update bullet so it actually works

Moved the addSourceDirectory for physics/Bullet into the Engine/Source/CMakeLists.txt file that way it can actually appear where we expect it to in the solution explorer.

Engine/lib/bullet/.ci/docker/env.list

@@ -0,0 +1,7 @@
+TRAVIS_OS_NAME
+TRAVIS_PULL_REQUEST
+
+BUILD_NAME
+CC
+CXX
+SUDO

Engine/lib/bullet/.ci/docker/ubuntu-bionic

@@ -0,0 +1,19 @@
+FROM ubuntu:bionic
+
+RUN apt-get update -qq
+RUN apt-get install -y \
+    build-essential  \
+    clang \
+    cmake \
+    curl \
+    git \
+    libgl-dev \
+    libglu-dev \
+    libpython3-dev \
+    lsb-release \
+    pkg-config \
+    python3 \
+    python3-dev \
+    python3-distutils \
+    software-properties-common \
+    sudo

Engine/lib/bullet/.ci/docker/ubuntu-xenial

@@ -0,0 +1,18 @@
+FROM ubuntu:xenial
+
+RUN apt-get update -qq
+RUN apt-get install -y \
+    build-essential  \
+    clang \
+    cmake \
+    curl \
+    git \
+    libgl-dev \
+    libglu-dev \
+    libpython3-dev \
+    lsb-release \
+    pkg-config \
+    python3 \
+    python3-dev \
+    software-properties-common \
+    sudo

Engine/lib/bullet/.ci/script.sh

@@ -0,0 +1,31 @@
+#!/usr/bin/env bash
+set -ex
+
+echo "CXX="$CXX
+echo "CC="$CC
+if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then
+  $SUDO apt-get update
+  $SUDO apt-get install -y python3
+  $SUDO apt-get install -y python3-pip
+  $SUDO apt-get install python3-dev
+  $SUDO pip3 install -U wheel
+  $SUDO pip3 install -U setuptools
+  python3 setup.py install --user
+  python3 examples/pybullet/unittests/unittests.py --verbose
+  python3 examples/pybullet/unittests/userDataTest.py --verbose
+  python3 examples/pybullet/unittests/saveRestoreStateTest.py --verbose
+fi
+cmake . -DBUILD_PYBULLET=ON -G"Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror
+make -j8
+ctest -j8 --output-on-failure
+
+# Build again with double precision
+cmake . -G "Unix Makefiles" -DUSE_DOUBLE_PRECISION=ON #-DCMAKE_CXX_FLAGS=-Werror
+make -j8
+ctest -j8 --output-on-failure
+
+# Build again with shared libraries
+cmake . -G "Unix Makefiles" -DBUILD_SHARED_LIBS=ON
+make -j8
+ctest -j8 --output-on-failure
+$SUDO make install

Engine/lib/bullet/.github/workflows/cmake.yml

@@ -0,0 +1,38 @@
+name: CMake
+
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+    branches: [ master ]
+
+env:
+  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
+  BUILD_TYPE: Release
+
+jobs:
+  build:
+    # The CMake configure and build commands are platform agnostic and should work equally
+    # well on Windows or Mac.  You can convert this to a matrix build if you need
+    # cross-platform coverage.
+    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Configure CMake
+      # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
+      # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
+      run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
+
+    - name: Build
+      # Build your program with the given configuration
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
+
+    - name: Test
+      working-directory: ${{github.workspace}}/build
+      # Execute tests defined by the CMake configuration.  
+      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
+      run: ctest -C ${{env.BUILD_TYPE}}
+      

Engine/lib/bullet/.gitignore

@@ -0,0 +1,42 @@
+/bin
+/build3/gmake
+/build3/vs2010
+/build_cmake/
+
+*.pyc
+
+# Python
+__pycache__/
+*.py[cod]
+
+# Pip
+pip-selfcheck.json
+*.whl
+*.egg
+*.egg-info
+
+# Setuptools
+/build
+/dist
+*.eggs
+
+# CMake
+CMakeFiles/
+CMakeCache.txt
+cmake_install.cmake
+CTestTestFile.cmake
+
+# Visual Studio build files
+*.vcxproj
+*.vcxproj.filters
+*.sln
+
+# Apple Finder metadata
+*.DS_Store
+
+# vim temp files
+*.swp
+
+.vscode/
+.idea/
+cmake-build-debug/

Engine/lib/bullet/.style.yapf

@@ -0,0 +1,5 @@
+[style]
+based_on_style = google
+column_limit = 99
+indent_width = 2
+

Engine/lib/bullet/.travis.yml

@@ -1,27 +0,0 @@
-language: cpp
-os:
-  - linux
-  - osx
-compiler:
-  - gcc
-  - clang
-addons:
-  apt:
-    packages:
-      - python3
-
-script:
-  - echo "CXX="$CXX
-  - echo "CC="$CC
-  - cmake . -DBUILD_PYBULLET=ON -G"Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror
-  - make -j8
-  - ctest -j8 --output-on-failure
-  # Build again with double precision
-  - cmake . -G "Unix Makefiles" -DUSE_DOUBLE_PRECISION=ON #-DCMAKE_CXX_FLAGS=-Werror
-  - make -j8
-  - ctest -j8 --output-on-failure
-  # Build again with shared libraries
-  - cmake . -G "Unix Makefiles" -DBUILD_SHARED_LIBS=ON
-  - make -j8
-  - ctest -j8 --output-on-failure
-  - sudo make install

Engine/lib/bullet/AUTHORS.txt

@@ -2,17 +2,21 @@ Bullet Physics is created by Erwin Coumans with contributions from the following
 
 AMD
 Apple
+Yunfei Bai
 Steve Baker
 Gino van den Bergen
+Jeff Bingham
 Nicola Candussi
 Erin Catto
 Lawrence Chai
 Erwin Coumans
-Christer Ericson
 Disney Animation
+Benjamin Ellenberger
+Christer Ericson
 Google
 Dirk Gregorius
 Marcus Hennix
+Jasmine Hsu
 MBSim Development Team
 Takahiro Harada
 Simon Hobbs
@@ -20,6 +24,7 @@ John Hsu
 Ole Kniemeyer
 Jay Lee
 Francisco Leon
+lunkhound
 Vsevolod Klementjev
 Phil Knight
 John McCutchan
@@ -32,9 +37,9 @@ Russel Smith
 Sony
 Jakub Stephien
 Marten Svanfeldt
+Jie Tan
 Pierre Terdiman
 Steven Thompson
 Tamas Umenhoffer
-Yunfei Bai
 
 If your name is missing, please send an email to erwin.coumans@gmail.com or file an issue at http://github.com/bulletphysics/bullet3

Engine/lib/bullet/CMakeLists.txt

@@ -1,11 +1,11 @@
-cmake_minimum_required(VERSION 2.4.3)
+cmake_minimum_required(VERSION 3.5)
 set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true)
-
+cmake_policy(SET CMP0017 NEW)
 #this line has to appear before 'PROJECT' in order to be able to disable incremental linking
 SET(MSVC_INCREMENTAL_DEFAULT ON)
 
 PROJECT(BULLET_PHYSICS)
-SET(BULLET_VERSION 2.85)
+FILE (STRINGS "VERSION" BULLET_VERSION)
 
 IF(COMMAND cmake_policy)
    cmake_policy(SET CMP0003 NEW)
@@ -15,7 +15,6 @@ IF(COMMAND cmake_policy)
    endif(POLICY CMP0042)
 ENDIF(COMMAND cmake_policy)
 
-
 IF (NOT CMAKE_BUILD_TYPE)
 # SET(CMAKE_BUILD_TYPE "Debug")
  SET(CMAKE_BUILD_TYPE "Release")
@@ -25,11 +24,41 @@ SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG")
 #MESSAGE("CMAKE_CXX_FLAGS_DEBUG="+${CMAKE_CXX_FLAGS_DEBUG})
 
 OPTION(USE_DOUBLE_PRECISION "Use double precision"	OFF)
+SET(CLAMP_VELOCITIES "0" CACHE STRING "Clamp rigid bodies' velocity to this value, if larger than zero. Useful to prevent floating point errors or in general runaway velocities in complex scenarios")
 OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON)
 OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
+OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" ON)
+OPTION(USE_OPENVR "Use OpenVR for virtual reality" OFF)
+
+OPTION(ENABLE_VHACD "Use VHACD in BulletRobotics and pybullet" ON)
+
+OPTION(BULLET2_MULTITHREADING "Build Bullet 2 libraries with mutex locking around certain operations (required for multi-threading)" OFF)
+IF (BULLET2_MULTITHREADING)
+    OPTION(BULLET2_USE_OPEN_MP_MULTITHREADING "Build Bullet 2 with support for multi-threading with OpenMP (requires a compiler with OpenMP support)" OFF)
+    OPTION(BULLET2_USE_TBB_MULTITHREADING "Build Bullet 2 with support for multi-threading with Intel Threading Building Blocks (requires the TBB library to be already installed)" OFF)
+    IF (MSVC)
+        OPTION(BULLET2_USE_PPL_MULTITHREADING "Build Bullet 2 with support for multi-threading with Microsoft Parallel Patterns Library (requires MSVC compiler)" OFF)
+    ENDIF (MSVC)
+ENDIF (BULLET2_MULTITHREADING)
+
+
+IF(NOT WIN32)
+	SET(DL ${CMAKE_DL_LIBS})
+	IF(CMAKE_SYSTEM_NAME MATCHES "Linux")
+		MESSAGE("Linux")
+		SET(OSDEF -D_LINUX)
+	ELSE(CMAKE_SYSTEM_NAME MATCHES "Linux")
+		IF(APPLE)
+			MESSAGE("Apple")
+			SET(OSDEF -D_DARWIN)
+		ELSE(APPLE)
+			MESSAGE("BSD?")
+			SET(OSDEF -D_BSD)
+		ENDIF(APPLE)
+	ENDIF(CMAKE_SYSTEM_NAME MATCHES "Linux")
+ENDIF(NOT WIN32)
 
 OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF)
-OPTION(USE_CUSTOM_VECTOR_MATH "Use custom vectormath library" OFF)
 
 #statically linking VC++ isn't supported for WindowsPhone/WindowsStore
 IF (CMAKE_SYSTEM_NAME STREQUAL WindowsPhone OR CMAKE_SYSTEM_NAME STREQUAL WindowsStore)
@@ -37,6 +66,7 @@ IF (CMAKE_SYSTEM_NAME STREQUAL WindowsPhone OR CMAKE_SYSTEM_NAME STREQUAL Window
 ELSE ()
 	OPTION(USE_MSVC_RUNTIME_LIBRARY_DLL "Use MSVC Runtime Library DLL (/MD or /MDd)" OFF)
 ENDIF (CMAKE_SYSTEM_NAME STREQUAL WindowsPhone OR CMAKE_SYSTEM_NAME STREQUAL WindowsStore)
+OPTION(USE_MSVC_RELEASE_RUNTIME_ALWAYS "Use MSVC Release Runtime Library even in Debug" OFF)
 
 #SET(CMAKE_EXE_LINKER_FLAGS_INIT    "/STACK:10000000 /INCREMENTAL:NO")
 #SET(CMAKE_EXE_LINKER_FLAGS    "/STACK:10000000 /INCREMENTAL:NO")
@@ -49,11 +79,11 @@ IF(MSVC)
 		#MESSAGE("MSVC_INCREMENTAL_DEFAULT"+${MSVC_INCREMENTAL_DEFAULT})
 		SET( MSVC_INCREMENTAL_YES_FLAG "/INCREMENTAL:NO")
 
-		STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags ${CMAKE_EXE_LINKER_FLAGS_DEBUG})
+		STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags "${CMAKE_EXE_LINKER_FLAGS_DEBUG}")
 		SET(CMAKE_EXE_LINKER_FLAGS_DEBUG "/INCREMENTAL:NO ${replacementFlags}" )
 		MESSAGE("CMAKE_EXE_LINKER_FLAGS_DEBUG=${CMAKE_EXE_LINKER_FLAGS_DEBUG}")
 
-		STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags2 ${CMAKE_EXE_LINKER_FLAGS})
+		STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags2 "${CMAKE_EXE_LINKER_FLAGS}")
 
 		SET(CMAKE_EXE_LINKER_FLAGS ${replacementFlag2})
 		STRING(REPLACE "INCREMENTAL:YES" "" replacementFlags3 "${CMAKE_EXTRA_LINK_FLAGS}")
@@ -68,7 +98,7 @@ IF(MSVC)
 	ENDIF (NOT USE_MSVC_INCREMENTAL_LINKING)
 
 	IF (NOT USE_MSVC_RUNTIME_LIBRARY_DLL)
-		#We statically link to reduce dependancies
+		#We statically link to reduce dependencies
 		FOREACH(flag_var CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO )
 			IF(${flag_var} MATCHES "/MD")
 				STRING(REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}")
@@ -79,19 +109,79 @@ IF(MSVC)
 		ENDFOREACH(flag_var)
 	ENDIF (NOT USE_MSVC_RUNTIME_LIBRARY_DLL)
 
+	IF (USE_MSVC_RELEASE_RUNTIME_ALWAYS)
+		FOREACH(flag_var CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO )
+			IF(${flag_var} MATCHES "/MDd")
+				STRING(REGEX REPLACE "/MDd" "/MD" ${flag_var} "${${flag_var}}")
+			ENDIF(${flag_var} MATCHES "/MDd")
+			IF(${flag_var} MATCHES "/MTd")
+				STRING(REGEX REPLACE "/MTd" "/MT" ${flag_var} "${${flag_var}}")
+			ENDIF(${flag_var} MATCHES "/MTd")
+			# Need to remove _DEBUG too otherwise things like _ITERATOR_DEBUG_LEVEL mismatch
+			IF(${flag_var} MATCHES "-D_DEBUG")
+				STRING(REGEX REPLACE "-D_DEBUG" "" ${flag_var} "${${flag_var}}")
+			ENDIF(${flag_var} MATCHES "-D_DEBUG")
+		ENDFOREACH(flag_var)
+	ENDIF (USE_MSVC_RELEASE_RUNTIME_ALWAYS)
+
 	IF (CMAKE_CL_64)
 	  ADD_DEFINITIONS(-D_WIN64)
 	ELSE()
-	  OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option"	ON)
+	  OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option"	OFF)
+	  option(USE_MSVC_SSE2 "Compile your program with SSE2 instructions" ON)
+
 	  IF (USE_MSVC_SSE)
 		  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE")
 	  ENDIF()
+	  IF (USE_MSVC_SSE2)
+		  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE2")
 	  ENDIF()
+
+	ENDIF()
+
+	option(USE_MSVC_AVX "Compile your program with AVX instructions"  OFF)
+
+	IF(USE_MSVC_AVX)
+		add_definitions(/arch:AVX)
+	ENDIF()
+
 	OPTION(USE_MSVC_FAST_FLOATINGPOINT "Use MSVC /fp:fast option"	ON)
 	IF (USE_MSVC_FAST_FLOATINGPOINT)
 		  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /fp:fast")
   ENDIF()
 
+	OPTION(USE_MSVC_STRING_POOLING "Use MSVC /GF string pooling option"	ON)
+	IF (USE_MSVC_STRING_POOLING)
+		SET(CMAKE_C_FLAGS "/GF ${CMAKE_C_FLAGS}")
+		SET(CMAKE_CXX_FLAGS "/GF ${CMAKE_CXX_FLAGS}")
+	ENDIF()
+
+	OPTION(USE_MSVC_FUNCTION_LEVEL_LINKING "Use MSVC /Gy function level linking option"	ON)
+	IF(USE_MSVC_FUNCTION_LEVEL_LINKING)
+		SET(CMAKE_C_FLAGS "/Gy ${CMAKE_C_FLAGS}")
+		SET(CMAKE_CXX_FLAGS "/Gy ${CMAKE_CXX_FLAGS}")
+		set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /OPT:REF")
+		set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /OPT:REF")
+	ENDIF(USE_MSVC_FUNCTION_LEVEL_LINKING)
+
+	OPTION(USE_MSVC_EXEPTIONS "Use MSVC C++ exceptions option"	OFF)
+
+
+
+	OPTION(USE_MSVC_COMDAT_FOLDING "Use MSVC /OPT:ICF COMDAT folding option"	ON)
+
+	IF(USE_MSVC_COMDAT_FOLDING)
+		set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /OPT:ICF")
+		set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /OPT:ICF")
+	ENDIF()
+
+	OPTION(USE_MSVC_DISABLE_RTTI "Use MSVC /GR- disabled RTTI flags option"	ON)
+	IF(USE_MSVC_DISABLE_RTTI)
+	  STRING(REGEX REPLACE "/GR" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS}) # Disable RTTI
+		SET(CMAKE_C_FLAGS "/GR- ${CMAKE_C_FLAGS}")
+		SET(CMAKE_CXX_FLAGS "/GR- ${CMAKE_CXX_FLAGS}")
+	ENDIF(USE_MSVC_DISABLE_RTTI)
+
 	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4244 /wd4267")
 ENDIF(MSVC)
 
@@ -141,15 +231,58 @@ IF (INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
 ADD_DEFINITIONS( -DBT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
 ENDIF (INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
 
+IF (CLAMP_VELOCITIES)
+ADD_DEFINITIONS( -DBT_CLAMP_VELOCITY_TO=${CLAMP_VELOCITIES})
+ENDIF (CLAMP_VELOCITIES)
+
 IF (USE_DOUBLE_PRECISION)
 ADD_DEFINITIONS( -DBT_USE_DOUBLE_PRECISION)
 SET( BULLET_DOUBLE_DEF "-DBT_USE_DOUBLE_PRECISION")
 ENDIF (USE_DOUBLE_PRECISION)
 
+IF (NOT USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+ADD_DEFINITIONS(-DSKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+ENDIF ()
+
 IF(USE_GRAPHICAL_BENCHMARK)
 ADD_DEFINITIONS( -DUSE_GRAPHICAL_BENCHMARK)
 ENDIF (USE_GRAPHICAL_BENCHMARK)
 
+IF(BULLET2_MULTITHREADING)
+	ADD_DEFINITIONS( -DBT_THREADSAFE=1 )
+	IF (NOT MSVC)
+		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+	ENDIF (NOT MSVC)
+	IF (NOT WIN32)
+		FIND_PACKAGE(Threads)
+		LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
+	ENDIF (NOT WIN32)
+ENDIF (BULLET2_MULTITHREADING)
+
+IF (BULLET2_USE_OPEN_MP_MULTITHREADING)
+    ADD_DEFINITIONS("-DBT_USE_OPENMP=1")
+    IF (MSVC)
+        SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /openmp")
+    ELSE (MSVC)
+        # GCC, Clang
+        SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp")
+    ENDIF (MSVC)
+ENDIF (BULLET2_USE_OPEN_MP_MULTITHREADING)
+
+IF (BULLET2_USE_TBB_MULTITHREADING)
+    SET (BULLET2_TBB_INCLUDE_DIR "not found" CACHE PATH "Directory for Intel TBB includes.")
+    SET (BULLET2_TBB_LIB_DIR "not found" CACHE PATH "Directory for Intel TBB libraries.")
+    find_library(TBB_LIBRARY tbb PATHS ${BULLET2_TBB_LIB_DIR})
+    find_library(TBBMALLOC_LIBRARY tbbmalloc PATHS ${BULLET2_TBB_LIB_DIR})
+    ADD_DEFINITIONS("-DBT_USE_TBB=1")
+    INCLUDE_DIRECTORIES( ${BULLET2_TBB_INCLUDE_DIR} )
+    LINK_LIBRARIES( ${TBB_LIBRARY} ${TBBMALLOC_LIBRARY} )
+ENDIF (BULLET2_USE_TBB_MULTITHREADING)
+
+IF (BULLET2_USE_PPL_MULTITHREADING)
+    ADD_DEFINITIONS("-DBT_USE_PPL=1")
+ENDIF (BULLET2_USE_PPL_MULTITHREADING)
+
 IF (WIN32)
 OPTION(USE_GLUT "Use Glut"	ON)
 ADD_DEFINITIONS( -D_CRT_SECURE_NO_WARNINGS )
@@ -190,25 +323,46 @@ ENDIF (OPENGL_FOUND)
 #FIND_PACKAGE(GLU)
 
 
-
-
 IF (APPLE)
   FIND_LIBRARY(COCOA_LIBRARY Cocoa)
 ENDIF()
 
 OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON)
 
-OPTION(BUILD_PYBULLET "Set when you want to build pybullet (experimental Python bindings for Bullet)" OFF)
+# Optional Python configuration
+# Will not probe environment for Python configuration (which can abort the
+# build process) unless you explicitly turn on BUILD_PYBULLET.
+OPTION(BUILD_PYBULLET "Set when you want to build pybullet (Python bindings for Bullet)" OFF)
+IF(BUILD_PYBULLET)
+	SET(PYTHON_VERSION_PYBULLET "" CACHE STRING "Python version pybullet will use.")
+	SET(Python_ADDITIONAL_VERSIONS 3 3.6 3.5 3.4 3.3 3.2 3.1 3.0 2.7 2.7.12 2.7.10 2.7.3 )
+	SET_PROPERTY(CACHE PYTHON_VERSION_PYBULLET PROPERTY STRINGS ${Python_ADDITIONAL_VERSIONS})
+	SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build3/cmake ${CMAKE_MODULE_PATH})
+	OPTION(EXACT_PYTHON_VERSION "Require Python and match PYTHON_VERSION_PYBULLET exactly, e.g. 2.7.12" OFF)
+	IF(EXACT_PYTHON_VERSION)
+	    set(EXACT_PYTHON_VERSION_FLAG EXACT REQUIRED)
+	ENDIF(EXACT_PYTHON_VERSION)
+	# first find the python interpreter
+	FIND_PACKAGE(PythonInterp ${PYTHON_VERSION_PYBULLET} ${EXACT_PYTHON_VERSION_FLAG})
+	# python library should exactly match that of the interpreter
+	# the following can result in fatal error if you don't have the right python configuration
+	FIND_PACKAGE(PythonLibs ${PYTHON_VERSION_STRING} EXACT)
+ENDIF(BUILD_PYBULLET)
+
+OPTION(BUILD_ENET "Set when you want to build apps with enet UDP networking support" ON)
+OPTION(BUILD_CLSOCKET "Set when you want to build apps with enet TCP networking support" ON)
 
 
 IF(BUILD_PYBULLET)
-
 	FIND_PACKAGE(PythonLibs)
 
 	OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" OFF)
+	OPTION(BUILD_PYBULLET_ENET "Set when you want to build pybullet with enet UDP networking support" ON)
+	OPTION(BUILD_PYBULLET_CLSOCKET "Set when you want to build pybullet with enet TCP networking support" ON)
+
+	OPTION(BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK "Set when you want to use the Python Framework on Mac" OFF)
 
 	IF(BUILD_PYBULLET_NUMPY)
-		set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_LIST_DIR}/build3/cmake)
 		#include(FindNumPy)
 		FIND_PACKAGE(NumPy)
 		if (PYTHON_NUMPY_FOUND)
@@ -218,15 +372,34 @@ IF(BUILD_PYBULLET)
 			message("NumPy not found")
 		endif()
 	ENDIF()
-	OPTION(BUILD_PYBULLET "Set when you want to build pybullet (experimental Python bindings for Bullet)" OFF)
 
 	IF(WIN32)
 		SET(BUILD_SHARED_LIBS OFF CACHE BOOL "Shared Libs" FORCE)
 	ELSE(WIN32)
 		SET(BUILD_SHARED_LIBS ON CACHE BOOL "Shared Libs" FORCE)
 	ENDIF(WIN32)
+
+	IF(APPLE)
+		OPTION(BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK "Set when you want to use the Python Framework on Mac" ON)
+		IF(NOT BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK)
+			add_definitions(-DB3_NO_PYTHON_FRAMEWORK)
+		ENDIF(NOT BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK)
+		OPTION(BUILD_PYBULLET_SHOW_PY_VERSION "Set when you want to show the PY_MAJOR_VERSION and PY_MAJOR_VERSION using #pragme message." OFF)
+		IF(BUILD_PYBULLET_SHOW_PY_VERSION)
+			add_definitions(-DB3_DUMP_PYTHON_VERSION)
+		ENDIF()
+
+	ENDIF(APPLE)
+
 ENDIF(BUILD_PYBULLET)
 
+IF(NOT WIN32 AND NOT APPLE)
+    OPTION(BUILD_EGL "Build OpenGL/EGL" ON)
+    IF(BUILD_EGL)
+        ADD_DEFINITIONS(-DBT_USE_EGL)
+    ENDIF(BUILD_EGL)
+ENDIF()
+
 IF(BUILD_BULLET3)
 	 IF(APPLE)
 		MESSAGE("Mac OSX Version is ${_CURRENT_OSX_VERSION}")
@@ -259,6 +432,7 @@ IF(BUILD_BULLET2_DEMOS)
 	IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/examples AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/examples)
 		SUBDIRS(examples)
 	ENDIF()
+
 ENDIF(BUILD_BULLET2_DEMOS)
 
 
@@ -269,7 +443,6 @@ IF(BUILD_EXTRAS)
 ENDIF(BUILD_EXTRAS)
 
 
-#Maya Dynamica plugin is moved to http://dynamica.googlecode.com
 
 SUBDIRS(src)
 
@@ -284,7 +457,15 @@ ELSE()
 	ENDIF()
 ENDIF()
 
+
 IF(INSTALL_LIBS)
+	#INSTALL of other files requires CMake 2.6
+	IF(BUILD_EXTRAS)
+		IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+			OPTION(INSTALL_EXTRA_LIBS "Set when you want extra libraries installed" ON)
+		ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+	ENDIF(BUILD_EXTRAS)
+
 	SET (LIB_SUFFIX "" CACHE STRING "Define suffix of directory name (32/64)" )
 	SET (LIB_DESTINATION "lib${LIB_SUFFIX}" CACHE STRING "Library directory name")
 	## the following are directories where stuff will be installed to
@@ -298,12 +479,8 @@ IF(INSTALL_LIBS)
 		DESTINATION
 		${PKGCONFIG_INSTALL_PREFIX})
 	ENDIF(NOT MSVC)
-ENDIF(INSTALL_LIBS)
+ENDIF()
 
-#INSTALL of other files requires CMake 2.6
-IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
-	OPTION(INSTALL_EXTRA_LIBS "Set when you want extra libraries installed" OFF)
-ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
 
 OPTION(BUILD_UNIT_TESTS "Build Unit Tests"	ON)
 
@@ -313,10 +490,10 @@ IF (BUILD_UNIT_TESTS)
 ENDIF()
 
 set (BULLET_CONFIG_CMAKE_PATH lib${LIB_SUFFIX}/cmake/bullet )
+list (APPEND BULLET_DEFINITIONS ${BULLET_DOUBLE_DEF})
 list (APPEND BULLET_LIBRARIES LinearMath)
-IF(BUILD_BULLET3)
+list (APPEND BULLET_LIBRARIES Bullet3Common)
 list (APPEND BULLET_LIBRARIES BulletInverseDynamics)
-ENDIF(BUILD_BULLET3)
 list (APPEND BULLET_LIBRARIES BulletCollision)
 list (APPEND BULLET_LIBRARIES BulletDynamics)
 list (APPEND BULLET_LIBRARIES BulletSoftBody)
@@ -325,7 +502,11 @@ configure_file 	( ${CMAKE_CURRENT_SOURCE_DIR}/BulletConfig.cmake.in
 					${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
 					@ONLY ESCAPE_QUOTES
 				)
+OPTION(INSTALL_CMAKE_FILES "Install generated CMake files" ON)
+
+IF (INSTALL_CMAKE_FILES)
 	install ( FILES ${CMAKE_CURRENT_SOURCE_DIR}/UseBullet.cmake
 		${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
 		DESTINATION ${BULLET_CONFIG_CMAKE_PATH}
 	)
+ENDIF (INSTALL_CMAKE_FILES)

Engine/lib/bullet/Extras/BulletRobotics/CMakeLists.txt

@@ -0,0 +1,317 @@
+
+INCLUDE_DIRECTORIES(
+		${BULLET_PHYSICS_SOURCE_DIR}/src
+		${BULLET_PHYSICS_SOURCE_DIR}/examples
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/SharedMemory
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
+)
+ADD_DEFINITIONS(-DSTATIC_LINK_SPD_PLUGIN)
+
+
+
+SET(BulletRobotics_INCLUDES
+  ../../examples/CommonInterfaces/Common2dCanvasInterface.h
+  ../../examples/CommonInterfaces/CommonCallbacks.h
+  ../../examples/CommonInterfaces/CommonCameraInterface.h
+  ../../examples/CommonInterfaces/CommonExampleInterface.h
+  ../../examples/CommonInterfaces/CommonFileIOInterface.h
+  ../../examples/CommonInterfaces/CommonGraphicsAppInterface.h
+  ../../examples/CommonInterfaces/CommonGUIHelperInterface.h
+  ../../examples/CommonInterfaces/CommonMultiBodyBase.h
+  ../../examples/CommonInterfaces/CommonParameterInterface.h
+  ../../examples/CommonInterfaces/CommonRenderInterface.h
+  ../../examples/CommonInterfaces/CommonRigidBodyBase.h
+  ../../examples/CommonInterfaces/CommonWindowInterface.h
+
+  ../../examples/OpenGLWindow/SimpleCamera.h
+
+  ../../examples/TinyRenderer/geometry.h
+  ../../examples/TinyRenderer/model.h
+  ../../examples/TinyRenderer/tgaimage.h
+  ../../examples/TinyRenderer/our_gl.h
+  ../../examples/TinyRenderer/TinyRenderer.h
+
+  ../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.h
+  ../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
+  ../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h
+  ../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
+  ../../examples/SharedMemory/IKTrajectoryHelper.h
+  ../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h
+  ../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
+  ../../examples/SharedMemory/InProcessMemory.h
+  ../../examples/SharedMemory/PhysicsServer.h
+  ../../examples/SharedMemory/PhysicsClient.h
+  ../../examples/SharedMemory/PhysicsServerSharedMemory.h
+  ../../examples/SharedMemory/PhysicsDirect.h
+  ../../examples/SharedMemory/PhysicsDirectC_API.h
+  ../../examples/SharedMemory/PhysicsServerCommandProcessor.h
+  ../../examples/SharedMemory/b3PluginManager.h
+  ../../examples/SharedMemory/PhysicsClientSharedMemory.h
+  ../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
+  ../../examples/SharedMemory/PhysicsClientC_API.h
+  ../../examples/SharedMemory/SharedMemoryPublic.h
+  ../../examples/SharedMemory/Win32SharedMemory.h
+  ../../examples/SharedMemory/PosixSharedMemory.h
+
+  ../../examples/Utils/b3ResourcePath.h
+  ../../examples/Utils/RobotLoggingUtil.h
+  ../../examples/Utils/b3Clock.h
+  ../../examples/Utils/b3ResourcePath.h
+  ../../examples/Utils/ChromeTraceUtil.h
+  ../../examples/Utils/b3ERPCFMHelper.hpp
+  ../../examples/Utils/b3ReferenceFrameHelper.hpp  
+
+  ../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.h
+  ../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
+  ../../examples/ThirdPartyLibs/stb_image/stb_image.h
+  ../../examples/ThirdPartyLibs/BussIK/Jacobian.h
+  ../../examples/ThirdPartyLibs/BussIK/LinearR2.h
+  ../../examples/ThirdPartyLibs/BussIK/LinearR3.h
+  ../../examples/ThirdPartyLibs/BussIK/LinearR4.h
+  ../../examples/ThirdPartyLibs/BussIK/MatrixRmn.h
+  ../../examples/ThirdPartyLibs/BussIK/Node.h
+  ../../examples/ThirdPartyLibs/BussIK/Tree.h
+  ../../examples/ThirdPartyLibs/BussIK/VectorRn.h
+
+  ../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.h
+  ../../examples/Importers/ImportObjDemo/LoadMeshFromObj.h
+  ../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h
+  ../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
+  ../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
+  ../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
+  ../../examples/Importers/ImportURDFDemo/URDF2Bullet.h
+  ../../examples/Importers/ImportURDFDemo/UrdfParser.h
+  ../../examples/Importers/ImportURDFDemo/urdfStringSplit.h
+  ../../examples/Importers/ImportURDFDemo/URDFImporterInterface.h
+  ../../examples/Importers/ImportURDFDemo/URDFJointTypes.h
+  ../../examples/Importers/ImportURDFDemo/SDFAudioTypes.h
+  ../../examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
+  ../../examples/Importers/ImportURDFDemo/MultiBodyCreationInterface.h
+  ../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h
+  
+  ../../examples/MultiThreading/b3PosixThreadSupport.h
+  ../../examples/MultiThreading/b3Win32ThreadSupport.h
+  ../../examples/MultiThreading/b3ThreadSupportInterface.h
+)
+
+SET(BulletRobotics_SRCS ${BulletRobotics_INCLUDES}
+	../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h
+	../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/Shape.h
+	../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.h
+	../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.h
+	../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.h
+	../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.h
+	../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h
+	
+	../../examples/OpenGLWindow/SimpleCamera.cpp
+
+	../../examples/TinyRenderer/geometry.cpp
+	../../examples/TinyRenderer/model.cpp
+	../../examples/TinyRenderer/tgaimage.cpp
+	../../examples/TinyRenderer/our_gl.cpp
+	../../examples/TinyRenderer/TinyRenderer.cpp
+
+	../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
+	../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
+	../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
+	../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
+	../../examples/SharedMemory/IKTrajectoryHelper.cpp
+	../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
+	../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
+	../../examples/SharedMemory/InProcessMemory.cpp
+	../../examples/SharedMemory/PhysicsClient.cpp
+	../../examples/SharedMemory/PhysicsServer.cpp
+	../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
+	../../examples/SharedMemory/PhysicsDirect.cpp
+	../../examples/SharedMemory/PhysicsDirectC_API.cpp
+	../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+	../../examples/SharedMemory/b3PluginManager.cpp
+	../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
+	../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
+	../../examples/SharedMemory/PhysicsClientC_API.cpp
+	../../examples/SharedMemory/Win32SharedMemory.cpp
+	../../examples/SharedMemory/PosixSharedMemory.cpp
+
+	../../examples/Utils/b3ResourcePath.cpp
+	../../examples/Utils/RobotLoggingUtil.cpp
+	../../examples/Utils/b3Clock.cpp
+	../../examples/Utils/b3ResourcePath.cpp
+	../../examples/Utils/ChromeTraceUtil.cpp
+
+	../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
+	../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
+	../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
+	../../examples/ThirdPartyLibs/BussIK/Jacobian.cpp
+	../../examples/ThirdPartyLibs/BussIK/LinearR2.cpp
+	../../examples/ThirdPartyLibs/BussIK/LinearR3.cpp
+	../../examples/ThirdPartyLibs/BussIK/LinearR4.cpp
+	../../examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp
+	../../examples/ThirdPartyLibs/BussIK/Misc.cpp
+	../../examples/ThirdPartyLibs/BussIK/Node.cpp
+	../../examples/ThirdPartyLibs/BussIK/Tree.cpp
+	../../examples/ThirdPartyLibs/BussIK/VectorRn.cpp
+
+	../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
+	../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
+	../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
+	../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+	../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+	../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
+	../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+	../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
+	../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
+	../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp 
+
+	../../examples/MultiThreading/b3PosixThreadSupport.cpp
+	../../examples/MultiThreading/b3Win32ThreadSupport.cpp
+	../../examples/MultiThreading/b3ThreadSupportInterface.cpp
+
+
+)
+
+IF(ENABLE_VHACD)
+ADD_DEFINITIONS(-DBT_ENABLE_VHACD)
+SET(BulletRobotics_SRCS ${BulletRobotics_SRCS}
+  ../../Extras/VHACD/test/src/main_vhacd.cpp
+  ../../Extras/VHACD/src/VHACD.cpp
+  ../../Extras/VHACD/src/vhacdICHull.cpp
+  ../../Extras/VHACD/src/vhacdManifoldMesh.cpp
+  ../../Extras/VHACD/src/vhacdMesh.cpp
+  ../../Extras/VHACD/src/vhacdVolume.cpp
+)
+INCLUDE_DIRECTORIES( 
+  ../../Extras/VHACD/inc
+  ../../Extras/VHACD/public
+)
+ENDIF(ENABLE_VHACD)
+
+IF(BUILD_CLSOCKET)
+ ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
+ENDIF(BUILD_CLSOCKET)
+
+IF(WIN32)
+	IF(BUILD_ENET)
+		ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
+	ENDIF(BUILD_ENET)
+	IF(BUILD_CLSOCKET)
+		ADD_DEFINITIONS(-DWIN32)
+	ENDIF(BUILD_CLSOCKET)
+
+ELSE(WIN32)
+	IF(BUILD_ENET)
+		ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
+	ENDIF(BUILD_ENET)
+
+	IF(BUILD_CLSOCKET)	
+		ADD_DEFINITIONS(${OSDEF})
+	ENDIF(BUILD_CLSOCKET)
+		
+	IF(NOT APPLE)
+		FIND_PACKAGE(Threads)
+		LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
+	ENDIF(NOT APPLE)
+ENDIF(WIN32)
+
+IF(BUILD_ENET)
+  set(BulletRobotics_ENET_INCLUDES 
+    ../../examples/SharedMemory/PhysicsClientUDP.h		
+    ../../examples/SharedMemory/PhysicsClientUDP_C_API.h
+    ../../examples/ThirdPartyLibs/enet/include/enet/win32.h
+		../../examples/ThirdPartyLibs/enet/include/enet/unix.h
+		../../examples/ThirdPartyLibs/enet/include/enet/callbacks.h
+		../../examples/ThirdPartyLibs/enet/include/enet/list.h
+		../../examples/ThirdPartyLibs/enet/include/enet/protocol.h
+  )
+  set(BulletRobotics_ENET_SRCS
+    ../../examples/SharedMemory/PhysicsClientUDP.cpp
+    ../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp
+		../../examples/ThirdPartyLibs/enet/win32.c
+		../../examples/ThirdPartyLibs/enet/unix.c
+		../../examples/ThirdPartyLibs/enet/callbacks.c
+		../../examples/ThirdPartyLibs/enet/compress.c
+		../../examples/ThirdPartyLibs/enet/host.c
+		../../examples/ThirdPartyLibs/enet/list.c
+		../../examples/ThirdPartyLibs/enet/packet.c
+		../../examples/ThirdPartyLibs/enet/peer.c
+		../../examples/ThirdPartyLibs/enet/protocol.c
+  )
+
+  set(BulletRobotics_INCLUDES
+    ${BulletRobotics_INCLUDES}
+    ${BulletRobotics_ENET_INCLUDES}
+	)
+
+  set(BulletRobotics_SRCS
+    ${BulletRobotics_SRCS}
+    ${BulletRobotics_ENET_INCLUDES}
+    ${BulletRobotics_ENET_SRCS}
+	)
+
+ENDIF(BUILD_ENET)
+
+IF(BUILD_CLSOCKET)
+  set(BulletRobotics_CLSOCKET_SRCS
+    ../../examples/SharedMemory/PhysicsClientTCP.cpp
+    ../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp
+    ../../examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
+    ../../examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
+    ../../examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
+  )
+
+  set(BulletRobotics_SRCS
+    ${BulletRobotics_SRCS}
+    ${BulletRobotics_CLSOCKET_SRCS}
+  )
+ENDIF()
+
+ADD_DEFINITIONS(-DPHYSICS_SERVER_DIRECT)
+
+
+ADD_LIBRARY(BulletRobotics ${BulletRobotics_SRCS})
+
+SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES SOVERSION ${BULLET_VERSION})
+
+IF (BUILD_SHARED_LIBS)
+	TARGET_LINK_LIBRARIES(BulletRobotics BulletInverseDynamicsUtils BulletWorldImporter BulletFileLoader BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamics LinearMath Bullet3Common)
+ENDIF (BUILD_SHARED_LIBS)
+
+  
+
+INSTALL (
+    DIRECTORY ${CMAKE_SOURCE_DIR}/examples/
+    DESTINATION include/bullet
+    FILES_MATCHING PATTERN "*.h*")
+
+	INSTALL(TARGETS
+		BulletRobotics
+		LIBRARY DESTINATION lib${LIB_SUFFIX}
+		ARCHIVE DESTINATION lib${LIB_SUFFIX}
+	)
+		
+  IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+    SET_TARGET_PROPERTIES(BulletRobotics  PROPERTIES FRAMEWORK true)
+    SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES PUBLIC_HEADER "PhysicsClientC_API.h" )
+  ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)	
+
+IF(NOT MSVC)
+    SET(PKGCONFIG_INSTALL_PREFIX "lib${LIB_SUFFIX}/pkgconfig/" CACHE STRING "Base directory for pkgconfig files")
+    CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/bullet_robotics.pc.cmake
+                   ${CMAKE_CURRENT_BINARY_DIR}/bullet_robotics.pc @ONLY)
+  	INSTALL(
+      FILES
+      ${CMAKE_CURRENT_BINARY_DIR}/bullet_robotics.pc
+      DESTINATION
+      ${PKGCONFIG_INSTALL_PREFIX}
+    )
+ENDIF(NOT MSVC)
+

Engine/lib/bullet/Extras/BulletRobotics/bullet_robotics.pc.cmake

@@ -0,0 +1,6 @@
+Name: bullet_robotics
+Description: Bullet extras that include several utilities for robotics including a urdf parser
+Requires: bullet
+Version: @BULLET_VERSION@
+Libs: -L@CMAKE_INSTALL_PREFIX@/@LIB_DESTINATION@ -lBulletRobotics
+Cflags: @BULLET_DOUBLE_DEF@ -I@CMAKE_INSTALL_PREFIX@/@INCLUDE_INSTALL_DIR@ -I@CMAKE_INSTALL_PREFIX@/include/bullet_robotics

Engine/lib/bullet/Extras/BulletRobotics/premake4.lua

@@ -0,0 +1,183 @@
+		
+
+project ("BulletRobotics")
+		language "C++"
+		kind "StaticLib"
+		
+		includedirs {"../../src", "../../examples",
+		"../../examples/ThirdPartyLibs"}
+		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
+	hasCL = findOpenCL("clew")
+
+	links{"BulletExampleBrowserLib","gwen", "BulletFileLoader","BulletWorldImporter","OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK", "Bullet3Common"}
+	initOpenGL()
+	initGlew()
+
+  	includedirs {
+                "../../src",
+                "../../examples",
+                "../../examples/SharedMemory",
+                "../ThirdPartyLibs",
+                "../ThirdPartyLibs/enet/include",
+                "../ThirdPartyLibs/clsocket/src",
+                }
+
+	if os.is("MacOSX") then
+--		targetextension {"so"}
+		links{"Cocoa.framework","Python"}
+	end
+
+	
+if not _OPTIONS["no-enet"] then
+
+		includedirs {"../../examples/ThirdPartyLibs/enet/include"}
+	
+		if os.is("Windows") then 
+--			targetextension {"dylib"}
+			defines { "WIN32" }
+			links {"Ws2_32","Winmm"}
+		end
+		if os.is("Linux") then
+		end
+		if os.is("MacOSX") then
+		end		
+		
+		links {"enet"}		
+
+		files {
+			"../../examples/SharedMemory/PhysicsClientUDP.cpp",
+			"../../examples/SharedMemory/PhysicsClientUDP.h",
+			"../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp",
+			"../../examples/SharedMemory/PhysicsClientUDP_C_API.h",
+		}	
+		defines {"BT_ENABLE_ENET"}
+	end
+
+	if not _OPTIONS["no-clsocket"] then
+
+                includedirs {"../../examples/ThirdPartyLibs/clsocket/src"}
+
+		 if os.is("Windows") then
+                	defines { "WIN32" }
+                	links {"Ws2_32","Winmm"}
+       		 end
+        	if os.is("Linux") then
+                	defines {"_LINUX"}
+        	end
+        	if os.is("MacOSX") then
+                	defines {"_DARWIN"}
+        	end
+
+                links {"clsocket"}
+
+                files {
+			"../../examples/SharedMemory/RemoteGUIHelperTCP.cpp",
+                        "../../examples/SharedMemory/PhysicsClientTCP.cpp",
+			"../../examples/SharedMemory/GraphicsServerExample.cpp",
+                        "../../examples/SharedMemory/PhysicsClientTCP.h",
+                        "../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp",
+                        "../../examples/SharedMemory/PhysicsClientTCP_C_API.h",
+                }
+                defines {"BT_ENABLE_CLSOCKET"}
+        end
+
+
+		files {
+		"../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
+		"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
+		"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
+		"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp",
+		"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h",
+		"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
+		"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h",
+		"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
+		"../../examples/SharedMemory/IKTrajectoryHelper.h",
+		"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
+		"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
+		"../../examples/SharedMemory/RemoteGUIHelper.cpp",
+		"../../examples/OpenGLWindow/SimpleCamera.cpp",
+		"../../examples/OpenGLWindow/SimpleCamera.h",
+		"../../examples/TinyRenderer/geometry.cpp",
+		"../../examples/TinyRenderer/model.cpp",
+		"../../examples/TinyRenderer/tgaimage.cpp",
+		"../../examples/TinyRenderer/our_gl.cpp",
+		"../../examples/TinyRenderer/TinyRenderer.cpp",
+		"../../examples/SharedMemory/InProcessMemory.cpp",
+		"../../examples/SharedMemory/PhysicsClient.cpp",
+		"../../examples/SharedMemory/PhysicsClient.h",
+		"../../examples/SharedMemory/PhysicsServer.cpp",
+		"../../examples/SharedMemory/PhysicsServer.h",
+		"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
+		"../../examples/SharedMemory/PhysicsServerSharedMemory.h",
+		"../../examples/SharedMemory/PhysicsDirect.cpp",
+		"../../examples/SharedMemory/PhysicsDirect.h",
+		"../../examples/SharedMemory/PhysicsDirectC_API.cpp",
+		"../../examples/SharedMemory/PhysicsDirectC_API.h",
+		"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
+		"../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
+		"../../examples/SharedMemory/b3PluginManager.cpp",
+		"../../examples/SharedMemory/b3PluginManager.h",
+				
+		"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
+		"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
+		"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp",
+		"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h",
+		"../../examples/SharedMemory/PhysicsClientC_API.cpp",
+	
+		"../../examples/SharedMemory/PhysicsClientC_API.h",
+		"../../examples/SharedMemory/SharedMemoryPublic.h",
+
+		"../../examples/SharedMemory/Win32SharedMemory.cpp",
+		"../../examples/SharedMemory/Win32SharedMemory.h",
+		"../../examples/SharedMemory/PosixSharedMemory.cpp",
+		"../../examples/SharedMemory/PosixSharedMemory.h",
+
+		"../../examples/Utils/b3ResourcePath.cpp",
+		"../../examples/Utils/b3ResourcePath.h",
+		"../../examples/Utils/RobotLoggingUtil.cpp",
+		"../../examples/Utils/RobotLoggingUtil.h",
+		"../../examples/Utils/b3Clock.cpp",
+		"../../examples/Utils/b3ResourcePath.cpp",
+		"../../examples/Utils/b3ERPCFMHelper.hpp",
+		"../../examples/Utils/b3ReferenceFrameHelper.hpp",
+		"../../examples/Utils/ChromeTraceUtil.cpp",
+
+		"../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
+
+		"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
+		"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
+
+		"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
+
+		"../../examples/ThirdPartyLibs/BussIK/Jacobian.cpp",
+		"../../examples/ThirdPartyLibs/BussIK/LinearR2.cpp",
+		"../../examples/ThirdPartyLibs/BussIK/LinearR3.cpp",
+		"../../examples/ThirdPartyLibs/BussIK/LinearR4.cpp",
+		"../../examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp",
+		"../../examples/ThirdPartyLibs/BussIK/Misc.cpp",
+		"../../examples/ThirdPartyLibs/BussIK/Node.cpp",
+		"../../examples/ThirdPartyLibs/BussIK/Tree.cpp",
+		"../../examples/ThirdPartyLibs/BussIK/VectorRn.cpp",
+
+		"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
+		"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
+		"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
+		"../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
+		"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
+		"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
+		"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
+		"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
+		"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
+		"../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
+
+		"../../examples/MultiThreading/b3PosixThreadSupport.cpp",
+		"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
+		"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
+			}
+			
+if (_OPTIONS["enable_static_vr_plugin"]) then
+		files {"../../examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
+end
+
+
+	

Engine/lib/bullet/Extras/BulletRoboticsGUI/CMakeLists.txt

@@ -0,0 +1,196 @@
+
+INCLUDE_DIRECTORIES(
+		${BULLET_PHYSICS_SOURCE_DIR}/src
+		${BULLET_PHYSICS_SOURCE_DIR}/examples
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/SharedMemory
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
+)
+
+SET(BulletRoboticsGUI_INCLUDES
+  ../../examples/CommonInterfaces/Common2dCanvasInterface.h
+  ../../examples/CommonInterfaces/CommonCallbacks.h
+  ../../examples/CommonInterfaces/CommonCameraInterface.h
+  ../../examples/CommonInterfaces/CommonExampleInterface.h
+  ../../examples/CommonInterfaces/CommonFileIOInterface.h
+  ../../examples/CommonInterfaces/CommonGraphicsAppInterface.h
+  ../../examples/CommonInterfaces/CommonGUIHelperInterface.h
+  ../../examples/CommonInterfaces/CommonMultiBodyBase.h
+  ../../examples/CommonInterfaces/CommonParameterInterface.h
+  ../../examples/CommonInterfaces/CommonRenderInterface.h
+  ../../examples/CommonInterfaces/CommonRigidBodyBase.h
+  ../../examples/CommonInterfaces/CommonWindowInterface.h
+
+  ../../examples/OpenGLWindow/SimpleCamera.h
+
+  ../../examples/TinyRenderer/geometry.h
+  ../../examples/TinyRenderer/model.h
+  ../../examples/TinyRenderer/tgaimage.h
+  ../../examples/TinyRenderer/our_gl.h
+  ../../examples/TinyRenderer/TinyRenderer.h
+
+  ../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.h
+  ../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
+  ../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h
+  ../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
+  ../../examples/SharedMemory/IKTrajectoryHelper.h
+  ../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h
+  ../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
+  ../../examples/SharedMemory/InProcessMemory.h
+  ../../examples/SharedMemory/PhysicsServer.h
+  ../../examples/SharedMemory/PhysicsClient.h
+  ../../examples/SharedMemory/PhysicsServerSharedMemory.h
+  ../../examples/SharedMemory/PhysicsDirect.h
+  ../../examples/SharedMemory/PhysicsDirectC_API.h
+  ../../examples/SharedMemory/PhysicsServerCommandProcessor.h
+  ../../examples/SharedMemory/b3PluginManager.h
+  ../../examples/SharedMemory/PhysicsClientSharedMemory.h
+  ../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
+  ../../examples/SharedMemory/PhysicsClientC_API.h
+  ../../examples/SharedMemory/SharedMemoryPublic.h
+  ../../examples/SharedMemory/Win32SharedMemory.h
+  ../../examples/SharedMemory/PosixSharedMemory.h
+
+  ../../examples/Utils/b3ResourcePath.h
+  ../../examples/Utils/RobotLoggingUtil.h
+  ../../examples/Utils/b3Clock.h
+  ../../examples/Utils/b3ResourcePath.h
+  ../../examples/Utils/ChromeTraceUtil.h
+  ../../examples/Utils/b3ERPCFMHelper.hpp
+  ../../examples/Utils/b3ReferenceFrameHelper.hpp  
+
+  ../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.h
+  ../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
+  ../../examples/ThirdPartyLibs/stb_image/stb_image.h
+  ../../examples/ThirdPartyLibs/BussIK/Jacobian.h
+  ../../examples/ThirdPartyLibs/BussIK/LinearR2.h
+  ../../examples/ThirdPartyLibs/BussIK/LinearR3.h
+  ../../examples/ThirdPartyLibs/BussIK/LinearR4.h
+  ../../examples/ThirdPartyLibs/BussIK/MatrixRmn.h
+  ../../examples/ThirdPartyLibs/BussIK/Node.h
+  ../../examples/ThirdPartyLibs/BussIK/Tree.h
+  ../../examples/ThirdPartyLibs/BussIK/VectorRn.h
+
+  ../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.h
+  ../../examples/Importers/ImportObjDemo/LoadMeshFromObj.h
+  ../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h
+  ../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
+  ../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
+  ../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
+  ../../examples/Importers/ImportURDFDemo/URDF2Bullet.h
+  ../../examples/Importers/ImportURDFDemo/UrdfParser.h
+  ../../examples/Importers/ImportURDFDemo/urdfStringSplit.h
+  ../../examples/Importers/ImportURDFDemo/URDFImporterInterface.h
+  ../../examples/Importers/ImportURDFDemo/URDFJointTypes.h
+  ../../examples/Importers/ImportURDFDemo/SDFAudioTypes.h
+  ../../examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
+  ../../examples/Importers/ImportURDFDemo/MultiBodyCreationInterface.h
+  ../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h
+  
+  ../../examples/MultiThreading/b3PosixThreadSupport.h
+  ../../examples/MultiThreading/b3Win32ThreadSupport.h
+  ../../examples/MultiThreading/b3ThreadSupportInterface.h
+)
+
+SET(BulletRoboticsGUI_SRCS ${BulletRoboticsGUI_INCLUDES}
+	../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
+	../../examples/SharedMemory/GraphicsServerExample.cpp
+	../../examples/SharedMemory/GraphicsClientExample.cpp
+	../../examples/SharedMemory/RemoteGUIHelper.cpp
+	../../examples/SharedMemory/RemoteGUIHelperTCP.cpp
+	../../examples/SharedMemory/GraphicsServerExample.h
+	../../examples/SharedMemory/GraphicsClientExample.h
+	../../examples/SharedMemory/RemoteGUIHelper.h
+	../../examples/SharedMemory/GraphicsSharedMemoryCommands.h
+	../../examples/SharedMemory/GraphicsSharedMemoryPublic.h
+	../../examples/SharedMemory/PhysicsServerExample.cpp
+	../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
+	../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp		
+)
+
+IF(BUILD_CLSOCKET)
+ ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
+ENDIF(BUILD_CLSOCKET)
+
+IF(WIN32)
+	IF(BUILD_ENET)
+		ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
+	ENDIF(BUILD_ENET)
+	IF(BUILD_CLSOCKET)
+		ADD_DEFINITIONS(-DWIN32)
+	ENDIF(BUILD_CLSOCKET)
+
+ELSE(WIN32)
+	IF(BUILD_ENET)
+		ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
+	ENDIF(BUILD_ENET)
+
+	IF(BUILD_CLSOCKET)	
+		ADD_DEFINITIONS(${OSDEF})
+	ENDIF(BUILD_CLSOCKET)
+		
+	IF(NOT APPLE)
+		FIND_PACKAGE(Threads)
+		LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
+	ENDIF(NOT APPLE)
+ENDIF(WIN32)
+
+IF(BUILD_ENET)
+  set(BulletRoboticsGUI_ENET_INCLUDES 
+    ../../examples/SharedMemory/PhysicsClientUDP.h		
+    ../../examples/SharedMemory/PhysicsClientUDP_C_API.h
+    ../../examples/ThirdPartyLibs/enet/include/enet/win32.h
+		../../examples/ThirdPartyLibs/enet/include/enet/unix.h
+		../../examples/ThirdPartyLibs/enet/include/enet/callbacks.h
+		../../examples/ThirdPartyLibs/enet/include/enet/list.h
+		../../examples/ThirdPartyLibs/enet/include/enet/protocol.h
+  )
+
+  set(BulletRoboticsGUI_INCLUDES
+    ${BulletRoboticsGUI_INCLUDES}
+    ${BulletRoboticsGUI_ENET_INCLUDES}
+	)
+
+
+
+ENDIF(BUILD_ENET)
+
+
+ADD_DEFINITIONS(-DPHYSICS_SERVER_DIRECT)
+
+
+ADD_LIBRARY(BulletRoboticsGUI ${BulletRoboticsGUI_SRCS})
+
+SET_TARGET_PROPERTIES(BulletRoboticsGUI PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(BulletRoboticsGUI PROPERTIES SOVERSION ${BULLET_VERSION})
+
+IF (BUILD_SHARED_LIBS)
+	TARGET_LINK_LIBRARIES(BulletRoboticsGUI  BulletExampleBrowserLib BulletRobotics  BulletInverseDynamicsUtils BulletWorldImporter BulletFileLoader BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamics LinearMath Bullet3Common)
+ENDIF (BUILD_SHARED_LIBS)
+
+  
+
+	INSTALL(TARGETS
+		BulletRoboticsGUI
+		LIBRARY DESTINATION lib${LIB_SUFFIX}
+		ARCHIVE DESTINATION lib${LIB_SUFFIX}
+	)
+		
+  IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+    SET_TARGET_PROPERTIES(BulletRobotics  PROPERTIES FRAMEWORK true)
+    SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES PUBLIC_HEADER "PhysicsClientC_API.h" )
+  ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)	
+
+IF(NOT MSVC)
+    SET(PKGCONFIG_INSTALL_PREFIX "lib${LIB_SUFFIX}/pkgconfig/" CACHE STRING "Base directory for pkgconfig files")
+    CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/bullet_robotics_gui.pc.cmake
+                   ${CMAKE_CURRENT_BINARY_DIR}/bullet_robotics_gui.pc @ONLY)
+  	INSTALL(
+      FILES
+      ${CMAKE_CURRENT_BINARY_DIR}/bullet_robotics_gui.pc
+      DESTINATION
+      ${PKGCONFIG_INSTALL_PREFIX}
+    )
+ENDIF(NOT MSVC)
+

Engine/lib/bullet/Extras/BulletRoboticsGUI/bullet_robotics_gui.pc.cmake

@@ -0,0 +1,6 @@
+Name: bullet_robotics_gui
+Description: Bullet GUI extras for robotics
+Requires: bullet
+Version: @BULLET_VERSION@
+Libs: -L@CMAKE_INSTALL_PREFIX@/@LIB_DESTINATION@ -lBulletRoboticsGUI
+Cflags: @BULLET_DOUBLE_DEF@ -I@CMAKE_INSTALL_PREFIX@/@INCLUDE_INSTALL_DIR@ -I@CMAKE_INSTALL_PREFIX@/include/bullet_robotics_gui

Engine/lib/bullet/Extras/CMakeLists.txt

@@ -1,8 +1,37 @@
-SUBDIRS( Serialize ConvexDecomposition HACD GIMPACTUtils )
+OPTION(BUILD_INVERSE_DYNAMIC_EXTRA "Build InverseDynamic extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_BULLET_ROBOTICS_GUI_EXTRA "Build BulletRoboticsGUI extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_BULLET_ROBOTICS_EXTRA "Build BulletRobotics extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_OBJ2SDF_EXTRA "Build obj2sdf extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_SERIALIZE_EXTRA "Build Serialize extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_CONVEX_DECOMPOSITION_EXTRA "Build ConvexDecomposition extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_HACD_EXTRA "Build HACD extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_GIMPACTUTILS_EXTRA "Build GIMPACTUtils extra module, only applied when BUILD_EXTRAS is ON" ON)
 
-IF(BUILD_BULLET3)
+IF(BUILD_INVERSE_DYNAMIC_EXTRA)
   SUBDIRS( InverseDynamics )
 ENDIF()
+IF(BUILD_BULLET_ROBOTICS_GUI_EXTRA)
+  SUBDIRS( BulletRoboticsGUI )
+ENDIF()
+IF(BUILD_BULLET_ROBOTICS_EXTRA)
+  SUBDIRS( BulletRobotics )
+ENDIF()
+IF(BUILD_OBJ2SDF_EXTRA)
+  SUBDIRS( obj2sdf )
+ENDIF()
+IF(BUILD_SERIALIZE_EXTRA)
+  SUBDIRS( Serialize )
+ENDIF()
+IF(BUILD_CONVEX_DECOMPOSITION_EXTRA)
+  SUBDIRS( ConvexDecomposition )
+ENDIF()
+IF(BUILD_HACD_EXTRA)
+  SUBDIRS( HACD )
+ENDIF()
+IF(BUILD_GIMPACTUTILS_EXTRA)
+  SUBDIRS( GIMPACTUtils )
+ENDIF()
+
 
 #Maya Dynamica plugin is moved to http://dynamica.googlecode.com
 

Engine/lib/bullet/Extras/ConvexDecomposition/CMakeLists.txt

@@ -49,7 +49,10 @@ IF (INSTALL_EXTRA_LIBS)
 			IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
 				INSTALL(TARGETS ConvexDecomposition DESTINATION .)
 			ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
-				INSTALL(TARGETS ConvexDecomposition DESTINATION lib${LIB_SUFFIX})
+				INSTALL(TARGETS ConvexDecomposition
+                                        RUNTIME DESTINATION bin
+                                        LIBRARY DESTINATION lib${LIB_SUFFIX}
+                                        ARCHIVE DESTINATION lib${LIB_SUFFIX})
 				INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h"  PATTERN
 ".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)

Engine/lib/bullet/Extras/ConvexDecomposition/ConvexBuilder.cpp

@@ -12,9 +12,9 @@ unsigned int MAXDEPTH = 8 ;
 float CONCAVE_PERCENT = 1.0f;
 float MERGE_PERCENT = 2.0f;
 
-CHull::CHull(const ConvexResult &result)
+CHull::CHull(const ConvexDecomposition::ConvexResult &result)
 {
-	mResult = new ConvexResult(result);
+	mResult = new ConvexDecomposition::ConvexResult(result);
 	mVolume = computeMeshVolume(result.mHullVertices, result.mHullTcount, result.mHullIndices);
 
 	mDiagonal = getBoundingRegion(result.mHullVcount, result.mHullVertices, sizeof(float) * 3, mMin, mMax);
@@ -34,8 +34,6 @@ CHull::CHull(const ConvexResult &result)
 	mMax[0] += dx;
 	mMax[1] += dy;
 	mMax[2] += dz;
-
-
 }
 
 CHull::~CHull(void)
@@ -48,9 +46,6 @@ bool CHull::overlap(const CHull &h) const
 	return overlapAABB(mMin, mMax, h.mMin, h.mMax);
 }
 
-
-
-
 ConvexBuilder::ConvexBuilder(ConvexDecompInterface *callback)
 {
 	mCallback = callback;
@@ -81,7 +76,7 @@ bool ConvexBuilder::isDuplicate(unsigned int i1,unsigned int i2,unsigned int i3,
 	return dcount == 3;
 }
 
-void ConvexBuilder::getMesh(const ConvexResult &cr,VertexLookup vc,UintVector &indices)
+void ConvexBuilder::getMesh(const ConvexDecomposition::ConvexResult &cr, VertexLookup vc, UintVector &indices)
 {
 	unsigned int *src = cr.mHullIndices;
 
@@ -122,13 +117,11 @@ void ConvexBuilder::getMesh(const ConvexResult &cr,VertexLookup vc,UintVector &i
 			indices.push_back(i3);
 		}
 #endif
-
 	}
 }
 
 CHull *ConvexBuilder::canMerge(CHull *a, CHull *b)
 {
-
 	if (!a->overlap(*b)) return 0;  // if their AABB's (with a little slop) don't overlap, then return.
 
 	CHull *ret = 0;
@@ -154,33 +147,31 @@ CHull * ConvexBuilder::canMerge(CHull *a,CHull *b)
 		return 0;
 	}
 
-	HullResult hresult;
+	ConvexDecomposition::HullResult hresult;
-	HullLibrary hl;
+	ConvexDecomposition::HullLibrary hl;
-	HullDesc   desc;
+	ConvexDecomposition::HullDesc desc;
 
-	desc.SetHullFlag(QF_TRIANGLES);
+	desc.SetHullFlag(ConvexDecomposition::QF_TRIANGLES);
 
 	desc.mVcount = vcount;
 	desc.mVertices = vertices;
 	desc.mVertexStride = sizeof(float) * 3;
 
-	HullError hret = hl.CreateConvexHull(desc,hresult);
+	ConvexDecomposition::HullError hret = hl.CreateConvexHull(desc, hresult);
 
-	if ( hret == QE_OK )
+	if (hret == ConvexDecomposition::QE_OK)
 	{
-
 		float combineVolume = computeMeshVolume(hresult.mOutputVertices, hresult.mNumFaces, hresult.mIndices);
 		float sumVolume = a->mVolume + b->mVolume;
 
 		float percent = (sumVolume * 100) / combineVolume;
 		if (percent >= (100.0f - MERGE_PERCENT))
 		{
-			ConvexResult cr(hresult.mNumOutputVertices, hresult.mOutputVertices, hresult.mNumFaces, hresult.mIndices);
+			ConvexDecomposition::ConvexResult cr(hresult.mNumOutputVertices, hresult.mOutputVertices, hresult.mNumFaces, hresult.mIndices);
 			ret = new CHull(cr);
 		}
 	}
 
-
 	Vl_releaseVertexLookup(vc);
 
 	return ret;
@@ -188,14 +179,12 @@ CHull * ConvexBuilder::canMerge(CHull *a,CHull *b)
 
 bool ConvexBuilder::combineHulls(void)
 {
-
 	bool combine = false;
 
 	sortChulls(mChulls);  // sort the convex hulls, largest volume to least...
 
 	CHullVector output;  // the output hulls...
 
-
 	int i;
 
 	for (i = 0; i < mChulls.size() && !combine; ++i)
@@ -209,15 +198,12 @@ bool ConvexBuilder::combineHulls(void)
 
 			if (cr != match)  // don't try to merge a hull with itself, that be stoopid
 			{
-
 				CHull *merge = canMerge(cr, match);  // if we can merge these two....
 
 				if (merge)
 				{
-
 					output.push_back(merge);
 
-
 					++i;
 					while (i != mChulls.size())
 					{
@@ -245,7 +231,6 @@ bool ConvexBuilder::combineHulls(void)
 		{
 			output.push_back(cr);
 		}
-
 	}
 
 	if (combine)
@@ -255,24 +240,21 @@ bool ConvexBuilder::combineHulls(void)
 		output.clear();
 	}
 
-
 	return combine;
 }
 
-unsigned int ConvexBuilder::process(const DecompDesc &desc)
+unsigned int ConvexBuilder::process(const ConvexDecomposition::DecompDesc &desc)
 {
-
 	unsigned int ret = 0;
 
 	MAXDEPTH = desc.mDepth;
 	CONCAVE_PERCENT = desc.mCpercent;
 	MERGE_PERCENT = desc.mPpercent;
 
-
 	calcConvexDecomposition(desc.mVcount, desc.mVertices, desc.mTcount, desc.mIndices, this, 0, 0);
 
-
+	while (combineHulls())
-	while ( combineHulls() ); // keep combinging hulls until I can't combine any more...
+		;  // keep combinging hulls until I can't combine any more...
 
 	int i;
 	for (i = 0; i < mChulls.size(); i++)
@@ -282,13 +264,13 @@ unsigned int ConvexBuilder::process(const DecompDesc &desc)
 		// before we hand it back to the application, we need to regenerate the hull based on the
 		// limits given by the user.
 
-		const ConvexResult &c = *cr->mResult; // the high resolution hull...
+		const ConvexDecomposition::ConvexResult &c = *cr->mResult;  // the high resolution hull...
 
-		HullResult result;
+		ConvexDecomposition::HullResult result;
-		HullLibrary hl;
+		ConvexDecomposition::HullLibrary hl;
-		HullDesc   hdesc;
+		ConvexDecomposition::HullDesc hdesc;
 
-		hdesc.SetHullFlag(QF_TRIANGLES);
+		hdesc.SetHullFlag(ConvexDecomposition::QF_TRIANGLES);
 
 		hdesc.mVcount = c.mHullVcount;
 		hdesc.mVertices = c.mHullVertices;
@@ -298,14 +280,14 @@ unsigned int ConvexBuilder::process(const DecompDesc &desc)
 		if (desc.mSkinWidth)
 		{
 			hdesc.mSkinWidth = desc.mSkinWidth;
-			hdesc.SetHullFlag(QF_SKIN_WIDTH); // do skin width computation.
+			hdesc.SetHullFlag(ConvexDecomposition::QF_SKIN_WIDTH);  // do skin width computation.
 		}
 
-		HullError ret = hl.CreateConvexHull(hdesc,result);
+		ConvexDecomposition::HullError ret = hl.CreateConvexHull(hdesc, result);
 
-		if ( ret == QE_OK )
+		if (ret == ConvexDecomposition::QE_OK)
 		{
-			ConvexResult r(result.mNumOutputVertices, result.mOutputVertices, result.mNumFaces, result.mIndices);
+			ConvexDecomposition::ConvexResult r(result.mNumOutputVertices, result.mOutputVertices, result.mNumFaces, result.mIndices);
 
 			r.mHullVolume = computeMeshVolume(result.mOutputVertices, result.mNumFaces, result.mIndices);  // the volume of the hull.
 
@@ -321,13 +303,11 @@ unsigned int ConvexBuilder::process(const DecompDesc &desc)
 			r.mSphereRadius = computeBoundingSphere(result.mNumOutputVertices, result.mOutputVertices, r.mSphereCenter);
 			r.mSphereVolume = fm_sphereVolume(r.mSphereRadius);
 
-
 			mCallback->ConvexDecompResult(r);
 		}
 
 		hl.ReleaseResult(result);
 
-
 		delete cr;
 	}
 
@@ -338,7 +318,6 @@ unsigned int ConvexBuilder::process(const DecompDesc &desc)
 	return ret;
 }
 
-
 void ConvexBuilder::ConvexDebugTri(const float *p1, const float *p2, const float *p3, unsigned int color)
 {
 	mCallback->ConvexDebugTri(p1, p2, p3, color);
@@ -358,7 +337,7 @@ void ConvexBuilder::ConvexDebugBound(const float *bmin,const float *bmax,unsigne
 	mCallback->ConvexDebugBound(bmin, bmax, color);
 }
 
-void ConvexBuilder::ConvexDecompResult(ConvexResult &result)
+void ConvexBuilder::ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
 {
 	CHull *ch = new CHull(result);
 	mChulls.push_back(ch);
@@ -369,5 +348,3 @@ void ConvexBuilder::sortChulls(CHullVector &hulls)
 	hulls.quickSort(CHullSort());
 	//hulls.heapSort(CHullSort());
 }
-
-

Engine/lib/bullet/Extras/ConvexDecomposition/ConvexBuilder.h

@@ -35,18 +35,14 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 // http://www.amillionpixels.us
 //
 
-
 #include "ConvexDecomposition.h"
 #include "vlookup.h"
 #include "LinearMath/btAlignedObjectArray.h"
 
-using namespace ConvexDecomposition;
-
-
 class CHull
 {
 public:
-	CHull(const ConvexResult &result);
+	CHull(const ConvexDecomposition::ConvexResult &result);
 
 	~CHull(void);
 
@@ -56,42 +52,38 @@ public:
 	float mMax[3];
 	float mVolume;
 	float mDiagonal;  // long edge..
-	ConvexResult  *mResult;
+	ConvexDecomposition::ConvexResult *mResult;
 };
 
 // Usage: std::sort( list.begin(), list.end(), StringSortRef() );
 class CHullSort
 {
 public:
-
 	inline bool operator()(const CHull *a, const CHull *b) const
 	{
 		return a->mVolume < b->mVolume;
 	}
 };
 
-
 typedef btAlignedObjectArray<CHull *> CHullVector;
 
-
+class ConvexBuilder : public ConvexDecomposition::ConvexDecompInterface
-
-class ConvexBuilder : public ConvexDecompInterface
 {
 public:
-	ConvexBuilder(ConvexDecompInterface *callback);
+	ConvexBuilder(ConvexDecomposition::ConvexDecompInterface *callback);
 
 	virtual ~ConvexBuilder(void);
 
 	bool isDuplicate(unsigned int i1, unsigned int i2, unsigned int i3,
 					 unsigned int ci1, unsigned int ci2, unsigned int ci3);
 
-	void getMesh(const ConvexResult &cr,VertexLookup vc,UintVector &indices);
+	void getMesh(const ConvexDecomposition::ConvexResult &cr, VertexLookup vc, UintVector &indices);
 
 	CHull *canMerge(CHull *a, CHull *b);
 
 	bool combineHulls(void);
 
-	unsigned int process(const DecompDesc &desc);
+	unsigned int process(const ConvexDecomposition::DecompDesc &desc);
 
 	virtual void ConvexDebugTri(const float *p1, const float *p2, const float *p3, unsigned int color);
 
@@ -100,7 +92,7 @@ public:
 
 	virtual void ConvexDebugBound(const float *bmin, const float *bmax, unsigned int color);
 
-	virtual void ConvexDecompResult(ConvexResult &result);
+	virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result);
 
 	void sortChulls(CHullVector &hulls);
 
@@ -109,4 +101,3 @@ public:
 };
 
 #endif  //CONVEX_BUILDER_H
-

Engine/lib/bullet/Extras/ConvexDecomposition/ConvexDecomposition.cpp

@@ -5,7 +5,6 @@
 #include <string.h>
 #include <assert.h>
 
-
 /*----------------------------------------------------------------------
 		Copyright (c) 2004 Open Dynamics Framework Group
 					www.physicstools.org
@@ -56,14 +55,10 @@
 #define SHOW_MESH 0
 #define MAKE_MESH 1
 
-
 using namespace ConvexDecomposition;
 
-
-
 namespace ConvexDecomposition
 {
-
 class FaceTri
 {
 public:
@@ -79,10 +74,8 @@ public:
 	Vector3d mP2;
 	Vector3d mP3;
 	Vector3d mNormal;
-
 };
 
-
 void addTri(VertexLookup vl, UintVector &list, const Vector3d &p1, const Vector3d &p2, const Vector3d &p3)
 {
 	unsigned int i1 = Vl_getIndex(vl, p1.Ptr());
@@ -99,7 +92,6 @@ void addTri(VertexLookup vl,UintVector &list,const Vector3d &p1,const Vector3d &
 	}
 }
 
-
 void calcConvexDecomposition(unsigned int vcount,
 							 const float *vertices,
 							 unsigned int tcount,
@@ -109,15 +101,12 @@ void calcConvexDecomposition(unsigned int           vcount,
 							 unsigned int depth)
 
 {
-
 	float plane[4];
 
 	bool split = false;
 
-
 	if (depth < MAXDEPTH)
 	{
-
 		float volume;
 		float c = computeConcavity(vcount, vertices, tcount, indices, callback, plane, volume);
 
@@ -132,12 +121,10 @@ void calcConvexDecomposition(unsigned int           vcount,
 		{
 			split = true;
 		}
-
 	}
 
 	if (depth >= MAXDEPTH || !split)
 	{
-
 #if 1
 
 		HullResult result;
@@ -154,14 +141,11 @@ void calcConvexDecomposition(unsigned int           vcount,
 
 		if (ret == QE_OK)
 		{
-
 			ConvexResult r(result.mNumOutputVertices, result.mOutputVertices, result.mNumFaces, result.mIndices);
 
-
 			callback->ConvexDecompResult(r);
 		}
 
-
 #else
 
 		static unsigned int colors[8] =
@@ -173,8 +157,7 @@ void calcConvexDecomposition(unsigned int           vcount,
 				0x00FFFF,
 				0xFF00FF,
 				0xFFFFFF,
-			0xFF8040
+				0xFF8040};
-		};
 
 		static int count = 0;
 
@@ -190,7 +173,6 @@ void calcConvexDecomposition(unsigned int           vcount,
 
 		for (unsigned int i = 0; i < tcount; i++)
 		{
-
 			unsigned int i1 = *source++;
 			unsigned int i2 = *source++;
 			unsigned int i3 = *source++;
@@ -198,13 +180,11 @@ void calcConvexDecomposition(unsigned int           vcount,
 			FaceTri t(vertices, i1, i2, i3);
 
 			callback->ConvexDebugTri(t.mP1.Ptr(), t.mP2.Ptr(), t.mP3.Ptr(), color);
-
 		}
 #endif
 
 		hl.ReleaseResult(result);
 		return;
-
 	}
 
 	UintVector ifront;
@@ -213,7 +193,6 @@ void calcConvexDecomposition(unsigned int           vcount,
 	VertexLookup vfront = Vl_createVertexLookup();
 	VertexLookup vback = Vl_createVertexLookup();
 
-
 	bool showmesh = false;
 #if SHOW_MESH
 	showmesh = true;
@@ -279,7 +258,6 @@ void calcConvexDecomposition(unsigned int           vcount,
 
 					addTri(vfront, ifront, front[0], front[1], front[2]);
 
-
 #endif
 
 					break;
@@ -306,7 +284,6 @@ void calcConvexDecomposition(unsigned int           vcount,
 					addTri(vfront, ifront, front[0], front[1], front[2]);
 					addTri(vback, iback, back[0], back[1], back[2]);
 
-
 					if (fcount == 4)
 					{
 						addTri(vfront, ifront, front[0], front[2], front[3]);
@@ -346,7 +323,6 @@ void calcConvexDecomposition(unsigned int           vcount,
 			unsigned int tcount = ifront.size() / 3;
 
 			calcConvexDecomposition(vcount, vertices, tcount, &ifront[0], callback, masterVolume, depth + 1);
-
 		}
 
 		ifront.clear();
@@ -360,16 +336,11 @@ void calcConvexDecomposition(unsigned int           vcount,
 			unsigned int tcount = iback.size() / 3;
 
 			calcConvexDecomposition(vcount, vertices, tcount, &iback[0], callback, masterVolume, depth + 1);
-
 		}
 
 		iback.clear();
 		Vl_releaseVertexLookup(vback);
-
 	}
 }
 
-
+}  // namespace ConvexDecomposition
-
-
-}

Engine/lib/bullet/Extras/ConvexDecomposition/ConvexDecomposition.h

@@ -36,7 +36,6 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 // http://www.amillionpixels.us
 //
 
-
 #ifdef _WIN32
 #include <memory.h>  //memcpy
 #endif
@@ -44,20 +43,14 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <stdio.h>
 #include "LinearMath/btAlignedObjectArray.h"
 
-
-
 extern unsigned int MAXDEPTH;
 extern float CONCAVE_PERCENT;
 extern float MERGE_PERCENT;
 
-
 typedef btAlignedObjectArray<unsigned int> UintVector;
 
-
-
 namespace ConvexDecomposition
 {
-
 class ConvexResult
 {
 public:
@@ -93,7 +86,6 @@ namespace ConvexDecomposition
 		{
 			mHullIndices = 0;
 		}
-
 	}
 
 	ConvexResult(const ConvexResult &r)
@@ -143,9 +135,6 @@ namespace ConvexDecomposition
 	float mSphereRadius;  // radius and center of best fit sphere
 	float mSphereCenter[3];
 	float mSphereVolume;  // volume of the best fit sphere
-
-
-
 };
 
 class ConvexDecompInterface
@@ -158,9 +147,6 @@ namespace ConvexDecomposition
 	virtual void ConvexDebugOBB(const float *sides, const float *matrix, unsigned int color){};
 
 	virtual void ConvexDecompResult(ConvexResult &result) = 0;
-
-
-
 };
 
 // just to avoid passing a zillion parameters to the method the
@@ -198,13 +184,11 @@ namespace ConvexDecomposition
 	float mSkinWidth;           // a skin width to apply to the output hulls.
 
 	ConvexDecompInterface *mCallback;  // the interface to receive back the results.
-
 };
 
 // perform approximate convex decomposition on a mesh.
 unsigned int performConvexDecomposition(const DecompDesc &desc);  // returns the number of hulls produced.
 
-
 void calcConvexDecomposition(unsigned int vcount,
 							 const float *vertices,
 							 unsigned int tcount,
@@ -213,8 +197,6 @@ namespace ConvexDecomposition
 							 float masterVolume,
 							 unsigned int depth);
 
-
+}  // namespace ConvexDecomposition
-}
-
 
 #endif

Engine/lib/bullet/Extras/ConvexDecomposition/LICENSE.txt

@@ -0,0 +1,19 @@
+Copyright (c) 2004 Open Dynamics Framework Group
+					www.physicstools.org
+		All rights reserved.
+		Redistribution and use in source and binary forms, with or without modification, are permitted provided
+		that the following conditions are met:
+		Redistributions of source code must retain the above copyright notice, this list of conditions
+		and the following disclaimer.
+		Redistributions in binary form must reproduce the above copyright notice,
+		this list of conditions and the following disclaimer in the documentation
+		and/or other materials provided with the distribution.
+		Neither the name of the Open Dynamics Framework Group nor the names of its contributors may
+		be used to endorse or promote products derived from this software without specific prior written permission.
+		THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 'AS IS' AND ANY EXPRESS OR IMPLIED WARRANTIES,
+		INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+		DISCLAIMED. IN NO EVENT SHALL THE INTEL OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+		EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+		LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
+		IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+		THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Engine/lib/bullet/Extras/ConvexDecomposition/bestfit.cpp

@@ -52,13 +52,16 @@
 
 namespace BestFit
 {
-
 class Vec3
 {
 public:
 	Vec3(void){};
-  Vec3(float _x,float _y,float _z) { x = _x; y = _y; z = _z; };
+	Vec3(float _x, float _y, float _z)
-
+	{
+		x = _x;
+		y = _y;
+		z = _z;
+	};
 
 	float dot(const Vec3 &v)
 	{
@@ -70,12 +73,9 @@ public:
 	float z;
 };
 
-
 class Eigen
 {
 public:
-
-
 	void DecrSortEigenStuff(void)
 	{
 		Tridiagonal();  //diagonalize the matrix.
@@ -247,7 +247,6 @@ public:
 		}
 	}
 
-
 	void GuaranteeRotation(void)
 	{
 		if (!m_bIsRotation)
@@ -266,12 +265,10 @@ public:
 	bool m_bIsRotation;
 };
 
-}
+}  // namespace BestFit
-
 
 using namespace BestFit;
 
-
 bool getBestFitPlane(unsigned int vcount,
 					 const float *points,
 					 unsigned int vstride,
@@ -292,7 +289,6 @@ bool getBestFitPlane(unsigned int vcount,
 
 		for (unsigned int i = 0; i < vcount; i++)
 		{
-
 			const float *p = (const float *)source;
 
 			float w = 1;
@@ -320,7 +316,6 @@ bool getBestFitPlane(unsigned int vcount,
 	kOrigin.y *= recip;
 	kOrigin.z *= recip;
 
-
 	float fSumXX = 0;
 	float fSumXY = 0;
 	float fSumXZ = 0;
@@ -329,7 +324,6 @@ bool getBestFitPlane(unsigned int vcount,
 	float fSumYZ = 0;
 	float fSumZZ = 0;
 
-
 	if (1)
 	{
 		const char *source = (const char *)points;
@@ -337,7 +331,6 @@ bool getBestFitPlane(unsigned int vcount,
 
 		for (unsigned int i = 0; i < vcount; i++)
 		{
-
 			const float *p = (const float *)source;
 
 			float w = 1;
@@ -363,7 +356,6 @@ bool getBestFitPlane(unsigned int vcount,
 			fSumYZ += kDiff.y * kDiff.z;
 			fSumZZ += kDiff.z * kDiff.z;
 
-
 			source += vstride;
 		}
 	}
@@ -409,11 +401,8 @@ bool getBestFitPlane(unsigned int vcount,
 	return ret;
 }
 
-
-
 float getBoundingRegion(unsigned int vcount, const float *points, unsigned int pstride, float *bmin, float *bmax)  // returns the diagonal distance
 {
-
 	const unsigned char *source = (const unsigned char *)points;
 
 	bmin[0] = points[0];
@@ -424,7 +413,6 @@ float getBoundingRegion(unsigned int vcount,const float *points,unsigned int pst
 	bmax[1] = points[1];
 	bmax[2] = points[2];
 
-
 	for (unsigned int i = 1; i < vcount; i++)
 	{
 		source += pstride;
@@ -437,7 +425,6 @@ float getBoundingRegion(unsigned int vcount,const float *points,unsigned int pst
 		if (p[0] > bmax[0]) bmax[0] = p[0];
 		if (p[1] > bmax[1]) bmax[1] = p[1];
 		if (p[2] > bmax[2]) bmax[2] = p[2];
-
 	}
 
 	float dx = bmax[0] - bmin[0];
@@ -445,10 +432,8 @@ float getBoundingRegion(unsigned int vcount,const float *points,unsigned int pst
 	float dz = bmax[2] - bmin[2];
 
 	return sqrtf(dx * dx + dy * dy + dz * dz);
-
 }
 
-
 bool overlapAABB(const float *bmin1, const float *bmax1, const float *bmin2, const float *bmax2)  // return true if the two AABB's overlap.
 {
 	if (bmax2[0] < bmin1[0]) return false;  // if the maximum is less than our minimum on any axis
@@ -459,8 +444,5 @@ bool  overlapAABB(const float *bmin1,const float *bmax1,const float *bmin2,const
 	if (bmin2[1] > bmax1[1]) return false;  // if the minimum is greater than our maximum on any axis
 	if (bmin2[2] > bmax1[2]) return false;  // if the minimum is greater than our maximum on any axis
 
-
 	return true;  // the extents overlap
 }
-
-

Engine/lib/bullet/Extras/ConvexDecomposition/bestfit.h

@@ -36,7 +36,6 @@
 // http://www.amillionpixels.us
 //
 
-
 // This routine was released in 'snippet' form
 // by John W. Ratcliff mailto:jratcliff@infiniplex.net
 // on March 22, 2006.
@@ -58,7 +57,6 @@ bool getBestFitPlane(unsigned int vcount,     // number of input data points
 					 unsigned int wstride,  // weight stride for each vertex.
 					 float *plane);
 
-
 float getBoundingRegion(unsigned int vcount, const float *points, unsigned int pstride, float *bmin, float *bmax);  // returns the diagonal distance
 bool overlapAABB(const float *bmin1, const float *bmax1, const float *bmin2, const float *bmax2);                   // return true if the two AABB's overlap.
 

Engine/lib/bullet/Extras/ConvexDecomposition/bestfitobb.cpp

@@ -69,7 +69,6 @@ void computeOBB(unsigned int vcount,const float *points,unsigned int pstride,flo
 		src += pstride;
 	}
 
-
 	sides[0] = bmax[0];
 	sides[1] = bmax[1];
 	sides[2] = bmax[2];
@@ -81,12 +80,10 @@ void computeOBB(unsigned int vcount,const float *points,unsigned int pstride,flo
 	sides[0] *= 2.0f;
 	sides[1] *= 2.0f;
 	sides[2] *= 2.0f;
-
 }
 
 void computeBestFitOBB(unsigned int vcount, const float *points, unsigned int pstride, float *sides, float *matrix)
 {
-
 	float bmin[3];
 	float bmax[3];
 
@@ -110,7 +107,6 @@ void computeBestFitOBB(unsigned int vcount,const float *points,unsigned int pstr
 
 	while (sweep >= 1)
 	{
-
 		bool found = false;
 
 		float stepsize = sweep / steps;
@@ -156,7 +152,6 @@ void computeBestFitOBB(unsigned int vcount,const float *points,unsigned int pstr
 
 		if (found)
 		{
-
 			ax = angle[0];
 			ay = angle[1];
 			az = angle[2];
@@ -167,7 +162,5 @@ void computeBestFitOBB(unsigned int vcount,const float *points,unsigned int pstr
 		{
 			break;  // no improvement, so just
 		}
-
 	}
-
 }

Engine/lib/bullet/Extras/ConvexDecomposition/bestfitobb.h

@@ -36,8 +36,6 @@
 // http://www.amillionpixels.us
 //
 
-
-
 void computeBestFitOBB(unsigned int vcount, const float *points, unsigned int pstride, float *sides, float *matrix);
 
 #endif

Engine/lib/bullet/Extras/ConvexDecomposition/cd_hull.h

@@ -31,7 +31,6 @@
 
 namespace ConvexDecomposition
 {
-
 class HullResult
 {
 public:
@@ -63,7 +62,6 @@ enum HullFlag
 	QF_DEFAULT = 0
 };
 
-
 class HullDesc
 {
 public:
@@ -128,14 +126,12 @@ enum HullError
 class HullLibrary
 {
 public:
-
 	HullError CreateConvexHull(const HullDesc &desc,  // describes the input request
 							   HullResult &result);   // contains the resulst
 
 	HullError ReleaseResult(HullResult &result);  // release memory allocated for this result, we are done with it.
 
 private:
-
 	void BringOutYourDead(const float *verts, unsigned int vcount, float *overts, unsigned int &ocount, unsigned int *indices, unsigned indexcount);
 
 	bool CleanupVertices(unsigned int svcount,
@@ -147,7 +143,6 @@ private:
 						 float *scale);
 };
 
-}
+}  // namespace ConvexDecomposition
 
 #endif
-

Engine/lib/bullet/Extras/ConvexDecomposition/cd_vector.h

@@ -36,7 +36,6 @@
 // http://www.amillionpixels.us
 //
 
-
 #pragma warning(disable : 4786)
 
 #include <math.h>
@@ -45,8 +44,6 @@
 
 namespace ConvexDecomposition
 {
-
-
 const float DEG_TO_RAD = ((2.0f * 3.14152654f) / 360.0f);
 const float RAD_TO_DEG = (360.0f / (2.0f * 3.141592654f));
 
@@ -95,28 +92,36 @@ public:
 
 	// Operators
 	Vector3d &operator=(const Vector3d &A)  // ASSIGNMENT (=)
-			{ x=A.x; y=A.y; z=A.z;
+	{
-				return(*this);  };
+		x = A.x;
+		y = A.y;
+		z = A.z;
+		return (*this);
+	};
 
 	Vector3d operator+(const Vector3d &A) const  // ADDITION (+)
-			{ Vector3d Sum(x+A.x, y+A.y, z+A.z);
+	{
-				return(Sum); };
+		Vector3d Sum(x + A.x, y + A.y, z + A.z);
+		return (Sum);
+	};
 
 	Vector3d operator-(const Vector3d &A) const  // SUBTRACTION (-)
-			{ Vector3d Diff(x-A.x, y-A.y, z-A.z);
+	{
-				return(Diff); };
+		Vector3d Diff(x - A.x, y - A.y, z - A.z);
+		return (Diff);
+	};
 
 	Vector3d operator*(const float s) const  // MULTIPLY BY SCALAR (*)
-			{ Vector3d Scaled(x*s, y*s, z*s);
+	{
-				return(Scaled); };
+		Vector3d Scaled(x * s, y * s, z * s);
-
+		return (Scaled);
+	};
 
 	Vector3d operator+(const float s) const  // ADD CONSTANT TO ALL 3 COMPONENTS (*)
-			{ Vector3d Scaled(x+s, y+s, z+s);
+	{
-				return(Scaled); };
+		Vector3d Scaled(x + s, y + s, z + s);
-
+		return (Scaled);
-
+	};
-
 
 	Vector3d operator/(const float s) const  // DIVIDE BY SCALAR (/)
 	{
@@ -126,27 +131,52 @@ public:
 	};
 
 	void operator/=(float A)  // ACCUMULATED VECTOR ADDITION (/=)
-			{ x/=A; y/=A; z/=A; };
+	{
+		x /= A;
+		y /= A;
+		z /= A;
+	};
 
 	void operator+=(const Vector3d A)  // ACCUMULATED VECTOR ADDITION (+=)
-			{ x+=A.x; y+=A.y; z+=A.z; };
+	{
+		x += A.x;
+		y += A.y;
+		z += A.z;
+	};
 	void operator-=(const Vector3d A)  // ACCUMULATED VECTOR SUBTRACTION (+=)
-			{ x-=A.x; y-=A.y; z-=A.z; };
+	{
+		x -= A.x;
+		y -= A.y;
+		z -= A.z;
+	};
 	void operator*=(const float s)  // ACCUMULATED SCALAR MULTIPLICATION (*=) (bpc 4/24/2000)
-			{x*=s; y*=s; z*=s;}
+	{
+		x *= s;
+		y *= s;
+		z *= s;
+	}
 
 	void operator+=(const float A)  // ACCUMULATED VECTOR ADDITION (+=)
-			{ x+=A; y+=A; z+=A; };
+	{
-
+		x += A;
+		y += A;
+		z += A;
+	};
 
 	Vector3d operator-(void) const  // NEGATION (-)
-			{ Vector3d Negated(-x, -y, -z);
+	{
-				return(Negated); };
+		Vector3d Negated(-x, -y, -z);
+		return (Negated);
+	};
 
 	float operator[](const int i) const  // ALLOWS VECTOR ACCESS AS AN ARRAY.
-			{ return( (i==0)?x:((i==1)?y:z) ); };
+	{
+		return ((i == 0) ? x : ((i == 1) ? y : z));
+	};
 	float &operator[](const int i)
-			{ return( (i==0)?x:((i==1)?y:z) ); };
+	{
+		return ((i == 0) ? x : ((i == 1) ? y : z));
+	};
 	//
 
 	// accessor methods.
@@ -173,7 +203,6 @@ public:
 		return true;
 	}
 
-
 	float ComputeNormal(const Vector3d &A,
 						const Vector3d &B,
 						const Vector3d &C)
@@ -210,7 +239,6 @@ public:
 		return mag;
 	}
 
-
 	void ScaleSumScale(float c0, float c1, const Vector3d &pos)
 	{
 		x = (x * c0) + (pos.x * c1);
@@ -246,7 +274,6 @@ public:
 		z = (float)p[2];
 	}
 
-
 	void Set(float a, float b, float c)
 	{
 		x = a;
@@ -262,7 +289,6 @@ public:
 	const float *Ptr() const { return &x; }
 	float *Ptr() { return &x; }
 
-
 	// return -(*this).
 	Vector3d negative(void) const
 	{
@@ -335,8 +361,6 @@ public:
 	}
 	*/
 
-
-
 	/** Computes the reflection vector between two vectors.*/
 	void Reflection(const Vector3d &a, const Vector3d &b)  // compute reflection vector.
 	{
@@ -366,7 +390,6 @@ public:
 		return float(sqrt(x * x + y * y + z * z));
 	};
 
-
 	float ComputePlane(const Vector3d &A,
 					   const Vector3d &B,
 					   const Vector3d &C)
@@ -400,19 +423,16 @@ public:
 		y = vw_y * mag;
 		z = vw_z * mag;
 
-
 		float D = 0.0f - ((x * A.x) + (y * A.y) + (z * A.z));
 
 		return D;
 	}
 
-
 	float FastLength(void) const  // length of vector.
 	{
 		return float(sqrtf(x * x + y * y + z * z));
 	};
 
-
 	float FasterLength(void) const  // length of vector.
 	{
 		return float(sqrtf(x * x + y * y + z * z));
@@ -442,7 +462,6 @@ public:
 		return d.FasterLength();
 	}
 
-
 	float DistanceXY(const Vector3d &a) const
 	{
 		float dx = a.x - x;
@@ -523,15 +542,11 @@ public:
 		return d;
 	};
 
-
-
-
 	float Dot(const Vector3d &a) const  // computes dot product.
 	{
 		return (x * a.x + y * a.y + z * a.z);
 	};
 
-
 	Vector3d Cross(const Vector3d &other) const
 	{
 		Vector3d result(y * other.z - z * other.y, z * other.x - x * other.z, x * other.y - y * other.x);
@@ -662,7 +677,6 @@ public:
 		return ((aCROSSbp >= 0.0f) && (bCROSScp >= 0.0f) && (cCROSSap >= 0.0f));
 	};
 
-
 	// test to see if this point is inside the triangle specified by
 	// these three points on the X/Y plane.
 	bool PointInTriXZ(const Vector3d &p1,
@@ -863,7 +877,6 @@ public:
 		}
 	}
 
-
 	//private:
 
 	float x;
@@ -871,7 +884,6 @@ public:
 	float z;
 };
 
-
 class Vector2d
 {
 public:
@@ -889,7 +901,6 @@ public:
 		y = t[1];
 	};
 
-
 	Vector2d(float a, float b)  // construct with initial point.
 	{
 		x = a;
@@ -982,7 +993,6 @@ public:
 		return a;
 	};
 
-
 	float Dot(const Vector2d &a) const  // computes dot product.
 	{
 		return (x * a.x + y * a.y);
@@ -1087,7 +1097,6 @@ public:
 		y = ((to.y - from.y) * slerp) + from.y;
 	};
 
-
 	void Cross(const Vector2d &a, const Vector2d &b)  // cross two vectors result in this one.
 	{
 		x = a.y * b.x - a.x * b.y;
@@ -1142,7 +1151,6 @@ public:
 		return l;
 	};
 
-
 	float x;
 	float y;
 };
@@ -1158,13 +1166,12 @@ public:
 	// JWR  Test for the intersection of two lines.
 
 	bool Intersect(const Line &src, Vector3d &sect);
+
 private:
 	Vector3d mP1;
 	Vector3d mP2;
-
 };
 
-
 typedef std::vector<Vector3d> Vector3dVector;
 typedef std::vector<Vector2d> Vector2dVector;
 
@@ -1180,6 +1187,6 @@ inline  Vector2d	operator * (float s, const Vector2d &v )
 	return (Scaled);
 }
 
-}
+}  // namespace ConvexDecomposition
 
 #endif

Engine/lib/bullet/Extras/ConvexDecomposition/cd_wavefront.cpp

@@ -41,7 +41,6 @@
 
 #include "cd_wavefront.h"
 
-
 using namespace ConvexDecomposition;
 
 /*----------------------------------------------------------------------
@@ -75,7 +74,6 @@ using namespace ConvexDecomposition;
 
 namespace ConvexDecomposition
 {
-
 typedef std::vector<int> IntVector;
 typedef std::vector<float> FloatVector;
 
@@ -168,7 +166,6 @@ public:
 		mHard[(int)c] = ST_HARD;
 	}
 
-
 	void SetCommentSymbol(char c)  // comment character, treated as 'end of string'
 	{
 		mHard[(int)c] = ST_EOS;
@@ -179,8 +176,7 @@ public:
 		mHard[(int)c] = ST_DATA;
 	}
 
-
+	void DefaultSymbols(void);  // set up default symbols for hard separator and comment symbol of the '#' character.
-	void DefaultSymbols(void); // set up default symbols for hard seperator and comment symbol of the '#' character.
 
 	bool EOS(char c)
 	{
@@ -197,13 +193,11 @@ public:
 	}
 
 private:
-
-
 	inline char *AddHard(int &argc, const char **argv, char *foo);
 	inline bool IsHard(char c);
 	inline char *SkipSpaces(char *foo);
 	inline bool IsWhiteSpace(char c);
-	inline bool   IsNonSeparator(char c); // non seperator,neither hard nor soft
+	inline bool IsNonSeparator(char c);  // non separator, neither hard nor soft
 
 	bool mMyAlloc;  // whether or not *I* allocated the buffer and am responsible for deleting it.
 	char *mData;    // ascii data to parse.
@@ -226,7 +220,6 @@ void InPlaceParser::SetFile(const char *fname)
 	mLen = 0;
 	mMyAlloc = false;
 
-
 	FILE *fph = fopen(fname, "rb");
 	if (fph)
 	{
@@ -298,7 +291,6 @@ bool InPlaceParser::IsNonSeparator(char c)
 	return false;
 }
 
-
 int InPlaceParser::ProcessLine(int lineno, char *line, InPlaceParserInterface *callback)
 {
 	int ret = 0;
@@ -310,7 +302,6 @@ int InPlaceParser::ProcessLine(int lineno,char *line,InPlaceParserInterface *cal
 
 	while (!EOS(*foo) && argc < MAXARGS)
 	{
-
 		foo = SkipSpaces(foo);  // skip any leading spaces
 
 		if (EOS(*foo)) break;
@@ -331,7 +322,6 @@ int InPlaceParser::ProcessLine(int lineno,char *line,InPlaceParserInterface *cal
 		}
 		else
 		{
-
 			foo = AddHard(argc, argv, foo);  // add any hard separators, skip any spaces
 
 			if (IsNonSeparator(*foo))  // add non-hard argument.
@@ -400,7 +390,6 @@ int  InPlaceParser::Parse(InPlaceParserInterface *callback) // returns true if e
 	char *foo = mData;
 	char *begin = foo;
 
-
 	while (*foo)
 	{
 		if (*foo == 10 || *foo == 13)
@@ -431,7 +420,6 @@ int  InPlaceParser::Parse(InPlaceParserInterface *callback) // returns true if e
 	return ret;
 }
 
-
 void InPlaceParser::DefaultSymbols(void)
 {
 	SetHardSeparator(',');
@@ -445,19 +433,17 @@ void InPlaceParser::DefaultSymbols(void)
 	SetCommentSymbol('#');
 }
 
-
 const char **InPlaceParser::GetArglist(char *line, int &count)  // convert source string into an arg list, this is a destructive parse.
 {
 	const char **ret = 0;
 
-	const char *argv[MAXARGS];
+	static const char *argv[MAXARGS];
 	int argc = 0;
 
 	char *foo = line;
 
 	while (!EOS(*foo) && argc < MAXARGS)
 	{
-
 		foo = SkipSpaces(foo);  // skip any leading spaces
 
 		if (EOS(*foo)) break;
@@ -478,7 +464,6 @@ const char ** InPlaceParser::GetArglist(char *line,int &count) // convert source
 		}
 		else
 		{
-
 			foo = AddHard(argc, argv, foo);  // add any hard separators, skip any spaces
 
 			if (IsNonSeparator(*foo))  // add non-hard argument.
@@ -548,29 +533,24 @@ public:
 	float mTexel[2];
 };
 
-
 class GeometryInterface
 {
 public:
-
 	virtual void NodeTriangle(const GeometryVertex *v1, const GeometryVertex *v2, const GeometryVertex *v3) {}
 
 	virtual ~GeometryInterface() {}
 };
 
-
 /*******************************************************************/
 /******************** Obj.h  ********************************/
 /*******************************************************************/
 
-
 class OBJ : public InPlaceParserInterface
 {
 public:
 	int LoadMesh(const char *fname, GeometryInterface *callback);
 	int ParseLine(int lineno, int argc, const char **argv);  // return TRUE to continue parsing, return FALSE to abort parsing process
 private:
-
 	void getVertex(GeometryVertex &v, const char *face) const;
 
 	FloatVector mVerts;
@@ -580,7 +560,6 @@ private:
 	GeometryInterface *mCallback;
 };
 
-
 /*******************************************************************/
 /******************** Obj.cpp  ********************************/
 /*******************************************************************/
@@ -599,7 +578,6 @@ int OBJ::LoadMesh(const char *fname,GeometryInterface *iface)
 
 	ipp.Parse(this);
 
-
 	return ret;
 }
 
@@ -637,7 +615,6 @@ void OBJ::getVertex(GeometryVertex &v,const char *face) const
 
 			v.mTexel[0] = t[0];
 			v.mTexel[1] = t[1];
-
 		}
 
 		const char *normal = strstr(texel + 1, "/");
@@ -658,14 +635,12 @@ void OBJ::getVertex(GeometryVertex &v,const char *face) const
 
 	if (index >= 0 && index < (int)(mVerts.size() / 3))
 	{
-
 		const float *p = &mVerts[index * 3];
 
 		v.mPos[0] = p[0];
 		v.mPos[1] = p[1];
 		v.mPos[2] = p[2];
 	}
-
 }
 
 int OBJ::ParseLine(int lineno, int argc, const char **argv)  // return TRUE to continue parsing, return FALSE to abort parsing process
@@ -751,7 +726,6 @@ int OBJ::ParseLine(int lineno,int argc,const char **argv)  // return TRUE to con
 						mCallback->NodeTriangle(&v[0], &v[i], &v[i + 1]);
 					}
 				}
-
 			}
 		}
 	}
@@ -759,16 +733,11 @@ int OBJ::ParseLine(int lineno,int argc,const char **argv)  // return TRUE to con
 	return ret;
 }
 
-
-
-
 class BuildMesh : public GeometryInterface
 {
 public:
-
 	int getIndex(const float *p)
 	{
-
 		int vcount = mVertices.size() / 3;
 
 		if (vcount > 0)
@@ -805,7 +774,6 @@ private:
 	IntVector mIndices;
 };
 
-
 WavefrontObj::WavefrontObj(void)
 {
 	mVertexCount = 0;
@@ -822,7 +790,6 @@ WavefrontObj::~WavefrontObj(void)
 
 unsigned int WavefrontObj::loadObj(const char *fname)  // load a wavefront obj returns number of triangles that were loaded.  Data is persists until the class is destructed.
 {
-
 	unsigned int ret = 0;
 
 	delete[] mVertices;
@@ -832,14 +799,12 @@ unsigned int WavefrontObj::loadObj(const char *fname) // load a wavefront obj re
 	mVertexCount = 0;
 	mTriCount = 0;
 
-
 	BuildMesh bm;
 
 	OBJ obj;
 
 	obj.LoadMesh(fname, &bm);
 
-
 	const FloatVector &vlist = bm.GetVertices();
 	const IntVector &indices = bm.GetIndices();
 	if (vlist.size())
@@ -853,8 +818,7 @@ unsigned int WavefrontObj::loadObj(const char *fname) // load a wavefront obj re
 		ret = mTriCount;
 	}
 
-
 	return ret;
 }
 
-}
+}  // namespace ConvexDecomposition

Engine/lib/bullet/Extras/ConvexDecomposition/cd_wavefront.h

@@ -1,9 +1,7 @@
 #ifndef CD_WAVEFRONT_OBJ_H
 
-
 #define CD_WAVEFRONT_OBJ_H
 
-
 /*----------------------------------------------------------------------
 		Copyright (c) 2004 Open Dynamics Framework Group
 					www.physicstools.org
@@ -38,14 +36,11 @@
 // http://www.amillionpixels.us
 //
 
-
 namespace ConvexDecomposition
 {
-
 class WavefrontObj
 {
 public:
-
 	WavefrontObj(void);
 	~WavefrontObj(void);
 
@@ -57,6 +52,6 @@ public:
 	float *mVertices;
 };
 
-}
+}  // namespace ConvexDecomposition
 
 #endif

Engine/lib/bullet/Extras/ConvexDecomposition/concavity.cpp

@@ -49,13 +49,11 @@
 #include "splitplane.h"
 #include "ConvexDecomposition.h"
 
-
 #define WSCALE 4
 #define CONCAVE_THRESH 0.05f
 
 namespace ConvexDecomposition
 {
-
 unsigned int getDebugColor(void)
 {
 	static unsigned int colors[8] =
@@ -67,8 +65,7 @@ unsigned int getDebugColor(void)
 			0x00FFFF,
 			0xFF00FF,
 			0xFFFFFF,
-		0xFF8040
+			0xFF8040};
-	};
 
 	static int count = 0;
 
@@ -81,7 +78,6 @@ unsigned int getDebugColor(void)
 	unsigned int color = colors[count];
 
 	return color;
-
 }
 
 class Wpoint
@@ -99,7 +95,6 @@ public:
 
 typedef std::vector<Wpoint> WpointVector;
 
-
 static inline float DistToPt(const float *p, const float *plane)
 {
 	float x = p[0];
@@ -109,10 +104,8 @@ static inline float DistToPt(const float *p,const float *plane)
 	return d;
 }
 
-
 static void intersect(const float *p1, const float *p2, float *split, const float *plane)
 {
-
 	float dp1 = DistToPt(p1, plane);
 
 	float dir[3];
@@ -131,7 +124,6 @@ static void intersect(const float *p1,const float *p2,float *split,const float *
 	split[2] = (dir[2] * t) + p1[2];
 }
 
-
 class CTri
 {
 public:
@@ -190,7 +182,6 @@ public:
 	{
 		unsigned int indices[8 * 3];
 
-
 		unsigned int tcount = 0;
 
 		addTri(indices, 0, 1, 2, tcount);
@@ -239,7 +230,6 @@ public:
 				const float *p3 = &vertices[i3 * 3];
 
 				callback->ConvexDebugTri(p1, p2, p3, color);
-
 			}
 #endif
 		}
@@ -247,7 +237,6 @@ public:
 		float v = computeMeshVolume(mP1.Ptr(), tcount, indices);
 
 		return v;
-
 	}
 
 	float raySect(const Vector3d &p, const Vector3d &dir, Vector3d &sect) const
@@ -264,7 +253,6 @@ public:
 		intersect(p.Ptr(), dest.Ptr(), sect.Ptr(), plane);
 
 		return sect.Distance(p);  // return the intersection distance.
-
 	}
 
 	float planeDistance(const Vector3d &p) const
@@ -277,7 +265,6 @@ public:
 		plane[3] = mPlaneD;
 
 		return DistToPt(p.Ptr(), plane);
-
 	}
 
 	bool samePlane(const CTri &t) const
@@ -333,7 +320,6 @@ public:
 
 	void addWeighted(WpointVector &list, ConvexDecompInterface *callback)
 	{
-
 		Wpoint p1(mP1, mC1);
 		Wpoint p2(mP2, mC2);
 		Wpoint p3(mP3, mC3);
@@ -387,9 +373,6 @@ public:
 		callback->ConvexDebugPoint( np3.Ptr(), 0.01F, 0XFF00FF );
 
 #endif
-
-
-
 	}
 
 	Vector3d mP1;
@@ -414,7 +397,6 @@ typedef std::vector< CTri > CTriVector;
 
 bool featureMatch(CTri &m, const CTriVector &tris, ConvexDecompInterface *callback, const CTriVector &input_mesh)
 {
-
 	bool ret = false;
 
 	float neardot = 0.707f;
@@ -429,12 +411,10 @@ bool featureMatch(CTri &m,const CTriVector &tris,ConvexDecompInterface *callback
 
 	CTri nearest;
 
-
 	for (i = tris.begin(); i != tris.end(); ++i)
 	{
 		const CTri &t = (*i);
 
-
 		//gLog->Display("   HullPlane: %0.4f,%0.4f,%0.4f   %0.4f\r\n", t.mNormal.x, t.mNormal.y, t.mNormal.z, t.mPlaneD );
 
 		if (t.samePlane(m))
@@ -448,14 +428,12 @@ bool featureMatch(CTri &m,const CTriVector &tris,ConvexDecompInterface *callback
 
 		if (dot > neardot)
 		{
-
 			float d1 = t.planeDistance(m.mP1);
 			float d2 = t.planeDistance(m.mP2);
 			float d3 = t.planeDistance(m.mP3);
 
 			if (d1 > 0.001f || d2 > 0.001f || d3 > 0.001f)  // can't be near coplaner!
 			{
-
 				neardot = dot;
 
 				Vector3d n1, n2, n3;
@@ -468,7 +446,6 @@ bool featureMatch(CTri &m,const CTriVector &tris,ConvexDecompInterface *callback
 
 				ret = true;
 			}
-
 		}
 	}
 
@@ -509,7 +486,6 @@ bool featureMatch(CTri &m,const CTriVector &tris,ConvexDecompInterface *callback
 		callback->ConvexDebugTri( m.mP2.Ptr(), m.mP2.Ptr(), m.mNear2.Ptr(), 0xFFFF00 );
 		callback->ConvexDebugTri( m.mP3.Ptr(), m.mP3.Ptr(), m.mNear3.Ptr(), 0xFFFF00 );
 #endif
-
 	}
 	else
 	{
@@ -526,7 +502,6 @@ bool isFeatureTri(CTri &t,CTriVector &flist,float fc,ConvexDecompInterface *call
 
 	if (t.mProcessed == 0)  // if not already processed
 	{
-
 		float c = t.mConcavity / fc;  // must be within 80% of the concavity of the parent.
 
 		if (c > 0.85f)
@@ -562,7 +537,6 @@ bool isFeatureTri(CTri &t,CTriVector &flist,float fc,ConvexDecompInterface *call
 		{
 			t.mProcessed = 1;  // eliminated for this feature, but might be valid for the next one..
 		}
-
 	}
 	return ret;
 }
@@ -575,8 +549,6 @@ float computeConcavity(unsigned int vcount,
 					   float *plane,  // plane equation to split on
 					   float &volume)
 {
-
-
 	float cret = 0;
 	volume = 1;
 
@@ -588,7 +560,6 @@ float computeConcavity(unsigned int vcount,
 	desc.mMaxVertices = 256;
 	desc.SetHullFlag(QF_TRIANGLES);
 
-
 	desc.mVcount = vcount;
 	desc.mVertices = vertices;
 	desc.mVertexStride = sizeof(float) * 3;
@@ -645,10 +616,8 @@ float computeConcavity(unsigned int vcount,
 
 		const unsigned int *src = indices;
 
-
 		float maxc = 0;
 
-
 		if (1)
 		{
 			CTriVector input_mesh;
@@ -657,7 +626,6 @@ float computeConcavity(unsigned int vcount,
 				const unsigned int *src = indices;
 				for (unsigned int i = 0; i < tcount; i++)
 				{
-
 					unsigned int i1 = *src++;
 					unsigned int i2 = *src++;
 					unsigned int i3 = *src++;
@@ -675,7 +643,6 @@ float computeConcavity(unsigned int vcount,
 
 			for (unsigned int i = 0; i < tcount; i++)
 			{
-
 				unsigned int i1 = *src++;
 				unsigned int i2 = *src++;
 				unsigned int i3 = *src++;
@@ -690,7 +657,6 @@ float computeConcavity(unsigned int vcount,
 
 				if (t.mConcavity > CONCAVE_THRESH)
 				{
-
 					if (t.mConcavity > maxc)
 					{
 						maxc = t.mConcavity;
@@ -701,10 +667,10 @@ float computeConcavity(unsigned int vcount,
 					totalVolume += v;
 					ftris.push_back(t);
 				}
-
 			}
 		}
 
+#if 0
 	  if ( ftris.size()  && 0 )
 	  {
 
@@ -759,6 +725,7 @@ float computeConcavity(unsigned int vcount,
             }
           }
         }
+		  
       }
 
       unsigned int color = getDebugColor();
@@ -786,10 +753,9 @@ float computeConcavity(unsigned int vcount,
 
 		hl.ReleaseResult(result);
 	}
-
+#endif
 
 	return cret;
 }
 
-
+}  // namespace ConvexDecomposition
-}

Engine/lib/bullet/Extras/ConvexDecomposition/concavity.h

@@ -36,11 +36,8 @@
 // http://www.amillionpixels.us
 //
 
-
-
 namespace ConvexDecomposition
 {
-
 class ConvexDecompInterface;
 
 // compute's how 'concave' this object is and returns the total volume of the
@@ -53,8 +50,6 @@ float computeConcavity(unsigned int vcount,
 					   float *plane,
 					   float &volume);
 
-
+}  // namespace ConvexDecomposition
-}
-
 
 #endif

Engine/lib/bullet/Extras/ConvexDecomposition/fitsphere.cpp

@@ -6,7 +6,6 @@
 
 #include "fitsphere.h"
 
-
 /*----------------------------------------------------------------------
 		Copyright (c) 2004 Open Dynamics Framework Group
 					www.physicstools.org
@@ -71,7 +70,6 @@ static inline void Copy(float *dest,const float *source)
 
 float computeBoundingSphere(unsigned int vcount, const float *points, float *center)
 {
-
 	float mRadius;
 	float mRadius2;
 
@@ -145,7 +143,6 @@ float computeBoundingSphere(unsigned int vcount,const float *points,float *cente
 		Copy(dia2, zmax);
 	}
 
-
 	/* dia1,dia2 is a diameter of initial sphere */
 	/* calc initial center */
 	center[0] = (dia1[0] + dia2[0]) * 0.5f;
@@ -198,5 +195,3 @@ float computeBoundingSphere(unsigned int vcount,const float *points,float *cente
 
 	return mRadius;
 }
-
-

Engine/lib/bullet/Extras/ConvexDecomposition/fitsphere.h

@@ -36,8 +36,6 @@
 // http://www.amillionpixels.us
 //
 
-
-
 float computeBoundingSphere(unsigned int vcount, const float *points, float *center);
 
 #endif

Engine/lib/bullet/Extras/ConvexDecomposition/float_math.cpp

@@ -6,7 +6,6 @@
 #include <assert.h>
 #include <math.h>
 
-
 /*----------------------------------------------------------------------
 		Copyright (c) 2004 Open Dynamics Framework Group
 					www.physicstools.org
@@ -43,7 +42,6 @@
 
 void fm_inverseRT(const float *matrix, const float *pos, float *t)  // inverse rotate translate the point.
 {
-
 	float _x = pos[0] - matrix[3 * 4 + 0];
 	float _y = pos[1] - matrix[3 * 4 + 1];
 	float _z = pos[2] - matrix[3 * 4 + 2];
@@ -53,10 +51,8 @@ void fm_inverseRT(const float *matrix,const float *pos,float *t) // inverse rota
 	t[0] = (matrix[0 * 4 + 0] * _x) + (matrix[0 * 4 + 1] * _y) + (matrix[0 * 4 + 2] * _z);
 	t[1] = (matrix[1 * 4 + 0] * _x) + (matrix[1 * 4 + 1] * _y) + (matrix[1 * 4 + 2] * _z);
 	t[2] = (matrix[2 * 4 + 0] * _x) + (matrix[2 * 4 + 1] * _y) + (matrix[2 * 4 + 2] * _z);
-
 }
 
-
 void fm_identity(float *matrix)  // set 4x4 matrix to identity.
 {
 	matrix[0 * 4 + 0] = 1;
@@ -79,7 +75,6 @@ void fm_identity(float *matrix) // set 4x4 matrix to identity.
 	matrix[0 * 4 + 3] = 0;
 	matrix[1 * 4 + 3] = 0;
 	matrix[2 * 4 + 3] = 0;
-
 }
 
 void fm_eulerMatrix(float ax, float ay, float az, float *matrix)  // convert euler (in radians) to a dest 4x4 matrix (translation set to zero)
@@ -91,7 +86,6 @@ void fm_eulerMatrix(float ax,float ay,float az,float *matrix) // convert euler (
 
 void fm_getAABB(unsigned int vcount, const float *points, unsigned int pstride, float *bmin, float *bmax)
 {
-
 	const unsigned char *source = (const unsigned char *)points;
 
 	bmin[0] = points[0];
@@ -102,7 +96,6 @@ void fm_getAABB(unsigned int vcount,const float *points,unsigned int pstride,flo
 	bmax[1] = points[1];
 	bmax[2] = points[2];
 
-
 	for (unsigned int i = 1; i < vcount; i++)
 	{
 		source += pstride;
@@ -115,11 +108,9 @@ void fm_getAABB(unsigned int vcount,const float *points,unsigned int pstride,flo
 		if (p[0] > bmax[0]) bmax[0] = p[0];
 		if (p[1] > bmax[1]) bmax[1] = p[1];
 		if (p[2] > bmax[2]) bmax[2] = p[2];
-
 	}
 }
 
-
 void fm_eulerToQuat(float roll, float pitch, float yaw, float *quat)  // convert euler angles to quaternion.
 {
 	roll *= 0.5f;
@@ -147,7 +138,6 @@ void fm_eulerToQuat(float roll,float pitch,float yaw,float *quat) // convert eul
 
 void fm_quatToMatrix(const float *quat, float *matrix)  // convert quaterinion rotation to matrix, zeros out the translation component.
 {
-
 	float xx = quat[0] * quat[0];
 	float yy = quat[1] * quat[1];
 	float zz = quat[2] * quat[2];
@@ -173,10 +163,8 @@ void fm_quatToMatrix(const float *quat,float *matrix) // convert quaterinion rot
 	matrix[3 * 4 + 0] = matrix[3 * 4 + 1] = matrix[3 * 4 + 2] = 0.0f;
 	matrix[0 * 4 + 3] = matrix[1 * 4 + 3] = matrix[2 * 4 + 3] = 0.0f;
 	matrix[3 * 4 + 3] = 1.0f;
-
 }
 
-
 void fm_quatRotate(const float *quat, const float *v, float *r)  // rotate a vector directly by a quaternion.
 {
 	float left[4];
@@ -189,10 +177,8 @@ void fm_quatRotate(const float *quat,const float *v,float *r) // rotate a vector
 	r[0] = (left[3] * -quat[0]) + (quat[3] * left[0]) + (left[1] * -quat[2]) - (-quat[1] * left[2]);
 	r[1] = (left[3] * -quat[1]) + (quat[3] * left[1]) + (left[2] * -quat[0]) - (-quat[2] * left[0]);
 	r[2] = (left[3] * -quat[2]) + (quat[3] * left[2]) + (left[0] * -quat[1]) - (-quat[0] * left[1]);
-
 }
 
-
 void fm_getTranslation(const float *matrix, float *t)
 {
 	t[0] = matrix[3 * 4 + 0];
@@ -202,7 +188,6 @@ void fm_getTranslation(const float *matrix,float *t)
 
 void fm_matrixToQuat(const float *matrix, float *quat)  // convert the 3x3 portion of a 4x4 matrix into a quaterion as x,y,z,w
 {
-
 	float tr = matrix[0 * 4 + 0] + matrix[1 * 4 + 1] + matrix[2 * 4 + 2];
 
 	// check the diagonal
@@ -215,7 +200,6 @@ void fm_matrixToQuat(const float *matrix,float *quat) // convert the 3x3 portion
 		quat[0] = (matrix[1 * 4 + 2] - matrix[2 * 4 + 1]) * s;
 		quat[1] = (matrix[2 * 4 + 0] - matrix[0 * 4 + 2]) * s;
 		quat[2] = (matrix[0 * 4 + 1] - matrix[1 * 4 + 0]) * s;
-
 	}
 	else
 	{
@@ -246,11 +230,8 @@ void fm_matrixToQuat(const float *matrix,float *quat) // convert the 3x3 portion
 		quat[2] = qa[2];
 		quat[3] = qa[3];
 	}
-
-
 }
 
-
 float fm_sphereVolume(float radius)  // return's the volume of a sphere of this radius (4/3 PI * R cubed )
 {
 	return (4.0f / 3.0f) * FM_PI * radius * radius * radius;

Engine/lib/bullet/Extras/ConvexDecomposition/float_math.h

@@ -45,7 +45,6 @@
 // http://www.amillionpixels.us
 //
 
-
 // a set of routines that last you do common 3d math
 // operations without any vector, matrix, or quaternion
 // classes or templates.

Engine/lib/bullet/Extras/ConvexDecomposition/meshvolume.cpp

@@ -46,7 +46,6 @@ float computeMeshVolume(const float *vertices,unsigned int tcount,const unsigned
 
 	for (unsigned int i = 0; i < tcount; i++, indices += 3)
 	{
-
 		const float *p1 = &vertices[indices[0] * 3];
 		const float *p2 = &vertices[indices[1] * 3];
 		const float *p3 = &vertices[indices[2] * 3];
@@ -60,7 +59,6 @@ float computeMeshVolume(const float *vertices,unsigned int tcount,const unsigned
 	return volume;
 }
 
-
 inline void CrossProduct(const float *a, const float *b, float *cross)
 {
 	cross[0] = a[1] * b[2] - a[2] * b[1];
@@ -115,7 +113,6 @@ float computeMeshVolume2(const float *vertices,unsigned int tcount,const unsigne
 	const float *p0 = vertices;
 	for (unsigned int i = 0; i < tcount; i++, indices += 3)
 	{
-
 		const float *p1 = &vertices[indices[0] * 3];
 		const float *p2 = &vertices[indices[1] * 3];
 		const float *p3 = &vertices[indices[2] * 3];
@@ -125,4 +122,3 @@ float computeMeshVolume2(const float *vertices,unsigned int tcount,const unsigne
 
 	return volume * (1.0f / 6.0f);
 }
-

Engine/lib/bullet/Extras/ConvexDecomposition/meshvolume.h

@@ -36,10 +36,7 @@
 // http://www.amillionpixels.us
 //
 
-
-
 float computeMeshVolume(const float *vertices, unsigned int tcount, const unsigned int *indices);
 float computeMeshVolume2(const float *vertices, unsigned int tcount, const unsigned int *indices);
 
-
 #endif

Engine/lib/bullet/Extras/ConvexDecomposition/planetri.cpp

@@ -49,10 +49,8 @@ static inline float DistToPt(const float *p,const float *plane)
 	return d;
 }
 
-
 static PlaneTriResult getSidePlane(const float *p, const float *plane, float epsilon)
 {
-
 	float d = DistToPt(p, plane);
 
 	if ((d + epsilon) > 0)
@@ -73,11 +71,9 @@ static void add(const float *p,float *dest,unsigned int tstride,unsigned int &pc
 	assert(pcount <= 4);
 }
 
-
 // assumes that the points are on opposite sides of the plane!
 static void intersect(const float *p1, const float *p2, float *split, const float *plane)
 {
-
 	float dp1 = DistToPt(p1, plane);
 
 	float dir[3];
@@ -94,7 +90,6 @@ static void intersect(const float *p1,const float *p2,float *split,const float *
 	split[0] = (dir[0] * t) + p1[0];
 	split[1] = (dir[1] * t) + p1[1];
 	split[2] = (dir[2] * t) + p1[2];
-
 }
 
 PlaneTriResult planeTriIntersection(const float *plane,     // the plane equation in Ax+By+Cz+D format
@@ -116,7 +111,6 @@ PlaneTriResult planeTriIntersection(const float *plane,    // the plane equation
 	const float *p2 = (const float *)(tsource + tstride);
 	const float *p3 = (const float *)(tsource + tstride * 2);
 
-
 	PlaneTriResult r1 = getSidePlane(p1, plane, epsilon);  // compute the side of the plane each vertex is on
 	PlaneTriResult r2 = getSidePlane(p2, plane, epsilon);
 	PlaneTriResult r3 = getSidePlane(p3, plane, epsilon);
@@ -161,13 +155,11 @@ PlaneTriResult planeTriIntersection(const float *plane,    // the plane equation
 
 		if (r1 == PTR_FRONT)
 		{
-
 			add(p1, front, tstride, fcount);
 			add(split, front, tstride, fcount);
 
 			add(split, back, tstride, bcount);
 			add(p2, back, tstride, bcount);
-
 		}
 		else
 		{
@@ -177,7 +169,6 @@ PlaneTriResult planeTriIntersection(const float *plane,    // the plane equation
 			add(split, front, tstride, fcount);
 			add(p2, front, tstride, fcount);
 		}
-
 	}
 
 	// Next test ray segment P2 to P3
@@ -232,7 +223,5 @@ PlaneTriResult planeTriIntersection(const float *plane,    // the plane equation
 		}
 	}
 
-
-
 	return PTR_SPLIT;
 }

Engine/lib/bullet/Extras/ConvexDecomposition/planetri.h

@@ -36,8 +36,6 @@
 // http://www.amillionpixels.us
 //
 
-
-
 enum PlaneTriResult
 {
 	PTR_FRONT,
@@ -54,5 +52,4 @@ PlaneTriResult planeTriIntersection(const float *plane,    // the plane equation
 									float *back,            // the triangle in back of the plane
 									unsigned int &bcount);  // the number of vertices in the 'back' triangle.
 
-
 #endif

Engine/lib/bullet/Extras/ConvexDecomposition/premake4.lua

@@ -3,6 +3,9 @@
 	kind "StaticLib"
 	
 	includedirs {".","../../src"}
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"**.cpp",
 		"**.h"

Engine/lib/bullet/Extras/ConvexDecomposition/raytri.cpp

@@ -41,15 +41,12 @@
 // http://www.amillionpixels.us
 //
 
-
 /* a = b - c */
 #define vector(a, b, c)       \
 	(a)[0] = (b)[0] - (c)[0]; \
 	(a)[1] = (b)[1] - (c)[1]; \
 	(a)[2] = (b)[2] - (c)[2];
 
-
-
 #define innerProduct(v, q) \
 	((v)[0] * (q)[0] +     \
 	 (v)[1] * (q)[1] +     \
@@ -62,7 +59,6 @@
 
 bool rayIntersectsTriangle(const float *p, const float *d, const float *v0, const float *v1, const float *v2, float &t)
 {
-
 	float e1[3], e2[3], h[3], s[3], q[3];
 	float a, f, u, v;
 
@@ -95,7 +91,6 @@ bool rayIntersectsTriangle(const float *p,const float *d,const float *v0,const f
 		return (false);
 }
 
-
 bool lineIntersectsTriangle(const float *rayStart, const float *rayEnd, const float *p1, const float *p2, const float *p3, float *sect)
 {
 	float dir[3];
@@ -111,7 +106,6 @@ bool lineIntersectsTriangle(const float *rayStart,const float *rayEnd,const floa
 	dir[1] *= r;
 	dir[2] *= r;
 
-
 	float t;
 
 	bool ret = rayIntersectsTriangle(rayStart, dir, p1, p2, p3, t);

Engine/lib/bullet/Extras/ConvexDecomposition/raytri.h

@@ -36,8 +36,6 @@
 // http://www.amillionpixels.us
 //
 
-
-
 // returns true if the ray intersects the triangle.
 bool lineIntersectsTriangle(const float *rayStart, const float *rayEnd, const float *p1, const float *p2, const float *p3, float *sect);
 bool rayIntersectsTriangle(const float *p, const float *d, const float *v0, const float *v1, const float *v2, float &t);

Engine/lib/bullet/Extras/ConvexDecomposition/splitplane.cpp

@@ -6,7 +6,6 @@
 #include <float.h>
 #include <math.h>
 
-
 /*----------------------------------------------------------------------
 		Copyright (c) 2004 Open Dynamics Framework Group
 					www.physicstools.org
@@ -53,10 +52,8 @@
 
 namespace ConvexDecomposition
 {
-
 static void computePlane(const float *A, const float *B, const float *C, float *plane)
 {
-
 	float vx = (B[0] - C[0]);
 	float vy = (B[1] - C[1]);
 	float vz = (B[2] - C[2]);
@@ -84,14 +81,12 @@ static void computePlane(const float *A,const float *B,const float *C,float *pla
 	float y = vw_y * mag;
 	float z = vw_z * mag;
 
-
 	float D = 0.0f - ((x * A[0]) + (y * A[1]) + (z * A[2]));
 
 	plane[0] = x;
 	plane[1] = y;
 	plane[2] = z;
 	plane[3] = D;
-
 }
 
 class Rect3d
@@ -101,7 +96,6 @@ public:
 
 	Rect3d(const float *bmin, const float *bmax)
 	{
-
 		mMin[0] = bmin[0];
 		mMin[1] = bmin[1];
 		mMin[2] = bmin[2];
@@ -109,7 +103,6 @@ public:
 		mMax[0] = bmax[0];
 		mMax[1] = bmax[1];
 		mMax[2] = bmax[2];
-
 	}
 
 	void SetMin(const float *bmin)
@@ -200,14 +193,12 @@ bool computeSplitPlane(unsigned int vcount,
 		if (p[0] > bmax[0]) bmax[0] = p[0];
 		if (p[1] > bmax[1]) bmax[1] = p[1];
 		if (p[2] > bmax[2]) bmax[2] = p[2];
-
 	}
 
 	float dx = bmax[0] - bmin[0];
 	float dy = bmax[1] - bmin[1];
 	float dz = bmax[2] - bmin[2];
 
-
 	float laxis = dx;
 
 	unsigned int axis = 0;
@@ -238,7 +229,6 @@ bool computeSplitPlane(unsigned int vcount,
 
 	splitRect(axis, b, b1, b2, p1);
 
-
 	//  callback->ConvexDebugBound(b1.mMin,b1.mMax,0x00FF00);
 	//  callback->ConvexDebugBound(b2.mMin,b2.mMax,0xFFFF00);
 
@@ -299,8 +289,6 @@ bool computeSplitPlane(unsigned int vcount,
 	computePlane(p1, p2, p3, plane);
 
 	return true;
-
 }
 
-
+}  // namespace ConvexDecomposition
-}

Engine/lib/bullet/Extras/ConvexDecomposition/splitplane.h

@@ -39,11 +39,8 @@
 // http://www.amillionpixels.us
 //
 
-
-
 namespace ConvexDecomposition
 {
-
 class ConvexDecompInterface;
 
 bool computeSplitPlane(unsigned int vcount,
@@ -53,7 +50,6 @@ bool computeSplitPlane(unsigned int vcount,
 					   ConvexDecompInterface *callback,
 					   float *plane);
 
-
+}  // namespace ConvexDecomposition
-}
 
 #endif

Engine/lib/bullet/Extras/ConvexDecomposition/vlookup.cpp

@@ -10,7 +10,6 @@
 #include <map>
 #include <set>
 
-
 /*----------------------------------------------------------------------
 		Copyright (c) 2004 Open Dynamics Framework Group
 					www.physicstools.org
@@ -107,14 +106,10 @@
 //    You could easily modify this code to support other vertex
 //    formats with any number of interpolants.
 
-
-
-
 #include "vlookup.h"
 
 namespace Vlookup
 {
-
 class VertexPosition
 {
 public:
@@ -133,7 +128,6 @@ public:
 		mPos[0] = p[0];
 		mPos[1] = p[1];
 		mPos[2] = p[2];
-
 	};
 
 	float GetX(void) const { return mPos[0]; };
@@ -177,7 +171,6 @@ struct VertexID
 class VertexLess
 {
 public:
-
 	bool operator()(VertexID v1, VertexID v2) const;
 
 private:
@@ -189,7 +182,8 @@ private:
 	}
 };
 
-template <class Type> class VertexPool
+template <class Type>
+class VertexPool
 {
 public:
 	typedef std::set<VertexID, VertexLess> VertexSet;
@@ -210,7 +204,6 @@ public:
 		return idx;
 	};
 
-
 	const float *GetPos(int idx) const
 	{
 		return mVtxs[idx].mPos;
@@ -245,7 +238,6 @@ public:
 		return mVtxs.size();
 	};
 
-
 	Type *getBuffer(void)
 	{
 		return &mVtxs[0];
@@ -257,10 +249,8 @@ private:
 	Tracker mTracker;
 };
 
-
 bool VertexLess::operator()(VertexID v1, VertexID v2) const
 {
-
 	const VertexPosition &a = Get(v1);
 	const VertexPosition &b = Get(v2);
 
@@ -282,14 +272,10 @@ bool VertexLess::operator()(VertexID v1,VertexID v2) const
 	if (izA < izB) return true;
 	if (izA > izB) return false;
 
-
 	return false;
 }
 
-
+}  // namespace Vlookup
-
-
-}
 
 using namespace Vlookup;
 
@@ -318,7 +304,6 @@ const float * Vl_getVertices(VertexLookup vlook)
 	return vp->GetPos(0);
 }
 
-
 unsigned int Vl_getVcount(VertexLookup vlook)
 {
 	VertexPool<VertexPosition> *vp = (VertexPool<VertexPosition> *)vlook;

Engine/lib/bullet/Extras/ConvexDecomposition/vlookup.h

@@ -2,7 +2,6 @@
 
 #define VLOOKUP_H
 
-
 /*----------------------------------------------------------------------
 		Copyright (c) 2004 Open Dynamics Framework Group
 					www.physicstools.org
@@ -37,7 +36,6 @@
 // http://www.amillionpixels.us
 //
 
-
 // CodeSnippet provided by John W. Ratcliff
 // on March 23, 2006.
 //
@@ -105,7 +103,6 @@
 // Uses an STL set to create an index table for a bunch of vertex positions
 // used typically to re-index a collection of raw triangle data.
 
-
 typedef void *VertexLookup;
 
 VertexLookup Vl_createVertexLookup(void);
@@ -115,5 +112,4 @@ unsigned int  Vl_getIndex(VertexLookup vlook,const float *pos);  // get index.
 const float *Vl_getVertices(VertexLookup vlook);
 unsigned int Vl_getVcount(VertexLookup vlook);
 
-
 #endif

Engine/lib/bullet/Extras/GIMPACTUtils/CMakeLists.txt

@@ -22,7 +22,10 @@ IF (INSTALL_EXTRA_LIBS)
 			IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
 				INSTALL(TARGETS GIMPACTUtils DESTINATION .)
 			ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
-				INSTALL(TARGETS GIMPACTUtils DESTINATION lib${LIB_SUFFIX})
+				INSTALL(TARGETS GIMPACTUtils 
+                                        RUNTIME DESTINATION bin
+                                        LIBRARY DESTINATION lib${LIB_SUFFIX}
+                                        ARCHIVE DESTINATION lib${LIB_SUFFIX})
 				INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h"  PATTERN
 ".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)

Engine/lib/bullet/Extras/GIMPACTUtils/LICENSE.txt

@@ -0,0 +1,11 @@
+
+Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.

Engine/lib/bullet/Extras/GIMPACTUtils/btGImpactConvexDecompositionShape.cpp

@@ -30,7 +30,6 @@ protected:
 
 	btAlignedObjectArray<btCollisionShape*> m_convexShapes;
 
-
 public:
 	int mBaseCount;
 	int mHullCount;
@@ -52,26 +51,22 @@ public:
 			btCollisionShape* shape = m_convexShapes[i];
 			delete shape;
 		}
-
 	}
 
 	virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult& result)
 	{
-
 		//calc centroid, to shift vertices around center of mass
 		btVector3 centroid(0, 0, 0);
 		btAlignedObjectArray<btVector3> vertices;
 
 		if (m_transformSubShapes)
 		{
-
 			//const unsigned int *src = result.mHullIndices;
 			for (unsigned int i = 0; i < result.mHullVcount; i++)
 			{
 				btVector3 vertex(result.mHullVertices[i * 3], result.mHullVertices[i * 3 + 1], result.mHullVertices[i * 3 + 2]);
 
 				centroid += vertex;
-
 			}
 			centroid *= 1.f / (float(result.mHullVcount));
 		}
@@ -125,7 +120,6 @@ public:
 		btGImpactMeshShapePart::TrimeshPrimitiveManager* trimeshInterface =
 			m_compoundShape->getTrimeshInterface(part);
 
-
 		trimeshInterface->lock();
 
 		//collect vertices
@@ -141,12 +135,10 @@ public:
 			vertices.push_back(vec[2]);
 		}
 
-
 		//collect indices
 		btAlignedObjectArray<unsigned int> indices;
 		indices.reserve(trimeshInterface->get_primitive_count() * 3);
 
-
 		for (int i = 0; i < trimeshInterface->get_primitive_count(); i++)
 		{
 			unsigned int i0, i1, i2;
@@ -158,15 +150,12 @@ public:
 
 		trimeshInterface->unlock();
 
-
-
 		unsigned int depth = 5;
 		float cpercent = 5;
 		float ppercent = 15;
 		unsigned int maxv = 16;
 		float skinWidth = 0.0f;
 
-
 		ConvexDecomposition::DecompDesc desc;
 		desc.mVcount = trimeshInterface->get_vertex_count();
 		desc.mVertices = &vertices[0];
@@ -184,17 +173,10 @@ public:
 		ConvexBuilder cb(desc.mCallback);
 		cb.process(desc);
 	}
-
-
-
-
 };
 
-
-
 void btGImpactConvexDecompositionShape::buildConvexDecomposition(bool transformSubShapes)
 {
-
 	m_decomposition = new GIM_ConvexDecomposition(this, transformSubShapes);
 
 	int part_count = m_trimeshInterfaces.size();
@@ -212,7 +194,6 @@ btGImpactConvexDecompositionShape::~btGImpactConvexDecompositionShape()
 }
 void btGImpactConvexDecompositionShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
 {
-
 	int part_count = m_trimeshInterfaces.size();
 	for (int part = 0; part < part_count; part++)
 	{
@@ -225,7 +206,6 @@ void btGImpactConvexDecompositionShape::processAllTriangles(btTriangleCallback*
 
 		btPrimitiveTriangle triangle;
 
-
 		int i = trimeshInterface->get_primitive_count();
 		while (i--)
 		{
@@ -235,6 +215,4 @@ void btGImpactConvexDecompositionShape::processAllTriangles(btTriangleCallback*
 
 		trimeshInterface->unlock();
 	}
-
-
 }

Engine/lib/bullet/Extras/GIMPACTUtils/btGImpactConvexDecompositionShape.h

@@ -24,11 +24,8 @@ subject to the following restrictions:
 #ifndef GIMPACT_CONVEX_DECOMPOSITION_SHAPE_H
 #define GIMPACT_CONVEX_DECOMPOSITION_SHAPE_H
 
-
 #include "BulletCollision/Gimpact/btGImpactShape.h"  // box tree class
 
-
-
 //! This class creates a decomposition from a trimesh.
 /*!
 
@@ -41,15 +38,14 @@ protected:
 	class GIM_ConvexDecomposition* m_decomposition;
 
 	void buildConvexDecomposition(bool transformSubShapes);
-public:
 
+public:
 	btGImpactConvexDecompositionShape(
 		btStridingMeshInterface* meshInterface,
 		const btVector3& mesh_scale,
 		btScalar margin = btScalar(0.01), bool children_has_transform = true)
 		: btGImpactCompoundShape(children_has_transform)
 	{
-
 		m_collisionMargin = margin;
 
 		btGImpactMeshShapePart::TrimeshPrimitiveManager triInterface;
@@ -78,10 +74,6 @@ public:
 	}
 
 	virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
-
 };
 
-
-
-
 #endif  //GIMPACT_MESH_SHAPE_H

Engine/lib/bullet/Extras/HACD/CMakeLists.txt

@@ -36,7 +36,11 @@ IF (INSTALL_EXTRA_LIBS)
 			IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
 				INSTALL(TARGETS HACD DESTINATION .)
 			ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
-				INSTALL(TARGETS HACD DESTINATION lib${LIB_SUFFIX})
+				INSTALL(TARGETS HACD
+                                        RUNTIME DESTINATION bin
+                                        LIBRARY DESTINATION lib${LIB_SUFFIX}
+                                        ARCHIVE DESTINATION lib${LIB_SUFFIX})
+
 				INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 					DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN "*.inl" PATTERN
 					".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)

Engine/lib/bullet/Extras/HACD/LICENSE.txt

@@ -0,0 +1,13 @@
+Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+ 
+ 
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+ 
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+ 
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+ 
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+ 
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Engine/lib/bullet/Extras/HACD/hacdCircularList.h

@@ -20,7 +20,8 @@
 namespace HACD
 {
 //!	CircularListElement class.
-	template < typename T > class CircularListElement
+template <typename T>
+class CircularListElement
 {
 public:
 	T& GetData() { return m_data; }
@@ -34,6 +35,7 @@ namespace HACD
 	CircularListElement(void) {}
 	//! Destructor
 	~CircularListElement(void) {}
+
 private:
 	T m_data;
 	CircularListElement<T>* m_next;
@@ -42,9 +44,9 @@ namespace HACD
 	CircularListElement(const CircularListElement& rhs);
 };
 
-    
 //!	CircularList class.
-	template < typename T > class CircularList
+template <typename T>
+class CircularList
 {
 public:
 	CircularListElement<T>*& GetHead() { return m_head; }
@@ -59,7 +61,11 @@ namespace HACD
 	CircularListElement<T>* Add(const T& data);
 	bool Next();
 	bool Prev();
-		void									Clear() { while(Delete());};
+	void Clear()
+	{
+		while (Delete())
+			;
+	};
 	const CircularList& operator=(const CircularList& rhs);
 	//!	Constructor
 	CircularList()
@@ -70,11 +76,11 @@ namespace HACD
 	CircularList(const CircularList& rhs);
 	//! Destructor
 	virtual ~CircularList(void) { Clear(); };
+
 private:
 	CircularListElement<T>* m_head;  //!< a pointer to the head of the circular list
 	size_t m_size;                   //!< number of element in the circular list
-        
 };
-}
+}  // namespace HACD
 #include "hacdCircularList.inl"
 #endif

Engine/lib/bullet/Extras/HACD/hacdGraph.cpp

@@ -15,7 +15,6 @@
 #include "hacdGraph.h"
 namespace HACD
 {
-    
 GraphEdge::GraphEdge()
 {
 	m_convexHull = 0;
@@ -207,7 +206,6 @@ namespace HACD
 		const GraphVertex& currentVertex = m_vertices[v];
 		if (!m_vertices[v].m_deleted)
 		{
-
 			std::cout << currentVertex.m_name << "\t";
 			std::set<long>::const_iterator ed(currentVertex.m_edges.begin());
 			std::set<long>::const_iterator itEnd(currentVertex.m_edges.end());
@@ -289,4 +287,4 @@ namespace HACD
 	}
 	return static_cast<long>(m_nCCs);
 }
-}
+}  // namespace HACD

Engine/lib/bullet/Extras/HACD/hacdGraph.h

@@ -40,6 +40,7 @@ namespace HACD
 	bool DeleteEdge(long name);
 	GraphVertex();
 	~GraphVertex() { delete m_convexHull; };
+
 private:
 	long m_name;
 	long m_cc;
@@ -56,7 +57,6 @@ namespace HACD
 	ICHull* m_convexHull;
 	std::set<unsigned long long> m_boudaryEdges;
 
-
 	friend class GraphEdge;
 	friend class Graph;
 	friend class HACD;
@@ -67,6 +67,7 @@ namespace HACD
 public:
 	GraphEdge();
 	~GraphEdge() { delete m_convexHull; };
+
 private:
 	long m_name;
 	long m_v1;
@@ -81,8 +82,6 @@ namespace HACD
 	std::set<unsigned long long> m_boudaryEdges;
 	bool m_deleted;
 
-
-        
 	friend class GraphVertex;
 	friend class Graph;
 	friend class HACD;
@@ -116,5 +115,5 @@ namespace HACD
 
 	friend class HACD;
 };
-}
+}  // namespace HACD
 #endif

Engine/lib/bullet/Extras/HACD/hacdHACD.cpp

@@ -169,7 +169,6 @@ namespace HACD
 						}
 						if (distC1C2 <= m_ccConnectDist && t1 > 0 && t2 > 0)
 						{
-								
 							m_graph.AddEdge(t1, t2);
 						}
 					}
@@ -268,7 +267,6 @@ namespace HACD
 						distMin = distance;
 						faceIndex = f1;
 					}
-
 				}
 			}
 			if (faceIndex < m_nTriangles)
@@ -308,12 +306,18 @@ namespace HACD
 		x = m_points[v].X();
 		y = m_points[v].Y();
 		z = m_points[v].Z();
-            if ( x < min.X()) min.X() = x;
+		if (x < min.X())
-			else if ( x > max.X()) max.X() = x;
+			min.X() = x;
-            if ( y < min.Y()) min.Y() = y;
+		else if (x > max.X())
-			else if ( y > max.Y()) max.Y() = y;
+			max.X() = x;
-            if ( z < min.Z()) min.Z() = z;
+		if (y < min.Y())
-			else if ( z > max.Z()) max.Z() = z;
+			min.Y() = y;
+		else if (y > max.Y())
+			max.Y() = y;
+		if (z < min.Z())
+			min.Z() = z;
+		else if (z > max.Z())
+			max.Z() = z;
 	}
 	m_barycenter /= static_cast<Real>(m_nPoints);
 	m_diag = (max - min).GetNorm();
@@ -535,7 +539,8 @@ namespace HACD
 		for (; itBE != itBEEnd; ++itBE)
 		{
 			perimeter += (m_points[static_cast<long>((*itBE) >> 32)] -
-								   m_points[static_cast<long>((*itBE) & 0xFFFFFFFFULL)]).GetNorm();
+						  m_points[static_cast<long>((*itBE) & 0xFFFFFFFFULL)])
+							 .GetNorm();
 		}
 		surf = gV1.m_surf + gV2.m_surf;
 	}
@@ -597,11 +602,9 @@ namespace HACD
 			}
 			currentEdge = m_pqueue.top();
 			m_pqueue.pop();
-			}
+		} while (m_graph.m_edges[currentEdge.m_name].m_deleted ||
-			while (  m_graph.m_edges[currentEdge.m_name].m_deleted || 
 				 m_graph.m_edges[currentEdge.m_name].m_error != currentEdge.m_priority);
 
-
 		if (m_graph.m_edges[currentEdge.m_name].m_concavity < m_concavity && !done)
 		{
 			globalConcavity = std::max<double>(globalConcavity, m_graph.m_edges[currentEdge.m_name].m_concavity);
@@ -663,7 +666,6 @@ namespace HACD
 		sprintf(msg, "# clusters =  %lu \t C = %f\n", static_cast<unsigned long>(m_nClusters), globalConcavity);
 		(*m_callBack)(msg, progress, globalConcavity, m_graph.GetNVertices());
 	}
-
 }
 
 bool HACD::Compute(bool fullCH, bool exportDistPoints)
@@ -846,6 +848,4 @@ namespace HACD
 		return false;
 	}
 }
-}
+}  // namespace HACD
-
-

Engine/lib/bullet/Extras/HACD/hacdHACD.h

@@ -35,6 +35,7 @@ namespace HACD
 class reservable_priority_queue : public std::priority_queue<_Ty, _Container, _Pr>
 {
 	typedef typename std::priority_queue<_Ty, _Container, _Pr>::size_type size_type;
+
 public:
 	reservable_priority_queue(size_type capacity = 0) { reserve(capacity); };
 	void reserve(size_type capacity) { this->c.reserve(capacity); }
@@ -55,6 +56,7 @@ namespace HACD
 	}
 	//! Destructor
 	~GraphEdgePriorityQueue(void) {}
+
 private:
 	long m_name;      //!< edge name
 	Real m_priority;  //!< priority
@@ -78,7 +80,6 @@ namespace HACD
 class HACD
 {
 public:
-
 	//! Gives the triangles partitionas an array of size m_nTriangles where the i-th element specifies the cluster to which belong the i-th triangle
 	//! @return triangles partition
 	const long *GetPartition() const { return m_partition; }
@@ -213,8 +214,10 @@ namespace HACD
 	//! @return edge's index
 	static unsigned long long GetEdgeIndex(unsigned long long a, unsigned long long b)
 	{
-														if (a > b) return (a << 32) + b;
+		if (a > b)
-														else	   return (b << 32) + a;
+			return (a << 32) + b;
+		else
+			return (b << 32) + a;
 	}
 	//! Computes the concavity of a cluster.
 	//! @param ch the cluster's convex-hull
@@ -269,14 +272,14 @@ namespace HACD
 	size_t m_nVerticesPerCH;        //>! maximum number of vertices per convex-hull
 	reservable_priority_queue<GraphEdgePriorityQueue,
 							  std::vector<GraphEdgePriorityQueue>,
-			std::greater<std::vector<GraphEdgePriorityQueue>::value_type> > m_pqueue;		//!> priority queue
+							  std::greater<std::vector<GraphEdgePriorityQueue>::value_type> >
+		m_pqueue;  //!> priority queue
 	HACD(const HACD &rhs);
 	CallBackFunction m_callBack;     //>! call-back function
 	long *m_partition;               //>! array of size m_nTriangles where the i-th element specifies the cluster to which belong the i-th triangle
 	bool m_addFacesPoints;           //>! specifies whether to add faces points or not
 	bool m_addExtraDistPoints;       //>! specifies whether to add extra points for concave shapes or not
 	bool m_addNeighboursDistPoints;  //>! specifies whether to add extra points from adjacent clusters or not
-
 };
-}
+}  // namespace HACD
 #endif

Engine/lib/bullet/Extras/HACD/hacdICHull.cpp

@@ -370,7 +370,6 @@ namespace HACD
 		vHead->GetData().m_name = id;
 	}
 
- 
 	return true;
 }
 ICHullError ICHull::DoubleTriangle()
@@ -415,8 +414,7 @@ namespace HACD
 		do
 		{
 			bary += vBary->GetData().m_pos;
-			}
+		} while ((vBary = vBary->GetNext()) != v0);
-			while ( (vBary = vBary->GetNext()) != v0);
 		bary /= static_cast<Real>(vertices.GetSize());
 
 		// Compute the normal to the plane
@@ -469,13 +467,20 @@ namespace HACD
 		e2 = fold->GetData().m_edges[0];
 		index = 1;
 	}
-        e0->GetData().m_vertices[0] = v0; e0->GetData().m_vertices[1] = v1;
+	e0->GetData().m_vertices[0] = v0;
-        e1->GetData().m_vertices[0] = v1; e1->GetData().m_vertices[1] = v2;
+	e0->GetData().m_vertices[1] = v1;
-        e2->GetData().m_vertices[0] = v2; e2->GetData().m_vertices[1] = v0;
+	e1->GetData().m_vertices[0] = v1;
+	e1->GetData().m_vertices[1] = v2;
+	e2->GetData().m_vertices[0] = v2;
+	e2->GetData().m_vertices[1] = v0;
 	// create the new face
 	CircularListElement<TMMTriangle> *f = m_mesh.AddTriangle();
-        f->GetData().m_edges[0]    = e0; f->GetData().m_edges[1]    = e1; f->GetData().m_edges[2]    = e2;
+	f->GetData().m_edges[0] = e0;
-        f->GetData().m_vertices[0] = v0; f->GetData().m_vertices[1] = v1; f->GetData().m_vertices[2] = v2;     
+	f->GetData().m_edges[1] = e1;
+	f->GetData().m_edges[2] = e2;
+	f->GetData().m_vertices[0] = v0;
+	f->GetData().m_vertices[1] = v1;
+	f->GetData().m_vertices[2] = v2;
 	// link edges to face f
 	e0->GetData().m_triangles[index] = e1->GetData().m_triangles[index] = e2->GetData().m_triangles[index] = f;
 	return f;
@@ -551,8 +556,7 @@ namespace HACD
 			visible = true;
 		}
 		f = f->GetNext();
-        } 
+	} while (f != fHead);
-        while (f != fHead);
 
 	if (m_trianglesToDelete.size() == m_mesh.m_triangles.GetSize())
 	{
@@ -610,8 +614,7 @@ namespace HACD
 			m_edgesToUpdate.push_back(e);
 		}
 		e = tmp;
-        }
+	} while (e != eHead);
-        while (e != eHead);        
 	return true;
 }
 bool ICHull::MakeCCW(CircularListElement<TMMTriangle> *f,
@@ -633,7 +636,8 @@ namespace HACD
 	long i;  // index of e->m_vertices[0] in fv
 	CircularListElement<TMMVertex> *v0 = e->GetData().m_vertices[0];
 	CircularListElement<TMMVertex> *v1 = e->GetData().m_vertices[1];
-        for(i = 0; fv->GetData().m_vertices[i] !=  v0; i++);
+	for (i = 0; fv->GetData().m_vertices[i] != v0; i++)
+		;
 
 	if (fv->GetData().m_vertices[(i + 1) % 3] != e->GetData().m_vertices[1])
 	{
@@ -757,8 +761,7 @@ namespace HACD
 			v->GetData().m_onHull = false;
 			v = v->GetPrev();
 		}
-        } 
+	} while (v->GetData().m_tag && v != vHead);
-        while (v->GetData().m_tag && v != vHead);
 	return true;
 }
 void ICHull::Clear()
@@ -1014,6 +1017,4 @@ namespace HACD
 		return distance;
 	}
 }
-}
+}  // namespace HACD
-
-

Engine/lib/bullet/Extras/HACD/hacdICHull.h

@@ -98,6 +98,7 @@ namespace HACD
 				 CircularListElement<TMMEdge> *e,
 				 CircularListElement<TMMVertex> *v);
 	void Clear();
+
 private:
 	static const long sc_dummyIndex;
 	static const double sc_distMin;
@@ -110,11 +111,10 @@ namespace HACD
 	Vec3<Real> m_normal;
 	bool m_isFlat;
 
-					                                           
 	ICHull(const ICHull &rhs);
 
 	friend class HACD;
 };
 
-}
+}  // namespace HACD
 #endif

Engine/lib/bullet/Extras/HACD/hacdManifoldMesh.cpp

@@ -15,7 +15,6 @@
 #include "hacdManifoldMesh.h"
 using namespace std;
 
-
 namespace HACD
 {
 Material::Material(void)
@@ -91,7 +90,6 @@ namespace HACD
 		m_vertices.Next();
 	}
 
-
 	size_t nE = m_edges.GetSize();
 	std::cout << "edges (" << nE << ")" << std::endl;
 	for (size_t e = 0; e < nE; e++)
@@ -183,7 +181,8 @@ namespace HACD
 		fout << "				ccw TRUE" << std::endl;
 		fout << "				solid TRUE" << std::endl;
 		fout << "				convex TRUE" << std::endl;
-            if (GetNVertices() > 0) {
+		if (GetNVertices() > 0)
+		{
 			fout << "				coord DEF co Coordinate {" << std::endl;
 			fout << "					point [" << std::endl;
 			for (size_t v = 0; v < nV; v++)
@@ -198,7 +197,8 @@ namespace HACD
 			fout << "					]" << std::endl;
 			fout << "				}" << std::endl;
 		}
-            if (GetNTriangles() > 0) {
+		if (GetNTriangles() > 0)
+		{
 			fout << "				coordIndex [ " << std::endl;
 			for (size_t f = 0; f < nT; f++)
 			{
@@ -259,7 +259,6 @@ namespace HACD
 	{
 		mesh.m_edges.GetData().m_id = e;
 		mesh.m_edges.Next();
-            
 	}
 	for (size_t f = 0; f < nT; f++)
 	{
@@ -346,7 +345,6 @@ namespace HACD
 	delete[] vertexMap;
 	delete[] edgeMap;
 	delete[] triangleMap;
-        
 }
 long IntersectRayTriangle(const Vec3<double> &P0, const Vec3<double> &dir,
 						  const Vec3<double> &V0, const Vec3<double> &V1,
@@ -445,10 +443,12 @@ namespace HACD
 	w0 = P0 - V0;
 	a = -n * w0;
 	b = n * dir;
-		if (fabs(b) <= 0.0) {     // ray is parallel to triangle plane
+	if (fabs(b) <= 0.0)
+	{                  // ray is parallel to triangle plane
 		if (a == 0.0)  // ray lies in triangle plane
 			return 2;
-			else return 0;             // ray disjoint from plane
+		else
+			return 0;  // ray disjoint from plane
 	}
 
 	// get intersect point of ray with triangle plane
@@ -480,7 +480,6 @@ namespace HACD
 	return 1;  // I is in T
 }
 
-    
 bool TMMesh::CheckConsistancy()
 {
 	size_t nE = m_edges.GetSize();
@@ -536,12 +535,18 @@ namespace HACD
 		x = m_vertices.GetHead()->GetData().m_pos.X();
 		y = m_vertices.GetHead()->GetData().m_pos.Y();
 		z = m_vertices.GetHead()->GetData().m_pos.Z();
-            if ( x < min.X()) min.X() = x;
+		if (x < min.X())
-			else if ( x > max.X()) max.X() = x;
+			min.X() = x;
-            if ( y < min.Y()) min.Y() = y;
+		else if (x > max.X())
-			else if ( y > max.Y()) max.Y() = y;
+			max.X() = x;
-            if ( z < min.Z()) min.Z() = z;
+		if (y < min.Y())
-			else if ( z > max.Z()) max.Z() = z;
+			min.Y() = y;
+		else if (y > max.Y())
+			max.Y() = y;
+		if (z < min.Z())
+			min.Z() = z;
+		else if (z > max.Z())
+			max.Z() = z;
 		m_vertices.Next();
 	}
 	m_barycenter /= static_cast<Real>(nV);
@@ -574,4 +579,4 @@ namespace HACD
 	}
 	return false;
 }
-}
+}  // namespace HACD

Engine/lib/bullet/Extras/HACD/hacdManifoldMesh.h

@@ -52,6 +52,7 @@ namespace HACD
 		  m_computed(computed),
 		  m_distOnly(distOnly){};
 	~DPoint(){};
+
 private:
 	Real m_dist;
 	bool m_computed;
@@ -94,13 +95,13 @@ namespace HACD
 public:
 	TMMEdge(void);
 	~TMMEdge(void);
+
 private:
 	size_t m_id;
 	CircularListElement<TMMTriangle> *m_triangles[2];
 	CircularListElement<TMMVertex> *m_vertices[2];
 	CircularListElement<TMMTriangle> *m_newFace;
 
-
 	TMMEdge(const TMMEdge &rhs);
 
 	friend class HACD;
@@ -116,6 +117,7 @@ namespace HACD
 public:
 	TMMTriangle(void);
 	~TMMTriangle(void);
+
 private:
 	size_t m_id;
 	CircularListElement<TMMEdge> *m_edges[3];
@@ -153,7 +155,6 @@ namespace HACD
 class TMMesh
 {
 public:
-
 	//! Returns the number of vertices>
 	inline size_t GetNVertices() const { return m_vertices.GetSize(); }
 	//! Returns the number of edges
@@ -246,5 +247,5 @@ namespace HACD
 					   const Vec3<double> &p3, const Vec3<double> &p4,
 					   Vec3<double> &pa, Vec3<double> &pb,
 					   double &mua, double &mub);
-}
+}  // namespace HACD
 #endif

Engine/lib/bullet/Extras/HACD/hacdVector.h

@@ -23,7 +23,8 @@ namespace HACD
 {
 typedef double Real;
 //!	Vector dim 3.
-	template < typename T > class Vec3
+template <typename T>
+class Vec3
 {
 public:
 	T& X();
@@ -62,6 +63,6 @@ namespace HACD
 template <typename T>
 const T Volume(const Vec3<T>& a, const Vec3<T>& b, const Vec3<T>& c, const Vec3<T>& d);
 
-}
+}  // namespace HACD
 #include "hacdVector.inl"  // template implementation
 #endif

Engine/lib/bullet/Extras/HACD/premake4.lua

@@ -3,6 +3,9 @@
 	kind "StaticLib"
 	
 	includedirs {"."}
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"**.cpp",
 		"**.h"

Engine/lib/bullet/Extras/InverseDynamics/BulletInverseDynamicsUtilsCommon.h

@@ -13,5 +13,3 @@
 #include "User2InternalIndex.hpp"
 
 #endif  //BULLET_INVERSE_DYNAMICS_UTILS_COMMON_H
-
-

Engine/lib/bullet/Extras/InverseDynamics/CMakeLists.txt

@@ -32,7 +32,10 @@ IF (INSTALL_EXTRA_LIBS)
 			IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
 				INSTALL(TARGETS BulletInverseDynamicsUtils  DESTINATION .)
 			ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
-				INSTALL(TARGETS BulletInverseDynamicsUtils DESTINATION lib${LIB_SUFFIX})
+				INSTALL(TARGETS BulletInverseDynamicsUtils
+                                        RUNTIME DESTINATION bin
+                                        LIBRARY DESTINATION lib${LIB_SUFFIX}
+                                        ARCHIVE DESTINATION lib${LIB_SUFFIX})
 				INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h"  PATTERN
 ".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)

Engine/lib/bullet/Extras/InverseDynamics/CloneTreeCreator.cpp

@@ -2,27 +2,36 @@
 
 #include <cstdio>
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
+{
 #define CHECK_NULLPTR()                                  \
-    do {                                                                                           \
+	do                                                   \
-        if (m_reference == 0x0) {                                                                      \
+	{                                                    \
-            error_message("m_reference == 0x0\n");                                                     \
+		if (m_reference == 0x0)                          \
+		{                                                \
+			bt_id_error_message("m_reference == 0x0\n"); \
 			return -1;                                   \
 		}                                                \
 	} while (0)
 
 #define TRY(x)                                             \
-    do {                                                                                           \
+	do                                                     \
-        if (x == -1) {                                                                             \
+	{                                                      \
-            error_message("error calling " #x "\n");                                               \
+		if (x == -1)                                       \
+		{                                                  \
+			bt_id_error_message("error calling " #x "\n"); \
 			return -1;                                     \
 		}                                                  \
 	} while (0)
-CloneTreeCreator::CloneTreeCreator(const MultiBodyTree* reference) { m_reference = reference; }
+CloneTreeCreator::CloneTreeCreator(const MultiBodyTree* reference)
+{
+	m_reference = reference;
+}
 
 CloneTreeCreator::~CloneTreeCreator() {}
 
-int CloneTreeCreator::getNumBodies(int* num_bodies) const {
+int CloneTreeCreator::getNumBodies(int* num_bodies) const
+{
 	CHECK_NULLPTR();
 	*num_bodies = m_reference->numBodies();
 	return 0;
@@ -31,7 +40,8 @@ int CloneTreeCreator::getNumBodies(int* num_bodies) const {
 int CloneTreeCreator::getBody(const int body_index, int* parent_index, JointType* joint_type,
 							  vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
 							  vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
-                              mat33* body_I_body, int* user_int, void** user_ptr) const {
+							  mat33* body_I_body, int* user_int, void** user_ptr) const
+{
 	CHECK_NULLPTR();
 	TRY(m_reference->getParentIndex(body_index, parent_index));
 	TRY(m_reference->getJointType(body_index, joint_type));
@@ -46,4 +56,4 @@ int CloneTreeCreator::getBody(const int body_index, int* parent_index, JointType
 
 	return 0;
 }
-}
+}  // namespace btInverseDynamics

Engine/lib/bullet/Extras/InverseDynamics/CloneTreeCreator.hpp

@@ -4,9 +4,11 @@
 #include "BulletInverseDynamics/IDConfig.hpp"
 #include "MultiBodyTreeCreator.hpp"
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
+{
 /// Generate an identical multibody tree from a reference system.
-class CloneTreeCreator : public MultiBodyTreeCreator {
+class CloneTreeCreator : public MultiBodyTreeCreator
+{
 public:
 	/// ctor
 	/// @param reference the MultiBodyTree to clone
@@ -23,5 +25,5 @@ public:
 private:
 	const MultiBodyTree* m_reference;
 };
-}
+}  // namespace btInverseDynamics
 #endif  // CLONETREE_CREATOR_HPP_

Engine/lib/bullet/Extras/InverseDynamics/CoilCreator.cpp

@@ -2,9 +2,12 @@
 
 #include "CoilCreator.hpp"
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
-CoilCreator::CoilCreator(int n) : m_num_bodies(n), m_parent(n) {
+{
-    for (int i = 0; i < m_num_bodies; i++) {
+CoilCreator::CoilCreator(int n) : m_num_bodies(n), m_parent(n)
+{
+	for (int i = 0; i < m_num_bodies; i++)
+	{
 		m_parent[i] = i - 1;
 	}
 
@@ -38,7 +41,8 @@ CoilCreator::CoilCreator(int n) : m_num_bodies(n), m_parent(n) {
 
 CoilCreator::~CoilCreator() {}
 
-int CoilCreator::getNumBodies(int* num_bodies) const {
+int CoilCreator::getNumBodies(int* num_bodies) const
+{
 	*num_bodies = m_num_bodies;
 	return 0;
 }
@@ -46,9 +50,11 @@ int CoilCreator::getNumBodies(int* num_bodies) const {
 int CoilCreator::getBody(int body_index, int* parent_index, JointType* joint_type,
 						 vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
 						 vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
-                         mat33* body_I_body, int* user_int, void** user_ptr) const {
+						 mat33* body_I_body, int* user_int, void** user_ptr) const
-    if (body_index < 0 || body_index >= m_num_bodies) {
+{
-        error_message("invalid body index %d\n", body_index);
+	if (body_index < 0 || body_index >= m_num_bodies)
+	{
+		bt_id_error_message("invalid body index %d\n", body_index);
 		return -1;
 	}
 	*parent_index = m_parent[body_index];
@@ -64,4 +70,4 @@ int CoilCreator::getBody(int body_index, int* parent_index, JointType* joint_typ
 	*user_ptr = 0;
 	return 0;
 }
-}
+}  // namespace btInverseDynamics

Engine/lib/bullet/Extras/InverseDynamics/CoilCreator.hpp

@@ -3,15 +3,16 @@
 
 #include "MultiBodyTreeCreator.hpp"
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
-
+{
 /// Creator class for building a "coil" system as intruduced as benchmark example in
 /// Featherstone (1999), "A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n))
 /// Calculation of Rigid-Body Dynamics. Part 2: Trees, Loops, and Accuracy.",  The International
 /// Journal of Robotics Research 18 (9): 876–892. doi : 10.1177 / 02783649922066628.
 ///
 /// This is a serial chain, with an initial configuration resembling a coil.
-class CoilCreator : public MultiBodyTreeCreator {
+class CoilCreator : public MultiBodyTreeCreator
+{
 public:
 	/// ctor.
 	/// @param n the number of bodies in the system
@@ -36,5 +37,5 @@ private:
 	vec3 m_body_r_body_com;
 	mat33 m_body_I_body;
 };
-}
+}  // namespace btInverseDynamics
 #endif

Engine/lib/bullet/Extras/InverseDynamics/DillCreator.cpp

@@ -1,7 +1,7 @@
 #include "DillCreator.hpp"
 #include <cmath>
-namespace btInverseDynamics {
+namespace btInverseDynamics
-
+{
 DillCreator::DillCreator(int level)
 	: m_level(level),
 	  m_num_bodies(BT_ID_POW(2, level))
@@ -15,7 +15,8 @@ DillCreator::DillCreator(int level)
 	m_body_I_body.resize(m_num_bodies);
 
 	// generate names (for debugging)
-    for (int i = 0; i < m_num_bodies; i++) {
+	for (int i = 0; i < m_num_bodies; i++)
+	{
 		m_parent[i] = i - 1;
 
 		// all z-axis (DH convention)
@@ -31,15 +32,17 @@ DillCreator::DillCreator(int level)
 	const idScalar a_DH = 0.0;
 	const idScalar alpha_DH = 0.0;
 
-    if (-1 == recurseDill(m_level, parent, d_DH, a_DH, alpha_DH)) {
+	if (-1 == recurseDill(m_level, parent, d_DH, a_DH, alpha_DH))
-        error_message("recurseDill failed\n");
+	{
+		bt_id_error_message("recurseDill failed\n");
 		abort();
 	}
 }
 
 DillCreator::~DillCreator() {}
 
-int DillCreator::getNumBodies(int* num_bodies) const {
+int DillCreator::getNumBodies(int* num_bodies) const
+{
 	*num_bodies = m_num_bodies;
 	return 0;
 }
@@ -47,9 +50,11 @@ int DillCreator::getNumBodies(int* num_bodies) const {
 int DillCreator::getBody(const int body_index, int* parent_index, JointType* joint_type,
 						 vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
 						 vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
-                         mat33* body_I_body, int* user_int, void** user_ptr) const {
+						 mat33* body_I_body, int* user_int, void** user_ptr) const
-    if (body_index < 0 || body_index >= m_num_bodies) {
+{
-        error_message("invalid body index %d\n", body_index);
+	if (body_index < 0 || body_index >= m_num_bodies)
+	{
+		bt_id_error_message("invalid body index %d\n", body_index);
 		return -1;
 	}
 	*parent_index = m_parent[body_index];
@@ -67,14 +72,17 @@ int DillCreator::getBody(const int body_index, int* parent_index, JointType* joi
 }
 
 int DillCreator::recurseDill(const int level, const int parent, const idScalar d_DH_in,
-                             const idScalar a_DH_in, const idScalar alpha_DH_in) {
+							 const idScalar a_DH_in, const idScalar alpha_DH_in)
-    if (level < 0) {
+{
-        error_message("invalid level parameter (%d)\n", level);
+	if (level < 0)
+	{
+		bt_id_error_message("invalid level parameter (%d)\n", level);
 		return -1;
 	}
 
-    if (m_current_body >= m_num_bodies || m_current_body < 0) {
+	if (m_current_body >= m_num_bodies || m_current_body < 0)
-        error_message("invalid body parameter (%d, num_bodies: %d)\n", m_current_body,
+	{
+		bt_id_error_message("invalid body parameter (%d, num_bodies: %d)\n", m_current_body,
 							m_num_bodies);
 		return -1;
 	}
@@ -92,14 +100,16 @@ int DillCreator::recurseDill(const int level, const int parent, const idScalar d
 	m_body_r_body_com[body](1) = 0;
 	m_body_r_body_com[body](2) = 0;
 	// initialization
-    for (int i = 0; i < 3; i++) {
+	for (int i = 0; i < 3; i++)
+	{
 		m_parent_r_parent_body_ref[body](i) = 0;
-        for (int j = 0; j < 3; j++) {
+		for (int j = 0; j < 3; j++)
+		{
 			m_body_I_body[body](i, j) = 0.0;
 			m_body_T_parent_ref[body](i, j) = 0.0;
 		}
 	}
-    const idScalar size_5 = pow(size, 5);
+        const idScalar size_5 = std::pow(size, 5);
         m_body_I_body[body](0, 0) = size_5 / 0.2e6;
         m_body_I_body[body](1, 1) = size_5 * 403 / 1.2e6;
 	m_body_I_body[body](2, 2) = m_body_I_body[body](1, 1);
@@ -108,9 +118,11 @@ int DillCreator::recurseDill(const int level, const int parent, const idScalar d
 					&m_body_T_parent_ref[body]);
 
 	// attach "level" Dill systems of levels 1...level
-    for (int i = 1; i <= level; i++) {
+	for (int i = 1; i <= level; i++)
+	{
 		idScalar d_DH = 0.01 * size;
-        if (i == level) {
+		if (i == level)
+		{
 			d_DH = 0.0;
 		}
 		const idScalar a_DH = i * 0.1;
@@ -121,4 +133,4 @@ int DillCreator::recurseDill(const int level, const int parent, const idScalar d
 
 	return 0;  // ok!
 }
-}
+}  // namespace btInverseDynamics

Engine/lib/bullet/Extras/InverseDynamics/DillCreator.hpp

@@ -3,16 +3,16 @@
 
 #include "MultiBodyTreeCreator.hpp"
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
-
+{
-
 /// Creator class for building a "Dill" system as intruduced as benchmark example in
 /// Featherstone (1999), "A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n))
 /// Calculation of Rigid-Body Dynamics. Part 2: Trees, Loops, and Accuracy.",  The International
 /// Journal of Robotics Research 18 (9): 876–892. doi : 10.1177 / 02783649922066628.
 ///
 /// This is a self-similar branched tree, somewhat resembling a dill plant
-class DillCreator : public MultiBodyTreeCreator {
+class DillCreator : public MultiBodyTreeCreator
+{
 public:
 	/// ctor
 	/// @param levels the number of dill levels
@@ -43,5 +43,5 @@ private:
 	idArray<mat33>::type m_body_I_body;
 	int m_current_body;
 };
-}
+}  // namespace btInverseDynamics
 #endif

Engine/lib/bullet/Extras/InverseDynamics/IDRandomUtil.cpp

@@ -6,9 +6,8 @@
 #include "BulletInverseDynamics/IDMath.hpp"
 #include "IDRandomUtil.hpp"
 
-
+namespace btInverseDynamics
-namespace btInverseDynamics {
+{
-
 // constants for random mass and inertia generation
 // these are arbitrary positive values.
 static const float mass_min = 0.001;
@@ -19,15 +18,18 @@ void randomInit(unsigned seed) { srand(seed); }
 
 int randomInt(int low, int high) { return rand() % (high + 1 - low) + low; }
 
-float randomFloat(float low, float high) {
+float randomFloat(float low, float high)
+{
 	return low + static_cast<float>(rand()) / RAND_MAX * (high - low);
 }
 
 float randomMass() { return randomFloat(mass_min, mass_max); }
 
-vec3 randomInertiaPrincipal() {
+vec3 randomInertiaPrincipal()
+{
 	vec3 inertia;
-    do {
+	do
+	{
 		inertia(0) = randomFloat(mass_min, mass_max);
 		inertia(1) = randomFloat(mass_min, mass_max);
 		inertia(2) = randomFloat(mass_min, mass_max);
@@ -36,7 +38,8 @@ vec3 randomInertiaPrincipal() {
 	return inertia;
 }
 
-mat33 randomInertiaMatrix() {
+mat33 randomInertiaMatrix()
+{
 	// generate random valid inertia matrix by first getting valid components
 	// along major axes and then rotating by random amount
 	vec3 principal = randomInertiaPrincipal();
@@ -55,17 +58,19 @@ mat33 randomInertiaMatrix() {
 	return rot * inertia * rot.transpose();
 }
 
-vec3 randomAxis() {
+vec3 randomAxis()
+{
 	vec3 axis;
 	idScalar length;
-    do {
+	do
+	{
 		axis(0) = randomFloat(-1.0, 1.0);
 		axis(1) = randomFloat(-1.0, 1.0);
 		axis(2) = randomFloat(-1.0, 1.0);
 
-        length = std::sqrt(std::pow(axis(0), 2) + std::pow(axis(1), 2) + std::pow(axis(2), 2));
+		length = BT_ID_SQRT(BT_ID_POW(axis(0), 2) + BT_ID_POW(axis(1), 2) + BT_ID_POW(axis(2), 2));
 	} while (length < 0.01);
 
 	return axis / length;
 }
-}
+}  // namespace btInverseDynamics

Engine/lib/bullet/Extras/InverseDynamics/IDRandomUtil.hpp

@@ -1,7 +1,8 @@
 #ifndef ID_RANDOM_UTIL_HPP_
 #define ID_RANDOM_UTIL_HPP_
 #include "BulletInverseDynamics/IDConfig.hpp"
-namespace btInverseDynamics {
+namespace btInverseDynamics
+{
 /// seed random number generator using time()
 void randomInit();
 /// seed random number generator with identical value to get repeatable results
@@ -32,5 +33,5 @@ vec3 randomInertiaPrincipal();
 mat33 randomInertiaMatrix();
 /// generate a random unit vector
 vec3 randomAxis();
-}
+}  // namespace btInverseDynamics
 #endif

Engine/lib/bullet/Extras/InverseDynamics/LICENSE.txt

@@ -0,0 +1,12 @@
+Bullet Continuous Collision Detection and Physics Library
+http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.

Engine/lib/bullet/Extras/InverseDynamics/MultiBodyNameMap.cpp

@@ -1,16 +1,19 @@
 #include "MultiBodyNameMap.hpp"
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
-
+{
 MultiBodyNameMap::MultiBodyNameMap() {}
 
-int MultiBodyNameMap::addBody(const int index, const std::string& name) {
+int MultiBodyNameMap::addBody(const int index, const std::string& name)
-    if (m_index_to_body_name.count(index) > 0) {
+{
-        error_message("trying to add index %d again\n", index);
+	if (m_index_to_body_name.count(index) > 0)
+	{
+		bt_id_error_message("trying to add index %d again\n", index);
 		return -1;
 	}
-    if (m_body_name_to_index.count(name) > 0) {
+	if (m_body_name_to_index.count(name) > 0)
-        error_message("trying to add name %s again\n", name.c_str());
+	{
+		bt_id_error_message("trying to add name %s again\n", name.c_str());
 		return -1;
 	}
 
@@ -20,13 +23,16 @@ int MultiBodyNameMap::addBody(const int index, const std::string& name) {
 	return 0;
 }
 
-int MultiBodyNameMap::addJoint(const int index, const std::string& name) {
+int MultiBodyNameMap::addJoint(const int index, const std::string& name)
-    if (m_index_to_joint_name.count(index) > 0) {
+{
-        error_message("trying to add index %d again\n", index);
+	if (m_index_to_joint_name.count(index) > 0)
+	{
+		bt_id_error_message("trying to add index %d again\n", index);
 		return -1;
 	}
-    if (m_joint_name_to_index.count(name) > 0) {
+	if (m_joint_name_to_index.count(name) > 0)
-        error_message("trying to add name %s again\n", name.c_str());
+	{
+		bt_id_error_message("trying to add name %s again\n", name.c_str());
 		return -1;
 	}
 
@@ -36,43 +42,51 @@ int MultiBodyNameMap::addJoint(const int index, const std::string& name) {
 	return 0;
 }
 
-int MultiBodyNameMap::getBodyName(const int index, std::string* name) const {
+int MultiBodyNameMap::getBodyName(const int index, std::string* name) const
+{
 	std::map<int, std::string>::const_iterator it = m_index_to_body_name.find(index);
-    if (it == m_index_to_body_name.end()) {
+	if (it == m_index_to_body_name.end())
-        error_message("index %d not known\n", index);
+	{
+		bt_id_error_message("index %d not known\n", index);
 		return -1;
 	}
 	*name = it->second;
 	return 0;
 }
 
-int MultiBodyNameMap::getJointName(const int index, std::string* name) const {
+int MultiBodyNameMap::getJointName(const int index, std::string* name) const
+{
 	std::map<int, std::string>::const_iterator it = m_index_to_joint_name.find(index);
-    if (it == m_index_to_joint_name.end()) {
+	if (it == m_index_to_joint_name.end())
-        error_message("index %d not known\n", index);
+	{
+		bt_id_error_message("index %d not known\n", index);
 		return -1;
 	}
 	*name = it->second;
 	return 0;
 }
 
-int MultiBodyNameMap::getBodyIndex(const std::string& name, int* index) const {
+int MultiBodyNameMap::getBodyIndex(const std::string& name, int* index) const
+{
 	std::map<std::string, int>::const_iterator it = m_body_name_to_index.find(name);
-    if (it == m_body_name_to_index.end()) {
+	if (it == m_body_name_to_index.end())
-        error_message("name %s not known\n", name.c_str());
+	{
+		bt_id_error_message("name %s not known\n", name.c_str());
 		return -1;
 	}
 	*index = it->second;
 	return 0;
 }
 
-int MultiBodyNameMap::getJointIndex(const std::string& name, int* index) const {
+int MultiBodyNameMap::getJointIndex(const std::string& name, int* index) const
+{
 	std::map<std::string, int>::const_iterator it = m_joint_name_to_index.find(name);
-    if (it == m_joint_name_to_index.end()) {
+	if (it == m_joint_name_to_index.end())
-        error_message("name %s not known\n", name.c_str());
+	{
+		bt_id_error_message("name %s not known\n", name.c_str());
 		return -1;
 	}
 	*index = it->second;
 	return 0;
 }
-}
+}  // namespace btInverseDynamics

Engine/lib/bullet/Extras/InverseDynamics/MultiBodyNameMap.hpp

@@ -5,11 +5,12 @@
 #include <string>
 #include <map>
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
-
+{
 /// \brief The MultiBodyNameMap class
 /// Utility class that stores a maps from body/joint indices to/from body and joint names
-class MultiBodyNameMap {
+class MultiBodyNameMap
+{
 public:
 	MultiBodyNameMap();
 	/// add a body to the map
@@ -50,5 +51,5 @@ private:
 	std::map<std::string, int> m_joint_name_to_index;
 	std::map<std::string, int> m_body_name_to_index;
 };
-}
+}  // namespace btInverseDynamics
 #endif  // MULTIBODYNAMEMAP_HPP_

Engine/lib/bullet/Extras/InverseDynamics/MultiBodyTreeCreator.cpp

@@ -1,8 +1,9 @@
 #include "MultiBodyTreeCreator.hpp"
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
-
+{
-MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator) {
+MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator)
+{
 	int num_bodies;
 	int parent_index;
 	JointType joint_type;
@@ -16,8 +17,9 @@ MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator) {
 	void* user_ptr;
 
 	MultiBodyTree* tree = new MultiBodyTree();
-    if (0x0 == tree) {
+	if (0x0 == tree)
-        error_message("cannot allocate tree\n");
+	{
+		bt_id_error_message("cannot allocate tree\n");
 		return 0x0;
 	}
 
@@ -25,20 +27,23 @@ MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator) {
 	tree->setAcceptInvalidMassParameters(false);
 
 	// get number of bodies in the system
-    if (-1 == creator.getNumBodies(&num_bodies)) {
+	if (-1 == creator.getNumBodies(&num_bodies))
-        error_message("getting body indices\n");
+	{
+		bt_id_error_message("getting body indices\n");
 		delete tree;
 		return 0x0;
 	}
 
 	// get data for all bodies
-    for (int index = 0; index < num_bodies; index++) {
+	for (int index = 0; index < num_bodies; index++)
+	{
 		// get body parameters from user callbacks
 		if (-1 ==
 			creator.getBody(index, &parent_index, &joint_type, &body_r_parent_body_ref,
 							&body_R_parent_ref, &body_axis_of_motion, &mass, &body_r_body_com,
-                            &body_I_body, &user_int, &user_ptr)) {
+							&body_I_body, &user_int, &user_ptr))
-            error_message("getting data for body %d\n", index);
+		{
+			bt_id_error_message("getting data for body %d\n", index);
 			delete tree;
 			return 0x0;
 		}
@@ -46,19 +51,21 @@ MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator) {
 		if (-1 ==
 			tree->addBody(index, parent_index, joint_type, body_r_parent_body_ref,
 						  body_R_parent_ref, body_axis_of_motion, mass, body_r_body_com,
-                          body_I_body, user_int, user_ptr)) {
+						  body_I_body, user_int, user_ptr))
-            error_message("adding body %d\n", index);
+		{
+			bt_id_error_message("adding body %d\n", index);
 			delete tree;
 			return 0x0;
 		}
 	}
 	// finalize initialization
-    if (-1 == tree->finalize()) {
+	if (-1 == tree->finalize())
-        error_message("building system\n");
+	{
+		bt_id_error_message("building system\n");
 		delete tree;
 		return 0x0;
 	}
 
 	return tree;
 }
-}
+}  // namespace btInverseDynamics

Engine/lib/bullet/Extras/InverseDynamics/MultiBodyTreeCreator.hpp

@@ -8,12 +8,14 @@
 #include "BulletInverseDynamics/MultiBodyTree.hpp"
 #include "MultiBodyNameMap.hpp"
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
+{
 /// Interface class for initializing a MultiBodyTree instance.
 /// Data to be provided is modeled on the URDF specification.
 /// The user can derive from this class in order to programmatically
 /// initialize a system.
-class MultiBodyTreeCreator {
+class MultiBodyTreeCreator
+{
 public:
 	/// the dtor
 	virtual ~MultiBodyTreeCreator() {}
@@ -38,7 +40,7 @@ public:
 /// @return A pointer to an allocated multibodytree instance, or
 ///         0x0 if an error occured.
 MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator);
-}
+}  // namespace btInverseDynamics
 
 // does urdf have gravity direction ??
 

Engine/lib/bullet/Extras/InverseDynamics/MultiBodyTreeDebugGraph.cpp

@@ -2,56 +2,69 @@
 
 #include <cstdio>
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
-
+{
 int writeGraphvizDotFile(const MultiBodyTree* tree, const MultiBodyNameMap* map,
-                         const char* filename) {
+						 const char* filename)
-    if (0x0 == tree) {
+{
-        error_message("tree pointer is null\n");
+	if (0x0 == tree)
+	{
+		bt_id_error_message("tree pointer is null\n");
 		return -1;
 	}
-    if (0x0 == filename) {
+	if (0x0 == filename)
-        error_message("filename is null\n");
+	{
+		bt_id_error_message("filename is null\n");
 		return -1;
 	}
 
 	FILE* fp = fopen(filename, "w");
-    if (NULL == fp) {
+	if (NULL == fp)
-        error_message("cannot open file %s for writing\n", filename);
+	{
+		bt_id_error_message("cannot open file %s for writing\n", filename);
 		return -1;
 	}
-    fprintf(fp, "// to generate postscript file, run dot -Tps %s -o %s.ps\n"
+	fprintf(fp,
+			"// to generate postscript file, run dot -Tps %s -o %s.ps\n"
 			"// details see graphviz documentation at http://graphviz.org\n"
 			"digraph tree {\n",
 			filename, filename);
 
-    for (int body = 0; body < tree->numBodies(); body++) {
+	for (int body = 0; body < tree->numBodies(); body++)
+	{
 		std::string name;
-        if (0x0 != map) {
+		if (0x0 != map)
-            if (-1 == map->getBodyName(body, &name)) {
+		{
-                error_message("can't get name of body %d\n", body);
+			if (-1 == map->getBodyName(body, &name))
+			{
+				bt_id_error_message("can't get name of body %d\n", body);
 				return -1;
 			}
 			fprintf(fp, "              %d [label=\"%d/%s\"];\n", body, body, name.c_str());
 		}
 	}
-    for (int body = 0; body < tree->numBodies(); body++) {
+	for (int body = 0; body < tree->numBodies(); body++)
+	{
 		int parent;
 		const char* joint_type;
 		int qi;
-        if (-1 == tree->getParentIndex(body, &parent)) {
+		if (-1 == tree->getParentIndex(body, &parent))
-            error_message("indexing error\n");
+		{
+			bt_id_error_message("indexing error\n");
 			return -1;
 		}
-        if (-1 == tree->getJointTypeStr(body, &joint_type)) {
+		if (-1 == tree->getJointTypeStr(body, &joint_type))
-            error_message("indexing error\n");
+		{
+			bt_id_error_message("indexing error\n");
 			return -1;
 		}
-        if (-1 == tree->getDoFOffset(body, &qi)) {
+		if (-1 == tree->getDoFOffset(body, &qi))
-            error_message("indexing error\n");
+		{
+			bt_id_error_message("indexing error\n");
 			return -1;
 		}
-        if (-1 != parent) {
+		if (-1 != parent)
+		{
 			fprintf(fp, "              %d -> %d [label= \"type:%s, q=%d\"];\n", parent, body,
 					joint_type, qi);
 		}
@@ -61,4 +74,4 @@ int writeGraphvizDotFile(const MultiBodyTree* tree, const MultiBodyNameMap* map,
 	fclose(fp);
 	return 0;
 }
-}
+}  // namespace btInverseDynamics

Engine/lib/bullet/Extras/InverseDynamics/MultiBodyTreeDebugGraph.hpp

@@ -4,7 +4,8 @@
 #include "BulletInverseDynamics/MultiBodyTree.hpp"
 #include "MultiBodyNameMap.hpp"
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
+{
 /// generate a dot-file of the multibody tree for generating a graph using graphviz' dot tool
 /// @param tree the multibody tree
 /// @param map to add names of links (if 0x0, no names will be added)
@@ -12,6 +13,6 @@ namespace btInverseDynamics {
 /// @return 0 on success, -1 on error
 int writeGraphvizDotFile(const MultiBodyTree* tree, const MultiBodyNameMap* map,
 						 const char* filename);
-}
+}  // namespace btInverseDynamics
 
 #endif  // MULTIBODYTREEDEBUGGRAPH_HPP

Engine/lib/bullet/Extras/InverseDynamics/RandomTreeCreator.cpp

@@ -4,13 +4,17 @@
 
 #include "IDRandomUtil.hpp"
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
-
+{
-RandomTreeCreator::RandomTreeCreator(const int max_bodies, bool random_seed) {
+RandomTreeCreator::RandomTreeCreator(const int max_bodies, bool random_seed)
+{
 	// seed generator
-    if(random_seed) {
+	if (random_seed)
+	{
 		randomInit();  // seeds with time()
-    } else {
+	}
+	else
+	{
 		randomInit(1);  // seeds with 1
 	}
 	m_num_bodies = randomInt(1, max_bodies);
@@ -18,7 +22,8 @@ RandomTreeCreator::RandomTreeCreator(const int max_bodies, bool random_seed) {
 
 RandomTreeCreator::~RandomTreeCreator() {}
 
-int RandomTreeCreator::getNumBodies(int* num_bodies) const {
+int RandomTreeCreator::getNumBodies(int* num_bodies) const
+{
 	*num_bodies = m_num_bodies;
 	return 0;
 }
@@ -26,14 +31,19 @@ int RandomTreeCreator::getNumBodies(int* num_bodies) const {
 int RandomTreeCreator::getBody(const int body_index, int* parent_index, JointType* joint_type,
 							   vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
 							   vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
-                               mat33* body_I_body, int* user_int, void** user_ptr) const {
+							   mat33* body_I_body, int* user_int, void** user_ptr) const
-    if(0 == body_index) { //root body
+{
+	if (0 == body_index)
+	{  //root body
 		*parent_index = -1;
-    } else {
+	}
+	else
+	{
 		*parent_index = randomInt(0, body_index - 1);
 	}
 
-    switch (randomInt(0, 3)) {
+	switch (randomInt(0, 3))
+	{
 		case 0:
 			*joint_type = FIXED;
 			break;
@@ -47,7 +57,7 @@ int RandomTreeCreator::getBody(const int body_index, int* parent_index, JointTyp
 			*joint_type = FLOATING;
 			break;
 		default:
-            error_message("randomInt() result out of range\n");
+			bt_id_error_message("randomInt() result out of range\n");
 			return -1;
 	}
 
@@ -78,4 +88,4 @@ int RandomTreeCreator::getBody(const int body_index, int* parent_index, JointTyp
 
 	return 0;
 }
-}
+}  // namespace btInverseDynamics

Engine/lib/bullet/Extras/InverseDynamics/RandomTreeCreator.hpp

@@ -4,11 +4,13 @@
 #include "BulletInverseDynamics/IDConfig.hpp"
 #include "MultiBodyTreeCreator.hpp"
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
+{
 /// Generate a random MultiBodyTree with fixed or floating base and fixed, prismatic or revolute
 /// joints
 /// Uses a pseudo random number generator seeded from a random device.
-class RandomTreeCreator : public MultiBodyTreeCreator {
+class RandomTreeCreator : public MultiBodyTreeCreator
+{
 public:
 	/// ctor
 	/// @param max_bodies maximum number of bodies
@@ -27,5 +29,5 @@ public:
 private:
 	int m_num_bodies;
 };
-}
+}  // namespace btInverseDynamics
 #endif  // RANDOMTREE_CREATOR_HPP_

Engine/lib/bullet/Extras/InverseDynamics/SimpleTreeCreator.cpp

@@ -2,9 +2,11 @@
 
 #include <cstdio>
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
+{
 /// minimal "tree" (chain)
-SimpleTreeCreator::SimpleTreeCreator(int dim) : m_num_bodies(dim) {
+SimpleTreeCreator::SimpleTreeCreator(int dim) : m_num_bodies(dim)
+{
 	m_mass = 1.0;
 	m_body_T_parent_ref(0, 0) = 1;
 	m_body_T_parent_ref(0, 1) = 0;
@@ -38,7 +40,8 @@ SimpleTreeCreator::SimpleTreeCreator(int dim) : m_num_bodies(dim) {
 	m_axis(1) = 0;
 	m_axis(2) = 1;
 }
-int SimpleTreeCreator::getNumBodies(int* num_bodies) const {
+int SimpleTreeCreator::getNumBodies(int* num_bodies) const
+{
 	*num_bodies = m_num_bodies;
 	return 0;
 }
@@ -46,15 +49,20 @@ int SimpleTreeCreator::getNumBodies(int* num_bodies) const {
 int SimpleTreeCreator::getBody(const int body_index, int* parent_index, JointType* joint_type,
 							   vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
 							   vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
-                               mat33* body_I_body, int* user_int, void** user_ptr) const {
+							   mat33* body_I_body, int* user_int, void** user_ptr) const
+{
 	*parent_index = body_index - 1;
-    if (body_index % 2) {
+	if (body_index % 2)
+	{
 		*joint_type = PRISMATIC;
-    } else {
+	}
+	else
+	{
 		*joint_type = REVOLUTE;
 	}
 	*parent_r_parent_body_ref = m_parent_r_parent_body_ref;
-    if (0 == body_index) {
+	if (0 == body_index)
+	{
 		(*parent_r_parent_body_ref)(2) = 1.0;
 	}
 	*body_T_parent_ref = m_body_T_parent_ref;
@@ -66,4 +74,4 @@ int SimpleTreeCreator::getBody(const int body_index, int* parent_index, JointTyp
 	*user_ptr = 0;
 	return 0;
 }
-}
+}  // namespace btInverseDynamics

Engine/lib/bullet/Extras/InverseDynamics/SimpleTreeCreator.hpp

@@ -3,10 +3,11 @@
 
 #include "MultiBodyTreeCreator.hpp"
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
-
+{
 /// minimal "tree" (chain)
-class SimpleTreeCreator : public MultiBodyTreeCreator {
+class SimpleTreeCreator : public MultiBodyTreeCreator
+{
 public:
 	/// ctor
 	/// @param dim number of bodies
@@ -30,5 +31,5 @@ private:
 	mat33 m_body_I_body;
 	vec3 m_axis;
 };
-}
+}  // namespace btInverseDynamics
 #endif  // SIMPLETREECREATOR_HPP_

Engine/lib/bullet/Extras/InverseDynamics/User2InternalIndex.cpp

@@ -1,14 +1,18 @@
 #include "User2InternalIndex.hpp"
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
+{
 User2InternalIndex::User2InternalIndex() : m_map_built(false) {}
 
-void User2InternalIndex::addBody(const int body, const int parent) {
+void User2InternalIndex::addBody(const int body, const int parent)
+{
 	m_user_parent_index_map[body] = parent;
 }
 
-int User2InternalIndex::findRoot(int index) {
+int User2InternalIndex::findRoot(int index)
-    if (0 == m_user_parent_index_map.count(index)) {
+{
+	if (0 == m_user_parent_index_map.count(index))
+	{
 		return index;
 	}
 	return findRoot(m_user_parent_index_map[index]);
@@ -17,25 +21,33 @@ int User2InternalIndex::findRoot(int index) {
 // modelled after URDF2Bullet.cpp:void ComputeParentIndices(const
 // URDFImporterInterface& u2b, URDF2BulletCachedData& cache, int urdfLinkIndex,
 // int urdfParentIndex)
-void User2InternalIndex::recurseIndexSets(const int user_body_index) {
+void User2InternalIndex::recurseIndexSets(const int user_body_index)
+{
 	m_user_to_internal[user_body_index] = m_current_index;
 	m_current_index++;
-    for (size_t i = 0; i < m_user_child_indices[user_body_index].size(); i++) {
+	for (size_t i = 0; i < m_user_child_indices[user_body_index].size(); i++)
+	{
 		recurseIndexSets(m_user_child_indices[user_body_index][i]);
 	}
 }
 
-int User2InternalIndex::buildMapping() {
+int User2InternalIndex::buildMapping()
+{
 	// find root index
 	int user_root_index = -1;
 	for (std::map<int, int>::iterator it = m_user_parent_index_map.begin();
-         it != m_user_parent_index_map.end(); it++) {
+		 it != m_user_parent_index_map.end(); it++)
+	{
 		int current_root_index = findRoot(it->second);
-        if (it == m_user_parent_index_map.begin()) {
+		if (it == m_user_parent_index_map.begin())
+		{
 			user_root_index = current_root_index;
-        } else {
+		}
-            if (user_root_index != current_root_index) {
+		else
-                error_message("multiple roots (at least) %d and %d\n", user_root_index,
+		{
+			if (user_root_index != current_root_index)
+			{
+				bt_id_error_message("multiple roots (at least) %d and %d\n", user_root_index,
 									current_root_index);
 				return -1;
 			}
@@ -44,7 +56,8 @@ int User2InternalIndex::buildMapping() {
 
 	// build child index map
 	for (std::map<int, int>::iterator it = m_user_parent_index_map.begin();
-         it != m_user_parent_index_map.end(); it++) {
+		 it != m_user_parent_index_map.end(); it++)
+	{
 		m_user_child_indices[it->second].push_back(it->first);
 	}
 
@@ -55,7 +68,8 @@ int User2InternalIndex::buildMapping() {
 
 	// reverse mapping
 	for (std::map<int, int>::iterator it = m_user_to_internal.begin();
-         it != m_user_to_internal.end(); it++) {
+		 it != m_user_to_internal.end(); it++)
+	{
 		m_internal_to_user[it->second] = it->first;
 	}
 
@@ -63,37 +77,45 @@ int User2InternalIndex::buildMapping() {
 	return 0;
 }
 
-int User2InternalIndex::user2internal(const int user, int *internal) const {
+int User2InternalIndex::user2internal(const int user, int *internal) const
-
+{
-    if (!m_map_built) {
+	if (!m_map_built)
+	{
 		return -1;
 	}
 
 	std::map<int, int>::const_iterator it;
 	it = m_user_to_internal.find(user);
-    if (it != m_user_to_internal.end()) {
+	if (it != m_user_to_internal.end())
+	{
 		*internal = it->second;
 		return 0;
-    } else {
+	}
-        error_message("no user index %d\n", user);
+	else
+	{
+		bt_id_error_message("no user index %d\n", user);
 		return -1;
 	}
 }
 
-int User2InternalIndex::internal2user(const int internal, int *user) const {
+int User2InternalIndex::internal2user(const int internal, int *user) const
-
+{
-    if (!m_map_built) {
+	if (!m_map_built)
+	{
 		return -1;
 	}
 
 	std::map<int, int>::const_iterator it;
 	it = m_internal_to_user.find(internal);
-    if (it != m_internal_to_user.end()) {
+	if (it != m_internal_to_user.end())
+	{
 		*user = it->second;
 		return 0;
-    } else {
+	}
-        error_message("no internal index %d\n", internal);
+	else
+	{
+		bt_id_error_message("no internal index %d\n", internal);
 		return -1;
 	}
 }
-}
+}  // namespace btInverseDynamics

Engine/lib/bullet/Extras/InverseDynamics/User2InternalIndex.hpp

@@ -5,11 +5,12 @@
 
 #include "BulletInverseDynamics/IDConfig.hpp"
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
-
+{
 /// Convert arbitrary indexing scheme to internal indexing
 /// used for MultiBodyTree
-class User2InternalIndex {
+class User2InternalIndex
+{
 public:
 	/// Ctor
 	User2InternalIndex();
@@ -41,6 +42,6 @@ private:
 	std::map<int, std::vector<int> > m_user_child_indices;
 	int m_current_index;
 };
-}
+}  // namespace btInverseDynamics
 
 #endif  // USER2INTERNALINDEX_HPP

Engine/lib/bullet/Extras/InverseDynamics/btMultiBodyFromURDF.hpp

@@ -11,26 +11,30 @@
 #include "../../examples/Importers/ImportURDFDemo/URDF2Bullet.h"
 #include "../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h"
 #include "../../examples/Importers/ImportURDFDemo/URDF2Bullet.h"
-
+#include "../../examples/Utils/b3BulletDefaultFileIO.h"
 /// Create a btMultiBody model from URDF.
 /// This is adapted from Bullet URDF loader example
-class MyBtMultiBodyFromURDF {
+class MyBtMultiBodyFromURDF
+{
 public:
 	/// ctor
 	/// @param gravity gravitational acceleration (in world frame)
 	/// @param base_fixed if true, the root body is treated as fixed,
 	///        if false, it is treated as floating
 	MyBtMultiBodyFromURDF(const btVector3 &gravity, const bool base_fixed)
-        : m_gravity(gravity), m_base_fixed(base_fixed) {
+		: m_gravity(gravity), m_base_fixed(base_fixed)
+	{
 		m_broadphase = 0x0;
 		m_dispatcher = 0x0;
 		m_solver = 0x0;
 		m_collisionConfiguration = 0x0;
 		m_dynamicsWorld = 0x0;
 		m_multibody = 0x0;
+                m_flag = 0x0;
 	}
 	/// dtor
-    ~MyBtMultiBodyFromURDF() {
+	~MyBtMultiBodyFromURDF()
+	{
 		delete m_dynamicsWorld;
 		delete m_solver;
 		delete m_broadphase;
@@ -40,21 +44,25 @@ public:
 	}
 	/// @param name path to urdf file
 	void setFileName(const std::string name) { m_filename = name; }
+        void setFlag(int flag) { m_flag = flag; }
 	/// load urdf file and build btMultiBody model
-    void init() {
+	void init()
+	{
 		this->createEmptyDynamicsWorld();
 		m_dynamicsWorld->setGravity(m_gravity);
-        BulletURDFImporter urdf_importer(&m_nogfx,0);
+		b3BulletDefaultFileIO fileIO;
+		BulletURDFImporter urdf_importer(&m_nogfx, 0, &fileIO, 1, 0);
 		URDFImporterInterface &u2b(urdf_importer);
 		bool loadOk = u2b.loadURDF(m_filename.c_str(), m_base_fixed);
 
-        if (loadOk) {
+		if (loadOk)
+		{
 			btTransform identityTrans;
 			identityTrans.setIdentity();
 			MyMultiBodyCreator creation(&m_nogfx);
 			const bool use_multibody = true;
 			ConvertURDF2Bullet(u2b, creation, identityTrans, m_dynamicsWorld, use_multibody,
-                               u2b.getPathPrefix());
+							   u2b.getPathPrefix(), m_flag);
 			m_multibody = creation.getBulletMultiBody();
 			m_dynamicsWorld->stepSimulation(1. / 240., 0);
 		}
@@ -64,7 +72,8 @@ public:
 
 private:
 	// internal utility function
-    void createEmptyDynamicsWorld() {
+	void createEmptyDynamicsWorld()
+	{
 		m_collisionConfiguration = new btDefaultCollisionConfiguration();
 
 		/// use the default collision dispatcher. For parallel processing you can use a diffent
@@ -87,5 +96,6 @@ private:
 	btMultiBody *m_multibody;
 	const btVector3 m_gravity;
 	const bool m_base_fixed;
+        int m_flag;
 };
 #endif  // BTMULTIBODYFROMURDF_HPP

Engine/lib/bullet/Extras/InverseDynamics/btMultiBodyTreeCreator.cpp

@@ -1,12 +1,14 @@
 #include "btMultiBodyTreeCreator.hpp"
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
-
+{
 btMultiBodyTreeCreator::btMultiBodyTreeCreator() : m_initialized(false) {}
 
-int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const bool verbose) {
+int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const bool verbose)
-    if (0x0 == btmb) {
+{
-        error_message("cannot create MultiBodyTree from null pointer\n");
+	if (0x0 == btmb)
+	{
+		bt_id_error_message("cannot create MultiBodyTree from null pointer\n");
 		return -1;
 	}
 
@@ -22,12 +24,17 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
 		LinkData &link = m_data[0];
 
 		link.parent_index = -1;
-        if (btmb->hasFixedBase()) {
+		if (btmb->hasFixedBase())
+		{
 			link.joint_type = FIXED;
-        } else {
+		}
+		else
+		{
 			link.joint_type = FLOATING;
 		}
-        btTransform transform(btmb->getBaseWorldTransform());
+		btTransform transform = (btmb->getBaseWorldTransform());
+		//compute inverse dynamics in body-fixed frame
+		transform.setIdentity();
 
 		link.parent_r_parent_body_ref(0) = transform.getOrigin()[0];
 		link.parent_r_parent_body_ref(1) = transform.getOrigin()[1];
@@ -68,8 +75,10 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
 		// shift reference point to link origin (in joint axis)
 		mat33 tilde_r_com = tildeOperator(link.body_r_body_com);
 		link.body_I_body = link.body_I_body - link.mass * tilde_r_com * tilde_r_com;
-        if (verbose) {
+		if (verbose)
-            id_printf("base: mass= %f, bt_inertia= [%f %f %f]\n"
+		{
+			id_printf(
+				"base: mass= %f, bt_inertia= [%f %f %f]\n"
 				"Io= [%f %f %f;\n"
 				"    %f %f %f;\n"
 				"    %f %f %f]\n",
@@ -81,8 +90,10 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
 		}
 	}
 
-    for (int bt_index = 0; bt_index < btmb->getNumLinks(); bt_index++) {
+	for (int bt_index = 0; bt_index < btmb->getNumLinks(); bt_index++)
-        if (verbose) {
+	{
+		if (verbose)
+		{
 			id_printf("bt->id: converting link %d\n", bt_index);
 		}
 		const btMultibodyLink &bt_link = btmb->getLink(bt_index);
@@ -91,14 +102,16 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
 		link.parent_index = bt_link.m_parent + 1;
 
 		link.mass = bt_link.m_mass;
-        if (verbose) {
+		if (verbose)
+		{
 			id_printf("mass= %f\n", link.mass);
 		}
 		// from this body's pivot to this body's com in this body's frame
 		link.body_r_body_com[0] = bt_link.m_dVector[0];
 		link.body_r_body_com[1] = bt_link.m_dVector[1];
 		link.body_r_body_com[2] = bt_link.m_dVector[2];
-        if (verbose) {
+		if (verbose)
+		{
 			id_printf("com= %f %f %f\n", link.body_r_body_com[0], link.body_r_body_com[1],
 					  link.body_r_body_com[2]);
 		}
@@ -116,8 +129,10 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
 		mat33 tilde_r_com = tildeOperator(link.body_r_body_com);
 		link.body_I_body = link.body_I_body - link.mass * tilde_r_com * tilde_r_com;
 
-        if (verbose) {
+		if (verbose)
-            id_printf("link %d: mass= %f, bt_inertia= [%f %f %f]\n"
+		{
+			id_printf(
+				"link %d: mass= %f, bt_inertia= [%f %f %f]\n"
 				"Io= [%f %f %f;\n"
 				"    %f %f %f;\n"
 				"    %f %f %f]\n",
@@ -138,17 +153,21 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
 		link.body_T_parent_ref(2, 0) = basis[2][0];
 		link.body_T_parent_ref(2, 1) = basis[2][1];
 		link.body_T_parent_ref(2, 2) = basis[2][2];
-        if (verbose) {
+		if (verbose)
-            id_printf("body_T_parent_ref= %f %f %f\n"
+		{
+			id_printf(
+				"body_T_parent_ref= %f %f %f\n"
 				"                   %f %f %f\n"
 				"                   %f %f %f\n",
 				basis[0][0], basis[0][1], basis[0][2], basis[1][0], basis[1][1], basis[1][2],
 				basis[2][0], basis[2][1], basis[2][2]);
 		}
-        switch (bt_link.m_jointType) {
+		switch (bt_link.m_jointType)
+		{
 			case btMultibodyLink::eRevolute:
 				link.joint_type = REVOLUTE;
-                if (verbose) {
+				if (verbose)
+				{
 					id_printf("type= revolute\n");
 				}
 				link.body_axis_of_motion(0) = bt_link.m_axes[0].m_topVec[0];
@@ -164,7 +183,8 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
 				break;
 			case btMultibodyLink::ePrismatic:
 				link.joint_type = PRISMATIC;
-                if (verbose) {
+				if (verbose)
+				{
 					id_printf("type= prismatic\n");
 				}
 				link.body_axis_of_motion(0) = bt_link.m_axes[0].m_bottomVec[0];
@@ -182,10 +202,17 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
 				link.parent_r_parent_body_ref(2) = bt_link.m_eVector[2];
 				break;
 			case btMultibodyLink::eSpherical:
-                error_message("spherical joints not implemented\n");
+				link.joint_type = SPHERICAL;
-                return -1;
+				link.parent_r_parent_body_ref(0) = bt_link.m_eVector[0];
+				link.parent_r_parent_body_ref(1) = bt_link.m_eVector[1];
+				link.parent_r_parent_body_ref(2) = bt_link.m_eVector[2];
+				// random unit vector
+				link.body_axis_of_motion(0) = 0;
+				link.body_axis_of_motion(1) = 1;
+				link.body_axis_of_motion(2) = 0;
+				break;
 			case btMultibodyLink::ePlanar:
-                error_message("planar joints not implemented\n");
+				bt_id_error_message("planar joints not implemented\n");
 				return -1;
 			case btMultibodyLink::eFixed:
 				link.joint_type = FIXED;
@@ -201,22 +228,26 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
 				link.parent_r_parent_body_ref(2) = bt_link.m_eVector[2];
 				break;
 			default:
-                error_message("unknown btMultiBody::eFeatherstoneJointType %d\n",
+				bt_id_error_message("unknown btMultiBody::eFeatherstoneJointType %d\n",
 									bt_link.m_jointType);
 				return -1;
 		}
-        if (link.parent_index > 0) {  // parent body isn't the root
+		if (link.parent_index > 0)
+		{  // parent body isn't the root
 			const btMultibodyLink &bt_parent_link = btmb->getLink(link.parent_index - 1);
 			// from parent pivot to parent com, in parent frame
 			link.parent_r_parent_body_ref(0) += bt_parent_link.m_dVector[0];
 			link.parent_r_parent_body_ref(1) += bt_parent_link.m_dVector[1];
 			link.parent_r_parent_body_ref(2) += bt_parent_link.m_dVector[2];
-        } else {
+		}
+		else
+		{
 			// parent is root body. btMultiBody only knows 6-DoF or 0-DoF root bodies,
 			// whose link frame is in the CoM (ie, no notion of a pivot point)
 		}
 
-        if (verbose) {
+		if (verbose)
+		{
 			id_printf("parent_r_parent_body_ref= %f %f %f\n", link.parent_r_parent_body_ref[0],
 					  link.parent_r_parent_body_ref[1], link.parent_r_parent_body_ref[2]);
 		}
@@ -227,9 +258,11 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
 	return 0;
 }
 
-int btMultiBodyTreeCreator::getNumBodies(int *num_bodies) const {
+int btMultiBodyTreeCreator::getNumBodies(int *num_bodies) const
-    if (false == m_initialized) {
+{
-        error_message("btMultiBody not converted yet\n");
+	if (false == m_initialized)
+	{
+		bt_id_error_message("btMultiBody not converted yet\n");
 		return -1;
 	}
 
@@ -241,14 +274,17 @@ int btMultiBodyTreeCreator::getBody(const int body_index, int *parent_index, Joi
 									vec3 *parent_r_parent_body_ref, mat33 *body_T_parent_ref,
 									vec3 *body_axis_of_motion, idScalar *mass,
 									vec3 *body_r_body_com, mat33 *body_I_body, int *user_int,
-                                    void **user_ptr) const {
+									void **user_ptr) const
-    if (false == m_initialized) {
+{
-        error_message("MultiBodyTree not created yet\n");
+	if (false == m_initialized)
+	{
+		bt_id_error_message("MultiBodyTree not created yet\n");
 		return -1;
 	}
 
-    if (body_index < 0 || body_index >= static_cast<int>(m_data.size())) {
+	if (body_index < 0 || body_index >= static_cast<int>(m_data.size()))
-        error_message("index out of range (got %d but only %zu bodies)\n", body_index,
+	{
+		bt_id_error_message("index out of range (got %d but only %zu bodies)\n", body_index,
 							m_data.size());
 		return -1;
 	}
@@ -267,4 +303,4 @@ int btMultiBodyTreeCreator::getBody(const int body_index, int *parent_index, Joi
 
 	return 0;
 }
-}
+}  // namespace btInverseDynamics

Engine/lib/bullet/Extras/InverseDynamics/btMultiBodyTreeCreator.hpp

@@ -7,11 +7,12 @@
 #include "MultiBodyTreeCreator.hpp"
 #include "BulletDynamics/Featherstone/btMultiBody.h"
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
-
+{
 /// MultiBodyTreeCreator implementation for converting
 /// a btMultiBody forward dynamics model into a MultiBodyTree inverse dynamics model
-class btMultiBodyTreeCreator : public MultiBodyTreeCreator {
+class btMultiBodyTreeCreator : public MultiBodyTreeCreator
+{
 public:
 	/// ctor
 	btMultiBodyTreeCreator();
@@ -32,7 +33,8 @@ public:
 
 private:
 	// internal struct holding data extracted from btMultiBody
-    struct LinkData {
+	struct LinkData
+	{
 		int parent_index;
 		JointType joint_type;
 		vec3 parent_r_parent_body_ref;
@@ -45,6 +47,6 @@ private:
 	idArray<LinkData>::type m_data;
 	bool m_initialized;
 };
-}
+}  // namespace btInverseDynamics
 
 #endif  // BTMULTIBODYTREECREATOR_HPP_

Engine/lib/bullet/Extras/InverseDynamics/invdyn_bullet_comparison.cpp

@@ -8,20 +8,25 @@
 #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
 #include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
+{
 int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &gravity, bool verbose,
 									 btMultiBody *btmb, MultiBodyTree *id_tree, double *pos_error,
-                                     double *acc_error) {
+									 double *acc_error)
-// call function and return -1 if it does, printing an error_message
+{
+// call function and return -1 if it does, printing an bt_id_error_message
 #define RETURN_ON_FAILURE(x)                         \
-    do {                                                                                           \
+	do                                               \
-        if (-1 == x) {                                                                             \
+	{                                                \
-            error_message("calling " #x "\n");                                                     \
+		if (-1 == x)                                 \
+		{                                            \
+			bt_id_error_message("calling " #x "\n"); \
 			return -1;                               \
 		}                                            \
 	} while (0)
 
-    if (verbose) {
+	if (verbose)
+	{
 		printf("\n ===================================== \n");
 	}
 	vecx joint_forces(q.size());
@@ -50,38 +55,48 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
 
 	// remaining links
 	int q_index;
-    if (btmb->hasFixedBase()) {
+	if (btmb->hasFixedBase())
+	{
 		q_index = 0;
-    } else {
+	}
+	else
+	{
 		q_index = 6;
 	}
-    if (verbose) {
+	if (verbose)
+	{
 		printf("bt:num_links= %d, num_dofs= %d\n", btmb->getNumLinks(), btmb->getNumDofs());
 	}
-    for (int l = 0; l < btmb->getNumLinks(); l++) {
+	for (int l = 0; l < btmb->getNumLinks(); l++)
+	{
 		const btMultibodyLink &link = btmb->getLink(l);
-        if (verbose) {
+		if (verbose)
+		{
 			printf("link %d, pos_var_count= %d, dof_count= %d\n", l, link.m_posVarCount,
 				   link.m_dofCount);
 		}
-        if (link.m_posVarCount == 1) {
+		if (link.m_posVarCount == 1)
+		{
 			btmb->setJointPosMultiDof(l, &q(q_index));
 			btmb->setJointVelMultiDof(l, &u(q_index));
-            if (verbose) {
+			if (verbose)
+			{
 				printf("set q[%d]= %f, u[%d]= %f\n", q_index, q(q_index), q_index, u(q_index));
 			}
 			q_index++;
 		}
 	}
 	// sanity check
-    if (q_index != q.size()) {
+	if (q_index != q.size())
-        error_message("error in number of dofs for btMultibody and MultiBodyTree\n");
+	{
+		bt_id_error_message("error in number of dofs for btMultibody and MultiBodyTree\n");
 		return -1;
 	}
 
 	// run inverse dynamics to determine joint_forces for given q, u, dot_u
-    if (-1 == id_tree->calculateInverseDynamics(q, u, dot_u, &joint_forces)) {
+	if (-1 == id_tree->calculateInverseDynamics(q, u, dot_u, &joint_forces))
-        error_message("calculating inverse dynamics\n");
+	{
+		bt_id_error_message("calculating inverse dynamics\n");
 		return -1;
 	}
 
@@ -95,9 +110,11 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
 	// apply gravity forces for btMultiBody model. Must be done manually.
 	btmb->addBaseForce(btmb->getBaseMass() * gravity);
 
-    for (int link = 0; link < btmb->getNumLinks(); link++) {
+	for (int link = 0; link < btmb->getNumLinks(); link++)
+	{
 		btmb->addLinkForce(link, gravity * btmb->getLinkMass(link));
-        if (verbose) {
+		if (verbose)
+		{
 			printf("link %d, applying gravity %f %f %f\n", link,
 				   gravity[0] * btmb->getLinkMass(link), gravity[1] * btmb->getLinkMass(link),
 				   gravity[2] * btmb->getLinkMass(link));
@@ -105,9 +122,12 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
 	}
 
 	// apply generalized forces
-    if (btmb->hasFixedBase()) {
+	if (btmb->hasFixedBase())
+	{
 		q_index = 0;
-    } else {
+	}
+	else
+	{
 		vec3 base_force;
 		base_force(0) = joint_forces(3);
 		base_force(1) = joint_forces(4);
@@ -120,7 +140,8 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
 
 		btmb->addBaseForce(world_T_base * base_force);
 		btmb->addBaseTorque(world_T_base * base_moment);
-        if (verbose) {
+		if (verbose)
+		{
 			printf("base force from id: %f %f %f\n", joint_forces(3), joint_forces(4),
 				   joint_forces(5));
 			printf("base moment from id: %f %f %f\n", joint_forces(0), joint_forces(1),
@@ -129,10 +150,13 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
 		q_index = 6;
 	}
 
-    for (int l = 0; l < btmb->getNumLinks(); l++) {
+	for (int l = 0; l < btmb->getNumLinks(); l++)
+	{
 		const btMultibodyLink &link = btmb->getLink(l);
-        if (link.m_posVarCount == 1) {
+		if (link.m_posVarCount == 1)
-            if (verbose) {
+		{
+			if (verbose)
+			{
 				printf("id:joint_force[%d]= %f, applied to link %d\n", q_index,
 					   joint_forces(q_index), l);
 			}
@@ -142,8 +166,9 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
 	}
 
 	// sanity check
-    if (q_index != q.size()) {
+	if (q_index != q.size())
-        error_message("error in number of dofs for btMultibody and MultiBodyTree\n");
+	{
+		bt_id_error_message("error in number of dofs for btMultibody and MultiBodyTree\n");
 		return -1;
 	}
 
@@ -151,7 +176,7 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
 	btAlignedObjectArray<btQuaternion> world_to_local;
 	btAlignedObjectArray<btVector3> local_origin;
 	btmb->forwardKinematics(world_to_local, local_origin);
-    btmb->computeAccelerationsArticulatedBodyAlgorithmMultiDof(dt, scratch_r, scratch_v, scratch_m, isConstraintPass);
+	btmb->computeAccelerationsArticulatedBodyAlgorithmMultiDof(dt, scratch_r, scratch_v, scratch_m, isConstraintPass, false, false);
 
 	// read generalized accelerations back from btMultiBody
 	// the mapping from scratch variables to accelerations is taken from the implementation
@@ -160,21 +185,29 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
 	btScalar *joint_accel = base_accel + 6;
 	*acc_error = 0;
 	int dot_u_offset = 0;
-    if (btmb->hasFixedBase()) {
+	if (btmb->hasFixedBase())
+	{
 		dot_u_offset = 0;
-    } else {
+	}
+	else
+	{
 		dot_u_offset = 6;
 	}
 
-    if (true == btmb->hasFixedBase()) {
+	if (true == btmb->hasFixedBase())
-        for (int i = 0; i < btmb->getNumDofs(); i++) {
+	{
-            if (verbose) {
+		for (int i = 0; i < btmb->getNumDofs(); i++)
+		{
+			if (verbose)
+			{
 				printf("bt:ddot_q[%d]= %f, id:ddot_q= %e, diff= %e\n", i, joint_accel[i],
 					   dot_u(i + dot_u_offset), joint_accel[i] - dot_u(i));
 			}
-            *acc_error += std::pow(joint_accel[i] - dot_u(i + dot_u_offset), 2);
+			*acc_error += BT_ID_POW(joint_accel[i] - dot_u(i + dot_u_offset), 2);
 		}
-    } else {
+	}
+	else
+	{
 		vec3 base_dot_omega;
 		vec3 world_dot_omega;
 		world_dot_omega(0) = base_accel[0];
@@ -191,50 +224,61 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
 		world_ddot_com(2) = base_accel[5];
 		base_ddot_com = world_T_base.transpose() * world_ddot_com;
 
-        for (int i = 0; i < 3; i++) {
+		for (int i = 0; i < 3; i++)
-            if (verbose) {
+		{
+			if (verbose)
+			{
 				printf("bt::base_dot_omega(%d)= %e dot_u[%d]= %e, diff= %e\n", i, base_dot_omega(i),
 					   i, dot_u[i], base_dot_omega(i) - dot_u[i]);
 			}
-            *acc_error += std::pow(base_dot_omega(i) - dot_u(i), 2);
+			*acc_error += BT_ID_POW(base_dot_omega(i) - dot_u(i), 2);
 		}
-        for (int i = 0; i < 3; i++) {
+		for (int i = 0; i < 3; i++)
-            if (verbose) {
+		{
+			if (verbose)
+			{
 				printf("bt::base_ddot_com(%d)= %e dot_u[%d]= %e, diff= %e\n", i, base_ddot_com(i),
 					   i, dot_u[i + 3], base_ddot_com(i) - dot_u[i + 3]);
 			}
-            *acc_error += std::pow(base_ddot_com(i) - dot_u(i + 3), 2);
+			*acc_error += BT_ID_POW(base_ddot_com(i) - dot_u(i + 3), 2);
 		}
 
-        for (int i = 0; i < btmb->getNumDofs(); i++) {
+		for (int i = 0; i < btmb->getNumDofs(); i++)
-            if (verbose) {
+		{
+			if (verbose)
+			{
 				printf("bt:ddot_q[%d]= %f, id:ddot_q= %e, diff= %e\n", i, joint_accel[i],
 					   dot_u(i + 6), joint_accel[i] - dot_u(i + 6));
 			}
-            *acc_error += std::pow(joint_accel[i] - dot_u(i + 6), 2);
+			*acc_error += BT_ID_POW(joint_accel[i] - dot_u(i + 6), 2);
 		}
 	}
 	*acc_error = std::sqrt(*acc_error);
-    if (verbose) {
+	if (verbose)
+	{
 		printf("======dynamics-err: %e\n", *acc_error);
 	}
 	*pos_error = 0.0;
 
 	{
 		mat33 world_T_body;
-        if (-1 == id_tree->getBodyTransform(0, &world_T_body)) {
+		if (-1 == id_tree->getBodyTransform(0, &world_T_body))
-            error_message("getting transform for body %d\n", 0);
+		{
+			bt_id_error_message("getting transform for body %d\n", 0);
 			return -1;
 		}
 		vec3 world_com;
-        if (-1 == id_tree->getBodyCoM(0, &world_com)) {
+		if (-1 == id_tree->getBodyCoM(0, &world_com))
-            error_message("getting com for body %d\n", 0);
+		{
+			bt_id_error_message("getting com for body %d\n", 0);
 			return -1;
 		}
-        if (verbose) {
+		if (verbose)
+		{
 			printf("id:com:       %f %f %f\n", world_com(0), world_com(1), world_com(2));
 
-            printf("id:transform: %f %f %f\n"
+			printf(
+				"id:transform: %f %f %f\n"
 				"              %f %f %f\n"
 				"              %f %f %f\n",
 				world_T_body(0, 0), world_T_body(0, 1), world_T_body(0, 2), world_T_body(1, 0),
@@ -243,15 +287,18 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
 		}
 	}
 
-    for (int l = 0; l < btmb->getNumLinks(); l++) {
+	for (int l = 0; l < btmb->getNumLinks(); l++)
+	{
 		const btMultibodyLink &bt_link = btmb->getLink(l);
 
 		vec3 bt_origin = bt_link.m_cachedWorldTransform.getOrigin();
 		mat33 bt_basis = bt_link.m_cachedWorldTransform.getBasis();
-        if (verbose) {
+		if (verbose)
+		{
 			printf("------------- link %d\n", l + 1);
 			printf("bt:com:       %f %f %f\n", bt_origin(0), bt_origin(1), bt_origin(2));
-            printf("bt:transform: %f %f %f\n"
+			printf(
+				"bt:transform: %f %f %f\n"
 				"              %f %f %f\n"
 				"              %f %f %f\n",
 				bt_basis(0, 0), bt_basis(0, 1), bt_basis(0, 2), bt_basis(1, 0), bt_basis(1, 1),
@@ -260,18 +307,22 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
 		mat33 id_world_T_body;
 		vec3 id_world_com;
 
-        if (-1 == id_tree->getBodyTransform(l + 1, &id_world_T_body)) {
+		if (-1 == id_tree->getBodyTransform(l + 1, &id_world_T_body))
-            error_message("getting transform for body %d\n", l);
+		{
+			bt_id_error_message("getting transform for body %d\n", l);
 			return -1;
 		}
-        if (-1 == id_tree->getBodyCoM(l + 1, &id_world_com)) {
+		if (-1 == id_tree->getBodyCoM(l + 1, &id_world_com))
-            error_message("getting com for body %d\n", l);
+		{
+			bt_id_error_message("getting com for body %d\n", l);
 			return -1;
 		}
-        if (verbose) {
+		if (verbose)
+		{
 			printf("id:com:       %f %f %f\n", id_world_com(0), id_world_com(1), id_world_com(2));
 
-            printf("id:transform: %f %f %f\n"
+			printf(
+				"id:transform: %f %f %f\n"
 				"              %f %f %f\n"
 				"              %f %f %f\n",
 				id_world_T_body(0, 0), id_world_T_body(0, 1), id_world_T_body(0, 2),
@@ -280,7 +331,8 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
 		}
 		vec3 diff_com = bt_origin - id_world_com;
 		mat33 diff_basis = bt_basis - id_world_T_body;
-        if (verbose) {
+		if (verbose)
+		{
 			printf("diff-com:    %e %e %e\n", diff_com(0), diff_com(1), diff_com(2));
 
 			printf("diff-transform: %e %e %e %e %e %e %e %e %e\n", diff_basis(0, 0),
@@ -288,20 +340,22 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
 				   diff_basis(1, 2), diff_basis(2, 0), diff_basis(2, 1), diff_basis(2, 2));
 		}
 		double total_pos_err =
-            std::sqrt(std::pow(diff_com(0), 2) + std::pow(diff_com(1), 2) +
+			BT_ID_SQRT(BT_ID_POW(diff_com(0), 2) + BT_ID_POW(diff_com(1), 2) +
-                      std::pow(diff_com(2), 2) + std::pow(diff_basis(0, 0), 2) +
+					   BT_ID_POW(diff_com(2), 2) + BT_ID_POW(diff_basis(0, 0), 2) +
-                      std::pow(diff_basis(0, 1), 2) + std::pow(diff_basis(0, 2), 2) +
+					   BT_ID_POW(diff_basis(0, 1), 2) + BT_ID_POW(diff_basis(0, 2), 2) +
-                      std::pow(diff_basis(1, 0), 2) + std::pow(diff_basis(1, 1), 2) +
+					   BT_ID_POW(diff_basis(1, 0), 2) + BT_ID_POW(diff_basis(1, 1), 2) +
-                      std::pow(diff_basis(1, 2), 2) + std::pow(diff_basis(2, 0), 2) +
+					   BT_ID_POW(diff_basis(1, 2), 2) + BT_ID_POW(diff_basis(2, 0), 2) +
-                      std::pow(diff_basis(2, 1), 2) + std::pow(diff_basis(2, 2), 2));
+					   BT_ID_POW(diff_basis(2, 1), 2) + BT_ID_POW(diff_basis(2, 2), 2));
-        if (verbose) {
+		if (verbose)
+		{
 			printf("======kin-pos-err: %e\n", total_pos_err);
 		}
-        if (total_pos_err > *pos_error) {
+		if (total_pos_err > *pos_error)
+		{
 			*pos_error = total_pos_err;
 		}
 	}
 
 	return 0;
 }
-}
+}  // namespace btInverseDynamics

Engine/lib/bullet/Extras/InverseDynamics/invdyn_bullet_comparison.hpp

@@ -6,7 +6,8 @@
 class btMultiBody;
 class btVector3;
 
-namespace btInverseDynamics {
+namespace btInverseDynamics
+{
 class MultiBodyTree;
 
 /// this function compares the forward dynamics computations implemented in btMultiBody to
@@ -31,5 +32,5 @@ class MultiBodyTree;
 int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &gravity, bool verbose,
 									 btMultiBody *btmb, MultiBodyTree *id_tree, double *pos_error,
 									 double *acc_error);
-}
+}  // namespace btInverseDynamics
 #endif  // INVDYN_BULLET_COMPARISON_HPP

Engine/lib/bullet/Extras/InverseDynamics/premake4.lua

@@ -6,6 +6,9 @@
 		"../../src"
 	}
 
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"*.cpp",
 		"*.hpp"

Engine/lib/bullet/Extras/Serialize/BlenderSerialize/bBlenderFile.cpp

@@ -27,7 +27,6 @@ extern int DNAlen;
 extern unsigned char DNAstr64[];
 extern int DNAlen64;
 
-
 using namespace bParse;
 
 bBlenderFile::bBlenderFile(const char *fileName)
@@ -36,8 +35,6 @@ bBlenderFile::bBlenderFile(const char* fileName)
 	mMain = new bMain(this, fileName, mVersion);
 }
 
-
-
 bBlenderFile::bBlenderFile(char *memoryBuffer, int len)
 	: bFile(memoryBuffer, len, "BLENDER"),
 	  mMain(0)
@@ -45,13 +42,11 @@ mMain(0)
 	mMain = new bMain(this, "memoryBuf", mVersion);
 }
 
-
 bBlenderFile::~bBlenderFile()
 {
 	delete mMain;
 }
 
-
 bMain *bBlenderFile::getMain()
 {
 	return mMain;
@@ -66,14 +61,11 @@ void bBlenderFile::parseData()
 
 	const bool swap = (mFlags & FD_ENDIAN_SWAP) != 0;
 
-
-
 	char *dataPtr = mFileBuffer + mDataStart;
 
 	bChunkInd dataChunk;
 	dataChunk.code = 0;
 
-
 	//dataPtr += ChunkUtils::getNextBlock(&dataChunk, dataPtr, mFlags);
 	int seek = getNextBlock(&dataChunk, dataPtr, mFlags);
 	//dataPtr += ChunkUtils::getOffset(mFlags);
@@ -81,10 +73,6 @@ void bBlenderFile::parseData()
 
 	while (dataChunk.code != DNA1)
 	{
-		
-
-
-
 		// one behind
 		if (dataChunk.code == SDNA) break;
 		//if (dataChunk.code == DNA1) break;
@@ -118,7 +106,6 @@ void bBlenderFile::parseData()
 		if (seek < 0)
 			break;
 	}
-
 }
 
 void bBlenderFile::addDataBlock(char *dataBlock)
@@ -126,10 +113,6 @@ void	bBlenderFile::addDataBlock(char* dataBlock)
 	mMain->addDatablock(dataBlock);
 }
 
-
-
-
-
 // 32 && 64 bit versions
 extern unsigned char DNAstr[];
 extern int DNAlen;
@@ -137,14 +120,11 @@ extern int DNAlen;
 //unsigned char DNAstr[]={0};
 //int DNAlen=0;
 
-
 extern unsigned char DNAstr64[];
 extern int DNAlen64;
 
-
 void bBlenderFile::writeDNA(FILE *fp)
 {
-
 	bChunkInd dataChunk;
 	dataChunk.code = DNA1;
 	dataChunk.dna_nr = 0;
@@ -192,14 +172,16 @@ int		bBlenderFile::write(const char* fileName, bool fixupPointers)
 		if (endian)
 		{
 			header[7] = '_';
-		} else
+		}
+		else
 		{
 			header[7] = '-';
 		}
 		if (VOID_IS_8)
 		{
 			header[8] = 'V';
-		} else
+		}
+		else
 		{
 			header[8] = 'v';
 		}
@@ -215,8 +197,8 @@ int		bBlenderFile::write(const char* fileName, bool fixupPointers)
 		writeDNA(fp);
 
 		fclose(fp);
-		
+	}
-	} else
+	else
 	{
 		printf("Error: cannot open file %s for writing\n", fileName);
 		return 0;

Engine/lib/bullet/Extras/Serialize/BlenderSerialize/bBlenderFile.h

@@ -16,23 +16,19 @@ subject to the following restrictions:
 #ifndef B_BLENDER_FILE_H
 #define B_BLENDER_FILE_H
 
-
 #include "bFile.h"
 
-namespace bParse {
+namespace bParse
-
+{
 // ----------------------------------------------------- //
 class bBlenderFile : public bFile
 {
-
 protected:
 	bMain* mMain;
 
 	bStructHandle* m_glob;
 
-		
 public:
-
 	bBlenderFile(const char* fileName);
 
 	bBlenderFile(char* memoryBuffer, int len);
@@ -56,8 +52,7 @@ namespace bParse {
 	virtual void parseData();
 
 	virtual void writeDNA(FILE* fp);
-
-	};
 };
+};  // namespace bParse
 
 #endif  //B_BLENDER_FILE_H

Engine/lib/bullet/Extras/Serialize/BlenderSerialize/bMain.cpp

@@ -21,7 +21,6 @@ subject to the following restrictions:
 
 using namespace bParse;
 
-
 // ----------------------------------------------------- //
 bMain::bMain(bBlenderFile *filePtr, const char *baseName, int fileVersion)
 	: mFP(filePtr),
@@ -56,7 +55,6 @@ bMain::bMain(bBlenderFile *filePtr, const char *baseName, int fileVersion)
 	mData.insert(ID_SCRIPT, bListBasePtr());
 }
 
-
 // ----------------------------------------------------- //
 bMain::~bMain()
 {
@@ -88,13 +86,9 @@ void bMain::addDatablock(void *allocated)
 	mPool.push_back((bStructHandle *)allocated);
 }
 
-
-
-
 // ------------------------------------------------------------//
 void bMain::linkList(void *listBasePtr)
 {
-
 	struct ListBase  // local Blender::ListBase
 	{
 		void *first;
@@ -107,7 +101,6 @@ void bMain::linkList(void *listBasePtr)
 		void *prev;
 	};
 
-
 	ListBase *base = (ListBase *)listBasePtr;
 
 	if (!base || !base->first)
@@ -143,12 +136,10 @@ bListBasePtr* bMain::getListBasePtr(int listBaseCode)
 // ------------------------------------------------------------//
 bListBasePtr *bMain::_findCode(int code)
 {
-	
 	bListBasePtr *lbPtr = mData.find(code);
 	return lbPtr;
 }
 
-
 // ------------------------------------------------------------//
 bListBasePtr *bMain::getScene()
 {
@@ -193,8 +184,6 @@ bListBasePtr *bMain::getCurve()
 	return ptr;
 }
 
-
-
 // ------------------------------------------------------------//
 bListBasePtr *bMain::getMball()
 {
@@ -222,7 +211,6 @@ bListBasePtr *bMain::getTex()
 	return ptr;
 }
 
-
 // ------------------------------------------------------------//
 bListBasePtr *bMain::getImage()
 {
@@ -295,7 +283,6 @@ bListBasePtr *bMain::getWorld()
 	return ptr;
 }
 
-
 // ------------------------------------------------------------//
 bListBasePtr *bMain::getScreen()
 {
@@ -368,7 +355,6 @@ bListBasePtr *bMain::getAction()
 	return ptr;
 }
 
-
 // ------------------------------------------------------------//
 bListBasePtr *bMain::getNodetree()
 {
@@ -387,6 +373,4 @@ bListBasePtr *bMain::getBrush()
 	return ptr;
 }
 
-
-
 //eof

Engine/lib/bullet/Extras/Serialize/BlenderSerialize/bMain.h

@@ -20,25 +20,19 @@ subject to the following restrictions:
 #include "bChunk.h"
 #include "LinearMath/btHashMap.h"
 
-
 namespace bParse
 {
 class bDNA;
 
 class bBlenderFile;
-};
+};  // namespace bParse
-
-
-
-namespace bParse {
-
 
+namespace bParse
+{
 // ----------------------------------------------------- //
 
 typedef btHashMap<btHashInt, bListBasePtr> bMainDataMap;
 
-
-
 // ----------------------------------------------------- //
 class bMain
 {
@@ -52,9 +46,6 @@ namespace bParse {
 
 	bMainDataMap mData;
 
-	
-
-
 	bListBasePtr *_findCode(int code);
 
 public:
@@ -66,7 +57,6 @@ namespace bParse {
 
 	bListBasePtr *getListBasePtr(int listBaseCode);
 
-
 	bListBasePtr *getScene();
 	bListBasePtr *getLibrary();
 	bListBasePtr *getObject();
@@ -94,17 +84,13 @@ namespace bParse {
 	bListBasePtr *getNodetree();
 	bListBasePtr *getBrush();
 
-
-		
 	// tracking allocated memory
 	void addDatablock(void *allocated);
 
-
 	// --
 
 	void linkList(void *listBasePtr);
 };
-}
+}  // namespace bParse
-
 
 #endif  //__BMAIN_H__

Engine/lib/bullet/Extras/Serialize/BlenderSerialize/dna249-64bit.cpp

@@ -1406,6 +1406,5 @@ unsigned char DNAstr64[]= {
 	0, 20, 0, 98, 1, 5, 0, 98, 1, 0, 0, 98, 1, 1, 0, 12, 0, 111, 9, 4, 0, 112, 9, 4, 0, 20, 0, 99, 1, 9, 0, 99,
 	1, 0, 0, 99, 1, 1, 0, 12, 0, -128, 0, 98, 1, 113, 9, 4, 0, 20, 0, 2, 0, 110, 9, 2, 0, 114, 9, 7, 0, 94, 0, 0,
 	0, 115, 9, -70, 0, 5, 0, 12, 0, 125, 4, 4, 0, 20, 0, 2, 0, 116, 9, 2, 0, 117, 9, 9, 0, 118, 9, 69, 78, 68, 66, 0,
-0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-};
 int DNAlen64 = sizeof(DNAstr64);

Engine/lib/bullet/Extras/Serialize/BlenderSerialize/dna249.cpp

@@ -1406,6 +1406,5 @@ unsigned char DNAstr[]= {
 	0, 20, 0, 98, 1, 5, 0, 98, 1, 0, 0, 98, 1, 1, 0, 12, 0, 111, 9, 4, 0, 112, 9, 4, 0, 20, 0, 99, 1, 9, 0, 99,
 	1, 0, 0, 99, 1, 1, 0, 12, 0, -128, 0, 98, 1, 113, 9, 4, 0, 20, 0, 2, 0, 110, 9, 2, 0, 114, 9, 7, 0, 94, 0, 0,
 	0, 115, 9, -70, 0, 5, 0, 12, 0, 125, 4, 4, 0, 20, 0, 2, 0, 116, 9, 2, 0, 117, 9, 9, 0, 118, 9, 69, 78, 68, 66, 0,
-0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+	0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-};
 int DNAlen = sizeof(DNAstr);