
+
+#define CONVEX_DISTANCE_MARGIN 0.05f// 0.1f//;//0.01f
+
+
+
+#endif //COLLISION_MARGIN_H
+

extern/bullet/Bullet/NarrowPhaseCollision/ContinuousConvexCollision.cpp

@@ -0,0 +1,186 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#include "ContinuousConvexCollision.h"
+#include "CollisionShapes/ConvexShape.h"
+#include "CollisionShapes/MinkowskiSumShape.h"
+#include "NarrowPhaseCollision/SimplexSolverInterface.h"
+#include "SimdTransformUtil.h"
+#include "CollisionShapes/SphereShape.h"
+
+#include "GjkPairDetector.h"
+#include "PointCollector.h"
+
+
+
+ContinuousConvexCollision::ContinuousConvexCollision ( ConvexShape*	convexA,ConvexShape*	convexB,SimplexSolverInterface* simplexSolver, ConvexPenetrationDepthSolver* penetrationDepthSolver)
+:m_simplexSolver(simplexSolver),
+m_penetrationDepthSolver(penetrationDepthSolver),
+m_convexA(convexA),m_convexB(convexB)
+{
+}
+
+/// This maximum should not be necessary. It allows for untested/degenerate cases in production code.
+/// You don't want your game ever to lock-up.
+#define MAX_ITERATIONS 1000
+
+bool	ContinuousConvexCollision::calcTimeOfImpact(
+				const SimdTransform& fromA,
+				const SimdTransform& toA,
+				const SimdTransform& fromB,
+				const SimdTransform& toB,
+				CastResult& result)
+{
+
+	m_simplexSolver->reset();
+
+	/// compute linear and angular velocity for this interval, to interpolate
+	SimdVector3 linVelA,angVelA,linVelB,angVelB;
+	SimdTransformUtil::CalculateVelocity(fromA,toA,1.f,linVelA,angVelA);
+	SimdTransformUtil::CalculateVelocity(fromB,toB,1.f,linVelB,angVelB);
+
+	SimdScalar boundingRadiusA = m_convexA->GetAngularMotionDisc();
+	SimdScalar boundingRadiusB = m_convexB->GetAngularMotionDisc();
+
+	SimdScalar maxAngularProjectedVelocity = angVelA.length() * boundingRadiusA + angVelB.length() * boundingRadiusB;
+
+	float radius = 0.001f;
+
+	SimdScalar lambda = 0.f;
+	SimdVector3 v(1,0,0);
+
+	int maxIter = MAX_ITERATIONS;
+
+	SimdVector3 n;
+	n.setValue(0.f,0.f,0.f);
+	bool hasResult = false;
+	SimdVector3 c;
+
+	float lastLambda = lambda;
+	float epsilon = 0.001f;
+
+	int numIter = 0;
+	//first solution, using GJK
+
+
+	SimdTransform identityTrans;
+	identityTrans.setIdentity();
+
+	SphereShape	raySphere(0.0f);
+	raySphere.SetMargin(0.f);
+
+
+//	result.DrawCoordSystem(sphereTr);
+
+	PointCollector	pointCollector1;
+
+	{
+		
+		GjkPairDetector gjk(m_convexA,m_convexB,m_simplexSolver,m_penetrationDepthSolver);		
+		GjkPairDetector::ClosestPointInput input;
+		input.m_transformA = fromA;
+		input.m_transformB = fromB;
+		gjk.GetClosestPoints(input,pointCollector1);
+
+		hasResult = pointCollector1.m_hasResult;
+		c = pointCollector1.m_pointInWorld;
+	}
+
+	if (hasResult)
+	{
+		SimdScalar dist;
+		dist = pointCollector1.m_distance;
+		n = pointCollector1.m_normalOnBInWorld;
+		
+		//not close enough
+		while (dist > radius)
+		{
+			numIter++;
+			if (numIter > maxIter)
+				return false; //todo: report a failure
+
+			float dLambda = 0.f;
+
+			//calculate safe moving fraction from distance / (linear+rotational velocity)
+			
+			//float clippedDist  = GEN_min(angularConservativeRadius,dist);
+			float clippedDist  = dist;
+			
+			float projectedLinearVelocity = (linVelB-linVelA).dot(n);
+			
+			dLambda = dist / (projectedLinearVelocity+ maxAngularProjectedVelocity);
+
+			lambda = lambda + dLambda;
+
+			//todo: next check with relative epsilon
+			if (lambda <= lastLambda)
+				break;
+			lastLambda = lambda;
+
+			if (lambda > 1.f)
+				return false;
+
+			//interpolate to next lambda
+			SimdTransform interpolatedTransA,interpolatedTransB,relativeTrans;
+
+			SimdTransformUtil::IntegrateTransform(fromA,linVelA,angVelA,lambda,interpolatedTransA);
+			SimdTransformUtil::IntegrateTransform(fromB,linVelB,angVelB,lambda,interpolatedTransB);
+			relativeTrans = interpolatedTransB.inverseTimes(interpolatedTransA);
+
+			result.DebugDraw( lambda );
+
+			PointCollector	pointCollector;
+			GjkPairDetector gjk(m_convexA,m_convexB,m_simplexSolver,m_penetrationDepthSolver);
+			GjkPairDetector::ClosestPointInput input;
+			input.m_transformA = interpolatedTransA;
+			input.m_transformB = interpolatedTransB;
+			gjk.GetClosestPoints(input,pointCollector);
+			if (pointCollector.m_hasResult)
+			{
+				if (pointCollector.m_distance < 0.f)
+				{
+					//degenerate ?!
+					result.m_fraction = lastLambda;
+					result.m_normal = n;
+					return true;
+				}
+				c = pointCollector.m_pointInWorld;		
+				
+				dist = pointCollector.m_distance;
+			} else
+			{
+				//??
+				return false;
+			}
+
+		}
+
+		result.m_fraction = lambda;
+		result.m_normal = n;
+		return true;
+	}
+
+	return false;
+
+/*
+//todo:
+	//if movement away from normal, discard result
+	SimdVector3 move = transBLocalTo.getOrigin() - transBLocalFrom.getOrigin();
+	if (result.m_fraction < 1.f)
+	{
+		if (move.dot(result.m_normal) <= 0.f)
+		{
+		}
+	}
+*/
+
+}
+

extern/bullet/Bullet/NarrowPhaseCollision/ContinuousConvexCollision.h

@@ -0,0 +1,46 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#ifndef CONTINUOUS_COLLISION_CONVEX_CAST_H
+#define CONTINUOUS_COLLISION_CONVEX_CAST_H
+
+#include "ConvexCast.h"
+#include "SimplexSolverInterface.h"
+class ConvexPenetrationDepthSolver;
+class ConvexShape;
+
+/// ContinuousConvexCollision implements angular and linear time of impact for convex objects.
+/// Based on Brian Mirtich's Conservative Advancement idea (PhD thesis).
+/// Algorithm operates in worldspace, in order to keep inbetween motion globally consistent.
+/// It uses GJK at the moment. Future improvement would use minkowski sum / supporting vertex, merging innerloops
+class ContinuousConvexCollision : public ConvexCast
+{
+	SimplexSolverInterface* m_simplexSolver;
+	ConvexPenetrationDepthSolver*	m_penetrationDepthSolver;
+	ConvexShape*	m_convexA;
+	ConvexShape*	m_convexB;
+
+
+public:
+
+	ContinuousConvexCollision (ConvexShape*	shapeA,ConvexShape*	shapeB ,SimplexSolverInterface* simplexSolver,ConvexPenetrationDepthSolver* penetrationDepthSolver);
+
+	virtual bool	calcTimeOfImpact(
+				const SimdTransform& fromA,
+				const SimdTransform& toA,
+				const SimdTransform& fromB,
+				const SimdTransform& toB,
+				CastResult& result);
+
+
+};
+
+#endif //CONTINUOUS_COLLISION_CONVEX_CAST_H

extern/bullet/Bullet/NarrowPhaseCollision/ConvexCast.cpp

@@ -0,0 +1,5 @@
+#include "ConvexCast.h"
+
+ConvexCast::~ConvexCast()
+{
+}

extern/bullet/Bullet/NarrowPhaseCollision/ConvexCast.h

@@ -0,0 +1,57 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#ifndef CONVEX_CAST_H
+#define CONVEX_CAST_H
+
+#include <SimdTransform.h>
+#include <SimdVector3.h>
+#include <SimdScalar.h>
+class MinkowskiSumShape;
+
+/// ConvexCast is an interface for Casting
+class ConvexCast
+{
+public:
+
+
+	virtual ~ConvexCast();
+
+	///RayResult stores the closest result
+	/// alternatively, add a callback method to decide about closest/all results
+	struct	CastResult
+	{
+		//virtual bool	addRayResult(const SimdVector3& normal,SimdScalar	fraction) = 0;
+
+		virtual void	DebugDraw(SimdScalar	fraction) {}
+		virtual void	DrawCoordSystem(const SimdTransform& trans) {}
+		CastResult()
+			:m_fraction(1e30f)
+		{
+		}
+
+		SimdVector3	m_normal;
+		SimdScalar	m_fraction;
+		SimdTransform	m_hitTransformA;
+		SimdTransform	m_hitTransformB;		
+	};
+
+
+	/// cast a convex against another convex object
+	virtual bool	calcTimeOfImpact(
+					const SimdTransform& fromA,
+					const SimdTransform& toA,
+					const SimdTransform& fromB,
+					const SimdTransform& toB,
+					CastResult& result) = 0;
+};
+
+#endif //CONVEX_CAST_H

extern/bullet/Bullet/NarrowPhaseCollision/ConvexPenetrationDepthSolver.h

@@ -0,0 +1,33 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#ifndef CONVEX_PENETRATION_DEPTH_H
+#define CONVEX_PENETRATION_DEPTH_H
+
+class SimdVector3;
+#include "SimplexSolverInterface.h"
+class ConvexShape;
+#include "SimdPoint3.h"
+class SimdTransform;
+
+///ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
+class ConvexPenetrationDepthSolver
+{
+public:	
+
+	virtual bool CalcPenDepth( SimplexSolverInterface& simplexSolver,
+		ConvexShape* convexA,ConvexShape* convexB,
+					const SimdTransform& transA,const SimdTransform& transB,
+				SimdVector3& v, SimdPoint3& pa, SimdPoint3& pb) = 0;
+
+
+};
+#endif //CONVEX_PENETRATION_DEPTH_H

extern/bullet/Bullet/NarrowPhaseCollision/DiscreteCollisionDetectorInterface.h

@@ -0,0 +1,79 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#ifndef DISCRETE_COLLISION_DETECTOR_INTERFACE_H
+#define DISCRETE_COLLISION_DETECTOR_INTERFACE_H
+#include "SimdTransform.h"
+#include "SimdVector3.h"
+
+
+/// This interface is made to be used by an iterative approach to do TimeOfImpact calculations
+/// This interface allows to query for closest points and penetration depth between two (convex) objects
+/// the closest point is on the second object (B), and the normal points from the surface on B towards A.
+/// distance is between closest points on B and closest point on A. So you can calculate closest point on A
+/// by taking closestPointInA = closestPointInB + m_distance * m_normalOnSurfaceB
+struct DiscreteCollisionDetectorInterface
+{
+	void operator delete(void* ptr) {};
+
+	struct Result
+	{
+		void operator delete(void* ptr) {};
+		
+		virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)=0;
+	};
+
+	struct ClosestPointInput
+	{
+		ClosestPointInput()
+			:m_maximumDistanceSquared(1e30f)
+		{
+		}
+
+		SimdTransform m_transformA;
+		SimdTransform m_transformB;
+		SimdScalar	m_maximumDistanceSquared;
+	};
+
+	virtual ~DiscreteCollisionDetectorInterface() {};
+
+	//
+	// give either closest points (distance > 0) or penetration (distance)
+	// the normal always points from B towards A
+	//
+	virtual void	GetClosestPoints(const ClosestPointInput& input,Result& output) = 0;
+
+	SimdScalar	getCollisionMargin() { return 0.2f;}
+};
+
+struct StorageResult : public DiscreteCollisionDetectorInterface::Result
+{
+		SimdVector3	m_normalOnSurfaceB;
+		SimdVector3	m_closestPointInB;
+		SimdScalar	m_distance; //negative means penetration !
+
+		StorageResult() : m_distance(1e30f)
+		{
+
+		}
+
+		virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
+		{
+			if (depth < m_distance)
+			{
+				m_normalOnSurfaceB = normalOnBInWorld;
+				m_closestPointInB = pointInWorld;
+				m_distance = depth;
+			}
+		}
+};
+
+#endif //DISCRETE_COLLISION_DETECTOR_INTERFACE_H

extern/bullet/Bullet/NarrowPhaseCollision/GjkConvexCast.cpp

@@ -0,0 +1,157 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+
+#include "GjkConvexCast.h"
+#include "CollisionShapes/SphereShape.h"
+#include "CollisionShapes/MinkowskiSumShape.h"
+#include "GjkPairDetector.h"
+#include "PointCollector.h"
+
+
+GjkConvexCast::GjkConvexCast(ConvexShape* convexA,ConvexShape* convexB,SimplexSolverInterface* simplexSolver)
+:m_simplexSolver(simplexSolver),
+m_convexA(convexA),
+m_convexB(convexB)
+{
+}
+
+bool	GjkConvexCast::calcTimeOfImpact(
+					const SimdTransform& fromA,
+					const SimdTransform& toA,
+					const SimdTransform& fromB,
+					const SimdTransform& toB,
+					CastResult& result)
+{
+
+
+	MinkowskiSumShape combi(m_convexA,m_convexB);
+	MinkowskiSumShape* convex = &combi;
+
+	SimdTransform	rayFromLocalA;
+	SimdTransform	rayToLocalA;
+
+	rayFromLocalA = fromA.inverse()* fromB;
+	rayToLocalA = toA.inverse()* toB;
+
+
+	SimdTransform trA,trB;
+	trA = SimdTransform(fromA);
+	trB = SimdTransform(fromB);
+	trA.setOrigin(SimdPoint3(0,0,0));
+	trB.setOrigin(SimdPoint3(0,0,0));
+
+	convex->SetTransformA(trA);
+	convex->SetTransformB(trB);
+
+
+
+
+	float radius = 0.01f;
+
+	SimdScalar lambda = 0.f;
+	SimdVector3 s = rayFromLocalA.getOrigin();
+	SimdVector3 r = rayToLocalA.getOrigin()-rayFromLocalA.getOrigin();
+	SimdVector3 x = s;
+	SimdVector3 n;
+	n.setValue(0,0,0);
+	bool hasResult = false;
+	SimdVector3 c;
+
+	float lastLambda = lambda;
+
+	//first solution, using GJK
+
+	//no penetration support for now, perhaps pass a pointer when we really want it
+	ConvexPenetrationDepthSolver* penSolverPtr = 0;
+
+	SimdTransform identityTrans;
+	identityTrans.setIdentity();
+
+	SphereShape	raySphere(0.0f);
+	raySphere.SetMargin(0.f);
+
+	SimdTransform sphereTr;
+	sphereTr.setIdentity();
+	sphereTr.setOrigin( rayFromLocalA.getOrigin());
+
+	result.DrawCoordSystem(sphereTr);
+	{
+		PointCollector	pointCollector1;
+		GjkPairDetector gjk(&raySphere,convex,m_simplexSolver,penSolverPtr);		
+
+		GjkPairDetector::ClosestPointInput input;
+		input.m_transformA = sphereTr;
+		input.m_transformB = identityTrans;
+		gjk.GetClosestPoints(input,pointCollector1);
+
+		hasResult = pointCollector1.m_hasResult;
+		c = pointCollector1.m_pointInWorld;
+		n = pointCollector1.m_normalOnBInWorld;
+	}
+
+	if (hasResult)
+	{
+		SimdScalar dist;
+		dist = (c-x).length();
+		
+
+		//not close enough
+		while (dist > radius)
+		{
+			
+			n = x - c;
+			SimdScalar nDotr = n.dot(r);
+
+			if (nDotr >= 0.f)
+				return false;
+
+			lambda = lambda - n.dot(n) / nDotr;
+			if (lambda <= lastLambda)
+				break;
+			lastLambda = lambda;
+
+			x = s + lambda * r;
+
+			sphereTr.setOrigin( x );
+			result.DrawCoordSystem(sphereTr);
+			PointCollector	pointCollector;
+			GjkPairDetector gjk(&raySphere,convex,m_simplexSolver,penSolverPtr);
+			GjkPairDetector::ClosestPointInput input;
+			input.m_transformA = sphereTr;
+			input.m_transformB = identityTrans;
+			gjk.GetClosestPoints(input,pointCollector);
+			if (pointCollector.m_hasResult)
+			{
+				if (pointCollector.m_distance < 0.f)
+				{
+					//degeneracy, report a hit
+					result.m_fraction = lastLambda;
+					result.m_normal = n;
+					return true;
+				}
+				c = pointCollector.m_pointInWorld;			
+				dist = (c-x).length();
+			} else
+			{
+				//??
+				return false;
+			}
+
+		}
+
+		result.m_fraction = lambda;
+		result.m_normal = n;
+		return true;
+	}
+
+	return false;
+}

extern/bullet/Bullet/NarrowPhaseCollision/GjkConvexCast.h

@@ -0,0 +1,44 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+
+#ifndef GJK_CONVEX_CAST_H
+#define GJK_CONVEX_CAST_H
+
+#include "CollisionMargin.h"
+#include "SimdVector3.h"
+#include "ConvexCast.h"
+class ConvexShape;
+class MinkowskiSumShape;
+#include "SimplexSolverInterface.h"
+
+///GjkConvexCast performs a raycast on a convex object using support mapping.
+class GjkConvexCast : public ConvexCast
+{
+	SimplexSolverInterface*	m_simplexSolver;
+	ConvexShape*	m_convexA;
+	ConvexShape*	m_convexB;
+
+public:
+
+	GjkConvexCast(ConvexShape*	convexA,ConvexShape* convexB,SimplexSolverInterface* simplexSolver);
+
+	/// cast a convex against another convex object
+	virtual bool	calcTimeOfImpact(
+					const SimdTransform& fromA,
+					const SimdTransform& toA,
+					const SimdTransform& fromB,
+					const SimdTransform& toB,
+					CastResult& result);
+
+};
+
+#endif //GJK_CONVEX_CAST_H

extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.cpp

@@ -0,0 +1,186 @@
+/*
+* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+*
+* Permission to use, copy, modify, distribute and sell this software
+* and its documentation for any purpose is hereby granted without fee,
+* provided that the above copyright notice appear in all copies.
+* Erwin Coumans makes no representations about the suitability 
+* of this software for any purpose.  
+* It is provided "as is" without express or implied warranty.
+*/
+
+#include "GjkPairDetector.h"
+#include "CollisionShapes/ConvexShape.h"
+#include "NarrowPhaseCollision/SimplexSolverInterface.h"
+#include "NarrowPhaseCollision/ConvexPenetrationDepthSolver.h"
+
+static const SimdScalar rel_error = SimdScalar(1.0e-3);
+SimdScalar rel_error2 = rel_error * rel_error;
+float maxdist2 = 1.e30f;
+
+
+
+GjkPairDetector::GjkPairDetector(ConvexShape* objectA,ConvexShape* objectB,SimplexSolverInterface* simplexSolver,ConvexPenetrationDepthSolver*	penetrationDepthSolver)
+:m_cachedSeparatingAxis(0.f,0.f,1.f),
+m_penetrationDepthSolver(penetrationDepthSolver),
+m_simplexSolver(simplexSolver),
+m_minkowskiA(objectA),
+m_minkowskiB(objectB)
+{
+}
+
+void GjkPairDetector::GetClosestPoints(const ClosestPointInput& input,Result& output)
+{
+	SimdScalar distance;
+	SimdVector3	normalInB(0.f,0.f,0.f);
+	SimdVector3 pointOnA,pointOnB;
+
+	float marginA = m_minkowskiA->GetMargin();
+	float marginB = m_minkowskiB->GetMargin();
+
+	bool isValid = false;
+	bool checkSimplex = false;
+	bool checkPenetration = true;
+
+	{
+		SimdScalar squaredDistance = SIMD_INFINITY;
+		SimdScalar delta = 0.f;
+		
+		SimdScalar margin = marginA + marginB;
+		
+		
+
+		m_simplexSolver->reset();
+		
+		while (true)
+		{
+
+			SimdVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis();
+			SimdVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis();
+
+			SimdVector3 pInA = m_minkowskiA->LocalGetSupportingVertexWithoutMargin(seperatingAxisInA);
+			SimdVector3 qInB = m_minkowskiB->LocalGetSupportingVertexWithoutMargin(seperatingAxisInB);
+			SimdPoint3  pWorld = input.m_transformA(pInA);	
+			SimdPoint3  qWorld = input.m_transformB(qInB);
+			
+			SimdVector3 w	= pWorld - qWorld;
+			delta = m_cachedSeparatingAxis.dot(w);
+
+			// potential exit, they don't overlap
+			if ((delta > SimdScalar(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared)) 
+			{
+				checkPenetration = false;
+				break;
+			}
+
+			//exit 0: the new point is already in the simplex, or we didn't come any closer
+			if (m_simplexSolver->inSimplex(w))
+			{
+				checkSimplex = true;
+				break;
+			}
+			// are we getting any closer ?
+			if (squaredDistance - delta <= squaredDistance * rel_error2)
+			{
+				checkSimplex = true;
+				break;
+			}
+			//add current vertex to simplex
+			m_simplexSolver->addVertex(w, pWorld, qWorld);
+
+			//calculate the closest point to the origin (update vector v)
+			if (!m_simplexSolver->closest(m_cachedSeparatingAxis))
+			{
+				checkSimplex = true;
+				break;
+			}
+
+			SimdScalar previousSquaredDistance = squaredDistance;
+			squaredDistance = m_cachedSeparatingAxis.length2();
+			
+			//redundant m_simplexSolver->compute_points(pointOnA, pointOnB);
+
+			//are we getting any closer ?
+			if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance) 
+			{ 
+				m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
+				checkSimplex = true;
+				break;
+			}
+			bool check = (!m_simplexSolver->fullSimplex() && squaredDistance > SIMD_EPSILON * m_simplexSolver->maxVertex());
+
+			if (!check)
+			{
+				//do we need this backup_closest here ?
+				m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
+				break;
+			}
+		}
+
+		if (checkSimplex)
+		{
+			m_simplexSolver->compute_points(pointOnA, pointOnB);
+			normalInB = pointOnA-pointOnB;
+			float lenSqr = m_cachedSeparatingAxis.length2();
+			//valid normal
+			if (lenSqr > SIMD_EPSILON)
+			{
+				float rlen = 1.f / sqrtf(lenSqr );
+				normalInB *= rlen; //normalize
+				SimdScalar s = sqrtf(squaredDistance);
+				ASSERT(s > SimdScalar(0.0));
+				pointOnA -= m_cachedSeparatingAxis * (marginA / s);
+				pointOnB += m_cachedSeparatingAxis * (marginB / s);
+				distance = ((1.f/rlen) - margin);
+				isValid = true;
+			}
+		}
+
+		if (checkPenetration && !isValid)
+		{
+			//penetration case
+			m_minkowskiA->SetMargin(marginA);
+			m_minkowskiB->SetMargin(marginB);
+
+			//if there is no way to handle penetrations, bail out
+			if (m_penetrationDepthSolver)
+			{
+				// Penetration depth case.
+				isValid = m_penetrationDepthSolver->CalcPenDepth( 
+					*m_simplexSolver, 
+					m_minkowskiA,m_minkowskiB,
+					input.m_transformA,input.m_transformB,
+					m_cachedSeparatingAxis, pointOnA, pointOnB);
+
+				if (isValid)
+				{
+					normalInB = pointOnB-pointOnA;
+					float lenSqr = normalInB.length2();
+					if (lenSqr > SIMD_EPSILON)
+					{
+						normalInB /= sqrtf(lenSqr);
+						distance = -(pointOnA-pointOnB).length();
+					} else
+					{
+						isValid = false;
+					}
+				}
+			}
+		}
+	}
+
+	if (isValid)
+	{
+		output.AddContactPoint(
+			normalInB,
+			pointOnB,
+			distance);
+	} 
+
+
+}
+
+
+
+
+

extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.h

@@ -0,0 +1,60 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+
+
+#ifndef GJK_PAIR_DETECTOR_H
+#define GJK_PAIR_DETECTOR_H
+
+#include "DiscreteCollisionDetectorInterface.h"
+#include "SimdPoint3.h"
+
+#include "CollisionMargin.h"
+
+class ConvexShape;
+#include "SimplexSolverInterface.h"
+class ConvexPenetrationDepthSolver;
+
+/// GjkPairDetector uses GJK to implement the DiscreteCollisionDetectorInterface
+class GjkPairDetector : public DiscreteCollisionDetectorInterface
+{
+	
+
+	SimdVector3	m_cachedSeparatingAxis;
+	ConvexPenetrationDepthSolver*	m_penetrationDepthSolver;
+	SimplexSolverInterface* m_simplexSolver;
+	ConvexShape* m_minkowskiA;
+	ConvexShape* m_minkowskiB;
+
+public:
+
+	GjkPairDetector(ConvexShape* objectA,ConvexShape* objectB,SimplexSolverInterface* simplexSolver,ConvexPenetrationDepthSolver*	penetrationDepthSolver);
+	virtual ~GjkPairDetector() {};
+
+	virtual void	GetClosestPoints(const ClosestPointInput& input,Result& output);
+
+	void SetMinkowskiA(ConvexShape* minkA)
+	{
+		m_minkowskiA = minkA;
+	}
+
+	void SetMinkowskiB(ConvexShape* minkB)
+	{
+		m_minkowskiB = minkB;
+	}
+	void SetCachedSeperatingAxis(const SimdVector3& seperatingAxis)
+	{
+		m_cachedSeparatingAxis = seperatingAxis;
+	}
+
+};
+
+#endif //GJK_PAIR_DETECTOR_H

extern/bullet/Bullet/NarrowPhaseCollision/ManifoldPoint.h

@@ -0,0 +1,59 @@
+#ifndef MANIFOLD_CONTACT_POINT_H
+#define MANIFOLD_CONTACT_POINT_H
+
+#include "SimdVector3.h"
+
+/// ManifoldContactPoint collects and maintains persistent contactpoints.
+/// used to improve stability and performance of rigidbody dynamics response.
+class ManifoldPoint
+	{
+		public:
+			ManifoldPoint()
+			{
+			}
+
+			ManifoldPoint( const SimdVector3 &pointA, const SimdVector3 &pointB, 
+					const SimdVector3 &normal, 
+					SimdScalar distance ) :
+					m_localPointA( pointA ), 
+					m_localPointB( pointB ), 
+					m_normalWorldOnB( normal ), 
+					m_distance1( distance )
+					,m_appliedImpulse(0.f)
+			{}
+
+			SimdVector3 m_localPointA;			
+			SimdVector3 m_localPointB;			
+			SimdVector3	m_positionWorldOnB;
+			///m_positionWorldOnA is redundant information, see GetPositionWorldOnA(), but for clarity
+			SimdVector3	m_positionWorldOnA;
+			SimdVector3 m_normalWorldOnB;
+			float	m_distance1;
+			/// total applied impulse during most recent frame
+			float	m_appliedImpulse;
+			
+			float GetDistance() const
+			{
+				return m_distance1;
+			}
+
+			SimdVector3 GetPositionWorldOnA() {
+				return m_positionWorldOnA;
+//				return m_positionWorldOnB + m_normalWorldOnB * m_distance1;
+			}
+
+			const SimdVector3& GetPositionWorldOnB()
+			{
+				return m_positionWorldOnB;
+			}
+
+			void	SetDistance(float dist)
+			{
+				m_distance1 = dist;
+			}
+			
+			
+
+	};
+
+#endif //MANIFOLD_CONTACT_POINT_H

extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.cpp

@@ -0,0 +1,132 @@
+#include "MinkowskiPenetrationDepthSolver.h"
+#include "CollisionShapes/MinkowskiSumShape.h"
+#include "NarrowPhaseCollision/SubSimplexConvexCast.h"
+#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
+#include "NarrowPhaseCollision/GjkPairDetector.h"
+
+
+struct MyResult : public DiscreteCollisionDetectorInterface::Result
+{
+
+	SimdVector3 m_normalOnBInWorld;
+	SimdVector3 m_pointInWorld;
+	float m_depth;
+
+	void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
+	{
+		m_normalOnBInWorld = normalOnBInWorld;
+		m_pointInWorld = pointInWorld;
+		m_depth = depth;
+	}
+};
+
+
+
+bool MinkowskiPenetrationDepthSolver::CalcPenDepth(SimplexSolverInterface& simplexSolver,
+												   ConvexShape* convexA,ConvexShape* convexB,
+												   const SimdTransform& transA,const SimdTransform& transB,
+												   SimdVector3& v, SimdPoint3& pa, SimdPoint3& pb)
+{
+
+
+	//just take fixed number of orientation, and sample the penetration depth in that direction
+
+	int N = 3;
+	float minProj = 1e30f;
+	SimdVector3 minNorm;
+	SimdVector3 minVertex;
+	SimdVector3 minA,minB;
+
+	for (int i=-N;i<N;i++)
+	{
+		for (int j = -N;j<N;j++)
+		{
+			for (int k=-N;k<N;k++)
+			{
+				if (i | j | k)
+				{
+					SimdVector3 norm(i,j,k);
+					norm.normalize();
+
+					{
+						SimdVector3 seperatingAxisInA = (-norm)* transA.getBasis();
+						SimdVector3 seperatingAxisInB = norm* transB.getBasis();
+
+						SimdVector3 pInA = convexA->LocalGetSupportingVertex(seperatingAxisInA);
+						SimdVector3 qInB = convexB->LocalGetSupportingVertex(seperatingAxisInB);
+						SimdPoint3  pWorld = transA(pInA);	
+						SimdPoint3  qWorld = transB(qInB);
+
+						SimdVector3 w	= qWorld - pWorld;
+						float delta = norm.dot(w);
+						//find smallest delta
+
+						if (delta < minProj)
+						{
+							minProj = delta;
+							minNorm = norm;
+							minA = pWorld;
+							minB = qWorld;
+						}
+					}
+
+					{
+						SimdVector3 seperatingAxisInA = (norm)* transA.getBasis();
+						SimdVector3 seperatingAxisInB = -norm* transB.getBasis();
+
+						SimdVector3 pInA = convexA->LocalGetSupportingVertex(seperatingAxisInA);
+						SimdVector3 qInB = convexB->LocalGetSupportingVertex(seperatingAxisInB);
+						SimdPoint3  pWorld = transA(pInA);	
+						SimdPoint3  qWorld = transB(qInB);
+
+						SimdVector3 w	= qWorld - pWorld;
+						float delta = (-norm).dot(w);
+						//find smallest delta
+
+						if (delta < minProj)
+						{
+							minProj = delta ;
+							minNorm = -norm;
+							minA = pWorld;
+							minB = qWorld;
+						}
+					}
+
+
+
+				}
+			}
+		}
+	}
+
+	SimdTransform ident;
+	ident.setIdentity();
+
+	GjkPairDetector gjkdet(convexA,convexB,&simplexSolver,0);
+
+
+	v = minNorm * minProj;
+
+
+	GjkPairDetector::ClosestPointInput input;
+		
+	SimdVector3 newOrg = transA.getOrigin() + v + v;
+
+	SimdTransform displacedTrans = transA;
+	displacedTrans.setOrigin(newOrg);
+
+	input.m_transformA = displacedTrans;
+	input.m_transformB = transB;
+	input.m_maximumDistanceSquared = 1e30f;
+	
+	MyResult res;
+	gjkdet.GetClosestPoints(input,res);
+
+	SimdVector3 halfV = v*0.5f;
+
+	//approximate pa and pb
+	pa = res.m_pointInWorld - halfV;
+	pb = res.m_pointInWorld +halfV;
+
+	return true;
+}

extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.h

@@ -0,0 +1,20 @@
+
+#ifndef MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
+#define MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
+
+#include "ConvexPenetrationDepthSolver.h"
+
+///MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation.
+///Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points.
+class MinkowskiPenetrationDepthSolver : public ConvexPenetrationDepthSolver
+{
+public:
+
+	virtual bool CalcPenDepth( SimplexSolverInterface& simplexSolver,
+	ConvexShape* convexA,ConvexShape* convexB,
+				const SimdTransform& transA,const SimdTransform& transB,
+			SimdVector3& v, SimdPoint3& pa, SimdPoint3& pb);
+
+};
+
+#endif //MINKOWSKI_PENETRATION_DEPTH_SOLVER_H

extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp

@@ -0,0 +1,182 @@
+/*
+* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+*
+* Permission to use, copy, modify, distribute and sell this software
+* and its documentation for any purpose is hereby granted without fee,
+* provided that the above copyright notice appear in all copies.
+* Erwin Coumans makes no representations about the suitability 
+* of this software for any purpose.  
+* It is provided "as is" without express or implied warranty.
+*/
+
+
+#include "PersistentManifold.h"
+#include "SimdTransform.h"
+#include <assert.h>
+
+
+PersistentManifold::PersistentManifold()
+:m_body0(0),
+m_body1(0),
+m_cachedPoints (0),
+m_index1(0)
+{
+}
+
+
+void	PersistentManifold::ClearManifold()
+{
+	m_cachedPoints = 0;
+}
+
+
+
+
+
+int PersistentManifold::SortCachedPoints(const ManifoldPoint& pt) 
+{
+
+		//calculate 4 possible cases areas, and take biggest area
+
+		SimdScalar res0,res1,res2,res3;
+
+		{
+			SimdVector3 a0 = pt.m_localPointA-m_pointCache[1].m_localPointA;
+			SimdVector3 b0 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
+			SimdVector3 cross = a0.cross(b0);
+			res0 = cross.length2();
+		}
+		{
+			SimdVector3 a1 = pt.m_localPointA-m_pointCache[0].m_localPointA;
+			SimdVector3 b1 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
+			SimdVector3 cross = a1.cross(b1);
+			res1 = cross.length2();
+		}
+		{
+			SimdVector3 a2 = pt.m_localPointA-m_pointCache[0].m_localPointA;
+			SimdVector3 b2 = m_pointCache[3].m_localPointA-m_pointCache[1].m_localPointA;
+			SimdVector3 cross = a2.cross(b2);
+			res2 = cross.length2();
+		}
+		{
+			SimdVector3 a3 = pt.m_localPointA-m_pointCache[0].m_localPointA;
+			SimdVector3 b3 = m_pointCache[2].m_localPointA-m_pointCache[1].m_localPointA;
+			SimdVector3 cross = a3.cross(b3);
+			res3 = cross.length2();
+		}
+
+		SimdVector4 maxvec(res0,res1,res2,res3);
+		int biggestarea = maxvec.closestAxis4();
+
+		return biggestarea;
+
+
+}
+
+
+
+int PersistentManifold::GetCacheEntry(const ManifoldPoint& newPoint) const
+{
+	SimdScalar shortestDist =  GetManifoldMargin() * GetManifoldMargin();
+	int size = GetNumContacts();
+	int nearestPoint = -1;
+	for( int i = 0; i < size; i++ )
+	{
+		const ManifoldPoint &mp = m_pointCache[i];
+
+		SimdVector3 diffA =  mp.m_localPointA- newPoint.m_localPointA;
+		const SimdScalar distToManiPoint = diffA.dot(diffA);
+		if( distToManiPoint < shortestDist )
+		{
+			shortestDist = distToManiPoint;
+			nearestPoint = i;
+		}
+	}
+	return nearestPoint;
+}
+
+void PersistentManifold::AddManifoldPoint(const ManifoldPoint& newPoint)
+{
+	assert(ValidContactDistance(newPoint));
+
+	int insertIndex = GetNumContacts();
+	if (insertIndex == MANIFOLD_CACHE_SIZE)
+	{
+		//sort cache so best points come first
+		insertIndex = SortCachedPoints(newPoint);
+	} else
+	{
+		m_cachedPoints++;
+	}
+	ReplaceContactPoint(newPoint,insertIndex);
+}
+
+
+void PersistentManifold::RefreshContactPoints(const SimdTransform& trA,const SimdTransform& trB)
+{
+	int i;
+
+	/// first refresh worldspace positions and distance
+	for (i=GetNumContacts()-1;i>=0;i--)
+	{
+		ManifoldPoint &manifoldPoint = m_pointCache[i];
+		manifoldPoint.m_positionWorldOnA = trA( manifoldPoint.m_localPointA );
+		manifoldPoint.m_positionWorldOnB = trB( manifoldPoint.m_localPointB );
+		manifoldPoint.m_distance1 = (manifoldPoint.m_positionWorldOnA -  manifoldPoint.m_positionWorldOnB).dot(manifoldPoint.m_normalWorldOnB);
+	}
+
+	/// then 
+	SimdScalar distance2d;
+	SimdVector3 projectedDifference,projectedPoint;
+	for (i=GetNumContacts()-1;i>=0;i--)
+	{
+		
+		ManifoldPoint &manifoldPoint = m_pointCache[i];
+		//contact becomes invalid when signed distance exceeds margin (projected on contactnormal direction)
+		if (!ValidContactDistance(manifoldPoint))
+		{
+			RemoveContactPoint(i);
+		} else
+		{
+			//contact also becomes invalid when relative movement orthogonal to normal exceeds margin
+			projectedPoint = manifoldPoint.m_positionWorldOnA - manifoldPoint.m_normalWorldOnB * manifoldPoint.m_distance1;
+			projectedDifference = manifoldPoint.m_positionWorldOnB - projectedPoint;
+			distance2d = projectedDifference.dot(projectedDifference);
+			if (distance2d  > GetManifoldMargin()*GetManifoldMargin() )
+			{
+				RemoveContactPoint(i);
+			}
+		}
+	}
+}
+
+
+//todo: remove this treshold
+float gPenetrationDistanceCheck = -0.05f;
+
+float	PersistentManifold::GetCollisionImpulse() const
+{
+	float averageImpulse = 0.f;
+	if (GetNumContacts() > 0)
+	{
+		float totalImpulse = 0.f;
+
+		//return the sum of the applied impulses on the box
+		for (int i=0;i<GetNumContacts();i++)
+		{
+			const ManifoldPoint& cp = GetContactPoint(i);
+			//avoid conflic noice
+			if ( cp.GetDistance() <gPenetrationDistanceCheck)
+				return 0.f;
+
+			totalImpulse += cp.m_appliedImpulse;
+
+		}
+		averageImpulse = totalImpulse / ((float)GetNumContacts());
+
+	}
+	return averageImpulse;
+
+}
+
+

extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h

@@ -0,0 +1,116 @@
+/*
+* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+*
+* Permission to use, copy, modify, distribute and sell this software
+* and its documentation for any purpose is hereby granted without fee,
+* provided that the above copyright notice appear in all copies.
+* Erwin Coumans makes no representations about the suitability 
+* of this software for any purpose.  
+* It is provided "as is" without express or implied warranty.
+*/
+
+#ifndef PERSISTENT_MANIFOLD_H
+#define PERSISTENT_MANIFOLD_H
+
+
+#include "SimdVector3.h"
+#include "SimdTransform.h"
+#include "ManifoldPoint.h"
+
+struct CollisionResult;
+
+#define MANIFOLD_CACHE_SIZE 4
+
+///PersistentManifold maintains contact points, and reduces them to 4
+class PersistentManifold 
+{
+
+	ManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE];
+
+	/// this two body pointers can point to the physics rigidbody class.
+	/// void* will allow any rigidbody class
+	void* m_body0;
+	void* m_body1;
+	int	m_cachedPoints;
+
+	
+	/// sort cached points so most isolated points come first
+	int	SortCachedPoints(const ManifoldPoint& pt);
+
+public:
+
+	int m_index1;
+
+	PersistentManifold();
+
+	PersistentManifold(void* body0,void* body1)
+		: m_body0(body0),m_body1(body1),m_cachedPoints(0)
+	{
+	}
+
+	inline void* GetBody0() { return m_body0;}
+	inline void* GetBody1() { return m_body1;}
+
+	inline const void* GetBody0() const { return m_body0;}
+	inline const void* GetBody1() const { return m_body1;}
+
+	void	SetBodies(void* body0,void* body1)
+	{
+		m_body0 = body0;
+		m_body1 = body1;
+	}
+
+	
+
+	inline int	GetNumContacts() const { return m_cachedPoints;}
+
+	inline const ManifoldPoint& GetContactPoint(int index) const
+	{
+		ASSERT(index < m_cachedPoints);
+		return m_pointCache[index];
+	}
+
+	inline ManifoldPoint& GetContactPoint(int index)
+	{
+		ASSERT(index < m_cachedPoints);
+		return m_pointCache[index];
+	}
+
+	/// todo: get this margin from the current physics / collision environment
+	inline float	GetManifoldMargin() const
+	{
+		return 0.02f;
+	}
+
+	int GetCacheEntry(const ManifoldPoint& newPoint) const;
+
+	void AddManifoldPoint( const ManifoldPoint& newPoint);
+
+	void RemoveContactPoint (int index)
+	{
+		m_pointCache[index] = m_pointCache[GetNumContacts() - 1];
+		m_cachedPoints--;
+	}
+	void ReplaceContactPoint(const ManifoldPoint& newPoint,int insertIndex)
+	{
+		assert(ValidContactDistance(newPoint));
+		m_pointCache[insertIndex] = newPoint;
+	}
+
+	bool ValidContactDistance(const ManifoldPoint& pt) const
+	{
+		return pt.m_distance1 < GetManifoldMargin();
+	}
+	/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
+	void	RefreshContactPoints(  const SimdTransform& trA,const SimdTransform& trB);
+
+	void	ClearManifold();
+
+	float	GetCollisionImpulse() const;
+
+
+};
+
+
+
+#endif //PERSISTENT_MANIFOLD_H

extern/bullet/Bullet/NarrowPhaseCollision/PointCollector.h

@@ -0,0 +1,36 @@
+#ifndef POINT_COLLECTOR_H
+#define POINT_COLLECTOR_H
+
+#include "DiscreteCollisionDetectorInterface.h"
+
+
+
+struct PointCollector : public DiscreteCollisionDetectorInterface::Result
+{
+	
+	
+	SimdVector3 m_normalOnBInWorld;
+	SimdVector3 m_pointInWorld;
+	SimdScalar	m_distance;//negative means penetration
+
+	bool	m_hasResult;
+
+	PointCollector () 
+		: m_hasResult(false),m_distance(1e30f)
+	{
+	}
+
+	virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
+	{
+		if (depth< m_distance)
+		{
+			m_hasResult = true;
+			m_normalOnBInWorld = normalOnBInWorld;
+			m_pointInWorld = pointInWorld;
+			//negative means penetration
+			m_distance = depth;
+		}
+	}
+};
+
+#endif //POINT_COLLECTOR_H

extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.cpp

@@ -0,0 +1,94 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#include "RaycastCallback.h"
+
+RaycastCallback::RaycastCallback(const SimdVector3& from,const SimdVector3& to)
+	:
+	m_from(from),
+	m_to(to),
+	m_hitFraction(1.f),
+	m_hitProxy(0)
+{
+
+}
+
+
+
+void RaycastCallback::ProcessTriangle(SimdVector3* triangle)
+{
+
+	int hits_found=0;
+	const SimdVector3 &vert0=triangle[0];
+	const SimdVector3 &vert1=triangle[1];
+	const SimdVector3 &vert2=triangle[2];
+
+	SimdVector3 v10; v10 = vert1 - vert0 ;
+	SimdVector3 v20; v20 = vert2 - vert0 ;
+
+	SimdVector3 triangleNormal; triangleNormal = v10.cross( v20 );
+	
+	const float dist = vert0.dot(triangleNormal);
+	float dist_a = triangleNormal.dot(m_from) ;
+	dist_a-= dist;
+	float dist_b = triangleNormal.dot(m_to);
+	dist_b -= dist;
+
+	if ( dist_a * dist_b >= 0.0f)
+	{
+		return ; // same sign
+	}
+	
+	const float proj_length=dist_a-dist_b;
+	const float distance = (dist_a)/(proj_length);
+	// Now we have the intersection point on the plane, we'll see if it's inside the triangle
+	// Add an epsilon as a tolerance for the raycast,
+	// in case the ray hits exacly on the edge of the triangle.
+	// It must be scaled for the triangle size.
+	if(distance < m_hitFraction)
+	{
+		float edge_tolerance =triangleNormal.length2();		
+		edge_tolerance *= -0.0001f;
+		SimdVector3 point; point.setInterpolate3( m_from, m_to, distance);
+		{
+			SimdVector3 v0p; v0p = vert0 - point;
+			SimdVector3 v1p; v1p = vert1 - point;
+			SimdVector3 cp0; cp0 = v0p.cross( v1p );
+
+			if ( (float)(cp0.dot(triangleNormal)) >=edge_tolerance) 
+			{
+				SimdVector3 v2p; v2p = vert2 -  point;
+				SimdVector3 cp1;
+				cp1 = v1p.cross( v2p);
+				if ( (float)(cp1.dot(triangleNormal)) >=edge_tolerance) 
+				{
+					SimdVector3 cp2;
+					cp2 = v2p.cross(v0p);
+					if ( (float)(cp2.dot(triangleNormal)) >=edge_tolerance) 
+					{
+						m_hitFraction = distance;
+						if ( dist_a > 0 )
+						{
+							m_hitNormalWorld = triangleNormal;
+						}
+						else
+						{
+							m_hitNormalWorld = -triangleNormal;
+						}
+						hits_found = 1;
+					}
+				}
+			}
+		}
+	}
+	//return hits_found;
+
+}

extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.h

@@ -0,0 +1,40 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef RAYCAST_TRI_CALLBACK_H
+#define RAYCAST_TRI_CALLBACK_H
+
+#include "CollisionShapes/TriangleCallback.h"
+struct BroadphaseProxy;
+
+
+class  RaycastCallback: public TriangleCallback
+{
+public:
+
+		//input
+	SimdVector3 m_from;
+	SimdVector3 m_to;
+	//input / output
+	SimdScalar			m_hitFraction;
+	BroadphaseProxy*	m_hitProxy;
+
+	//output
+	SimdVector3			m_hitNormalWorld;
+
+
+
+	RaycastCallback(const SimdVector3& from,const SimdVector3& to);
+
+	
+	virtual void ProcessTriangle(SimdVector3* triangle);
+};
+
+#endif //RAYCAST_TRI_CALLBACK_H

extern/bullet/Bullet/NarrowPhaseCollision/SimplexSolverInterface.h

@@ -0,0 +1,58 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+
+#ifndef SIMPLEX_SOLVER_INTERFACE_H
+#define SIMPLEX_SOLVER_INTERFACE_H
+
+#include "SimdVector3.h"
+#include "SimdPoint3.h"
+
+#define NO_VIRTUAL_INTERFACE
+#ifdef NO_VIRTUAL_INTERFACE
+#include "VoronoiSimplexSolver.h"
+#define SimplexSolverInterface VoronoiSimplexSolver
+#else
+/// for simplices from 1 to 4 vertices
+/// for example Johnson-algorithm or alternative approaches based on
+/// voronoi regions or barycentric coordinates
+class SimplexSolverInterface
+{
+	public:
+		virtual ~SimplexSolverInterface() {};
+
+	virtual void reset() = 0;
+
+	virtual void addVertex(const SimdVector3& w, const SimdPoint3& p, const SimdPoint3& q) = 0;
+	
+	virtual bool closest(SimdVector3& v) = 0;
+
+	virtual SimdScalar maxVertex() = 0;
+
+	virtual bool fullSimplex() const = 0;
+
+	virtual int getSimplex(SimdPoint3 *pBuf, SimdPoint3 *qBuf, SimdVector3 *yBuf) const = 0;
+
+	virtual bool inSimplex(const SimdVector3& w) = 0;
+	
+	virtual void backup_closest(SimdVector3& v) = 0;
+
+	virtual bool emptySimplex() const = 0;
+
+	virtual void compute_points(SimdPoint3& p1, SimdPoint3& p2) = 0;
+
+	virtual int numVertices() const =0;
+
+
+};
+#endif
+#endif //SIMPLEX_SOLVER_INTERFACE_H
+

extern/bullet/Bullet/NarrowPhaseCollision/SubSimplexConvexCast.cpp

@@ -0,0 +1,124 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#include "SubSimplexConvexCast.h"
+#include "CollisionShapes/ConvexShape.h"
+#include "CollisionShapes/MinkowskiSumShape.h"
+#include "NarrowPhaseCollision/SimplexSolverInterface.h"
+
+
+SubsimplexConvexCast::SubsimplexConvexCast (ConvexShape* convexA,ConvexShape* convexB,SimplexSolverInterface* simplexSolver)
+:m_simplexSolver(simplexSolver),
+m_convexA(convexA),m_convexB(convexB)
+{
+}
+
+
+#define MAX_ITERATIONS 1000
+
+bool	SubsimplexConvexCast::calcTimeOfImpact(
+		const SimdTransform& fromA,
+		const SimdTransform& toA,
+		const SimdTransform& fromB,
+		const SimdTransform& toB,
+		CastResult& result)
+{
+
+		MinkowskiSumShape combi(m_convexA,m_convexB);
+	MinkowskiSumShape* convex = &combi;
+
+	SimdTransform	rayFromLocalA;
+	SimdTransform	rayToLocalA;
+
+	rayFromLocalA = fromA.inverse()* fromB;
+	rayToLocalA = toA.inverse()* toB;
+
+
+	m_simplexSolver->reset();
+
+	convex->SetTransformB(SimdTransform(rayFromLocalA.getBasis()));
+
+	float radius = 0.01f;
+
+	SimdScalar lambda = 0.f;
+	SimdVector3 s = rayFromLocalA.getOrigin();
+	SimdVector3 r = rayToLocalA.getOrigin()-rayFromLocalA.getOrigin();
+	SimdVector3 x = s;
+	SimdVector3 v;
+	SimdVector3 arbitraryPoint = convex->LocalGetSupportingVertex(r);
+	
+	v = x - arbitraryPoint;
+
+	int maxIter = MAX_ITERATIONS;
+
+	SimdVector3 n;
+	n.setValue(0.f,0.f,0.f);
+	bool hasResult = false;
+	SimdVector3 c;
+
+	float lastLambda = lambda;
+
+
+	float dist2 = v.length2();
+	float epsilon = 0.0001f;
+
+	SimdVector3	w,p;
+	float VdotR;
+	
+	while ( (dist2 > epsilon) && maxIter--)
+	{
+		p = convex->LocalGetSupportingVertex( v);
+		 w = x - p;
+
+		float VdotW = v.dot(w);
+
+		if ( VdotW > 0.f)
+		{
+			VdotR = v.dot(r);
+
+			if (VdotR >= 0.f)
+				return false;
+			else
+			{
+				lambda = lambda - VdotW / VdotR;
+				x = s + lambda * r;
+				m_simplexSolver->reset();
+				//check next line
+				w = x-p;
+				lastLambda = lambda;
+				n = v;
+				hasResult = true;
+			}
+		} 
+		m_simplexSolver->addVertex( w, x , p);
+		if (m_simplexSolver->closest(v))
+		{
+			dist2 = v.length2();
+			hasResult = true;
+			//printf("V=%f , %f, %f\n",v[0],v[1],v[2]);
+			//printf("DIST2=%f\n",dist2);
+			//printf("numverts = %i\n",m_simplexSolver->numVertices());
+		} else
+		{
+			dist2 = 0.f;
+		} 
+	}
+
+	int numiter = MAX_ITERATIONS - maxIter;
+//	printf("number of iterations: %d", numiter);
+	result.m_fraction = lambda;
+	result.m_normal = n;
+
+	return true;
+}
+
+
+

extern/bullet/Bullet/NarrowPhaseCollision/SubSimplexConvexCast.h

@@ -0,0 +1,42 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#ifndef SUBSIMPLEX_CONVEX_CAST_H
+#define SUBSIMPLEX_CONVEX_CAST_H
+
+#include "ConvexCast.h"
+#include "SimplexSolverInterface.h"
+class ConvexShape;
+
+/// SubsimplexConvexCast implements Gino van den Bergens' paper
+/// GJK based Ray Cast, optimized version
+class SubsimplexConvexCast : public ConvexCast
+{
+	SimplexSolverInterface* m_simplexSolver;
+	ConvexShape*	m_convexA;
+	ConvexShape*	m_convexB;
+
+public:
+
+	SubsimplexConvexCast (ConvexShape*	shapeA,ConvexShape*	shapeB,SimplexSolverInterface* simplexSolver);
+
+	//virtual ~SubsimplexConvexCast();
+	
+	virtual bool	calcTimeOfImpact(
+			const SimdTransform& fromA,
+			const SimdTransform& toA,
+			const SimdTransform& fromB,
+			const SimdTransform& toB,
+			CastResult& result);
+
+};
+
+#endif //SUBSIMPLEX_CONVEX_CAST_H

extern/bullet/Bullet/NarrowPhaseCollision/VoronoiSimplexSolver.cpp

@@ -0,0 +1,582 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#include "VoronoiSimplexSolver.h"
+#include <assert.h>
+#include <stdio.h>
+
+#define VERTA  0
+#define VERTB  1
+#define VERTC  2
+#define VERTD  3
+
+#define CATCH_DEGENERATE_TETRAHEDRON 1
+void	VoronoiSimplexSolver::removeVertex(int index)
+{
+	
+	assert(m_numVertices>0);
+	m_numVertices--;
+	m_simplexVectorW[index] = m_simplexVectorW[m_numVertices];
+	m_simplexPointsP[index] = m_simplexPointsP[m_numVertices];
+	m_simplexPointsQ[index] = m_simplexPointsQ[m_numVertices];
+}
+
+void	VoronoiSimplexSolver::ReduceVertices (const UsageBitfield& usedVerts)
+{
+	if ((numVertices() >= 4) && (!usedVerts.usedVertexD))
+		removeVertex(3);
+
+	if ((numVertices() >= 3) && (!usedVerts.usedVertexC))
+		removeVertex(2);
+
+	if ((numVertices() >= 2) && (!usedVerts.usedVertexB))
+		removeVertex(1);
+	
+	if ((numVertices() >= 1) && (!usedVerts.usedVertexA))
+		removeVertex(0);
+
+}
+
+
+
+
+
+//clear the simplex, remove all the vertices
+void VoronoiSimplexSolver::reset()
+{
+	m_cachedValidClosest = false;
+	m_numVertices = 0;
+	m_needsUpdate = true;
+	m_lastW = SimdVector3(1e30f,1e30f,1e30f);
+	m_cachedBC.Reset();
+}
+
+
+
+	//add a vertex
+void VoronoiSimplexSolver::addVertex(const SimdVector3& w, const SimdPoint3& p, const SimdPoint3& q)
+{
+	m_lastW = w;
+	m_needsUpdate = true;
+
+	m_simplexVectorW[m_numVertices] = w;
+	m_simplexPointsP[m_numVertices] = p;
+	m_simplexPointsQ[m_numVertices] = q;
+
+	m_numVertices++;
+}
+
+bool	VoronoiSimplexSolver::UpdateClosestVectorAndPoints()
+{
+	
+	if (m_needsUpdate)
+	{
+		m_cachedBC.Reset();
+
+		m_needsUpdate = false;
+
+		switch (numVertices())
+		{
+		case 0:
+				m_cachedValidClosest = false;
+				break;
+		case 1:
+			{
+				m_cachedP1 = m_simplexPointsP[0];
+				m_cachedP2 = m_simplexPointsQ[0];
+				m_cachedV = m_cachedP1-m_cachedP2; //== m_simplexVectorW[0]
+				m_cachedBC.Reset();
+				m_cachedBC.SetBarycentricCoordinates(1.f,0.f,0.f,0.f);
+				m_cachedValidClosest = m_cachedBC.IsValid();
+				break;
+			};
+		case 2:
+			{
+			//closest point origin from line segment
+					const SimdVector3& from = m_simplexVectorW[0];
+					const SimdVector3& to = m_simplexVectorW[1];
+					SimdVector3 nearest;
+
+					SimdVector3 p (0.f,0.f,0.f);
+					SimdVector3 diff = p - from;
+					SimdVector3 v = to - from;
+					float t = v.dot(diff);
+					
+					if (t > 0) {
+						float dotVV = v.dot(v);
+						if (t < dotVV) {
+							t /= dotVV;
+							diff -= t*v;
+							m_cachedBC.m_usedVertices.usedVertexA = true;
+							m_cachedBC.m_usedVertices.usedVertexB = true;
+						} else {
+							t = 1;
+							diff -= v;
+							//reduce to 1 point
+							m_cachedBC.m_usedVertices.usedVertexB = true;
+						}
+					} else
+					{
+						t = 0;
+						//reduce to 1 point
+						m_cachedBC.m_usedVertices.usedVertexA = true;
+					}
+					m_cachedBC.SetBarycentricCoordinates(1-t,t);
+					nearest = from + t*v;
+
+					m_cachedP1 = m_simplexPointsP[0] + t * (m_simplexPointsP[1] - m_simplexPointsP[0]);
+					m_cachedP2 = m_simplexPointsQ[0] + t * (m_simplexPointsQ[1] - m_simplexPointsQ[0]);
+					m_cachedV = m_cachedP1 - m_cachedP2;
+					
+					ReduceVertices(m_cachedBC.m_usedVertices);
+
+					m_cachedValidClosest = m_cachedBC.IsValid();
+					break;
+			}
+		case 3:
+			{
+				//closest point origin from triangle
+				SimdVector3 p (0.f,0.f,0.f);
+				
+				const SimdVector3& a = m_simplexVectorW[0];
+				const SimdVector3& b = m_simplexVectorW[1];
+				const SimdVector3& c = m_simplexVectorW[2];
+
+				ClosestPtPointTriangle(p,a,b,c,m_cachedBC);
+				m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] +
+								m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] +
+								m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2] +
+								m_simplexPointsP[3] * m_cachedBC.m_barycentricCoords[3];
+
+				m_cachedP2 = m_simplexPointsQ[0] * m_cachedBC.m_barycentricCoords[0] +
+					m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] +
+					m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2] +
+					m_simplexPointsQ[3] * m_cachedBC.m_barycentricCoords[3];
+
+				m_cachedV = m_cachedP1-m_cachedP2;
+
+				ReduceVertices (m_cachedBC.m_usedVertices);
+				m_cachedValidClosest =  m_cachedBC.IsValid();
+
+				break;
+			}
+		case 4:
+			{
+
+				
+				SimdVector3 p (0.f,0.f,0.f);
+				
+				const SimdVector3& a = m_simplexVectorW[0];
+				const SimdVector3& b = m_simplexVectorW[1];
+				const SimdVector3& c = m_simplexVectorW[2];
+				const SimdVector3& d = m_simplexVectorW[3];
+
+				bool hasSeperation = ClosestPtPointTetrahedron(p,a,b,c,d,m_cachedBC);
+
+				if (hasSeperation)
+				{
+
+					m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] +
+						m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] +
+						m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2] +
+						m_simplexPointsP[3] * m_cachedBC.m_barycentricCoords[3];
+
+					m_cachedP2 = m_simplexPointsQ[0] * m_cachedBC.m_barycentricCoords[0] +
+						m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] +
+						m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2] +
+						m_simplexPointsQ[3] * m_cachedBC.m_barycentricCoords[3];
+
+					m_cachedV = m_cachedP1-m_cachedP2;
+					ReduceVertices (m_cachedBC.m_usedVertices);
+				} else
+				{
+//					printf("sub distance got penetration\n");
+
+					if (m_cachedBC.m_degenerate)
+					{
+						m_cachedValidClosest = false;
+					} else
+					{
+						m_cachedValidClosest = true;
+						//degenerate case == false, penetration = true + zero
+						m_cachedV.setValue(0.f,0.f,0.f);
+					}
+					break;
+				}
+
+				m_cachedValidClosest = m_cachedBC.IsValid();
+
+				//closest point origin from tetrahedron
+				break;
+			}
+		default:
+			{
+				m_cachedValidClosest = false;
+			}
+		};
+	}
+
+	return m_cachedValidClosest;
+
+}
+
+//return/calculate the closest vertex
+bool VoronoiSimplexSolver::closest(SimdVector3& v)
+{
+	bool succes = UpdateClosestVectorAndPoints();
+	v = m_cachedV;
+	return succes;
+}
+
+
+
+SimdScalar VoronoiSimplexSolver::maxVertex()
+{
+	int i, numverts = numVertices();
+	SimdScalar maxV = 0.f;
+	for (i=0;i<numverts;i++)
+	{
+		SimdScalar curLen2 = m_simplexVectorW[i].length2();
+		if (maxV < curLen2)
+			maxV = curLen2;
+	}
+	return maxV;
+}
+
+
+
+	//return the current simplex
+int VoronoiSimplexSolver::getSimplex(SimdPoint3 *pBuf, SimdPoint3 *qBuf, SimdVector3 *yBuf) const
+{
+	int i;
+	for (i=0;i<numVertices();i++)
+	{
+		yBuf[i] = m_simplexVectorW[i];
+		pBuf[i] = m_simplexPointsP[i];
+		qBuf[i] = m_simplexPointsQ[i];
+	}
+	return numVertices();
+}
+
+
+
+
+bool VoronoiSimplexSolver::inSimplex(const SimdVector3& w)
+{
+	bool found = false;
+	int i, numverts = numVertices();
+	SimdScalar maxV = 0.f;
+	
+	//w is in the current (reduced) simplex
+	for (i=0;i<numverts;i++)
+	{
+		if (m_simplexVectorW[i] == w)
+			found = true;
+	}
+
+	//check in case lastW is already removed
+	if (w == m_lastW)
+		return true;
+    	
+	return found;
+}
+
+void VoronoiSimplexSolver::backup_closest(SimdVector3& v) 
+{
+	v = m_cachedV;
+}
+
+
+bool VoronoiSimplexSolver::emptySimplex() const 
+{
+	return (numVertices() == 0);
+
+}
+
+void VoronoiSimplexSolver::compute_points(SimdPoint3& p1, SimdPoint3& p2) 
+{
+	UpdateClosestVectorAndPoints();
+	p1 = m_cachedP1;
+	p2 = m_cachedP2;
+
+}
+
+
+
+
+bool	VoronoiSimplexSolver::ClosestPtPointTriangle(const SimdPoint3& p, const SimdPoint3& a, const SimdPoint3& b, const SimdPoint3& c,SubSimplexClosestResult& result)
+{
+	result.m_usedVertices.reset();
+
+    // Check if P in vertex region outside A
+    SimdVector3 ab = b - a;
+    SimdVector3 ac = c - a;
+    SimdVector3 ap = p - a;
+    float d1 = ab.dot(ap);
+    float d2 = ac.dot(ap);
+    if (d1 <= 0.0f && d2 <= 0.0f) 
+	{
+		result.m_closestPointOnSimplex = a;
+		result.m_usedVertices.usedVertexA = true;
+		result.SetBarycentricCoordinates(1,0,0);
+		return true;// a; // barycentric coordinates (1,0,0)
+	}
+
+    // Check if P in vertex region outside B
+    SimdVector3 bp = p - b;
+    float d3 = ab.dot(bp);
+    float d4 = ac.dot(bp);
+    if (d3 >= 0.0f && d4 <= d3) 
+	{
+		result.m_closestPointOnSimplex = b;
+		result.m_usedVertices.usedVertexB = true;
+		result.SetBarycentricCoordinates(0,1,0);
+
+		return true; // b; // barycentric coordinates (0,1,0)
+	}
+    // Check if P in edge region of AB, if so return projection of P onto AB
+    float vc = d1*d4 - d3*d2;
+    if (vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f) {
+        float v = d1 / (d1 - d3);
+		result.m_closestPointOnSimplex = a + v * ab;
+		result.m_usedVertices.usedVertexA = true;
+		result.m_usedVertices.usedVertexB = true;
+		result.SetBarycentricCoordinates(1-v,v,0);
+		return true;
+        //return a + v * ab; // barycentric coordinates (1-v,v,0)
+    }
+
+    // Check if P in vertex region outside C
+    SimdVector3 cp = p - c;
+    float d5 = ab.dot(cp);
+    float d6 = ac.dot(cp);
+    if (d6 >= 0.0f && d5 <= d6) 
+	{
+		result.m_closestPointOnSimplex = c;
+		result.m_usedVertices.usedVertexC = true;
+		result.SetBarycentricCoordinates(0,0,1);
+		return true;//c; // barycentric coordinates (0,0,1)
+	}
+
+    // Check if P in edge region of AC, if so return projection of P onto AC
+    float vb = d5*d2 - d1*d6;
+    if (vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f) {
+        float w = d2 / (d2 - d6);
+		result.m_closestPointOnSimplex = a + w * ac;
+		result.m_usedVertices.usedVertexA = true;
+		result.m_usedVertices.usedVertexC = true;
+		result.SetBarycentricCoordinates(1-w,0,w);
+		return true;
+        //return a + w * ac; // barycentric coordinates (1-w,0,w)
+    }
+
+    // Check if P in edge region of BC, if so return projection of P onto BC
+    float va = d3*d6 - d5*d4;
+    if (va <= 0.0f && (d4 - d3) >= 0.0f && (d5 - d6) >= 0.0f) {
+        float w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
+		
+		result.m_closestPointOnSimplex = b + w * (c - b);
+		result.m_usedVertices.usedVertexB = true;
+		result.m_usedVertices.usedVertexC = true;
+		result.SetBarycentricCoordinates(0,1-w,w);
+		return true;		
+       // return b + w * (c - b); // barycentric coordinates (0,1-w,w)
+    }
+
+    // P inside face region. Compute Q through its barycentric coordinates (u,v,w)
+    float denom = 1.0f / (va + vb + vc);
+    float v = vb * denom;
+    float w = vc * denom;
+    
+	result.m_closestPointOnSimplex = a + ab * v + ac * w;
+	result.m_usedVertices.usedVertexA = true;
+	result.m_usedVertices.usedVertexB = true;
+	result.m_usedVertices.usedVertexC = true;
+	result.SetBarycentricCoordinates(1-v-w,v,w);
+	
+	return true;
+//	return a + ab * v + ac * w; // = u*a + v*b + w*c, u = va * denom = 1.0f - v - w
+
+}
+
+
+
+
+
+/// Test if point p and d lie on opposite sides of plane through abc
+int VoronoiSimplexSolver::PointOutsideOfPlane(const SimdPoint3& p, const SimdPoint3& a, const SimdPoint3& b, const SimdPoint3& c, const SimdPoint3& d)
+{
+	SimdVector3 normal = (b-a).cross(c-a);
+
+    float signp = (p - a).dot(normal); // [AP AB AC]
+    float signd = (d - a).dot( normal); // [AD AB AC]
+
+#ifdef CATCH_DEGENERATE_TETRAHEDRON
+	if (signd * signd < (1e-4f * 1e-4f))
+	{
+//		printf("affine dependent/degenerate\n");//
+		return -1;
+	}
+#endif
+	// Points on opposite sides if expression signs are opposite
+    return signp * signd < 0.f;
+}
+
+
+bool	VoronoiSimplexSolver::ClosestPtPointTetrahedron(const SimdPoint3& p, const SimdPoint3& a, const SimdPoint3& b, const SimdPoint3& c, const SimdPoint3& d, SubSimplexClosestResult& finalResult)
+{
+	SubSimplexClosestResult tempResult;
+
+    // Start out assuming point inside all halfspaces, so closest to itself
+	finalResult.m_closestPointOnSimplex = p;
+	finalResult.m_usedVertices.reset();
+    finalResult.m_usedVertices.usedVertexA = true;
+	finalResult.m_usedVertices.usedVertexB = true;
+	finalResult.m_usedVertices.usedVertexC = true;
+	finalResult.m_usedVertices.usedVertexD = true;
+
+    int pointOutsideABC = PointOutsideOfPlane(p, a, b, c, d);
+	int pointOutsideACD = PointOutsideOfPlane(p, a, c, d, b);
+  	int	pointOutsideADB = PointOutsideOfPlane(p, a, d, b, c);
+	int	pointOutsideBDC = PointOutsideOfPlane(p, b, d, c, a);
+
+   if (pointOutsideABC < 0 || pointOutsideACD < 0 || pointOutsideADB < 0 || pointOutsideBDC < 0)
+   {
+	   finalResult.m_degenerate = true;
+	   return false;
+   }
+
+   if (!pointOutsideABC  && !pointOutsideACD && !pointOutsideADB && !pointOutsideBDC)
+	 {
+		 return false;
+	 }
+
+
+    float bestSqDist = FLT_MAX;
+    // If point outside face abc then compute closest point on abc
+	if (pointOutsideABC) 
+	{
+        ClosestPtPointTriangle(p, a, b, c,tempResult);
+		SimdPoint3 q = tempResult.m_closestPointOnSimplex;
+		
+        float sqDist = (q - p).dot( q - p);
+        // Update best closest point if (squared) distance is less than current best
+        if (sqDist < bestSqDist) {
+			bestSqDist = sqDist;
+			finalResult.m_closestPointOnSimplex = q;
+			//convert result bitmask!
+			finalResult.m_usedVertices.reset();
+			finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
+			finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexB;
+			finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexC;
+			finalResult.SetBarycentricCoordinates(
+					tempResult.m_barycentricCoords[VERTA],
+					tempResult.m_barycentricCoords[VERTB],
+					tempResult.m_barycentricCoords[VERTC],
+					0
+			);
+
+		}
+    }
+  
+
+	// Repeat test for face acd
+	if (pointOutsideACD) 
+	{
+        ClosestPtPointTriangle(p, a, c, d,tempResult);
+		SimdPoint3 q = tempResult.m_closestPointOnSimplex;
+		//convert result bitmask!
+
+        float sqDist = (q - p).dot( q - p);
+        if (sqDist < bestSqDist) 
+		{
+			bestSqDist = sqDist;
+			finalResult.m_closestPointOnSimplex = q;
+			finalResult.m_usedVertices.reset();
+			finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
+			finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexB;
+			finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexC;
+			finalResult.SetBarycentricCoordinates(
+					tempResult.m_barycentricCoords[VERTA],
+					0,
+					tempResult.m_barycentricCoords[VERTB],
+					tempResult.m_barycentricCoords[VERTC]
+			);
+
+		}
+    }
+    // Repeat test for face adb
+
+	
+	if (pointOutsideADB)
+	{
+		ClosestPtPointTriangle(p, a, d, b,tempResult);
+		SimdPoint3 q = tempResult.m_closestPointOnSimplex;
+		//convert result bitmask!
+
+        float sqDist = (q - p).dot( q - p);
+        if (sqDist < bestSqDist) 
+		{
+			bestSqDist = sqDist;
+			finalResult.m_closestPointOnSimplex = q;
+			finalResult.m_usedVertices.reset();
+			finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
+			finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB;
+			finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexC;
+			finalResult.SetBarycentricCoordinates(
+					tempResult.m_barycentricCoords[VERTA],
+					tempResult.m_barycentricCoords[VERTC],
+					0,
+					tempResult.m_barycentricCoords[VERTB]
+			);
+
+		}
+    }
+    // Repeat test for face bdc
+    
+
+	if (pointOutsideBDC)
+	{
+        ClosestPtPointTriangle(p, b, d, c,tempResult);
+		SimdPoint3 q = tempResult.m_closestPointOnSimplex;
+		//convert result bitmask!
+        float sqDist = (q - p).dot( q - p);
+        if (sqDist < bestSqDist) 
+		{
+			bestSqDist = sqDist;
+			finalResult.m_closestPointOnSimplex = q;
+			finalResult.m_usedVertices.reset();
+			finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexA;
+			finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB;
+			finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexC;
+
+			finalResult.SetBarycentricCoordinates(
+					0,
+					tempResult.m_barycentricCoords[VERTA],
+					tempResult.m_barycentricCoords[VERTC],
+					tempResult.m_barycentricCoords[VERTB]
+			);
+
+		}
+    }
+
+	//help! we ended up full !
+	
+	if (finalResult.m_usedVertices.usedVertexA &&
+		finalResult.m_usedVertices.usedVertexB &&
+		finalResult.m_usedVertices.usedVertexC &&
+		finalResult.m_usedVertices.usedVertexD) 
+	{
+		return true;
+	}
+
+    return true;
+}

extern/bullet/Bullet/NarrowPhaseCollision/VoronoiSimplexSolver.h

@@ -0,0 +1,152 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+
+#ifndef VoronoiSimplexSolver_H
+#define VoronoiSimplexSolver_H
+
+#include "SimplexSolverInterface.h"
+
+
+
+#define VORONOI_SIMPLEX_MAX_VERTS 5
+
+struct UsageBitfield{
+	UsageBitfield()
+	{
+		reset();
+	}
+
+	void reset()
+	{
+		usedVertexA = false;
+		usedVertexB = false;
+		usedVertexC = false;
+		usedVertexD = false;
+	}
+	unsigned short usedVertexA	: 1;
+	unsigned short usedVertexB	: 1;
+	unsigned short usedVertexC	: 1;
+	unsigned short usedVertexD	: 1;
+	unsigned short unused1		: 1;
+	unsigned short unused2		: 1;
+	unsigned short unused3		: 1;
+	unsigned short unused4		: 1;
+};
+
+
+struct	SubSimplexClosestResult
+{
+	SimdPoint3	m_closestPointOnSimplex;
+	//MASK for m_usedVertices
+	//stores the simplex vertex-usage, using the MASK, 
+	// if m_usedVertices & MASK then the related vertex is used
+	UsageBitfield	m_usedVertices;
+	float	m_barycentricCoords[4];
+	bool m_degenerate;
+
+	void	Reset()
+	{
+		m_degenerate = false;
+		SetBarycentricCoordinates();
+		m_usedVertices.reset();
+	}
+	bool	IsValid()
+	{
+		bool valid = (m_barycentricCoords[0] >= 0.f) &&
+			(m_barycentricCoords[1] >= 0.f) &&
+			(m_barycentricCoords[2] >= 0.f) &&
+			(m_barycentricCoords[3] >= 0.f);
+
+
+		return valid;
+	}
+	void	SetBarycentricCoordinates(float a=0.f,float b=0.f,float c=0.f,float d=0.f)
+	{
+		m_barycentricCoords[0] = a;
+		m_barycentricCoords[1] = b;
+		m_barycentricCoords[2] = c;
+		m_barycentricCoords[3] = d;
+	}
+
+};
+
+/// VoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points simplex to the origin.
+/// Can be used with GJK, as an alternative to Johnson distance algorithm.
+#ifdef NO_VIRTUAL_INTERFACE
+class VoronoiSimplexSolver
+#else
+class VoronoiSimplexSolver : public SimplexSolverInterface
+#endif
+{
+public:
+
+	int	m_numVertices;
+
+	SimdVector3	m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS];
+	SimdPoint3	m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS];
+	SimdPoint3	m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS];
+
+	
+
+	SimdPoint3	m_cachedP1;
+	SimdPoint3	m_cachedP2;
+	SimdVector3	m_cachedV;
+	SimdVector3	m_lastW;
+	bool		m_cachedValidClosest;
+
+	SubSimplexClosestResult m_cachedBC;
+
+	bool	m_needsUpdate;
+	
+	void	removeVertex(int index);
+	void	ReduceVertices (const UsageBitfield& usedVerts);
+	bool	UpdateClosestVectorAndPoints();
+
+	bool	ClosestPtPointTetrahedron(const SimdPoint3& p, const SimdPoint3& a, const SimdPoint3& b, const SimdPoint3& c, const SimdPoint3& d, SubSimplexClosestResult& finalResult);
+	int		PointOutsideOfPlane(const SimdPoint3& p, const SimdPoint3& a, const SimdPoint3& b, const SimdPoint3& c, const SimdPoint3& d);
+	bool	ClosestPtPointTriangle(const SimdPoint3& p, const SimdPoint3& a, const SimdPoint3& b, const SimdPoint3& c,SubSimplexClosestResult& result);
+
+public:
+
+	 void reset();
+
+	 void addVertex(const SimdVector3& w, const SimdPoint3& p, const SimdPoint3& q);
+
+
+	 bool closest(SimdVector3& v);
+
+	 SimdScalar maxVertex();
+
+	 bool fullSimplex() const
+	 {
+		 return (m_numVertices == 4);
+	 }
+
+	 int getSimplex(SimdPoint3 *pBuf, SimdPoint3 *qBuf, SimdVector3 *yBuf) const;
+
+	 bool inSimplex(const SimdVector3& w);
+	
+	 void backup_closest(SimdVector3& v) ;
+
+	 bool emptySimplex() const ;
+
+	 void compute_points(SimdPoint3& p1, SimdPoint3& p2) ;
+
+	 int numVertices() const 
+	 {
+		 return m_numVertices;
+	 }
+
+
+};
+
+#endif //VoronoiSimplexSolver

extern/bullet/BulletDynamics/BulletDynamics.dsp

@@ -0,0 +1,236 @@
+# Microsoft Developer Studio Project File - Name="BulletDynamics" - Package Owner=<4>
+# Microsoft Developer Studio Generated Build File, Format Version 6.00
+# ** DO NOT EDIT **
+
+# TARGTYPE "Win32 (x86) Static Library" 0x0104
+
+CFG=BulletDynamics - Win32 Debug
+!MESSAGE This is not a valid makefile. To build this project using NMAKE,
+!MESSAGE use the Export Makefile command and run
+!MESSAGE 
+!MESSAGE NMAKE /f "BulletDynamics.mak".
+!MESSAGE 
+!MESSAGE You can specify a configuration when running NMAKE
+!MESSAGE by defining the macro CFG on the command line. For example:
+!MESSAGE 
+!MESSAGE NMAKE /f "BulletDynamics.mak" CFG="BulletDynamics - Win32 Debug"
+!MESSAGE 
+!MESSAGE Possible choices for configuration are:
+!MESSAGE 
+!MESSAGE "BulletDynamics - Win32 Release" (based on "Win32 (x86) Static Library")
+!MESSAGE "BulletDynamics - Win32 Debug" (based on "Win32 (x86) Static Library")
+!MESSAGE 
+
+# Begin Project
+# PROP AllowPerConfigDependencies 0
+# PROP Scc_ProjName ""
+# PROP Scc_LocalPath ""
+CPP=cl.exe
+RSC=rc.exe
+
+!IF  "$(CFG)" == "BulletDynamics - Win32 Release"
+
+# PROP BASE Use_MFC 0
+# PROP BASE Use_Debug_Libraries 0
+# PROP BASE Output_Dir "BulletDynamics___Win32_Release"
+# PROP BASE Intermediate_Dir "BulletDynamics___Win32_Release"
+# PROP BASE Target_Dir ""
+# PROP Use_MFC 0
+# PROP Use_Debug_Libraries 0
+# PROP Output_Dir "BulletDynamics___Win32_Release"
+# PROP Intermediate_Dir "BulletDynamics___Win32_Release"
+# PROP Target_Dir ""
+LINK32=link.exe -lib
+MTL=midl.exe
+# ADD BASE CPP /nologo /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_MBCS" /D "_LIB" /YX /FD /c
+# ADD CPP /nologo /W3 /GX /O2 /I "../LinearMath" /I "../Bullet" /I "../BulletDynamics" /D "WIN32" /D "NDEBUG" /D "_MBCS" /D "_LIB" /YX /FD /c
+# ADD BASE RSC /l 0x809 /d "NDEBUG"
+# ADD RSC /l 0x809 /d "NDEBUG"
+BSC32=bscmake.exe
+# ADD BASE BSC32 /nologo
+# ADD BSC32 /nologo
+LIB32=link.exe -lib
+# ADD BASE LIB32 /nologo
+# ADD LIB32 /nologo
+
+!ELSEIF  "$(CFG)" == "BulletDynamics - Win32 Debug"
+
+# PROP BASE Use_MFC 0
+# PROP BASE Use_Debug_Libraries 1
+# PROP BASE Output_Dir "BulletDynamics___Win32_Debug"
+# PROP BASE Intermediate_Dir "BulletDynamics___Win32_Debug"
+# PROP BASE Target_Dir ""
+# PROP Use_MFC 0
+# PROP Use_Debug_Libraries 1
+# PROP Output_Dir "BulletDynamics___Win32_Debug"
+# PROP Intermediate_Dir "BulletDynamics___Win32_Debug"
+# PROP Target_Dir ""
+LINK32=link.exe -lib
+MTL=midl.exe
+# ADD BASE CPP /nologo /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_MBCS" /D "_LIB" /YX /FD /GZ  /c
+# ADD CPP /nologo /W3 /Gm /GX /ZI /Od /I "../LinearMath" /I "../Bullet" /I "../BulletDynamics" /D "WIN32" /D "_DEBUG" /D "_MBCS" /D "_LIB" /YX /FD /GZ  /c
+# ADD BASE RSC /l 0x809 /d "_DEBUG"
+# ADD RSC /l 0x809 /d "_DEBUG"
+BSC32=bscmake.exe
+# ADD BASE BSC32 /nologo
+# ADD BSC32 /nologo
+LIB32=link.exe -lib
+# ADD BASE LIB32 /nologo
+# ADD LIB32 /nologo
+
+!ENDIF 
+
+# Begin Target
+
+# Name "BulletDynamics - Win32 Release"
+# Name "BulletDynamics - Win32 Debug"
+# Begin Group "ConstraintSolver"
+
+# PROP Default_Filter ""
+# Begin Source File
+
+SOURCE=.\ConstraintSolver\ConstraintSolver.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\ConstraintSolver\ContactConstraint.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\ConstraintSolver\ContactConstraint.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\ConstraintSolver\ContactSolverInfo.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\ConstraintSolver\JacobianEntry.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\ConstraintSolver\OdeConstraintSolver.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\ConstraintSolver\OdeConstraintSolver.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\ConstraintSolver\Point2PointConstraint.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\ConstraintSolver\Point2PointConstraint.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\ConstraintSolver\SimpleConstraintSolver.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\ConstraintSolver\SimpleConstraintSolver.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\ConstraintSolver\Solve2LinearConstraint.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\ConstraintSolver\Solve2LinearConstraint.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\ConstraintSolver\SorLcp.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\ConstraintSolver\SorLcp.h
+# End Source File
+# End Group
+# Begin Group "CollisionDispatch"
+
+# PROP Default_Filter ""
+# Begin Source File
+
+SOURCE=.\CollisionDispatch\ConvexConcaveCollisionAlgorithm.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionDispatch\ConvexConcaveCollisionAlgorithm.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionDispatch\ConvexConvexAlgorithm.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionDispatch\ConvexConvexAlgorithm.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionDispatch\EmptyCollisionAlgorithm.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionDispatch\EmptyCollisionAlgorithm.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionDispatch\ManifoldResult.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionDispatch\ManifoldResult.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionDispatch\ToiContactDispatcher.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionDispatch\ToiContactDispatcher.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionDispatch\UnionFind.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CollisionDispatch\UnionFind.h
+# End Source File
+# End Group
+# Begin Group "Dynamics"
+
+# PROP Default_Filter ""
+# Begin Source File
+
+SOURCE=.\Dynamics\BU_Joint.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\Dynamics\BU_Joint.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\Dynamics\ContactJoint.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\Dynamics\ContactJoint.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\Dynamics\MassProps.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\Dynamics\RigidBody.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\Dynamics\RigidBody.h
+# End Source File
+# End Group
+# End Target
+# End Project

extern/bullet/BulletDynamics/BulletDynamics_vc7.vcproj

@@ -0,0 +1,231 @@
+<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+	ProjectType="Visual C++"
+	Version="7.10"
+	Name="Bullet3Dynamics"
+	ProjectGUID="{3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4}"
+	Keyword="Win32Proj">
+	<Platforms>
+		<Platform
+			Name="Win32"/>
+	</Platforms>
+	<Configurations>
+		<Configuration
+			Name="Debug|Win32"
+			OutputDirectory="Debug"
+			IntermediateDirectory="Debug"
+			ConfigurationType="4"
+			CharacterSet="2">
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				AdditionalIncludeDirectories="..\LinearMath;..\Bullet;..\BulletDynamics"
+				PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
+				MinimalRebuild="TRUE"
+				BasicRuntimeChecks="3"
+				RuntimeLibrary="5"
+				UsePrecompiledHeader="0"
+				WarningLevel="3"
+				Detect64BitPortabilityProblems="TRUE"
+				DebugInformationFormat="4"/>
+			<Tool
+				Name="VCCustomBuildTool"/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="$(OutDir)/BulletDynamics.lib"/>
+			<Tool
+				Name="VCMIDLTool"/>
+			<Tool
+				Name="VCPostBuildEventTool"/>
+			<Tool
+				Name="VCPreBuildEventTool"/>
+			<Tool
+				Name="VCPreLinkEventTool"/>
+			<Tool
+				Name="VCResourceCompilerTool"/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"/>
+			<Tool
+				Name="VCManagedWrapperGeneratorTool"/>
+			<Tool
+				Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
+		</Configuration>
+		<Configuration
+			Name="Release|Win32"
+			OutputDirectory="Release"
+			IntermediateDirectory="Release"
+			ConfigurationType="4"
+			CharacterSet="2">
+			<Tool
+				Name="VCCLCompilerTool"
+				AdditionalIncludeDirectories="..\LinearMath;..\Bullet;..\BulletDynamics"
+				PreprocessorDefinitions="WIN32;NDEBUG;_LIB"
+				RuntimeLibrary="4"
+				UsePrecompiledHeader="0"
+				WarningLevel="3"
+				Detect64BitPortabilityProblems="TRUE"
+				DebugInformationFormat="3"/>
+			<Tool
+				Name="VCCustomBuildTool"/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="..\..\..\..\build\msvc_7\libs\extern\BulletDynamics.lib"/>
+			<Tool
+				Name="VCMIDLTool"/>
+			<Tool
+				Name="VCPostBuildEventTool"
+				CommandLine="ECHO Copying header files
+IF NOT EXIST ..\..\..\..\build\msvc_7\extern\bullet\include MKDIR ..\..\..\..\build\msvc_7\extern\bullet\include
+IF NOT EXIST ..\..\..\..\build\msvc_7\extern\bullet\include\CollisionDispatch MKDIR ..\..\..\..\build\msvc_7\extern\bullet\include\CollisionDispatch
+IF NOT EXIST ..\..\..\..\build\msvc_7\extern\bullet\include\ConstraintSolver MKDIR ..\..\..\..\build\msvc_7\extern\bullet\include\ConstraintSolver
+IF NOT EXIST ..\..\..\..\build\msvc_7\extern\bullet\include\Dynamics MKDIR ..\..\..\..\build\msvc_7\extern\bullet\include\Dynamics
+
+XCOPY /Y ..\LinearMath\*.h ..\..\..\..\build\msvc_7\extern\bullet\include
+XCOPY /Y ..\BulletDynamics\CollisionDispatch\*.h ..\..\..\..\build\msvc_7\extern\bullet\include\CollisionDispatch
+XCOPY /Y ..\BulletDynamics\ConstraintSolver\*.h ..\..\..\..\build\msvc_7\extern\bullet\include\ConstraintSolver
+XCOPY /Y ..\BulletDynamics\Dynamics\*.h ..\..\..\..\build\msvc_7\extern\bullet\include\Dynamics
+
+ECHO Done
+"/>
+			<Tool
+				Name="VCPreBuildEventTool"/>
+			<Tool
+				Name="VCPreLinkEventTool"/>
+			<Tool
+				Name="VCResourceCompilerTool"/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"/>
+			<Tool
+				Name="VCManagedWrapperGeneratorTool"/>
+			<Tool
+				Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
+		</Configuration>
+	</Configurations>
+	<References>
+	</References>
+	<Files>
+		<Filter
+			Name="ConstraintSolver"
+			Filter="">
+			<File
+				RelativePath=".\ConstraintSolver\ConstraintSolver.h">
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\ContactConstraint.cpp">
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\ContactConstraint.h">
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\ContactSolverInfo.h">
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\JacobianEntry.h">
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\OdeConstraintSolver.cpp">
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\OdeConstraintSolver.h">
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\Point2PointConstraint.cpp">
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\Point2PointConstraint.h">
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\SimpleConstraintSolver.cpp">
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\SimpleConstraintSolver.h">
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\Solve2LinearConstraint.cpp">
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\Solve2LinearConstraint.h">
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\SorLcp.cpp">
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\SorLcp.h">
+			</File>
+		</Filter>
+		<Filter
+			Name="CollisionDispatch"
+			Filter="">
+			<File
+				RelativePath=".\CollisionDispatch\ConvexConcaveCollisionAlgorithm.cpp">
+			</File>
+			<File
+				RelativePath=".\CollisionDispatch\ConvexConcaveCollisionAlgorithm.h">
+			</File>
+			<File
+				RelativePath=".\CollisionDispatch\ConvexConvexAlgorithm.cpp">
+			</File>
+			<File
+				RelativePath=".\CollisionDispatch\ConvexConvexAlgorithm.h">
+			</File>
+			<File
+				RelativePath=".\CollisionDispatch\EmptyCollisionAlgorithm.cpp">
+			</File>
+			<File
+				RelativePath=".\CollisionDispatch\EmptyCollisionAlgorithm.h">
+			</File>
+			<File
+				RelativePath=".\CollisionDispatch\ManifoldResult.cpp">
+			</File>
+			<File
+				RelativePath=".\CollisionDispatch\ManifoldResult.h">
+			</File>
+			<File
+				RelativePath=".\CollisionDispatch\ToiContactDispatcher.cpp">
+			</File>
+			<File
+				RelativePath=".\CollisionDispatch\ToiContactDispatcher.h">
+			</File>
+			<File
+				RelativePath=".\CollisionDispatch\UnionFind.cpp">
+			</File>
+			<File
+				RelativePath=".\CollisionDispatch\UnionFind.h">
+			</File>
+		</Filter>
+		<Filter
+			Name="Dynamics"
+			Filter="">
+			<File
+				RelativePath=".\Dynamics\BU_Joint.cpp">
+			</File>
+			<File
+				RelativePath=".\Dynamics\BU_Joint.h">
+			</File>
+			<File
+				RelativePath=".\Dynamics\ContactJoint.cpp">
+			</File>
+			<File
+				RelativePath=".\Dynamics\ContactJoint.h">
+			</File>
+			<File
+				RelativePath=".\Dynamics\MassProps.h">
+			</File>
+			<File
+				RelativePath=".\Dynamics\RigidBody.cpp">
+			</File>
+			<File
+				RelativePath=".\Dynamics\RigidBody.h">
+			</File>
+		</Filter>
+		<File
+			RelativePath=".\ReadMe.txt">
+		</File>
+	</Files>
+	<Globals>
+	</Globals>
+</VisualStudioProject>

extern/bullet/BulletDynamics/BulletDynamics_vc8.vcproj

@@ -0,0 +1,301 @@
+<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+	ProjectType="Visual C++"
+	Version="8.00"
+	Name="Bullet3Dynamics"
+	ProjectGUID="{3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4}"
+	Keyword="Win32Proj"
+	>
+	<Platforms>
+		<Platform
+			Name="Win32"
+		/>
+	</Platforms>
+	<ToolFiles>
+	</ToolFiles>
+	<Configurations>
+		<Configuration
+			Name="Debug|Win32"
+			OutputDirectory="Debug"
+			IntermediateDirectory="Debug"
+			ConfigurationType="4"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				AdditionalIncludeDirectories="..\LinearMath;..\Bullet;..\BulletDynamics"
+				PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
+				MinimalRebuild="TRUE"
+				BasicRuntimeChecks="3"
+				RuntimeLibrary="1"
+				UsePrecompiledHeader="0"
+				WarningLevel="3"
+				Detect64BitPortabilityProblems="TRUE"
+				DebugInformationFormat="4"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="$(OutDir)/BulletDynamics.lib"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCAppVerifierTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+		<Configuration
+			Name="Release|Win32"
+			OutputDirectory="Release"
+			IntermediateDirectory="Release"
+			ConfigurationType="4"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				AdditionalIncludeDirectories="..\LinearMath;..\Bullet;..\BulletDynamics"
+				PreprocessorDefinitions="WIN32;NDEBUG;_LIB"
+				RuntimeLibrary="0"
+				UsePrecompiledHeader="0"
+				WarningLevel="3"
+				Detect64BitPortabilityProblems="TRUE"
+				DebugInformationFormat="3"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="$(OutDir)/BulletDynamics.lib"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCAppVerifierTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+	</Configurations>
+	<References>
+	</References>
+	<Files>
+		<Filter
+			Name="ConstraintSolver"
+			>
+			<File
+				RelativePath=".\ConstraintSolver\ConstraintSolver.h"
+				>
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\ContactConstraint.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\ContactConstraint.h"
+				>
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\ContactSolverInfo.h"
+				>
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\JacobianEntry.h"
+				>
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\OdeConstraintSolver.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\OdeConstraintSolver.h"
+				>
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\Point2PointConstraint.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\Point2PointConstraint.h"
+				>
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\SimpleConstraintSolver.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\SimpleConstraintSolver.h"
+				>
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\Solve2LinearConstraint.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\Solve2LinearConstraint.h"
+				>
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\SorLcp.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\ConstraintSolver\SorLcp.h"
+				>
+			</File>
+		</Filter>
+		<Filter
+			Name="CollisionDispatch"
+			>
+			<File
+				RelativePath=".\CollisionDispatch\ConvexConcaveCollisionAlgorithm.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionDispatch\ConvexConcaveCollisionAlgorithm.h"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionDispatch\ConvexConvexAlgorithm.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionDispatch\ConvexConvexAlgorithm.h"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionDispatch\EmptyCollisionAlgorithm.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionDispatch\EmptyCollisionAlgorithm.h"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionDispatch\ManifoldResult.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionDispatch\ManifoldResult.h"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionDispatch\ToiContactDispatcher.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionDispatch\ToiContactDispatcher.h"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionDispatch\UnionFind.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\CollisionDispatch\UnionFind.h"
+				>
+			</File>
+		</Filter>
+		<Filter
+			Name="Dynamics"
+			>
+			<File
+				RelativePath=".\Dynamics\BU_Joint.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\Dynamics\BU_Joint.h"
+				>
+			</File>
+			<File
+				RelativePath=".\Dynamics\ContactJoint.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\Dynamics\ContactJoint.h"
+				>
+			</File>
+			<File
+				RelativePath=".\Dynamics\MassProps.h"
+				>
+			</File>
+			<File
+				RelativePath=".\Dynamics\RigidBody.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\Dynamics\RigidBody.h"
+				>
+			</File>
+		</Filter>
+		<File
+			RelativePath=".\ReadMe.txt"
+			>
+		</File>
+	</Files>
+	<Globals>
+	</Globals>
+</VisualStudioProject>

extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp

@@ -0,0 +1,212 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#include "ConvexConcaveCollisionAlgorithm.h"
+#include "Dynamics/RigidBody.h"
+#include "CollisionShapes/MultiSphereShape.h"
+#include "ConstraintSolver/ContactConstraint.h"
+#include "CollisionShapes/BoxShape.h"
+#include "ConvexConvexAlgorithm.h"
+#include "BroadphaseCollision/BroadphaseProxy.h"
+#include "CollisionShapes/TriangleShape.h"
+#include "ConstraintSolver/ConstraintSolver.h"
+#include "ConstraintSolver/ContactSolverInfo.h"
+#include "CollisionDispatch/ManifoldResult.h"
+#include "NarrowphaseCollision/RaycastCallback.h"
+#include "CollisionShapes/TriangleMeshShape.h"
+
+
+ConvexConcaveCollisionAlgorithm::ConvexConcaveCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
+: CollisionAlgorithm(ci),m_convex(*proxy0),m_concave(*proxy1),
+m_boxTriangleCallback(ci.m_dispatcher,proxy0,proxy1)
+{
+}
+
+ConvexConcaveCollisionAlgorithm::~ConvexConcaveCollisionAlgorithm()
+{
+}
+
+
+
+BoxTriangleCallback::BoxTriangleCallback(Dispatcher*  dispatcher,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1):
+  m_boxProxy(proxy0),m_triangleProxy(*proxy1),m_dispatcher(dispatcher),
+	  m_timeStep(0.f),
+	  m_stepCount(-1)
+{
+
+	  m_triangleProxy.SetClientObjectType(TRIANGLE_SHAPE_PROXYTYPE);
+
+	  //
+	  // create the manifold from the dispatcher 'manifold pool'
+	  //
+	  m_manifoldPtr = m_dispatcher->GetNewManifold(proxy0->m_clientObject,proxy1->m_clientObject);
+
+  	  ClearCache();
+}
+
+BoxTriangleCallback::~BoxTriangleCallback()
+{
+	ClearCache();
+	m_dispatcher->ReleaseManifold( m_manifoldPtr );
+  
+}
+  
+
+void	BoxTriangleCallback::ClearCache()
+{
+
+	m_manifoldPtr->ClearManifold();
+};
+
+
+
+void BoxTriangleCallback::ProcessTriangle(SimdVector3* triangle)
+{
+ 
+
+	RigidBody* triangleBody = (RigidBody*)m_triangleProxy.m_clientObject;
+
+	//aabb filter is already applied!	
+
+	CollisionAlgorithmConstructionInfo ci;
+	ci.m_dispatcher = m_dispatcher;
+
+	ConvexShape* tmp = static_cast<ConvexShape*>(triangleBody->GetCollisionShape());
+
+	if (m_boxProxy->IsConvexShape())
+	{
+		TriangleShape tm(triangle[0],triangle[1],triangle[2]);	
+		RigidBody* triangleBody = (RigidBody* )m_triangleProxy.m_clientObject;
+		
+		triangleBody->SetCollisionShape(&tm);
+		ConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_boxProxy,&m_triangleProxy);
+		triangleBody->SetCollisionShape(&tm);
+		cvxcvxalgo.ProcessCollision(m_boxProxy,&m_triangleProxy,m_timeStep,m_stepCount,m_useContinuous);
+	}
+
+	triangleBody->SetCollisionShape(tmp);
+
+}
+
+
+
+void	BoxTriangleCallback::SetTimeStepAndCounters(float timeStep,int stepCount,bool useContinuous)
+{
+	m_timeStep = timeStep;
+	m_stepCount = stepCount;
+	m_useContinuous = useContinuous;
+
+	//recalc aabbs
+	RigidBody* boxBody = (RigidBody* )m_boxProxy->m_clientObject;
+	RigidBody* triBody = (RigidBody* )m_triangleProxy.m_clientObject;
+
+	SimdTransform boxInTriangleSpace;
+	boxInTriangleSpace = triBody->getCenterOfMassTransform().inverse() * boxBody->getCenterOfMassTransform();
+
+	boxBody->GetCollisionShape()->GetAabb(boxInTriangleSpace,m_aabbMin,m_aabbMax);
+
+	float extraMargin = CONVEX_DISTANCE_MARGIN+0.1f;
+
+	SimdVector3 extra(extraMargin,extraMargin,extraMargin);
+
+	m_aabbMax += extra;
+	m_aabbMin -= extra;
+	
+}
+
+void ConvexConcaveCollisionAlgorithm::ClearCache()
+{
+	m_boxTriangleCallback.ClearCache();
+
+}
+
+void ConvexConcaveCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy* ,float timeStep,int stepCount,bool useContinuous)
+{
+
+
+	if (m_concave.GetClientObjectType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
+	{
+
+		RigidBody* convexbody = (RigidBody* )m_convex.m_clientObject;
+		RigidBody* concavebody = (RigidBody* )m_concave.m_clientObject;
+
+		TriangleMeshShape* triangleMesh = (TriangleMeshShape*) concavebody->GetCollisionShape();
+		
+		if (m_convex.IsConvexShape())
+		{
+					
+			m_boxTriangleCallback.SetTimeStepAndCounters(timeStep,stepCount, useContinuous);
+#ifdef USE_BOX_TRIANGLE
+			m_boxTriangleCallback.m_manifoldPtr->ClearManifold();
+#endif
+			m_boxTriangleCallback.m_manifoldPtr->SetBodies(convexbody,concavebody);		
+
+			triangleMesh->ProcessAllTriangles( &m_boxTriangleCallback,m_boxTriangleCallback.GetAabbMin(),m_boxTriangleCallback.GetAabbMax());
+			
+	
+		}
+
+	}
+
+}
+
+
+float ConvexConcaveCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* ,BroadphaseProxy* ,float timeStep,int stepCount)
+{
+
+	//quick approximation using raycast, todo: use proper continuou collision detection
+	RigidBody* convexbody = (RigidBody* )m_convex.m_clientObject;
+	const SimdVector3& from = convexbody->getCenterOfMassPosition();
+		
+	SimdVector3 radVec(0,0,0);
+	
+	float minradius = 0.05f;
+	float lenSqr = convexbody->getLinearVelocity().length2();
+	if (lenSqr > SIMD_EPSILON)
+	{
+		radVec = convexbody->getLinearVelocity();
+		radVec.normalize();
+		radVec *= minradius;
+	}
+
+	SimdVector3 to = from + radVec + convexbody->getLinearVelocity() * timeStep*1.01f;
+	//only do if the motion exceeds the 'radius'
+
+
+	RaycastCallback raycastCallback(from,to);
+
+	raycastCallback.m_hitFraction = convexbody->m_hitFraction;
+
+	SimdVector3 aabbMin (-1e30f,-1e30f,-1e30f);
+	SimdVector3 aabbMax (SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY);
+
+	if (m_concave.GetClientObjectType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
+	{
+
+		RigidBody* concavebody = (RigidBody* )m_concave.m_clientObject;
+
+		TriangleMeshShape* triangleMesh = (TriangleMeshShape*) concavebody->GetCollisionShape();
+
+		if (triangleMesh)
+		{
+			triangleMesh->ProcessAllTriangles(&raycastCallback,aabbMin,aabbMax);
+		}
+	}
+
+
+	if (raycastCallback.m_hitFraction < convexbody->m_hitFraction)
+	{
+		convexbody->m_hitFraction = raycastCallback.m_hitFraction;
+		return raycastCallback.m_hitFraction;
+	}
+
+	return 1.f;
+
+}

extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.h

@@ -0,0 +1,90 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef CONVEX_CONCAVE_COLLISION_ALGORITHM_H
+#define CONVEX_CONCAVE_COLLISION_ALGORITHM_H
+
+#include "BroadphaseCollision/CollisionAlgorithm.h"
+#include "BroadphaseCollision/CollisionDispatcher.h"
+#include "BroadphaseCollision/BroadphaseInterface.h"
+#include "CollisionShapes/TriangleCallback.h"
+#include "NarrowPhaseCollision/PersistentManifold.h"
+class Dispatcher;
+#include "BroadphaseCollision/BroadphaseProxy.h"
+
+
+
+class BoxTriangleCallback : public TriangleCallback
+{
+	BroadphaseProxy* m_boxProxy;
+	BroadphaseProxy m_triangleProxy;
+
+	SimdVector3	m_aabbMin;
+	SimdVector3	m_aabbMax ;
+
+	Dispatcher*	m_dispatcher;
+	float	m_timeStep;
+	int	m_stepCount;
+	bool m_useContinuous;
+	
+public:
+
+	PersistentManifold*	m_manifoldPtr;
+
+	BoxTriangleCallback(Dispatcher* dispatcher,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
+
+	void	SetTimeStepAndCounters(float timeStep,int stepCount, bool useContinuous);
+
+	virtual ~BoxTriangleCallback();
+
+	virtual void ProcessTriangle(SimdVector3* triangle);
+	
+	void ClearCache();
+
+	inline const SimdVector3& GetAabbMin() const
+	{
+		return m_aabbMin;
+	}
+	inline const SimdVector3& GetAabbMax() const
+	{
+		return m_aabbMax;
+	}
+
+};
+
+
+
+
+/// ConvexConcaveCollisionAlgorithm  supports collision between convex shapes and (concave) trianges meshes.
+class ConvexConcaveCollisionAlgorithm  : public CollisionAlgorithm
+{
+
+	BroadphaseProxy m_convex;
+
+	BroadphaseProxy m_concave;
+
+	BoxTriangleCallback m_boxTriangleCallback;
+
+
+public:
+
+	ConvexConcaveCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
+
+	virtual ~ConvexConcaveCollisionAlgorithm();
+
+	virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount, bool useContinuous);
+
+	float	CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount);
+
+	void	ClearCache();
+
+};
+
+#endif //CONVEX_CONCAVE_COLLISION_ALGORITHM_H

extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.cpp

@@ -0,0 +1,250 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#include "ConvexConvexAlgorithm.h"
+
+#include <stdio.h>
+#include "NarrowPhaseCollision/DiscreteCollisionDetectorInterface.h"
+#include "BroadphaseCollision/BroadphaseInterface.h"
+#include "Dynamics/RigidBody.h"
+#include "CollisionShapes/ConvexShape.h"
+#include "NarrowPhaseCollision/GjkPairDetector.h"
+#include "BroadphaseCollision/BroadphaseProxy.h"
+#include "BroadphaseCollision/CollisionDispatcher.h"
+#include "CollisionShapes/BoxShape.h"
+#include "CollisionDispatch/ManifoldResult.h"
+
+#include "NarrowPhaseCollision/ConvexPenetrationDepthSolver.h"
+#include "NarrowPhaseCollision/ContinuousConvexCollision.h"
+#include "NarrowPhaseCollision/SubsimplexConvexCast.h"
+#include "NarrowPhaseCollision/GjkConvexCast.h"
+
+
+
+#include "CollisionShapes/MinkowskiSumShape.h"
+#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
+#include "CollisionShapes/SphereShape.h"
+
+
+#ifdef WIN32
+void DrawRasterizerLine(const float* from,const float* to,int color);
+#endif
+
+
+
+
+//#define PROCESS_SINGLE_CONTACT
+#ifdef WIN32
+bool gForceBoxBox = false;//false;//true;
+
+#else
+bool gForceBoxBox = false;//false;//true;
+#endif
+bool gBoxBoxUseGjk = true;//true;//false;
+bool gDisableConvexCollision = false;
+
+
+
+
+ConvexConvexAlgorithm::ConvexConvexAlgorithm(PersistentManifold* mf,const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
+: CollisionAlgorithm(ci),
+m_gjkPairDetector(0,0,&m_simplexSolver,&m_penetrationDepthSolver),
+m_box0(*proxy0),
+m_box1(*proxy1),
+m_collisionImpulse(0.f),
+m_ownManifold (false),
+m_manifoldPtr(mf),
+m_lowLevelOfDetail(false)
+
+{
+
+	
+	RigidBody* body0 = (RigidBody*)m_box0.m_clientObject;
+	RigidBody* body1 = (RigidBody*)m_box1.m_clientObject;
+
+	if ((body0->getInvMass() != 0.f) || 
+		(body1->getInvMass() != 0.f))
+	{
+		if (!m_manifoldPtr)
+		{
+			m_manifoldPtr = m_dispatcher->GetNewManifold(proxy0->m_clientObject,proxy1->m_clientObject);
+			m_ownManifold = true;
+		}
+	}
+
+}
+
+
+
+ConvexConvexAlgorithm::~ConvexConvexAlgorithm()
+{
+	if (m_ownManifold)
+	{
+		if (m_manifoldPtr)
+			m_dispatcher->ReleaseManifold(m_manifoldPtr);
+	}
+}
+
+void	ConvexConvexAlgorithm ::SetLowLevelOfDetail(bool useLowLevel)
+{
+	m_lowLevelOfDetail = useLowLevel;
+}
+
+float	ConvexConvexAlgorithm::GetCollisionImpulse() const
+{
+	if (m_manifoldPtr)
+		return m_manifoldPtr->GetCollisionImpulse();
+	
+	return 0.f;
+}
+
+
+class FlippedContactResult : public DiscreteCollisionDetectorInterface::Result
+{
+	DiscreteCollisionDetectorInterface::Result* m_org;
+
+public:
+
+	FlippedContactResult(DiscreteCollisionDetectorInterface::Result* org)
+		: m_org(org)
+	{
+
+	}
+
+	virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
+	{
+		SimdVector3 flippedNormal = -normalOnBInWorld;
+
+		m_org->AddContactPoint(flippedNormal,pointInWorld,depth);
+	}
+
+};
+
+bool extra = false;
+
+float gFriction = 0.5f;
+//
+// box-box collision algorithm, for simplicity also applies resolution-impulse
+//
+void ConvexConvexAlgorithm ::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy* ,float timeStep,int stepCount, bool useContinuous)
+{
+	
+//	printf("ConvexConvexAlgorithm::ProcessCollision\n");
+m_collisionImpulse = 0.f;
+	
+	RigidBody* body0 = (RigidBody*)m_box0.m_clientObject;
+	RigidBody* body1 = (RigidBody*)m_box1.m_clientObject;
+
+	if (!m_manifoldPtr)
+		return;
+
+	if ((body0->getInvMass() == 0.f) && 
+		(body1->getInvMass() == 0.f))
+	{
+		return;
+	}
+
+	ManifoldResult output(body0,body1,m_manifoldPtr);
+	
+	ConvexShape* min0 = static_cast<ConvexShape*>(body0->GetCollisionShape());
+	ConvexShape* min1 = static_cast<ConvexShape*>(body1->GetCollisionShape());	
+	GjkPairDetector::ClosestPointInput input;
+
+	SphereShape	sphere(0.2f);
+	MinkowskiSumShape	expanded0(min0,&sphere);
+	MinkowskiSumShape	expanded1(min1,&sphere);
+
+	if (useContinuous)
+	{
+		m_gjkPairDetector.SetMinkowskiA(&expanded0);
+		m_gjkPairDetector.SetMinkowskiB(&expanded1);
+		input.m_maximumDistanceSquared = expanded0.GetMargin()+expanded1.GetMargin();
+		input.m_maximumDistanceSquared *= input.m_maximumDistanceSquared;
+	}
+	else
+	{
+		m_gjkPairDetector.SetMinkowskiA(min0);
+		m_gjkPairDetector.SetMinkowskiB(min1);
+		input.m_maximumDistanceSquared = min0->GetMargin() + min1->GetMargin() + m_manifoldPtr->GetManifoldMargin();
+		input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
+	}
+	
+	input.m_transformA = body0->getCenterOfMassTransform();
+	input.m_transformB = body1->getCenterOfMassTransform();
+    
+	m_gjkPairDetector.GetClosestPoints(input,output);
+
+}
+bool disableCcd = false;
+float	ConvexConvexAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount)
+{
+
+	m_collisionImpulse = 0.f;
+	
+	RigidBody* body0 = (RigidBody*)m_box0.m_clientObject;
+	RigidBody* body1 = (RigidBody*)m_box1.m_clientObject;
+
+	if (!m_manifoldPtr)
+		return 1.f;
+
+	if ((body0->getInvMass() == 0.f) && 
+		(body1->getInvMass() == 0.f))
+	{
+		return 1.f;
+	}
+
+
+	ConvexShape* min0 = static_cast<ConvexShape*>(body0->GetCollisionShape());
+	ConvexShape* min1 = static_cast<ConvexShape*>(body1->GetCollisionShape());	
+	
+	GjkPairDetector::ClosestPointInput input;
+	input.m_transformA = body0->getCenterOfMassTransform();
+	input.m_transformB = body1->getCenterOfMassTransform();
+	SimdTransform predictA,predictB;
+
+	body0->predictIntegratedTransform(timeStep,predictA);
+	body1->predictIntegratedTransform(timeStep,predictB);
+
+
+	ConvexCast::CastResult result;
+
+
+	VoronoiSimplexSolver voronoiSimplex;
+	//SubsimplexConvexCast ccd(&voronoiSimplex);
+	//GjkConvexCast ccd(&voronoiSimplex);
+	
+	ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,&m_penetrationDepthSolver);
+
+	if (disableCcd)
+		return 1.f;
+
+	if (ccd.calcTimeOfImpact(input.m_transformA,predictA,input.m_transformB,predictB,result))
+	{
+	
+		//store result.m_fraction in both bodies
+		int i;
+		i=0;
+		
+//		if (result.m_fraction< 0.1f)
+//			result.m_fraction = 0.1f;
+
+		if (body0->m_hitFraction > result.m_fraction)
+			body0->m_hitFraction  = result.m_fraction;
+
+		if (body1->m_hitFraction > result.m_fraction)
+			body1->m_hitFraction  = result.m_fraction;
+
+		return result.m_fraction;
+	}
+
+	return 1.f;
+
+
+}

extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.h

@@ -0,0 +1,62 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef CONVEX_CONVEX_ALGORITHM_H
+#define CONVEX_CONVEX_ALGORITHM_H
+
+#include "BroadphaseCollision/CollisionAlgorithm.h"
+#include "NarrowPhaseCollision/GjkPairDetector.h"
+#include "NarrowPhaseCollision/PersistentManifold.h"
+#include "BroadphaseCollision/BroadphaseProxy.h"
+#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
+#include "NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.h"
+
+
+class ConvexPenetrationDepthSolver;
+
+///ConvexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations.
+class ConvexConvexAlgorithm : public CollisionAlgorithm
+{
+	//hardcoded penetration and simplex solver, its easy to make this flexible later
+	MinkowskiPenetrationDepthSolver	m_penetrationDepthSolver;
+	VoronoiSimplexSolver	m_simplexSolver;
+	GjkPairDetector m_gjkPairDetector;
+public:
+	BroadphaseProxy	m_box0;
+	BroadphaseProxy	m_box1;
+	float			m_collisionImpulse;
+	bool	m_ownManifold;
+	PersistentManifold*	m_manifoldPtr;
+	bool			m_lowLevelOfDetail;
+
+	
+
+public:
+
+	ConvexConvexAlgorithm(PersistentManifold* mf,const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
+
+	virtual ~ConvexConvexAlgorithm();
+
+	virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount, bool useContinuous);
+
+	virtual float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount);
+
+	void	SetLowLevelOfDetail(bool useLowLevel);
+
+	float	GetCollisionImpulse() const;
+
+	const PersistentManifold*	GetManifold()
+	{
+		return m_manifoldPtr;
+	}
+
+};
+
+#endif //CONVEX_CONVEX_ALGORITHM_H

extern/bullet/BulletDynamics/CollisionDispatch/EmptyCollisionAlgorithm.cpp

@@ -0,0 +1,30 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#include "EmptyCollisionAlgorithm.h"
+
+
+
+EmptyAlgorithm::EmptyAlgorithm(const CollisionAlgorithmConstructionInfo& ci)
+	: CollisionAlgorithm(ci)
+{
+}
+
+void EmptyAlgorithm::ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep, int stepCount,bool useContinuous)
+{
+
+}
+
+float EmptyAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount)
+{
+	return 1.f;
+}
+
+

extern/bullet/BulletDynamics/CollisionDispatch/EmptyCollisionAlgorithm.h

@@ -0,0 +1,35 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef EMPTY_ALGORITH
+#define EMPTY_ALGORITH
+#include "BroadphaseCollision/CollisionAlgorithm.h"
+
+#define ATTRIBUTE_ALIGNED(a)
+
+///EmptyAlgorithm is a stub for unsupported collision pairs.
+///The dispatcher can dispatch a persistent EmptyAlgorithm to avoid a search every frame.
+class EmptyAlgorithm : public CollisionAlgorithm
+{
+
+public:
+	
+	EmptyAlgorithm(const CollisionAlgorithmConstructionInfo& ci);
+
+	virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep, int stepCount, bool useContinuous);
+
+	virtual float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount);
+
+
+
+
+} ATTRIBUTE_ALIGNED(16);
+
+#endif //EMPTY_ALGORITH

extern/bullet/BulletDynamics/CollisionDispatch/ManifoldResult.cpp

@@ -0,0 +1,46 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#include "ManifoldResult.h"
+#include "NarrowPhaseCollision/PersistentManifold.h"
+#include "Dynamics/RigidBody.h"
+
+ManifoldResult::ManifoldResult(RigidBody* body0,RigidBody* body1,PersistentManifold* manifoldPtr)
+		:m_manifoldPtr(manifoldPtr),
+		m_body0(body0),
+		m_body1(body1)
+	{
+	}
+
+void ManifoldResult::AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
+{
+	if (depth > m_manifoldPtr->GetManifoldMargin())
+		return;
+
+	SimdTransform transAInv = m_body0->getCenterOfMassTransform().inverse();
+	SimdTransform transBInv= m_body1->getCenterOfMassTransform().inverse();
+	SimdVector3 pointA = pointInWorld + normalOnBInWorld * depth;
+	SimdVector3 localA = transAInv(pointA );
+	SimdVector3 localB = transBInv(pointInWorld);
+	ManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
+
+	
+
+	int insertIndex = m_manifoldPtr->GetCacheEntry(newPt);
+	if (insertIndex >= 0)
+	{
+		m_manifoldPtr->ReplaceContactPoint(newPt,insertIndex);
+	} else
+	{
+		m_manifoldPtr->AddManifoldPoint(newPt);
+	}
+}
+

extern/bullet/BulletDynamics/CollisionDispatch/ManifoldResult.h

@@ -0,0 +1,35 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#ifndef MANIFOLD_RESULT_H
+#define MANIFOLD_RESULT_H
+
+#include "NarrowPhaseCollision/DiscreteCollisionDetectorInterface.h"
+class RigidBody;
+class PersistentManifold;
+
+
+class ManifoldResult : public DiscreteCollisionDetectorInterface::Result
+{
+	PersistentManifold* m_manifoldPtr;
+	RigidBody* m_body0;
+	RigidBody* m_body1;
+
+public:
+
+	ManifoldResult(RigidBody* body0,RigidBody* body1,PersistentManifold* manifoldPtr);
+
+
+	virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth);
+
+};
+
+#endif //MANIFOLD_RESULT_H

extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.cpp

@@ -0,0 +1,221 @@
+#include "ToiContactDispatcher.h"
+#include "ConstraintSolver/ConstraintSolver.h"
+#include "Dynamics/RigidBody.h"
+#include "BroadphaseCollision/CollisionAlgorithm.h"
+#include "ConstraintSolver/ContactSolverInfo.h"
+#include "CollisionDispatch/ConvexConvexAlgorithm.h"
+#include "CollisionDispatch/EmptyCollisionAlgorithm.h"
+#include "CollisionDispatch/ConvexConcaveCollisionAlgorithm.h"
+
+#define MAX_RIGIDBODIES 128
+
+
+void ToiContactDispatcher::FindUnions()
+{
+	if (m_useIslands)
+	{
+		for (int i=0;i<GetNumManifolds();i++)
+		{
+			const PersistentManifold* manifold = this->GetManifoldByIndexInternal(i);
+			//static objects (invmass 0.f) don't merge !
+			if ((((RigidBody*)manifold->GetBody0()) && (((RigidBody*)manifold->GetBody0())->mergesSimulationIslands())) &&
+				(((RigidBody*)manifold->GetBody1()) && (((RigidBody*)manifold->GetBody1())->mergesSimulationIslands())))
+			{
+
+				m_unionFind.unite(((RigidBody*)manifold->GetBody0())->m_islandTag1,
+					((RigidBody*)manifold->GetBody1())->m_islandTag1);
+			}
+			
+			
+		}
+	}
+	
+}
+	
+
+	
+ToiContactDispatcher::ToiContactDispatcher (ConstraintSolver* solver): 
+	m_useIslands(true),
+		m_unionFind(MAX_RIGIDBODIES),
+		m_solver(solver),
+		m_count(0)
+		
+{
+	int i;
+	
+	for (i=0;i<MAX_BROADPHASE_COLLISION_TYPES;i++)
+	{
+		for (int j=0;j<MAX_BROADPHASE_COLLISION_TYPES;j++)
+		{
+			m_doubleDispatch[i][j] = 0;
+		}
+	}
+	
+	
+};
+	
+PersistentManifold*	ToiContactDispatcher::GetNewManifold(void* b0,void* b1) 
+{ 
+
+	RigidBody* body0 = (RigidBody*)b0;
+	RigidBody* body1 = (RigidBody*)b1;
+	
+	PersistentManifold* manifold = new PersistentManifold (body0,body1);
+	m_manifoldsPtr.push_back(manifold);
+
+	return manifold;
+}
+#include <algorithm>
+	
+void ToiContactDispatcher::ReleaseManifold(PersistentManifold* manifold)
+{
+	manifold->ClearManifold();
+
+	std::vector<PersistentManifold*>::iterator i =
+		std::find(m_manifoldsPtr.begin(), m_manifoldsPtr.end(), manifold);
+	if (!(i == m_manifoldsPtr.end()))
+	{
+		std::swap(*i, m_manifoldsPtr.back());
+		m_manifoldsPtr.pop_back();
+	}
+	
+	
+}
+	
+	
+//
+// todo: this is random access, it can be walked 'cache friendly'!
+//
+void ToiContactDispatcher::SolveConstraints(float timeStep, int numIterations,int numRigidBodies) 
+{
+	int i;
+
+	int numManifolds;
+
+	for (int islandId=0;islandId<numRigidBodies;islandId++)
+	{
+		numManifolds = 0;
+
+		PersistentManifold* manifolds[MAX_MANIFOLDS];
+
+		
+		//int numSleeping = 0;
+
+		bool allSleeping = true;
+
+		for (i=0;i<GetNumManifolds();i++)
+		{
+			 PersistentManifold* manifold = this->GetManifoldByIndexInternal(i);
+			if ((((RigidBody*)manifold->GetBody0()) && ((RigidBody*)manifold->GetBody0())->m_islandTag1 == (islandId)) ||
+				(((RigidBody*)manifold->GetBody1()) && ((RigidBody*)manifold->GetBody1())->m_islandTag1 == (islandId)))
+			{
+
+				if ((((RigidBody*)manifold->GetBody0()) && ((RigidBody*)manifold->GetBody0())->GetActivationState()== ACTIVE_TAG) ||
+					(((RigidBody*)manifold->GetBody1()) && ((RigidBody*)manifold->GetBody1())->GetActivationState() == ACTIVE_TAG))
+				{
+					allSleeping = false;
+				}
+
+				manifolds[numManifolds] = manifold;
+				numManifolds++;
+			}
+		}
+		if (allSleeping)
+		{
+			//tag all as 'ISLAND_SLEEPING'
+			for (i=0;i<numManifolds;i++)
+			{
+				 PersistentManifold* manifold = manifolds[i];
+				if (((RigidBody*)manifold->GetBody0()))	
+				{
+					((RigidBody*)manifold->GetBody0())->SetActivationState( ISLAND_SLEEPING );
+				}
+				if (((RigidBody*)manifold->GetBody1()))	
+				{
+					((RigidBody*)manifold->GetBody1())->SetActivationState( ISLAND_SLEEPING);
+				}
+
+			}
+		} else
+		{
+
+			//tag all as 'ISLAND_SLEEPING'
+			for (i=0;i<numManifolds;i++)
+			{
+				 PersistentManifold* manifold = manifolds[i];
+				if (((RigidBody*)manifold->GetBody0()))	
+				{
+					if ( ((RigidBody*)manifold->GetBody0())->GetActivationState() == ISLAND_SLEEPING)
+					{
+						((RigidBody*)manifold->GetBody0())->SetActivationState( WANTS_DEACTIVATION );//ACTIVE_TAG;
+					}
+				}
+				if (((RigidBody*)manifold->GetBody1()))	
+				{
+					if ( ((RigidBody*)manifold->GetBody1())->GetActivationState() == ISLAND_SLEEPING)
+					{
+						((RigidBody*)manifold->GetBody1())->SetActivationState(WANTS_DEACTIVATION);//ACTIVE_TAG;
+					}
+				}
+
+			}
+
+			///This island solving can all be scheduled in parallel
+			ContactSolverInfo info;
+			info.m_damping = 0.9f;
+			info.m_friction = 0.9f;
+			info.m_numIterations = numIterations;
+			info.m_timeStep = timeStep;
+			info.m_tau = 0.4f;
+			info.m_restitution = 0.1f;//m_restitution;
+
+			/*
+			int numManifolds = 0;
+
+			for (i=0;i<m_firstFreeManifold;i++)
+			{
+				PersistentManifold* manifold = &m_manifolds[m_freeManifolds[i]];
+				//ASSERT(((RigidBody*)manifold->GetBody0()));
+				//ASSERT(((RigidBody*)manifold->GetBody1()));
+				manifolds[i] = manifold;
+				numManifolds++;
+			}
+*/
+			m_solver->SolveGroup( manifolds, numManifolds,info );
+
+		}
+	}
+
+
+
+
+}
+
+
+
+CollisionAlgorithm* ToiContactDispatcher::InternalFindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
+{
+	m_count++;
+	
+	CollisionAlgorithmConstructionInfo ci;
+	ci.m_dispatcher = this;
+	
+	if (proxy0.IsConvexShape() && proxy1.IsConvexShape() )
+	{
+		return new ConvexConvexAlgorithm(0,ci,&proxy0,&proxy1);			
+	}
+
+	if (proxy0.IsConvexShape() && proxy1.IsConcaveShape())
+	{
+		return new ConvexConcaveCollisionAlgorithm(ci,&proxy0,&proxy1);
+	}
+
+	if (proxy1.IsConvexShape() && proxy0.IsConcaveShape())
+	{
+		return new ConvexConcaveCollisionAlgorithm(ci,&proxy1,&proxy0);
+	}
+
+	//failed to find an algorithm
+	return new EmptyAlgorithm(ci);
+	
+}

extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.h

@@ -0,0 +1,105 @@
+#ifndef TOI_CONTACT_DISPATCHER_H
+#define TOI_CONTACT_DISPATCHER_H
+
+#include "BroadphaseCollision/CollisionDispatcher.h"
+#include "NarrowPhaseCollision/PersistentManifold.h"
+#include "CollisionDispatch/UnionFind.h"
+#include "BroadphaseCollision/BroadphaseProxy.h"
+
+class ConstraintSolver;
+
+//island management
+#define ACTIVE_TAG 1
+#define ISLAND_SLEEPING 2
+#define WANTS_DEACTIVATION 3
+
+#define MAX_MANIFOLDS 512
+
+struct CollisionAlgorithmCreateFunc
+{
+	bool m_swapped;
+	
+	CollisionAlgorithmCreateFunc()
+		:m_swapped(false)
+	{
+	}
+	virtual	CollisionAlgorithm* CreateCollisionAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
+	{
+		return 0;
+	}
+};
+#include <vector>
+///ToiContactDispatcher (Time of Impact) is the main collision dispatcher.
+///Basic implementation supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
+///Time of Impact, Closest Points and Penetration Depth.
+class ToiContactDispatcher : public Dispatcher
+{
+	
+	bool m_useIslands;
+
+	
+	std::vector<PersistentManifold*>	m_manifoldsPtr;
+
+//	PersistentManifold	m_manifolds[MAX_MANIFOLDS];
+//	int	m_freeManifolds[MAX_MANIFOLDS];
+
+	UnionFind m_unionFind;
+	ConstraintSolver*	m_solver;
+	
+	CollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
+	
+public:
+	
+	UnionFind& GetUnionFind() { return m_unionFind;}
+
+//	int	m_firstFreeManifold;
+	
+//	const PersistentManifold* GetManifoldByIndexInternal(int index)
+//	{
+//		return &m_manifolds[index];
+//	}
+
+	int	GetNumManifolds() { return m_manifoldsPtr.size();}
+
+	 PersistentManifold* GetManifoldByIndexInternal(int index)
+	{
+	return m_manifoldsPtr[index];
+	}
+
+
+	void InitUnionFind()
+	{
+		if (m_useIslands)
+			m_unionFind.reset();
+	}
+	
+	void FindUnions();
+	
+	int m_count;
+	
+	ToiContactDispatcher (ConstraintSolver* solver);
+
+	virtual PersistentManifold*	GetNewManifold(void* b0,void* b1);
+	
+	virtual void ReleaseManifold(PersistentManifold* manifold);
+
+	//
+	// todo: this is random access, it can be walked 'cache friendly'!
+	//
+	virtual void SolveConstraints(float timeStep, int numIterations,int numRigidBodies);
+	
+	
+	CollisionAlgorithm* FindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
+	{
+		CollisionAlgorithm* algo = InternalFindAlgorithm(proxy0,proxy1);
+		return algo;
+	}
+	
+	CollisionAlgorithm* InternalFindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1);
+	
+	virtual int GetUniqueId() { return RIGIDBODY_DISPATCHER;}
+	
+};
+
+#endif //TOI_CONTACT_DISPATCHER_H
+

extern/bullet/BulletDynamics/CollisionDispatch/UnionFind.cpp

@@ -0,0 +1,54 @@
+#include "UnionFind.h"
+#include <assert.h>
+
+
+int UnionFind::find(int x)
+{ 
+	assert(x < m_N);
+	assert(x >= 0);
+
+	while (x != id[x]) 
+	{
+		x = id[x];
+		assert(x < m_N);
+		assert(x >= 0);
+
+	}
+	return x; 
+}
+
+UnionFind::UnionFind(int N)
+:m_N(N)
+{ 
+	id = new int[N]; sz = new int[N];
+	reset();
+}
+
+void	UnionFind::reset()
+{
+	for (int i = 0; i < m_N; i++) 
+	{ 
+		id[i] = i; sz[i] = 1; 
+	} 
+}
+
+
+int UnionFind ::find(int p, int q)
+{ 
+	return (find(p) == find(q)); 
+}
+
+void UnionFind ::unite(int p, int q)
+{
+	int i = find(p), j = find(q);
+	if (i == j) 
+		return;
+	if (sz[i] < sz[j])
+	{ 
+		id[i] = j; sz[j] += sz[i]; 
+	}
+	else 
+	{ 
+		id[j] = i; sz[i] += sz[j]; 
+	}
+}

extern/bullet/BulletDynamics/CollisionDispatch/UnionFind.h

@@ -0,0 +1,21 @@
+#ifndef UNION_FIND_H
+#define UNION_FIND_H
+
+///UnionFind calculates connected subsets
+class UnionFind
+  {
+    private:
+      int *id, *sz;
+	  int m_N;
+
+    public:
+      int find(int x);
+		UnionFind(int N);
+	  void	reset();
+
+      int find(int p, int q);
+      void unite(int p, int q);
+  };
+
+
+#endif //UNION_FIND_H

extern/bullet/BulletDynamics/ConstraintSolver/ConstraintSolver.h

@@ -0,0 +1,35 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef CONSTRAINT_SOLVER_H
+#define CONSTRAINT_SOLVER_H
+
+class PersistentManifold;
+class RigidBody;
+
+struct ContactSolverInfo;
+struct BroadphaseProxy;
+
+/// ConstraintSolver provides solver interface
+class ConstraintSolver
+{
+
+public:
+
+	virtual ~ConstraintSolver() {}
+	
+	virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info) = 0;
+
+};
+
+
+
+
+#endif //CONSTRAINT_SOLVER_H

extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp

@@ -0,0 +1,324 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#include "ContactConstraint.h"
+#include "Dynamics/RigidBody.h"
+#include "SimdVector3.h"
+#include "JacobianEntry.h"
+#include "ContactSolverInfo.h"
+#include "GEN_minmax.h"
+
+#define ASSERT2 assert
+
+
+static SimdScalar ContactThreshold = -10.0f;  
+
+float useGlobalSettingContacts = false;//true;
+
+SimdScalar contactDamping = 0.9f;
+SimdScalar contactTau = .2f;//0.02f;//*0.02f;
+
+
+
+SimdScalar restitutionCurve(SimdScalar rel_vel, SimdScalar restitution)
+{
+	return restitution;
+//	return restitution * GEN_min(1.0f, rel_vel / ContactThreshold);
+}
+
+void	applyFrictionInContactPointOld(RigidBody& body1, const SimdVector3& pos1,
+                      RigidBody& body2, const SimdVector3& pos2,
+		const SimdVector3& normal,float normalImpulse, 
+		const ContactSolverInfo& solverInfo)
+{
+
+
+	if (normalImpulse>0.f)
+	{
+		SimdVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition(); 
+		SimdVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
+
+		SimdVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
+		SimdVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
+		SimdVector3 vel = vel1 - vel2;
+	
+		SimdScalar rel_vel = normal.dot(vel);
+
+#define PER_CONTACT_FRICTION
+#ifdef PER_CONTACT_FRICTION
+		SimdVector3 lat_vel = vel - normal * rel_vel;
+		SimdScalar lat_rel_vel = lat_vel.length();
+
+		if (lat_rel_vel > SIMD_EPSILON)
+		{
+			lat_vel /= lat_rel_vel;
+			SimdVector3 temp1 = body1.getInvInertiaTensorWorld() * rel_pos1.cross(lat_vel); 
+			SimdVector3 temp2 = body2.getInvInertiaTensorWorld() * rel_pos2.cross(lat_vel); 
+			SimdScalar frictionMaxImpulse = lat_rel_vel / 
+				(body1.getInvMass() + body2.getInvMass() + lat_vel.dot(temp1.cross(rel_pos1) + temp2.cross(rel_pos2)));
+			SimdScalar frictionImpulse = (normalImpulse) * solverInfo.m_friction;
+			GEN_set_min(frictionImpulse,frictionMaxImpulse );
+			
+			body1.applyImpulse(lat_vel * -frictionImpulse, rel_pos1);
+			body2.applyImpulse(lat_vel * frictionImpulse, rel_pos2);
+			
+		}
+#endif
+		}
+}
+
+
+//bilateral constraint between two dynamic objects
+void resolveSingleBilateral(RigidBody& body1, const SimdVector3& pos1,
+                      RigidBody& body2, const SimdVector3& pos2,
+                      SimdScalar depth, const SimdVector3& normal,SimdScalar& impulse ,float timeStep)
+{
+	float normalLenSqr = normal.length2();
+	ASSERT2(fabs(normalLenSqr) < 1.1f);
+	if (normalLenSqr > 1.1f)
+	{
+		impulse = 0.f;
+		return;
+	}
+	SimdVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition(); 
+	SimdVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
+	//this jacobian entry could be re-used for all iterations
+	
+	SimdVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
+	SimdVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
+	SimdVector3 vel = vel1 - vel2;
+	
+	SimdScalar rel_vel;
+
+	/*
+	
+	  JacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
+		body2.getCenterOfMassTransform().getBasis().transpose(),
+		rel_pos1,rel_pos2,normal,body1.getInvInertiaDiagLocal(),body1.getInvMass(),
+		body2.getInvInertiaDiagLocal(),body2.getInvMass());
+
+	SimdScalar jacDiagAB = jac.getDiagonal();
+	SimdScalar jacDiagABInv = 1.f / jacDiagAB;
+	
+	  SimdScalar rel_vel = jac.getRelativeVelocity(
+		body1.getLinearVelocity(),
+		body1.getCenterOfMassTransform().getBasis().transpose() * body1.getAngularVelocity(),
+		body2.getLinearVelocity(),
+		body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity()); 
+	float a;
+	a=jacDiagABInv;
+
+	*/
+	rel_vel = normal.dot(vel);
+	
+
+
+
+	/*int color = 255+255*256;
+
+	DrawRasterizerLine(pos1,pos1+normal,color);
+*/
+
+		
+	SimdScalar massTerm = 1.f / (body1.getInvMass() + body2.getInvMass());
+
+	float contactDamping = 0.9f;
+	impulse = - contactDamping * rel_vel * massTerm;//jacDiagABInv;
+
+	//SimdScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
+	//impulse = velocityImpulse;
+
+}
+
+
+
+
+
+//velocity + friction
+//response  between two dynamic objects with friction
+float resolveSingleCollision(RigidBody& body1, const SimdVector3& pos1,
+                      RigidBody& body2, const SimdVector3& pos2,
+                      SimdScalar depth, const SimdVector3& normal, 
+					  		const ContactSolverInfo& solverInfo
+					  )
+{
+	
+	float normalLenSqr = normal.length2();
+	ASSERT2(fabs(normalLenSqr) < 1.1f);
+	if (normalLenSqr > 1.1f)
+		return 0.f;
+
+	SimdVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition(); 
+	SimdVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
+	//this jacobian entry could be re-used for all iterations
+	
+	SimdVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
+	SimdVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
+	SimdVector3 vel = vel1 - vel2;
+	SimdScalar rel_vel;
+	rel_vel = normal.dot(vel);
+	
+//	if (rel_vel< 0.f)//-SIMD_EPSILON) 
+//	{
+	SimdScalar rest = restitutionCurve(rel_vel, solverInfo.m_restitution);
+
+	SimdScalar timeCorrection =  1.f;///timeStep;
+	float damping = solverInfo.m_damping ;
+	float tau = solverInfo.m_tau;
+
+	if (useGlobalSettingContacts)
+	{
+		damping = contactDamping;
+		tau = contactTau;
+	} 
+
+	if (depth < 0.f)
+		return 0.f;//bdepth = 0.f;
+
+	SimdScalar penetrationImpulse = (depth*tau*timeCorrection);// * massTerm;//jacDiagABInv
+	
+	SimdScalar velocityImpulse = -(1.0f + rest) * damping * rel_vel;
+
+	SimdScalar impulse = penetrationImpulse + velocityImpulse;
+	SimdVector3 temp1 = body1.getInvInertiaTensorWorld() * rel_pos1.cross(normal); 
+		SimdVector3 temp2 = body2.getInvInertiaTensorWorld() * rel_pos2.cross(normal); 
+		impulse /=
+			(body1.getInvMass() + body2.getInvMass() + normal.dot(temp1.cross(rel_pos1) + temp2.cross(rel_pos2)));
+	
+	if (impulse > 0.f)
+	{
+	
+		body1.applyImpulse(normal*(impulse), rel_pos1);
+		body2.applyImpulse(-normal*(impulse), rel_pos2);
+	} else
+	{
+		impulse = 0.f;
+	}
+
+	return impulse;//velocityImpulse;//impulse;
+	
+}
+
+
+
+//velocity + friction
+//response  between two dynamic objects with friction
+float resolveSingleCollisionWithFriction(
+
+		RigidBody& body1, 
+		const SimdVector3& pos1,
+        RigidBody& body2, 
+		const SimdVector3& pos2,
+        SimdScalar depth, 
+		const SimdVector3& normal, 
+
+		const ContactSolverInfo& solverInfo
+		)
+{
+	float normalLenSqr = normal.length2();
+	ASSERT2(fabs(normalLenSqr) < 1.1f);
+	if (normalLenSqr > 1.1f)
+		return 0.f;
+
+	SimdVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition(); 
+	SimdVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
+	//this jacobian entry could be re-used for all iterations
+	
+	JacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
+		body2.getCenterOfMassTransform().getBasis().transpose(),
+		rel_pos1,rel_pos2,normal,body1.getInvInertiaDiagLocal(),body1.getInvMass(),
+		body2.getInvInertiaDiagLocal(),body2.getInvMass());
+
+	SimdScalar jacDiagAB = jac.getDiagonal();
+	SimdScalar jacDiagABInv = 1.f / jacDiagAB;
+	SimdVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
+	SimdVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
+	SimdVector3 vel = vel1 - vel2;
+SimdScalar rel_vel;
+	/*	rel_vel = jac.getRelativeVelocity(
+		body1.getLinearVelocity(),
+		body1.getTransform().getBasis().transpose() * body1.getAngularVelocity(),
+		body2.getLinearVelocity(),
+		body2.getTransform().getBasis().transpose() * body2.getAngularVelocity()); 
+*/	
+	rel_vel = normal.dot(vel);
+	
+//	if (rel_vel< 0.f)//-SIMD_EPSILON) 
+//	{
+	SimdScalar rest = restitutionCurve(rel_vel, solverInfo.m_restitution);
+//	SimdScalar massTerm = 1.f / (body1.getInvMass() + body2.getInvMass());
+
+	SimdScalar timeCorrection = 0.5f / solverInfo.m_timeStep ;
+
+	float damping = solverInfo.m_damping ;
+	float tau = solverInfo.m_tau;
+
+	if (useGlobalSettingContacts)
+	{
+		damping = contactDamping;
+		tau = contactTau;
+	} 
+	SimdScalar penetrationImpulse = (depth* tau *timeCorrection)  * jacDiagABInv;
+		
+		if (penetrationImpulse  < 0.f)
+			penetrationImpulse  = 0.f;
+
+
+
+	SimdScalar velocityImpulse = -(1.0f + rest) * damping * rel_vel * jacDiagABInv;
+
+	SimdScalar friction_impulse = 0.f;
+
+	if (velocityImpulse <= 0.f)
+		velocityImpulse = 0.f;
+
+//	SimdScalar impulse = penetrationImpulse + velocityImpulse;
+	//if (impulse > 0.f)
+	{
+//		SimdVector3 impulse_vector = normal * impulse;
+		body1.applyImpulse(normal*(velocityImpulse+penetrationImpulse), rel_pos1);
+		
+		body2.applyImpulse(-normal*(velocityImpulse+penetrationImpulse), rel_pos2);
+		
+		//friction
+
+		{
+		
+				SimdVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
+	SimdVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
+	SimdVector3 vel = vel1 - vel2;
+	
+	rel_vel = normal.dot(vel);
+
+#define PER_CONTACT_FRICTION
+#ifdef PER_CONTACT_FRICTION
+		SimdVector3 lat_vel = vel - normal * rel_vel;
+		SimdScalar lat_rel_vel = lat_vel.length();
+
+		if (lat_rel_vel > SIMD_EPSILON)
+		{
+			lat_vel /= lat_rel_vel;
+			SimdVector3 temp1 = body1.getInvInertiaTensorWorld() * rel_pos1.cross(lat_vel); 
+			SimdVector3 temp2 = body2.getInvInertiaTensorWorld() * rel_pos2.cross(lat_vel); 
+			 friction_impulse = lat_rel_vel / 
+				(body1.getInvMass() + body2.getInvMass() + lat_vel.dot(temp1.cross(rel_pos1) + temp2.cross(rel_pos2)));
+			SimdScalar normal_impulse = (penetrationImpulse+
+				velocityImpulse) * solverInfo.m_friction;
+			GEN_set_min(friction_impulse, normal_impulse);
+			
+			body1.applyImpulse(lat_vel * -friction_impulse, rel_pos1);
+			body2.applyImpulse(lat_vel * friction_impulse, rel_pos2);
+			
+		}
+#endif
+		}
+	} 
+	return velocityImpulse + friction_impulse;
+}

extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.h

@@ -0,0 +1,48 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef CONTACT_CONSTRAINT_H
+#define CONTACT_CONSTRAINT_H
+
+//todo: make into a proper class working with the iterative constraint solver
+
+class RigidBody;
+#include "SimdVector3.h"
+#include "SimdScalar.h"
+struct ContactSolverInfo;
+
+///bilateral constraint between two dynamic objects
+void resolveSingleBilateral(RigidBody& body1, const SimdVector3& pos1,
+                      RigidBody& body2, const SimdVector3& pos2,
+                      SimdScalar depth, const SimdVector3& normal,SimdScalar& impulse ,float timeStep);
+
+
+//contact constraint resolution:
+//calculate and apply impulse to satisfy non-penetration and non-negative relative velocity constraint
+float resolveSingleCollision(RigidBody& body1, const SimdVector3& pos1,
+                      RigidBody& body2, const SimdVector3& pos2,
+                      SimdScalar depth, const SimdVector3& normal, 
+					  const ContactSolverInfo& info);
+
+
+/// apply friction force to simulate friction in a contact point related to the normal impulse
+void	applyFrictionInContactPointOld(RigidBody& body1, const SimdVector3& pos1,
+                      RigidBody& body2, const SimdVector3& pos2,
+                      const SimdVector3& normal,float normalImpulse,
+					  const ContactSolverInfo& info);
+
+//contact constraint resolution:
+//calculate and apply impulse to satisfy non-penetration and non-negative relative velocity constraint
+float resolveSingleCollisionWithFriction(RigidBody& body1, const SimdVector3& pos1,
+                      RigidBody& body2, const SimdVector3& pos2,
+                      SimdScalar depth, const SimdVector3& normal, 
+					  const ContactSolverInfo& info);
+
+#endif //CONTACT_CONSTRAINT_H

extern/bullet/BulletDynamics/ConstraintSolver/ContactSolverInfo.h

@@ -0,0 +1,39 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef CONTACT_SOLVER_INFO
+#define CONTACT_SOLVER_INFO
+
+
+struct ContactSolverInfo
+{
+
+	inline ContactSolverInfo()
+	{
+		m_tau = 0.4f;
+		m_damping = 0.9f;
+		m_friction = 0.3f;
+		m_restitution = 0.f;
+		m_maxErrorReduction = 20.f;
+		m_numIterations = 10;
+	}
+
+	float	m_tau;
+	float	m_damping;
+	float	m_friction;
+	float	m_timeStep;
+	float	m_restitution;
+	int		m_numIterations;
+	float	m_maxErrorReduction;
+
+
+};
+
+#endif //CONTACT_SOLVER_INFO

extern/bullet/BulletDynamics/ConstraintSolver/JacobianEntry.h

@@ -0,0 +1,129 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef JACOBIAN_ENTRY_H
+#define JACOBIAN_ENTRY_H
+
+#include "SimdVector3.h"
+#include "Dynamics/RigidBody.h"
+
+
+//notes:
+// Another memory optimization would be to store m_MbJ in the remaining 3 w components
+// which makes the JacobianEntry memory layout 16 bytes
+// if you only are interested in angular part, just feed massInvA and massInvB zero
+
+/// Jacobian entry is an abstraction that allows to describe constraints
+/// it can be used in combination with a constraint solver
+/// Can be used to relate the effect of an impulse to the constraint error
+class JacobianEntry
+{
+public:
+	JacobianEntry() {};
+	//constraint between two different rigidbodies
+	JacobianEntry(
+		const SimdMatrix3x3& world2A,
+		const SimdMatrix3x3& world2B,
+		const SimdVector3& rel_pos1,const SimdVector3& rel_pos2,
+		const SimdVector3& normal,
+		const SimdVector3& inertiaInvA, 
+		const SimdScalar massInvA,
+		const SimdVector3& inertiaInvB,
+		const SimdScalar massInvB)
+		:m_normalAxis(normal)
+	{
+		m_aJ = world2A*(rel_pos1.cross(normal));
+		m_bJ = world2B*(rel_pos2.cross(normal));
+		m_MaJ	= inertiaInvA * m_aJ;
+		m_MbJ = inertiaInvB * m_bJ;
+		m_jacDiagAB = massInvA + m_MaJ.dot(m_aJ) + massInvB + m_MbJ.dot(m_bJ);
+	}
+
+		//angular constraint between two different rigidbodies
+	JacobianEntry(const SimdVector3& normal,
+		const SimdMatrix3x3& world2A,
+		const SimdMatrix3x3& world2B,
+		const SimdVector3& inertiaInvA,
+		const SimdVector3& inertiaInvB)
+		:m_normalAxis(normal)
+	{
+		m_aJ= world2A*normal;
+		m_bJ = world2B*-normal;
+		m_MaJ	= inertiaInvA * m_aJ;
+		m_MbJ = inertiaInvB * m_bJ;
+		m_jacDiagAB =  m_MaJ.dot(m_aJ) + m_MbJ.dot(m_bJ);
+	}
+
+	//constraint on one rigidbody
+	JacobianEntry(
+		const SimdMatrix3x3& world2A,
+		const SimdVector3& rel_pos1,const SimdVector3& rel_pos2,
+		const SimdVector3& normal,
+		const SimdVector3& inertiaInvA, 
+		const SimdScalar massInvA)
+		:m_normalAxis(normal)
+	{
+		m_aJ= world2A*(rel_pos1.cross(normal));
+		m_bJ = world2A*(rel_pos2.cross(normal));
+		m_MaJ	= inertiaInvA * m_aJ;
+		m_MbJ = SimdVector3(0.f,0.f,0.f);
+		m_jacDiagAB = massInvA + m_MaJ.dot(m_aJ);
+	}
+
+	SimdScalar	getDiagonal() const { return m_jacDiagAB; }
+
+	// for two constraints on the same rigidbody (for example vehicle friction)
+	SimdScalar	getNonDiagonal(const JacobianEntry& jacB, const SimdScalar massInvA) const
+	{
+		const JacobianEntry& jacA = *this;
+		SimdScalar lin = massInvA * jacA.m_normalAxis.dot(jacB.m_normalAxis);
+		SimdScalar ang = jacA.m_MaJ.dot(jacB.m_aJ);
+		return lin + ang;
+	}
+
+	
+
+	// for two constraints on sharing two same rigidbodies (for example two contact points between two rigidbodies)
+	SimdScalar	getNonDiagonal(const JacobianEntry& jacB,const SimdScalar massInvA,const SimdScalar massInvB) const
+	{
+		const JacobianEntry& jacA = *this;
+		SimdVector3 lin = jacA.m_normalAxis * jacB.m_normalAxis;
+		SimdVector3 ang0 = jacA.m_MaJ * jacB.m_aJ;
+		SimdVector3 ang1 = jacA.m_MbJ * jacB.m_bJ;
+		SimdVector3 lin0 = massInvA * lin ;
+		SimdVector3 lin1 = massInvB * lin;
+		SimdVector3 sum = ang0+ang1+lin0+lin1;
+		return sum[0]+sum[1]+sum[2];
+	}
+
+	SimdScalar getRelativeVelocity(const SimdVector3& linvelA,const SimdVector3& angvelA,const SimdVector3& linvelB,const SimdVector3& angvelB)
+	{
+		SimdVector3 linrel = linvelA - linvelB;
+		SimdVector3 angvela  = angvelA * m_aJ;
+		SimdVector3 angvelb  = angvelB * m_bJ;
+		linrel *= m_normalAxis;
+		angvela += angvelb;
+		angvela += linrel;
+		SimdScalar rel_vel2 = angvela[0]+angvela[1]+angvela[2];
+		return rel_vel2 + SIMD_EPSILON;
+	}
+//private:
+
+	SimdVector3	m_normalAxis;
+	SimdVector3	m_aJ;
+	SimdVector3	m_bJ;
+	SimdVector3	m_MaJ;
+	SimdVector3	m_MbJ;
+	//Optimization: can be stored in the w/last component of one of the vectors
+	SimdScalar	m_jacDiagAB;
+
+};
+
+#endif //JACOBIAN_ENTRY_H

extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.cpp

@@ -0,0 +1,256 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#include "OdeConstraintSolver.h"
+
+#include "NarrowPhaseCollision/PersistentManifold.h"
+#include "Dynamics/RigidBody.h"
+#include "ContactConstraint.h"
+#include "Solve2LinearConstraint.h"
+#include "ContactSolverInfo.h"
+#include "Dynamics/BU_Joint.h"
+#include "Dynamics/ContactJoint.h"
+
+#define USE_SOR_SOLVER
+
+#include "SorLcp.h"
+
+#include <math.h>
+#include <float.h>//FLT_MAX
+#ifdef WIN32
+#include <memory.h>
+#endif
+#include <string.h>
+#include <stdio.h>
+
+#ifdef WIN32
+#include <malloc.h>
+#else
+#include <alloca.h>
+#endif
+
+class BU_Joint;
+
+//see below
+
+int gCurBody = 0;
+int gCurJoint= 0;
+
+int ConvertBody(RigidBody* body,RigidBody** bodies,int& numBodies);
+void ConvertConstraint(PersistentManifold* manifold,BU_Joint** joints,int& numJoints,
+					   RigidBody** bodies,int bodyId0,int bodyId1);
+
+
+
+
+
+//iterative lcp and penalty method
+float OdeConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numManifolds,const ContactSolverInfo& infoGlobal)
+{
+	gCurBody = 0;
+	gCurJoint = 0;
+
+	float cfm = 1e-5f;
+	float erp = 0.2f;
+
+	RigidBody* bodies [128];
+
+	int numBodies = 0;
+	BU_Joint* joints [128*5];
+	int numJoints = 0;
+
+	for (int j=0;j<numManifolds;j++)
+	{
+
+		int body0=-1,body1=-1;
+
+		PersistentManifold* manifold = manifoldPtr[j];
+		if (manifold->GetNumContacts() > 0)
+		{
+			body0 = ConvertBody((RigidBody*)manifold->GetBody0(),bodies,numBodies);
+			body1 = ConvertBody((RigidBody*)manifold->GetBody1(),bodies,numBodies);
+			ConvertConstraint(manifold,joints,numJoints,bodies,body0,body1);
+		}
+	}
+
+	SolveInternal1(cfm,erp,bodies,numBodies,joints,numJoints,infoGlobal);
+
+	return 0.f;
+
+}
+
+/////////////////////////////////////////////////////////////////////////////////
+
+
+typedef SimdScalar dQuaternion[4];
+#define _R(i,j) R[(i)*4+(j)]
+
+void dRfromQ1 (dMatrix3 R, const dQuaternion q)
+{
+  // q = (s,vx,vy,vz)
+  SimdScalar qq1 = 2*q[1]*q[1];
+  SimdScalar qq2 = 2*q[2]*q[2];
+  SimdScalar qq3 = 2*q[3]*q[3];
+  _R(0,0) = 1 - qq2 - qq3;
+  _R(0,1) = 2*(q[1]*q[2] - q[0]*q[3]);
+  _R(0,2) = 2*(q[1]*q[3] + q[0]*q[2]);
+  _R(1,0) = 2*(q[1]*q[2] + q[0]*q[3]);
+  _R(1,1) = 1 - qq1 - qq3;
+  _R(1,2) = 2*(q[2]*q[3] - q[0]*q[1]);
+  _R(2,0) = 2*(q[1]*q[3] - q[0]*q[2]);
+  _R(2,1) = 2*(q[2]*q[3] + q[0]*q[1]);
+  _R(2,2) = 1 - qq1 - qq2;
+}
+
+
+
+int ConvertBody(RigidBody* body,RigidBody** bodies,int& numBodies)
+{
+	if (!body || (body->getInvMass() == 0.f) )
+	{
+		return -1;
+	}
+	//first try to find
+	int i,j;
+	for (i=0;i<numBodies;i++)
+	{
+		if (bodies[i] == body)
+			return i;
+	}
+	//if not found, create a new body
+	bodies[numBodies++] = body;
+	//convert data
+
+
+	body->m_facc.setValue(0,0,0);
+	body->m_tacc.setValue(0,0,0);
+	
+	//are the indices the same ?
+	for (i=0;i<4;i++)
+	{
+		for ( j=0;j<3;j++)
+		{
+			body->m_invI[i+4*j] = 0.f;
+			body->m_I[i+4*j] = 0.f;
+		}
+	}
+	body->m_invI[0+4*0] = 	body->getInvInertiaDiagLocal()[0];
+	body->m_invI[1+4*1] = 	body->getInvInertiaDiagLocal()[1];
+	body->m_invI[2+4*2] = 	body->getInvInertiaDiagLocal()[2];
+
+	body->m_I[0+0*4] = body->getInvInertiaDiagLocal()[0];
+	body->m_I[1+1*4] = body->getInvInertiaDiagLocal()[1];
+	body->m_I[2+2*4] = body->getInvInertiaDiagLocal()[2];
+	
+
+	/*
+	
+	SimdMatrix3x3 invI;
+	invI.setIdentity();
+	invI[0][0] = body->getInvInertiaDiagLocal()[0];
+	invI[1][1] = body->getInvInertiaDiagLocal()[1];
+	invI[2][2] = body->getInvInertiaDiagLocal()[2];
+	SimdMatrix3x3 inertia = invI.inverse();
+
+	for (i=0;i<3;i++)
+	{
+		for (j=0;j<3;j++)
+		{
+			body->m_I[i+4*j] = inertia[i][j];
+		}
+	}
+	*/
+//	body->m_I[3+0*4] = 0.f;
+//	body->m_I[3+1*4] = 0.f;
+//	body->m_I[3+2*4] = 0.f;
+//	body->m_I[3+3*4] = 0.f;
+	
+	
+	dQuaternion q;
+
+	q[1] = body->getOrientation()[0];
+	q[2] = body->getOrientation()[1];
+	q[3] = body->getOrientation()[2];
+	q[0] = body->getOrientation()[3];
+	
+	dRfromQ1(body->m_R,q);
+	
+	return numBodies-1;
+}
+
+
+
+
+	
+#define MAX_JOINTS_1 8192
+
+static ContactJoint gJointArray[MAX_JOINTS_1];
+
+
+void ConvertConstraint(PersistentManifold* manifold,BU_Joint** joints,int& numJoints,
+					   RigidBody** bodies,int _bodyId0,int _bodyId1)
+{
+
+
+	manifold->RefreshContactPoints(((RigidBody*)manifold->GetBody0())->getCenterOfMassTransform(),
+		((RigidBody*)manifold->GetBody1())->getCenterOfMassTransform());
+
+	int bodyId0 = _bodyId0,bodyId1 = _bodyId1;
+
+	int i,numContacts = manifold->GetNumContacts();
+	
+	bool swapBodies = (bodyId0 < 0);
+
+	
+	RigidBody* body0,*body1;
+
+	if (swapBodies)
+	{
+		bodyId0 = _bodyId1;
+		bodyId1 = _bodyId0;
+
+		body0 = (RigidBody*)manifold->GetBody1();
+		body1 = (RigidBody*)manifold->GetBody0();
+
+	} else
+	{
+		body0 = (RigidBody*)manifold->GetBody0();
+		body1 = (RigidBody*)manifold->GetBody1();
+	}
+
+	assert(bodyId0 >= 0);
+
+	for (i=0;i<numContacts;i++)
+	{
+		
+		assert (gCurJoint < MAX_JOINTS_1);
+
+		if (manifold->GetContactPoint(i).GetDistance() < 0.f)
+		{
+			ContactJoint* cont = new (&gJointArray[gCurJoint++]) ContactJoint( manifold ,i, swapBodies,body0,body1);
+
+			cont->node[0].joint = cont;
+			cont->node[0].body = bodyId0 >= 0 ? bodies[bodyId0] : 0;
+			
+			cont->node[1].joint = cont;
+			cont->node[1].body = bodyId1 >= 0 ? bodies[bodyId1] : 0;
+			
+			joints[numJoints++] = cont;
+			for (int i=0;i<6;i++)
+				cont->lambda[i] = 0.f;
+
+			cont->flags = 0;
+		}
+	}
+
+	//create a new contact constraint
+};
+

extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.h

@@ -0,0 +1,31 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef ODE_CONSTRAINT_SOLVER_H
+#define ODE_CONSTRAINT_SOLVER_H
+
+#include "ConstraintSolver.h"
+
+
+class OdeConstraintSolver : public ConstraintSolver
+{
+	
+public:
+
+	virtual ~OdeConstraintSolver() {}
+	
+	virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info);
+
+};
+
+
+
+
+#endif //ODE_CONSTRAINT_SOLVER_H

extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver2.cpp

@@ -0,0 +1,246 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#include "OdeConstraintSolver.h"
+
+#include "NarrowPhaseCollision/PersistentManifold.h"
+#include "Dynamics/RigidBody.h"
+#include "ContactConstraint.h"
+#include "Solve2LinearConstraint.h"
+#include "ContactSolverInfo.h"
+#include "Dynamics/BU_Joint.h"
+#include "Dynamics/ContactJoint.h"
+
+#define USE_SOR_SOLVER
+
+#include "SorLcp.h"
+
+#include <math.h>
+#include <float.h>//FLT_MAX
+#ifdef WIN32
+#include <memory.h>
+#endif
+#include <string.h>
+#include <stdio.h>
+
+#ifdef WIN32
+#include <malloc.h>
+#else
+#include <alloca.h>
+#endif
+
+class BU_Joint;
+
+//see below
+
+int gCurBody = 0;
+int gCurJoint= 0;
+
+int ConvertBody(RigidBody* body,RigidBody** bodies,int& numBodies);
+void ConvertConstraint(PersistentManifold* manifold,BU_Joint** joints,int& numJoints,
+					   RigidBody** bodies,int bodyId0,int bodyId1);
+
+
+
+
+
+//iterative lcp and penalty method
+float OdeConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numManifolds,const ContactSolverInfo& infoGlobal)
+{
+	gCurBody = 0;
+	gCurJoint = 0;
+
+	float cfm = 1e-5f;
+	float erp = 0.2f;
+
+	RigidBody* bodies [128];
+
+	int numBodies = 0;
+	BU_Joint* joints [128*5];
+	int numJoints = 0;
+
+	for (int j=0;j<numManifolds;j++)
+	{
+
+		int body0=-1,body1=-1;
+
+		PersistentManifold* manifold = manifoldPtr[j];
+		if (manifold->GetNumContacts() > 0)
+		{
+			body0 = ConvertBody((RigidBody*)manifold->GetBody0(),bodies,numBodies);
+			body1 = ConvertBody((RigidBody*)manifold->GetBody1(),bodies,numBodies);
+			ConvertConstraint(manifold,joints,numJoints,bodies,body0,body1);
+		}
+	}
+
+	SolveInternal1(cfm,erp,bodies,numBodies,joints,numJoints,infoGlobal);
+
+	return 0.f;
+
+}
+
+/////////////////////////////////////////////////////////////////////////////////
+
+
+typedef SimdScalar dQuaternion[4];
+#define _R(i,j) R[(i)*4+(j)]
+
+void dRfromQ1 (dMatrix3 R, const dQuaternion q)
+{
+  // q = (s,vx,vy,vz)
+  SimdScalar qq1 = 2*q[1]*q[1];
+  SimdScalar qq2 = 2*q[2]*q[2];
+  SimdScalar qq3 = 2*q[3]*q[3];
+  _R(0,0) = 1 - qq2 - qq3;
+  _R(0,1) = 2*(q[1]*q[2] - q[0]*q[3]);
+  _R(0,2) = 2*(q[1]*q[3] + q[0]*q[2]);
+  _R(1,0) = 2*(q[1]*q[2] + q[0]*q[3]);
+  _R(1,1) = 1 - qq1 - qq3;
+  _R(1,2) = 2*(q[2]*q[3] - q[0]*q[1]);
+  _R(2,0) = 2*(q[1]*q[3] - q[0]*q[2]);
+  _R(2,1) = 2*(q[2]*q[3] + q[0]*q[1]);
+  _R(2,2) = 1 - qq1 - qq2;
+}
+
+
+
+int ConvertBody(RigidBody* body,RigidBody** bodies,int& numBodies)
+{
+	if (!body || (body->getInvMass() == 0.f) )
+	{
+		return -1;
+	}
+	//first try to find
+	int i,j;
+	for (i=0;i<numBodies;i++)
+	{
+		if (bodies[i] == body)
+			return i;
+	}
+	//if not found, create a new body
+	bodies[numBodies++] = body;
+	//convert data
+
+
+	body->m_facc.setValue(0,0,0);
+	body->m_tacc.setValue(0,0,0);
+	
+	//are the indices the same ?
+	for (i=0;i<4;i++)
+	{
+		for ( j=0;j<3;j++)
+		{
+			body->m_invI[i+4*j] = 0.f;
+		}
+	}
+	body->m_invI[0+4*0] = 	body->getInvInertiaDiagLocal()[0];
+	body->m_invI[1+4*1] = 	body->getInvInertiaDiagLocal()[1];
+	body->m_invI[2+4*2] = 	body->getInvInertiaDiagLocal()[2];
+	
+	
+	SimdMatrix3x3 invI;
+	invI.setIdentity();
+	invI[0][0] = body->getInvInertiaDiagLocal()[0];
+	invI[1][1] = body->getInvInertiaDiagLocal()[1];
+	invI[2][2] = body->getInvInertiaDiagLocal()[2];
+	SimdMatrix3x3 inertia = invI.inverse();
+
+	for (i=0;i<3;i++)
+	{
+		for (j=0;j<3;j++)
+		{
+			body->m_I[i+4*j] = inertia[i][j];
+		}
+	}
+	body->m_I[3+0*4] = 0.f;
+	body->m_I[3+1*4] = 0.f;
+	body->m_I[3+2*4] = 0.f;
+	body->m_I[3+3*4] = 0.f;
+	
+	
+	dQuaternion q;
+
+	q[1] = body->getOrientation()[0];
+	q[2] = body->getOrientation()[1];
+	q[3] = body->getOrientation()[2];
+	q[0] = body->getOrientation()[3];
+	
+	dRfromQ1(body->m_R,q);
+	
+	return numBodies-1;
+}
+
+
+
+
+	
+#define MAX_JOINTS_1 8192
+
+static ContactJoint gJointArray[MAX_JOINTS_1];
+
+
+void ConvertConstraint(PersistentManifold* manifold,BU_Joint** joints,int& numJoints,
+					   RigidBody** bodies,int _bodyId0,int _bodyId1)
+{
+
+
+	manifold->RefreshContactPoints(((RigidBody*)manifold->GetBody0())->getCenterOfMassTransform(),
+		((RigidBody*)manifold->GetBody1())->getCenterOfMassTransform());
+
+	int bodyId0 = _bodyId0,bodyId1 = _bodyId1;
+
+	int i,numContacts = manifold->GetNumContacts();
+	
+	bool swapBodies = (bodyId0 < 0);
+
+	
+	RigidBody* body0,*body1;
+
+	if (swapBodies)
+	{
+		bodyId0 = _bodyId1;
+		bodyId1 = _bodyId0;
+
+		body0 = (RigidBody*)manifold->GetBody1();
+		body1 = (RigidBody*)manifold->GetBody0();
+
+	} else
+	{
+		body0 = (RigidBody*)manifold->GetBody0();
+		body1 = (RigidBody*)manifold->GetBody1();
+	}
+
+	assert(bodyId0 >= 0);
+
+	for (i=0;i<numContacts;i++)
+	{
+		
+		assert (gCurJoint < MAX_JOINTS_1);
+
+		ContactJoint* cont = new (&gJointArray[gCurJoint++]) ContactJoint( manifold ,i, swapBodies,body0,body1);
+
+		cont->node[0].joint = cont;
+		cont->node[0].body = bodyId0 >= 0 ? bodies[bodyId0] : 0;
+		
+		cont->node[1].joint = cont;
+		cont->node[1].body = bodyId1 >= 0 ? bodies[bodyId1] : 0;
+		
+		joints[numJoints++] = cont;
+		for (int i=0;i<6;i++)
+			cont->lambda[i] = 0.f;
+
+		cont->flags = 0;
+	
+	}
+
+	//create a new contact constraint
+};
+

extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver2.h

@@ -0,0 +1,31 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef ODE_CONSTRAINT_SOLVER_H
+#define ODE_CONSTRAINT_SOLVER_H
+
+#include "ConstraintSolver.h"
+
+
+class OdeConstraintSolver : public ConstraintSolver
+{
+	
+public:
+
+	virtual ~OdeConstraintSolver() {}
+	
+	virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info);
+
+};
+
+
+
+
+#endif //ODE_CONSTRAINT_SOLVER_H

extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp

@@ -0,0 +1,111 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#include "Point2PointConstraint.h"
+#include "Dynamics/RigidBody.h"
+#include "Dynamics/MassProps.h"
+
+
+static RigidBody s_fixed(MassProps(0,SimdVector3(0.f,0.f,0.f)),0.f,0.f);
+
+Point2PointConstraint::Point2PointConstraint():
+m_rbA(s_fixed),m_rbB(s_fixed)
+{
+	s_fixed.setMassProps(0.f,SimdVector3(0.f,0.f,0.f));
+}
+
+Point2PointConstraint::Point2PointConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB)
+:m_rbA(rbA),m_rbB(rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB)
+{
+
+}
+
+
+Point2PointConstraint::Point2PointConstraint(RigidBody& rbA,const SimdVector3& pivotInA)
+:m_rbA(rbA),m_rbB(s_fixed),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA))
+{
+	s_fixed.setMassProps(0.f,SimdVector3(1e10f,1e10f,1e10f));
+}
+
+void	Point2PointConstraint::BuildJacobian()
+{
+	SimdVector3	normal(0,0,0);
+
+	for (int i=0;i<3;i++)
+	{
+		normal[i] = 1;
+		new (&m_jac[i]) JacobianEntry(
+			m_rbA.getCenterOfMassTransform().getBasis().transpose(),
+			m_rbB.getCenterOfMassTransform().getBasis().transpose(),
+			m_rbA.getCenterOfMassTransform()*m_pivotInA - m_rbA.getCenterOfMassPosition(),
+			m_rbB.getCenterOfMassTransform()*m_pivotInB - m_rbB.getCenterOfMassPosition(),
+			normal,
+			m_rbA.getInvInertiaDiagLocal(),
+			m_rbA.getInvMass(),
+			m_rbB.getInvInertiaDiagLocal(),
+			m_rbB.getInvMass());
+		normal[i] = 0;
+	}
+
+}
+
+void	Point2PointConstraint::SolveConstraint(SimdScalar	timeStep)
+{
+	SimdVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_pivotInA;
+	SimdVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_pivotInB;
+
+
+	SimdVector3 normal(0,0,0);
+	SimdScalar tau = 0.3f;
+	SimdScalar damping = 1.f;
+
+//	SimdVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
+//	SimdVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
+
+	for (int i=0;i<3;i++)
+	{		
+		normal[i] = 1;
+		SimdScalar jacDiagABInv = 1.f / m_jac[i].getDiagonal();
+
+		SimdVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); 
+		SimdVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
+		//this jacobian entry could be re-used for all iterations
+		
+		SimdVector3 vel1 = m_rbA.getVelocityInLocalPoint(rel_pos1);
+		SimdVector3 vel2 = m_rbB.getVelocityInLocalPoint(rel_pos2);
+		SimdVector3 vel = vel1 - vel2;
+		
+		SimdScalar rel_vel;
+		rel_vel = normal.dot(vel);
+
+	/*
+		//velocity error (first order error)
+		SimdScalar rel_vel = m_jac[i].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA,
+														m_rbB.getLinearVelocity(),angvelB);
+	*/
+	
+		//positional error (zeroth order error)
+		SimdScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
+		
+		SimdScalar impulse = depth*tau/timeStep  * jacDiagABInv -  damping * rel_vel * jacDiagABInv * damping;
+
+		SimdVector3 impulse_vector = normal * impulse;
+		m_rbA.applyImpulse(impulse_vector, pivotAInW - m_rbA.getCenterOfMassPosition());
+		m_rbB.applyImpulse(-impulse_vector, pivotBInW - m_rbB.getCenterOfMassPosition());
+		
+		normal[i] = 0;
+	}
+}
+
+void	Point2PointConstraint::UpdateRHS(SimdScalar	timeStep)
+{
+
+}
+

extern/bullet/BulletDynamics/ConstraintSolver/Point2PointConstraint.h

@@ -0,0 +1,56 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef POINT2POINTCONSTRAINT_H
+#define POINT2POINTCONSTRAINT_H
+
+#include "SimdVector3.h"
+
+#include "ConstraintSolver/JacobianEntry.h"
+class RigidBody;
+
+
+/// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
+class Point2PointConstraint
+{
+	JacobianEntry	m_jac[3]; //3 orthogonal linear constraints
+	RigidBody&	m_rbA;
+	RigidBody&	m_rbB;
+
+	SimdVector3	m_pivotInA;
+	SimdVector3	m_pivotInB;
+	
+public:
+
+	Point2PointConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB);
+
+	Point2PointConstraint(RigidBody& rbA,const SimdVector3& pivotInA);
+
+	Point2PointConstraint();
+
+	void	BuildJacobian();
+
+	void	SolveConstraint(SimdScalar	timeStep);
+
+	void	UpdateRHS(SimdScalar	timeStep);
+
+	const RigidBody& GetRigidBodyA() const
+	{
+		return m_rbA;
+	}
+	const RigidBody& GetRigidBodyB() const
+	{
+		return m_rbB;
+	}
+
+
+};
+
+#endif //POINT2POINTCONSTRAINT_H

extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp

@@ -0,0 +1,127 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#include "SimpleConstraintSolver.h"
+#include "NarrowPhaseCollision/PersistentManifold.h"
+#include "Dynamics/RigidBody.h"
+#include "ContactConstraint.h"
+#include "Solve2LinearConstraint.h"
+#include "ContactSolverInfo.h"
+#include "Dynamics/BU_Joint.h"
+#include "Dynamics/ContactJoint.h"
+
+//debugging
+bool doApplyImpulse = true;
+
+
+
+bool useImpulseFriction = true;//true;//false;
+
+
+
+
+//iterative lcp and penalty method
+float SimpleConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numManifolds,const ContactSolverInfo& infoGlobal)
+{
+
+	ContactSolverInfo info = infoGlobal;
+
+	int numiter = infoGlobal.m_numIterations;
+
+	float substep = infoGlobal.m_timeStep / float(numiter);
+
+	for (int i = 0;i<numiter;i++)
+	{
+		for (int j=0;j<numManifolds;j++)
+		{
+			Solve(manifoldPtr[j],info,i);
+		}
+	}
+	return 0.f;
+}
+
+
+float penetrationResolveFactor = 0.9f;
+
+
+float SimpleConstraintSolver::Solve(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,int iter)
+{
+
+	RigidBody* body0 = (RigidBody*)manifoldPtr->GetBody0();
+	RigidBody* body1 = (RigidBody*)manifoldPtr->GetBody1();
+
+	float maxImpulse = 0.f;
+
+
+	float invNumIterFl = 1.f / float(info.m_numIterations);
+
+	float timeSubStep = info.m_timeStep * invNumIterFl;
+	
+	//only necessary to refresh the manifold once (first iteration). The integration is done outside the loop
+	if (iter == 0)
+	{
+		manifoldPtr->RefreshContactPoints(body0->getCenterOfMassTransform(),body1->getCenterOfMassTransform());
+	}
+
+	{
+		const int numpoints = manifoldPtr->GetNumContacts();
+
+		for (int i=0;i<numpoints ;i++)
+		{
+
+			int j=i;
+			if (iter % 2)
+				j = numpoints-1-i;
+			else
+				j=i;
+
+			ManifoldPoint& cp = manifoldPtr->GetContactPoint(j);
+
+			{
+
+
+				float dist =  invNumIterFl * cp.GetDistance() * penetrationResolveFactor / info.m_timeStep;// / timeStep;//penetrationResolveFactor*cp.m_solveDistance /timeStep;//cp.GetDistance();
+
+
+				float impulse = 0.f;
+
+				if (doApplyImpulse)
+				{
+					impulse = resolveSingleCollision(*body0, 
+						cp.GetPositionWorldOnA(),
+						*body1, 
+						cp.GetPositionWorldOnB(),
+						-dist,
+						cp.m_normalWorldOnB,
+						info);
+
+					if (useImpulseFriction)
+					{
+						applyFrictionInContactPointOld(
+							*body0,cp.GetPositionWorldOnA(),*body1,cp.GetPositionWorldOnB(),
+							cp.m_normalWorldOnB,impulse,info) ;
+					}
+				}
+				if (iter == 0)
+				{
+					cp.m_appliedImpulse = impulse;
+				} else
+				{
+					cp.m_appliedImpulse += impulse;
+				}
+
+				if (maxImpulse < impulse)
+					maxImpulse  = impulse;
+
+			}
+		}
+	}
+	return maxImpulse;
+}

extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.h

@@ -0,0 +1,32 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef SIMPLE_CONSTRAINT_SOLVER_H
+#define SIMPLE_CONSTRAINT_SOLVER_H
+
+#include "ConstraintSolver.h"
+
+
+class SimpleConstraintSolver : public ConstraintSolver
+{
+	float Solve(PersistentManifold* manifold, const ContactSolverInfo& info,int iter);
+
+public:
+
+	virtual ~SimpleConstraintSolver() {}
+	
+	virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info);
+
+};
+
+
+
+
+#endif //SIMPLE_CONSTRAINT_SOLVER_H

extern/bullet/BulletDynamics/ConstraintSolver/Solve2LinearConstraint.cpp

@@ -0,0 +1,234 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#include "Solve2LinearConstraint.h"
+
+#include "Dynamics/RigidBody.h"
+#include "SimdVector3.h"
+#include "JacobianEntry.h"
+
+
+void Solve2LinearConstraint::resolveUnilateralPairConstraint(
+												   RigidBody* body1,
+		RigidBody* body2,
+
+						const SimdMatrix3x3& world2A,
+						const SimdMatrix3x3& world2B,
+						
+						const SimdVector3& invInertiaADiag,
+						const SimdScalar invMassA,
+						const SimdVector3& linvelA,const SimdVector3& angvelA,
+						const SimdVector3& rel_posA1,
+						const SimdVector3& invInertiaBDiag,
+						const SimdScalar invMassB,
+						const SimdVector3& linvelB,const SimdVector3& angvelB,
+						const SimdVector3& rel_posA2,
+
+					  SimdScalar depthA, const SimdVector3& normalA, 
+					  const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
+					  SimdScalar depthB, const SimdVector3& normalB, 
+					  SimdScalar& imp0,SimdScalar& imp1)
+{
+
+	imp0 = 0.f;
+	imp1 = 0.f;
+
+	SimdScalar len = fabs(normalA.length())-1.f;
+	if (fabs(len) >= SIMD_EPSILON)
+		return;
+
+	ASSERT(len < SIMD_EPSILON);
+
+
+	//this jacobian entry could be re-used for all iterations
+	JacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
+		invInertiaBDiag,invMassB);
+	JacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
+		invInertiaBDiag,invMassB);
+	
+	//const SimdScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
+	//const SimdScalar vel1 = jacB.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
+
+	const SimdScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1)-body2->getVelocityInLocalPoint(rel_posA1));
+	const SimdScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1));
+
+//	SimdScalar penetrationImpulse = (depth*contactTau*timeCorrection)  * massTerm;//jacDiagABInv
+	SimdScalar massTerm = 1.f / (invMassA + invMassB);
+
+
+	// calculate rhs (or error) terms
+	const SimdScalar dv0 = depthA  * m_tau * massTerm - vel0 * m_damping;
+	const SimdScalar dv1 = depthB  * m_tau * massTerm - vel1 * m_damping;
+
+
+	// dC/dv * dv = -C
+	
+	// jacobian * impulse = -error
+	//
+
+	//impulse = jacobianInverse * -error
+
+	// inverting 2x2 symmetric system (offdiagonal are equal!)
+	// 
+
+
+	SimdScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB);
+	SimdScalar	invDet = 1.0f / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
+	
+	//imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
+	//imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
+
+	imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
+	imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
+
+	//[a b]								  [d -c]
+	//[c d] inverse = (1 / determinant) * [-b a] where determinant is (ad - bc)
+
+	//[jA nD] * [imp0] = [dv0]
+	//[nD jB]   [imp1]   [dv1]
+
+}
+
+
+
+void Solve2LinearConstraint::resolveBilateralPairConstraint(
+						RigidBody* body1,
+						RigidBody* body2,
+						const SimdMatrix3x3& world2A,
+						const SimdMatrix3x3& world2B,
+						
+						const SimdVector3& invInertiaADiag,
+						const SimdScalar invMassA,
+						const SimdVector3& linvelA,const SimdVector3& angvelA,
+						const SimdVector3& rel_posA1,
+						const SimdVector3& invInertiaBDiag,
+						const SimdScalar invMassB,
+						const SimdVector3& linvelB,const SimdVector3& angvelB,
+						const SimdVector3& rel_posA2,
+
+					  SimdScalar depthA, const SimdVector3& normalA, 
+					  const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
+					  SimdScalar depthB, const SimdVector3& normalB, 
+					  SimdScalar& imp0,SimdScalar& imp1)
+{
+
+	imp0 = 0.f;
+	imp1 = 0.f;
+
+	SimdScalar len = fabs(normalA.length())-1.f;
+	if (fabs(len) >= SIMD_EPSILON)
+		return;
+
+	ASSERT(len < SIMD_EPSILON);
+
+
+	//this jacobian entry could be re-used for all iterations
+	JacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA,
+		invInertiaBDiag,invMassB);
+	JacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA,
+		invInertiaBDiag,invMassB);
+	
+	//const SimdScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
+	//const SimdScalar vel1 = jacB.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB);
+
+	const SimdScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1)-body2->getVelocityInLocalPoint(rel_posA1));
+	const SimdScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1));
+
+	// calculate rhs (or error) terms
+	const SimdScalar dv0 = depthA  * m_tau - vel0 * m_damping;
+	const SimdScalar dv1 = depthB  * m_tau - vel1 * m_damping;
+
+	// dC/dv * dv = -C
+	
+	// jacobian * impulse = -error
+	//
+
+	//impulse = jacobianInverse * -error
+
+	// inverting 2x2 symmetric system (offdiagonal are equal!)
+	// 
+
+
+	SimdScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB);
+	SimdScalar	invDet = 1.0f / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag );
+	
+	//imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
+	//imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
+
+	imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet;
+	imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet;
+
+	//[a b]								  [d -c]
+	//[c d] inverse = (1 / determinant) * [-b a] where determinant is (ad - bc)
+
+	//[jA nD] * [imp0] = [dv0]
+	//[nD jB]   [imp1]   [dv1]
+
+	if ( imp0 > 0.0f)
+	{
+		if ( imp1 > 0.0f )
+		{
+			//both positive
+		}
+		else
+		{
+			imp1 = 0.f;
+
+			// now imp0>0 imp1<0
+			imp0 = dv0 / jacA.getDiagonal();
+			if ( imp0 > 0.0f )
+			{
+			} else
+			{
+				imp0 = 0.f;
+			}
+		}
+	}
+	else
+	{
+		imp0 = 0.f;
+
+		imp1 = dv1 / jacB.getDiagonal();
+		if ( imp1 <= 0.0f )
+		{
+			imp1 = 0.f;
+			// now imp0>0 imp1<0
+			imp0 = dv0 / jacA.getDiagonal();
+			if ( imp0 > 0.0f )
+			{
+			} else
+			{
+				imp0 = 0.f;
+			}
+		} else
+		{
+		}
+	}
+}
+
+
+
+void Solve2LinearConstraint::resolveAngularConstraint(	const SimdMatrix3x3& invInertiaAWS,
+											const SimdScalar invMassA,
+											const SimdVector3& linvelA,const SimdVector3& angvelA,
+											const SimdVector3& rel_posA1,
+											const SimdMatrix3x3& invInertiaBWS,
+											const SimdScalar invMassB,
+											const SimdVector3& linvelB,const SimdVector3& angvelB,
+											const SimdVector3& rel_posA2,
+
+											SimdScalar depthA, const SimdVector3& normalA, 
+											const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
+											SimdScalar depthB, const SimdVector3& normalB, 
+											SimdScalar& imp0,SimdScalar& imp1)
+{
+
+}

extern/bullet/BulletDynamics/ConstraintSolver/Solve2LinearConstraint.h

@@ -0,0 +1,101 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef SOLVE_2LINEAR_CONSTRAINT_H
+#define SOLVE_2LINEAR_CONSTRAINT_H
+
+#include "SimdMatrix3x3.h"
+#include "SimdVector3.h"
+
+
+class RigidBody;
+
+
+
+/// constraint class used for lateral tyre friction.
+class	Solve2LinearConstraint
+{
+	SimdScalar	m_tau;
+	SimdScalar	m_damping;
+
+public:
+
+	Solve2LinearConstraint(SimdScalar tau,SimdScalar damping)
+	{
+		m_tau = tau;
+		m_damping = damping;
+	}
+	//
+	// solve unilateral constraint (equality, direct method)
+	//
+	void resolveUnilateralPairConstraint(		
+														   RigidBody* body0,
+		RigidBody* body1,
+
+		const SimdMatrix3x3& world2A,
+						const SimdMatrix3x3& world2B,
+						
+						const SimdVector3& invInertiaADiag,
+						const SimdScalar invMassA,
+						const SimdVector3& linvelA,const SimdVector3& angvelA,
+						const SimdVector3& rel_posA1,
+						const SimdVector3& invInertiaBDiag,
+						const SimdScalar invMassB,
+						const SimdVector3& linvelB,const SimdVector3& angvelB,
+						const SimdVector3& rel_posA2,
+
+					  SimdScalar depthA, const SimdVector3& normalA, 
+					  const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
+					  SimdScalar depthB, const SimdVector3& normalB, 
+					  SimdScalar& imp0,SimdScalar& imp1);
+
+
+	//
+	// solving 2x2 lcp problem (inequality, direct solution )
+	//
+	void resolveBilateralPairConstraint(
+			RigidBody* body0,
+						RigidBody* body1,
+		const SimdMatrix3x3& world2A,
+						const SimdMatrix3x3& world2B,
+						
+						const SimdVector3& invInertiaADiag,
+						const SimdScalar invMassA,
+						const SimdVector3& linvelA,const SimdVector3& angvelA,
+						const SimdVector3& rel_posA1,
+						const SimdVector3& invInertiaBDiag,
+						const SimdScalar invMassB,
+						const SimdVector3& linvelB,const SimdVector3& angvelB,
+						const SimdVector3& rel_posA2,
+
+					  SimdScalar depthA, const SimdVector3& normalA, 
+					  const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
+					  SimdScalar depthB, const SimdVector3& normalB, 
+					  SimdScalar& imp0,SimdScalar& imp1);
+
+
+	void resolveAngularConstraint(	const SimdMatrix3x3& invInertiaAWS,
+						const SimdScalar invMassA,
+						const SimdVector3& linvelA,const SimdVector3& angvelA,
+						const SimdVector3& rel_posA1,
+						const SimdMatrix3x3& invInertiaBWS,
+						const SimdScalar invMassB,
+						const SimdVector3& linvelB,const SimdVector3& angvelB,
+						const SimdVector3& rel_posA2,
+
+					  SimdScalar depthA, const SimdVector3& normalA, 
+					  const SimdVector3& rel_posB1,const SimdVector3& rel_posB2,
+					  SimdScalar depthB, const SimdVector3& normalB, 
+					  SimdScalar& imp0,SimdScalar& imp1);
+
+
+};
+
+#endif //SOLVE_2LINEAR_CONSTRAINT_H

extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.cpp

@@ -0,0 +1,821 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#include "SorLcp.h"
+
+#ifdef USE_SOR_SOLVER
+
+// SOR LCP taken from ode quickstep, 
+// todo: write own successive overrelaxation gauss-seidel, or jacobi iterative solver
+
+
+#include "SimdScalar.h"
+
+#include "Dynamics/RigidBody.h"
+#include <math.h>
+#include <float.h>//FLT_MAX
+#ifdef WIN32
+#include <memory.h>
+#endif
+#include <string.h>
+#include <stdio.h>
+
+#ifdef WIN32
+#include <malloc.h>
+#else
+#include <alloca.h>
+#endif
+
+#include "Dynamics/BU_Joint.h"
+#include "ContactSolverInfo.h"
+
+////////////////////////////////////////////////////////////////////
+//math stuff
+
+typedef SimdScalar dVector4[4];
+typedef SimdScalar dMatrix3[4*3];
+#define dInfinity FLT_MAX
+
+
+
+#define dRecip(x) ((float)(1.0f/(x)))				/* reciprocal */
+
+
+
+#define dMULTIPLY0_331NEW(A,op,B,C) \
+{\
+	float tmp[3];\
+	tmp[0] = C.getX();\
+	tmp[1] = C.getY();\
+	tmp[2] = C.getZ();\
+	dMULTIPLYOP0_331(A,op,B,tmp);\
+}
+
+#define dMULTIPLY0_331(A,B,C) dMULTIPLYOP0_331(A,=,B,C)
+#define dMULTIPLYOP0_331(A,op,B,C) \
+  (A)[0] op dDOT1((B),(C)); \
+  (A)[1] op dDOT1((B+4),(C)); \
+  (A)[2] op dDOT1((B+8),(C));
+
+#define dAASSERT ASSERT
+#define dIASSERT ASSERT
+
+#define REAL float
+#define dDOTpq(a,b,p,q) ((a)[0]*(b)[0] + (a)[p]*(b)[q] + (a)[2*(p)]*(b)[2*(q)])
+SimdScalar dDOT1  (const SimdScalar *a, const SimdScalar *b) { return dDOTpq(a,b,1,1); }
+#define dDOT14(a,b) dDOTpq(a,b,1,4)
+
+#define dCROSS(a,op,b,c) \
+  (a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \
+  (a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \
+  (a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]);
+
+
+#define dMULTIPLYOP2_333(A,op,B,C) \
+  (A)[0] op dDOT1((B),(C)); \
+  (A)[1] op dDOT1((B),(C+4)); \
+  (A)[2] op dDOT1((B),(C+8)); \
+  (A)[4] op dDOT1((B+4),(C)); \
+  (A)[5] op dDOT1((B+4),(C+4)); \
+  (A)[6] op dDOT1((B+4),(C+8)); \
+  (A)[8] op dDOT1((B+8),(C)); \
+  (A)[9] op dDOT1((B+8),(C+4)); \
+  (A)[10] op dDOT1((B+8),(C+8));
+#define dMULTIPLYOP0_333(A,op,B,C) \
+  (A)[0] op dDOT14((B),(C)); \
+  (A)[1] op dDOT14((B),(C+1)); \
+  (A)[2] op dDOT14((B),(C+2)); \
+  (A)[4] op dDOT14((B+4),(C)); \
+  (A)[5] op dDOT14((B+4),(C+1)); \
+  (A)[6] op dDOT14((B+4),(C+2)); \
+  (A)[8] op dDOT14((B+8),(C)); \
+  (A)[9] op dDOT14((B+8),(C+1)); \
+  (A)[10] op dDOT14((B+8),(C+2));
+
+#define dMULTIPLY2_333(A,B,C) dMULTIPLYOP2_333(A,=,B,C)
+#define dMULTIPLY0_333(A,B,C) dMULTIPLYOP0_333(A,=,B,C)
+#define dMULTIPLYADD0_331(A,B,C) dMULTIPLYOP0_331(A,+=,B,C)
+
+
+////////////////////////////////////////////////////////////////////
+#define EFFICIENT_ALIGNMENT 16
+#define dEFFICIENT_SIZE(x) ((((x)-1)|(EFFICIENT_ALIGNMENT-1))+1)
+/* alloca aligned to the EFFICIENT_ALIGNMENT. note that this can waste
+ * up to 15 bytes per allocation, depending on what alloca() returns.
+ */
+
+#define dALLOCA16(n) \
+  ((char*)dEFFICIENT_SIZE(((size_t)(alloca((n)+(EFFICIENT_ALIGNMENT-1))))))
+
+
+
+/////////////////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////////////////
+
+#ifdef DEBUG
+#define ANSI_FTOL 1
+
+extern "C" { 
+    __declspec(naked) void _ftol2() {
+        __asm    {
+#if ANSI_FTOL
+            fnstcw   WORD PTR [esp-2]
+            mov      ax, WORD PTR [esp-2]
+			
+            OR AX,	 0C00h
+			
+            mov      WORD PTR [esp-4], ax
+            fldcw    WORD PTR [esp-4]
+            fistp    QWORD PTR [esp-12]
+            fldcw    WORD PTR [esp-2]
+            mov      eax, DWORD PTR [esp-12]
+            mov      edx, DWORD PTR [esp-8]
+#else
+            fistp    DWORD PTR [esp-12]
+            mov		 eax, DWORD PTR [esp-12]
+            mov		 ecx, DWORD PTR [esp-8]
+#endif
+            ret
+        }
+    }
+}
+#endif //DEBUG
+
+
+
+  
+
+
+#define ALLOCA dALLOCA16
+
+typedef const SimdScalar *dRealPtr;
+typedef SimdScalar *dRealMutablePtr;
+#define dRealArray(name,n) SimdScalar name[n];
+#define dRealAllocaArray(name,n) SimdScalar *name = (SimdScalar*) ALLOCA ((n)*sizeof(SimdScalar));
+
+void dSetZero1 (SimdScalar *a, int n)
+{
+  dAASSERT (a && n >= 0);
+  while (n > 0) {
+    *(a++) = 0;
+    n--;
+  }
+}
+
+void dSetValue1 (SimdScalar *a, int n, SimdScalar value)
+{
+  dAASSERT (a && n >= 0);
+  while (n > 0) {
+    *(a++) = value;
+    n--;
+  }
+}
+
+
+//***************************************************************************
+// configuration
+
+// for the SOR and CG methods:
+// uncomment the following line to use warm starting. this definitely
+// help for motor-driven joints. unfortunately it appears to hurt
+// with high-friction contacts using the SOR method. use with care
+
+//#define WARM_STARTING 1
+
+// for the SOR method:
+// uncomment the following line to randomly reorder constraint rows
+// during the solution. depending on the situation, this can help a lot
+// or hardly at all, but it doesn't seem to hurt.
+
+//#define RANDOMLY_REORDER_CONSTRAINTS 1
+
+
+
+//***************************************************************************
+// various common computations involving the matrix J
+
+// compute iMJ = inv(M)*J'
+
+static void compute_invM_JT (int m, dRealMutablePtr J, dRealMutablePtr iMJ, int *jb,
+	RigidBody * const *body, dRealPtr invI)
+{
+	int i,j;
+	dRealMutablePtr iMJ_ptr = iMJ;
+	dRealMutablePtr J_ptr = J;
+	for (i=0; i<m; i++) {
+		int b1 = jb[i*2];	
+		int b2 = jb[i*2+1];
+		SimdScalar k = body[b1]->getInvMass();
+		for (j=0; j<3; j++) iMJ_ptr[j] = k*J_ptr[j];
+		dMULTIPLY0_331 (iMJ_ptr + 3, invI + 12*b1, J_ptr + 3);
+		if (b2 >= 0) {
+			k = body[b2]->getInvMass();
+			for (j=0; j<3; j++) iMJ_ptr[j+6] = k*J_ptr[j+6];
+			dMULTIPLY0_331 (iMJ_ptr + 9, invI + 12*b2, J_ptr + 9);
+		}
+		J_ptr += 12;
+		iMJ_ptr += 12;
+	}
+}
+
+static void multiply_invM_JTSpecial (int m, int nb, dRealMutablePtr iMJ, int *jb,
+	dRealMutablePtr in, dRealMutablePtr out,int onlyBody1,int onlyBody2)
+{
+	int i,j;
+
+		
+
+	dRealMutablePtr out_ptr1 = out + onlyBody1*6;
+	
+	for (j=0; j<6; j++) 
+		out_ptr1[j] = 0;
+
+	if (onlyBody2 >= 0)
+	{
+		out_ptr1 = out + onlyBody2*6;
+
+		for (j=0; j<6; j++) 
+			out_ptr1[j] = 0;
+	}
+
+	dRealPtr iMJ_ptr = iMJ;
+	for (i=0; i<m; i++) {
+
+		int b1 = jb[i*2];	
+
+		dRealMutablePtr out_ptr = out + b1*6;
+		if ((b1 == onlyBody1) || (b1 == onlyBody2))
+		{
+			for (j=0; j<6; j++) 
+				out_ptr[j] += iMJ_ptr[j] * in[i] ;
+		}
+			
+		iMJ_ptr += 6;
+
+		int b2 = jb[i*2+1];
+		if ((b2 == onlyBody1) || (b2 == onlyBody2))
+		{
+			if (b2 >= 0) 
+			{
+					out_ptr = out + b2*6;
+					for (j=0; j<6; j++) 
+						out_ptr[j] += iMJ_ptr[j] * in[i];
+			}
+		}
+		
+		iMJ_ptr += 6;
+		
+	}
+}
+
+
+// compute out = inv(M)*J'*in.
+
+static void multiply_invM_JT (int m, int nb, dRealMutablePtr iMJ, int *jb,
+	dRealMutablePtr in, dRealMutablePtr out)
+{
+	int i,j;
+	dSetZero1 (out,6*nb);
+	dRealPtr iMJ_ptr = iMJ;
+	for (i=0; i<m; i++) {
+		int b1 = jb[i*2];	
+		int b2 = jb[i*2+1];
+		dRealMutablePtr out_ptr = out + b1*6;
+		for (j=0; j<6; j++) 
+			out_ptr[j] += iMJ_ptr[j] * in[i];
+		iMJ_ptr += 6;
+		if (b2 >= 0) {
+			out_ptr = out + b2*6;
+			for (j=0; j<6; j++) out_ptr[j] += iMJ_ptr[j] * in[i];
+		}
+		iMJ_ptr += 6;
+	}
+}
+
+
+// compute out = J*in.
+
+static void multiply_J (int m, dRealMutablePtr J, int *jb,
+	dRealMutablePtr in, dRealMutablePtr out)
+{
+	int i,j;
+	dRealPtr J_ptr = J;
+	for (i=0; i<m; i++) {
+		int b1 = jb[i*2];	
+		int b2 = jb[i*2+1];
+		SimdScalar sum = 0;
+		dRealMutablePtr in_ptr = in + b1*6;
+		for (j=0; j<6; j++) sum += J_ptr[j] * in_ptr[j];				
+		J_ptr += 6;
+		if (b2 >= 0) {
+			in_ptr = in + b2*6;
+			for (j=0; j<6; j++) sum += J_ptr[j] * in_ptr[j];				
+		}
+		J_ptr += 6;
+		out[i] = sum;
+	}
+}
+
+//***************************************************************************
+// SOR-LCP method
+
+// nb is the number of bodies in the body array.
+// J is an m*12 matrix of constraint rows
+// jb is an array of first and second body numbers for each constraint row
+// invI is the global frame inverse inertia for each body (stacked 3x3 matrices)
+//
+// this returns lambda and fc (the constraint force).
+// note: fc is returned as inv(M)*J'*lambda, the constraint force is actually J'*lambda
+//
+// b, lo and hi are modified on exit
+
+
+struct IndexError {
+	SimdScalar error;		// error to sort on
+	int findex;
+	int index;		// row index
+};
+
+static unsigned long seed2 = 0;
+
+unsigned long dRand2()
+{
+  seed2 = (1664525L*seed2 + 1013904223L) & 0xffffffff;
+  return seed2;
+}
+
+int dRandInt2 (int n)
+{
+  float a = float(n) / 4294967296.0f;
+  return (int) (float(dRand2()) * a);
+}
+
+
+static void SOR_LCP (int m, int nb, dRealMutablePtr J, int *jb, RigidBody * const *body,
+	dRealPtr invI, dRealMutablePtr lambda, dRealMutablePtr invMforce, dRealMutablePtr rhs,
+	dRealMutablePtr lo, dRealMutablePtr hi, dRealPtr cfm, int *findex,
+	int numiter,float overRelax)
+{
+	const int num_iterations = numiter;
+	const float sor_w = overRelax;		// SOR over-relaxation parameter
+
+	int i,j;
+
+#ifdef WARM_STARTING
+	// for warm starting, this seems to be necessary to prevent
+	// jerkiness in motor-driven joints. i have no idea why this works.
+	for (i=0; i<m; i++) lambda[i] *= 0.9;
+#else
+	dSetZero1 (lambda,m);
+#endif
+
+	// the lambda computed at the previous iteration.
+	// this is used to measure error for when we are reordering the indexes.
+	dRealAllocaArray (last_lambda,m);
+
+	// a copy of the 'hi' vector in case findex[] is being used
+	dRealAllocaArray (hicopy,m);
+	memcpy (hicopy,hi,m*sizeof(float));
+
+	// precompute iMJ = inv(M)*J'
+	dRealAllocaArray (iMJ,m*12);
+	compute_invM_JT (m,J,iMJ,jb,body,invI);
+
+	// compute fc=(inv(M)*J')*lambda. we will incrementally maintain fc
+	// as we change lambda.
+#ifdef WARM_STARTING
+	multiply_invM_JT (m,nb,iMJ,jb,lambda,fc);
+#else
+	dSetZero1 (invMforce,nb*6);
+#endif
+
+	// precompute 1 / diagonals of A
+	dRealAllocaArray (Ad,m);
+	dRealPtr iMJ_ptr = iMJ;
+	dRealMutablePtr J_ptr = J;
+	for (i=0; i<m; i++) {
+		float sum = 0;
+		for (j=0; j<6; j++) sum += iMJ_ptr[j] * J_ptr[j];
+		if (jb[i*2+1] >= 0) {
+			for (j=6; j<12; j++) sum += iMJ_ptr[j] * J_ptr[j];
+		}
+		iMJ_ptr += 12;
+		J_ptr += 12;
+		Ad[i] = sor_w / (sum + cfm[i]);
+	}
+
+	// scale J and b by Ad
+	J_ptr = J;
+	for (i=0; i<m; i++) {
+		for (j=0; j<12; j++) {
+			J_ptr[0] *= Ad[i];
+			J_ptr++;
+		}
+		rhs[i] *= Ad[i];
+	}
+
+	// scale Ad by CFM
+	for (i=0; i<m; i++) Ad[i] *= cfm[i];
+
+	// order to solve constraint rows in
+	IndexError *order = (IndexError*) alloca (m*sizeof(IndexError));
+
+#ifndef REORDER_CONSTRAINTS
+	// make sure constraints with findex < 0 come first.
+	j=0;
+	for (i=0; i<m; i++) if (findex[i] < 0) order[j++].index = i;
+	for (i=0; i<m; i++) if (findex[i] >= 0) order[j++].index = i;
+	dIASSERT (j==m);
+#endif
+
+	for (int iteration=0; iteration < num_iterations; iteration++) {
+
+#ifdef REORDER_CONSTRAINTS
+		// constraints with findex < 0 always come first.
+		if (iteration < 2) {
+			// for the first two iterations, solve the constraints in
+			// the given order
+			for (i=0; i<m; i++) {
+				order[i].error = i;
+				order[i].findex = findex[i];
+				order[i].index = i;
+			}
+		}
+		else {
+			// sort the constraints so that the ones converging slowest
+			// get solved last. use the absolute (not relative) error.
+			for (i=0; i<m; i++) {
+				float v1 = dFabs (lambda[i]);
+				float v2 = dFabs (last_lambda[i]);
+				float max = (v1 > v2) ? v1 : v2;
+				if (max > 0) {
+					//@@@ relative error: order[i].error = dFabs(lambda[i]-last_lambda[i])/max;
+					order[i].error = dFabs(lambda[i]-last_lambda[i]);
+				}
+				else {
+					order[i].error = dInfinity;
+				}
+				order[i].findex = findex[i];
+				order[i].index = i;
+			}
+		}
+		qsort (order,m,sizeof(IndexError),&compare_index_error);
+#endif
+#ifdef RANDOMLY_REORDER_CONSTRAINTS
+                if ((iteration & 7) == 0) {
+			for (i=1; i<m; ++i) {
+				IndexError tmp = order[i];
+				int swapi = dRandInt2(i+1);
+				order[i] = order[swapi];
+				order[swapi] = tmp;
+			}
+                }
+#endif
+
+		//@@@ potential optimization: swap lambda and last_lambda pointers rather
+		//    than copying the data. we must make sure lambda is properly
+		//    returned to the caller
+		memcpy (last_lambda,lambda,m*sizeof(float));
+
+		for (int i=0; i<m; i++) {
+			// @@@ potential optimization: we could pre-sort J and iMJ, thereby
+			//     linearizing access to those arrays. hmmm, this does not seem
+			//     like a win, but we should think carefully about our memory
+			//     access pattern.
+		
+			int index = order[i].index;
+			J_ptr = J + index*12;
+			iMJ_ptr = iMJ + index*12;
+		
+			// set the limits for this constraint. note that 'hicopy' is used.
+			// this is the place where the QuickStep method differs from the
+			// direct LCP solving method, since that method only performs this
+			// limit adjustment once per time step, whereas this method performs
+			// once per iteration per constraint row.
+			// the constraints are ordered so that all lambda[] values needed have
+			// already been computed.
+			if (findex[index] >= 0) {
+				hi[index] = fabsf (hicopy[index] * lambda[findex[index]]);
+				lo[index] = -hi[index];
+			}
+
+			int b1 = jb[index*2];
+			int b2 = jb[index*2+1];
+			float delta = rhs[index] - lambda[index]*Ad[index];
+			dRealMutablePtr fc_ptr = invMforce + 6*b1;
+			
+			// @@@ potential optimization: SIMD-ize this and the b2 >= 0 case
+			delta -=fc_ptr[0] * J_ptr[0] + fc_ptr[1] * J_ptr[1] +
+				fc_ptr[2] * J_ptr[2] + fc_ptr[3] * J_ptr[3] +
+				fc_ptr[4] * J_ptr[4] + fc_ptr[5] * J_ptr[5];
+			// @@@ potential optimization: handle 1-body constraints in a separate
+			//     loop to avoid the cost of test & jump?
+			if (b2 >= 0) {
+				fc_ptr = invMforce + 6*b2;
+				delta -=fc_ptr[0] * J_ptr[6] + fc_ptr[1] * J_ptr[7] +
+					fc_ptr[2] * J_ptr[8] + fc_ptr[3] * J_ptr[9] +
+					fc_ptr[4] * J_ptr[10] + fc_ptr[5] * J_ptr[11];
+			}
+
+			// compute lambda and clamp it to [lo,hi].
+			// @@@ potential optimization: does SSE have clamping instructions
+			//     to save test+jump penalties here?
+			float new_lambda = lambda[index] + delta;
+			if (new_lambda < lo[index]) {
+				delta = lo[index]-lambda[index];
+				lambda[index] = lo[index];
+			}
+			else if (new_lambda > hi[index]) {
+				delta = hi[index]-lambda[index];
+				lambda[index] = hi[index];
+			}
+			else {
+				lambda[index] = new_lambda;
+			}
+
+			//@@@ a trick that may or may not help
+			//float ramp = (1-((float)(iteration+1)/(float)num_iterations));
+			//delta *= ramp;
+		
+			// update invMforce.
+			// @@@ potential optimization: SIMD for this and the b2 >= 0 case
+			fc_ptr = invMforce + 6*b1;
+			fc_ptr[0] += delta * iMJ_ptr[0];
+			fc_ptr[1] += delta * iMJ_ptr[1];
+			fc_ptr[2] += delta * iMJ_ptr[2];
+			fc_ptr[3] += delta * iMJ_ptr[3];
+			fc_ptr[4] += delta * iMJ_ptr[4];
+			fc_ptr[5] += delta * iMJ_ptr[5];
+			// @@@ potential optimization: handle 1-body constraints in a separate
+			//     loop to avoid the cost of test & jump?
+			if (b2 >= 0) {
+				fc_ptr = invMforce + 6*b2;
+				fc_ptr[0] += delta * iMJ_ptr[6];
+				fc_ptr[1] += delta * iMJ_ptr[7];
+				fc_ptr[2] += delta * iMJ_ptr[8];
+				fc_ptr[3] += delta * iMJ_ptr[9];
+				fc_ptr[4] += delta * iMJ_ptr[10];
+				fc_ptr[5] += delta * iMJ_ptr[11];
+			}
+		}
+	}
+}
+
+
+
+void SolveInternal1 (float global_cfm,
+					 float global_erp,
+					 RigidBody * const *body, int nb,
+					BU_Joint * const *_joint, 
+					int nj, 
+					const ContactSolverInfo& solverInfo)
+{
+
+	int numIter = 30;
+	float sOr = 1.3f;
+
+	int i,j;
+	
+	SimdScalar stepsize1 = dRecip(solverInfo.m_timeStep);
+
+	// number all bodies in the body list - set their tag values
+	for (i=0; i<nb; i++) 
+		body[i]->m_odeTag = i;
+	
+	// make a local copy of the joint array, because we might want to modify it.
+	// (the "BU_Joint *const*" declaration says we're allowed to modify the joints
+	// but not the joint array, because the caller might need it unchanged).
+	//@@@ do we really need to do this? we'll be sorting constraint rows individually, not joints
+	BU_Joint **joint = (BU_Joint**) alloca (nj * sizeof(BU_Joint*));
+	memcpy (joint,_joint,nj * sizeof(BU_Joint*));
+	
+	// for all bodies, compute the inertia tensor and its inverse in the global
+	// frame, and compute the rotational force and add it to the torque
+	// accumulator. I and invI are a vertical stack of 3x4 matrices, one per body.
+	dRealAllocaArray (I,3*4*nb);
+	dRealAllocaArray (invI,3*4*nb);
+/*	for (i=0; i<nb; i++) {
+		dMatrix3 tmp;
+		// compute inertia tensor in global frame
+		dMULTIPLY2_333 (tmp,body[i]->m_I,body[i]->m_R);
+		// compute inverse inertia tensor in global frame
+		dMULTIPLY2_333 (tmp,body[i]->m_invI,body[i]->m_R);
+		dMULTIPLY0_333 (invI+i*12,body[i]->m_R,tmp);
+		// compute rotational force
+		dCROSS (body[i]->m_tacc,-=,body[i]->getAngularVelocity(),tmp);
+	}
+*/
+	for (i=0; i<nb; i++) {
+		dMatrix3 tmp;
+		// compute inertia tensor in global frame
+		dMULTIPLY2_333 (tmp,body[i]->m_I,body[i]->m_R);
+		dMULTIPLY0_333 (I+i*12,body[i]->m_R,tmp);
+		// compute inverse inertia tensor in global frame
+		dMULTIPLY2_333 (tmp,body[i]->m_invI,body[i]->m_R);
+		dMULTIPLY0_333 (invI+i*12,body[i]->m_R,tmp);
+		// compute rotational force
+		dMULTIPLY0_331 (tmp,I+i*12,body[i]->getAngularVelocity());
+		//dCROSS (body[i]->tacc,-=,body[i]->avel,tmp);
+		dCROSS (body[i]->m_tacc,-=,body[i]->getAngularVelocity(),tmp);
+
+	}
+
+
+	// get joint information (m = total constraint dimension, nub = number of unbounded variables).
+	// joints with m=0 are inactive and are removed from the joints array
+	// entirely, so that the code that follows does not consider them.
+	//@@@ do we really need to save all the info1's
+	BU_Joint::Info1 *info = (BU_Joint::Info1*) alloca (nj*sizeof(BU_Joint::Info1));
+	for (i=0, j=0; j<nj; j++) {	// i=dest, j=src
+		joint[j]->GetInfo1 (info+i);
+		dIASSERT (info[i].m >= 0 && info[i].m <= 6 && info[i].nub >= 0 && info[i].nub <= info[i].m);
+		if (info[i].m > 0) {
+			joint[i] = joint[j];
+			i++;
+		}
+	}
+	nj = i;
+
+	// create the row offset array
+	int m = 0;
+	int *ofs = (int*) alloca (nj*sizeof(int));
+	for (i=0; i<nj; i++) {
+		ofs[i] = m;
+		m += info[i].m;
+	}
+
+	// if there are constraints, compute the constraint force
+	dRealAllocaArray (J,m*12);
+	int *jb = (int*) alloca (m*2*sizeof(int));
+	if (m > 0) {
+		// create a constraint equation right hand side vector `c', a constraint
+		// force mixing vector `cfm', and LCP low and high bound vectors, and an
+		// 'findex' vector.
+		dRealAllocaArray (c,m);
+		dRealAllocaArray (cfm,m);
+		dRealAllocaArray (lo,m);
+		dRealAllocaArray (hi,m);
+		int *findex = (int*) alloca (m*sizeof(int));
+		dSetZero1 (c,m);
+		dSetValue1 (cfm,m,global_cfm);
+		dSetValue1 (lo,m,-dInfinity);
+		dSetValue1 (hi,m, dInfinity);
+		for (i=0; i<m; i++) findex[i] = -1;
+		
+		// get jacobian data from constraints. an m*12 matrix will be created
+		// to store the two jacobian blocks from each constraint. it has this
+		// format:
+		//
+		//   l1 l1 l1 a1 a1 a1 l2 l2 l2 a2 a2 a2 \    .
+		//   l1 l1 l1 a1 a1 a1 l2 l2 l2 a2 a2 a2  }-- jacobian for joint 0, body 1 and body 2 (3 rows)
+		//   l1 l1 l1 a1 a1 a1 l2 l2 l2 a2 a2 a2 /
+		//   l1 l1 l1 a1 a1 a1 l2 l2 l2 a2 a2 a2 }--- jacobian for joint 1, body 1 and body 2 (3 rows)
+		//   etc...
+		//
+		//   (lll) = linear jacobian data
+		//   (aaa) = angular jacobian data
+		//
+		dSetZero1 (J,m*12);
+		BU_Joint::Info2 Jinfo;
+		Jinfo.rowskip = 12;
+		Jinfo.fps = stepsize1;
+		Jinfo.erp = global_erp;
+		for (i=0; i<nj; i++) {
+			Jinfo.J1l = J + ofs[i]*12;
+			Jinfo.J1a = Jinfo.J1l + 3;
+			Jinfo.J2l = Jinfo.J1l + 6;
+			Jinfo.J2a = Jinfo.J1l + 9;
+			Jinfo.c = c + ofs[i];
+			Jinfo.cfm = cfm + ofs[i];
+			Jinfo.lo = lo + ofs[i];
+			Jinfo.hi = hi + ofs[i];
+			Jinfo.findex = findex + ofs[i];
+			joint[i]->GetInfo2 (&Jinfo);
+
+			if (Jinfo.c[0] > solverInfo.m_maxErrorReduction)
+				Jinfo.c[0] = solverInfo.m_maxErrorReduction;
+
+
+
+
+			// adjust returned findex values for global index numbering
+			for (j=0; j<info[i].m; j++) {
+				if (findex[ofs[i] + j] >= 0) 
+					findex[ofs[i] + j] += ofs[i];
+			}
+		}
+
+		// create an array of body numbers for each joint row
+		int *jb_ptr = jb;
+		for (i=0; i<nj; i++) {
+			int b1 = (joint[i]->node[0].body) ? (joint[i]->node[0].body->m_odeTag) : -1;
+			int b2 = (joint[i]->node[1].body) ? (joint[i]->node[1].body->m_odeTag) : -1;
+			for (j=0; j<info[i].m; j++) {
+				jb_ptr[0] = b1;
+				jb_ptr[1] = b2;
+				jb_ptr += 2;
+			}
+		}
+		dIASSERT (jb_ptr == jb+2*m);
+
+		// compute the right hand side `rhs'
+		dRealAllocaArray (tmp1,nb*6);
+		// put v/h + invM*fe into tmp1
+		for (i=0; i<nb; i++) {
+			SimdScalar body_invMass = body[i]->getInvMass();
+			for (j=0; j<3; j++) tmp1[i*6+j] = body[i]->m_facc[j] * body_invMass + body[i]->getLinearVelocity()[j] * stepsize1;
+			dMULTIPLY0_331NEW (tmp1 + i*6 + 3,=,invI + i*12,body[i]->m_tacc);
+			for (j=0; j<3; j++) tmp1[i*6+3+j] += body[i]->getAngularVelocity()[j] * stepsize1;
+		}
+
+		// put J*tmp1 into rhs
+		dRealAllocaArray (rhs,m);
+		multiply_J (m,J,jb,tmp1,rhs);
+
+		// complete rhs
+		for (i=0; i<m; i++) rhs[i] = c[i]*stepsize1 - rhs[i];
+
+		// scale CFM
+		for (i=0; i<m; i++) 
+			cfm[i] =0;//*= stepsize1;
+
+		// load lambda from the value saved on the previous iteration
+		dRealAllocaArray (lambda,m);
+#ifdef WARM_STARTING
+		dSetZero1 (lambda,m);	//@@@ shouldn't be necessary
+		for (i=0; i<nj; i++) {
+			memcpy (lambda+ofs[i],joint[i]->lambda,info[i].m * sizeof(SimdScalar));
+		}
+#endif
+
+		// solve the LCP problem and get lambda and invM*constraint_force
+		dRealAllocaArray (cforce,nb*6);
+
+		SOR_LCP (m,nb,J,jb,body,invI,lambda,cforce,rhs,lo,hi,cfm,findex,numIter,sOr);
+
+#ifdef WARM_STARTING
+		// save lambda for the next iteration
+		//@@@ note that this doesn't work for contact joints yet, as they are
+		// recreated every iteration
+		for (i=0; i<nj; i++) {
+			memcpy (joint[i]->lambda,lambda+ofs[i],info[i].m * sizeof(SimdScalar));
+		}
+#endif
+
+	
+		// note that the SOR method overwrites rhs and J at this point, so
+		// they should not be used again.
+		
+		// add stepsize * cforce to the body velocity
+		for (i=0; i<nb; i++) {
+			SimdVector3 linvel = body[i]->getLinearVelocity();
+			SimdVector3 angvel = body[i]->getAngularVelocity();
+			
+			for (j=0; j<3; j++) 
+				linvel[j] += solverInfo.m_timeStep* cforce[i*6+j];
+			for (j=0; j<3; j++) 
+				angvel[j] += solverInfo.m_timeStep* cforce[i*6+3+j];
+		
+			body[i]->setLinearVelocity(linvel);
+			body[i]->setAngularVelocity(angvel);
+
+		}
+		
+	}
+
+
+
+	// compute the velocity update:
+	// add stepsize * invM * fe to the body velocity
+
+	for (i=0; i<nb; i++) {
+		SimdScalar body_invMass = body[i]->getInvMass();
+		SimdVector3 linvel = body[i]->getLinearVelocity();
+		SimdVector3 angvel = body[i]->getAngularVelocity();
+
+		for (j=0; j<3; j++) 
+		{
+			linvel[j] += solverInfo.m_timeStep * body_invMass * body[i]->m_facc[j];
+		}
+		for (j=0; j<3; j++) 
+		{
+			body[i]->m_tacc[j] *= solverInfo.m_timeStep;	
+		}
+		dMULTIPLY0_331NEW(angvel,+=,invI + i*12,body[i]->m_tacc);
+		body[i]->setAngularVelocity(angvel);
+
+	}
+
+
+
+}
+
+
+#endif //USE_SOR_SOLVER

extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.h

@@ -0,0 +1,32 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#define USE_SOR_SOLVER
+#ifdef USE_SOR_SOLVER
+
+#ifndef SOR_LCP_H
+#define SOR_LCP_H
+class RigidBody;
+class BU_Joint;
+#include "SimdScalar.h"
+
+struct ContactSolverInfo;
+
+void SolveInternal1 (float global_cfm,
+					 float global_erp,
+					 RigidBody * const *body, int nb,
+		     BU_Joint * const *_joint, int nj, const ContactSolverInfo& info);
+
+int dRandInt2 (int n);
+
+
+#endif //SOR_LCP_H
+
+#endif //USE_SOR_SOLVER

extern/bullet/BulletDynamics/Dynamics/BU_Joint.cpp

@@ -0,0 +1,10 @@
+#include "BU_Joint.h"
+
+BU_Joint::BU_Joint()
+{
+
+}
+BU_Joint::~BU_Joint()
+{
+
+}

extern/bullet/BulletDynamics/Dynamics/BU_Joint.h

@@ -0,0 +1,78 @@
+#ifndef BU_Joint_H
+#define BU_Joint_H
+
+class RigidBody;
+class BU_Joint;
+#include "SimdScalar.h"
+
+struct BU_ContactJointNode {
+  BU_Joint *joint;		// pointer to enclosing BU_Joint object
+  RigidBody*body;			// *other* body this joint is connected to
+};
+typedef SimdScalar dVector3[4];
+
+
+class BU_Joint  {
+  
+public:
+	// naming convention: the "first" body this is connected to is node[0].body,
+  // and the "second" body is node[1].body. if this joint is only connected
+  // to one body then the second body is 0.
+
+  // info returned by getInfo1 function. the constraint dimension is m (<=6).
+  // i.e. that is the total number of rows in the jacobian. `nub' is the
+  // number of unbounded variables (which have lo,hi = -/+ infinity).
+
+  BU_Joint();
+  virtual ~BU_Joint();
+  
+
+  struct Info1 {
+    int m,nub;
+  };
+
+  // info returned by getInfo2 function
+
+  struct Info2 {
+    // integrator parameters: frames per second (1/stepsize), default error
+    // reduction parameter (0..1).
+    SimdScalar fps,erp;
+
+    // for the first and second body, pointers to two (linear and angular)
+    // n*3 jacobian sub matrices, stored by rows. these matrices will have
+    // been initialized to 0 on entry. if the second body is zero then the
+    // J2xx pointers may be 0.
+    SimdScalar *J1l,*J1a,*J2l,*J2a;
+
+    // elements to jump from one row to the next in J's
+    int rowskip;
+
+    // right hand sides of the equation J*v = c + cfm * lambda. cfm is the
+    // "constraint force mixing" vector. c is set to zero on entry, cfm is
+    // set to a constant value (typically very small or zero) value on entry.
+    SimdScalar *c,*cfm;
+
+    // lo and hi limits for variables (set to -/+ infinity on entry).
+    SimdScalar *lo,*hi;
+
+    // findex vector for variables. see the LCP solver interface for a
+    // description of what this does. this is set to -1 on entry.
+    // note that the returned indexes are relative to the first index of
+    // the constraint.
+    int *findex;
+  };
+
+  // virtual function table: size of the joint structure, function pointers.
+  // we do it this way instead of using C++ virtual functions because
+  // sometimes we need to allocate joints ourself within a memory pool.
+
+  virtual void GetInfo1 (Info1 *info)=0;
+  virtual void GetInfo2 (Info2 *info)=0;
+
+  int flags;			// dJOINT_xxx flags
+  BU_ContactJointNode node[2];		// connections to bodies. node[1].body can be 0
+   SimdScalar lambda[6];		// lambda generated by last step
+};
+
+
+#endif //BU_Joint_H

extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp

@@ -0,0 +1,233 @@
+#include "ContactJoint.h"
+#include "RigidBody.h"
+#include "NarrowPhaseCollision/PersistentManifold.h"
+
+
+
+ContactJoint::ContactJoint(PersistentManifold* manifold,int index,bool swap,RigidBody* body0,RigidBody* body1)
+:m_manifold(manifold),
+m_index(index),
+m_swapBodies(swap),
+m_body0(body0),
+m_body1(body1)
+{
+}
+
+int m_numRows = 3;
+
+float gContactFrictionFactor  = 30.5f;//100.f;//1e30f;//2.9f;
+
+
+
+void ContactJoint::GetInfo1(Info1 *info)
+{
+	info->m = m_numRows;
+	//friction adds another 2...
+	
+	info->nub = 0;
+}
+
+#define dCROSS(a,op,b,c) \
+  (a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \
+  (a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \
+  (a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]);
+
+#define M_SQRT12 SimdScalar(0.7071067811865475244008443621048490)
+
+#define dRecipSqrt(x) ((float)(1.0f/sqrtf(float(x))))		/* reciprocal square root */
+
+
+
+void dPlaneSpace1 (const dVector3 n, dVector3 p, dVector3 q)
+{
+  if (fabsf(n[2]) > M_SQRT12) {
+    // choose p in y-z plane
+    SimdScalar a = n[1]*n[1] + n[2]*n[2];
+    SimdScalar k = dRecipSqrt (a);
+    p[0] = 0;
+    p[1] = -n[2]*k;
+    p[2] = n[1]*k;
+    // set q = n x p
+    q[0] = a*k;
+    q[1] = -n[0]*p[2];
+    q[2] = n[0]*p[1];
+  }
+  else {
+    // choose p in x-y plane
+    SimdScalar a = n[0]*n[0] + n[1]*n[1];
+    SimdScalar k = dRecipSqrt (a);
+    p[0] = -n[1]*k;
+    p[1] = n[0]*k;
+    p[2] = 0;
+    // set q = n x p
+    q[0] = -n[2]*p[1];
+    q[1] = n[2]*p[0];
+    q[2] = a*k;
+  }
+}
+
+
+
+void ContactJoint::GetInfo2(Info2 *info)
+{
+	
+	int s = info->rowskip;
+	int s2 = 2*s;
+	
+	float swapFactor = m_swapBodies ? -1.f : 1.f;
+	
+	// get normal, with sign adjusted for body1/body2 polarity
+	dVector3 normal;
+	
+	
+	ManifoldPoint& point = m_manifold->GetContactPoint(m_index);
+	
+	normal[0] = swapFactor*point.m_normalWorldOnB[0];
+	normal[1] = swapFactor*point.m_normalWorldOnB[1];
+	normal[2] = swapFactor*point.m_normalWorldOnB[2];
+	normal[3] = 0;	// @@@ hmmm
+	
+	//	if (GetBody0())
+	SimdVector3 ccc1;
+	{
+		ccc1 = point.GetPositionWorldOnA() - m_body0->getCenterOfMassPosition();
+		dVector3 c1;
+		c1[0] = ccc1[0];
+		c1[1] = ccc1[1];
+		c1[2] = ccc1[2];
+		
+		// set jacobian for normal
+		info->J1l[0] = normal[0];
+		info->J1l[1] = normal[1];
+		info->J1l[2] = normal[2];
+		dCROSS (info->J1a,=,c1,normal);
+		
+	}
+	//		if (GetBody1())
+	SimdVector3 ccc2;
+	{
+		dVector3 c2;
+		ccc2 = point.GetPositionWorldOnB() - m_body1->getCenterOfMassPosition();
+		
+		//			for (i=0; i<3; i++) c2[i] = j->contact.geom.pos[i] -
+		//					  j->node[1].body->pos[i];
+		c2[0] = ccc2[0];
+		c2[1] = ccc2[1];
+		c2[2] = ccc2[2];
+		
+		info->J2l[0] = -normal[0];
+		info->J2l[1] = -normal[1];
+		info->J2l[2] = -normal[2];
+		dCROSS (info->J2a,= -,c2,normal);
+	}
+	
+	SimdScalar k = info->fps * info->erp;
+	
+	float depth = -point.GetDistance();
+	if (depth < 0.f)
+		depth = 0.f;
+	
+	info->c[0] = k * depth;
+	
+	
+	
+	// set LCP limits for normal
+	info->lo[0] = 0;
+	info->hi[0] = 1e30f;//dInfinity;
+	
+#define DO_THE_FRICTION_2
+#ifdef DO_THE_FRICTION_2
+	// now do jacobian for tangential forces
+	dVector3 t1,t2;	// two vectors tangential to normal
+	
+	dVector3 c1;
+	c1[0] = ccc1[0];
+	c1[1] = ccc1[1];
+	c1[2] = ccc1[2];
+	
+	dVector3 c2;
+	c2[0] = ccc2[0];
+	c2[1] = ccc2[1];
+	c2[2] = ccc2[2];
+	// first friction direction
+	if (m_numRows >= 2) 
+	{
+		
+		
+		
+		dPlaneSpace1 (normal,t1,t2);
+		
+		info->J1l[s+0] = t1[0];
+		info->J1l[s+1] = t1[1];
+		info->J1l[s+2] = t1[2];
+		dCROSS (info->J1a+s,=,c1,t1);
+		if (1) { //j->node[1].body) {
+			info->J2l[s+0] = -t1[0];
+			info->J2l[s+1] = -t1[1];
+			info->J2l[s+2] = -t1[2];
+			dCROSS (info->J2a+s,= -,c2,t1);
+		}
+		// set right hand side
+		if (0) {//j->contact.surface.mode & dContactMotion1) {
+			//info->c[1] = j->contact.surface.motion1;
+		}
+		// set LCP bounds and friction index. this depends on the approximation
+		// mode
+		//1e30f
+		
+		info->lo[1] = -gContactFrictionFactor;//-j->contact.surface.mu;
+		info->hi[1] = gContactFrictionFactor;//j->contact.surface.mu;
+		if (0)//j->contact.surface.mode & dContactApprox1_1) 
+			info->findex[1] = 0;
+		
+		// set slip (constraint force mixing)
+		if (0)//j->contact.surface.mode & dContactSlip1)
+		{
+			//	info->cfm[1] = j->contact.surface.slip1;
+		}
+	}
+	
+	// second friction direction
+	if (m_numRows >= 3) {
+		info->J1l[s2+0] = t2[0];
+		info->J1l[s2+1] = t2[1];
+		info->J1l[s2+2] = t2[2];
+		dCROSS (info->J1a+s2,=,c1,t2);
+		if (1) { //j->node[1].body) {
+			info->J2l[s2+0] = -t2[0];
+			info->J2l[s2+1] = -t2[1];
+			info->J2l[s2+2] = -t2[2];
+			dCROSS (info->J2a+s2,= -,c2,t2);
+		}
+		// set right hand side
+		if (0){//j->contact.surface.mode & dContactMotion2) {
+			//info->c[2] = j->contact.surface.motion2;
+		}
+		// set LCP bounds and friction index. this depends on the approximation
+		// mode
+		if (0){//j->contact.surface.mode & dContactMu2) {
+			//info->lo[2] = -j->contact.surface.mu2;
+			//info->hi[2] = j->contact.surface.mu2;
+		}
+		else {
+			info->lo[2] = -gContactFrictionFactor;
+			info->hi[2] = gContactFrictionFactor;
+		}
+		if (0)//j->contact.surface.mode & dContactApprox1_2) 
+			
+		{
+			info->findex[2] = 0;
+		}
+		// set slip (constraint force mixing)
+		if (0) //j->contact.surface.mode & dContactSlip2)
+			
+		{
+			//info->cfm[2] = j->contact.surface.slip2;
+			
+		}
+	}
+	
+#endif //DO_THE_FRICTION_2
+	
+}
+

extern/bullet/BulletDynamics/Dynamics/ContactJoint.h

@@ -0,0 +1,33 @@
+#ifndef CONTACT_JOINT_H
+#define CONTACT_JOINT_H
+
+#include "BU_Joint.h"
+class RigidBody;
+class PersistentManifold;
+
+class ContactJoint : public BU_Joint
+{
+	PersistentManifold* m_manifold;
+	int		m_index;
+	bool	m_swapBodies;
+	RigidBody* m_body0;
+	RigidBody* m_body1;
+
+
+public:
+
+	ContactJoint() {};
+
+	ContactJoint(PersistentManifold* manifold,int index,bool swap,RigidBody* body0,RigidBody* body1);
+
+	//BU_Joint interface for solver
+
+	virtual void GetInfo1(Info1 *info);
+
+	virtual void GetInfo2(Info2 *info);
+
+
+	
+
+};
+#endif //CONTACT_JOINT_H

extern/bullet/BulletDynamics/Dynamics/MassProps.h

@@ -0,0 +1,18 @@
+
+#ifndef MASS_PROPS_H
+#define MASS_PROPS_H
+
+#include <SimdVector3.h>
+
+struct MassProps {
+	MassProps(float mass,const SimdVector3& inertiaLocal):
+	m_mass(mass),
+		m_inertiaLocal(inertiaLocal)
+	{
+	}
+	float   m_mass;
+	SimdVector3	m_inertiaLocal;
+};
+
+
+#endif

extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp

@@ -0,0 +1,157 @@
+#include "RigidBody.h"
+#include "MassProps.h"
+#include "CollisionShapes/ConvexShape.h"
+#include "GEN_minmax.h"
+#include <SimdTransformUtil.h>
+
+float gRigidBodyDamping = 0.5f;
+static int uniqueId = 0;
+
+RigidBody::RigidBody( const MassProps& massProps,SimdScalar linearDamping,SimdScalar angularDamping)
+: m_collisionShape(0),
+	m_activationState1(1),
+	m_hitFraction(1.f),
+	m_gravity(0.0f, 0.0f, 0.0f),
+	m_linearDamping(0.f),
+	m_angularDamping(0.5f),
+	m_totalForce(0.0f, 0.0f, 0.0f),
+	m_totalTorque(0.0f, 0.0f, 0.0f),
+	m_linearVelocity(0.0f, 0.0f, 0.0f),
+	m_angularVelocity(0.f,0.f,0.f)
+
+{
+	m_debugBodyId = uniqueId++;
+	
+	setMassProps(massProps.m_mass, massProps.m_inertiaLocal);
+    setDamping(linearDamping, angularDamping);
+	updateInertiaTensor();
+	m_worldTransform.setIdentity();
+
+}
+
+void RigidBody::setLinearVelocity(const SimdVector3& lin_vel)
+{ 
+
+	m_linearVelocity = lin_vel; 
+}
+
+
+void RigidBody::predictIntegratedTransform(SimdScalar timeStep,SimdTransform& predictedTransform) const
+{
+	SimdTransformUtil::IntegrateTransform(m_worldTransform,m_linearVelocity,m_angularVelocity,timeStep,predictedTransform);
+}
+
+	
+void	RigidBody::getAabb(SimdVector3& aabbMin,SimdVector3& aabbMax) const
+{
+	m_collisionShape ->GetAabb(m_worldTransform,aabbMin,aabbMax);
+}
+
+void	RigidBody::SetCollisionShape(CollisionShape* mink)
+{
+	m_collisionShape = mink;
+	SimdTransform ident;
+	ident.setIdentity();
+	SimdVector3 aabbMin,aabbMax;
+	m_collisionShape ->GetAabb(ident,aabbMin,aabbMax);
+	SimdVector3 diag = (aabbMax-aabbMin)*0.5f;
+}
+
+
+void RigidBody::setGravity(const SimdVector3& acceleration) 
+{
+	if (m_inverseMass != 0.0f)
+	{
+		m_gravity = acceleration * (1.0f / m_inverseMass);
+	}
+}
+
+bool RigidBody::mergesSimulationIslands() const
+{
+	return ( getInvMass() != 0) ;
+}
+
+void RigidBody::SetActivationState(int newState) 
+{ 
+	m_activationState1 = newState;
+}
+
+
+
+void RigidBody::setDamping(SimdScalar lin_damping, SimdScalar ang_damping)
+{
+	m_linearDamping = GEN_clamped(lin_damping, 0.0f, 1.0f);
+	m_angularDamping = GEN_clamped(ang_damping, 0.0f, 1.0f);
+}
+
+
+
+#include <stdio.h>
+
+void RigidBody::applyForces(SimdScalar step)
+{
+	
+	applyCentralForce(m_gravity);	
+	
+	m_linearVelocity *= GEN_clamped((1.f - step * m_linearDamping), 0.0f, 1.0f);
+	m_angularVelocity *= GEN_clamped((1.f - step * m_angularDamping), 0.0f, 1.0f);
+	
+}
+
+void RigidBody::proceedToTransform(const SimdTransform& newTrans)
+{
+	setCenterOfMassTransform( newTrans );
+}
+	
+
+void RigidBody::setMassProps(SimdScalar mass, const SimdVector3& inertia)
+{
+	m_inverseMass = mass != 0.0f ? 1.0f / mass : 0.0f;
+	m_invInertiaLocal.setValue(inertia[0] != 0.0f ? 1.0f / inertia[0]: 0.0f,
+						   inertia[1] != 0.0f ? 1.0f / inertia[1]: 0.0f,
+						   inertia[2] != 0.0f ? 1.0f / inertia[2]: 0.0f);
+
+}
+
+	
+
+void RigidBody::updateInertiaTensor() 
+{
+	m_invInertiaTensorWorld = m_worldTransform.getBasis().scaled(m_invInertiaLocal) * m_worldTransform.getBasis().transpose();
+}
+
+
+void RigidBody::integrateVelocities(SimdScalar step) 
+{
+	m_linearVelocity += m_totalForce * (m_inverseMass * step);
+	m_angularVelocity += m_invInertiaTensorWorld * m_totalTorque * step;
+
+#define MAX_ANGVEL SIMD_HALF_PI
+	/// clamp angular velocity. collision calculations will fail on higher angular velocities	
+	float angvel = m_angularVelocity.length();
+	if (angvel*step > MAX_ANGVEL)
+	{
+		m_angularVelocity *= (MAX_ANGVEL/step) /angvel;
+	}
+
+	clearForces();
+}
+
+SimdQuaternion RigidBody::getOrientation() const
+{
+		SimdQuaternion orn;
+		m_worldTransform.getBasis().getRotation(orn);
+		return orn;
+}
+	
+	
+void RigidBody::setCenterOfMassTransform(const SimdTransform& xform)
+{
+	m_worldTransform = xform;
+	
+//	m_worldTransform.getBasis().getRotation(m_orn1);
+	updateInertiaTensor();
+}
+
+
+

extern/bullet/BulletDynamics/Dynamics/RigidBody.h

@@ -0,0 +1,165 @@
+#ifndef RIGIDBODY_H
+#define RIGIDBODY_H
+
+#include <vector>
+#include <SimdPoint3.h>
+#include <SimdTransform.h>
+
+class CollisionShape;
+struct MassProps;
+typedef SimdScalar dMatrix3[4*3];
+
+
+/// RigidBody class for RigidBody Dynamics
+/// 
+class RigidBody  {
+public:
+
+	RigidBody(const MassProps& massProps,SimdScalar linearDamping,SimdScalar angularDamping);
+
+	void			proceedToTransform(const SimdTransform& newTrans); 
+	
+	bool			mergesSimulationIslands() const;
+	
+	/// continuous collision detection needs prediction
+	void			predictIntegratedTransform(SimdScalar step, SimdTransform& predictedTransform) const;
+	
+	void			applyForces(SimdScalar step);
+	
+	void			setGravity(const SimdVector3& acceleration);  
+	
+	void			setDamping(SimdScalar lin_damping, SimdScalar ang_damping);
+	
+	CollisionShape*	GetCollisionShape() { return m_collisionShape; }
+	
+	void			setMassProps(SimdScalar mass, const SimdVector3& inertia);
+	
+	SimdScalar		getInvMass() const { return m_inverseMass; }
+	const SimdMatrix3x3& getInvInertiaTensorWorld() const { return m_invInertiaTensorWorld; }
+		
+	void			integrateVelocities(SimdScalar step);
+
+	void			setCenterOfMassTransform(const SimdTransform& xform);
+
+	void			applyCentralForce(const SimdVector3& force)
+	{
+		m_totalForce += force;
+	}
+    
+	const SimdVector3& getInvInertiaDiagLocal()
+	{
+		return m_invInertiaLocal;
+	};
+
+	void	setInvInertiaDiagLocal(const SimdVector3& diagInvInertia)
+	{
+		m_invInertiaLocal = diagInvInertia;
+	}
+
+	void	applyTorque(const SimdVector3& torque)
+	{
+		m_totalTorque += torque;
+	}
+	
+	void	applyForce(const SimdVector3& force, const SimdVector3& rel_pos) 
+	{
+		applyCentralForce(force);
+		applyTorque(rel_pos.cross(force));
+	}
+	
+	void applyCentralImpulse(const SimdVector3& impulse)
+	{
+		m_linearVelocity += impulse * m_inverseMass;
+	}
+	
+  	void applyTorqueImpulse(const SimdVector3& torque)
+	{
+		m_angularVelocity += m_invInertiaTensorWorld * torque;
+
+	}
+	
+	void applyImpulse(const SimdVector3& impulse, const SimdVector3& rel_pos) 
+	{
+		if (m_inverseMass != 0.f)
+		{
+			applyCentralImpulse(impulse);
+			applyTorqueImpulse(rel_pos.cross(impulse));
+		}
+	}
+	
+	void clearForces() 
+	{
+		m_totalForce.setValue(0.0f, 0.0f, 0.0f);
+		m_totalTorque.setValue(0.0f, 0.0f, 0.0f);
+	}
+	
+	void updateInertiaTensor();    
+	
+	const SimdPoint3&     getCenterOfMassPosition() const { return m_worldTransform.getOrigin(); }
+	SimdQuaternion getOrientation() const;
+	
+	const SimdTransform&  getCenterOfMassTransform() const { return m_worldTransform; }
+	const SimdVector3&   getLinearVelocity() const { return m_linearVelocity; }
+	const SimdVector3&    getAngularVelocity() const { return m_angularVelocity; }
+	
+
+	void setLinearVelocity(const SimdVector3& lin_vel);
+	void setAngularVelocity(const SimdVector3& ang_vel) { m_angularVelocity = ang_vel; }
+
+	SimdVector3 getVelocityInLocalPoint(const SimdVector3& rel_pos) const
+	{
+		return m_linearVelocity + m_angularVelocity.cross(rel_pos);
+	}
+
+	void translate(const SimdVector3& v) 
+	{
+		m_worldTransform.getOrigin() += v; 
+	}
+
+	void	SetCollisionShape(CollisionShape* mink);
+
+	void	getAabb(SimdVector3& aabbMin,SimdVector3& aabbMax) const;
+
+	int	GetActivationState() const { return m_activationState1;}
+	void SetActivationState(int newState);
+
+
+private:
+	SimdTransform	m_worldTransform;
+	SimdMatrix3x3	m_invInertiaTensorWorld;
+	SimdVector3		m_gravity;	
+	SimdVector3		m_invInertiaLocal;
+	SimdVector3		m_totalForce;
+	SimdVector3		m_totalTorque;
+	SimdQuaternion	m_orn1;
+	
+	SimdVector3		m_linearVelocity;
+	
+	SimdVector3		m_angularVelocity;
+	
+	SimdScalar		m_linearDamping;
+	SimdScalar		m_angularDamping;
+	SimdScalar		m_inverseMass;
+
+
+	CollisionShape*	m_collisionShape;
+
+	
+public:
+	/// for ode solver-binding
+	dMatrix3		m_R;//temp
+	dMatrix3		m_I;
+	dMatrix3		m_invI;
+	int				m_islandTag1;//temp
+	int				m_activationState1;//temp
+	int				m_odeTag;
+	SimdVector3		m_tacc;//temp
+	SimdVector3		m_facc;
+	SimdScalar		m_hitFraction; //time of impact calculation
+
+	int	m_debugBodyId;
+};
+
+
+
+#endif

extern/bullet/BulletLicense.txt

@@ -0,0 +1,14 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+
+Free for commercial use, but please mail bullet@erwincoumans.com to report projects, and join the forum at
+www.continuousphysics.com/Bullet/phpBB2

extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysics.dsp

@@ -0,0 +1,112 @@
+# Microsoft Developer Studio Project File - Name="CcdPhysics" - Package Owner=<4>
+# Microsoft Developer Studio Generated Build File, Format Version 6.00
+# ** DO NOT EDIT **
+
+# TARGTYPE "Win32 (x86) Static Library" 0x0104
+
+CFG=CcdPhysics - Win32 Debug
+!MESSAGE This is not a valid makefile. To build this project using NMAKE,
+!MESSAGE use the Export Makefile command and run
+!MESSAGE 
+!MESSAGE NMAKE /f "CcdPhysics.mak".
+!MESSAGE 
+!MESSAGE You can specify a configuration when running NMAKE
+!MESSAGE by defining the macro CFG on the command line. For example:
+!MESSAGE 
+!MESSAGE NMAKE /f "CcdPhysics.mak" CFG="CcdPhysics - Win32 Debug"
+!MESSAGE 
+!MESSAGE Possible choices for configuration are:
+!MESSAGE 
+!MESSAGE "CcdPhysics - Win32 Release" (based on "Win32 (x86) Static Library")
+!MESSAGE "CcdPhysics - Win32 Debug" (based on "Win32 (x86) Static Library")
+!MESSAGE 
+
+# Begin Project
+# PROP AllowPerConfigDependencies 0
+# PROP Scc_ProjName ""
+# PROP Scc_LocalPath ""
+CPP=cl.exe
+RSC=rc.exe
+
+!IF  "$(CFG)" == "CcdPhysics - Win32 Release"
+
+# PROP BASE Use_MFC 0
+# PROP BASE Use_Debug_Libraries 0
+# PROP BASE Output_Dir "CcdPhysics___Win32_Release"
+# PROP BASE Intermediate_Dir "CcdPhysics___Win32_Release"
+# PROP BASE Target_Dir ""
+# PROP Use_MFC 0
+# PROP Use_Debug_Libraries 0
+# PROP Output_Dir "CcdPhysics___Win32_Release"
+# PROP Intermediate_Dir "CcdPhysics___Win32_Release"
+# PROP Target_Dir ""
+LINK32=link.exe -lib
+MTL=midl.exe
+# ADD BASE CPP /nologo /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_MBCS" /D "_LIB" /YX /FD /c
+# ADD CPP /nologo /W3 /GX /O2 /I "..\..\..\Bullet" /I "..\..\..\LinearMath" /I "..\..\..\BulletDynamics" /I "..\..\..\Extras\PhysicsInterface\Common" /I "..\..\..\Extras\PhysicsInterface\CcdPhysics" /D "WIN32" /D "NDEBUG" /D "_MBCS" /D "_LIB" /YX /FD /c
+# ADD BASE RSC /l 0x809 /d "NDEBUG"
+# ADD RSC /l 0x809 /d "NDEBUG"
+BSC32=bscmake.exe
+# ADD BASE BSC32 /nologo
+# ADD BSC32 /nologo
+LIB32=link.exe -lib
+# ADD BASE LIB32 /nologo
+# ADD LIB32 /nologo
+
+!ELSEIF  "$(CFG)" == "CcdPhysics - Win32 Debug"
+
+# PROP BASE Use_MFC 0
+# PROP BASE Use_Debug_Libraries 1
+# PROP BASE Output_Dir "CcdPhysics___Win32_Debug"
+# PROP BASE Intermediate_Dir "CcdPhysics___Win32_Debug"
+# PROP BASE Target_Dir ""
+# PROP Use_MFC 0
+# PROP Use_Debug_Libraries 1
+# PROP Output_Dir "CcdPhysics___Win32_Debug"
+# PROP Intermediate_Dir "CcdPhysics___Win32_Debug"
+# PROP Target_Dir ""
+LINK32=link.exe -lib
+MTL=midl.exe
+# ADD BASE CPP /nologo /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_MBCS" /D "_LIB" /YX /FD /GZ  /c
+# ADD CPP /nologo /W3 /Gm /GX /ZI /Od /I "..\..\..\Bullet" /I "..\..\..\LinearMath" /I "..\..\..\BulletDynamics" /I "..\..\..\Extras\PhysicsInterface\Common" /I "..\..\..\Extras\PhysicsInterface\CcdPhysics" /D "WIN32" /D "_DEBUG" /D "_MBCS" /D "_LIB" /YX /FD /GZ  /c
+# ADD BASE RSC /l 0x809 /d "_DEBUG"
+# ADD RSC /l 0x809 /d "_DEBUG"
+BSC32=bscmake.exe
+# ADD BASE BSC32 /nologo
+# ADD BSC32 /nologo
+LIB32=link.exe -lib
+# ADD BASE LIB32 /nologo
+# ADD LIB32 /nologo
+
+!ENDIF 
+
+# Begin Target
+
+# Name "CcdPhysics - Win32 Release"
+# Name "CcdPhysics - Win32 Debug"
+# Begin Group "Source Files"
+
+# PROP Default_Filter "cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
+# Begin Source File
+
+SOURCE=.\CcdPhysicsController.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\CcdPhysicsEnvironment.cpp
+# End Source File
+# End Group
+# Begin Group "Header Files"
+
+# PROP Default_Filter "h;hpp;hxx;hm;inl"
+# Begin Source File
+
+SOURCE=.\CcdPhysicsController.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\CcdPhysicsEnvironment.h
+# End Source File
+# End Group
+# End Target
+# End Project

extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp

@@ -0,0 +1,230 @@
+#include "CcdPhysicsController.h"
+
+#include "Dynamics/RigidBody.h"
+#include "PHY_IMotionState.h"
+#include "BroadphaseCollision/BroadphaseProxy.h"
+#include "CollisionShapes/ConvexShape.h"
+
+class BP_Proxy;
+
+bool gEnableSleeping = true;//false;//true;
+#include "Dynamics/MassProps.h"
+
+SimdVector3 startVel(0,0,0);//-10000);
+CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci)
+{
+	m_collisionDelay = 0;
+
+	m_sleepingCounter = 0;
+
+	m_MotionState = ci.m_MotionState;
+
+
+	SimdTransform trans;
+	float tmp[3];
+	m_MotionState->getWorldPosition(tmp[0],tmp[1],tmp[2]);
+	trans.setOrigin(SimdVector3(tmp[0],tmp[1],tmp[2]));
+
+	SimdQuaternion orn;
+	m_MotionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
+	trans.setRotation(orn);
+
+	MassProps mp(ci.m_mass, ci.m_localInertiaTensor);
+
+	m_body = new RigidBody(mp,0,0);
+	
+	m_broadphaseHandle = ci.m_broadphaseHandle;
+
+	m_collisionShape = ci.m_collisionShape;
+
+	//
+	// init the rigidbody properly
+	//
+	
+	m_body->setMassProps(ci.m_mass, ci.m_localInertiaTensor);
+	m_body->setGravity( ci.m_gravity);
+
+	m_friction = ci.m_friction;
+	m_restitution = ci.m_restitution;
+
+	m_body->setDamping(ci.m_linearDamping, ci.m_angularDamping);
+
+	
+	m_body->setCenterOfMassTransform( trans );
+
+	#ifdef WIN32
+	if (m_body->getInvMass())
+		m_body->setLinearVelocity(startVel);
+	#endif
+
+}
+
+CcdPhysicsController::~CcdPhysicsController()
+{
+	//will be reference counted, due to sharing
+	//delete m_collisionShape;
+	delete m_MotionState;
+	delete m_body;
+}
+
+		/**
+			SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
+		*/
+bool		CcdPhysicsController::SynchronizeMotionStates(float time)
+{
+	const SimdVector3& worldPos = m_body->getCenterOfMassPosition();
+	m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
+	
+	const SimdQuaternion& worldquat = m_body->getOrientation();
+	m_MotionState->setWorldOrientation(worldquat[0],worldquat[1],worldquat[2],worldquat[3]);
+
+	m_MotionState->calculateWorldTransformations();
+
+	float scale[3];
+	m_MotionState->getWorldScaling(scale[0],scale[1],scale[2]);
+	
+	SimdVector3 scaling(scale[0],scale[1],scale[2]);
+	m_collisionShape->setLocalScaling(scaling);
+
+
+	return true;
+}
+
+		/**
+			WriteMotionStateToDynamics synchronizes dynas, kinematic and deformable entities (and do 'late binding')
+		*/
+		
+void		CcdPhysicsController::WriteMotionStateToDynamics(bool nondynaonly)
+{
+
+}
+void		CcdPhysicsController::WriteDynamicsToMotionState()
+{
+}
+		// controller replication
+void		CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)
+{
+}
+
+		// kinematic methods
+void		CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)
+{
+	SimdTransform xform = m_body->getCenterOfMassTransform();
+	xform.setOrigin(xform.getOrigin() + SimdVector3(dlocX,dlocY,dlocZ));
+	this->m_body->setCenterOfMassTransform(xform);
+
+}
+
+void		CcdPhysicsController::RelativeRotate(const float drot[9],bool local)
+{
+}
+void		CcdPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)
+{
+}
+void		CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)
+{
+}
+void		CcdPhysicsController::setPosition(float posX,float posY,float posZ)
+{
+}
+void		CcdPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
+{
+}
+
+void 		CcdPhysicsController::getPosition(PHY__Vector3&	pos) const
+{
+	assert(0);
+}
+
+void		CcdPhysicsController::setScaling(float scaleX,float scaleY,float scaleZ)
+{
+}
+		
+		// physics methods
+void		CcdPhysicsController::ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local)
+{
+}
+void		CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bool local)
+{
+}
+void		CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)
+{
+	SimdVector3 angvel(ang_velX,ang_velY,ang_velZ);
+
+	m_body->setAngularVelocity(angvel);
+
+}
+void		CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)
+{
+
+	SimdVector3 linVel(lin_velX,lin_velY,lin_velZ);
+	m_body->setLinearVelocity(linVel);
+}
+void		CcdPhysicsController::applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)
+{
+}
+void		CcdPhysicsController::SetActive(bool active)
+{
+}
+		// reading out information from physics
+void		CcdPhysicsController::GetLinearVelocity(float& linvX,float& linvY,float& linvZ)
+{
+}
+void		CcdPhysicsController::GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ)
+{
+}
+void		CcdPhysicsController::getReactionForce(float& forceX,float& forceY,float& forceZ)
+{
+}
+
+		// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted 
+void		CcdPhysicsController::setRigidBody(bool rigid)
+{
+}
+
+		// clientinfo for raycasts for example
+void*		CcdPhysicsController::getNewClientInfo()
+{
+	return 0;
+}
+void		CcdPhysicsController::setNewClientInfo(void* clientinfo)
+{
+
+}
+
+#ifdef WIN32
+float gSleepingTreshold = 0.8f;
+float gAngularSleepingTreshold = 1.f;
+
+#else
+
+float gSleepingTreshold = 0.8f;
+float gAngularSleepingTreshold = 1.0f;
+#endif
+
+
+bool CcdPhysicsController::wantsSleeping()
+{
+
+	if (!gEnableSleeping)
+		return false;
+
+	if ( (m_body->GetActivationState() == 3) || (m_body->GetActivationState() == 2))
+		return true;
+
+	if ((m_body->getLinearVelocity().length2() < gSleepingTreshold*gSleepingTreshold) &&
+		(m_body->getAngularVelocity().length2() < gAngularSleepingTreshold*gAngularSleepingTreshold))
+	{
+		m_sleepingCounter++;
+	} else
+	{
+		m_sleepingCounter=0;
+	}
+
+	if (m_sleepingCounter> 150)
+	{
+		return true;
+	}
+	return false;
+}
+

extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h

@@ -0,0 +1,133 @@
+
+#ifndef BULLET2_PHYSICSCONTROLLER_H
+#define BULLET2_PHYSICSCONTROLLER_H
+
+#include "PHY_IPhysicsController.h"
+
+///	PHY_IPhysicsController is the abstract simplified Interface to a physical object.
+///	It contains the IMotionState and IDeformableMesh Interfaces.
+#include "SimdVector3.h"
+#include "SimdScalar.h"	
+class CollisionShape;
+
+struct CcdConstructionInfo
+{
+	CcdConstructionInfo()
+		: m_gravity(0,0,0),
+		m_mass(0.f),
+		m_friction(0.1f),
+		m_restitution(0.1f),
+		m_linearDamping(0.1f),
+		m_angularDamping(0.1f),
+		m_MotionState(0),
+		m_collisionShape(0)
+
+	{
+	}
+	SimdVector3	m_localInertiaTensor;
+	SimdVector3	m_gravity;
+	SimdScalar	m_mass;
+	SimdScalar	m_friction;
+	SimdScalar	m_restitution;
+	
+	SimdScalar	m_linearDamping;
+	SimdScalar	m_angularDamping;
+	void*		m_broadphaseHandle;
+	class	PHY_IMotionState*			m_MotionState;
+
+	CollisionShape*			m_collisionShape;
+	
+};
+
+
+class RigidBody;
+
+///CcdPhysicsController is a physics object that supports continuous collision detection and time of impact based physics resolution.
+class CcdPhysicsController : public PHY_IPhysicsController	
+{
+	RigidBody* m_body;
+	class	PHY_IMotionState*			m_MotionState;
+	CollisionShape*			m_collisionShape;
+
+	int				m_sleepingCounter;
+	public:
+	
+		int				m_collisionDelay;
+	
+		SimdScalar	m_friction;
+		SimdScalar	m_restitution;
+		void*  m_broadphaseHandle;
+
+		CcdPhysicsController (const CcdConstructionInfo& ci);
+
+		virtual ~CcdPhysicsController();
+
+
+		RigidBody* GetRigidBody() { return m_body;}
+
+		CollisionShape*	GetCollisionShape() { return m_collisionShape;}
+		////////////////////////////////////
+		// PHY_IPhysicsController interface
+		////////////////////////////////////
+
+
+		/**
+			SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
+		*/
+		virtual bool		SynchronizeMotionStates(float time);
+		/**
+			WriteMotionStateToDynamics ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
+		*/
+		
+		virtual void		WriteMotionStateToDynamics(bool nondynaonly);
+		virtual	void		WriteDynamicsToMotionState();
+		// controller replication
+		virtual	void		PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl);
+
+		// kinematic methods
+		virtual void		RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local);
+		virtual void		RelativeRotate(const float drot[9],bool local);
+		virtual	void		getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal);
+		virtual	void		setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal);
+		virtual	void		setPosition(float posX,float posY,float posZ);
+		virtual	void 		getPosition(PHY__Vector3&	pos) const;
+
+		virtual	void		setScaling(float scaleX,float scaleY,float scaleZ);
+		
+		// physics methods
+		virtual void		ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local);
+		virtual void		ApplyForce(float forceX,float forceY,float forceZ,bool local);
+		virtual void		SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local);
+		virtual void		SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local);
+		virtual void		applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ);
+		virtual void		SetActive(bool active);
+
+		// reading out information from physics
+		virtual void		GetLinearVelocity(float& linvX,float& linvY,float& linvZ);
+		virtual void		GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ); 
+		virtual	void		getReactionForce(float& forceX,float& forceY,float& forceZ);
+
+		// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted 
+		virtual	void		setRigidBody(bool rigid);
+
+		
+		virtual void		resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
+
+		// clientinfo for raycasts for example
+		virtual	void*				getNewClientInfo();
+		virtual	void				setNewClientInfo(void* clientinfo);
+		virtual PHY_IPhysicsController*	GetReplica() {return 0;}
+
+		virtual void	calcXform() {} ;
+		virtual void SetMargin(float margin) {};
+		virtual float GetMargin() const {return 0.f;};
+
+
+		bool	wantsSleeping();
+
+		void	SetAabb(const SimdVector3& aabbMin,const SimdVector3& aabbMax);
+
+
+};
+
+#endif //BULLET2_PHYSICSCONTROLLER_H

extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h

@@ -0,0 +1,121 @@
+#ifndef CCDPHYSICSENVIRONMENT
+#define CCDPHYSICSENVIRONMENT
+
+#include "PHY_IPhysicsEnvironment.h"
+#include <vector>
+class CcdPhysicsController;
+#include "SimdVector3.h"
+
+struct	PHY_IPhysicsDebugDraw
+{
+	virtual void	DrawLine(const SimdVector3& from,const SimdVector3& to,const SimdVector3& color)=0;
+};
+
+
+class Point2PointConstraint;
+class ToiContactDispatcher;
+class Dispatcher;
+//#include "BroadphaseInterface.h"
+
+class Vehicle;
+class PersistentManifold;
+class BroadphaseInterface;
+
+/// Physics Environment takes care of stepping the simulation and is a container for physics entities.
+/// It stores rigidbodies,constraints, materials etc.
+/// A derived class may be able to 'construct' entities by loading and/or converting
+class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
+{
+	SimdVector3 m_gravity;
+	BroadphaseInterface*	m_broadphase;
+	PHY_IPhysicsDebugDraw*	m_debugDrawer;
+	
+	public:
+		CcdPhysicsEnvironment(ToiContactDispatcher* dispatcher=0, BroadphaseInterface* broadphase=0);
+
+		virtual		~CcdPhysicsEnvironment();
+
+		/////////////////////////////////////
+		//PHY_IPhysicsEnvironment interface
+		/////////////////////////////////////
+
+		/// Perform an integration step of duration 'timeStep'.
+
+		virtual void setDebugDrawer(PHY_IPhysicsDebugDraw* debugDrawer)
+		{
+			m_debugDrawer = debugDrawer;
+		}
+
+
+		virtual	void		beginFrame() {};
+		virtual void		endFrame() {};
+		/// Perform an integration step of duration 'timeStep'.
+		virtual	bool		proceedDeltaTime(double curTime,float timeStep);
+		virtual	void		setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep){};
+		//returns 0.f if no fixed timestep is used
+		virtual	float		getFixedTimeStep(){ return 0.f;};
+
+		virtual	void		setGravity(float x,float y,float z);
+
+		virtual int			createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
+			float pivotX,float pivotY,float pivotZ,
+			float axisX,float axisY,float axisZ);
+		virtual void		removeConstraint(int constraintid);
+
+
+		virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
+										float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);
+
+
+		//Methods for gamelogic collision/physics callbacks
+		//todo:
+		virtual void addSensor(PHY_IPhysicsController* ctrl) {};
+		virtual void removeSensor(PHY_IPhysicsController* ctrl){};
+		virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user){};
+		virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl){};
+		virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position) {return 0;};
+		virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight){ return 0;};
+	
+
+		virtual int	getNumContactPoints();
+
+		virtual void getContactPoint(int i,float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);
+
+		//////////////////////
+		//CcdPhysicsEnvironment interface
+		////////////////////////
+	
+		void	addCcdPhysicsController(CcdPhysicsController* ctrl);
+
+		void	removeCcdPhysicsController(CcdPhysicsController* ctrl);
+
+		BroadphaseInterface*	GetBroadphase() { return m_broadphase; }
+
+		Dispatcher* GetDispatcher();
+
+		int	GetNumControllers();
+
+		CcdPhysicsController* GetPhysicsController( int index);
+
+		int	GetNumManifolds() const;
+
+		const PersistentManifold*	GetManifold(int index) const;
+
+	private:
+		
+		void	UpdateActivationState();	
+		void	SyncMotionStates(float timeStep);
+		
+		std::vector<CcdPhysicsController*> m_controllers;
+
+		std::vector<Point2PointConstraint*> m_p2pConstraints;
+
+		std::vector<Vehicle*>	m_vehicles;
+
+		class ToiContactDispatcher* m_dispatcher;
+
+		bool	m_scalingPropagated;
+
+};
+
+#endif //CCDPHYSICSENVIRONMENT

extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysics_vc7.vcproj

@@ -0,0 +1,131 @@
+<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+	ProjectType="Visual C++"
+	Version="7.10"
+	Name="CcdPhysics"
+	ProjectGUID="{E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE}"
+	Keyword="Win32Proj">
+	<Platforms>
+		<Platform
+			Name="Win32"/>
+	</Platforms>
+	<Configurations>
+		<Configuration
+			Name="Debug|Win32"
+			OutputDirectory="Debug"
+			IntermediateDirectory="Debug"
+			ConfigurationType="4"
+			CharacterSet="2">
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				AdditionalIncludeDirectories="..\Common;..\..\..\LinearMath;..\..\..\Bullet;..\..\..\BulletDynamics"
+				PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
+				MinimalRebuild="TRUE"
+				BasicRuntimeChecks="3"
+				RuntimeLibrary="5"
+				UsePrecompiledHeader="0"
+				WarningLevel="3"
+				Detect64BitPortabilityProblems="TRUE"
+				DebugInformationFormat="4"/>
+			<Tool
+				Name="VCCustomBuildTool"/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="$(OutDir)/CcdPhysics.lib"/>
+			<Tool
+				Name="VCMIDLTool"/>
+			<Tool
+				Name="VCPostBuildEventTool"/>
+			<Tool
+				Name="VCPreBuildEventTool"/>
+			<Tool
+				Name="VCPreLinkEventTool"/>
+			<Tool
+				Name="VCResourceCompilerTool"/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"/>
+			<Tool
+				Name="VCManagedWrapperGeneratorTool"/>
+			<Tool
+				Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
+		</Configuration>
+		<Configuration
+			Name="Release|Win32"
+			OutputDirectory="Release"
+			IntermediateDirectory="Release"
+			ConfigurationType="4"
+			CharacterSet="2">
+			<Tool
+				Name="VCCLCompilerTool"
+				AdditionalIncludeDirectories="..\Common;..\..\..\LinearMath;..\..\..\Bullet;..\..\..\BulletDynamics"
+				PreprocessorDefinitions="WIN32;NDEBUG;_LIB"
+				RuntimeLibrary="4"
+				UsePrecompiledHeader="0"
+				WarningLevel="3"
+				Detect64BitPortabilityProblems="TRUE"
+				DebugInformationFormat="3"/>
+			<Tool
+				Name="VCCustomBuildTool"/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="$(OutDir)/CcdPhysics.lib"/>
+			<Tool
+				Name="VCMIDLTool"/>
+			<Tool
+				Name="VCPostBuildEventTool"/>
+			<Tool
+				Name="VCPreBuildEventTool"/>
+			<Tool
+				Name="VCPreLinkEventTool"/>
+			<Tool
+				Name="VCResourceCompilerTool"/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"/>
+			<Tool
+				Name="VCManagedWrapperGeneratorTool"/>
+			<Tool
+				Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
+		</Configuration>
+	</Configurations>
+	<References>
+	</References>
+	<Files>
+		<Filter
+			Name="Source Files"
+			Filter="cpp;c;cxx;def;odl;idl;hpj;bat;asm;asmx"
+			UniqueIdentifier="{4FC737F1-C7A5-4376-A066-2A32D752A2FF}">
+			<File
+				RelativePath=".\CcdPhysicsController.cpp">
+			</File>
+			<File
+				RelativePath=".\CcdPhysicsEnvironment.cpp">
+			</File>
+		</Filter>
+		<Filter
+			Name="Header Files"
+			Filter="h;hpp;hxx;hm;inl;inc;xsd"
+			UniqueIdentifier="{93995380-89BD-4b04-88EB-625FBE52EBFB}">
+			<File
+				RelativePath=".\CcdPhysicsController.h">
+			</File>
+			<File
+				RelativePath=".\CcdPhysicsEnvironment.h">
+			</File>
+		</Filter>
+		<Filter
+			Name="Resource Files"
+			Filter="rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx"
+			UniqueIdentifier="{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}">
+		</Filter>
+		<File
+			RelativePath=".\ReadMe.txt">
+		</File>
+	</Files>
+	<Globals>
+	</Globals>
+</VisualStudioProject>

extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysics_vc8.vcproj

@@ -0,0 +1,185 @@
+<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+	ProjectType="Visual C++"
+	Version="8.00"
+	Name="CcdPhysics"
+	ProjectGUID="{E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE}"
+	Keyword="Win32Proj"
+	>
+	<Platforms>
+		<Platform
+			Name="Win32"
+		/>
+	</Platforms>
+	<ToolFiles>
+	</ToolFiles>
+	<Configurations>
+		<Configuration
+			Name="Debug|Win32"
+			OutputDirectory="Debug"
+			IntermediateDirectory="Debug"
+			ConfigurationType="4"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				AdditionalIncludeDirectories="..\Common;..\..\..\LinearMath;..\..\..\Bullet;..\..\..\BulletDynamics"
+				PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
+				MinimalRebuild="TRUE"
+				BasicRuntimeChecks="3"
+				RuntimeLibrary="1"
+				UsePrecompiledHeader="0"
+				WarningLevel="3"
+				Detect64BitPortabilityProblems="TRUE"
+				DebugInformationFormat="4"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="$(OutDir)/CcdPhysics.lib"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCAppVerifierTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+		<Configuration
+			Name="Release|Win32"
+			OutputDirectory="Release"
+			IntermediateDirectory="Release"
+			ConfigurationType="4"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				AdditionalIncludeDirectories="..\Common;..\..\..\LinearMath;..\..\..\Bullet;..\..\..\BulletDynamics"
+				PreprocessorDefinitions="WIN32;NDEBUG;_LIB"
+				RuntimeLibrary="0"
+				UsePrecompiledHeader="0"
+				WarningLevel="3"
+				Detect64BitPortabilityProblems="TRUE"
+				DebugInformationFormat="3"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="$(OutDir)/CcdPhysics.lib"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCAppVerifierTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+	</Configurations>
+	<References>
+	</References>
+	<Files>
+		<Filter
+			Name="Source Files"
+			Filter="cpp;c;cxx;def;odl;idl;hpj;bat;asm;asmx"
+			UniqueIdentifier="{4FC737F1-C7A5-4376-A066-2A32D752A2FF}"
+			>
+			<File
+				RelativePath=".\CcdPhysicsController.cpp"
+				>
+			</File>
+			<File
+				RelativePath=".\CcdPhysicsEnvironment.cpp"
+				>
+			</File>
+		</Filter>
+		<Filter
+			Name="Header Files"
+			Filter="h;hpp;hxx;hm;inl;inc;xsd"
+			UniqueIdentifier="{93995380-89BD-4b04-88EB-625FBE52EBFB}"
+			>
+			<File
+				RelativePath=".\CcdPhysicsController.h"
+				>
+			</File>
+			<File
+				RelativePath=".\CcdPhysicsEnvironment.h"
+				>
+			</File>
+		</Filter>
+		<Filter
+			Name="Resource Files"
+			Filter="rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx"
+			UniqueIdentifier="{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}"
+			>
+		</Filter>
+		<File
+			RelativePath=".\ReadMe.txt"
+			>
+		</File>
+	</Files>
+</VisualStudioProject>

extern/bullet/Extras/PhysicsInterface/Common/PHY_DynamicTypes.h

@@ -0,0 +1,87 @@
+/*
+ * Copyright (c) 2001-2005 Erwin Coumans <phy@erwincoumans.com>
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies and
+ * that both that copyright notice and this permission notice appear
+ * in supporting documentation.  Erwin Coumans makes no
+ * representations about the suitability of this software for any
+ * purpose.  It is provided "as is" without express or implied warranty.
+ *
+ */
+
+#ifndef __PHY_DYNAMIC_TYPES
+#define __PHY_DYNAMIC_TYPES
+
+
+
+class	PHY_ResponseTable;
+
+class PHY_Shape;
+
+struct	PHY__Vector3
+{
+	float	m_vec[4];
+	operator const float* () const 
+	{ 
+		return &m_vec[0];
+	}	
+	operator float* () 
+	{ 
+		return &m_vec[0];
+	}	
+};
+//typedef 	float	PHY__Vector3[4];
+
+typedef enum
+{
+	PHY_FH_RESPONSE,
+	PHY_SENSOR_RESPONSE,		/* Touch Sensors */
+	PHY_CAMERA_RESPONSE,	/* Visibility Culling */
+	PHY_OBJECT_RESPONSE,	/* Object Dynamic Geometry Response */
+	PHY_STATIC_RESPONSE,	/* Static Geometry Response */
+	
+	PHY_NUM_RESPONSE
+};
+
+	typedef struct PHY_CollData {
+		PHY__Vector3 m_point1;               /* Point in object1 in world coordinates */ 
+		PHY__Vector3 m_point2;               /* Point in object2 in world coordinates */
+		PHY__Vector3 m_normal;               /* point2 - point1 */ 
+	} PHY_CollData;
+
+
+	typedef bool (*PHY_ResponseCallback)(void *client_data,
+										   void *client_object1,
+										   void *client_object2,
+										   const PHY_CollData *coll_data);
+		
+
+
+/// PHY_PhysicsType enumerates all possible Physics Entities.
+/// It is mainly used to create/add Physics Objects
+
+typedef enum PHY_PhysicsType {
+	PHY_CONVEX_RIGIDBODY=16386,
+	PHY_CONCAVE_RIGIDBODY=16399,
+	PHY_CONVEX_FIXEDBODY=16388,//'collision object'
+	PHY_CONCAVE_FIXEDBODY=16401,
+	PHY_CONVEX_KINEMATICBODY=16387,// 
+	PHY_CONCAVE_KINEMATICBODY=16400,
+	PHY_CONVEX_PHANTOMBODY=16398,
+	PHY_CONCAVE_PHANTOMBODY=16402
+} PHY_PhysicsType;
+
+/// PHY_ConstraintType enumerates all supported Constraint Types
+typedef enum PHY_ConstraintType {
+	PHY_POINT2POINT_CONSTRAINT=1,
+	PHY_LINEHINGE_CONSTRAINT,
+	PHY_VEHICLE_CONSTRAINT
+
+} PHY_ConstraintType;
+
+typedef float	PHY_Vector3[3];
+
+#endif //__PHY_DYNAMIC_TYPES
+

extern/bullet/Extras/PhysicsInterface/Common/PHY_IMotionState.cpp

@@ -0,0 +1,23 @@
+/*
+ * Copyright (c) 2001-2005 Erwin Coumans <phy@erwincoumans.com>
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies and
+ * that both that copyright notice and this permission notice appear
+ * in supporting documentation.  Erwin Coumans makes no
+ * representations about the suitability of this software for any
+ * purpose.  It is provided "as is" without express or implied warranty.
+ *
+ */
+
+#include "PHY_IMotionState.h"
+
+#ifdef HAVE_CONFIG_H
+#include <config.h>
+#endif
+
+PHY_IMotionState::~PHY_IMotionState()
+{
+
+}

extern/bullet/Extras/PhysicsInterface/Common/PHY_IMotionState.h

@@ -0,0 +1,39 @@
+/*
+ * Copyright (c) 2001-2005 Erwin Coumans <phy@erwincoumans.com>
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies and
+ * that both that copyright notice and this permission notice appear
+ * in supporting documentation.  Erwin Coumans makes no
+ * representations about the suitability of this software for any
+ * purpose.  It is provided "as is" without express or implied warranty.
+ *
+ */
+
+#ifndef PHY__MOTIONSTATE_H
+#define PHY__MOTIONSTATE_H
+
+/**
+	PHY_IMotionState is the Interface to explicitly synchronize the world transformation.
+	Default implementations for mayor graphics libraries like OpenGL and DirectX can be provided.
+*/
+class	PHY_IMotionState
+
+{
+	public:
+		
+		virtual ~PHY_IMotionState();
+
+		virtual void	getWorldPosition(float& posX,float& posY,float& posZ)=0;
+		virtual void	getWorldScaling(float& scaleX,float& scaleY,float& scaleZ)=0;
+		virtual void	getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)=0;
+		
+		virtual void	setWorldPosition(float posX,float posY,float posZ)=0;
+		virtual	void	setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)=0;
+
+		virtual	void	calculateWorldTransformations()=0;
+};
+
+#endif //PHY__MOTIONSTATE_H
+

extern/bullet/Extras/PhysicsInterface/Common/PHY_IPhysicsController.cpp

@@ -0,0 +1,24 @@
+/*
+ * Copyright (c) 2001-2005 Erwin Coumans <phy@erwincoumans.com>
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies and
+ * that both that copyright notice and this permission notice appear
+ * in supporting documentation.  Erwin Coumans makes no
+ * representations about the suitability of this software for any
+ * purpose.  It is provided "as is" without express or implied warranty.
+ *
+ */
+
+#include "PHY_IPhysicsController.h"
+
+#ifdef HAVE_CONFIG_H
+#include <config.h>
+#endif
+
+PHY_IPhysicsController::~PHY_IPhysicsController()
+{
+
+}
+

extern/bullet/Extras/PhysicsInterface/Common/PHY_IPhysicsController.h

@@ -0,0 +1,85 @@
+/*
+ * Copyright (c) 2001-2005 Erwin Coumans <phy@erwincoumans.com>
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies and
+ * that both that copyright notice and this permission notice appear
+ * in supporting documentation.  Erwin Coumans makes no
+ * representations about the suitability of this software for any
+ * purpose.  It is provided "as is" without express or implied warranty.
+ *
+ */
+
+#ifndef PHY_IPHYSICSCONTROLLER_H
+#define PHY_IPHYSICSCONTROLLER_H
+
+#include "PHY_DynamicTypes.h"
+
+/**
+	PHY_IPhysicsController is the abstract simplified Interface to a physical object.
+	It contains the IMotionState and IDeformableMesh Interfaces.
+*/
+
+
+class PHY_IPhysicsController	
+{
+
+	public:
+		
+		virtual ~PHY_IPhysicsController();
+		/**
+			SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
+		*/
+		virtual bool		SynchronizeMotionStates(float time)=0;
+		/**
+			WriteMotionStateToDynamics ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
+		*/
+		
+		virtual void		WriteMotionStateToDynamics(bool nondynaonly)=0;
+		virtual	void		WriteDynamicsToMotionState()=0;
+		// controller replication
+		virtual	void		PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)=0;
+
+		// kinematic methods
+		virtual void		RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)=0;
+		virtual void		RelativeRotate(const float drot[12],bool local)=0;
+		virtual	void		getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)=0;
+		virtual	void		setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)=0;
+		virtual	void		setPosition(float posX,float posY,float posZ)=0;
+		virtual	void 		getPosition(PHY__Vector3&	pos) const=0;
+		virtual	void		setScaling(float scaleX,float scaleY,float scaleZ)=0;
+		
+		// physics methods
+		virtual void		ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local)=0;
+		virtual void		ApplyForce(float forceX,float forceY,float forceZ,bool local)=0;
+		virtual void		SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)=0;
+		virtual void		SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)=0;
+	
+		virtual void		applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)=0;
+		virtual void		SetActive(bool active)=0;
+
+		// reading out information from physics
+		virtual void		GetLinearVelocity(float& linvX,float& linvY,float& linvZ)=0;
+		virtual void		GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ)=0; 
+		virtual	void		getReactionForce(float& forceX,float& forceY,float& forceZ)=0;
+
+		// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted 
+		virtual	void		setRigidBody(bool rigid)=0;
+
+
+		// clientinfo for raycasts for example
+		virtual	void*				getNewClientInfo()=0;
+		virtual	void				setNewClientInfo(void* clientinfo)=0;
+		virtual PHY_IPhysicsController*	GetReplica() {return 0;}
+
+		virtual void	calcXform() =0;
+		virtual void SetMargin(float margin) =0;
+		virtual float GetMargin() const=0;
+		virtual float GetRadius() const { return 0.f;}
+		PHY__Vector3	GetWorldPosition(PHY__Vector3& localpos);
+
+};
+
+#endif //PHY_IPHYSICSCONTROLLER_H
+

extern/bullet/Extras/PhysicsInterface/Common/PHY_IPhysicsEnvironment.cpp

@@ -0,0 +1,30 @@
+/*
+ * Copyright (c) 2001-2005 Erwin Coumans <phy@erwincoumans.com>
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies and
+ * that both that copyright notice and this permission notice appear
+ * in supporting documentation.  Erwin Coumans makes no
+ * representations about the suitability of this software for any
+ * purpose.  It is provided "as is" without express or implied warranty.
+ *
+ */
+
+#include "PHY_IPhysicsEnvironment.h"
+
+#ifdef HAVE_CONFIG_H
+#include <config.h>
+#endif
+
+/**
+*	Physics Environment takes care of stepping the simulation and is a container for physics entities (rigidbodies,constraints, materials etc.)
+*	A derived class may be able to 'construct' entities by loading and/or converting
+*/
+
+
+
+PHY_IPhysicsEnvironment::~PHY_IPhysicsEnvironment()
+{
+
+}

extern/bullet/Extras/PhysicsInterface/Common/PHY_IPhysicsEnvironment.h

@@ -0,0 +1,54 @@
+/*
+ * Copyright (c) 2001-2005 Erwin Coumans <phy@erwincoumans.com>
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies and
+ * that both that copyright notice and this permission notice appear
+ * in supporting documentation.  Erwin Coumans makes no
+ * representations about the suitability of this software for any
+ * purpose.  It is provided "as is" without express or implied warranty.
+ *
+ */
+#ifndef _IPHYSICSENVIRONMENT
+#define _IPHYSICSENVIRONMENT
+
+#include <vector>
+#include "PHY_DynamicTypes.h"
+
+/**
+*	Physics Environment takes care of stepping the simulation and is a container for physics entities (rigidbodies,constraints, materials etc.)
+*	A derived class may be able to 'construct' entities by loading and/or converting
+*/
+class PHY_IPhysicsEnvironment
+{
+	public:
+		virtual		~PHY_IPhysicsEnvironment();
+		/// Perform an integration step of duration 'timeStep'.
+		virtual	bool		proceedDeltaTime(double curTime,float timeStep)=0;
+
+
+		virtual	void		setGravity(float x,float y,float z)=0;
+
+		virtual int			createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
+			float pivotX,float pivotY,float pivotZ,
+			float axisX,float axisY,float axisZ)=0;
+		virtual void		removeConstraint(int constraintid)=0;
+
+		virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
+										float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)=0;
+
+
+		//Methods for gamelogic collision/physics callbacks
+		//todo:
+		virtual void addSensor(PHY_IPhysicsController* ctrl)=0;
+		virtual void removeSensor(PHY_IPhysicsController* ctrl)=0;
+		virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)=0;
+		virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl)=0;
+		virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position) =0;
+		virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight)=0;
+		
+};
+
+#endif //_IPHYSICSENVIRONMENT
+

extern/bullet/Extras/PhysicsInterface/Common/PHY_Pro.h

@@ -0,0 +1,45 @@
+/*
+ * Copyright (c) 2001-2005 Erwin Coumans <phy@erwincoumans.com>
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies and
+ * that both that copyright notice and this permission notice appear
+ * in supporting documentation.  Erwin Coumans makes no
+ * representations about the suitability of this software for any
+ * purpose.  It is provided "as is" without express or implied warranty.
+ *
+ */
+
+#ifndef PHY_PROPSH
+#define PHY_PROPSH
+
+
+class CollisionShape;
+
+// Properties of dynamic objects
+struct PHY_ShapeProps {
+	float  m_mass;                  // Total mass
+	float  m_inertia;               // Inertia, should be a tensor some time 
+	float  m_lin_drag;              // Linear drag (air, water) 0 = concrete, 1 = vacuum 
+	float  m_ang_drag;              // Angular drag
+	float  m_friction_scaling[3];   // Scaling for anisotropic friction. Component in range [0, 1]   
+	bool       m_do_anisotropic;        // Should I do anisotropic friction? 
+	bool       m_do_fh;                 // Should the object have a linear Fh spring?
+	bool       m_do_rot_fh;             // Should the object have an angular Fh spring?
+	CollisionShape*	m_shape;
+};
+
+
+// Properties of collidable objects (non-ghost objects)
+struct PHY_MaterialProps {
+	float m_restitution;           // restitution of energie after a collision 0 = inelastic, 1 = elastic
+	float m_friction;              // Coulomb friction (= ratio between the normal en maximum friction force)
+	float m_fh_spring;             // Spring constant (both linear and angular)
+	float m_fh_damping;            // Damping factor (linear and angular) in range [0, 1]
+	float m_fh_distance;           // The range above the surface where Fh is active.    
+	bool      m_fh_normal;             // Should the object slide off slopes?
+};
+
+#endif //PHY_PROPSH
+

extern/bullet/Extras/PhysicsInterface/Common/PhysicsInterface.dsp

@@ -0,0 +1,128 @@
+# Microsoft Developer Studio Project File - Name="PhysicsInterface" - Package Owner=<4>
+# Microsoft Developer Studio Generated Build File, Format Version 6.00
+# ** DO NOT EDIT **
+
+# TARGTYPE "Win32 (x86) Static Library" 0x0104
+
+CFG=PhysicsInterface - Win32 Debug
+!MESSAGE This is not a valid makefile. To build this project using NMAKE,
+!MESSAGE use the Export Makefile command and run
+!MESSAGE 
+!MESSAGE NMAKE /f "PhysicsInterface.mak".
+!MESSAGE 
+!MESSAGE You can specify a configuration when running NMAKE
+!MESSAGE by defining the macro CFG on the command line. For example:
+!MESSAGE 
+!MESSAGE NMAKE /f "PhysicsInterface.mak" CFG="PhysicsInterface - Win32 Debug"
+!MESSAGE 
+!MESSAGE Possible choices for configuration are:
+!MESSAGE 
+!MESSAGE "PhysicsInterface - Win32 Release" (based on "Win32 (x86) Static Library")
+!MESSAGE "PhysicsInterface - Win32 Debug" (based on "Win32 (x86) Static Library")
+!MESSAGE 
+
+# Begin Project
+# PROP AllowPerConfigDependencies 0
+# PROP Scc_ProjName ""
+# PROP Scc_LocalPath ""
+CPP=cl.exe
+RSC=rc.exe
+
+!IF  "$(CFG)" == "PhysicsInterface - Win32 Release"
+
+# PROP BASE Use_MFC 0
+# PROP BASE Use_Debug_Libraries 0
+# PROP BASE Output_Dir "Release"
+# PROP BASE Intermediate_Dir "Release"
+# PROP BASE Target_Dir ""
+# PROP Use_MFC 0
+# PROP Use_Debug_Libraries 0
+# PROP Output_Dir "Release"
+# PROP Intermediate_Dir "Release"
+# PROP Target_Dir ""
+LINK32=link.exe -lib
+MTL=midl.exe
+# ADD BASE CPP /nologo /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_MBCS" /D "_LIB" /YX /FD /c
+# ADD CPP /nologo /W3 /GX /O2 /I "..\..\..\LinearMath" /I "..\..\..\Extras\PhysicsInterface\Common" /D "WIN32" /D "NDEBUG" /D "_MBCS" /D "_LIB" /YX /FD /c
+# ADD BASE RSC /l 0x809 /d "NDEBUG"
+# ADD RSC /l 0x809 /d "NDEBUG"
+BSC32=bscmake.exe
+# ADD BASE BSC32 /nologo
+# ADD BSC32 /nologo
+LIB32=link.exe -lib
+# ADD BASE LIB32 /nologo
+# ADD LIB32 /nologo
+
+!ELSEIF  "$(CFG)" == "PhysicsInterface - Win32 Debug"
+
+# PROP BASE Use_MFC 0
+# PROP BASE Use_Debug_Libraries 1
+# PROP BASE Output_Dir "Debug"
+# PROP BASE Intermediate_Dir "Debug"
+# PROP BASE Target_Dir ""
+# PROP Use_MFC 0
+# PROP Use_Debug_Libraries 1
+# PROP Output_Dir "Debug"
+# PROP Intermediate_Dir "Debug"
+# PROP Target_Dir ""
+LINK32=link.exe -lib
+MTL=midl.exe
+# ADD BASE CPP /nologo /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_MBCS" /D "_LIB" /YX /FD /GZ  /c
+# ADD CPP /nologo /W3 /Gm /GX /ZI /Od /I "..\..\..\LinearMath" /I "..\..\..\Extras\PhysicsInterface\Common" /D "WIN32" /D "_DEBUG" /D "_MBCS" /D "_LIB" /YX /FD /GZ  /c
+# ADD BASE RSC /l 0x809 /d "_DEBUG"
+# ADD RSC /l 0x809 /d "_DEBUG"
+BSC32=bscmake.exe
+# ADD BASE BSC32 /nologo
+# ADD BSC32 /nologo
+LIB32=link.exe -lib
+# ADD BASE LIB32 /nologo
+# ADD LIB32 /nologo
+
+!ENDIF 
+
+# Begin Target
+
+# Name "PhysicsInterface - Win32 Release"
+# Name "PhysicsInterface - Win32 Debug"
+# Begin Group "Source Files"
+
+# PROP Default_Filter "cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
+# Begin Source File
+
+SOURCE=.\PHY_IMotionState.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\PHY_IPhysicsController.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\PHY_IPhysicsEnvironment.cpp
+# End Source File
+# End Group
+# Begin Group "Header Files"
+
+# PROP Default_Filter "h;hpp;hxx;hm;inl"
+# Begin Source File
+
+SOURCE=.\PHY_DynamicTypes.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\PHY_IMotionState.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\PHY_IPhysicsController.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\PHY_IPhysicsEnvironment.h
+# End Source File
+# Begin Source File
+
+SOURCE=.\PHY_Pro.h
+# End Source File
+# End Group
+# End Target
+# End Project

extern/bullet/Extras/PhysicsInterface/Common/PhysicsInterfaceCommon/PhysicsInterfaceCommon_vc7.vcproj

@@ -0,0 +1,143 @@
+<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+	ProjectType="Visual C++"
+	Version="7.10"
+	Name="PhysicsInterfaceCommon"
+	ProjectGUID="{87D8C006-6DCC-4156-A03E-8CEA1B4C0580}"
+	Keyword="Win32Proj">
+	<Platforms>
+		<Platform
+			Name="Win32"/>
+	</Platforms>
+	<Configurations>
+		<Configuration
+			Name="Debug|Win32"
+			OutputDirectory="Debug"
+			IntermediateDirectory="Debug"
+			ConfigurationType="4"
+			CharacterSet="2">
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				AdditionalIncludeDirectories="..\..\..\..\LinearMath"
+				PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
+				MinimalRebuild="TRUE"
+				BasicRuntimeChecks="3"
+				RuntimeLibrary="5"
+				UsePrecompiledHeader="0"
+				WarningLevel="3"
+				Detect64BitPortabilityProblems="TRUE"
+				DebugInformationFormat="4"/>
+			<Tool
+				Name="VCCustomBuildTool"/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="$(OutDir)/PhysicsInterfaceCommon.lib"/>
+			<Tool
+				Name="VCMIDLTool"/>
+			<Tool
+				Name="VCPostBuildEventTool"/>
+			<Tool
+				Name="VCPreBuildEventTool"/>
+			<Tool
+				Name="VCPreLinkEventTool"/>
+			<Tool
+				Name="VCResourceCompilerTool"/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"/>
+			<Tool
+				Name="VCManagedWrapperGeneratorTool"/>
+			<Tool
+				Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
+		</Configuration>
+		<Configuration
+			Name="Release|Win32"
+			OutputDirectory="Release"
+			IntermediateDirectory="Release"
+			ConfigurationType="4"
+			CharacterSet="2">
+			<Tool
+				Name="VCCLCompilerTool"
+				AdditionalIncludeDirectories="..\..\..\..\LinearMath"
+				PreprocessorDefinitions="WIN32;NDEBUG;_LIB"
+				RuntimeLibrary="4"
+				UsePrecompiledHeader="0"
+				WarningLevel="3"
+				Detect64BitPortabilityProblems="TRUE"
+				DebugInformationFormat="3"/>
+			<Tool
+				Name="VCCustomBuildTool"/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="$(OutDir)/PhysicsInterfaceCommon.lib"/>
+			<Tool
+				Name="VCMIDLTool"/>
+			<Tool
+				Name="VCPostBuildEventTool"/>
+			<Tool
+				Name="VCPreBuildEventTool"/>
+			<Tool
+				Name="VCPreLinkEventTool"/>
+			<Tool
+				Name="VCResourceCompilerTool"/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"/>
+			<Tool
+				Name="VCManagedWrapperGeneratorTool"/>
+			<Tool
+				Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
+		</Configuration>
+	</Configurations>
+	<References>
+	</References>
+	<Files>
+		<Filter
+			Name="Source Files"
+			Filter="cpp;c;cxx;def;odl;idl;hpj;bat;asm;asmx"
+			UniqueIdentifier="{4FC737F1-C7A5-4376-A066-2A32D752A2FF}">
+			<File
+				RelativePath="..\PHY_IMotionState.cpp">
+			</File>
+			<File
+				RelativePath="..\PHY_IPhysicsController.cpp">
+			</File>
+			<File
+				RelativePath="..\PHY_IPhysicsEnvironment.cpp">
+			</File>
+		</Filter>
+		<Filter
+			Name="Header Files"
+			Filter="h;hpp;hxx;hm;inl;inc;xsd"
+			UniqueIdentifier="{93995380-89BD-4b04-88EB-625FBE52EBFB}">
+			<File
+				RelativePath="..\PHY_DynamicTypes.h">
+			</File>
+			<File
+				RelativePath="..\PHY_IMotionState.h">
+			</File>
+			<File
+				RelativePath="..\PHY_IPhysicsController.h">
+			</File>
+			<File
+				RelativePath="..\PHY_IPhysicsEnvironment.h">
+			</File>
+			<File
+				RelativePath="..\PHY_Pro.h">
+			</File>
+		</Filter>
+		<Filter
+			Name="Resource Files"
+			Filter="rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx"
+			UniqueIdentifier="{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}">
+		</Filter>
+		<File
+			RelativePath=".\ReadMe.txt">
+		</File>
+	</Files>
+	<Globals>
+	</Globals>
+</VisualStudioProject>

extern/bullet/Extras/PhysicsInterface/Common/PhysicsInterfaceCommon/PhysicsInterfaceCommon_vc8.vcproj

@@ -0,0 +1,201 @@
+<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+	ProjectType="Visual C++"
+	Version="8.00"
+	Name="PhysicsInterfaceCommon"
+	ProjectGUID="{87D8C006-6DCC-4156-A03E-8CEA1B4C0580}"
+	Keyword="Win32Proj"
+	>
+	<Platforms>
+		<Platform
+			Name="Win32"
+		/>
+	</Platforms>
+	<ToolFiles>
+	</ToolFiles>
+	<Configurations>
+		<Configuration
+			Name="Debug|Win32"
+			OutputDirectory="Debug"
+			IntermediateDirectory="Debug"
+			ConfigurationType="4"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				AdditionalIncludeDirectories="..\..\..\..\LinearMath"
+				PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
+				MinimalRebuild="TRUE"
+				BasicRuntimeChecks="3"
+				RuntimeLibrary="1"
+				UsePrecompiledHeader="0"
+				WarningLevel="3"
+				Detect64BitPortabilityProblems="TRUE"
+				DebugInformationFormat="4"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="$(OutDir)/PhysicsInterfaceCommon.lib"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCAppVerifierTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+		<Configuration
+			Name="Release|Win32"
+			OutputDirectory="Release"
+			IntermediateDirectory="Release"
+			ConfigurationType="4"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				AdditionalIncludeDirectories="..\..\..\..\LinearMath"
+				PreprocessorDefinitions="WIN32;NDEBUG;_LIB"
+				RuntimeLibrary="0"
+				UsePrecompiledHeader="0"
+				WarningLevel="3"
+				Detect64BitPortabilityProblems="TRUE"
+				DebugInformationFormat="3"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="$(OutDir)/PhysicsInterfaceCommon.lib"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCAppVerifierTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+	</Configurations>
+	<References>
+	</References>
+	<Files>
+		<Filter
+			Name="Source Files"
+			Filter="cpp;c;cxx;def;odl;idl;hpj;bat;asm;asmx"
+			UniqueIdentifier="{4FC737F1-C7A5-4376-A066-2A32D752A2FF}"
+			>
+			<File
+				RelativePath="..\PHY_IMotionState.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\PHY_IPhysicsController.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\PHY_IPhysicsEnvironment.cpp"
+				>
+			</File>
+		</Filter>
+		<Filter
+			Name="Header Files"
+			Filter="h;hpp;hxx;hm;inl;inc;xsd"
+			UniqueIdentifier="{93995380-89BD-4b04-88EB-625FBE52EBFB}"
+			>
+			<File
+				RelativePath="..\PHY_DynamicTypes.h"
+				>
+			</File>
+			<File
+				RelativePath="..\PHY_IMotionState.h"
+				>
+			</File>
+			<File
+				RelativePath="..\PHY_IPhysicsController.h"
+				>
+			</File>
+			<File
+				RelativePath="..\PHY_IPhysicsEnvironment.h"
+				>
+			</File>
+			<File
+				RelativePath="..\PHY_Pro.h"
+				>
+			</File>
+		</Filter>
+		<Filter
+			Name="Resource Files"
+			Filter="rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx"
+			UniqueIdentifier="{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}"
+			>
+		</Filter>
+		<File
+			RelativePath=".\ReadMe.txt"
+			>
+		</File>
+	</Files>
+</VisualStudioProject>

extern/bullet/LinearMath/AabbUtil2.h

@@ -0,0 +1,67 @@
+/*
+
+Copyright (c) 2005 Gino van den Bergen / Erwin Coumans <www.erwincoumans.com>
+
+Permission is hereby granted, free of charge, to any person or organization
+obtaining a copy of the software and accompanying documentation covered by
+this license (the "Software") to use, reproduce, display, distribute,
+execute, and transmit the Software, and to prepare derivative works of the
+Software, and to permit third-parties to whom the Software is furnished to
+do so, all subject to the following:
+
+The copyright notices in the Software and this entire statement, including
+the above license grant, this restriction and the following disclaimer,
+must be included in all copies of the Software, in whole or in part, and
+all derivative works of the Software, unless such copies or derivative
+works are solely in the form of machine-executable object code generated by
+a source language processor.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
+SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
+FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
+*/
+
+
+#ifndef AABB_UTIL2
+#define AABB_UTIL2
+
+#include "SimdVector3.h"
+
+#define SimdMin(a,b) ((a < b ? a : b))
+#define SimdMax(a,b) ((a > b ? a : b))
+
+
+/// conservative test for overlap between two aabbs
+SIMD_FORCE_INLINE bool TestAabbAgainstAabb2(const SimdVector3 &aabbMin1, const SimdVector3 &aabbMax1,
+								const SimdVector3 &aabbMin2, const SimdVector3 &aabbMax2)
+{
+	if (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) return false;
+	if (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) return false;
+	if (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) return false;
+	return true;
+}
+
+/// conservative test for overlap between triangle and aabb
+SIMD_FORCE_INLINE bool TestTriangleAgainstAabb2(const SimdVector3 *vertices,
+									const SimdVector3 &aabbMin, const SimdVector3 &aabbMax)
+{
+	const SimdVector3 &p1 = vertices[0];
+	const SimdVector3 &p2 = vertices[1];
+	const SimdVector3 &p3 = vertices[2];
+
+	if (SimdMin(SimdMin(p1[0], p2[0]), p3[0]) > aabbMax[0]) return false;
+	if (SimdMax(SimdMax(p1[0], p2[0]), p3[0]) < aabbMin[0]) return false;
+
+	if (SimdMin(SimdMin(p1[2], p2[2]), p3[2]) > aabbMax[2]) return false;
+	if (SimdMax(SimdMax(p1[2], p2[2]), p3[2]) < aabbMin[2]) return false;
+  
+	if (SimdMin(SimdMin(p1[1], p2[1]), p3[1]) > aabbMax[1]) return false;
+	if (SimdMax(SimdMax(p1[1], p2[1]), p3[1]) < aabbMin[1]) return false;
+	return true;
+}
+
+#endif

extern/bullet/LinearMath/GEN_List.h

@@ -0,0 +1,85 @@
+/*
+
+Copyright (c) 2005 Gino van den Bergen / Erwin Coumans <www.erwincoumans.com>
+
+Permission is hereby granted, free of charge, to any person or organization
+obtaining a copy of the software and accompanying documentation covered by
+this license (the "Software") to use, reproduce, display, distribute,
+execute, and transmit the Software, and to prepare derivative works of the
+Software, and to permit third-parties to whom the Software is furnished to
+do so, all subject to the following:
+
+The copyright notices in the Software and this entire statement, including
+the above license grant, this restriction and the following disclaimer,
+must be included in all copies of the Software, in whole or in part, and
+all derivative works of the Software, unless such copies or derivative
+works are solely in the form of machine-executable object code generated by
+a source language processor.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
+SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
+FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
+*/
+
+
+#ifndef GEN_LIST_H
+#define GEN_LIST_H
+
+class GEN_Link {
+public:
+    GEN_Link() : m_next(0), m_prev(0) {}
+    GEN_Link(GEN_Link *next, GEN_Link *prev) : m_next(next), m_prev(prev) {}
+    
+    GEN_Link *getNext() const { return m_next; }  
+    GEN_Link *getPrev() const { return m_prev; }  
+
+    bool isHead() const { return m_prev == 0; }
+    bool isTail() const { return m_next == 0; }
+
+    void insertBefore(GEN_Link *link) {
+        m_next         = link;
+        m_prev         = link->m_prev;
+        m_next->m_prev = this;
+        m_prev->m_next = this;
+    } 
+
+    void insertAfter(GEN_Link *link) {
+        m_next         = link->m_next;
+        m_prev         = link;
+        m_next->m_prev = this;
+        m_prev->m_next = this;
+    } 
+
+    void remove() { 
+        m_next->m_prev = m_prev; 
+        m_prev->m_next = m_next;
+    }
+
+private:  
+    GEN_Link  *m_next;
+    GEN_Link  *m_prev;
+};
+
+class GEN_List {
+public:
+    GEN_List() : m_head(&m_tail, 0), m_tail(0, &m_head) {}
+
+    GEN_Link *getHead() const { return m_head.getNext(); } 
+    GEN_Link *getTail() const { return m_tail.getPrev(); } 
+
+    void addHead(GEN_Link *link) { link->insertAfter(&m_head); }
+    void addTail(GEN_Link *link) { link->insertBefore(&m_tail); }
+    
+private:
+    GEN_Link m_head;
+    GEN_Link m_tail;
+};
+
+#endif
+
+
+

extern/bullet/LinearMath/GEN_MinMax.h

@@ -0,0 +1,81 @@
+/*
+
+Copyright (c) 2005 Gino van den Bergen / Erwin Coumans <www.erwincoumans.com>
+
+Permission is hereby granted, free of charge, to any person or organization
+obtaining a copy of the software and accompanying documentation covered by
+this license (the "Software") to use, reproduce, display, distribute,
+execute, and transmit the Software, and to prepare derivative works of the
+Software, and to permit third-parties to whom the Software is furnished to
+do so, all subject to the following:
+
+The copyright notices in the Software and this entire statement, including
+the above license grant, this restriction and the following disclaimer,
+must be included in all copies of the Software, in whole or in part, and
+all derivative works of the Software, unless such copies or derivative
+works are solely in the form of machine-executable object code generated by
+a source language processor.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
+SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
+FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
+*/
+
+
+#ifndef GEN_MINMAX_H
+#define GEN_MINMAX_H
+
+template <class T>
+SIMD_FORCE_INLINE const T& GEN_min(const T& a, const T& b) 
+{
+  return b < a ? b : a;
+}
+
+template <class T>
+SIMD_FORCE_INLINE const T& GEN_max(const T& a, const T& b) 
+{
+  return  a < b ? b : a;
+}
+
+template <class T>
+SIMD_FORCE_INLINE const T& GEN_clamped(const T& a, const T& lb, const T& ub) 
+{
+	return a < lb ? lb : (ub < a ? ub : a); 
+}
+
+template <class T>
+SIMD_FORCE_INLINE void GEN_set_min(T& a, const T& b) 
+{
+    if (b < a) 
+	{
+		a = b;
+	}
+}
+
+template <class T>
+SIMD_FORCE_INLINE void GEN_set_max(T& a, const T& b) 
+{
+    if (a < b) 
+	{
+		a = b;
+	}
+}
+
+template <class T>
+SIMD_FORCE_INLINE void GEN_clamp(T& a, const T& lb, const T& ub) 
+{
+	if (a < lb) 
+	{
+		a = lb; 
+	}
+	else if (ub < a) 
+	{
+		a = ub;
+	}
+}
+
+#endif

extern/bullet/LinearMath/GEN_random.h

@@ -0,0 +1,54 @@
+/*
+
+Copyright (c) 2005 Gino van den Bergen / Erwin Coumans <www.erwincoumans.com>
+
+Permission is hereby granted, free of charge, to any person or organization
+obtaining a copy of the software and accompanying documentation covered by
+this license (the "Software") to use, reproduce, display, distribute,
+execute, and transmit the Software, and to prepare derivative works of the
+Software, and to permit third-parties to whom the Software is furnished to
+do so, all subject to the following:
+
+The copyright notices in the Software and this entire statement, including
+the above license grant, this restriction and the following disclaimer,
+must be included in all copies of the Software, in whole or in part, and
+all derivative works of the Software, unless such copies or derivative
+works are solely in the form of machine-executable object code generated by
+a source language processor.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
+SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
+FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
+*/
+
+
+#ifndef GEN_RANDOM_H
+#define GEN_RANDOM_H
+
+#ifdef MT19937
+
+#include <limits.h>
+#include <mt19937.h>
+
+#define GEN_RAND_MAX UINT_MAX
+
+SIMD_FORCE_INLINE void         GEN_srand(unsigned int seed) { init_genrand(seed); }
+SIMD_FORCE_INLINE unsigned int GEN_rand()                   { return genrand_int32(); }
+
+#else
+
+#include <stdlib.h>
+
+#define GEN_RAND_MAX RAND_MAX
+
+SIMD_FORCE_INLINE void         GEN_srand(unsigned int seed) { srand(seed); } 
+SIMD_FORCE_INLINE unsigned int GEN_rand()                   { return rand(); }
+
+#endif
+
+#endif
+

extern/bullet/LinearMath/SimdMatrix3x3.h

@@ -0,0 +1,407 @@
+/*
+
+Copyright (c) 2005 Gino van den Bergen / Erwin Coumans <www.erwincoumans.com>
+
+Permission is hereby granted, free of charge, to any person or organization
+obtaining a copy of the software and accompanying documentation covered by
+this license (the "Software") to use, reproduce, display, distribute,
+execute, and transmit the Software, and to prepare derivative works of the
+Software, and to permit third-parties to whom the Software is furnished to
+do so, all subject to the following:
+
+The copyright notices in the Software and this entire statement, including
+the above license grant, this restriction and the following disclaimer,
+must be included in all copies of the Software, in whole or in part, and
+all derivative works of the Software, unless such copies or derivative
+works are solely in the form of machine-executable object code generated by
+a source language processor.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
+SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
+FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
+*/
+
+#ifndef SimdMatrix3x3_H
+#define SimdMatrix3x3_H
+
+#include "SimdScalar.h"
+
+#include "SimdVector3.h"
+#include "SimdQuaternion.h"
+
+
+class SimdMatrix3x3 {
+	public:
+		SimdMatrix3x3 () {}
+		
+//		explicit SimdMatrix3x3(const SimdScalar *m) { setFromOpenGLSubMatrix(m); }
+		
+		explicit SimdMatrix3x3(const SimdQuaternion& q) { setRotation(q); }
+		/*
+		template <typename SimdScalar>
+		Matrix3x3(const SimdScalar& yaw, const SimdScalar& pitch, const SimdScalar& roll)
+		{ 
+			setEulerYPR(yaw, pitch, roll);
+		}
+		*/
+		SimdMatrix3x3(const SimdScalar& xx, const SimdScalar& xy, const SimdScalar& xz,
+				  const SimdScalar& yx, const SimdScalar& yy, const SimdScalar& yz,
+				  const SimdScalar& zx, const SimdScalar& zy, const SimdScalar& zz)
+		{ 
+			setValue(xx, xy, xz, 
+					 yx, yy, yz, 
+					 zx, zy, zz);
+		}
+		
+		SimdVector3 getColumn(int i) const
+		{
+			return SimdVector3(m_el[0][i],m_el[1][i],m_el[2][i]);
+		}
+
+		const SimdVector3& getRow(int i) const
+		{
+			return m_el[i];
+		}
+
+
+		SIMD_FORCE_INLINE SimdVector3&  operator[](int i)
+		{ 
+			assert(0 <= i && i < 3);
+			return m_el[i]; 
+		}
+		
+		const SimdVector3& operator[](int i) const
+		{
+			assert(0 <= i && i < 3);
+			return m_el[i]; 
+		}
+		
+		SimdMatrix3x3& operator*=(const SimdMatrix3x3& m); 
+		
+	
+	void setFromOpenGLSubMatrix(const SimdScalar *m)
+		{
+			m_el[0][0] = (m[0]); 
+			m_el[1][0] = (m[1]); 
+			m_el[2][0] = (m[2]);
+			m_el[0][1] = (m[4]); 
+			m_el[1][1] = (m[5]); 
+			m_el[2][1] = (m[6]);
+			m_el[0][2] = (m[8]); 
+			m_el[1][2] = (m[9]); 
+			m_el[2][2] = (m[10]);
+		}
+
+		void setValue(const SimdScalar& xx, const SimdScalar& xy, const SimdScalar& xz, 
+					  const SimdScalar& yx, const SimdScalar& yy, const SimdScalar& yz, 
+					  const SimdScalar& zx, const SimdScalar& zy, const SimdScalar& zz)
+		{
+			m_el[0][0] = SimdScalar(xx); 
+			m_el[0][1] = SimdScalar(xy); 
+			m_el[0][2] = SimdScalar(xz);
+			m_el[1][0] = SimdScalar(yx); 
+			m_el[1][1] = SimdScalar(yy); 
+			m_el[1][2] = SimdScalar(yz);
+			m_el[2][0] = SimdScalar(zx); 
+			m_el[2][1] = SimdScalar(zy); 
+			m_el[2][2] = SimdScalar(zz);
+		}
+  
+		void setRotation(const SimdQuaternion& q) 
+		{
+			SimdScalar d = q.length2();
+			assert(d != SimdScalar(0.0));
+			SimdScalar s = SimdScalar(2.0) / d;
+			SimdScalar xs = q[0] * s,   ys = q[1] * s,   zs = q[2] * s;
+			SimdScalar wx = q[3] * xs,  wy = q[3] * ys,  wz = q[3] * zs;
+			SimdScalar xx = q[0] * xs,  xy = q[0] * ys,  xz = q[0] * zs;
+			SimdScalar yy = q[1] * ys,  yz = q[1] * zs,  zz = q[2] * zs;
+			setValue(SimdScalar(1.0) - (yy + zz), xy - wz, xz + wy,
+					 xy + wz, SimdScalar(1.0) - (xx + zz), yz - wx,
+					 xz - wy, yz + wx, SimdScalar(1.0) - (xx + yy));
+		}
+		
+
+
+		void setEulerYPR(const SimdScalar& yaw, const SimdScalar& pitch, const SimdScalar& roll) 
+		{
+
+			SimdScalar cy(cosf(yaw)); 
+			SimdScalar  sy(sinf(yaw)); 
+			SimdScalar  cp(cosf(pitch)); 
+			SimdScalar  sp(sinf(pitch)); 
+			SimdScalar  cr(cosf(roll));
+			SimdScalar  sr(sinf(roll));
+			SimdScalar  cc = cy * cr; 
+			SimdScalar  cs = cy * sr; 
+			SimdScalar  sc = sy * cr; 
+			SimdScalar  ss = sy * sr;
+			setValue(cc - sp * ss, -cs - sp * sc, -sy * cp,
+                     cp * sr,       cp * cr,      -sp,
+					 sc + sp * cs, -ss + sp * cc,  cy * cp);
+		
+		}
+
+	/**
+	 * setEulerZYX
+	 * @param euler a const reference to a SimdVector3 of euler angles
+	 * These angles are used to produce a rotation matrix. The euler
+	 * angles are applied in ZYX order. I.e a vector is first rotated 
+	 * about X then Y and then Z
+	 **/
+	
+	void setEulerZYX(SimdScalar eulerX,SimdScalar eulerY,SimdScalar eulerZ) {
+		SimdScalar ci ( cosf(eulerX)); 
+		SimdScalar cj ( cosf(eulerY)); 
+		SimdScalar ch ( cosf(eulerZ)); 
+		SimdScalar si ( sinf(eulerX)); 
+		SimdScalar sj ( sinf(eulerY)); 
+		SimdScalar sh ( sinf(eulerZ)); 
+		SimdScalar cc = ci * ch; 
+		SimdScalar cs = ci * sh; 
+		SimdScalar sc = si * ch; 
+		SimdScalar ss = si * sh;
+		
+		setValue(cj * ch, sj * sc - cs, sj * cc + ss,
+				 cj * sh, sj * ss + cc, sj * cs - sc, 
+	       			 -sj,      cj * si,      cj * ci);
+	}
+
+		void setIdentity()
+		{ 
+			setValue(SimdScalar(1.0), SimdScalar(0.0), SimdScalar(0.0), 
+					 SimdScalar(0.0), SimdScalar(1.0), SimdScalar(0.0), 
+					 SimdScalar(0.0), SimdScalar(0.0), SimdScalar(1.0)); 
+		}
+    
+		void getOpenGLSubMatrix(SimdScalar *m) const 
+		{
+			m[0]  = SimdScalar(m_el[0][0]); 
+			m[1]  = SimdScalar(m_el[1][0]);
+			m[2]  = SimdScalar(m_el[2][0]);
+			m[3]  = SimdScalar(0.0); 
+			m[4]  = SimdScalar(m_el[0][1]);
+			m[5]  = SimdScalar(m_el[1][1]);
+			m[6]  = SimdScalar(m_el[2][1]);
+			m[7]  = SimdScalar(0.0); 
+			m[8]  = SimdScalar(m_el[0][2]); 
+			m[9]  = SimdScalar(m_el[1][2]);
+			m[10] = SimdScalar(m_el[2][2]);
+			m[11] = SimdScalar(0.0); 
+		}
+
+		void getRotation(SimdQuaternion& q) const
+		{
+			SimdScalar trace = m_el[0][0] + m_el[1][1] + m_el[2][2];
+			
+			if (trace > SimdScalar(0.0)) 
+			{
+				SimdScalar s = sqrtf(trace + SimdScalar(1.0));
+				q[3] = s * SimdScalar(0.5);
+				s = SimdScalar(0.5) / s;
+				
+				q[0] = (m_el[2][1] - m_el[1][2]) * s;
+				q[1] = (m_el[0][2] - m_el[2][0]) * s;
+				q[2] = (m_el[1][0] - m_el[0][1]) * s;
+			} 
+			else 
+			{
+				int i = m_el[0][0] < m_el[1][1] ? 
+					(m_el[1][1] < m_el[2][2] ? 2 : 1) :
+					(m_el[0][0] < m_el[2][2] ? 2 : 0); 
+				int j = (i + 1) % 3;  
+				int k = (i + 2) % 3;
+				
+				SimdScalar s = sqrtf(m_el[i][i] - m_el[j][j] - m_el[k][k] + SimdScalar(1.0));
+				q[i] = s * SimdScalar(0.5);
+				s = SimdScalar(0.5) / s;
+				
+				q[3] = (m_el[k][j] - m_el[j][k]) * s;
+				q[j] = (m_el[j][i] + m_el[i][j]) * s;
+				q[k] = (m_el[k][i] + m_el[i][k]) * s;
+			}
+		}
+	
+
+		
+		void getEuler(SimdScalar& yaw, SimdScalar& pitch, SimdScalar& roll) const
+		{
+			pitch = SimdScalar(asinf(-m_el[2][0]));
+			if (pitch < SIMD_2_PI)
+			{
+				if (pitch > SIMD_2_PI)
+				{
+					yaw = SimdScalar(atan2f(m_el[1][0], m_el[0][0]));
+					roll = SimdScalar(atan2f(m_el[2][1], m_el[2][2]));
+				}
+				else 
+				{
+					yaw = SimdScalar(-atan2f(-m_el[0][1], m_el[0][2]));
+					roll = SimdScalar(0.0);
+				}
+			}
+			else
+			{
+				yaw = SimdScalar(atan2f(-m_el[0][1], m_el[0][2]));
+				roll = SimdScalar(0.0);
+			}
+		}
+
+		SimdVector3 getScaling() const
+		{
+			return SimdVector3(m_el[0][0] * m_el[0][0] + m_el[1][0] * m_el[1][0] + m_el[2][0] * m_el[2][0],
+								   m_el[0][1] * m_el[0][1] + m_el[1][1] * m_el[1][1] + m_el[2][1] * m_el[2][1],
+								   m_el[0][2] * m_el[0][2] + m_el[1][2] * m_el[1][2] + m_el[2][2] * m_el[2][2]);
+		}
+		
+		
+		SimdMatrix3x3 scaled(const SimdVector3& s) const
+		{
+			return SimdMatrix3x3(m_el[0][0] * s[0], m_el[0][1] * s[1], m_el[0][2] * s[2],
+									 m_el[1][0] * s[0], m_el[1][1] * s[1], m_el[1][2] * s[2],
+									 m_el[2][0] * s[0], m_el[2][1] * s[1], m_el[2][2] * s[2]);
+		}
+
+		SimdScalar            determinant() const;
+		SimdMatrix3x3 adjoint() const;
+		SimdMatrix3x3 absolute() const;
+		SimdMatrix3x3 transpose() const;
+		SimdMatrix3x3 inverse() const; 
+		
+		SimdMatrix3x3 transposeTimes(const SimdMatrix3x3& m) const;
+		SimdMatrix3x3 timesTranspose(const SimdMatrix3x3& m) const;
+		
+		SimdScalar tdot(int c, const SimdVector3& v) const 
+		{
+			return m_el[0][c] * v[0] + m_el[1][c] * v[1] + m_el[2][c] * v[2];
+		}
+		
+	protected:
+		SimdScalar cofac(int r1, int c1, int r2, int c2) const 
+		{
+			return m_el[r1][c1] * m_el[r2][c2] - m_el[r1][c2] * m_el[r2][c1];
+		}
+
+		SimdVector3 m_el[3];
+	};
+	
+	SIMD_FORCE_INLINE SimdMatrix3x3& 
+	SimdMatrix3x3::operator*=(const SimdMatrix3x3& m)
+	{
+		setValue(m.tdot(0, m_el[0]), m.tdot(1, m_el[0]), m.tdot(2, m_el[0]),
+				 m.tdot(0, m_el[1]), m.tdot(1, m_el[1]), m.tdot(2, m_el[1]),
+				 m.tdot(0, m_el[2]), m.tdot(1, m_el[2]), m.tdot(2, m_el[2]));
+		return *this;
+	}
+	
+	SIMD_FORCE_INLINE SimdScalar 
+	SimdMatrix3x3::determinant() const
+	{ 
+		return triple((*this)[0], (*this)[1], (*this)[2]);
+	}
+	
+
+	SIMD_FORCE_INLINE SimdMatrix3x3 
+	SimdMatrix3x3::absolute() const
+	{
+		return SimdMatrix3x3(
+			fabsf(m_el[0][0]), fabsf(m_el[0][1]), fabsf(m_el[0][2]),
+			fabsf(m_el[1][0]), fabsf(m_el[1][1]), fabsf(m_el[1][2]),
+			fabsf(m_el[2][0]), fabsf(m_el[2][1]), fabsf(m_el[2][2]));
+	}
+
+	SIMD_FORCE_INLINE SimdMatrix3x3 
+	SimdMatrix3x3::transpose() const 
+	{
+		return SimdMatrix3x3(m_el[0][0], m_el[1][0], m_el[2][0],
+								 m_el[0][1], m_el[1][1], m_el[2][1],
+								 m_el[0][2], m_el[1][2], m_el[2][2]);
+	}
+	
+	SIMD_FORCE_INLINE SimdMatrix3x3 
+	SimdMatrix3x3::adjoint() const 
+	{
+		return SimdMatrix3x3(cofac(1, 1, 2, 2), cofac(0, 2, 2, 1), cofac(0, 1, 1, 2),
+								 cofac(1, 2, 2, 0), cofac(0, 0, 2, 2), cofac(0, 2, 1, 0),
+								 cofac(1, 0, 2, 1), cofac(0, 1, 2, 0), cofac(0, 0, 1, 1));
+	}
+	
+	SIMD_FORCE_INLINE SimdMatrix3x3 
+	SimdMatrix3x3::inverse() const
+	{
+		SimdVector3 co(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1));
+		SimdScalar det = (*this)[0].dot(co);
+		assert(det != SimdScalar(0.0f));
+		SimdScalar s = SimdScalar(1.0f) / det;
+		return SimdMatrix3x3(co[0] * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s,
+								 co[1] * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s,
+								 co[2] * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s);
+	}
+	
+	SIMD_FORCE_INLINE SimdMatrix3x3 
+	SimdMatrix3x3::transposeTimes(const SimdMatrix3x3& m) const
+	{
+		return SimdMatrix3x3(
+			m_el[0][0] * m[0][0] + m_el[1][0] * m[1][0] + m_el[2][0] * m[2][0],
+			m_el[0][0] * m[0][1] + m_el[1][0] * m[1][1] + m_el[2][0] * m[2][1],
+			m_el[0][0] * m[0][2] + m_el[1][0] * m[1][2] + m_el[2][0] * m[2][2],
+			m_el[0][1] * m[0][0] + m_el[1][1] * m[1][0] + m_el[2][1] * m[2][0],
+			m_el[0][1] * m[0][1] + m_el[1][1] * m[1][1] + m_el[2][1] * m[2][1],
+			m_el[0][1] * m[0][2] + m_el[1][1] * m[1][2] + m_el[2][1] * m[2][2],
+			m_el[0][2] * m[0][0] + m_el[1][2] * m[1][0] + m_el[2][2] * m[2][0],
+			m_el[0][2] * m[0][1] + m_el[1][2] * m[1][1] + m_el[2][2] * m[2][1],
+			m_el[0][2] * m[0][2] + m_el[1][2] * m[1][2] + m_el[2][2] * m[2][2]);
+	}
+	
+	SIMD_FORCE_INLINE SimdMatrix3x3 
+	SimdMatrix3x3::timesTranspose(const SimdMatrix3x3& m) const
+	{
+		return SimdMatrix3x3(
+			m_el[0].dot(m[0]), m_el[0].dot(m[1]), m_el[0].dot(m[2]),
+			m_el[1].dot(m[0]), m_el[1].dot(m[1]), m_el[1].dot(m[2]),
+			m_el[2].dot(m[0]), m_el[2].dot(m[1]), m_el[2].dot(m[2]));
+		
+	}
+
+	SIMD_FORCE_INLINE SimdVector3 
+	operator*(const SimdMatrix3x3& m, const SimdVector3& v) 
+	{
+		return SimdVector3(m[0].dot(v), m[1].dot(v), m[2].dot(v));
+	}
+	
+
+	SIMD_FORCE_INLINE SimdVector3
+	operator*(const SimdVector3& v, const SimdMatrix3x3& m)
+	{
+		return SimdVector3(m.tdot(0, v), m.tdot(1, v), m.tdot(2, v));
+	}
+
+	SIMD_FORCE_INLINE SimdMatrix3x3 
+	operator*(const SimdMatrix3x3& m1, const SimdMatrix3x3& m2)
+	{
+		return SimdMatrix3x3(
+			m2.tdot(0, m1[0]), m2.tdot(1, m1[0]), m2.tdot(2, m1[0]),
+			m2.tdot(0, m1[1]), m2.tdot(1, m1[1]), m2.tdot(2, m1[1]),
+			m2.tdot(0, m1[2]), m2.tdot(1, m1[2]), m2.tdot(2, m1[2]));
+	}
+
+
+	SIMD_FORCE_INLINE SimdMatrix3x3 SimdMultTransposeLeft(const SimdMatrix3x3& m1, const SimdMatrix3x3& m2) {
+    return SimdMatrix3x3(
+        m1[0][0] * m2[0][0] + m1[1][0] * m2[1][0] + m1[2][0] * m2[2][0],
+        m1[0][0] * m2[0][1] + m1[1][0] * m2[1][1] + m1[2][0] * m2[2][1],
+        m1[0][0] * m2[0][2] + m1[1][0] * m2[1][2] + m1[2][0] * m2[2][2],
+        m1[0][1] * m2[0][0] + m1[1][1] * m2[1][0] + m1[2][1] * m2[2][0],
+        m1[0][1] * m2[0][1] + m1[1][1] * m2[1][1] + m1[2][1] * m2[2][1],
+        m1[0][1] * m2[0][2] + m1[1][1] * m2[1][2] + m1[2][1] * m2[2][2],
+        m1[0][2] * m2[0][0] + m1[1][2] * m2[1][0] + m1[2][2] * m2[2][0],
+        m1[0][2] * m2[0][1] + m1[1][2] * m2[1][1] + m1[2][2] * m2[2][1],
+        m1[0][2] * m2[0][2] + m1[1][2] * m2[1][2] + m1[2][2] * m2[2][2]);
+}
+
+
+#endif

extern/bullet/LinearMath/SimdMinMax.h

@@ -0,0 +1,52 @@
+/*
+
+Copyright (c) 2005 Gino van den Bergen / Erwin Coumans <www.erwincoumans.com>
+
+Permission is hereby granted, free of charge, to any person or organization
+obtaining a copy of the software and accompanying documentation covered by
+this license (the "Software") to use, reproduce, display, distribute,
+execute, and transmit the Software, and to prepare derivative works of the
+Software, and to permit third-parties to whom the Software is furnished to
+do so, all subject to the following:
+
+The copyright notices in the Software and this entire statement, including
+the above license grant, this restriction and the following disclaimer,
+must be included in all copies of the Software, in whole or in part, and
+all derivative works of the Software, unless such copies or derivative
+works are solely in the form of machine-executable object code generated by
+a source language processor.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
+SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
+FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
+*/
+
+
+#ifndef SIMD_MINMAX_H
+#define SIMD_MINMAX_H
+
+template <class T>
+SIMD_FORCE_INLINE const T& SimdMin(const T& a, const T& b) {
+  return b < a ? b : a;
+}
+
+template <class T>
+SIMD_FORCE_INLINE const T& SimdMax(const T& a, const T& b) {
+  return  a < b ? b : a;
+}
+
+template <class T>
+SIMD_FORCE_INLINE void SimdSetMin(T& a, const T& b) {
+    if (a > b) a = b;
+}
+
+template <class T>
+SIMD_FORCE_INLINE void SimdSetMax(T& a, const T& b) {
+    if (a < b) a = b;
+}
+
+#endif

extern/bullet/LinearMath/SimdPoint3.h

@@ -0,0 +1,36 @@
+/*
+
+Copyright (c) 2005 Gino van den Bergen / Erwin Coumans <www.erwincoumans.com>
+
+Permission is hereby granted, free of charge, to any person or organization
+obtaining a copy of the software and accompanying documentation covered by
+this license (the "Software") to use, reproduce, display, distribute,
+execute, and transmit the Software, and to prepare derivative works of the
+Software, and to permit third-parties to whom the Software is furnished to
+do so, all subject to the following:
+
+The copyright notices in the Software and this entire statement, including
+the above license grant, this restriction and the following disclaimer,
+must be included in all copies of the Software, in whole or in part, and
+all derivative works of the Software, unless such copies or derivative
+works are solely in the form of machine-executable object code generated by
+a source language processor.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
+SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
+FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
+*/
+
+
+#ifndef SimdPoint3_H
+#define SimdPoint3_H
+
+#include "SimdVector3.h"
+
+typedef SimdVector3 SimdPoint3;
+
+#endif

extern/bullet/LinearMath/SimdQuadWord.h

@@ -0,0 +1,113 @@
+/*
+
+Copyright (c) 2005 Gino van den Bergen / Erwin Coumans <www.erwincoumans.com>
+
+Permission is hereby granted, free of charge, to any person or organization
+obtaining a copy of the software and accompanying documentation covered by
+this license (the "Software") to use, reproduce, display, distribute,
+execute, and transmit the Software, and to prepare derivative works of the
+Software, and to permit third-parties to whom the Software is furnished to
+do so, all subject to the following:
+
+The copyright notices in the Software and this entire statement, including
+the above license grant, this restriction and the following disclaimer,
+must be included in all copies of the Software, in whole or in part, and
+all derivative works of the Software, unless such copies or derivative
+works are solely in the form of machine-executable object code generated by
+a source language processor.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
+SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
+FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
+*/
+
+#ifndef SIMD_QUADWORD_H
+#define SIMD_QUADWORD_H
+
+#include "SimdScalar.h"
+
+
+
+
+
+class	SimdQuadWord
+{
+	protected:
+		ATTRIBUTE_ALIGNED16	(SimdScalar	m_x);
+		SimdScalar	m_y;
+		SimdScalar	m_z;
+		SimdScalar	m_unusedW;
+
+	public:
+	
+		SIMD_FORCE_INLINE SimdScalar&       operator[](int i)       { return (&m_x)[i];	}      
+		SIMD_FORCE_INLINE const SimdScalar& operator[](int i) const { return (&m_x)[i]; }
+
+		SIMD_FORCE_INLINE const SimdScalar& getX() const { return m_x; }
+
+		SIMD_FORCE_INLINE const SimdScalar& getY() const { return m_y; }
+
+		SIMD_FORCE_INLINE const SimdScalar& getZ() const { return m_z; }
+
+		SIMD_FORCE_INLINE void	setX(float x) { m_x = x;};
+
+		SIMD_FORCE_INLINE void	setY(float y) { m_y = y;};
+
+		SIMD_FORCE_INLINE void	setZ(float z) { m_z = z;};
+
+		SIMD_FORCE_INLINE const SimdScalar& x() const { return m_x; }
+
+		SIMD_FORCE_INLINE const SimdScalar& y() const { return m_y; }
+
+		SIMD_FORCE_INLINE const SimdScalar& z() const { return m_z; }
+
+
+		operator       SimdScalar *()       { return &m_x; }
+		operator const SimdScalar *() const { return &m_x; }
+
+		SIMD_FORCE_INLINE void 	setValue(const SimdScalar& x, const SimdScalar& y, const SimdScalar& z)
+		{
+			m_x=x;
+			m_y=y;
+			m_z=z;
+		}
+
+/*		void getValue(SimdScalar *m) const 
+		{
+			m[0] = m_x;
+			m[1] = m_y;
+			m[2] = m_z;
+		}
+*/
+		SIMD_FORCE_INLINE void	setValue(const SimdScalar& x, const SimdScalar& y, const SimdScalar& z,const SimdScalar& w)
+		{
+			m_x=x;
+			m_y=y;
+			m_z=z;
+			m_unusedW=w;
+		}
+
+		SIMD_FORCE_INLINE SimdQuadWord() 
+		{
+		}
+
+		SIMD_FORCE_INLINE SimdQuadWord(const SimdScalar& x, const SimdScalar& y, const SimdScalar& z) 
+		:m_x(x),m_y(y),m_z(z)
+		//todo, remove this in release/simd ?
+		,m_unusedW(1e30f)
+		{
+		}
+
+		SIMD_FORCE_INLINE SimdQuadWord(const SimdScalar& x, const SimdScalar& y, const SimdScalar& z,const SimdScalar& w) 
+			:m_x(x),m_y(y),m_z(z),m_unusedW(w)
+		{
+		}
+
+
+};
+
+#endif //SIMD_QUADWORD_H

extern/bullet/LinearMath/SimdQuaternion.h

@@ -0,0 +1,302 @@
+/*
+
+Copyright (c) 2005 Gino van den Bergen / Erwin Coumans <www.erwincoumans.com>
+
+Permission is hereby granted, free of charge, to any person or organization
+obtaining a copy of the software and accompanying documentation covered by
+this license (the "Software") to use, reproduce, display, distribute,
+execute, and transmit the Software, and to prepare derivative works of the
+Software, and to permit third-parties to whom the Software is furnished to
+do so, all subject to the following:
+
+The copyright notices in the Software and this entire statement, including
+the above license grant, this restriction and the following disclaimer,
+must be included in all copies of the Software, in whole or in part, and
+all derivative works of the Software, unless such copies or derivative
+works are solely in the form of machine-executable object code generated by
+a source language processor.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
+SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
+FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
+*/
+
+
+#ifndef SIMD__QUATERNION_H_
+#define SIMD__QUATERNION_H_
+
+#include "SimdVector3.h"
+
+class SimdQuaternion : public SimdQuadWord {
+public:
+	SimdQuaternion() {}
+
+	//		template <typename SimdScalar>
+	//		explicit Quaternion(const SimdScalar *v) : Tuple4<SimdScalar>(v) {}
+
+	SimdQuaternion(const SimdScalar& x, const SimdScalar& y, const SimdScalar& z, const SimdScalar& w) 
+		: SimdQuadWord(x, y, z, w) 
+	{}
+
+	SimdQuaternion(const SimdVector3& axis, const SimdScalar& angle) 
+	{ 
+		setRotation(axis, angle); 
+	}
+
+	SimdQuaternion(const SimdScalar& yaw, const SimdScalar& pitch, const SimdScalar& roll)
+	{ 
+		setEuler(yaw, pitch, roll); 
+	}
+
+	void setRotation(const SimdVector3& axis, const SimdScalar& angle)
+	{
+		SimdScalar d = axis.length();
+		assert(d != SimdScalar(0.0));
+		SimdScalar s = sinf(angle * SimdScalar(0.5)) / d;
+		setValue(axis.x() * s, axis.y() * s, axis.z() * s, 
+			cosf(angle * SimdScalar(0.5)));
+	}
+
+	void setEuler(const SimdScalar& yaw, const SimdScalar& pitch, const SimdScalar& roll)
+	{
+		SimdScalar halfYaw = SimdScalar(yaw) * SimdScalar(0.5);  
+		SimdScalar halfPitch = SimdScalar(pitch) * SimdScalar(0.5);  
+		SimdScalar halfRoll = SimdScalar(roll) * SimdScalar(0.5);  
+		SimdScalar cosYaw = cosf(halfYaw);
+		SimdScalar sinYaw = sinf(halfYaw);
+		SimdScalar cosPitch = cosf(halfPitch);
+		SimdScalar sinPitch = sinf(halfPitch);
+		SimdScalar cosRoll = cosf(halfRoll);
+		SimdScalar sinRoll = sinf(halfRoll);
+		setValue(cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw,
+			cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw,
+			sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw,
+			cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw);
+	}
+
+	SimdQuaternion& operator+=(const SimdQuaternion& q)
+	{
+		m_x += q.x(); m_y += q.y(); m_z += q.z(); m_unusedW += q[3];
+		return *this;
+	}
+
+	SimdQuaternion& operator-=(const SimdQuaternion& q) 
+	{
+		m_x -= q.x(); m_y -= q.y(); m_z -= q.z(); m_unusedW -= q[3];
+		return *this;
+	}
+
+	SimdQuaternion& operator*=(const SimdScalar& s)
+	{
+		m_x *= s; m_y *= s; m_z *= s; m_unusedW *= s;
+		return *this;
+	}
+
+
+	SimdQuaternion& operator*=(const SimdQuaternion& q)
+	{
+		setValue(m_unusedW * q.x() + m_x * q[3] + m_y * q.z() - m_z * q.y(),
+			m_unusedW * q.y() + m_y * q[3] + m_z * q.x() - m_x * q.z(),
+			m_unusedW * q.z() + m_z * q[3] + m_x * q.y() - m_y * q.x(),
+			m_unusedW * q[3] - m_x * q.x() - m_y * q.y() - m_z * q.z());
+		return *this;
+	}
+
+	SimdScalar dot(const SimdQuaternion& q) const
+	{
+		return m_x * q.x() + m_y * q.y() + m_z * q.z() + m_unusedW * q[3];
+	}
+
+	SimdScalar length2() const
+	{
+		return dot(*this);
+	}
+
+	SimdScalar length() const
+	{
+		return sqrtf(length2());
+	}
+
+	SimdQuaternion& normalize() 
+	{
+		return *this /= length();
+	}
+
+	SIMD_FORCE_INLINE SimdQuaternion
+	operator*(const SimdScalar& s) const
+	{
+		return SimdQuaternion(x() * s, y() * s, z() * s, m_unusedW * s);
+	}
+
+
+
+	SimdQuaternion operator/(const SimdScalar& s) const
+	{
+		assert(s != SimdScalar(0.0));
+		return *this * (SimdScalar(1.0) / s);
+	}
+
+
+	SimdQuaternion& operator/=(const SimdScalar& s) 
+	{
+		assert(s != SimdScalar(0.0));
+		return *this *= SimdScalar(1.0) / s;
+	}
+
+
+	SimdQuaternion normalized() const 
+	{
+		return *this / length();
+	} 
+
+	SimdScalar angle(const SimdQuaternion& q) const 
+	{
+		SimdScalar s = sqrtf(length2() * q.length2());
+		assert(s != SimdScalar(0.0));
+		return acosf(dot(q) / s);
+	}
+
+	SimdScalar getAngle() const 
+	{
+		SimdScalar s = 2.f * acosf(m_unusedW);
+		return s;
+	}
+
+
+
+	SimdQuaternion inverse() const
+	{
+		return SimdQuaternion(m_x, m_y, m_z, -m_unusedW);
+	}
+
+	SIMD_FORCE_INLINE SimdQuaternion
+	operator+(const SimdQuaternion& q2) const
+	{
+		const SimdQuaternion& q1 = *this;
+		return SimdQuaternion(q1.x() + q2.x(), q1.y() + q2.y(), q1.z() + q2.z(), q1[3] + q2[3]);
+	}
+
+	SIMD_FORCE_INLINE SimdQuaternion
+	operator-(const SimdQuaternion& q2) const
+	{
+		const SimdQuaternion& q1 = *this;
+		return SimdQuaternion(q1.x() - q2.x(), q1.y() - q2.y(), q1.z() - q2.z(), q1[3] - q2[3]);
+	}
+
+	SIMD_FORCE_INLINE SimdQuaternion operator-() const
+	{
+		const SimdQuaternion& q2 = *this;
+		return SimdQuaternion( - q2.x(), - q2.y(),  - q2.z(),  - q2[3]);
+	}
+
+	SIMD_FORCE_INLINE SimdQuaternion farthest( const SimdQuaternion& qd) const 
+	{
+		SimdQuaternion diff,sum;
+		diff = *this - qd;
+		sum = *this + qd;
+		if( diff.dot(diff) > sum.dot(sum) )
+			return qd;
+		return (-qd);
+	}
+
+	SimdQuaternion slerp(const SimdQuaternion& q, const SimdScalar& t) const
+	{
+		SimdScalar theta = angle(q);
+		if (theta != SimdScalar(0.0))
+		{
+			SimdScalar d = SimdScalar(1.0) / sinf(theta);
+			SimdScalar s0 = sinf((SimdScalar(1.0) - t) * theta);
+			SimdScalar s1 = sinf(t * theta);   
+			return SimdQuaternion((m_x * s0 + q.x() * s1) * d,
+				(m_y * s0 + q.y() * s1) * d,
+				(m_z * s0 + q.z() * s1) * d,
+				(m_unusedW * s0 + q[3] * s1) * d);
+		}
+		else
+		{
+			return *this;
+		}
+	}
+
+	
+
+};
+
+
+
+SIMD_FORCE_INLINE SimdQuaternion
+operator-(const SimdQuaternion& q)
+{
+	return SimdQuaternion(-q.x(), -q.y(), -q.z(), -q[3]);
+}
+
+
+
+
+SIMD_FORCE_INLINE SimdQuaternion
+operator*(const SimdQuaternion& q1, const SimdQuaternion& q2) {
+	return SimdQuaternion(q1[3] * q2.x() + q1.x() * q2[3] + q1.y() * q2.z() - q1.z() * q2.y(),
+		q1[3] * q2.y() + q1.y() * q2[3] + q1.z() * q2.x() - q1.x() * q2.z(),
+		q1[3] * q2.z() + q1.z() * q2[3] + q1.x() * q2.y() - q1.y() * q2.x(),
+		q1[3] * q2[3] - q1.x() * q2.x() - q1.y() * q2.y() - q1.z() * q2.z()); 
+}
+
+SIMD_FORCE_INLINE SimdQuaternion
+operator*(const SimdQuaternion& q, const SimdVector3& w)
+{
+	return SimdQuaternion( q[3] * w.x() + q.y() * w.z() - q.z() * w.y(),
+		q[3] * w.y() + q.z() * w.x() - q.x() * w.z(),
+		q[3] * w.z() + q.x() * w.y() - q.y() * w.x(),
+		-q.x() * w.x() - q.y() * w.y() - q.z() * w.z()); 
+}
+
+SIMD_FORCE_INLINE SimdQuaternion
+operator*(const SimdVector3& w, const SimdQuaternion& q)
+{
+	return SimdQuaternion( w.x() * q[3] + w.y() * q.z() - w.z() * q.y(),
+		w.y() * q[3] + w.z() * q.x() - w.x() * q.z(),
+		w.z() * q[3] + w.x() * q.y() - w.y() * q.x(),
+		-w.x() * q.x() - w.y() * q.y() - w.z() * q.z()); 
+}
+
+SIMD_FORCE_INLINE SimdScalar 
+dot(const SimdQuaternion& q1, const SimdQuaternion& q2) 
+{ 
+	return q1.dot(q2); 
+}
+
+
+SIMD_FORCE_INLINE SimdScalar
+length(const SimdQuaternion& q) 
+{ 
+	return q.length(); 
+}
+
+SIMD_FORCE_INLINE SimdScalar
+angle(const SimdQuaternion& q1, const SimdQuaternion& q2) 
+{ 
+	return q1.angle(q2); 
+}
+
+
+SIMD_FORCE_INLINE SimdQuaternion
+inverse(const SimdQuaternion& q) 
+{
+	return q.inverse();
+}
+
+SIMD_FORCE_INLINE SimdQuaternion
+slerp(const SimdQuaternion& q1, const SimdQuaternion& q2, const SimdScalar& t) 
+{
+	return q1.slerp(q2, t);
+}
+
+
+#endif
+
+
+

extern/bullet/LinearMath/SimdScalar.h

@@ -0,0 +1,95 @@
+/*
+
+Copyright (c) 2005 Gino van den Bergen / Erwin Coumans <www.erwincoumans.com>
+
+Permission is hereby granted, free of charge, to any person or organization
+obtaining a copy of the software and accompanying documentation covered by
+this license (the "Software") to use, reproduce, display, distribute,
+execute, and transmit the Software, and to prepare derivative works of the
+Software, and to permit third-parties to whom the Software is furnished to
+do so, all subject to the following:
+
+The copyright notices in the Software and this entire statement, including
+the above license grant, this restriction and the following disclaimer,
+must be included in all copies of the Software, in whole or in part, and
+all derivative works of the Software, unless such copies or derivative
+works are solely in the form of machine-executable object code generated by
+a source language processor.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
+SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
+FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
+*/
+
+
+#ifndef SIMD___SCALAR_H
+#define SIMD___SCALAR_H
+
+#include <math.h>
+#undef max
+
+
+
+#include <cstdlib>
+#include <cfloat>
+#include <float.h>
+
+#ifdef WIN32
+#define SIMD_FORCE_INLINE __forceinline
+//#define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a
+#define ATTRIBUTE_ALIGNED16(a) a
+
+#include <assert.h>
+#define ASSERT assert
+#else
+#define SIMD_FORCE_INLINE inline
+#define ATTRIBUTE_ALIGNED16(a) a
+#ifndef assert
+#include <assert.h>
+#endif
+
+
+#define ASSERT assert
+
+#endif
+
+
+
+typedef float    SimdScalar;
+
+const SimdScalar  SIMD_2_PI         = 6.283185307179586232f;
+const SimdScalar  SIMD_PI           = SIMD_2_PI * SimdScalar(0.5f);
+const SimdScalar  SIMD_HALF_PI		 = SIMD_2_PI * SimdScalar(0.25f);
+const SimdScalar  SIMD_RADS_PER_DEG = SIMD_2_PI / SimdScalar(360.0f);
+const SimdScalar  SIMD_DEGS_PER_RAD = SimdScalar(360.0f) / SIMD_2_PI;
+const SimdScalar  SIMD_EPSILON      = FLT_EPSILON;
+const SimdScalar  SIMD_INFINITY     = FLT_MAX;
+
+SIMD_FORCE_INLINE bool      SimdFuzzyZero(SimdScalar x) { return fabsf(x) < SIMD_EPSILON; }
+
+SIMD_FORCE_INLINE bool	SimdEqual(SimdScalar a, SimdScalar eps) {
+	return (((a) <= eps) && !((a) < -eps));
+}
+SIMD_FORCE_INLINE bool	SimdGreaterEqual (SimdScalar a, SimdScalar eps) {
+	return (!((a) <= eps));
+}
+
+SIMD_FORCE_INLINE SimdScalar SimdCos(SimdScalar x) { return cosf(x); }
+SIMD_FORCE_INLINE SimdScalar SimdSin(SimdScalar x) { return sinf(x); }
+SIMD_FORCE_INLINE SimdScalar SimdTan(SimdScalar x) { return tanf(x); }
+SIMD_FORCE_INLINE int       SimdSign(SimdScalar x) {
+    return x < 0.0f ? -1 : x > 0.0f ? 1 : 0;
+}
+SIMD_FORCE_INLINE SimdScalar SimdAcos(SimdScalar x) { return acosf(x); }
+SIMD_FORCE_INLINE SimdScalar SimdAsin(SimdScalar x) { return asinf(x); }
+SIMD_FORCE_INLINE SimdScalar SimdAtan(SimdScalar x) { return atanf(x); }
+SIMD_FORCE_INLINE SimdScalar SimdAtan2(SimdScalar x, SimdScalar y) { return atan2f(x, y); }
+
+SIMD_FORCE_INLINE SimdScalar SimdRadians(SimdScalar x) { return x * SIMD_RADS_PER_DEG; }
+SIMD_FORCE_INLINE SimdScalar SimdDegrees(SimdScalar x) { return x * SIMD_DEGS_PER_RAD; }
+
+#endif

extern/bullet/LinearMath/SimdTransform.h

@@ -0,0 +1,248 @@
+/*
+
+Copyright (c) 2005 Gino van den Bergen / Erwin Coumans <www.erwincoumans.com>
+
+Permission is hereby granted, free of charge, to any person or organization
+obtaining a copy of the software and accompanying documentation covered by
+this license (the "Software") to use, reproduce, display, distribute,
+execute, and transmit the Software, and to prepare derivative works of the
+Software, and to permit third-parties to whom the Software is furnished to
+do so, all subject to the following:
+
+The copyright notices in the Software and this entire statement, including
+the above license grant, this restriction and the following disclaimer,
+must be included in all copies of the Software, in whole or in part, and
+all derivative works of the Software, unless such copies or derivative
+works are solely in the form of machine-executable object code generated by
+a source language processor.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
+SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
+FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
+*/
+
+
+#ifndef SimdTransform_H
+#define SimdTransform_H
+
+#include "SimdVector3.h"
+#include "SimdMatrix3x3.h"
+
+
+
+class SimdTransform {
+	enum { 
+		TRANSLATION = 0x01,
+		ROTATION    = 0x02,
+		RIGID       = TRANSLATION | ROTATION,  
+		SCALING     = 0x04,
+		LINEAR      = ROTATION | SCALING,
+		AFFINE      = TRANSLATION | LINEAR
+	};
+
+public:
+	SimdTransform() {}
+
+	//	template <typename Scalar2>
+	//	explicit Transform(const Scalar2 *m) { setValue(m); }
+
+	explicit SIMD_FORCE_INLINE SimdTransform(const SimdQuaternion& q, 
+		const SimdVector3& c = SimdVector3(SimdScalar(0), SimdScalar(0), SimdScalar(0))) 
+		: m_basis(q),
+		m_origin(c),
+		m_type(RIGID)
+	{}
+
+	explicit SIMD_FORCE_INLINE SimdTransform(const SimdMatrix3x3& b, 
+		const SimdVector3& c = SimdVector3(SimdScalar(0), SimdScalar(0), SimdScalar(0)), 
+		unsigned int type = AFFINE)
+		: m_basis(b),
+		m_origin(c),
+		m_type(type)
+	{}
+
+
+		SIMD_FORCE_INLINE void mult(const SimdTransform& t1, const SimdTransform& t2) {
+			m_basis = t1.m_basis * t2.m_basis;
+			m_origin = t1(t2.m_origin);
+			m_type = t1.m_type | t2.m_type;
+		}
+
+		void multInverseLeft(const SimdTransform& t1, const SimdTransform& t2) {
+			SimdVector3 v = t2.m_origin - t1.m_origin;
+			if (t1.m_type & SCALING) {
+				SimdMatrix3x3 inv = t1.m_basis.inverse();
+				m_basis = inv * t2.m_basis;
+				m_origin = inv * v;
+			}
+			else {
+				m_basis = SimdMultTransposeLeft(t1.m_basis, t2.m_basis);
+				m_origin = v * t1.m_basis;
+			}
+			m_type = t1.m_type | t2.m_type;
+		}
+
+	SIMD_FORCE_INLINE SimdVector3 operator()(const SimdVector3& x) const
+	{
+		return SimdVector3(m_basis[0].dot(x) + m_origin[0], 
+			m_basis[1].dot(x) + m_origin[1], 
+			m_basis[2].dot(x) + m_origin[2]);
+	}
+
+	SIMD_FORCE_INLINE SimdVector3 operator*(const SimdVector3& x) const
+	{
+		return (*this)(x);
+	}
+
+	SIMD_FORCE_INLINE SimdMatrix3x3&       getBasis()          { return m_basis; }
+	SIMD_FORCE_INLINE const SimdMatrix3x3& getBasis()    const { return m_basis; }
+
+	SIMD_FORCE_INLINE SimdVector3&         getOrigin()         { return m_origin; }
+	SIMD_FORCE_INLINE const SimdVector3&   getOrigin()   const { return m_origin; }
+
+	SimdQuaternion getRotation() const { 
+		SimdQuaternion q;
+		m_basis.getRotation(q);
+		return q;
+	}
+	template <typename Scalar2>
+		void setValue(const Scalar2 *m) 
+	{
+		m_basis.setValue(m);
+		m_origin.setValue(&m[12]);
+		m_type = AFFINE;
+	}
+
+	
+	void setFromOpenGLMatrix(const SimdScalar *m)
+	{
+		m_basis.setFromOpenGLSubMatrix(m);
+		m_origin[0] = m[12];
+		m_origin[1] = m[13];
+		m_origin[2] = m[14];
+	}
+
+	void getOpenGLMatrix(SimdScalar *m) const 
+	{
+		m_basis.getOpenGLSubMatrix(m);
+		m[12] = m_origin[0];
+		m[13] = m_origin[1];
+		m[14] = m_origin[2];
+		m[15] = SimdScalar(1.0f);
+	}
+
+	SIMD_FORCE_INLINE void setOrigin(const SimdVector3& origin) 
+	{ 
+		m_origin = origin;
+		m_type |= TRANSLATION;
+	}
+
+	SIMD_FORCE_INLINE SimdVector3 invXform(const SimdVector3& inVec) const;
+
+
+
+	SIMD_FORCE_INLINE void setBasis(const SimdMatrix3x3& basis)
+	{ 
+		m_basis = basis;
+		m_type |= LINEAR;
+	}
+
+	SIMD_FORCE_INLINE void setRotation(const SimdQuaternion& q)
+	{
+		m_basis.setRotation(q);
+		m_type = (m_type & ~LINEAR) | ROTATION;
+	}
+
+	SIMD_FORCE_INLINE void scale(const SimdVector3& scaling)
+	{
+		m_basis = m_basis.scaled(scaling);
+		m_type |= SCALING;
+	}
+
+	void setIdentity()
+	{
+		m_basis.setIdentity();
+		m_origin.setValue(SimdScalar(0.0), SimdScalar(0.0), SimdScalar(0.0));
+		m_type = 0x0;
+	}
+
+	SIMD_FORCE_INLINE bool isIdentity() const { return m_type == 0x0; }
+
+	SimdTransform& operator*=(const SimdTransform& t) 
+	{
+		m_origin += m_basis * t.m_origin;
+		m_basis *= t.m_basis;
+		m_type |= t.m_type; 
+		return *this;
+	}
+
+	SimdTransform inverse() const
+	{ 
+		if (m_type)
+		{
+			SimdMatrix3x3 inv = (m_type & SCALING) ? 
+				m_basis.inverse() : 
+			m_basis.transpose();
+
+			return SimdTransform(inv, inv * -m_origin, m_type);
+		}
+
+		return *this;
+	}
+
+	SimdTransform inverseTimes(const SimdTransform& t) const;  
+
+	SimdTransform operator*(const SimdTransform& t) const;
+
+private:
+
+	SimdMatrix3x3 m_basis;
+	SimdVector3   m_origin;
+	unsigned int      m_type;
+};
+
+
+SIMD_FORCE_INLINE SimdVector3
+SimdTransform::invXform(const SimdVector3& inVec) const
+{
+	SimdVector3 v = inVec - m_origin;
+	return (m_basis.transpose() * v);
+}
+
+SIMD_FORCE_INLINE SimdTransform 
+SimdTransform::inverseTimes(const SimdTransform& t) const  
+{
+	SimdVector3 v = t.getOrigin() - m_origin;
+	if (m_type & SCALING) 
+	{
+		SimdMatrix3x3 inv = m_basis.inverse();
+		return SimdTransform(inv * t.getBasis(), inv * v, 
+			m_type | t.m_type);
+	}
+	else 
+	{
+		return SimdTransform(m_basis.transposeTimes(t.m_basis),
+			v * m_basis, m_type | t.m_type);
+	}
+}
+
+SIMD_FORCE_INLINE SimdTransform 
+SimdTransform::operator*(const SimdTransform& t) const
+{
+	return SimdTransform(m_basis * t.m_basis, 
+		(*this)(t.m_origin), 
+		m_type | t.m_type);
+}	
+
+
+
+#endif
+
+
+
+
+

extern/bullet/LinearMath/SimdTransformUtil.h

@@ -0,0 +1,94 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#ifndef SIMD_TRANSFORM_UTIL_H
+#define SIMD_TRANSFORM_UTIL_H
+
+#include "SimdTransform.h"
+#define ANGULAR_MOTION_TRESHOLD 0.5f*SIMD_HALF_PI
+
+/// Utils related to temporal transforms
+class SimdTransformUtil
+{
+
+public:
+
+	static void IntegrateTransform(const SimdTransform& curTrans,const SimdVector3& linvel,const SimdVector3& angvel,SimdScalar timeStep,SimdTransform& predictedTransform)
+	{
+		predictedTransform.setOrigin(curTrans.getOrigin() + linvel * timeStep);
+//	#define QUATERNION_DERIVATIVE
+	#ifdef QUATERNION_DERIVATIVE
+		SimdQuaternion orn = curTrans.getRotation();
+		orn += (angvel * orn) * (timeStep * 0.5f);
+		orn.normalize();
+	#else
+		//exponential map
+		SimdVector3 axis;
+		SimdScalar	fAngle = angvel.length(); 
+		//limit the angular motion
+		if (fAngle*timeStep > ANGULAR_MOTION_TRESHOLD)
+		{
+			fAngle = ANGULAR_MOTION_TRESHOLD / timeStep;
+		}
+
+		if ( fAngle < 0.001f )
+		{
+			// use Taylor's expansions of sync function
+			axis   = angvel*( 0.5f*timeStep-(timeStep*timeStep*timeStep)*(0.020833333333f)*fAngle*fAngle );
+		}
+		else
+		{
+			// sync(fAngle) = sin(c*fAngle)/t
+			axis   = angvel*( sinf(0.5f*fAngle*timeStep)/fAngle );
+		}
+		SimdQuaternion dorn (axis.x(),axis.y(),axis.z(),cosf( fAngle*timeStep*0.5f ));
+		SimdQuaternion orn0 = curTrans.getRotation();
+
+		SimdQuaternion predictedOrn = dorn * orn0;
+	#endif
+		predictedTransform.setRotation(predictedOrn);
+	}
+
+	static void	CalculateVelocity(const SimdTransform& transform0,const SimdTransform& transform1,SimdScalar timeStep,SimdVector3& linVel,SimdVector3& angVel)
+	{
+		linVel = (transform1.getOrigin() - transform0.getOrigin()) / timeStep;
+#ifdef USE_QUATERNION_DIFF
+		SimdQuaternion orn0 = transform0.getRotation();
+		SimdQuaternion orn1a = transform1.getRotation();
+		SimdQuaternion orn1 = orn0.farthest(orn1a);
+		SimdQuaternion dorn = orn1 * orn0.inverse();
+#else
+		SimdMatrix3x3 dmat = transform1.getBasis() * transform0.getBasis().inverse();
+		SimdQuaternion dorn;
+		dmat.getRotation(dorn);
+#endif//USE_QUATERNION_DIFF
+
+		SimdVector3 axis;
+		SimdScalar  angle;
+		angle = dorn.getAngle();
+		axis = SimdVector3(dorn.x(),dorn.y(),dorn.z());
+		axis[3] = 0.f;
+		//check for axis length
+		SimdScalar len = axis.length2();
+		if (len < 0.001f)
+			axis = SimdVector3(1.f,0.f,0.f);
+		else
+			axis /= sqrtf(len);
+
+		
+		angVel = axis * angle / timeStep;
+
+	}
+
+
+};
+
+#endif //SIMD_TRANSFORM_UTIL_H

extern/bullet/LinearMath/SimdVector3.h

@@ -0,0 +1,396 @@
+/*
+
+Copyright (c) 2005 Gino van den Bergen / Erwin Coumans <www.erwincoumans.com>
+
+Permission is hereby granted, free of charge, to any person or organization
+obtaining a copy of the software and accompanying documentation covered by
+this license (the "Software") to use, reproduce, display, distribute,
+execute, and transmit the Software, and to prepare derivative works of the
+Software, and to permit third-parties to whom the Software is furnished to
+do so, all subject to the following:
+
+The copyright notices in the Software and this entire statement, including
+the above license grant, this restriction and the following disclaimer,
+must be included in all copies of the Software, in whole or in part, and
+all derivative works of the Software, unless such copies or derivative
+works are solely in the form of machine-executable object code generated by
+a source language processor.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
+SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
+FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
+*/
+
+
+#ifndef SIMD__VECTOR3_H
+#define SIMD__VECTOR3_H
+
+#include "SimdQuadWord.h"
+
+
+///SimdVector3 is 16byte aligned, and has an extra unused component m_w
+///this extra component can be used by derived classes (Quaternion?) or by user
+class SimdVector3 : public SimdQuadWord {
+
+
+public:
+	SIMD_FORCE_INLINE SimdVector3() {}
+
+	
+
+	SIMD_FORCE_INLINE SimdVector3(const SimdScalar& x, const SimdScalar& y, const SimdScalar& z) 
+		:SimdQuadWord(x,y,z,0.f)
+	{
+	}
+
+//	SIMD_FORCE_INLINE SimdVector3(const SimdScalar& x, const SimdScalar& y, const SimdScalar& z,const SimdScalar& w) 
+//		: SimdQuadWord(x,y,z,w)
+//	{
+//	}
+
+	
+
+	SIMD_FORCE_INLINE SimdVector3& operator+=(const SimdVector3& v)
+	{
+		m_x += v.x(); m_y += v.y(); m_z += v.z();
+		return *this;
+	}
+
+
+
+	SIMD_FORCE_INLINE SimdVector3& operator-=(const SimdVector3& v) 
+	{
+		m_x -= v.x(); m_y -= v.y(); m_z -= v.z();
+		return *this;
+	}
+
+	SIMD_FORCE_INLINE SimdVector3& operator*=(const SimdScalar& s)
+	{
+		m_x *= s; m_y *= s; m_z *= s;
+		return *this;
+	}
+
+	SIMD_FORCE_INLINE SimdVector3& operator/=(const SimdScalar& s) 
+	{
+		assert(s != SimdScalar(0.0));
+		return *this *= SimdScalar(1.0) / s;
+	}
+
+	SIMD_FORCE_INLINE SimdScalar dot(const SimdVector3& v) const
+	{
+		return m_x * v.x() + m_y * v.y() + m_z * v.z();
+	}
+
+	SIMD_FORCE_INLINE SimdScalar length2() const
+	{
+		return dot(*this);
+	}
+
+	SIMD_FORCE_INLINE SimdScalar length() const
+	{
+		return sqrtf(length2());
+	}
+
+	SIMD_FORCE_INLINE SimdScalar distance2(const SimdVector3& v) const;
+
+	SIMD_FORCE_INLINE SimdScalar distance(const SimdVector3& v) const;
+
+	SIMD_FORCE_INLINE SimdVector3& normalize() 
+	{
+		return *this /= length();
+	}
+
+	SIMD_FORCE_INLINE SimdVector3 normalized() const;
+
+	SIMD_FORCE_INLINE SimdScalar angle(const SimdVector3& v) const 
+	{
+		SimdScalar s = sqrtf(length2() * v.length2());
+		assert(s != SimdScalar(0.0));
+		return acosf(dot(v) / s);
+	}
+
+	SIMD_FORCE_INLINE SimdVector3 absolute() const 
+	{
+		return SimdVector3(
+			fabsf(m_x), 
+			fabsf(m_y), 
+			fabsf(m_z));
+	}
+
+	SIMD_FORCE_INLINE SimdVector3 cross(const SimdVector3& v) const
+	{
+		return SimdVector3(
+			m_y * v.z() - m_z * v.y(),
+			m_z * v.x() - m_x * v.z(),
+			m_x * v.y() - m_y * v.x());
+	}
+
+	SIMD_FORCE_INLINE SimdScalar triple(const SimdVector3& v1, const SimdVector3& v2) const
+	{
+		return m_x * (v1.y() * v2.z() - v1.z() * v2.y()) + 
+			m_y * (v1.z() * v2.x() - v1.x() * v2.z()) + 
+			m_z * (v1.x() * v2.y() - v1.y() * v2.x());
+	}
+
+	SIMD_FORCE_INLINE int minAxis() const
+	{
+		return m_x < m_y ? (m_x < m_z ? 0 : 2) : (m_y < m_z ? 1 : 2);
+	}
+
+	SIMD_FORCE_INLINE int maxAxis() const 
+	{
+		return m_x < m_y ? (m_y < m_z ? 2 : 1) : (m_x < m_z ? 2 : 0);
+	}
+
+	SIMD_FORCE_INLINE int furthestAxis() const
+	{
+		return absolute().minAxis();
+	}
+
+	SIMD_FORCE_INLINE int closestAxis() const 
+	{
+		return absolute().maxAxis();
+	}
+
+	SIMD_FORCE_INLINE void setInterpolate3(const SimdVector3& v0, const SimdVector3& v1, SimdScalar rt)
+	{
+		SimdScalar s = 1.0f - rt;
+		m_x = s * v0[0] + rt * v1.x();
+		m_y = s * v0[1] + rt * v1.y();
+		m_z = s * v0[2] + rt * v1.z();
+		//don't do the unused w component
+		//		m_co[3] = s * v0[3] + rt * v1[3];
+	}
+
+	SIMD_FORCE_INLINE SimdVector3 lerp(const SimdVector3& v, const SimdScalar& t) const 
+	{
+		return SimdVector3(m_x + (v.x() - m_x) * t,
+			m_y + (v.y() - m_y) * t,
+			m_z + (v.z() - m_z) * t);
+	}
+
+
+	SIMD_FORCE_INLINE SimdVector3& operator*=(const SimdVector3& v)
+	{
+		m_x *= v.x(); m_y *= v.y(); m_z *= v.z();
+		return *this;
+	}
+
+	
+
+};
+
+SIMD_FORCE_INLINE SimdVector3 
+operator+(const SimdVector3& v1, const SimdVector3& v2) 
+{
+	return SimdVector3(v1.x() + v2.x(), v1.y() + v2.y(), v1.z() + v2.z());
+}
+
+SIMD_FORCE_INLINE SimdVector3 
+operator*(const SimdVector3& v1, const SimdVector3& v2) 
+{
+	return SimdVector3(v1.x() * v2.x(), v1.y() * v2.y(), v1.z() *+ v2.z());
+}
+
+SIMD_FORCE_INLINE SimdVector3 
+operator-(const SimdVector3& v1, const SimdVector3& v2)
+{
+	return SimdVector3(v1.x() - v2.x(), v1.y() - v2.y(), v1.z() - v2.z());
+}
+
+SIMD_FORCE_INLINE SimdVector3 
+operator-(const SimdVector3& v)
+{
+	return SimdVector3(-v.x(), -v.y(), -v.z());
+}
+
+SIMD_FORCE_INLINE SimdVector3 
+operator*(const SimdVector3& v, const SimdScalar& s)
+{
+	return SimdVector3(v.x() * s, v.y() * s, v.z() * s);
+}
+
+SIMD_FORCE_INLINE SimdVector3 
+operator*(const SimdScalar& s, const SimdVector3& v)
+{ 
+	return v * s; 
+}
+
+SIMD_FORCE_INLINE SimdVector3
+operator/(const SimdVector3& v, const SimdScalar& s)
+{
+	assert(s != SimdScalar(0.0));
+	return v * (SimdScalar(1.0) / s);
+}
+
+SIMD_FORCE_INLINE SimdScalar 
+dot(const SimdVector3& v1, const SimdVector3& v2) 
+{ 
+	return v1.dot(v2); 
+}
+
+
+
+SIMD_FORCE_INLINE SimdScalar
+distance2(const SimdVector3& v1, const SimdVector3& v2) 
+{ 
+	return v1.distance2(v2); 
+}
+
+
+SIMD_FORCE_INLINE SimdScalar
+distance(const SimdVector3& v1, const SimdVector3& v2) 
+{ 
+	return v1.distance(v2); 
+}
+
+SIMD_FORCE_INLINE SimdScalar
+angle(const SimdVector3& v1, const SimdVector3& v2) 
+{ 
+	return v1.angle(v2); 
+}
+
+SIMD_FORCE_INLINE SimdVector3 
+cross(const SimdVector3& v1, const SimdVector3& v2) 
+{ 
+	return v1.cross(v2); 
+}
+
+SIMD_FORCE_INLINE SimdScalar
+triple(const SimdVector3& v1, const SimdVector3& v2, const SimdVector3& v3)
+{
+	return v1.triple(v2, v3);
+}
+
+SIMD_FORCE_INLINE SimdVector3 
+lerp(const SimdVector3& v1, const SimdVector3& v2, const SimdScalar& t)
+{
+	return v1.lerp(v2, t);
+}
+
+
+SIMD_FORCE_INLINE bool operator==(const SimdVector3& p1, const SimdVector3& p2) 
+{
+	return p1[0] == p2[0] && p1[1] == p2[1] && p1[2] == p2[2];
+}
+
+SIMD_FORCE_INLINE SimdScalar SimdVector3::distance2(const SimdVector3& v) const
+{
+	return (v - *this).length2();
+}
+
+SIMD_FORCE_INLINE SimdScalar SimdVector3::distance(const SimdVector3& v) const
+{
+	return (v - *this).length();
+}
+
+SIMD_FORCE_INLINE SimdVector3 SimdVector3::normalized() const
+{
+	return *this / length();
+} 
+
+class SimdVector4 : public SimdVector3
+{
+public:
+
+	SIMD_FORCE_INLINE SimdVector4() {}
+
+
+	SIMD_FORCE_INLINE SimdVector4(const SimdScalar& x, const SimdScalar& y, const SimdScalar& z,const SimdScalar& w) 
+		: SimdVector3(x,y,z)
+	{
+		m_unusedW = w;
+	}
+
+
+	SIMD_FORCE_INLINE SimdVector4 absolute4() const 
+	{
+		return SimdVector4(
+			fabsf(m_x), 
+			fabsf(m_y), 
+			fabsf(m_z),
+			fabsf(m_unusedW));
+	}
+
+
+
+	float	getW() const { return m_unusedW;}
+
+
+		SIMD_FORCE_INLINE int maxAxis4() const
+	{
+		int maxIndex = -1;
+		float maxVal = -1e30f;
+		if (m_x > maxVal)
+		{
+			maxIndex = 0;
+			maxVal = m_x;
+		}
+		if (m_y > maxVal)
+		{
+			maxIndex = 1;
+			maxVal = m_y;
+		}
+		if (m_z > maxVal)
+		{
+			maxIndex = 2;
+			maxVal = m_z;
+		}
+		if (m_unusedW > maxVal)
+		{
+			maxIndex = 3;
+			maxVal = m_unusedW;
+		}
+		
+		
+		
+
+		return maxIndex;
+
+	}
+
+
+	SIMD_FORCE_INLINE int minAxis4() const
+	{
+		int minIndex = -1;
+		float minVal = 1e30f;
+		if (m_x < minVal)
+		{
+			minIndex = 0;
+			minVal = m_x;
+		}
+		if (m_y < minVal)
+		{
+			minIndex = 1;
+			minVal = m_y;
+		}
+		if (m_z < minVal)
+		{
+			minIndex = 2;
+			minVal = m_z;
+		}
+		if (m_unusedW < minVal)
+		{
+			minIndex = 3;
+			minVal = m_unusedW;
+		}
+		
+		return minIndex;
+
+	}
+
+
+	SIMD_FORCE_INLINE int closestAxis4() const 
+	{
+		return absolute4().maxAxis4();
+	}
+
+
+
+};
+
+#endif //SIMD__VECTOR3_H

extern/bullet/continuous.dsw

@@ -0,0 +1,239 @@
+Microsoft Developer Studio Workspace File, Format Version 6.00
+# WARNING: DO NOT EDIT OR DELETE THIS WORKSPACE FILE!
+
+###############################################################################
+
+Project: "Bullet"=.\Bullet\Bullet3.dsp - Package Owner=<4>
+
+Package=<5>
+{{{
+}}}
+
+Package=<4>
+{{{
+}}}
+
+###############################################################################
+
+Project: "BulletDynamics"=.\BulletDynamics\BulletDynamics.dsp - Package Owner=<4>
+
+Package=<5>
+{{{
+}}}
+
+Package=<4>
+{{{
+}}}
+
+###############################################################################
+
+Project: "CcdPhysics"=.\EXTRAS\PHYSICSINTERFACE\CcdPhysics\CcdPhysics.dsp - Package Owner=<4>
+
+Package=<5>
+{{{
+}}}
+
+Package=<4>
+{{{
+}}}
+
+###############################################################################
+
+Project: "CcdPhysicsDemo"=.\Demos\CcdPhysicsDemo\CcdPhysicsDemo.dsp - Package Owner=<4>
+
+Package=<5>
+{{{
+}}}
+
+Package=<4>
+{{{
+    Begin Project Dependency
+    Project_Dep_Name Bullet
+    End Project Dependency
+    Begin Project Dependency
+    Project_Dep_Name BulletDynamics
+    End Project Dependency
+    Begin Project Dependency
+    Project_Dep_Name OpenGL
+    End Project Dependency
+    Begin Project Dependency
+    Project_Dep_Name CcdPhysics
+    End Project Dependency
+    Begin Project Dependency
+    Project_Dep_Name PhysicsInterface
+    End Project Dependency
+}}}
+
+###############################################################################
+
+Project: "CollisionDemo"=.\Demos\CollisionDemo\CollisionDemo.dsp - Package Owner=<4>
+
+Package=<5>
+{{{
+}}}
+
+Package=<4>
+{{{
+    Begin Project Dependency
+    Project_Dep_Name Bullet
+    End Project Dependency
+    Begin Project Dependency
+    Project_Dep_Name OpenGL
+    End Project Dependency
+}}}
+
+###############################################################################
+
+Project: "ConcaveDemo"=.\DEMOS\ConcaveDemo\ConcaveDemo.dsp - Package Owner=<4>
+
+Package=<5>
+{{{
+}}}
+
+Package=<4>
+{{{
+    Begin Project Dependency
+    Project_Dep_Name Bullet
+    End Project Dependency
+    Begin Project Dependency
+    Project_Dep_Name BulletDynamics
+    End Project Dependency
+    Begin Project Dependency
+    Project_Dep_Name CcdPhysics
+    End Project Dependency
+    Begin Project Dependency
+    Project_Dep_Name OpenGL
+    End Project Dependency
+    Begin Project Dependency
+    Project_Dep_Name PhysicsInterface
+    End Project Dependency
+}}}
+
+###############################################################################
+
+Project: "ContinuousConvexCollision"=.\Demos\ContinuousConvexCollision\ContinuousConvexCollision.dsp - Package Owner=<4>
+
+Package=<5>
+{{{
+}}}
+
+Package=<4>
+{{{
+    Begin Project Dependency
+    Project_Dep_Name Bullet
+    End Project Dependency
+    Begin Project Dependency
+    Project_Dep_Name OpenGL
+    End Project Dependency
+}}}
+
+###############################################################################
+
+Project: "ConvexHullDistance"=.\DEMOS\ConvexHullDistance\ConvexHullDistance.dsp - Package Owner=<4>
+
+Package=<5>
+{{{
+}}}
+
+Package=<4>
+{{{
+    Begin Project Dependency
+    Project_Dep_Name Bullet
+    End Project Dependency
+    Begin Project Dependency
+    Project_Dep_Name OpenGL
+    End Project Dependency
+}}}
+
+###############################################################################
+
+Project: "GjkConvexCastDemo"=.\Demos\GjkConvexCastDemo\GjkConvexCastDemo.dsp - Package Owner=<4>
+
+Package=<5>
+{{{
+}}}
+
+Package=<4>
+{{{
+    Begin Project Dependency
+    Project_Dep_Name Bullet
+    End Project Dependency
+    Begin Project Dependency
+    Project_Dep_Name OpenGL
+    End Project Dependency
+}}}
+
+###############################################################################
+
+Project: "OpenGL"=.\Demos\OpenGL\OpenGL.dsp - Package Owner=<4>
+
+Package=<5>
+{{{
+}}}
+
+Package=<4>
+{{{
+}}}
+
+###############################################################################
+
+Project: "PhysicsInterface"=.\EXTRAS\PHYSICSINTERFACE\Common\PhysicsInterface.dsp - Package Owner=<4>
+
+Package=<5>
+{{{
+}}}
+
+Package=<4>
+{{{
+}}}
+
+###############################################################################
+
+Project: "Raytracer"=.\Demos\Raytracer\Raytracer.dsp - Package Owner=<4>
+
+Package=<5>
+{{{
+}}}
+
+Package=<4>
+{{{
+    Begin Project Dependency
+    Project_Dep_Name Bullet
+    End Project Dependency
+    Begin Project Dependency
+    Project_Dep_Name OpenGL
+    End Project Dependency
+}}}
+
+###############################################################################
+
+Project: "SimplexDemo"=.\Demos\SimplexDemo\SimplexDemo.dsp - Package Owner=<4>
+
+Package=<5>
+{{{
+}}}
+
+Package=<4>
+{{{
+    Begin Project Dependency
+    Project_Dep_Name Bullet
+    End Project Dependency
+    Begin Project Dependency
+    Project_Dep_Name OpenGL
+    End Project Dependency
+}}}
+
+###############################################################################
+
+Global:
+
+Package=<5>
+{{{
+}}}
+
+Package=<3>
+{{{
+}}}
+
+###############################################################################
+

extern/bullet/continuous_vc7.sln

@@ -0,0 +1,140 @@
+Microsoft Visual Studio Solution File, Format Version 8.00
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "OpenGLSupport", "Demos\OpenGL\OpenGL_vc7.vcproj", "{47328C1E-54A4-4065-B3DA-F88EE281D1E5}"
+	ProjectSection(ProjectDependencies) = postProject
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Bullet3ContinuousCollision", "Bullet\Bullet3_vc7.vcproj", "{FFD3C64A-30E2-4BC7-BC8F-51818C320400}"
+	ProjectSection(ProjectDependencies) = postProject
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "SimplexDemo", "Demos\SimplexDemo\SimplexDemo_vc7.vcproj", "{F6B9DD8D-8C40-4F2B-B492-56B167D01CC0}"
+	ProjectSection(ProjectDependencies) = postProject
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400} = {FFD3C64A-30E2-4BC7-BC8F-51818C320400}
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "CollisionDemo", "Demos\CollisionDemo\CollisionDemo_vc7.vcproj", "{F43EFC77-3CFA-4669-BAEA-1E2BC8ABA897}"
+	ProjectSection(ProjectDependencies) = postProject
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400} = {FFD3C64A-30E2-4BC7-BC8F-51818C320400}
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400} = {FFD3C64A-30E2-4BC7-BC8F-51818C320400}
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "LinearConvexCastDemo", "Demos\GjkConvexCastDemo\GjkConvexCastDemo_vc7.vcproj", "{B395AFF6-94FE-4A2C-9E26-58E5BE85083C}"
+	ProjectSection(ProjectDependencies) = postProject
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400} = {FFD3C64A-30E2-4BC7-BC8F-51818C320400}
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ContinuousConvexCollisionDemo", "Demos\ContinuousConvexCollision\ContinuousConvexCollision_vc7.vcproj", "{6A4E3433-D0CD-4A10-BE09-78C9A5F7508B}"
+	ProjectSection(ProjectDependencies) = postProject
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400} = {FFD3C64A-30E2-4BC7-BC8F-51818C320400}
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Raytracer", "Demos\Raytracer\Raytracer_vc7.vcproj", "{F8B0A298-14C9-4006-8D53-51032892BEDD}"
+	ProjectSection(ProjectDependencies) = postProject
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400} = {FFD3C64A-30E2-4BC7-BC8F-51818C320400}
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Bullet3Dynamics", "BulletDynamics\BulletDynamics_vc7.vcproj", "{3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4}"
+	ProjectSection(ProjectDependencies) = postProject
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "CcdPhysics", "Extras\PhysicsInterface\CcdPhysics\CcdPhysics_vc7.vcproj", "{E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE}"
+	ProjectSection(ProjectDependencies) = postProject
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "PhysicsInterfaceCommon", "Extras\PhysicsInterface\Common\PhysicsInterfaceCommon\PhysicsInterfaceCommon_vc7.vcproj", "{87D8C006-6DCC-4156-A03E-8CEA1B4C0580}"
+	ProjectSection(ProjectDependencies) = postProject
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "CcdPhysicsDemo", "Demos\CcdPhysicsDemo\CcdPhysicsDemo_vc7.vcproj", "{E9C93159-EC18-4121-9D73-1DE7053D81D7}"
+	ProjectSection(ProjectDependencies) = postProject
+		{87D8C006-6DCC-4156-A03E-8CEA1B4C0580} = {87D8C006-6DCC-4156-A03E-8CEA1B4C0580}
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
+		{E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE} = {E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE}
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400} = {FFD3C64A-30E2-4BC7-BC8F-51818C320400}
+		{3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4} = {3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4}
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ConcaveDemo", "Demos\ConcaveDemo\ConcaveDemo.vcproj", "{F20F38CC-CFA7-40C7-81AE-945C8C09E473}"
+	ProjectSection(ProjectDependencies) = postProject
+		{87D8C006-6DCC-4156-A03E-8CEA1B4C0580} = {87D8C006-6DCC-4156-A03E-8CEA1B4C0580}
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
+		{E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE} = {E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE}
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400} = {FFD3C64A-30E2-4BC7-BC8F-51818C320400}
+		{3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4} = {3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4}
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ConvexHullDistance", "Demos\ConvexHullDistance\ConvexHullDistance_vc7.vcproj", "{AF9E7C2B-BE49-4101-B056-4A628B276389}"
+	ProjectSection(ProjectDependencies) = postProject
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
+	EndProjectSection
+EndProject
+Global
+	GlobalSection(SolutionConfiguration) = preSolution
+		Debug = Debug
+		Release = Release
+	EndGlobalSection
+	GlobalSection(ProjectConfiguration) = postSolution
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5}.Debug.ActiveCfg = Debug|Win32
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5}.Debug.Build.0 = Debug|Win32
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5}.Release.ActiveCfg = Release|Win32
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5}.Release.Build.0 = Release|Win32
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400}.Debug.ActiveCfg = Debug|Win32
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400}.Debug.Build.0 = Debug|Win32
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400}.Release.ActiveCfg = Release|Win32
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400}.Release.Build.0 = Release|Win32
+		{F6B9DD8D-8C40-4F2B-B492-56B167D01CC0}.Debug.ActiveCfg = Debug|Win32
+		{F6B9DD8D-8C40-4F2B-B492-56B167D01CC0}.Debug.Build.0 = Debug|Win32
+		{F6B9DD8D-8C40-4F2B-B492-56B167D01CC0}.Release.ActiveCfg = Release|Win32
+		{F6B9DD8D-8C40-4F2B-B492-56B167D01CC0}.Release.Build.0 = Release|Win32
+		{F43EFC77-3CFA-4669-BAEA-1E2BC8ABA897}.Debug.ActiveCfg = Debug|Win32
+		{F43EFC77-3CFA-4669-BAEA-1E2BC8ABA897}.Debug.Build.0 = Debug|Win32
+		{F43EFC77-3CFA-4669-BAEA-1E2BC8ABA897}.Release.ActiveCfg = Release|Win32
+		{F43EFC77-3CFA-4669-BAEA-1E2BC8ABA897}.Release.Build.0 = Release|Win32
+		{B395AFF6-94FE-4A2C-9E26-58E5BE85083C}.Debug.ActiveCfg = Debug|Win32
+		{B395AFF6-94FE-4A2C-9E26-58E5BE85083C}.Debug.Build.0 = Debug|Win32
+		{B395AFF6-94FE-4A2C-9E26-58E5BE85083C}.Release.ActiveCfg = Release|Win32
+		{B395AFF6-94FE-4A2C-9E26-58E5BE85083C}.Release.Build.0 = Release|Win32
+		{6A4E3433-D0CD-4A10-BE09-78C9A5F7508B}.Debug.ActiveCfg = Debug|Win32
+		{6A4E3433-D0CD-4A10-BE09-78C9A5F7508B}.Debug.Build.0 = Debug|Win32
+		{6A4E3433-D0CD-4A10-BE09-78C9A5F7508B}.Release.ActiveCfg = Release|Win32
+		{6A4E3433-D0CD-4A10-BE09-78C9A5F7508B}.Release.Build.0 = Release|Win32
+		{F8B0A298-14C9-4006-8D53-51032892BEDD}.Debug.ActiveCfg = Debug|Win32
+		{F8B0A298-14C9-4006-8D53-51032892BEDD}.Debug.Build.0 = Debug|Win32
+		{F8B0A298-14C9-4006-8D53-51032892BEDD}.Release.ActiveCfg = Release|Win32
+		{F8B0A298-14C9-4006-8D53-51032892BEDD}.Release.Build.0 = Release|Win32
+		{3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4}.Debug.ActiveCfg = Debug|Win32
+		{3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4}.Debug.Build.0 = Debug|Win32
+		{3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4}.Release.ActiveCfg = Release|Win32
+		{3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4}.Release.Build.0 = Release|Win32
+		{E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE}.Debug.ActiveCfg = Debug|Win32
+		{E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE}.Debug.Build.0 = Debug|Win32
+		{E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE}.Release.ActiveCfg = Release|Win32
+		{E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE}.Release.Build.0 = Release|Win32
+		{87D8C006-6DCC-4156-A03E-8CEA1B4C0580}.Debug.ActiveCfg = Debug|Win32
+		{87D8C006-6DCC-4156-A03E-8CEA1B4C0580}.Debug.Build.0 = Debug|Win32
+		{87D8C006-6DCC-4156-A03E-8CEA1B4C0580}.Release.ActiveCfg = Release|Win32
+		{87D8C006-6DCC-4156-A03E-8CEA1B4C0580}.Release.Build.0 = Release|Win32
+		{E9C93159-EC18-4121-9D73-1DE7053D81D7}.Debug.ActiveCfg = Debug|Win32
+		{E9C93159-EC18-4121-9D73-1DE7053D81D7}.Debug.Build.0 = Debug|Win32
+		{E9C93159-EC18-4121-9D73-1DE7053D81D7}.Release.ActiveCfg = Release|Win32
+		{E9C93159-EC18-4121-9D73-1DE7053D81D7}.Release.Build.0 = Release|Win32
+		{F20F38CC-CFA7-40C7-81AE-945C8C09E473}.Debug.ActiveCfg = Debug|Win32
+		{F20F38CC-CFA7-40C7-81AE-945C8C09E473}.Debug.Build.0 = Debug|Win32
+		{F20F38CC-CFA7-40C7-81AE-945C8C09E473}.Release.ActiveCfg = Release|Win32
+		{F20F38CC-CFA7-40C7-81AE-945C8C09E473}.Release.Build.0 = Release|Win32
+		{AF9E7C2B-BE49-4101-B056-4A628B276389}.Debug.ActiveCfg = Debug|Win32
+		{AF9E7C2B-BE49-4101-B056-4A628B276389}.Debug.Build.0 = Debug|Win32
+		{AF9E7C2B-BE49-4101-B056-4A628B276389}.Release.ActiveCfg = Release|Win32
+		{AF9E7C2B-BE49-4101-B056-4A628B276389}.Release.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+	EndGlobalSection
+	GlobalSection(ExtensibilityAddIns) = postSolution
+	EndGlobalSection
+EndGlobal

extern/bullet/continuous_vc8.sln

@@ -0,0 +1,129 @@
+Microsoft Visual Studio Solution File, Format Version 9.00
+# Visual Studio 2005
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "OpenGLSupport", "Demos\OpenGL\OpenGL_vc8.vcproj", "{47328C1E-54A4-4065-B3DA-F88EE281D1E5}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Bullet3ContinuousCollision", "Bullet\Bullet3_vc8.vcproj", "{FFD3C64A-30E2-4BC7-BC8F-51818C320400}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "SimplexDemo", "Demos\SimplexDemo\SimplexDemo_vc8.vcproj", "{F6B9DD8D-8C40-4F2B-B492-56B167D01CC0}"
+	ProjectSection(ProjectDependencies) = postProject
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400} = {FFD3C64A-30E2-4BC7-BC8F-51818C320400}
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "CollisionDemo", "Demos\CollisionDemo\CollisionDemo_vc8.vcproj", "{F43EFC77-3CFA-4669-BAEA-1E2BC8ABA897}"
+	ProjectSection(ProjectDependencies) = postProject
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400} = {FFD3C64A-30E2-4BC7-BC8F-51818C320400}
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "LinearConvexCastDemo", "Demos\GjkConvexCastDemo\GjkConvexCastDemo_vc8.vcproj", "{B395AFF6-94FE-4A2C-9E26-58E5BE85083C}"
+	ProjectSection(ProjectDependencies) = postProject
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400} = {FFD3C64A-30E2-4BC7-BC8F-51818C320400}
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ContinuousConvexCollisionDemo", "Demos\ContinuousConvexCollision\ContinuousConvexCollision_vc8.vcproj", "{6A4E3433-D0CD-4A10-BE09-78C9A5F7508B}"
+	ProjectSection(ProjectDependencies) = postProject
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400} = {FFD3C64A-30E2-4BC7-BC8F-51818C320400}
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Raytracer", "Demos\Raytracer\Raytracer_vc8.vcproj", "{F8B0A298-14C9-4006-8D53-51032892BEDD}"
+	ProjectSection(ProjectDependencies) = postProject
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400} = {FFD3C64A-30E2-4BC7-BC8F-51818C320400}
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Bullet3Dynamics", "BulletDynamics\BulletDynamics_vc8.vcproj", "{3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "CcdPhysicsDemo", "Demos\CcdPhysicsDemo\CcdPhysicsDemo_vc8.vcproj", "{E9C93159-EC18-4121-9D73-1DE7053D81D7}"
+	ProjectSection(ProjectDependencies) = postProject
+		{3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4} = {3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4}
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400} = {FFD3C64A-30E2-4BC7-BC8F-51818C320400}
+		{E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE} = {E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE}
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
+		{87D8C006-6DCC-4156-A03E-8CEA1B4C0580} = {87D8C006-6DCC-4156-A03E-8CEA1B4C0580}
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "CcdPhysics", "Extras\PhysicsInterface\CcdPhysics\CcdPhysics_vc8.vcproj", "{E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "PhysicsInterfaceCommon", "Extras\PhysicsInterface\Common\PhysicsInterfaceCommon\PhysicsInterfaceCommon_vc8.vcproj", "{87D8C006-6DCC-4156-A03E-8CEA1B4C0580}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ConvexHullDistance", "Demos\ConvexHullDistance\ConvexHullDistance_vc8.vcproj", "{39A0C0E0-773B-498D-B9B1-B54525FB6223}"
+	ProjectSection(ProjectDependencies) = postProject
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400} = {FFD3C64A-30E2-4BC7-BC8F-51818C320400}
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ConcaveDemo", "Demos\ConcaveDemo\ConcaveDemo_vc8.vcproj", "{F20F38CC-CFA7-40C7-81AE-945C8C09E473}"
+	ProjectSection(ProjectDependencies) = postProject
+		{87D8C006-6DCC-4156-A03E-8CEA1B4C0580} = {87D8C006-6DCC-4156-A03E-8CEA1B4C0580}
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5} = {47328C1E-54A4-4065-B3DA-F88EE281D1E5}
+		{E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE} = {E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE}
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400} = {FFD3C64A-30E2-4BC7-BC8F-51818C320400}
+		{3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4} = {3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4}
+	EndProjectSection
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Win32 = Debug|Win32
+		Release|Win32 = Release|Win32
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5}.Debug|Win32.ActiveCfg = Debug|Win32
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5}.Debug|Win32.Build.0 = Debug|Win32
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5}.Release|Win32.ActiveCfg = Release|Win32
+		{47328C1E-54A4-4065-B3DA-F88EE281D1E5}.Release|Win32.Build.0 = Release|Win32
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400}.Debug|Win32.ActiveCfg = Debug|Win32
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400}.Debug|Win32.Build.0 = Debug|Win32
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400}.Release|Win32.ActiveCfg = Release|Win32
+		{FFD3C64A-30E2-4BC7-BC8F-51818C320400}.Release|Win32.Build.0 = Release|Win32
+		{F6B9DD8D-8C40-4F2B-B492-56B167D01CC0}.Debug|Win32.ActiveCfg = Debug|Win32
+		{F6B9DD8D-8C40-4F2B-B492-56B167D01CC0}.Debug|Win32.Build.0 = Debug|Win32
+		{F6B9DD8D-8C40-4F2B-B492-56B167D01CC0}.Release|Win32.ActiveCfg = Release|Win32
+		{F6B9DD8D-8C40-4F2B-B492-56B167D01CC0}.Release|Win32.Build.0 = Release|Win32
+		{F43EFC77-3CFA-4669-BAEA-1E2BC8ABA897}.Debug|Win32.ActiveCfg = Debug|Win32
+		{F43EFC77-3CFA-4669-BAEA-1E2BC8ABA897}.Debug|Win32.Build.0 = Debug|Win32
+		{F43EFC77-3CFA-4669-BAEA-1E2BC8ABA897}.Release|Win32.ActiveCfg = Release|Win32
+		{F43EFC77-3CFA-4669-BAEA-1E2BC8ABA897}.Release|Win32.Build.0 = Release|Win32
+		{B395AFF6-94FE-4A2C-9E26-58E5BE85083C}.Debug|Win32.ActiveCfg = Debug|Win32
+		{B395AFF6-94FE-4A2C-9E26-58E5BE85083C}.Debug|Win32.Build.0 = Debug|Win32
+		{B395AFF6-94FE-4A2C-9E26-58E5BE85083C}.Release|Win32.ActiveCfg = Release|Win32
+		{B395AFF6-94FE-4A2C-9E26-58E5BE85083C}.Release|Win32.Build.0 = Release|Win32
+		{6A4E3433-D0CD-4A10-BE09-78C9A5F7508B}.Debug|Win32.ActiveCfg = Debug|Win32
+		{6A4E3433-D0CD-4A10-BE09-78C9A5F7508B}.Debug|Win32.Build.0 = Debug|Win32
+		{6A4E3433-D0CD-4A10-BE09-78C9A5F7508B}.Release|Win32.ActiveCfg = Release|Win32
+		{6A4E3433-D0CD-4A10-BE09-78C9A5F7508B}.Release|Win32.Build.0 = Release|Win32
+		{F8B0A298-14C9-4006-8D53-51032892BEDD}.Debug|Win32.ActiveCfg = Debug|Win32
+		{F8B0A298-14C9-4006-8D53-51032892BEDD}.Debug|Win32.Build.0 = Debug|Win32
+		{F8B0A298-14C9-4006-8D53-51032892BEDD}.Release|Win32.ActiveCfg = Release|Win32
+		{F8B0A298-14C9-4006-8D53-51032892BEDD}.Release|Win32.Build.0 = Release|Win32
+		{3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4}.Debug|Win32.ActiveCfg = Debug|Win32
+		{3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4}.Debug|Win32.Build.0 = Debug|Win32
+		{3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4}.Release|Win32.ActiveCfg = Release|Win32
+		{3427A9EF-FF84-4B3E-9AE5-C37CF44D7DA4}.Release|Win32.Build.0 = Release|Win32
+		{E9C93159-EC18-4121-9D73-1DE7053D81D7}.Debug|Win32.ActiveCfg = Debug|Win32
+		{E9C93159-EC18-4121-9D73-1DE7053D81D7}.Debug|Win32.Build.0 = Debug|Win32
+		{E9C93159-EC18-4121-9D73-1DE7053D81D7}.Release|Win32.ActiveCfg = Release|Win32
+		{E9C93159-EC18-4121-9D73-1DE7053D81D7}.Release|Win32.Build.0 = Release|Win32
+		{E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE}.Debug|Win32.ActiveCfg = Debug|Win32
+		{E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE}.Debug|Win32.Build.0 = Debug|Win32
+		{E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE}.Release|Win32.ActiveCfg = Release|Win32
+		{E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE}.Release|Win32.Build.0 = Release|Win32
+		{87D8C006-6DCC-4156-A03E-8CEA1B4C0580}.Debug|Win32.ActiveCfg = Debug|Win32
+		{87D8C006-6DCC-4156-A03E-8CEA1B4C0580}.Debug|Win32.Build.0 = Debug|Win32
+		{87D8C006-6DCC-4156-A03E-8CEA1B4C0580}.Release|Win32.ActiveCfg = Release|Win32
+		{87D8C006-6DCC-4156-A03E-8CEA1B4C0580}.Release|Win32.Build.0 = Release|Win32
+		{39A0C0E0-773B-498D-B9B1-B54525FB6223}.Debug|Win32.ActiveCfg = Debug|Win32
+		{39A0C0E0-773B-498D-B9B1-B54525FB6223}.Debug|Win32.Build.0 = Debug|Win32
+		{39A0C0E0-773B-498D-B9B1-B54525FB6223}.Release|Win32.ActiveCfg = Release|Win32
+		{39A0C0E0-773B-498D-B9B1-B54525FB6223}.Release|Win32.Build.0 = Release|Win32
+		{F20F38CC-CFA7-40C7-81AE-945C8C09E473}.Debug|Win32.ActiveCfg = Debug|Win32
+		{F20F38CC-CFA7-40C7-81AE-945C8C09E473}.Debug|Win32.Build.0 = Debug|Win32
+		{F20F38CC-CFA7-40C7-81AE-945C8C09E473}.Release|Win32.ActiveCfg = Release|Win32
+		{F20F38CC-CFA7-40C7-81AE-945C8C09E473}.Release|Win32.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal