Bullet Library v2.81

Engine/lib/bullet/src/LinearMath/CMakeLists.txt

@@ -1,37 +1,45 @@
 
 INCLUDE_DIRECTORIES(
-	${BULLET_PHYSICS_SOURCE_DIR}/src }
+	${BULLET_PHYSICS_SOURCE_DIR}/src
 )
 
 SET(LinearMath_SRCS
 	btAlignedAllocator.cpp
-		btConvexHull.cpp
-		btGeometryUtil.cpp
+	btConvexHull.cpp
+	btConvexHullComputer.cpp
+	btGeometryUtil.cpp
+	btPolarDecomposition.cpp
 	btQuickprof.cpp
+	btSerializer.cpp
+	btVector3.cpp
 )
 
 SET(LinearMath_HDRS
 	btAabbUtil2.h
 	btAlignedAllocator.h
-		btAlignedObjectArray.h
+	btAlignedObjectArray.h
 	btConvexHull.h
-		btDefaultMotionState.h
+	btConvexHullComputer.h
+	btDefaultMotionState.h
 	btGeometryUtil.h
-		btHashMap.h
+	btGrahamScan2dConvexHull.h
+	btHashMap.h
 	btIDebugDraw.h
 	btList.h
 	btMatrix3x3.h
-		btMinMax.h
+	btMinMax.h
 	btMotionState.h
+	btPolarDecomposition.h
 	btPoolAllocator.h
 	btQuadWord.h
-		btQuaternion.h
+	btQuaternion.h
 	btQuickprof.h
 	btRandom.h
 	btScalar.h
-		btStackAlloc.h
-		btTransform.h
-		btTransformUtil.h
+	btSerializer.h
+	btStackAlloc.h
+	btTransform.h
+	btTransformUtil.h
 	btVector3.h
 )
 
@@ -39,17 +47,23 @@ ADD_LIBRARY(LinearMath ${LinearMath_SRCS} ${LinearMath_HDRS})
 SET_TARGET_PROPERTIES(LinearMath PROPERTIES VERSION ${BULLET_VERSION})
 SET_TARGET_PROPERTIES(LinearMath PROPERTIES SOVERSION ${BULLET_VERSION})
 
-#FILES_MATCHING requires CMake 2.6
-IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
-	IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
-		INSTALL(TARGETS LinearMath DESTINATION .)
-	ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
-	INSTALL(TARGETS LinearMath DESTINATION lib)
-	INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} DESTINATION include FILES_MATCHING PATTERN "*.h")
-	ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
-ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+IF (INSTALL_LIBS)
+	IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+		#FILES_MATCHING requires CMake 2.6
+		IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+			IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+				INSTALL(TARGETS LinearMath DESTINATION .)
+			ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+				INSTALL(TARGETS LinearMath DESTINATION lib${LIB_SUFFIX})
+				INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h"  PATTERN
+".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)
+			ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+		ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
 
-IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
-	SET_TARGET_PROPERTIES(LinearMath PROPERTIES FRAMEWORK true)
-	SET_TARGET_PROPERTIES(LinearMath PROPERTIES PUBLIC_HEADER "${LinearMath_HDRS}")
-ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+		IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+			SET_TARGET_PROPERTIES(LinearMath PROPERTIES FRAMEWORK true)
+			SET_TARGET_PROPERTIES(LinearMath PROPERTIES PUBLIC_HEADER "${LinearMath_HDRS}")
+		ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+	ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+ENDIF (INSTALL_LIBS)

Engine/lib/bullet/src/LinearMath/Jamfile

@@ -1,10 +0,0 @@
-
-SubDir TOP src LinearMath ;
-
-Description bulletmath : "Bullet Math Library" ;
-
-Library bulletmath :
-[ Wildcard *.h *.cpp ]
-	;
-
-#InstallHeader [ Wildcard *.h ] ;

Engine/lib/bullet/src/LinearMath/btAabbUtil2.h

@@ -14,8 +14,8 @@ subject to the following restrictions:
 
 
 
-#ifndef AABB_UTIL2
-#define AABB_UTIL2
+#ifndef BT_AABB_UTIL2
+#define BT_AABB_UTIL2
 
 #include "btTransform.h"
 #include "btVector3.h"
@@ -184,9 +184,7 @@ SIMD_FORCE_INLINE	void btTransformAabb(const btVector3& halfExtents, btScalar ma
 	btVector3 halfExtentsWithMargin = halfExtents+btVector3(margin,margin,margin);
 	btMatrix3x3 abs_b = t.getBasis().absolute();  
 	btVector3 center = t.getOrigin();
-	btVector3 extent = btVector3(abs_b[0].dot(halfExtentsWithMargin),
-		   abs_b[1].dot(halfExtentsWithMargin),
-		  abs_b[2].dot(halfExtentsWithMargin));
+    btVector3 extent = halfExtentsWithMargin.dot3( abs_b[0], abs_b[1], abs_b[2] );
 	aabbMinOut = center - extent;
 	aabbMaxOut = center + extent;
 }
@@ -203,9 +201,7 @@ SIMD_FORCE_INLINE	void btTransformAabb(const btVector3& localAabbMin,const btVec
 		btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin);
 		btMatrix3x3 abs_b = trans.getBasis().absolute();  
 		btVector3 center = trans(localCenter);
-		btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
-			   abs_b[1].dot(localHalfExtents),
-			  abs_b[2].dot(localHalfExtents));
+        btVector3 extent = localHalfExtents.dot3( abs_b[0], abs_b[1], abs_b[2] );
 		aabbMinOut = center-extent;
 		aabbMaxOut = center+extent;
 }
@@ -231,6 +227,6 @@ SIMD_FORCE_INLINE	void btTransformAabb(const btVector3& localAabbMin,const btVec
 	}
 #endif //USE_BANCHLESS
 
-#endif
+#endif //BT_AABB_UTIL2
 
 

Engine/lib/bullet/src/LinearMath/btAlignedAllocator.cpp

@@ -58,16 +58,18 @@ static inline void btAlignedFreeDefault(void *ptr)
 	free(ptr);
 }
 #else
+
+
+
+
+
 static inline void *btAlignedAllocDefault(size_t size, int alignment)
 {
   void *ret;
   char *real;
-  unsigned long offset;
-
   real = (char *)sAllocFunc(size + sizeof(void *) + (alignment-1));
   if (real) {
-    offset = (alignment - (unsigned long)(real + sizeof(void *))) & (alignment-1);
-    ret = (void *)((real + sizeof(void *)) + offset);
+	ret = btAlignPointer(real + sizeof(void *),alignment);
     *((void **)(ret)-1) = (void *)(real);
   } else {
     ret = (void *)(real);
@@ -110,7 +112,6 @@ void*   btAlignedAllocInternal  (size_t size, int alignment,int line,char* filen
 {
  void *ret;
  char *real;
- unsigned long offset;
 
  gTotalBytesAlignedAllocs += size;
  gNumAlignedAllocs++;
@@ -118,9 +119,7 @@ void*   btAlignedAllocInternal  (size_t size, int alignment,int line,char* filen
  
  real = (char *)sAllocFunc(size + 2*sizeof(void *) + (alignment-1));
  if (real) {
-   offset = (alignment - (unsigned long)(real + 2*sizeof(void *))) &
-(alignment-1);
-   ret = (void *)((real + 2*sizeof(void *)) + offset);
+   ret = (void*) btAlignPointer(real + 2*sizeof(void *), alignment);
    *((void **)(ret)-1) = (void *)(real);
        *((int*)(ret)-2) = size;
 
@@ -160,22 +159,8 @@ void    btAlignedFreeInternal   (void* ptr,int line,char* filename)
 void*	btAlignedAllocInternal	(size_t size, int alignment)
 {
 	gNumAlignedAllocs++;
-  void* ptr;
-#if defined (BT_HAS_ALIGNED_ALLOCATOR) || defined(__CELLOS_LV2__)
+	void* ptr;
 	ptr = sAlignedAllocFunc(size, alignment);
-#else
-  char *real;
-  unsigned long offset;
-
-  real = (char *)sAllocFunc(size + sizeof(void *) + (alignment-1));
-  if (real) {
-    offset = (alignment - (unsigned long)(real + sizeof(void *))) & (alignment-1);
-    ptr = (void *)((real + sizeof(void *)) + offset);
-    *((void **)(ptr)-1) = (void *)(real);
-  } else {
-    ptr = (void *)(real);
-  }
-#endif  // defined (BT_HAS_ALIGNED_ALLOCATOR) || defined(__CELLOS_LV2__)
 //	printf("btAlignedAllocInternal %d, %x\n",size,ptr);
 	return ptr;
 }
@@ -189,16 +174,7 @@ void	btAlignedFreeInternal	(void* ptr)
 
 	gNumAlignedFree++;
 //	printf("btAlignedFreeInternal %x\n",ptr);
-#if defined (BT_HAS_ALIGNED_ALLOCATOR) || defined(__CELLOS_LV2__)
 	sAlignedFreeFunc(ptr);
-#else
-  void* real;
-
-  if (ptr) {
-    real = *((void **)(ptr)-1);
-    sFreeFunc(real);
-  }
-#endif  // defined (BT_HAS_ALIGNED_ALLOCATOR) || defined(__CELLOS_LV2__)
 }
 
 #endif //BT_DEBUG_MEMORY_ALLOCATIONS

Engine/lib/bullet/src/LinearMath/btAlignedObjectArray.h

@@ -28,6 +28,7 @@ subject to the following restrictions:
 
 #define BT_USE_PLACEMENT_NEW 1
 //#define BT_USE_MEMCPY 1 //disable, because it is cumbersome to find out for each platform where memcpy is defined. It can be in <memory.h> or <string.h> or otherwise...
+#define BT_ALLOW_ARRAY_COPY_OPERATOR // enabling this can accidently perform deep copies of data if you are not careful
 
 #ifdef BT_USE_MEMCPY
 #include <memory.h>
@@ -53,7 +54,19 @@ class btAlignedObjectArray
 	//PCK: added this line
 	bool				m_ownsMemory;
 
-	protected:
+#ifdef BT_ALLOW_ARRAY_COPY_OPERATOR
+public:
+	SIMD_FORCE_INLINE btAlignedObjectArray<T>& operator=(const btAlignedObjectArray<T> &other)
+	{
+		copyFromArray(other);
+		return *this;
+	}
+#else//BT_ALLOW_ARRAY_COPY_OPERATOR
+private:
+		SIMD_FORCE_INLINE btAlignedObjectArray<T>& operator=(const btAlignedObjectArray<T> &other);
+#endif//BT_ALLOW_ARRAY_COPY_OPERATOR
+
+protected:
 		SIMD_FORCE_INLINE	int	allocSize(int size)
 		{
 			return (size ? size*2 : 1);
@@ -138,13 +151,31 @@ class btAlignedObjectArray
 			return m_size;
 		}
 		
+		SIMD_FORCE_INLINE const T& at(int n) const
+		{
+			btAssert(n>=0);
+			btAssert(n<size());
+			return m_data[n];
+		}
+
+		SIMD_FORCE_INLINE T& at(int n)
+		{
+			btAssert(n>=0);
+			btAssert(n<size());
+			return m_data[n];
+		}
+
 		SIMD_FORCE_INLINE const T& operator[](int n) const
 		{
+			btAssert(n>=0);
+			btAssert(n<size());
 			return m_data[n];
 		}
 
 		SIMD_FORCE_INLINE T& operator[](int n)
 		{
+			btAssert(n>=0);
+			btAssert(n<size());
 			return m_data[n];
 		}
 		
@@ -161,12 +192,31 @@ class btAlignedObjectArray
 
 		SIMD_FORCE_INLINE	void	pop_back()
 		{
+			btAssert(m_size>0);
 			m_size--;
 			m_data[m_size].~T();
 		}
 
+
 		///resize changes the number of elements in the array. If the new size is larger, the new elements will be constructed using the optional second argument.
 		///when the new number of elements is smaller, the destructor will be called, but memory will not be freed, to reduce performance overhead of run-time memory (de)allocations.
+		SIMD_FORCE_INLINE	void	resizeNoInitialize(int newsize)
+		{
+			int curSize = size();
+
+			if (newsize < curSize)
+			{
+			} else
+			{
+				if (newsize > size())
+				{
+					reserve(newsize);
+				}
+				//leave this uninitialized
+			}
+			m_size = newsize;
+		}
+	
 		SIMD_FORCE_INLINE	void	resize(int newsize, const T& fillData=T())
 		{
 			int curSize = size();
@@ -194,7 +244,18 @@ class btAlignedObjectArray
 
 			m_size = newsize;
 		}
-	
+		SIMD_FORCE_INLINE	T&  expandNonInitializing( )
+		{	
+			int sz = size();
+			if( sz == capacity() )
+			{
+				reserve( allocSize(size()) );
+			}
+			m_size++;
+
+			return m_data[sz];		
+		}
+
 
 		SIMD_FORCE_INLINE	T&  expand( const T& fillValue=T())
 		{	
@@ -269,8 +330,9 @@ class btAlignedObjectArray
 				}
 		};
 	
+
 		template <typename L>
-		void quickSortInternal(L CompareFunc,int lo, int hi)
+		void quickSortInternal(const L& CompareFunc,int lo, int hi)
 		{
 		//  lo is the lower index, hi is the upper index
 		//  of the region of array a that is to be sorted
@@ -300,7 +362,7 @@ class btAlignedObjectArray
 
 
 		template <typename L>
-		void quickSort(L CompareFunc)
+		void quickSort(const L& CompareFunc)
 		{
 			//don't sort 0 or 1 elements
 			if (size()>1)
@@ -312,7 +374,7 @@ class btAlignedObjectArray
 
 		///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/
 		template <typename L>
-		void downHeap(T *pArr, int k, int n,L CompareFunc)
+		void downHeap(T *pArr, int k, int n, const L& CompareFunc)
 		{
 			/*  PRE: a[k+1..N] is a heap */
 			/* POST:  a[k..N]  is a heap */
@@ -358,7 +420,7 @@ class btAlignedObjectArray
 		}
 
 	template <typename L>
-	void heapSort(L CompareFunc)
+	void heapSort(const L& CompareFunc)
 	{
 		/* sort a[0..N-1],  N.B. 0 to N-1 */
 		int k;
@@ -384,7 +446,7 @@ class btAlignedObjectArray
 	int	findBinarySearch(const T& key) const
 	{
 		int first = 0;
-		int last = size();
+		int last = size()-1;
 
 		//assume sorted array
 		while (first <= last) {
@@ -437,6 +499,13 @@ class btAlignedObjectArray
 		m_capacity = capacity;
 	}
 
+	void copyFromArray(const btAlignedObjectArray& otherArray)
+	{
+		int otherSize = otherArray.size();
+		resize (otherSize);
+		otherArray.copy(0, otherSize, m_data);
+	}
+
 };
 
 #endif //BT_OBJECT_ARRAY__

Engine/lib/bullet/src/LinearMath/btConvexHull.cpp

@@ -16,19 +16,12 @@ subject to the following restrictions:
 #include <string.h>
 
 #include "btConvexHull.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btMinMax.h"
-#include "LinearMath/btVector3.h"
+#include "btAlignedObjectArray.h"
+#include "btMinMax.h"
+#include "btVector3.h"
 
 
 
-template <class T>
-void Swap(T &a,T &b)
-{
-	T tmp = a;
-	a=b;
-	b=tmp;
-}
 
 
 //----------------------------------
@@ -518,7 +511,7 @@ int4 HullLibrary::FindSimplex(btVector3 *verts,int verts_count,btAlignedObjectAr
 	if(p3==p0||p3==p1||p3==p2) 
 		return int4(-1,-1,-1,-1);
 	btAssert(!(p0==p1||p0==p2||p0==p3||p1==p2||p1==p3||p2==p3));
-	if(btDot(verts[p3]-verts[p0],btCross(verts[p1]-verts[p0],verts[p2]-verts[p0])) <0) {Swap(p2,p3);}
+	if(btDot(verts[p3]-verts[p0],btCross(verts[p1]-verts[p0],verts[p2]-verts[p0])) <0) {btSwap(p2,p3);}
 	return int4(p0,p1,p2,p3);
 }
 
@@ -570,7 +563,7 @@ int HullLibrary::calchullgen(btVector3 *verts,int verts_count, int vlimit)
 	vlimit-=4;
 	while(vlimit >0 && ((te=extrudable(epsilon)) != 0))
 	{
-		int3 ti=*te;
+		//int3 ti=*te;
 		int v=te->vmax;
 		btAssert(v != -1);
 		btAssert(!isextreme[v]);  // wtf we've already done this vertex
@@ -1011,9 +1004,9 @@ bool  HullLibrary::CleanupVertices(unsigned int svcount,
 				btScalar y = v[1];
 				btScalar z = v[2];
 
-				btScalar dx = fabsf(x - px );
-				btScalar dy = fabsf(y - py );
-				btScalar dz = fabsf(z - pz );
+				btScalar dx = btFabs(x - px );
+				btScalar dy = btFabs(y - py );
+				btScalar dz = btFabs(z - pz );
 
 				if ( dx < normalepsilon && dy < normalepsilon && dz < normalepsilon )
 				{
@@ -1156,7 +1149,7 @@ void HullLibrary::BringOutYourDead(const btVector3* verts,unsigned int vcount, b
 
 			for (int k=0;k<m_vertexIndexMapping.size();k++)
 			{
-				if (tmpIndices[k]==v)
+				if (tmpIndices[k]==int(v))
 					m_vertexIndexMapping[k]=ocount;
 			}
 

Engine/lib/bullet/src/LinearMath/btConvexHull.h

@@ -16,11 +16,11 @@ subject to the following restrictions:
 
 ///includes modifications/improvements by John Ratcliff, see BringOutYourDead below.
 
-#ifndef CD_HULL_H
-#define CD_HULL_H
+#ifndef BT_CD_HULL_H
+#define BT_CD_HULL_H
 
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btAlignedObjectArray.h"
+#include "btVector3.h"
+#include "btAlignedObjectArray.h"
 
 typedef btAlignedObjectArray<unsigned int> TUIntArray;
 
@@ -237,5 +237,5 @@ private:
 };
 
 
-#endif
+#endif //BT_CD_HULL_H
 

Engine/lib/bullet/src/LinearMath/btConvexHullComputer.h

@@ -0,0 +1,103 @@
+/*
+Copyright (c) 2011 Ole Kniemeyer, MAXON, www.maxon.net
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_CONVEX_HULL_COMPUTER_H
+#define BT_CONVEX_HULL_COMPUTER_H
+
+#include "btVector3.h"
+#include "btAlignedObjectArray.h"
+
+/// Convex hull implementation based on Preparata and Hong
+/// See http://code.google.com/p/bullet/issues/detail?id=275
+/// Ole Kniemeyer, MAXON Computer GmbH
+class btConvexHullComputer
+{
+	private:
+		btScalar compute(const void* coords, bool doubleCoords, int stride, int count, btScalar shrink, btScalar shrinkClamp);
+
+	public:
+
+		class Edge
+		{
+			private:
+				int next;
+				int reverse;
+				int targetVertex;
+
+				friend class btConvexHullComputer;
+
+			public:
+				int getSourceVertex() const
+				{
+					return (this + reverse)->targetVertex;
+				}
+
+				int getTargetVertex() const
+				{
+					return targetVertex;
+				}
+
+				const Edge* getNextEdgeOfVertex() const // clockwise list of all edges of a vertex
+				{
+					return this + next;
+				}
+
+				const Edge* getNextEdgeOfFace() const // counter-clockwise list of all edges of a face
+				{
+					return (this + reverse)->getNextEdgeOfVertex();
+				}
+
+				const Edge* getReverseEdge() const
+				{
+					return this + reverse;
+				}
+		};
+
+
+		// Vertices of the output hull
+		btAlignedObjectArray<btVector3> vertices;
+
+		// Edges of the output hull
+		btAlignedObjectArray<Edge> edges;
+
+		// Faces of the convex hull. Each entry is an index into the "edges" array pointing to an edge of the face. Faces are planar n-gons
+		btAlignedObjectArray<int> faces;
+
+		/*
+		Compute convex hull of "count" vertices stored in "coords". "stride" is the difference in bytes
+		between the addresses of consecutive vertices. If "shrink" is positive, the convex hull is shrunken
+		by that amount (each face is moved by "shrink" length units towards the center along its normal).
+		If "shrinkClamp" is positive, "shrink" is clamped to not exceed "shrinkClamp * innerRadius", where "innerRadius"
+		is the minimum distance of a face to the center of the convex hull.
+
+		The returned value is the amount by which the hull has been shrunken. If it is negative, the amount was so large
+		that the resulting convex hull is empty.
+
+		The output convex hull can be found in the member variables "vertices", "edges", "faces".
+		*/
+		btScalar compute(const float* coords, int stride, int count, btScalar shrink, btScalar shrinkClamp)
+		{
+			return compute(coords, false, stride, count, shrink, shrinkClamp);
+		}
+
+		// same as above, but double precision
+		btScalar compute(const double* coords, int stride, int count, btScalar shrink, btScalar shrinkClamp)
+		{
+			return compute(coords, true, stride, count, shrink, shrinkClamp);
+		}
+};
+
+
+#endif //BT_CONVEX_HULL_COMPUTER_H
+

Engine/lib/bullet/src/LinearMath/btDefaultMotionState.h

@@ -1,14 +1,18 @@
-#ifndef DEFAULT_MOTION_STATE_H
-#define DEFAULT_MOTION_STATE_H
+#ifndef BT_DEFAULT_MOTION_STATE_H
+#define BT_DEFAULT_MOTION_STATE_H
+
+#include "btMotionState.h"
 
 ///The btDefaultMotionState provides a common implementation to synchronize world transforms with offsets.
-struct	btDefaultMotionState : public btMotionState
+ATTRIBUTE_ALIGNED16(struct)	btDefaultMotionState : public btMotionState
 {
 	btTransform m_graphicsWorldTrans;
 	btTransform	m_centerOfMassOffset;
 	btTransform m_startWorldTrans;
 	void*		m_userPointer;
 
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	btDefaultMotionState(const btTransform& startTrans = btTransform::getIdentity(),const btTransform& centerOfMassOffset = btTransform::getIdentity())
 		: m_graphicsWorldTrans(startTrans),
 		m_centerOfMassOffset(centerOfMassOffset),
@@ -35,4 +39,4 @@ struct	btDefaultMotionState : public btMotionState
 
 };
 
-#endif //DEFAULT_MOTION_STATE_H
+#endif //BT_DEFAULT_MOTION_STATE_H

Engine/lib/bullet/src/LinearMath/btGrahamScan2dConvexHull.h

@@ -0,0 +1,117 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2011 Advanced Micro Devices, Inc.  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#ifndef GRAHAM_SCAN_2D_CONVEX_HULL_H
+#define GRAHAM_SCAN_2D_CONVEX_HULL_H
+
+
+#include "btVector3.h"
+#include "btAlignedObjectArray.h"
+
+struct GrahamVector3 : public btVector3
+{
+	GrahamVector3(const btVector3& org, int orgIndex)
+		:btVector3(org),
+			m_orgIndex(orgIndex)
+	{
+	}
+	btScalar	m_angle;
+	int m_orgIndex;
+};
+
+
+struct btAngleCompareFunc {
+	btVector3 m_anchor;
+	btAngleCompareFunc(const btVector3& anchor)
+	: m_anchor(anchor) 
+	{
+	}
+	bool operator()(const GrahamVector3& a, const GrahamVector3& b) const {
+		if (a.m_angle != b.m_angle)
+			return a.m_angle < b.m_angle;
+		else
+		{
+			btScalar al = (a-m_anchor).length2();
+			btScalar bl = (b-m_anchor).length2();
+			if (al != bl)
+				return  al < bl;
+			else
+			{
+				return a.m_orgIndex < b.m_orgIndex;
+			}
+		}
+	}
+};
+
+inline void GrahamScanConvexHull2D(btAlignedObjectArray<GrahamVector3>& originalPoints, btAlignedObjectArray<GrahamVector3>& hull, const btVector3& normalAxis)
+{
+	btVector3 axis0,axis1;
+	btPlaneSpace1(normalAxis,axis0,axis1);
+	
+
+	if (originalPoints.size()<=1)
+	{
+		for (int i=0;i<originalPoints.size();i++)
+			hull.push_back(originalPoints[0]);
+		return;
+	}
+	//step1 : find anchor point with smallest projection on axis0 and move it to first location
+	for (int i=0;i<originalPoints.size();i++)
+	{
+//		const btVector3& left = originalPoints[i];
+//		const btVector3& right = originalPoints[0];
+		btScalar projL = originalPoints[i].dot(axis0);
+		btScalar projR = originalPoints[0].dot(axis0);
+		if (projL < projR)
+		{
+			originalPoints.swap(0,i);
+		}
+	}
+
+	//also precompute angles
+	originalPoints[0].m_angle = -1e30f;
+	for (int i=1;i<originalPoints.size();i++)
+	{
+		btVector3 xvec = axis0;
+		btVector3 ar = originalPoints[i]-originalPoints[0];
+		originalPoints[i].m_angle = btCross(xvec, ar).dot(normalAxis) / ar.length();
+	}
+
+	//step 2: sort all points, based on 'angle' with this anchor
+	btAngleCompareFunc comp(originalPoints[0]);
+	originalPoints.quickSortInternal(comp,1,originalPoints.size()-1);
+
+	int i;
+	for (i = 0; i<2; i++) 
+		hull.push_back(originalPoints[i]);
+
+	//step 3: keep all 'convex' points and discard concave points (using back tracking)
+	for (; i != originalPoints.size(); i++) 
+	{
+		bool isConvex = false;
+		while (!isConvex&& hull.size()>1) {
+			btVector3& a = hull[hull.size()-2];
+			btVector3& b = hull[hull.size()-1];
+			isConvex = btCross(a-b,a-originalPoints[i]).dot(normalAxis)> 0;
+			if (!isConvex)
+				hull.pop_back();
+			else 
+				hull.push_back(originalPoints[i]);
+		}
+	}
+}
+
+#endif //GRAHAM_SCAN_2D_CONVEX_HULL_H

Engine/lib/bullet/src/LinearMath/btHashMap.h

@@ -1,3 +1,19 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
 #ifndef BT_HASH_MAP_H
 #define BT_HASH_MAP_H
 
@@ -18,8 +34,8 @@ struct btHashString
 		:m_string(name)
 	{
 		/* magic numbers from http://www.isthe.com/chongo/tech/comp/fnv/ */
-		static const unsigned int  InitialFNV = 2166136261;
-		static const unsigned int FNVMultiple = 16777619;
+		static const unsigned int  InitialFNV = 2166136261u;
+		static const unsigned int FNVMultiple = 16777619u;
 
 		/* Fowler / Noll / Vo (FNV) Hash */
 		unsigned int hash = InitialFNV;
@@ -47,7 +63,7 @@ struct btHashString
 			return( ret );
 	}
 
-	const bool equals(const btHashString& other) const
+	bool equals(const btHashString& other) const
 	{
 		return (m_string == other.m_string) ||
 			(0==portableStringCompare(m_string,other.m_string));
@@ -58,14 +74,123 @@ struct btHashString
 
 const int BT_HASH_NULL=0xffffffff;
 
+
+class btHashInt
+{
+	int	m_uid;
+public:
+	btHashInt(int uid)	:m_uid(uid)
+	{
+	}
+
+	int	getUid1() const
+	{
+		return m_uid;
+	}
+
+	void	setUid1(int uid)
+	{
+		m_uid = uid;
+	}
+
+	bool equals(const btHashInt& other) const
+	{
+		return getUid1() == other.getUid1();
+	}
+	//to our success
+	SIMD_FORCE_INLINE	unsigned int getHash()const
+	{
+		int key = m_uid;
+		// Thomas Wang's hash
+		key += ~(key << 15);	key ^=  (key >> 10);	key +=  (key << 3);	key ^=  (key >> 6);	key += ~(key << 11);	key ^=  (key >> 16);
+		return key;
+	}
+};
+
+
+
+class btHashPtr
+{
+
+	union
+	{
+		const void*	m_pointer;
+		int	m_hashValues[2];
+	};
+
+public:
+
+	btHashPtr(const void* ptr)
+		:m_pointer(ptr)
+	{
+	}
+
+	const void*	getPointer() const
+	{
+		return m_pointer;
+	}
+
+	bool equals(const btHashPtr& other) const
+	{
+		return getPointer() == other.getPointer();
+	}
+
+	//to our success
+	SIMD_FORCE_INLINE	unsigned int getHash()const
+	{
+		const bool VOID_IS_8 = ((sizeof(void*)==8));
+		
+		int key = VOID_IS_8? m_hashValues[0]+m_hashValues[1] : m_hashValues[0];
+	
+		// Thomas Wang's hash
+		key += ~(key << 15);	key ^=  (key >> 10);	key +=  (key << 3);	key ^=  (key >> 6);	key += ~(key << 11);	key ^=  (key >> 16);
+		return key;
+	}
+
+	
+};
+
+
+template <class Value>
+class btHashKeyPtr
+{
+        int     m_uid;
+public:
+
+        btHashKeyPtr(int uid)    :m_uid(uid)
+        {
+        }
+
+        int     getUid1() const
+        {
+                return m_uid;
+        }
+
+        bool equals(const btHashKeyPtr<Value>& other) const
+        {
+                return getUid1() == other.getUid1();
+        }
+
+        //to our success
+        SIMD_FORCE_INLINE       unsigned int getHash()const
+        {
+                int key = m_uid;
+                // Thomas Wang's hash
+                key += ~(key << 15);	key ^=  (key >> 10);	key +=  (key << 3);	key ^=  (key >> 6);	key += ~(key << 11);	key ^=  (key >> 16);
+                return key;
+        }
+
+        
+};
+
+
 template <class Value>
 class btHashKey
 {
 	int	m_uid;
 public:
 
-	btHashKey(int uid)
-		:m_uid(uid)
+	btHashKey(int uid)	:m_uid(uid)
 	{
 	}
 
@@ -83,70 +208,26 @@ public:
 	{
 		int key = m_uid;
 		// Thomas Wang's hash
-		key += ~(key << 15);
-		key ^=  (key >> 10);
-		key +=  (key << 3);
-		key ^=  (key >> 6);
-		key += ~(key << 11);
-		key ^=  (key >> 16);
+		key += ~(key << 15);	key ^=  (key >> 10);	key +=  (key << 3);	key ^=  (key >> 6);	key += ~(key << 11);	key ^=  (key >> 16);
 		return key;
 	}
-
-	
 };
 
 
-template <class Value>
-class btHashKeyPtr
-{
-	int	m_uid;
-public:
-
-	btHashKeyPtr(int uid)
-		:m_uid(uid)
-	{
-	}
-
-	int	getUid1() const
-	{
-		return m_uid;
-	}
-
-	bool equals(const btHashKeyPtr<Value>& other) const
-	{
-		return getUid1() == other.getUid1();
-	}
-
-	//to our success
-	SIMD_FORCE_INLINE	unsigned int getHash()const
-	{
-		int key = m_uid;
-		// Thomas Wang's hash
-		key += ~(key << 15);
-		key ^=  (key >> 10);
-		key +=  (key << 3);
-		key ^=  (key >> 6);
-		key += ~(key << 11);
-		key ^=  (key >> 16);
-		return key;
-	}
-
-	
-};
-
 ///The btHashMap template class implements a generic and lightweight hashmap.
 ///A basic sample of how to use btHashMap is located in Demos\BasicDemo\main.cpp
 template <class Key, class Value>
 class btHashMap
 {
 
+protected:
 	btAlignedObjectArray<int>		m_hashTable;
 	btAlignedObjectArray<int>		m_next;
 	
 	btAlignedObjectArray<Value>		m_valueArray;
 	btAlignedObjectArray<Key>		m_keyArray;
 
-	void	growTables(const Key& key)
+	void	growTables(const Key& /*key*/)
 	{
 		int newCapacity = m_valueArray.capacity();
 
@@ -259,7 +340,6 @@ class btHashMap
 		}
 
 		// Remove the last pair from the hash table.
-		const Value* lastValue = &m_valueArray[lastPairIndex];
 		int lastHash = m_keyArray[lastPairIndex].getHash() & (m_valueArray.capacity()-1);
 
 		index = m_hashTable[lastHash];

Engine/lib/bullet/src/LinearMath/btIDebugDraw.h

@@ -14,8 +14,8 @@ subject to the following restrictions:
 */
 
 
-#ifndef IDEBUG_DRAW__H
-#define IDEBUG_DRAW__H
+#ifndef BT_IDEBUG_DRAW__H
+#define BT_IDEBUG_DRAW__H
 
 #include "btVector3.h"
 #include "btTransform.h"
@@ -24,6 +24,7 @@ subject to the following restrictions:
 ///The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
 ///Typical use case: create a debug drawer object, and assign it to a btCollisionWorld or btDynamicsWorld using setDebugDrawer and call debugDrawWorld.
 ///A class that implements the btIDebugDraw interface has to implement the drawLine method at a minimum.
+///For color arguments the X,Y,Z components refer to Red, Green and Blue each in the range [0..1]
 class	btIDebugDraw
 {
 	public:
@@ -45,25 +46,54 @@ class	btIDebugDraw
 		DBG_DrawConstraints = (1 << 11),
 		DBG_DrawConstraintLimits = (1 << 12),
 		DBG_FastWireframe = (1<<13),
+        DBG_DrawNormals = (1<<14),
 		DBG_MAX_DEBUG_DRAW_MODE
 	};
 
 	virtual ~btIDebugDraw() {};
 
+	virtual void	drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0;
+		
 	virtual void    drawLine(const btVector3& from,const btVector3& to, const btVector3& fromColor, const btVector3& toColor)
 	{
+        (void) toColor;
 		drawLine (from, to, fromColor);
 	}
 
-	virtual void	drawBox (const btVector3& boxMin, const btVector3& boxMax, const btVector3& color, btScalar alpha)
+	virtual void	drawSphere(btScalar radius, const btTransform& transform, const btVector3& color)
 	{
-	}
+		btVector3 start = transform.getOrigin();
 
+		const btVector3 xoffs = transform.getBasis() * btVector3(radius,0,0);
+		const btVector3 yoffs = transform.getBasis() * btVector3(0,radius,0);
+		const btVector3 zoffs = transform.getBasis() * btVector3(0,0,radius);
+
+		// XY 
+		drawLine(start-xoffs, start+yoffs, color);
+		drawLine(start+yoffs, start+xoffs, color);
+		drawLine(start+xoffs, start-yoffs, color);
+		drawLine(start-yoffs, start-xoffs, color);
+
+		// XZ
+		drawLine(start-xoffs, start+zoffs, color);
+		drawLine(start+zoffs, start+xoffs, color);
+		drawLine(start+xoffs, start-zoffs, color);
+		drawLine(start-zoffs, start-xoffs, color);
+
+		// YZ
+		drawLine(start-yoffs, start+zoffs, color);
+		drawLine(start+zoffs, start+yoffs, color);
+		drawLine(start+yoffs, start-zoffs, color);
+		drawLine(start-zoffs, start-yoffs, color);
+	}
+	
 	virtual void	drawSphere (const btVector3& p, btScalar radius, const btVector3& color)
 	{
+		btTransform tr;
+		tr.setIdentity();
+		tr.setOrigin(p);
+		drawSphere(radius,tr,color);
 	}
-
-	virtual void	drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0;
 	
 	virtual	void	drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& /*n0*/,const btVector3& /*n1*/,const btVector3& /*n2*/,const btVector3& color, btScalar alpha)
 	{
@@ -86,7 +116,7 @@ class	btIDebugDraw
 	
 	virtual int		getDebugMode() const = 0;
 
-	inline void drawAabb(const btVector3& from,const btVector3& to,const btVector3& color)
+	virtual void drawAabb(const btVector3& from,const btVector3& to,const btVector3& color)
 	{
 
 		btVector3 halfExtents = (to-from)* 0.5f;
@@ -115,7 +145,7 @@ class	btIDebugDraw
 				edgecoord[i]*=-1.f;
 		}
 	}
-	void drawTransform(const btTransform& transform, btScalar orthoLen)
+	virtual void drawTransform(const btTransform& transform, btScalar orthoLen)
 	{
 		btVector3 start = transform.getOrigin();
 		drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(0.7f,0,0));
@@ -123,7 +153,7 @@ class	btIDebugDraw
 		drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(0,0,0.7f));
 	}
 
-	void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle, 
+	virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle, 
 				const btVector3& color, bool drawSect, btScalar stepDegrees = btScalar(10.f))
 	{
 		const btVector3& vx = axis;
@@ -148,7 +178,7 @@ class	btIDebugDraw
 			drawLine(center, prev, color);
 		}
 	}
-	void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius, 
+	virtual void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius, 
 		btScalar minTh, btScalar maxTh, btScalar minPs, btScalar maxPs, const btVector3& color, btScalar stepDegrees = btScalar(10.f))
 	{
 		btVector3 vA[74];
@@ -250,7 +280,8 @@ class	btIDebugDraw
 		}
 	}
 	
-	void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color)
+  
+	virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color)
 	{
 		drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
 		drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMin[2]), color);
@@ -265,7 +296,7 @@ class	btIDebugDraw
 		drawLine(btVector3(bbMax[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
 		drawLine(btVector3(bbMin[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
 	}
-	void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btTransform& trans, const btVector3& color)
+	virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btTransform& trans, const btVector3& color)
 	{
 		drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
 		drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), color);
@@ -280,8 +311,109 @@ class	btIDebugDraw
 		drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
 		drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
 	}
+
+	virtual void drawCapsule(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color)
+	{
+		btVector3 capStart(0.f,0.f,0.f);
+		capStart[upAxis] = -halfHeight;
+
+		btVector3 capEnd(0.f,0.f,0.f);
+		capEnd[upAxis] = halfHeight;
+
+		// Draw the ends
+		{
+
+			btTransform childTransform = transform;
+			childTransform.getOrigin() = transform * capStart;
+			drawSphere(radius, childTransform, color);
+		}
+
+		{
+			btTransform childTransform = transform;
+			childTransform.getOrigin() = transform * capEnd;
+			drawSphere(radius, childTransform, color);
+		}
+
+		// Draw some additional lines
+		btVector3 start = transform.getOrigin();
+
+		capStart[(upAxis+1)%3] = radius;
+		capEnd[(upAxis+1)%3] = radius;
+		drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
+		capStart[(upAxis+1)%3] = -radius;
+		capEnd[(upAxis+1)%3] = -radius;
+		drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
+
+		capStart[(upAxis+1)%3] = 0.f;
+		capEnd[(upAxis+1)%3] = 0.f;
+
+		capStart[(upAxis+2)%3] = radius;
+		capEnd[(upAxis+2)%3] = radius;
+		drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
+		capStart[(upAxis+2)%3] = -radius;
+		capEnd[(upAxis+2)%3] = -radius;
+		drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
+	}
+
+	virtual void drawCylinder(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color)
+	{
+		btVector3 start = transform.getOrigin();
+		btVector3	offsetHeight(0,0,0);
+		offsetHeight[upAxis] = halfHeight;
+		btVector3	offsetRadius(0,0,0);
+		offsetRadius[(upAxis+1)%3] = radius;
+		drawLine(start+transform.getBasis() * (offsetHeight+offsetRadius),start+transform.getBasis() * (-offsetHeight+offsetRadius),color);
+		drawLine(start+transform.getBasis() * (offsetHeight-offsetRadius),start+transform.getBasis() * (-offsetHeight-offsetRadius),color);
+
+		// Drawing top and bottom caps of the cylinder
+		btVector3 yaxis(0,0,0);
+		yaxis[upAxis] = btScalar(1.0);
+		btVector3 xaxis(0,0,0);
+		xaxis[(upAxis+1)%3] = btScalar(1.0);
+		drawArc(start-transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0));
+		drawArc(start+transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0));
+	}
+
+	virtual void drawCone(btScalar radius, btScalar height, int upAxis, const btTransform& transform, const btVector3& color)
+	{
+
+		btVector3 start = transform.getOrigin();
+
+		btVector3	offsetHeight(0,0,0);
+		offsetHeight[upAxis] = height * btScalar(0.5);
+		btVector3	offsetRadius(0,0,0);
+		offsetRadius[(upAxis+1)%3] = radius;
+		btVector3	offset2Radius(0,0,0);
+		offset2Radius[(upAxis+2)%3] = radius;
+
+		drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight+offsetRadius),color);
+		drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight-offsetRadius),color);
+		drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight+offset2Radius),color);
+		drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight-offset2Radius),color);
+
+		// Drawing the base of the cone
+		btVector3 yaxis(0,0,0);
+		yaxis[upAxis] = btScalar(1.0);
+		btVector3 xaxis(0,0,0);
+		xaxis[(upAxis+1)%3] = btScalar(1.0);
+		drawArc(start-transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,10.0);
+	}
+
+	virtual void drawPlane(const btVector3& planeNormal, btScalar planeConst, const btTransform& transform, const btVector3& color)
+	{
+		btVector3 planeOrigin = planeNormal * planeConst;
+		btVector3 vec0,vec1;
+		btPlaneSpace1(planeNormal,vec0,vec1);
+		btScalar vecLen = 100.f;
+		btVector3 pt0 = planeOrigin + vec0*vecLen;
+		btVector3 pt1 = planeOrigin - vec0*vecLen;
+		btVector3 pt2 = planeOrigin + vec1*vecLen;
+		btVector3 pt3 = planeOrigin - vec1*vecLen;
+		drawLine(transform*pt0,transform*pt1,color);
+		drawLine(transform*pt2,transform*pt3,color);
+	}
 };
 
 
-#endif //IDEBUG_DRAW__H
+#endif //BT_IDEBUG_DRAW__H
 

Engine/lib/bullet/src/LinearMath/btList.h

@@ -14,8 +14,8 @@ subject to the following restrictions:
 
 
 
-#ifndef GEN_LIST_H
-#define GEN_LIST_H
+#ifndef BT_GEN_LIST_H
+#define BT_GEN_LIST_H
 
 class btGEN_Link {
 public:
@@ -67,7 +67,7 @@ private:
     btGEN_Link m_tail;
 };
 
-#endif
+#endif //BT_GEN_LIST_H
 
 
 

Engine/lib/bullet/src/LinearMath/btMinMax.h

@@ -14,8 +14,10 @@ subject to the following restrictions:
 
 
 
-#ifndef GEN_MINMAX_H
-#define GEN_MINMAX_H
+#ifndef BT_GEN_MINMAX_H
+#define BT_GEN_MINMAX_H
+
+#include "btScalar.h"
 
 template <class T>
 SIMD_FORCE_INLINE const T& btMin(const T& a, const T& b) 
@@ -30,7 +32,7 @@ SIMD_FORCE_INLINE const T& btMax(const T& a, const T& b)
 }
 
 template <class T>
-SIMD_FORCE_INLINE const T& GEN_clamped(const T& a, const T& lb, const T& ub) 
+SIMD_FORCE_INLINE const T& btClamped(const T& a, const T& lb, const T& ub) 
 {
 	return a < lb ? lb : (ub < a ? ub : a); 
 }
@@ -54,7 +56,7 @@ SIMD_FORCE_INLINE void btSetMax(T& a, const T& b)
 }
 
 template <class T>
-SIMD_FORCE_INLINE void GEN_clamp(T& a, const T& lb, const T& ub) 
+SIMD_FORCE_INLINE void btClamp(T& a, const T& lb, const T& ub) 
 {
 	if (a < lb) 
 	{
@@ -66,4 +68,4 @@ SIMD_FORCE_INLINE void GEN_clamp(T& a, const T& lb, const T& ub)
 	}
 }
 
-#endif
+#endif //BT_GEN_MINMAX_H

Engine/lib/bullet/src/LinearMath/btPolarDecomposition.cpp

@@ -0,0 +1,99 @@
+#include "btPolarDecomposition.h"
+#include "btMinMax.h"
+
+namespace
+{
+  btScalar abs_column_sum(const btMatrix3x3& a, int i)
+  {
+    return btFabs(a[0][i]) + btFabs(a[1][i]) + btFabs(a[2][i]);
+  }
+
+  btScalar abs_row_sum(const btMatrix3x3& a, int i)
+  {
+    return btFabs(a[i][0]) + btFabs(a[i][1]) + btFabs(a[i][2]);
+  }
+
+  btScalar p1_norm(const btMatrix3x3& a)
+  {
+    const btScalar sum0 = abs_column_sum(a,0);
+    const btScalar sum1 = abs_column_sum(a,1);
+    const btScalar sum2 = abs_column_sum(a,2);
+    return btMax(btMax(sum0, sum1), sum2);
+  }
+
+  btScalar pinf_norm(const btMatrix3x3& a)
+  {
+    const btScalar sum0 = abs_row_sum(a,0);
+    const btScalar sum1 = abs_row_sum(a,1);
+    const btScalar sum2 = abs_row_sum(a,2);
+    return btMax(btMax(sum0, sum1), sum2);
+  }
+}
+
+const btScalar btPolarDecomposition::DEFAULT_TOLERANCE = btScalar(0.0001);
+const unsigned int btPolarDecomposition::DEFAULT_MAX_ITERATIONS = 16;
+
+btPolarDecomposition::btPolarDecomposition(btScalar tolerance, unsigned int maxIterations)
+: m_tolerance(tolerance)
+, m_maxIterations(maxIterations)
+{
+}
+
+unsigned int btPolarDecomposition::decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const
+{
+  // Use the 'u' and 'h' matrices for intermediate calculations
+  u = a;
+  h = a.inverse();
+
+  for (unsigned int i = 0; i < m_maxIterations; ++i)
+  {
+    const btScalar h_1 = p1_norm(h);
+    const btScalar h_inf = pinf_norm(h);
+    const btScalar u_1 = p1_norm(u);
+    const btScalar u_inf = pinf_norm(u);
+
+    const btScalar h_norm = h_1 * h_inf;
+    const btScalar u_norm = u_1 * u_inf;
+
+    // The matrix is effectively singular so we cannot invert it
+    if (btFuzzyZero(h_norm) || btFuzzyZero(u_norm))
+      break;
+
+    const btScalar gamma = btPow(h_norm / u_norm, 0.25f);
+    const btScalar inv_gamma = 1.0 / gamma;
+
+    // Determine the delta to 'u'
+    const btMatrix3x3 delta = (u * (gamma - 2.0) + h.transpose() * inv_gamma) * 0.5;
+
+    // Update the matrices
+    u += delta;
+    h = u.inverse();
+
+    // Check for convergence
+    if (p1_norm(delta) <= m_tolerance * u_1)
+    {
+      h = u.transpose() * a;
+      h = (h + h.transpose()) * 0.5;
+      return i;
+    }
+  }
+
+  // The algorithm has failed to converge to the specified tolerance, but we
+  // want to make sure that the matrices returned are in the right form.
+  h = u.transpose() * a;
+  h = (h + h.transpose()) * 0.5;
+
+  return m_maxIterations;
+}
+
+unsigned int btPolarDecomposition::maxIterations() const
+{
+  return m_maxIterations;
+}
+
+unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h)
+{
+  static btPolarDecomposition polar;
+  return polar.decompose(a, u, h);
+}
+

Engine/lib/bullet/src/LinearMath/btPolarDecomposition.h

@@ -0,0 +1,73 @@
+#ifndef POLARDECOMPOSITION_H
+#define POLARDECOMPOSITION_H
+
+#include "btMatrix3x3.h"
+
+/**
+ * This class is used to compute the polar decomposition of a matrix. In
+ * general, the polar decomposition factorizes a matrix, A, into two parts: a
+ * unitary matrix (U) and a positive, semi-definite Hermitian matrix (H).
+ * However, in this particular implementation the original matrix, A, is
+ * required to be a square 3x3 matrix with real elements. This means that U will
+ * be an orthogonal matrix and H with be a positive-definite, symmetric matrix.
+ */
+class btPolarDecomposition
+{
+  public:
+    static const btScalar DEFAULT_TOLERANCE;
+    static const unsigned int DEFAULT_MAX_ITERATIONS;
+
+    /**
+     * Creates an instance with optional parameters.
+     *
+     * @param tolerance     - the tolerance used to determine convergence of the
+     *                        algorithm
+     * @param maxIterations - the maximum number of iterations used to achieve
+     *                        convergence
+     */
+    btPolarDecomposition(btScalar tolerance = DEFAULT_TOLERANCE, 
+      unsigned int maxIterations = DEFAULT_MAX_ITERATIONS);
+
+    /**
+     * Decomposes a matrix into orthogonal and symmetric, positive-definite
+     * parts. If the number of iterations returned by this function is equal to
+     * the maximum number of iterations, the algorithm has failed to converge.
+     *
+     * @param a - the original matrix
+     * @param u - the resulting orthogonal matrix
+     * @param h - the resulting symmetric matrix
+     *
+     * @return the number of iterations performed by the algorithm.
+     */
+    unsigned int decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const; 
+
+    /**
+     * Returns the maximum number of iterations that this algorithm will perform
+     * to achieve convergence.
+     *
+     * @return maximum number of iterations
+     */
+    unsigned int maxIterations() const;
+
+  private:
+    btScalar m_tolerance;
+    unsigned int m_maxIterations;
+};
+
+/**
+ * This functions decomposes the matrix 'a' into two parts: an orthogonal matrix
+ * 'u' and a symmetric, positive-definite matrix 'h'. If the number of
+ * iterations returned by this function is equal to
+ * btPolarDecomposition::DEFAULT_MAX_ITERATIONS, the algorithm has failed to
+ * converge.
+ *
+ * @param a - the original matrix
+ * @param u - the resulting orthogonal matrix
+ * @param h - the resulting symmetric matrix
+ *
+ * @return the number of iterations performed by the algorithm.
+ */
+unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h); 
+
+#endif // POLARDECOMPOSITION_H
+

Engine/lib/bullet/src/LinearMath/btPoolAllocator.h

@@ -57,6 +57,16 @@ public:
 		return m_freeCount;
 	}
 
+	int getUsedCount() const
+	{
+		return m_maxElements - m_freeCount;
+	}
+
+	int getMaxCount() const
+	{
+		return m_maxElements;
+	}
+
 	void*	allocate(int size)
 	{
 		// release mode fix
@@ -96,6 +106,15 @@ public:
 		return m_elemSize;
 	}
 
+	unsigned char*	getPoolAddress()
+	{
+		return m_pool;
+	}
+
+	const unsigned char*	getPoolAddress() const
+	{
+		return m_pool;
+	}
 
 };
 

Engine/lib/bullet/src/LinearMath/btQuadWord.h

@@ -13,13 +13,16 @@ subject to the following restrictions:
 */
 
 
-#ifndef SIMD_QUADWORD_H
-#define SIMD_QUADWORD_H
+#ifndef BT_SIMD_QUADWORD_H
+#define BT_SIMD_QUADWORD_H
 
 #include "btScalar.h"
 #include "btMinMax.h"
 
 
+
+
+
 #if defined (__CELLOS_LV2) && defined (__SPU__)
 #include <altivec.h>
 #endif
@@ -47,11 +50,53 @@ public:
 	}
 protected:
 #else //__CELLOS_LV2__ __SPU__
+
+#if defined(BT_USE_SSE) || defined(BT_USE_NEON) 
+	union {
+		btSimdFloat4 mVec128;
+		btScalar	m_floats[4];
+	};
+public:
+	SIMD_FORCE_INLINE	btSimdFloat4	get128() const
+	{
+		return mVec128;
+	}
+	SIMD_FORCE_INLINE	void	set128(btSimdFloat4 v128)
+	{
+		mVec128 = v128;
+	}
+#else
 	btScalar	m_floats[4];
+#endif // BT_USE_SSE
+
 #endif //__CELLOS_LV2__ __SPU__
 
 	public:
   
+#if defined(BT_USE_SSE) || defined(BT_USE_NEON)
+
+	// Set Vector 
+	SIMD_FORCE_INLINE btQuadWord(const btSimdFloat4 vec)
+	{
+		mVec128 = vec;
+	}
+
+	// Copy constructor
+	SIMD_FORCE_INLINE btQuadWord(const btQuadWord& rhs)
+	{
+		mVec128 = rhs.mVec128;
+	}
+
+	// Assignment Operator
+	SIMD_FORCE_INLINE btQuadWord& 
+	operator=(const btQuadWord& v) 
+	{
+		mVec128 = v.mVec128;
+		
+		return *this;
+	}
+	
+#endif
 
   /**@brief Return the x value */
 		SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; }
@@ -60,13 +105,13 @@ protected:
   /**@brief Return the z value */
 		SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; }
   /**@brief Set the x value */
-		SIMD_FORCE_INLINE void	setX(btScalar x) { m_floats[0] = x;};
+		SIMD_FORCE_INLINE void	setX(btScalar _x) { m_floats[0] = _x;};
   /**@brief Set the y value */
-		SIMD_FORCE_INLINE void	setY(btScalar y) { m_floats[1] = y;};
+		SIMD_FORCE_INLINE void	setY(btScalar _y) { m_floats[1] = _y;};
   /**@brief Set the z value */
-		SIMD_FORCE_INLINE void	setZ(btScalar z) { m_floats[2] = z;};
+		SIMD_FORCE_INLINE void	setZ(btScalar _z) { m_floats[2] = _z;};
   /**@brief Set the w value */
-		SIMD_FORCE_INLINE void	setW(btScalar w) { m_floats[3] = w;};
+		SIMD_FORCE_INLINE void	setW(btScalar _w) { m_floats[3] = _w;};
   /**@brief Return the x value */
 		SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; }
   /**@brief Return the y value */
@@ -84,7 +129,14 @@ protected:
 
 	SIMD_FORCE_INLINE	bool	operator==(const btQuadWord& other) const
 	{
-		return ((m_floats[3]==other.m_floats[3]) && (m_floats[2]==other.m_floats[2]) && (m_floats[1]==other.m_floats[1]) && (m_floats[0]==other.m_floats[0]));
+#ifdef BT_USE_SSE
+        return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128)));
+#else 
+		return ((m_floats[3]==other.m_floats[3]) && 
+                (m_floats[2]==other.m_floats[2]) && 
+                (m_floats[1]==other.m_floats[1]) && 
+                (m_floats[0]==other.m_floats[0]));
+#endif
 	}
 
 	SIMD_FORCE_INLINE	bool	operator!=(const btQuadWord& other) const
@@ -97,11 +149,11 @@ protected:
    * @param y Value of y
    * @param z Value of z
    */
-		SIMD_FORCE_INLINE void 	setValue(const btScalar& x, const btScalar& y, const btScalar& z)
+		SIMD_FORCE_INLINE void 	setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z)
 		{
-			m_floats[0]=x;
-			m_floats[1]=y;
-			m_floats[2]=z;
+			m_floats[0]=_x;
+			m_floats[1]=_y;
+			m_floats[2]=_z;
 			m_floats[3] = 0.f;
 		}
 
@@ -118,12 +170,12 @@ protected:
    * @param z Value of z
    * @param w Value of w
    */
-		SIMD_FORCE_INLINE void	setValue(const btScalar& x, const btScalar& y, const btScalar& z,const btScalar& w)
+		SIMD_FORCE_INLINE void	setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w)
 		{
-			m_floats[0]=x;
-			m_floats[1]=y;
-			m_floats[2]=z;
-			m_floats[3]=w;
+			m_floats[0]=_x;
+			m_floats[1]=_y;
+			m_floats[2]=_z;
+			m_floats[3]=_w;
 		}
   /**@brief No initialization constructor */
 		SIMD_FORCE_INLINE btQuadWord()
@@ -136,9 +188,9 @@ protected:
    * @param y Value of y
    * @param z Value of z
    */
-		SIMD_FORCE_INLINE btQuadWord(const btScalar& x, const btScalar& y, const btScalar& z)		
+		SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z)		
 		{
-			m_floats[0] = x, m_floats[1] = y, m_floats[2] = z, m_floats[3] = 0.0f;
+			m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = 0.0f;
 		}
 
 /**@brief Initializing constructor
@@ -147,9 +199,9 @@ protected:
    * @param z Value of z
    * @param w Value of w
    */
-		SIMD_FORCE_INLINE btQuadWord(const btScalar& x, const btScalar& y, const btScalar& z,const btScalar& w) 
+		SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w) 
 		{
-			m_floats[0] = x, m_floats[1] = y, m_floats[2] = z, m_floats[3] = w;
+			m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = _w;
 		}
 
   /**@brief Set each element to the max of the current values and the values of another btQuadWord
@@ -157,24 +209,36 @@ protected:
    */
 		SIMD_FORCE_INLINE void	setMax(const btQuadWord& other)
 		{
-			btSetMax(m_floats[0], other.m_floats[0]);
+        #ifdef BT_USE_SSE
+            mVec128 = _mm_max_ps(mVec128, other.mVec128);
+        #elif defined(BT_USE_NEON)
+            mVec128 = vmaxq_f32(mVec128, other.mVec128);
+        #else
+        	btSetMax(m_floats[0], other.m_floats[0]);
 			btSetMax(m_floats[1], other.m_floats[1]);
 			btSetMax(m_floats[2], other.m_floats[2]);
 			btSetMax(m_floats[3], other.m_floats[3]);
-		}
+		#endif
+        }
   /**@brief Set each element to the min of the current values and the values of another btQuadWord
    * @param other The other btQuadWord to compare with 
    */
 		SIMD_FORCE_INLINE void	setMin(const btQuadWord& other)
 		{
-			btSetMin(m_floats[0], other.m_floats[0]);
+        #ifdef BT_USE_SSE
+            mVec128 = _mm_min_ps(mVec128, other.mVec128);
+        #elif defined(BT_USE_NEON)
+            mVec128 = vminq_f32(mVec128, other.mVec128);
+        #else
+        	btSetMin(m_floats[0], other.m_floats[0]);
 			btSetMin(m_floats[1], other.m_floats[1]);
 			btSetMin(m_floats[2], other.m_floats[2]);
 			btSetMin(m_floats[3], other.m_floats[3]);
-		}
+		#endif
+        }
 
 
 
 };
 
-#endif //SIMD_QUADWORD_H
+#endif //BT_SIMD_QUADWORD_H

Engine/lib/bullet/src/LinearMath/btQuaternion.h

@@ -14,31 +14,72 @@ subject to the following restrictions:
 
 
 
-#ifndef SIMD__QUATERNION_H_
-#define SIMD__QUATERNION_H_
+#ifndef BT_SIMD__QUATERNION_H_
+#define BT_SIMD__QUATERNION_H_
 
 
 #include "btVector3.h"
 #include "btQuadWord.h"
 
+
+
+
+
+#ifdef BT_USE_SSE
+
+const __m128 ATTRIBUTE_ALIGNED16(vOnes) = {1.0f, 1.0f, 1.0f, 1.0f};
+
+#endif
+
+#if defined(BT_USE_SSE) || defined(BT_USE_NEON)
+
+const btSimdFloat4 ATTRIBUTE_ALIGNED16(vQInv) = {-0.0f, -0.0f, -0.0f, +0.0f};
+const btSimdFloat4 ATTRIBUTE_ALIGNED16(vPPPM) = {+0.0f, +0.0f, +0.0f, -0.0f};
+
+#endif
+
 /**@brief The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatrix3x3, btVector3 and btTransform. */
 class btQuaternion : public btQuadWord {
 public:
   /**@brief No initialization constructor */
 	btQuaternion() {}
 
+#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))|| defined(BT_USE_NEON) 
+	// Set Vector 
+	SIMD_FORCE_INLINE btQuaternion(const btSimdFloat4 vec)
+	{
+		mVec128 = vec;
+	}
+
+	// Copy constructor
+	SIMD_FORCE_INLINE btQuaternion(const btQuaternion& rhs)
+	{
+		mVec128 = rhs.mVec128;
+	}
+
+	// Assignment Operator
+	SIMD_FORCE_INLINE btQuaternion& 
+	operator=(const btQuaternion& v) 
+	{
+		mVec128 = v.mVec128;
+		
+		return *this;
+	}
+	
+#endif
+
 	//		template <typename btScalar>
 	//		explicit Quaternion(const btScalar *v) : Tuple4<btScalar>(v) {}
   /**@brief Constructor from scalars */
-	btQuaternion(const btScalar& x, const btScalar& y, const btScalar& z, const btScalar& w) 
-		: btQuadWord(x, y, z, w) 
+	btQuaternion(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w) 
+		: btQuadWord(_x, _y, _z, _w) 
 	{}
   /**@brief Axis angle Constructor
    * @param axis The axis which the rotation is around
    * @param angle The magnitude of the rotation around the angle (Radians) */
-	btQuaternion(const btVector3& axis, const btScalar& angle) 
+	btQuaternion(const btVector3& _axis, const btScalar& _angle) 
 	{ 
-		setRotation(axis, angle); 
+		setRotation(_axis, _angle); 
 	}
   /**@brief Constructor from Euler angles
    * @param yaw Angle around Y unless BT_EULER_DEFAULT_ZYX defined then Z
@@ -55,13 +96,13 @@ public:
   /**@brief Set the rotation using axis angle notation 
    * @param axis The axis around which to rotate
    * @param angle The magnitude of the rotation in Radians */
-	void setRotation(const btVector3& axis, const btScalar& angle)
+	void setRotation(const btVector3& axis, const btScalar& _angle)
 	{
 		btScalar d = axis.length();
 		btAssert(d != btScalar(0.0));
-		btScalar s = btSin(angle * btScalar(0.5)) / d;
+		btScalar s = btSin(_angle * btScalar(0.5)) / d;
 		setValue(axis.x() * s, axis.y() * s, axis.z() * s, 
-			btCos(angle * btScalar(0.5)));
+			btCos(_angle * btScalar(0.5)));
 	}
   /**@brief Set the quaternion using Euler angles
    * @param yaw Angle around Y
@@ -107,7 +148,16 @@ public:
    * @param q The quaternion to add to this one */
 	SIMD_FORCE_INLINE	btQuaternion& operator+=(const btQuaternion& q)
 	{
-		m_floats[0] += q.x(); m_floats[1] += q.y(); m_floats[2] += q.z(); m_floats[3] += q.m_floats[3];
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		mVec128 = _mm_add_ps(mVec128, q.mVec128);
+#elif defined(BT_USE_NEON)
+		mVec128 = vaddq_f32(mVec128, q.mVec128);
+#else	
+		m_floats[0] += q.x(); 
+        m_floats[1] += q.y(); 
+        m_floats[2] += q.z(); 
+        m_floats[3] += q.m_floats[3];
+#endif
 		return *this;
 	}
 
@@ -115,15 +165,35 @@ public:
    * @param q The quaternion to subtract from this one */
 	btQuaternion& operator-=(const btQuaternion& q) 
 	{
-		m_floats[0] -= q.x(); m_floats[1] -= q.y(); m_floats[2] -= q.z(); m_floats[3] -= q.m_floats[3];
-		return *this;
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		mVec128 = _mm_sub_ps(mVec128, q.mVec128);
+#elif defined(BT_USE_NEON)
+		mVec128 = vsubq_f32(mVec128, q.mVec128);
+#else	
+		m_floats[0] -= q.x(); 
+        m_floats[1] -= q.y(); 
+        m_floats[2] -= q.z(); 
+        m_floats[3] -= q.m_floats[3];
+#endif
+        return *this;
 	}
 
   /**@brief Scale this quaternion
    * @param s The scalar to scale by */
 	btQuaternion& operator*=(const btScalar& s)
 	{
-		m_floats[0] *= s; m_floats[1] *= s; m_floats[2] *= s; m_floats[3] *= s;
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		__m128	vs = _mm_load_ss(&s);	//	(S 0 0 0)
+		vs = bt_pshufd_ps(vs, 0);	//	(S S S S)
+		mVec128 = _mm_mul_ps(mVec128, vs);
+#elif defined(BT_USE_NEON)
+		mVec128 = vmulq_n_f32(mVec128, s);
+#else
+		m_floats[0] *= s; 
+        m_floats[1] *= s; 
+        m_floats[2] *= s; 
+        m_floats[3] *= s;
+#endif
 		return *this;
 	}
 
@@ -132,17 +202,111 @@ public:
    * Equivilant to this = this * q */
 	btQuaternion& operator*=(const btQuaternion& q)
 	{
-		setValue(m_floats[3] * q.x() + m_floats[0] * q.m_floats[3] + m_floats[1] * q.z() - m_floats[2] * q.y(),
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		__m128 vQ2 = q.get128();
+		
+		__m128 A1 = bt_pshufd_ps(mVec128, BT_SHUFFLE(0,1,2,0));
+		__m128 B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(3,3,3,0));
+		
+		A1 = A1 * B1;
+		
+		__m128 A2 = bt_pshufd_ps(mVec128, BT_SHUFFLE(1,2,0,1));
+		__m128 B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2,0,1,1));
+		
+		A2 = A2 * B2;
+		
+		B1 = bt_pshufd_ps(mVec128, BT_SHUFFLE(2,0,1,2));
+		B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1,2,0,2));
+		
+		B1 = B1 * B2;	//	A3 *= B3
+		
+		mVec128 = bt_splat_ps(mVec128, 3);	//	A0
+		mVec128 = mVec128 * vQ2;	//	A0 * B0
+		
+		A1 = A1 + A2;	//	AB12
+		mVec128 = mVec128 - B1;	//	AB03 = AB0 - AB3 
+		A1 = _mm_xor_ps(A1, vPPPM);	//	change sign of the last element
+		mVec128 = mVec128+ A1;	//	AB03 + AB12
+
+#elif defined(BT_USE_NEON)     
+
+        float32x4_t vQ1 = mVec128;
+        float32x4_t vQ2 = q.get128();
+        float32x4_t A0, A1, B1, A2, B2, A3, B3;
+        float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
+        
+        {
+        float32x2x2_t tmp;
+        tmp = vtrn_f32( vget_high_f32(vQ1), vget_low_f32(vQ1) );       // {z x}, {w y}
+        vQ1zx = tmp.val[0];
+
+        tmp = vtrn_f32( vget_high_f32(vQ2), vget_low_f32(vQ2) );       // {z x}, {w y}
+        vQ2zx = tmp.val[0];
+        }
+        vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1); 
+
+        vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
+
+        vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
+        vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
+
+        A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                    // X Y  z x 
+        B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx); // W W  W X 
+
+        A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
+        B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
+
+        A3 = vcombine_f32(vQ1zx, vQ1yz);        // Z X Y Z
+        B3 = vcombine_f32(vQ2yz, vQ2xz);        // Y Z x z
+
+        A1 = vmulq_f32(A1, B1);
+        A2 = vmulq_f32(A2, B2);
+        A3 = vmulq_f32(A3, B3);	//	A3 *= B3
+        A0 = vmulq_lane_f32(vQ2, vget_high_f32(vQ1), 1); //	A0 * B0
+
+        A1 = vaddq_f32(A1, A2);	//	AB12 = AB1 + AB2
+        A0 = vsubq_f32(A0, A3);	//	AB03 = AB0 - AB3 
+        
+        //	change the sign of the last element
+        A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);	
+        A0 = vaddq_f32(A0, A1);	//	AB03 + AB12
+        
+        mVec128 = A0;
+#else
+		setValue(
+            m_floats[3] * q.x() + m_floats[0] * q.m_floats[3] + m_floats[1] * q.z() - m_floats[2] * q.y(),
 			m_floats[3] * q.y() + m_floats[1] * q.m_floats[3] + m_floats[2] * q.x() - m_floats[0] * q.z(),
 			m_floats[3] * q.z() + m_floats[2] * q.m_floats[3] + m_floats[0] * q.y() - m_floats[1] * q.x(),
 			m_floats[3] * q.m_floats[3] - m_floats[0] * q.x() - m_floats[1] * q.y() - m_floats[2] * q.z());
+#endif
 		return *this;
 	}
   /**@brief Return the dot product between this quaternion and another
    * @param q The other quaternion */
 	btScalar dot(const btQuaternion& q) const
 	{
-		return m_floats[0] * q.x() + m_floats[1] * q.y() + m_floats[2] * q.z() + m_floats[3] * q.m_floats[3];
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		__m128	vd;
+		
+		vd = _mm_mul_ps(mVec128, q.mVec128);
+		
+        __m128 t = _mm_movehl_ps(vd, vd);
+		vd = _mm_add_ps(vd, t);
+		t = _mm_shuffle_ps(vd, vd, 0x55);
+		vd = _mm_add_ss(vd, t);
+		
+        return _mm_cvtss_f32(vd);
+#elif defined(BT_USE_NEON)
+		float32x4_t vd = vmulq_f32(mVec128, q.mVec128);
+		float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_high_f32(vd));  
+		x = vpadd_f32(x, x);
+		return vget_lane_f32(x, 0);
+#else    
+		return  m_floats[0] * q.x() + 
+                m_floats[1] * q.y() + 
+                m_floats[2] * q.z() + 
+                m_floats[3] * q.m_floats[3];
+#endif
 	}
 
   /**@brief Return the length squared of the quaternion */
@@ -161,7 +325,25 @@ public:
    * Such that x^2 + y^2 + z^2 +w^2 = 1 */
 	btQuaternion& normalize() 
 	{
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		__m128	vd;
+		
+		vd = _mm_mul_ps(mVec128, mVec128);
+		
+        __m128 t = _mm_movehl_ps(vd, vd);
+		vd = _mm_add_ps(vd, t);
+		t = _mm_shuffle_ps(vd, vd, 0x55);
+		vd = _mm_add_ss(vd, t);
+
+		vd = _mm_sqrt_ss(vd);
+		vd = _mm_div_ss(vOnes, vd);
+        vd = bt_pshufd_ps(vd, 0); // splat
+		mVec128 = _mm_mul_ps(mVec128, vd);
+    
+		return *this;
+#else    
 		return *this /= length();
+#endif
 	}
 
   /**@brief Return a scaled version of this quaternion
@@ -169,10 +351,18 @@ public:
 	SIMD_FORCE_INLINE btQuaternion
 	operator*(const btScalar& s) const
 	{
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		__m128	vs = _mm_load_ss(&s);	//	(S 0 0 0)
+		vs = bt_pshufd_ps(vs, 0x00);	//	(S S S S)
+		
+		return btQuaternion(_mm_mul_ps(mVec128, vs));
+#elif defined(BT_USE_NEON)
+		return btQuaternion(vmulq_n_f32(mVec128, s));
+#else
 		return btQuaternion(x() * s, y() * s, z() * s, m_floats[3] * s);
+#endif
 	}
 
-
   /**@brief Return an inversely scaled versionof this quaternion
    * @param s The inverse scale factor */
 	btQuaternion operator/(const btScalar& s) const
@@ -212,17 +402,24 @@ public:
 	/**@brief Return the axis of the rotation represented by this quaternion */
 	btVector3 getAxis() const
 	{
-		btScalar s_squared = btScalar(1.) - btPow(m_floats[3], btScalar(2.));
+		btScalar s_squared = 1.f-m_floats[3]*m_floats[3];
+		
 		if (s_squared < btScalar(10.) * SIMD_EPSILON) //Check for divide by zero
 			return btVector3(1.0, 0.0, 0.0);  // Arbitrary
-		btScalar s = btSqrt(s_squared);
-		return btVector3(m_floats[0] / s, m_floats[1] / s, m_floats[2] / s);
+		btScalar s = 1.f/btSqrt(s_squared);
+		return btVector3(m_floats[0] * s, m_floats[1] * s, m_floats[2] * s);
 	}
 
 	/**@brief Return the inverse of this quaternion */
 	btQuaternion inverse() const
 	{
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		return btQuaternion(_mm_xor_ps(mVec128, vQInv));
+#elif defined(BT_USE_NEON)
+        return btQuaternion((btSimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)vQInv));
+#else	
 		return btQuaternion(-m_floats[0], -m_floats[1], -m_floats[2], m_floats[3]);
+#endif
 	}
 
   /**@brief Return the sum of this quaternion and the other 
@@ -230,8 +427,14 @@ public:
 	SIMD_FORCE_INLINE btQuaternion
 	operator+(const btQuaternion& q2) const
 	{
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		return btQuaternion(_mm_add_ps(mVec128, q2.mVec128));
+#elif defined(BT_USE_NEON)
+        return btQuaternion(vaddq_f32(mVec128, q2.mVec128));
+#else	
 		const btQuaternion& q1 = *this;
 		return btQuaternion(q1.x() + q2.x(), q1.y() + q2.y(), q1.z() + q2.z(), q1.m_floats[3] + q2.m_floats[3]);
+#endif
 	}
 
   /**@brief Return the difference between this quaternion and the other 
@@ -239,16 +442,28 @@ public:
 	SIMD_FORCE_INLINE btQuaternion
 	operator-(const btQuaternion& q2) const
 	{
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		return btQuaternion(_mm_sub_ps(mVec128, q2.mVec128));
+#elif defined(BT_USE_NEON)
+        return btQuaternion(vsubq_f32(mVec128, q2.mVec128));
+#else	
 		const btQuaternion& q1 = *this;
 		return btQuaternion(q1.x() - q2.x(), q1.y() - q2.y(), q1.z() - q2.z(), q1.m_floats[3] - q2.m_floats[3]);
+#endif
 	}
 
   /**@brief Return the negative of this quaternion 
    * This simply negates each element */
 	SIMD_FORCE_INLINE btQuaternion operator-() const
 	{
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+		return btQuaternion(_mm_xor_ps(mVec128, btvMzeroMask));
+#elif defined(BT_USE_NEON)
+		return btQuaternion((btSimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)btvMzeroMask) );
+#else	
 		const btQuaternion& q2 = *this;
 		return btQuaternion( - q2.x(), - q2.y(),  - q2.z(),  - q2.m_floats[3]);
+#endif
 	}
   /**@todo document this and it's use */
 	SIMD_FORCE_INLINE btQuaternion farthest( const btQuaternion& qd) const 
@@ -279,16 +494,25 @@ public:
    * Slerp interpolates assuming constant velocity.  */
 	btQuaternion slerp(const btQuaternion& q, const btScalar& t) const
 	{
-		btScalar theta = angle(q);
-		if (theta != btScalar(0.0))
+	  btScalar magnitude = btSqrt(length2() * q.length2()); 
+	  btAssert(magnitude > btScalar(0));
+
+    btScalar product = dot(q) / magnitude;
+    if (btFabs(product) != btScalar(1))
 		{
-			btScalar d = btScalar(1.0) / btSin(theta);
-			btScalar s0 = btSin((btScalar(1.0) - t) * theta);
-			btScalar s1 = btSin(t * theta);   
-			return btQuaternion((m_floats[0] * s0 + q.x() * s1) * d,
-				(m_floats[1] * s0 + q.y() * s1) * d,
-				(m_floats[2] * s0 + q.z() * s1) * d,
-				(m_floats[3] * s0 + q.m_floats[3] * s1) * d);
+      // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp
+      const btScalar sign = (product < 0) ? btScalar(-1) : btScalar(1);
+
+      const btScalar theta = btAcos(sign * product);
+      const btScalar s1 = btSin(sign * t * theta);   
+      const btScalar d = btScalar(1.0) / btSin(theta);
+      const btScalar s0 = btSin((btScalar(1.0) - t) * theta);
+
+      return btQuaternion(
+          (m_floats[0] * s0 + q.x() * s1) * d,
+          (m_floats[1] * s0 + q.y() * s1) * d,
+          (m_floats[2] * s0 + q.z() * s1) * d,
+          (m_floats[3] * s0 + q.m_floats[3] * s1) * d);
 		}
 		else
 		{
@@ -308,40 +532,262 @@ public:
 };
 
 
-/**@brief Return the negative of a quaternion */
-SIMD_FORCE_INLINE btQuaternion
-operator-(const btQuaternion& q)
-{
-	return btQuaternion(-q.x(), -q.y(), -q.z(), -q.w());
-}
 
 
 
 /**@brief Return the product of two quaternions */
 SIMD_FORCE_INLINE btQuaternion
-operator*(const btQuaternion& q1, const btQuaternion& q2) {
-	return btQuaternion(q1.w() * q2.x() + q1.x() * q2.w() + q1.y() * q2.z() - q1.z() * q2.y(),
+operator*(const btQuaternion& q1, const btQuaternion& q2) 
+{
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+	__m128 vQ1 = q1.get128();
+	__m128 vQ2 = q2.get128();
+	__m128 A0, A1, B1, A2, B2;
+    
+	A1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(0,1,2,0)); // X Y  z x     //      vtrn
+	B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(3,3,3,0)); // W W  W X     // vdup vext
+
+	A1 = A1 * B1;
+	
+	A2 = bt_pshufd_ps(vQ1, BT_SHUFFLE(1,2,0,1)); // Y Z  X Y     // vext 
+	B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2,0,1,1)); // z x  Y Y     // vtrn vdup
+
+	A2 = A2 * B2;
+
+	B1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(2,0,1,2)); // z x Y Z      // vtrn vext
+	B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1,2,0,2)); // Y Z x z      // vext vtrn
+	
+	B1 = B1 * B2;	//	A3 *= B3
+
+	A0 = bt_splat_ps(vQ1, 3);	//	A0
+	A0 = A0 * vQ2;	//	A0 * B0
+
+	A1 = A1 + A2;	//	AB12
+	A0 =  A0 - B1;	//	AB03 = AB0 - AB3 
+	
+    A1 = _mm_xor_ps(A1, vPPPM);	//	change sign of the last element
+	A0 = A0 + A1;	//	AB03 + AB12
+	
+	return btQuaternion(A0);
+
+#elif defined(BT_USE_NEON)     
+
+	float32x4_t vQ1 = q1.get128();
+	float32x4_t vQ2 = q2.get128();
+	float32x4_t A0, A1, B1, A2, B2, A3, B3;
+    float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
+    
+    {
+    float32x2x2_t tmp;
+    tmp = vtrn_f32( vget_high_f32(vQ1), vget_low_f32(vQ1) );       // {z x}, {w y}
+    vQ1zx = tmp.val[0];
+
+    tmp = vtrn_f32( vget_high_f32(vQ2), vget_low_f32(vQ2) );       // {z x}, {w y}
+    vQ2zx = tmp.val[0];
+    }
+    vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1); 
+
+    vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
+
+    vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
+    vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
+
+    A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                    // X Y  z x 
+    B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx); // W W  W X 
+
+	A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
+    B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
+
+    A3 = vcombine_f32(vQ1zx, vQ1yz);        // Z X Y Z
+    B3 = vcombine_f32(vQ2yz, vQ2xz);        // Y Z x z
+
+	A1 = vmulq_f32(A1, B1);
+	A2 = vmulq_f32(A2, B2);
+	A3 = vmulq_f32(A3, B3);	//	A3 *= B3
+	A0 = vmulq_lane_f32(vQ2, vget_high_f32(vQ1), 1); //	A0 * B0
+
+	A1 = vaddq_f32(A1, A2);	//	AB12 = AB1 + AB2
+	A0 = vsubq_f32(A0, A3);	//	AB03 = AB0 - AB3 
+	
+    //	change the sign of the last element
+    A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);	
+	A0 = vaddq_f32(A0, A1);	//	AB03 + AB12
+	
+	return btQuaternion(A0);
+
+#else
+	return btQuaternion(
+        q1.w() * q2.x() + q1.x() * q2.w() + q1.y() * q2.z() - q1.z() * q2.y(),
 		q1.w() * q2.y() + q1.y() * q2.w() + q1.z() * q2.x() - q1.x() * q2.z(),
 		q1.w() * q2.z() + q1.z() * q2.w() + q1.x() * q2.y() - q1.y() * q2.x(),
 		q1.w() * q2.w() - q1.x() * q2.x() - q1.y() * q2.y() - q1.z() * q2.z()); 
+#endif
 }
 
 SIMD_FORCE_INLINE btQuaternion
 operator*(const btQuaternion& q, const btVector3& w)
 {
-	return btQuaternion( q.w() * w.x() + q.y() * w.z() - q.z() * w.y(),
-		q.w() * w.y() + q.z() * w.x() - q.x() * w.z(),
-		q.w() * w.z() + q.x() * w.y() - q.y() * w.x(),
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+	__m128 vQ1 = q.get128();
+	__m128 vQ2 = w.get128();
+	__m128 A1, B1, A2, B2, A3, B3;
+	
+	A1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(3,3,3,0));
+	B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(0,1,2,0));
+
+	A1 = A1 * B1;
+	
+	A2 = bt_pshufd_ps(vQ1, BT_SHUFFLE(1,2,0,1));
+	B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2,0,1,1));
+
+	A2 = A2 * B2;
+
+	A3 = bt_pshufd_ps(vQ1, BT_SHUFFLE(2,0,1,2));
+	B3 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1,2,0,2));
+	
+	A3 = A3 * B3;	//	A3 *= B3
+
+	A1 = A1 + A2;	//	AB12
+	A1 = _mm_xor_ps(A1, vPPPM);	//	change sign of the last element
+    A1 = A1 - A3;	//	AB123 = AB12 - AB3 
+	
+	return btQuaternion(A1);
+    
+#elif defined(BT_USE_NEON)     
+
+	float32x4_t vQ1 = q.get128();
+	float32x4_t vQ2 = w.get128();
+	float32x4_t A1, B1, A2, B2, A3, B3;
+    float32x2_t vQ1wx, vQ2zx, vQ1yz, vQ2yz, vQ1zx, vQ2xz;
+    
+    vQ1wx = vext_f32(vget_high_f32(vQ1), vget_low_f32(vQ1), 1); 
+    {
+    float32x2x2_t tmp;
+
+    tmp = vtrn_f32( vget_high_f32(vQ2), vget_low_f32(vQ2) );       // {z x}, {w y}
+    vQ2zx = tmp.val[0];
+
+    tmp = vtrn_f32( vget_high_f32(vQ1), vget_low_f32(vQ1) );       // {z x}, {w y}
+    vQ1zx = tmp.val[0];
+    }
+
+    vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
+
+    vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
+    vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
+
+    A1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ1), 1), vQ1wx); // W W  W X 
+    B1 = vcombine_f32(vget_low_f32(vQ2), vQ2zx);                    // X Y  z x 
+
+	A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
+    B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
+
+    A3 = vcombine_f32(vQ1zx, vQ1yz);        // Z X Y Z
+    B3 = vcombine_f32(vQ2yz, vQ2xz);        // Y Z x z
+
+	A1 = vmulq_f32(A1, B1);
+	A2 = vmulq_f32(A2, B2);
+	A3 = vmulq_f32(A3, B3);	//	A3 *= B3
+
+	A1 = vaddq_f32(A1, A2);	//	AB12 = AB1 + AB2
+	
+    //	change the sign of the last element
+    A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);	
+	
+    A1 = vsubq_f32(A1, A3);	//	AB123 = AB12 - AB3
+	
+	return btQuaternion(A1);
+    
+#else
+	return btQuaternion( 
+         q.w() * w.x() + q.y() * w.z() - q.z() * w.y(),
+		 q.w() * w.y() + q.z() * w.x() - q.x() * w.z(),
+		 q.w() * w.z() + q.x() * w.y() - q.y() * w.x(),
 		-q.x() * w.x() - q.y() * w.y() - q.z() * w.z()); 
+#endif
 }
 
 SIMD_FORCE_INLINE btQuaternion
 operator*(const btVector3& w, const btQuaternion& q)
 {
-	return btQuaternion( w.x() * q.w() + w.y() * q.z() - w.z() * q.y(),
-		w.y() * q.w() + w.z() * q.x() - w.x() * q.z(),
-		w.z() * q.w() + w.x() * q.y() - w.y() * q.x(),
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+	__m128 vQ1 = w.get128();
+	__m128 vQ2 = q.get128();
+	__m128 A1, B1, A2, B2, A3, B3;
+	
+	A1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(0,1,2,0));  // X Y  z x
+	B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(3,3,3,0));  // W W  W X 
+
+	A1 = A1 * B1;
+	
+	A2 = bt_pshufd_ps(vQ1, BT_SHUFFLE(1,2,0,1));
+	B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2,0,1,1));
+
+	A2 = A2 *B2;
+
+	A3 = bt_pshufd_ps(vQ1, BT_SHUFFLE(2,0,1,2));
+	B3 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1,2,0,2));
+	
+	A3 = A3 * B3;	//	A3 *= B3
+
+	A1 = A1 + A2;	//	AB12
+	A1 = _mm_xor_ps(A1, vPPPM);	//	change sign of the last element
+	A1 = A1 - A3;	//	AB123 = AB12 - AB3 
+	
+	return btQuaternion(A1);
+
+#elif defined(BT_USE_NEON)     
+
+	float32x4_t vQ1 = w.get128();
+	float32x4_t vQ2 = q.get128();
+	float32x4_t  A1, B1, A2, B2, A3, B3;
+    float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz;
+    
+    {
+    float32x2x2_t tmp;
+   
+    tmp = vtrn_f32( vget_high_f32(vQ1), vget_low_f32(vQ1) );       // {z x}, {w y}
+    vQ1zx = tmp.val[0];
+
+    tmp = vtrn_f32( vget_high_f32(vQ2), vget_low_f32(vQ2) );       // {z x}, {w y}
+    vQ2zx = tmp.val[0];
+    }
+    vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1); 
+
+    vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1);
+
+    vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1);
+    vQ2xz = vext_f32(vQ2zx, vQ2zx, 1);
+
+    A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx);                    // X Y  z x 
+    B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx); // W W  W X 
+
+	A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1));
+    B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1));
+
+    A3 = vcombine_f32(vQ1zx, vQ1yz);        // Z X Y Z
+    B3 = vcombine_f32(vQ2yz, vQ2xz);        // Y Z x z
+
+	A1 = vmulq_f32(A1, B1);
+	A2 = vmulq_f32(A2, B2);
+	A3 = vmulq_f32(A3, B3);	//	A3 *= B3
+
+	A1 = vaddq_f32(A1, A2);	//	AB12 = AB1 + AB2
+	
+    //	change the sign of the last element
+    A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM);	
+	
+    A1 = vsubq_f32(A1, A3);	//	AB123 = AB12 - AB3
+	
+	return btQuaternion(A1);
+    
+#else
+	return btQuaternion( 
+        +w.x() * q.w() + w.y() * q.z() - w.z() * q.y(),
+		+w.y() * q.w() + w.z() * q.x() - w.x() * q.z(),
+		+w.z() * q.w() + w.x() * q.y() - w.y() * q.x(),
 		-w.x() * q.x() - w.y() * q.y() - w.z() * q.z()); 
+#endif
 }
 
 /**@brief Calculate the dot product between two quaternions */
@@ -361,7 +807,7 @@ length(const btQuaternion& q)
 
 /**@brief Return the angle between two quaternions*/
 SIMD_FORCE_INLINE btScalar
-angle(const btQuaternion& q1, const btQuaternion& q2) 
+btAngle(const btQuaternion& q1, const btQuaternion& q2) 
 { 
 	return q1.angle(q2); 
 }
@@ -389,7 +835,13 @@ quatRotate(const btQuaternion& rotation, const btVector3& v)
 {
 	btQuaternion q = rotation * v;
 	q *= rotation.inverse();
+#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)
+	return btVector3(_mm_and_ps(q.get128(), btvFFF0fMask));
+#elif defined(BT_USE_NEON)
+    return btVector3((float32x4_t)vandq_s32((int32x4_t)q.get128(), btvFFF0Mask));
+#else	
 	return btVector3(q.getX(),q.getY(),q.getZ());
+#endif
 }
 
 SIMD_FORCE_INLINE btQuaternion 
@@ -419,8 +871,7 @@ shortestArcQuatNormalize2(btVector3& v0,btVector3& v1)
 	return shortestArcQuat(v0,v1);
 }
 
-#endif
-
+#endif //BT_SIMD__QUATERNION_H_
 
 
 

Engine/lib/bullet/src/LinearMath/btQuickprof.cpp

@@ -1,6 +1,6 @@
 /*
 
-/***************************************************************************************************
+***************************************************************************************************
 **
 ** profile.cpp
 **
@@ -13,13 +13,232 @@
 // Credits: The Clock class was inspired by the Timer classes in 
 // Ogre (www.ogre3d.org).
 
-#include "LinearMath/btQuickprof.h"
+#include "btQuickprof.h"
 
+#ifndef BT_NO_PROFILE
 
-#ifdef USE_BT_CLOCK
 
 static btClock gProfileClock;
 
+
+#ifdef __CELLOS_LV2__
+#include <sys/sys_time.h>
+#include <sys/time_util.h>
+#include <stdio.h>
+#endif
+
+#if defined (SUNOS) || defined (__SUNOS__) 
+#include <stdio.h> 
+#endif
+
+#if defined(WIN32) || defined(_WIN32)
+
+#define BT_USE_WINDOWS_TIMERS
+#define WIN32_LEAN_AND_MEAN
+#define NOWINRES
+#define NOMCX
+#define NOIME 
+
+#ifdef _XBOX
+	#include <Xtl.h>
+#else //_XBOX
+	#include <windows.h>
+#endif //_XBOX
+
+#include <time.h>
+
+
+#else //_WIN32
+#include <sys/time.h>
+#endif //_WIN32
+
+#define mymin(a,b) (a > b ? a : b)
+
+struct btClockData
+{
+
+#ifdef BT_USE_WINDOWS_TIMERS
+	LARGE_INTEGER mClockFrequency;
+	DWORD mStartTick;
+	LONGLONG mPrevElapsedTime;
+	LARGE_INTEGER mStartTime;
+#else
+#ifdef __CELLOS_LV2__
+	uint64_t	mStartTime;
+#else
+	struct timeval mStartTime;
+#endif
+#endif //__CELLOS_LV2__
+
+};
+
+///The btClock is a portable basic clock that measures accurate time in seconds, use for profiling.
+btClock::btClock()
+{
+	m_data = new btClockData;
+#ifdef BT_USE_WINDOWS_TIMERS
+	QueryPerformanceFrequency(&m_data->mClockFrequency);
+#endif
+	reset();
+}
+
+btClock::~btClock()
+{
+	delete m_data;
+}
+
+btClock::btClock(const btClock& other)
+{
+	m_data = new btClockData;
+	*m_data = *other.m_data;
+}
+
+btClock& btClock::operator=(const btClock& other)
+{
+	*m_data = *other.m_data;
+	return *this;
+}
+
+
+	/// Resets the initial reference time.
+void btClock::reset()
+{
+#ifdef BT_USE_WINDOWS_TIMERS
+	QueryPerformanceCounter(&m_data->mStartTime);
+	m_data->mStartTick = GetTickCount();
+	m_data->mPrevElapsedTime = 0;
+#else
+#ifdef __CELLOS_LV2__
+
+	typedef uint64_t  ClockSize;
+	ClockSize newTime;
+	//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
+	SYS_TIMEBASE_GET( newTime );
+	m_data->mStartTime = newTime;
+#else
+	gettimeofday(&m_data->mStartTime, 0);
+#endif
+#endif
+}
+
+/// Returns the time in ms since the last call to reset or since 
+/// the btClock was created.
+unsigned long int btClock::getTimeMilliseconds()
+{
+#ifdef BT_USE_WINDOWS_TIMERS
+	LARGE_INTEGER currentTime;
+	QueryPerformanceCounter(&currentTime);
+	LONGLONG elapsedTime = currentTime.QuadPart - 
+		m_data->mStartTime.QuadPart;
+		// Compute the number of millisecond ticks elapsed.
+	unsigned long msecTicks = (unsigned long)(1000 * elapsedTime / 
+		m_data->mClockFrequency.QuadPart);
+		// Check for unexpected leaps in the Win32 performance counter.  
+	// (This is caused by unexpected data across the PCI to ISA 
+		// bridge, aka south bridge.  See Microsoft KB274323.)
+		unsigned long elapsedTicks = GetTickCount() - m_data->mStartTick;
+		signed long msecOff = (signed long)(msecTicks - elapsedTicks);
+		if (msecOff < -100 || msecOff > 100)
+		{
+			// Adjust the starting time forwards.
+			LONGLONG msecAdjustment = mymin(msecOff * 
+				m_data->mClockFrequency.QuadPart / 1000, elapsedTime - 
+				m_data->mPrevElapsedTime);
+			m_data->mStartTime.QuadPart += msecAdjustment;
+			elapsedTime -= msecAdjustment;
+
+			// Recompute the number of millisecond ticks elapsed.
+			msecTicks = (unsigned long)(1000 * elapsedTime / 
+				m_data->mClockFrequency.QuadPart);
+		}
+
+		// Store the current elapsed time for adjustments next time.
+		m_data->mPrevElapsedTime = elapsedTime;
+
+		return msecTicks;
+#else
+
+#ifdef __CELLOS_LV2__
+		uint64_t freq=sys_time_get_timebase_frequency();
+		double dFreq=((double) freq) / 1000.0;
+		typedef uint64_t  ClockSize;
+		ClockSize newTime;
+		SYS_TIMEBASE_GET( newTime );
+		//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
+
+		return (unsigned long int)((double(newTime-m_data->mStartTime)) / dFreq);
+#else
+
+		struct timeval currentTime;
+		gettimeofday(&currentTime, 0);
+		return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000 + 
+			(currentTime.tv_usec - m_data->mStartTime.tv_usec) / 1000;
+#endif //__CELLOS_LV2__
+#endif
+}
+
+	/// Returns the time in us since the last call to reset or since 
+	/// the Clock was created.
+unsigned long int btClock::getTimeMicroseconds()
+{
+#ifdef BT_USE_WINDOWS_TIMERS
+		LARGE_INTEGER currentTime;
+		QueryPerformanceCounter(&currentTime);
+		LONGLONG elapsedTime = currentTime.QuadPart - 
+			m_data->mStartTime.QuadPart;
+
+		// Compute the number of millisecond ticks elapsed.
+		unsigned long msecTicks = (unsigned long)(1000 * elapsedTime / 
+			m_data->mClockFrequency.QuadPart);
+
+		// Check for unexpected leaps in the Win32 performance counter.  
+		// (This is caused by unexpected data across the PCI to ISA 
+		// bridge, aka south bridge.  See Microsoft KB274323.)
+		unsigned long elapsedTicks = GetTickCount() - m_data->mStartTick;
+		signed long msecOff = (signed long)(msecTicks - elapsedTicks);
+		if (msecOff < -100 || msecOff > 100)
+		{
+			// Adjust the starting time forwards.
+			LONGLONG msecAdjustment = mymin(msecOff * 
+				m_data->mClockFrequency.QuadPart / 1000, elapsedTime - 
+				m_data->mPrevElapsedTime);
+			m_data->mStartTime.QuadPart += msecAdjustment;
+			elapsedTime -= msecAdjustment;
+		}
+
+		// Store the current elapsed time for adjustments next time.
+		m_data->mPrevElapsedTime = elapsedTime;
+
+		// Convert to microseconds.
+		unsigned long usecTicks = (unsigned long)(1000000 * elapsedTime / 
+			m_data->mClockFrequency.QuadPart);
+
+		return usecTicks;
+#else
+
+#ifdef __CELLOS_LV2__
+		uint64_t freq=sys_time_get_timebase_frequency();
+		double dFreq=((double) freq)/ 1000000.0;
+		typedef uint64_t  ClockSize;
+		ClockSize newTime;
+		//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
+		SYS_TIMEBASE_GET( newTime );
+
+		return (unsigned long int)((double(newTime-m_data->mStartTime)) / dFreq);
+#else
+
+		struct timeval currentTime;
+		gettimeofday(&currentTime, 0);
+		return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000000 + 
+			(currentTime.tv_usec - m_data->mStartTime.tv_usec);
+#endif//__CELLOS_LV2__
+#endif 
+}
+
+
+
+
+
 inline void Profile_Get_Ticks(unsigned long int * ticks)
 {
 	*ticks = gProfileClock.getTimeMicroseconds();
@@ -57,7 +276,8 @@ CProfileNode::CProfileNode( const char * name, CProfileNode * parent ) :
 	RecursionCounter( 0 ),
 	Parent( parent ),
 	Child( NULL ),
-	Sibling( NULL )
+	Sibling( NULL ),
+	m_userPtr(0)
 {
 	Reset();
 }
@@ -342,5 +562,5 @@ void	CProfileManager::dumpAll()
 
 
 
-#endif //USE_BT_CLOCK
 
+#endif //BT_NO_PROFILE

Engine/lib/bullet/src/LinearMath/btQuickprof.h

@@ -12,222 +12,48 @@
 
 
 
-#ifndef QUICK_PROF_H
-#define QUICK_PROF_H
+#ifndef BT_QUICK_PROF_H
+#define BT_QUICK_PROF_H
 
 //To disable built-in profiling, please comment out next line
 //#define BT_NO_PROFILE 1
 #ifndef BT_NO_PROFILE
-
+#include <stdio.h>//@todo remove this, backwards compatibility
 #include "btScalar.h"
-#include "LinearMath/btAlignedAllocator.h"
+#include "btAlignedAllocator.h"
 #include <new>
 
 
 
 
-//if you don't need btClock, you can comment next line
+
 #define USE_BT_CLOCK 1
 
 #ifdef USE_BT_CLOCK
-#ifdef __CELLOS_LV2__
-#include <sys/sys_time.h>
-#include <sys/time_util.h>
-#include <stdio.h>
-#endif
-
-#if defined (SUNOS) || defined (__SUNOS__) 
-#include <stdio.h> 
-#endif
-
-#if defined(WIN32) || defined(_WIN32)
-
-#define USE_WINDOWS_TIMERS 
-#define WIN32_LEAN_AND_MEAN 
-#define NOWINRES 
-#define NOMCX 
-#define NOIME 
-#ifdef _XBOX
-#include <Xtl.h>
-#else
-#include <windows.h>
-#endif
-#include <time.h>
-
-#else
-#include <sys/time.h>
-#endif
-
-#define mymin(a,b) (a > b ? a : b)
 
 ///The btClock is a portable basic clock that measures accurate time in seconds, use for profiling.
 class btClock
 {
 public:
-	btClock()
-	{
-#ifdef USE_WINDOWS_TIMERS
-		QueryPerformanceFrequency(&mClockFrequency);
-#endif
-		reset();
-	}
+	btClock();
 
-	~btClock()
-	{
-	}
+	btClock(const btClock& other);
+	btClock& operator=(const btClock& other);
+
+	~btClock();
 
 	/// Resets the initial reference time.
-	void reset()
-	{
-#ifdef USE_WINDOWS_TIMERS
-		QueryPerformanceCounter(&mStartTime);
-		mStartTick = GetTickCount();
-		mPrevElapsedTime = 0;
-#else
-#ifdef __CELLOS_LV2__
-
-		typedef uint64_t  ClockSize;
-		ClockSize newTime;
-		//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
-		SYS_TIMEBASE_GET( newTime );
-		mStartTime = newTime;
-#else
-		gettimeofday(&mStartTime, 0);
-#endif
-
-#endif
-	}
+	void reset();
 
 	/// Returns the time in ms since the last call to reset or since 
 	/// the btClock was created.
-	unsigned long int getTimeMilliseconds()
-	{
-#ifdef USE_WINDOWS_TIMERS
-		LARGE_INTEGER currentTime;
-		QueryPerformanceCounter(&currentTime);
-		LONGLONG elapsedTime = currentTime.QuadPart - 
-			mStartTime.QuadPart;
-
-		// Compute the number of millisecond ticks elapsed.
-		unsigned long msecTicks = (unsigned long)(1000 * elapsedTime / 
-			mClockFrequency.QuadPart);
-
-		// Check for unexpected leaps in the Win32 performance counter.  
-		// (This is caused by unexpected data across the PCI to ISA 
-		// bridge, aka south bridge.  See Microsoft KB274323.)
-		unsigned long elapsedTicks = GetTickCount() - mStartTick;
-		signed long msecOff = (signed long)(msecTicks - elapsedTicks);
-		if (msecOff < -100 || msecOff > 100)
-		{
-			// Adjust the starting time forwards.
-			LONGLONG msecAdjustment = mymin(msecOff * 
-				mClockFrequency.QuadPart / 1000, elapsedTime - 
-				mPrevElapsedTime);
-			mStartTime.QuadPart += msecAdjustment;
-			elapsedTime -= msecAdjustment;
-
-			// Recompute the number of millisecond ticks elapsed.
-			msecTicks = (unsigned long)(1000 * elapsedTime / 
-				mClockFrequency.QuadPart);
-		}
-
-		// Store the current elapsed time for adjustments next time.
-		mPrevElapsedTime = elapsedTime;
-
-		return msecTicks;
-#else
-
-#ifdef __CELLOS_LV2__
-		uint64_t freq=sys_time_get_timebase_frequency();
-		double dFreq=((double) freq) / 1000.0;
-		typedef uint64_t  ClockSize;
-		ClockSize newTime;
-		SYS_TIMEBASE_GET( newTime );
-		//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
-
-		return (unsigned long int)((double(newTime-mStartTime)) / dFreq);
-#else
-
-		struct timeval currentTime;
-		gettimeofday(&currentTime, 0);
-		return (currentTime.tv_sec - mStartTime.tv_sec) * 1000 + 
-			(currentTime.tv_usec - mStartTime.tv_usec) / 1000;
-#endif //__CELLOS_LV2__
-#endif
-	}
+	unsigned long int getTimeMilliseconds();
 
 	/// Returns the time in us since the last call to reset or since 
 	/// the Clock was created.
-	unsigned long int getTimeMicroseconds()
-	{
-#ifdef USE_WINDOWS_TIMERS
-		LARGE_INTEGER currentTime;
-		QueryPerformanceCounter(&currentTime);
-		LONGLONG elapsedTime = currentTime.QuadPart - 
-			mStartTime.QuadPart;
-
-		// Compute the number of millisecond ticks elapsed.
-		unsigned long msecTicks = (unsigned long)(1000 * elapsedTime / 
-			mClockFrequency.QuadPart);
-
-		// Check for unexpected leaps in the Win32 performance counter.  
-		// (This is caused by unexpected data across the PCI to ISA 
-		// bridge, aka south bridge.  See Microsoft KB274323.)
-		unsigned long elapsedTicks = GetTickCount() - mStartTick;
-		signed long msecOff = (signed long)(msecTicks - elapsedTicks);
-		if (msecOff < -100 || msecOff > 100)
-		{
-			// Adjust the starting time forwards.
-			LONGLONG msecAdjustment = mymin(msecOff * 
-				mClockFrequency.QuadPart / 1000, elapsedTime - 
-				mPrevElapsedTime);
-			mStartTime.QuadPart += msecAdjustment;
-			elapsedTime -= msecAdjustment;
-		}
-
-		// Store the current elapsed time for adjustments next time.
-		mPrevElapsedTime = elapsedTime;
-
-		// Convert to microseconds.
-		unsigned long usecTicks = (unsigned long)(1000000 * elapsedTime / 
-			mClockFrequency.QuadPart);
-
-		return usecTicks;
-#else
-
-#ifdef __CELLOS_LV2__
-		uint64_t freq=sys_time_get_timebase_frequency();
-		double dFreq=((double) freq)/ 1000000.0;
-		typedef uint64_t  ClockSize;
-		ClockSize newTime;
-		//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
-		SYS_TIMEBASE_GET( newTime );
-
-		return (unsigned long int)((double(newTime-mStartTime)) / dFreq);
-#else
-
-		struct timeval currentTime;
-		gettimeofday(&currentTime, 0);
-		return (currentTime.tv_sec - mStartTime.tv_sec) * 1000000 + 
-			(currentTime.tv_usec - mStartTime.tv_usec);
-#endif//__CELLOS_LV2__
-#endif 
-	}
-
+	unsigned long int getTimeMicroseconds();
 private:
-#ifdef USE_WINDOWS_TIMERS
-	LARGE_INTEGER mClockFrequency;
-	DWORD mStartTick;
-	LONGLONG mPrevElapsedTime;
-	LARGE_INTEGER mStartTime;
-#else
-#ifdef __CELLOS_LV2__
-	uint64_t	mStartTime;
-#else
-	struct timeval mStartTime;
-#endif
-#endif //__CELLOS_LV2__
-
+	struct btClockData* m_data;
 };
 
 #endif //USE_BT_CLOCK
@@ -256,7 +82,8 @@ public:
 	const char *	Get_Name( void )				{ return Name; }
 	int				Get_Total_Calls( void )		{ return TotalCalls; }
 	float				Get_Total_Time( void )		{ return TotalTime; }
-
+	void*			GetUserPointer() const {return m_userPtr;}
+	void			SetUserPointer(void* ptr) { m_userPtr = ptr;}
 protected:
 
 	const char *	Name;
@@ -268,6 +95,7 @@ protected:
 	CProfileNode *	Parent;
 	CProfileNode *	Child;
 	CProfileNode *	Sibling;
+	void*	m_userPtr;
 };
 
 ///An iterator to navigate through the tree
@@ -289,15 +117,20 @@ public:
 	int				Get_Current_Total_Calls( void )	{ return CurrentChild->Get_Total_Calls(); }
 	float				Get_Current_Total_Time( void )	{ return CurrentChild->Get_Total_Time(); }
 
+	void*	Get_Current_UserPointer( void )			{ return CurrentChild->GetUserPointer(); }
+	void	Set_Current_UserPointer(void* ptr) {CurrentChild->SetUserPointer(ptr);}
 	// Access the current parent
 	const char *	Get_Current_Parent_Name( void )			{ return CurrentParent->Get_Name(); }
 	int				Get_Current_Parent_Total_Calls( void )	{ return CurrentParent->Get_Total_Calls(); }
 	float				Get_Current_Parent_Total_Time( void )	{ return CurrentParent->Get_Total_Time(); }
 
+	
+
 protected:
 
 	CProfileNode *	CurrentParent;
 	CProfileNode *	CurrentChild;
+	
 
 	CProfileIterator( CProfileNode * start );
 	friend	class		CProfileManager;
@@ -365,6 +198,6 @@ public:
 
 
 
-#endif //QUICK_PROF_H
+#endif //BT_QUICK_PROF_H
 
 

Engine/lib/bullet/src/LinearMath/btRandom.h

@@ -14,8 +14,8 @@ subject to the following restrictions:
 
 
 
-#ifndef GEN_RANDOM_H
-#define GEN_RANDOM_H
+#ifndef BT_GEN_RANDOM_H
+#define BT_GEN_RANDOM_H
 
 #ifdef MT19937
 
@@ -38,5 +38,5 @@ SIMD_FORCE_INLINE unsigned int GEN_rand()                   { return rand(); }
 
 #endif
 
-#endif
+#endif //BT_GEN_RANDOM_H
 

Engine/lib/bullet/src/LinearMath/btScalar.h

@@ -14,17 +14,21 @@ subject to the following restrictions:
 
 
 
-#ifndef SIMD___SCALAR_H
-#define SIMD___SCALAR_H
+#ifndef BT_SCALAR_H
+#define BT_SCALAR_H
+
+#ifdef BT_MANAGED_CODE
+//Aligned data types not supported in managed code
+#pragma unmanaged
+#endif
+
 
 #include <math.h>
 #include <stdlib.h>//size_t for MSVC 6.0
-#include <cstdlib>
-#include <cfloat>
 #include <float.h>
 
 /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
-#define BT_BULLET_VERSION 275
+#define BT_BULLET_VERSION 281
 
 inline int	btGetVersion()
 {
@@ -36,12 +40,13 @@ inline int	btGetVersion()
 #endif
 
 
-#ifdef WIN32
+#ifdef _WIN32
 
 		#if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300)
 
 			#define SIMD_FORCE_INLINE inline
 			#define ATTRIBUTE_ALIGNED16(a) a
+			#define ATTRIBUTE_ALIGNED64(a) a
 			#define ATTRIBUTE_ALIGNED128(a) a
 		#else
 			//#define BT_HAS_ALIGNED_ALLOCATOR
@@ -52,6 +57,7 @@ inline int	btGetVersion()
 
 			#define SIMD_FORCE_INLINE __forceinline
 			#define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a
+			#define ATTRIBUTE_ALIGNED64(a) __declspec(align(64)) a
 			#define ATTRIBUTE_ALIGNED128(a) __declspec (align(128)) a
 		#ifdef _XBOX
 			#define BT_USE_VMX128
@@ -61,8 +67,17 @@ inline int	btGetVersion()
  			#define btFsel(a,b,c) __fsel((a),(b),(c))
 		#else
 
-#if (defined (WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION))
+#if (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION))
 			#define BT_USE_SSE
+			#ifdef BT_USE_SSE
+			//BT_USE_SSE_IN_API is disabled under Windows by default, because 
+			//it makes it harder to integrate Bullet into your application under Windows 
+			//(structured embedding Bullet structs/classes need to be 16-byte aligned)
+			//with relatively little performance gain
+			//If you are not embedded Bullet data in your classes, or make sure that you align those classes on 16-byte boundaries
+			//you can manually enable this line or set it in the build system for a bit of performance gain (a few percent, dependent on usage)
+			//#define BT_USE_SSE_IN_API
+			#endif //BT_USE_SSE
 			#include <emmintrin.h>
 #endif
 
@@ -70,9 +85,14 @@ inline int	btGetVersion()
 
 		#endif //__MINGW32__
 
-		#include <assert.h>
 #ifdef BT_DEBUG
+	#ifdef _MSC_VER
+		#include <stdio.h>
+		#define btAssert(x) { if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);__debugbreak();	}}
+	#else//_MSC_VER
+		#include <assert.h>
 		#define btAssert assert
+	#endif//_MSC_VER
 #else
 		#define btAssert(x)
 #endif
@@ -85,14 +105,22 @@ inline int	btGetVersion()
 #else
 	
 #if defined	(__CELLOS_LV2__)
-		#define SIMD_FORCE_INLINE inline
+		#define SIMD_FORCE_INLINE inline __attribute__((always_inline))
 		#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
+		#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
 		#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
 		#ifndef assert
 		#include <assert.h>
 		#endif
 #ifdef BT_DEBUG
-		#define btAssert assert
+#ifdef __SPU__
+#include <spu_printf.h>
+#define printf spu_printf
+	#define btAssert(x) {if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);spu_hcmpeq(0,0);}}
+#else
+	#define btAssert assert
+#endif
+	
 #else
 		#define btAssert(x)
 #endif
@@ -108,6 +136,7 @@ inline int	btGetVersion()
 
 		#define SIMD_FORCE_INLINE __inline
 		#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
+		#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
 		#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
 		#ifndef assert
 		#include <assert.h>
@@ -128,23 +157,61 @@ inline int	btGetVersion()
 #else
 	//non-windows systems
 
-#if (defined (__APPLE__) && defined (__i386__) && (!defined (BT_USE_DOUBLE_PRECISION)))
-	#define BT_USE_SSE
-	#include <emmintrin.h>
+#if (defined (__APPLE__) && (!defined (BT_USE_DOUBLE_PRECISION)))
+    #if defined (__i386__) || defined (__x86_64__)
+        #define BT_USE_SSE
+		//BT_USE_SSE_IN_API is enabled on Mac OSX by default, because memory is automatically aligned on 16-byte boundaries
+		//if apps run into issues, we will disable the next line
+		#define BT_USE_SSE_IN_API
+        #ifdef BT_USE_SSE
+            // include appropriate SSE level
+            #if defined (__SSE4_1__)
+                #include <smmintrin.h>
+            #elif defined (__SSSE3__)
+                #include <tmmintrin.h>
+            #elif defined (__SSE3__)
+                #include <pmmintrin.h>
+            #else
+                #include <emmintrin.h>
+            #endif
+        #endif //BT_USE_SSE
+    #elif defined( __armv7__ )
+        #ifdef __clang__
+            #define BT_USE_NEON 1
 
-	#define SIMD_FORCE_INLINE inline
+            #if defined BT_USE_NEON && defined (__clang__)
+                #include <arm_neon.h>
+            #endif//BT_USE_NEON
+       #endif //__clang__
+    #endif//__arm__
+
+	#define SIMD_FORCE_INLINE inline __attribute__ ((always_inline))
 ///@todo: check out alignment methods for other platforms/compilers
 	#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
+	#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
 	#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
 	#ifndef assert
 	#include <assert.h>
 	#endif
 
 	#if defined(DEBUG) || defined (_DEBUG)
+	 #if defined (__i386__) || defined (__x86_64__)
+	#include <stdio.h>
+	 #define btAssert(x)\
+	{\
+	if(!(x))\
+	{\
+		printf("Assert %s in line %d, file %s\n",#x, __LINE__, __FILE__);\
+		asm volatile ("int3");\
+	}\
+	}
+	#else//defined (__i386__) || defined (__x86_64__)
 		#define btAssert assert
-	#else
-		#define btAssert(x)
+	#end//defined (__i386__) || defined (__x86_64__)
 	#endif
+	#else//defined(DEBUG) || defined (_DEBUG)
+		#define btAssert(x)
+	#endif//defined(DEBUG) || defined (_DEBUG)
 
 	//btFullAssert is optional, slows down a lot
 	#define btFullAssert(x)
@@ -156,8 +223,10 @@ inline int	btGetVersion()
 		#define SIMD_FORCE_INLINE inline
 		///@todo: check out alignment methods for other platforms/compilers
 		///#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
+		///#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64)))
 		///#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
 		#define ATTRIBUTE_ALIGNED16(a) a
+		#define ATTRIBUTE_ALIGNED64(a) a
 		#define ATTRIBUTE_ALIGNED128(a) a
 		#ifndef assert
 		#include <assert.h>
@@ -192,6 +261,69 @@ typedef float btScalar;
 #define BT_LARGE_FLOAT 1e18f
 #endif
 
+#ifdef BT_USE_SSE
+typedef __m128 btSimdFloat4;
+#endif//BT_USE_SSE
+
+#if defined BT_USE_SSE_IN_API && defined (BT_USE_SSE)
+#ifdef _WIN32
+
+#ifndef BT_NAN
+static int btNanMask = 0x7F800001;
+#define BT_NAN (*(float*)&btNanMask)
+#endif
+
+#ifndef BT_INFINITY
+static  int btInfinityMask = 0x7F800000;
+#define BT_INFINITY (*(float*)&btInfinityMask)
+#endif
+
+inline __m128 operator + (const __m128 A, const __m128 B)
+{
+    return _mm_add_ps(A, B);
+}
+
+inline __m128 operator - (const __m128 A, const __m128 B)
+{
+    return _mm_sub_ps(A, B);
+}
+
+inline __m128 operator * (const __m128 A, const __m128 B)
+{
+    return _mm_mul_ps(A, B);
+}
+
+#define btCastfTo128i(a) (_mm_castps_si128(a))
+#define btCastfTo128d(a) (_mm_castps_pd(a))
+#define btCastiTo128f(a) (_mm_castsi128_ps(a))
+#define btCastdTo128f(a) (_mm_castpd_ps(a))
+#define btCastdTo128i(a) (_mm_castpd_si128(a))
+#define btAssign128(r0,r1,r2,r3) _mm_setr_ps(r0,r1,r2,r3)
+
+#else//_WIN32
+
+#define btCastfTo128i(a) ((__m128i)(a))
+#define btCastfTo128d(a) ((__m128d)(a))
+#define btCastiTo128f(a)  ((__m128) (a))
+#define btCastdTo128f(a) ((__m128) (a))
+#define btCastdTo128i(a) ((__m128i)(a))
+#define btAssign128(r0,r1,r2,r3) (__m128){r0,r1,r2,r3}
+#define BT_INFINITY INFINITY
+#define BT_NAN NAN
+#endif//_WIN32
+#endif //BT_USE_SSE_IN_API
+
+#ifdef BT_USE_NEON
+#include <arm_neon.h>
+
+typedef float32x4_t btSimdFloat4;
+#define BT_INFINITY INFINITY
+#define BT_NAN NAN
+#define btAssign128(r0,r1,r2,r3) (float32x4_t){r0,r1,r2,r3}
+#endif
+
+
+
 
 
 #define BT_DECLARE_ALIGNED_ALLOCATOR() \
@@ -213,8 +345,8 @@ SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabs(x); }
 SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cos(x); }
 SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sin(x); }
 SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tan(x); }
-SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { return acos(x); }
-SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { return asin(x); }
+SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { if (x<btScalar(-1))	x=btScalar(-1); if (x>btScalar(1))	x=btScalar(1); return acos(x); }
+SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { if (x<btScalar(-1))	x=btScalar(-1); if (x>btScalar(1))	x=btScalar(1); return asin(x); }
 SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atan(x); }
 SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2(x, y); }
 SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return exp(x); }
@@ -233,7 +365,7 @@ SIMD_FORCE_INLINE btScalar btSqrt(btScalar y)
 	tempf = y;
 	*tfptr = (0xbfcdd90a - *tfptr)>>1; /* estimate of 1/sqrt(y) */
 	x =  tempf;
-	z =  y*btScalar(0.5);                        /* hoist out the “/2”    */
+	z =  y*btScalar(0.5);
 	x = (btScalar(1.5)*x)-(x*x)*(x*z);         /* iteration formula     */
 	x = (btScalar(1.5)*x)-(x*x)*(x*z);
 	x = (btScalar(1.5)*x)-(x*x)*(x*z);
@@ -249,10 +381,19 @@ SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cosf(x); }
 SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sinf(x); }
 SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); }
 SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { 
-	btAssert(x <= btScalar(1.));
+	if (x<btScalar(-1))	
+		x=btScalar(-1); 
+	if (x>btScalar(1))	
+		x=btScalar(1);
 	return acosf(x); 
 }
-SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { return asinf(x); }
+SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { 
+	if (x<btScalar(-1))	
+		x=btScalar(-1); 
+	if (x>btScalar(1))	
+		x=btScalar(1);
+	return asinf(x); 
+}
 SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); }
 SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); }
 SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return expf(x); }
@@ -492,4 +633,29 @@ struct btTypedObject
 		return m_objectType;
 	}
 };
-#endif //SIMD___SCALAR_H
+
+
+  
+///align a pointer to the provided alignment, upwards
+template <typename T>T* btAlignPointer(T* unalignedPtr, size_t alignment)
+{
+		
+	struct btConvertPointerSizeT
+	{
+		union 
+		{
+				T* ptr;
+				size_t integer;
+		};
+	};
+    btConvertPointerSizeT converter;
+    
+    
+	const size_t bit_mask = ~(alignment - 1);
+    converter.ptr = unalignedPtr;
+	converter.integer += alignment-1;
+	converter.integer &= bit_mask;
+	return converter.ptr;
+}
+
+#endif //BT_SCALAR_H

Engine/lib/bullet/src/LinearMath/btSerializer.cpp

@@ -0,0 +1,908 @@
+char sBulletDNAstr[]= {
+char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(63),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109),
+char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95),
+char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111),
+char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110),
+char(115),char(116),char(114),char(97),char(105),char(110),char(116),char(115),char(0),char(42),char(102),char(105),char(114),char(115),char(116),char(0),char(42),char(108),char(97),char(115),
+char(116),char(0),char(109),char(95),char(102),char(108),char(111),char(97),char(116),char(115),char(91),char(52),char(93),char(0),char(109),char(95),char(101),char(108),char(91),char(51),
+char(93),char(0),char(109),char(95),char(98),char(97),char(115),char(105),char(115),char(0),char(109),char(95),char(111),char(114),char(105),char(103),char(105),char(110),char(0),char(109),
+char(95),char(114),char(111),char(111),char(116),char(78),char(111),char(100),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(115),char(117),char(98),
+char(116),char(114),char(101),char(101),char(83),char(105),char(122),char(101),char(0),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122),char(101),char(100),
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+char(4),char(0),char(-50),char(0),char(0),char(0),char(37),char(0),char(51),char(0),char(22),char(0),char(7),char(0),char(-67),char(0),char(7),char(0),char(-79),char(0),
+char(7),char(0),char(110),char(0),char(7),char(0),char(-66),char(0),char(7),char(0),char(112),char(0),char(7),char(0),char(-65),char(0),char(7),char(0),char(-64),char(0),
+char(7),char(0),char(-63),char(0),char(7),char(0),char(-62),char(0),char(7),char(0),char(-61),char(0),char(7),char(0),char(-60),char(0),char(7),char(0),char(-59),char(0),
+char(7),char(0),char(-58),char(0),char(7),char(0),char(-57),char(0),char(7),char(0),char(-56),char(0),char(7),char(0),char(-55),char(0),char(4),char(0),char(-54),char(0),
+char(4),char(0),char(-53),char(0),char(4),char(0),char(-52),char(0),char(4),char(0),char(-51),char(0),char(4),char(0),char(-50),char(0),char(0),char(0),char(37),char(0),
+char(65),char(0),char(4),char(0),char(7),char(0),char(-49),char(0),char(7),char(0),char(-48),char(0),char(7),char(0),char(-47),char(0),char(4),char(0),char(78),char(0),
+char(66),char(0),char(10),char(0),char(65),char(0),char(-46),char(0),char(13),char(0),char(-45),char(0),char(13),char(0),char(-44),char(0),char(13),char(0),char(-43),char(0),
+char(13),char(0),char(-42),char(0),char(13),char(0),char(-41),char(0),char(7),char(0),char(-121),char(0),char(7),char(0),char(-40),char(0),char(4),char(0),char(-39),char(0),
+char(4),char(0),char(53),char(0),char(67),char(0),char(4),char(0),char(65),char(0),char(-46),char(0),char(4),char(0),char(-38),char(0),char(7),char(0),char(-37),char(0),
+char(4),char(0),char(-36),char(0),char(68),char(0),char(4),char(0),char(13),char(0),char(-41),char(0),char(65),char(0),char(-46),char(0),char(4),char(0),char(-35),char(0),
+char(7),char(0),char(-34),char(0),char(69),char(0),char(7),char(0),char(13),char(0),char(-33),char(0),char(65),char(0),char(-46),char(0),char(4),char(0),char(-32),char(0),
+char(7),char(0),char(-31),char(0),char(7),char(0),char(-30),char(0),char(7),char(0),char(-29),char(0),char(4),char(0),char(53),char(0),char(70),char(0),char(6),char(0),
+char(15),char(0),char(-28),char(0),char(13),char(0),char(-30),char(0),char(13),char(0),char(-27),char(0),char(56),char(0),char(-26),char(0),char(4),char(0),char(-25),char(0),
+char(7),char(0),char(-29),char(0),char(71),char(0),char(26),char(0),char(4),char(0),char(-24),char(0),char(7),char(0),char(-23),char(0),char(7),char(0),char(-79),char(0),
+char(7),char(0),char(-22),char(0),char(7),char(0),char(-21),char(0),char(7),char(0),char(-20),char(0),char(7),char(0),char(-19),char(0),char(7),char(0),char(-18),char(0),
+char(7),char(0),char(-17),char(0),char(7),char(0),char(-16),char(0),char(7),char(0),char(-15),char(0),char(7),char(0),char(-14),char(0),char(7),char(0),char(-13),char(0),
+char(7),char(0),char(-12),char(0),char(7),char(0),char(-11),char(0),char(7),char(0),char(-10),char(0),char(7),char(0),char(-9),char(0),char(7),char(0),char(-8),char(0),
+char(7),char(0),char(-7),char(0),char(7),char(0),char(-6),char(0),char(7),char(0),char(-5),char(0),char(4),char(0),char(-4),char(0),char(4),char(0),char(-3),char(0),
+char(4),char(0),char(-2),char(0),char(4),char(0),char(-1),char(0),char(4),char(0),char(117),char(0),char(72),char(0),char(12),char(0),char(15),char(0),char(0),char(1),
+char(15),char(0),char(1),char(1),char(15),char(0),char(2),char(1),char(13),char(0),char(3),char(1),char(13),char(0),char(4),char(1),char(7),char(0),char(5),char(1),
+char(4),char(0),char(6),char(1),char(4),char(0),char(7),char(1),char(4),char(0),char(8),char(1),char(4),char(0),char(9),char(1),char(7),char(0),char(-31),char(0),
+char(4),char(0),char(53),char(0),char(73),char(0),char(27),char(0),char(17),char(0),char(10),char(1),char(15),char(0),char(11),char(1),char(15),char(0),char(12),char(1),
+char(13),char(0),char(3),char(1),char(13),char(0),char(13),char(1),char(13),char(0),char(14),char(1),char(13),char(0),char(15),char(1),char(13),char(0),char(16),char(1),
+char(13),char(0),char(17),char(1),char(4),char(0),char(18),char(1),char(7),char(0),char(19),char(1),char(4),char(0),char(20),char(1),char(4),char(0),char(21),char(1),
+char(4),char(0),char(22),char(1),char(7),char(0),char(23),char(1),char(7),char(0),char(24),char(1),char(4),char(0),char(25),char(1),char(4),char(0),char(26),char(1),
+char(7),char(0),char(27),char(1),char(7),char(0),char(28),char(1),char(7),char(0),char(29),char(1),char(7),char(0),char(30),char(1),char(7),char(0),char(31),char(1),
+char(7),char(0),char(32),char(1),char(4),char(0),char(33),char(1),char(4),char(0),char(34),char(1),char(4),char(0),char(35),char(1),char(74),char(0),char(12),char(0),
+char(9),char(0),char(36),char(1),char(9),char(0),char(37),char(1),char(13),char(0),char(38),char(1),char(7),char(0),char(39),char(1),char(7),char(0),char(-63),char(0),
+char(7),char(0),char(40),char(1),char(4),char(0),char(41),char(1),char(13),char(0),char(42),char(1),char(4),char(0),char(43),char(1),char(4),char(0),char(44),char(1),
+char(4),char(0),char(45),char(1),char(4),char(0),char(53),char(0),char(75),char(0),char(19),char(0),char(47),char(0),char(125),char(0),char(72),char(0),char(46),char(1),
+char(65),char(0),char(47),char(1),char(66),char(0),char(48),char(1),char(67),char(0),char(49),char(1),char(68),char(0),char(50),char(1),char(69),char(0),char(51),char(1),
+char(70),char(0),char(52),char(1),char(73),char(0),char(53),char(1),char(74),char(0),char(54),char(1),char(4),char(0),char(55),char(1),char(4),char(0),char(21),char(1),
+char(4),char(0),char(56),char(1),char(4),char(0),char(57),char(1),char(4),char(0),char(58),char(1),char(4),char(0),char(59),char(1),char(4),char(0),char(60),char(1),
+char(4),char(0),char(61),char(1),char(71),char(0),char(62),char(1),};
+int sBulletDNAlen= sizeof(sBulletDNAstr);
+char sBulletDNAstr64[]= {
+char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(63),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109),
+char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95),
+char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111),
+char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110),
+char(115),char(116),char(114),char(97),char(105),char(110),char(116),char(115),char(0),char(42),char(102),char(105),char(114),char(115),char(116),char(0),char(42),char(108),char(97),char(115),
+char(116),char(0),char(109),char(95),char(102),char(108),char(111),char(97),char(116),char(115),char(91),char(52),char(93),char(0),char(109),char(95),char(101),char(108),char(91),char(51),
+char(93),char(0),char(109),char(95),char(98),char(97),char(115),char(105),char(115),char(0),char(109),char(95),char(111),char(114),char(105),char(103),char(105),char(110),char(0),char(109),
+char(95),char(114),char(111),char(111),char(116),char(78),char(111),char(100),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(115),char(117),char(98),
+char(116),char(114),char(101),char(101),char(83),char(105),char(122),char(101),char(0),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122),char(101),char(100),
+char(65),char(97),char(98),char(98),char(77),char(105),char(110),char(91),char(51),char(93),char(0),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122),
+char(101),char(100),char(65),char(97),char(98),char(98),char(77),char(97),char(120),char(91),char(51),char(93),char(0),char(109),char(95),char(97),char(97),char(98),char(98),char(77),
+char(105),char(110),char(79),char(114),char(103),char(0),char(109),char(95),char(97),char(97),char(98),char(98),char(77),char(97),char(120),char(79),char(114),char(103),char(0),char(109),
+char(95),char(101),char(115),char(99),char(97),char(112),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(115),char(117),char(98),char(80),char(97),
+char(114),char(116),char(0),char(109),char(95),char(116),char(114),char(105),char(97),char(110),char(103),char(108),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),
+char(95),char(112),char(97),char(100),char(91),char(52),char(93),char(0),char(109),char(95),char(101),char(115),char(99),char(97),char(112),char(101),char(73),char(110),char(100),char(101),
+char(120),char(79),char(114),char(84),char(114),char(105),char(97),char(110),char(103),char(108),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(98),
+char(118),char(104),char(65),char(97),char(98),char(98),char(77),char(105),char(110),char(0),char(109),char(95),char(98),char(118),char(104),char(65),char(97),char(98),char(98),char(77),
+char(97),char(120),char(0),char(109),char(95),char(98),char(118),char(104),char(81),char(117),char(97),char(110),char(116),char(105),char(122),char(97),char(116),char(105),char(111),char(110),
+char(0),char(109),char(95),char(99),char(117),char(114),char(78),char(111),char(100),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(117),char(115),
+char(101),char(81),char(117),char(97),char(110),char(116),char(105),char(122),char(97),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(110),char(117),char(109),char(67),
+char(111),char(110),char(116),char(105),char(103),char(117),char(111),char(117),char(115),char(76),char(101),char(97),char(102),char(78),char(111),char(100),char(101),char(115),char(0),char(109),
+char(95),char(110),char(117),char(109),char(81),char(117),char(97),char(110),char(116),char(105),char(122),char(101),char(100),char(67),char(111),char(110),char(116),char(105),char(103),char(117),
+char(111),char(117),char(115),char(78),char(111),char(100),char(101),char(115),char(0),char(42),char(109),char(95),char(99),char(111),char(110),char(116),char(105),char(103),char(117),char(111),
+char(117),char(115),char(78),char(111),char(100),char(101),char(115),char(80),char(116),char(114),char(0),char(42),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),
+char(122),char(101),char(100),char(67),char(111),char(110),char(116),char(105),char(103),char(117),char(111),char(117),char(115),char(78),char(111),char(100),char(101),char(115),char(80),char(116),
+char(114),char(0),char(42),char(109),char(95),char(115),char(117),char(98),char(84),char(114),char(101),char(101),char(73),char(110),char(102),char(111),char(80),char(116),char(114),char(0),
+char(109),char(95),char(116),char(114),char(97),char(118),char(101),char(114),char(115),char(97),char(108),char(77),char(111),char(100),char(101),char(0),char(109),char(95),char(110),char(117),
+char(109),char(83),char(117),char(98),char(116),char(114),char(101),char(101),char(72),char(101),char(97),char(100),char(101),char(114),char(115),char(0),char(42),char(109),char(95),char(110),
+char(97),char(109),char(101),char(0),char(109),char(95),char(115),char(104),char(97),char(112),char(101),char(84),char(121),char(112),char(101),char(0),char(109),char(95),char(112),char(97),
+char(100),char(100),char(105),char(110),char(103),char(91),char(52),char(93),char(0),char(109),char(95),char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),
+char(83),char(104),char(97),char(112),char(101),char(68),char(97),char(116),char(97),char(0),char(109),char(95),char(108),char(111),char(99),char(97),char(108),char(83),char(99),char(97),
+char(108),char(105),char(110),char(103),char(0),char(109),char(95),char(112),char(108),char(97),char(110),char(101),char(78),char(111),char(114),char(109),char(97),char(108),char(0),char(109),
+char(95),char(112),char(108),char(97),char(110),char(101),char(67),char(111),char(110),char(115),char(116),char(97),char(110),char(116),char(0),char(109),char(95),char(105),char(109),char(112),
+char(108),char(105),char(99),char(105),char(116),char(83),char(104),char(97),char(112),char(101),char(68),char(105),char(109),char(101),char(110),char(115),char(105),char(111),char(110),char(115),
+char(0),char(109),char(95),char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(77),char(97),char(114),char(103),char(105),char(110),char(0),char(109),
+char(95),char(112),char(97),char(100),char(100),char(105),char(110),char(103),char(0),char(109),char(95),char(112),char(111),char(115),char(0),char(109),char(95),char(114),char(97),char(100),
+char(105),char(117),char(115),char(0),char(109),char(95),char(99),char(111),char(110),char(118),char(101),char(120),char(73),char(110),char(116),char(101),char(114),char(110),char(97),char(108),
+char(83),char(104),char(97),char(112),char(101),char(68),char(97),char(116),char(97),char(0),char(42),char(109),char(95),char(108),char(111),char(99),char(97),char(108),char(80),char(111),
+char(115),char(105),char(116),char(105),char(111),char(110),char(65),char(114),char(114),char(97),char(121),char(80),char(116),char(114),char(0),char(109),char(95),char(108),char(111),char(99),
+char(97),char(108),char(80),char(111),char(115),char(105),char(116),char(105),char(111),char(110),char(65),char(114),char(114),char(97),char(121),char(83),char(105),char(122),char(101),char(0),
+char(109),char(95),char(118),char(97),char(108),char(117),char(101),char(0),char(109),char(95),char(112),char(97),char(100),char(91),char(50),char(93),char(0),char(109),char(95),char(118),
+char(97),char(108),char(117),char(101),char(115),char(91),char(51),char(93),char(0),char(109),char(95),char(112),char(97),char(100),char(0),char(42),char(109),char(95),char(118),char(101),
+char(114),char(116),char(105),char(99),char(101),char(115),char(51),char(102),char(0),char(42),char(109),char(95),char(118),char(101),char(114),char(116),char(105),char(99),char(101),char(115),
+char(51),char(100),char(0),char(42),char(109),char(95),char(105),char(110),char(100),char(105),char(99),char(101),char(115),char(51),char(50),char(0),char(42),char(109),char(95),char(51),
+char(105),char(110),char(100),char(105),char(99),char(101),char(115),char(49),char(54),char(0),char(42),char(109),char(95),char(51),char(105),char(110),char(100),char(105),char(99),char(101),
+char(115),char(56),char(0),char(42),char(109),char(95),char(105),char(110),char(100),char(105),char(99),char(101),char(115),char(49),char(54),char(0),char(109),char(95),char(110),char(117),
+char(109),char(84),char(114),char(105),char(97),char(110),char(103),char(108),char(101),char(115),char(0),char(109),char(95),char(110),char(117),char(109),char(86),char(101),char(114),char(116),
+char(105),char(99),char(101),char(115),char(0),char(42),char(109),char(95),char(109),char(101),char(115),char(104),char(80),char(97),char(114),char(116),char(115),char(80),char(116),char(114),
+char(0),char(109),char(95),char(115),char(99),char(97),char(108),char(105),char(110),char(103),char(0),char(109),char(95),char(110),char(117),char(109),char(77),char(101),char(115),char(104),
+char(80),char(97),char(114),char(116),char(115),char(0),char(109),char(95),char(109),char(101),char(115),char(104),char(73),char(110),char(116),char(101),char(114),char(102),char(97),char(99),
+char(101),char(0),char(42),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122),char(101),char(100),char(70),char(108),char(111),char(97),char(116),char(66),
+char(118),char(104),char(0),char(42),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122),char(101),char(100),char(68),char(111),char(117),char(98),char(108),
+char(101),char(66),char(118),char(104),char(0),char(42),char(109),char(95),char(116),char(114),char(105),char(97),char(110),char(103),char(108),char(101),char(73),char(110),char(102),char(111),
+char(77),char(97),char(112),char(0),char(109),char(95),char(112),char(97),char(100),char(51),char(91),char(52),char(93),char(0),char(109),char(95),char(116),char(114),char(105),char(109),
+char(101),char(115),char(104),char(83),char(104),char(97),char(112),char(101),char(68),char(97),char(116),char(97),char(0),char(109),char(95),char(116),char(114),char(97),char(110),char(115),
+char(102),char(111),char(114),char(109),char(0),char(42),char(109),char(95),char(99),char(104),char(105),char(108),char(100),char(83),char(104),char(97),char(112),char(101),char(0),char(109),
+char(95),char(99),char(104),char(105),char(108),char(100),char(83),char(104),char(97),char(112),char(101),char(84),char(121),char(112),char(101),char(0),char(109),char(95),char(99),char(104),
+char(105),char(108),char(100),char(77),char(97),char(114),char(103),char(105),char(110),char(0),char(42),char(109),char(95),char(99),char(104),char(105),char(108),char(100),char(83),char(104),
+char(97),char(112),char(101),char(80),char(116),char(114),char(0),char(109),char(95),char(110),char(117),char(109),char(67),char(104),char(105),char(108),char(100),char(83),char(104),char(97),
+char(112),char(101),char(115),char(0),char(109),char(95),char(117),char(112),char(65),char(120),char(105),char(115),char(0),char(109),char(95),char(102),char(108),char(97),char(103),char(115),
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+char(7),char(0),char(32),char(1),char(4),char(0),char(33),char(1),char(4),char(0),char(34),char(1),char(4),char(0),char(35),char(1),char(74),char(0),char(12),char(0),
+char(9),char(0),char(36),char(1),char(9),char(0),char(37),char(1),char(13),char(0),char(38),char(1),char(7),char(0),char(39),char(1),char(7),char(0),char(-63),char(0),
+char(7),char(0),char(40),char(1),char(4),char(0),char(41),char(1),char(13),char(0),char(42),char(1),char(4),char(0),char(43),char(1),char(4),char(0),char(44),char(1),
+char(4),char(0),char(45),char(1),char(4),char(0),char(53),char(0),char(75),char(0),char(19),char(0),char(47),char(0),char(125),char(0),char(72),char(0),char(46),char(1),
+char(65),char(0),char(47),char(1),char(66),char(0),char(48),char(1),char(67),char(0),char(49),char(1),char(68),char(0),char(50),char(1),char(69),char(0),char(51),char(1),
+char(70),char(0),char(52),char(1),char(73),char(0),char(53),char(1),char(74),char(0),char(54),char(1),char(4),char(0),char(55),char(1),char(4),char(0),char(21),char(1),
+char(4),char(0),char(56),char(1),char(4),char(0),char(57),char(1),char(4),char(0),char(58),char(1),char(4),char(0),char(59),char(1),char(4),char(0),char(60),char(1),
+char(4),char(0),char(61),char(1),char(71),char(0),char(62),char(1),};
+int sBulletDNAlen64= sizeof(sBulletDNAstr64);

Engine/lib/bullet/src/LinearMath/btSerializer.h

@@ -0,0 +1,640 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_SERIALIZER_H
+#define BT_SERIALIZER_H
+
+#include "btScalar.h" // has definitions like SIMD_FORCE_INLINE
+#include "btStackAlloc.h"
+#include "btHashMap.h"
+
+#if !defined( __CELLOS_LV2__) && !defined(__MWERKS__)
+#include <memory.h>
+#endif
+#include <string.h>
+
+
+
+///only the 32bit versions for now
+extern char sBulletDNAstr[];
+extern int sBulletDNAlen;
+extern char sBulletDNAstr64[];
+extern int sBulletDNAlen64;
+
+SIMD_FORCE_INLINE	int btStrLen(const char* str) 
+{
+    if (!str) 
+		return(0);
+	int len = 0;
+    
+	while (*str != 0)
+	{
+        str++;
+        len++;
+    }
+
+    return len;
+}
+
+
+class btChunk
+{
+public:
+	int		m_chunkCode;
+	int		m_length;
+	void	*m_oldPtr;
+	int		m_dna_nr;
+	int		m_number;
+};
+
+enum	btSerializationFlags
+{
+	BT_SERIALIZE_NO_BVH = 1,
+	BT_SERIALIZE_NO_TRIANGLEINFOMAP = 2,
+	BT_SERIALIZE_NO_DUPLICATE_ASSERT = 4
+};
+
+class	btSerializer
+{
+
+public:
+
+	virtual ~btSerializer() {}
+
+	virtual	const unsigned char*		getBufferPointer() const = 0;
+
+	virtual	int		getCurrentBufferSize() const = 0;
+
+	virtual	btChunk*	allocate(size_t size, int numElements) = 0;
+
+	virtual	void	finalizeChunk(btChunk* chunk, const char* structType, int chunkCode,void* oldPtr)= 0;
+
+	virtual	 void*	findPointer(void* oldPtr)  = 0;
+
+	virtual	void*	getUniquePointer(void*oldPtr) = 0;
+
+	virtual	void	startSerialization() = 0;
+	
+	virtual	void	finishSerialization() = 0;
+
+	virtual	const char*	findNameForPointer(const void* ptr) const = 0;
+
+	virtual	void	registerNameForPointer(const void* ptr, const char* name) = 0;
+
+	virtual void	serializeName(const char* ptr) = 0;
+
+	virtual int		getSerializationFlags() const = 0;
+
+	virtual void	setSerializationFlags(int flags) = 0;
+
+
+};
+
+
+
+#define BT_HEADER_LENGTH 12
+#if defined(__sgi) || defined (__sparc) || defined (__sparc__) || defined (__PPC__) || defined (__ppc__) || defined (__BIG_ENDIAN__)
+#	define BT_MAKE_ID(a,b,c,d) ( (int)(a)<<24 | (int)(b)<<16 | (c)<<8 | (d) )
+#else
+#	define BT_MAKE_ID(a,b,c,d) ( (int)(d)<<24 | (int)(c)<<16 | (b)<<8 | (a) )
+#endif
+
+#define BT_SOFTBODY_CODE		BT_MAKE_ID('S','B','D','Y')
+#define BT_COLLISIONOBJECT_CODE BT_MAKE_ID('C','O','B','J')
+#define BT_RIGIDBODY_CODE		BT_MAKE_ID('R','B','D','Y')
+#define BT_CONSTRAINT_CODE		BT_MAKE_ID('C','O','N','S')
+#define BT_BOXSHAPE_CODE		BT_MAKE_ID('B','O','X','S')
+#define BT_QUANTIZED_BVH_CODE	BT_MAKE_ID('Q','B','V','H')
+#define BT_TRIANLGE_INFO_MAP	BT_MAKE_ID('T','M','A','P')
+#define BT_SHAPE_CODE			BT_MAKE_ID('S','H','A','P')
+#define BT_ARRAY_CODE			BT_MAKE_ID('A','R','A','Y')
+#define BT_SBMATERIAL_CODE		BT_MAKE_ID('S','B','M','T')
+#define BT_SBNODE_CODE			BT_MAKE_ID('S','B','N','D')
+#define BT_DYNAMICSWORLD_CODE	BT_MAKE_ID('D','W','L','D')
+#define BT_DNA_CODE				BT_MAKE_ID('D','N','A','1')
+
+
+struct	btPointerUid
+{
+	union
+	{
+		void*	m_ptr;
+		int		m_uniqueIds[2];
+	};
+};
+
+///The btDefaultSerializer is the main Bullet serialization class.
+///The constructor takes an optional argument for backwards compatibility, it is recommended to leave this empty/zero.
+class btDefaultSerializer	:	public btSerializer
+{
+
+
+	btAlignedObjectArray<char*>			mTypes;
+	btAlignedObjectArray<short*>			mStructs;
+	btAlignedObjectArray<short>			mTlens;
+	btHashMap<btHashInt, int>			mStructReverse;
+	btHashMap<btHashString,int>	mTypeLookup;
+
+	
+	btHashMap<btHashPtr,void*>	m_chunkP;
+	
+	btHashMap<btHashPtr,const char*>	m_nameMap;
+
+	btHashMap<btHashPtr,btPointerUid>	m_uniquePointers;
+	int	m_uniqueIdGenerator;
+
+	int					m_totalSize;
+	unsigned char*		m_buffer;
+	int					m_currentSize;
+	void*				m_dna;
+	int					m_dnaLength;
+
+	int					m_serializationFlags;
+
+
+	btAlignedObjectArray<btChunk*>	m_chunkPtrs;
+	
+protected:
+
+	virtual	void*	findPointer(void* oldPtr) 
+	{
+		void** ptr = m_chunkP.find(oldPtr);
+		if (ptr && *ptr)
+			return *ptr;
+		return 0;
+	}
+
+	
+
+
+
+		void	writeDNA()
+		{
+			btChunk* dnaChunk = allocate(m_dnaLength,1);
+			memcpy(dnaChunk->m_oldPtr,m_dna,m_dnaLength);
+			finalizeChunk(dnaChunk,"DNA1",BT_DNA_CODE, m_dna);
+		}
+
+		int getReverseType(const char *type) const
+		{
+
+			btHashString key(type);
+			const int* valuePtr = mTypeLookup.find(key);
+			if (valuePtr)
+				return *valuePtr;
+			
+			return -1;
+		}
+
+		void initDNA(const char* bdnaOrg,int dnalen)
+		{
+			///was already initialized
+			if (m_dna)
+				return;
+
+			int littleEndian= 1;
+			littleEndian= ((char*)&littleEndian)[0];
+			
+
+			m_dna = btAlignedAlloc(dnalen,16);
+			memcpy(m_dna,bdnaOrg,dnalen);
+			m_dnaLength = dnalen;
+
+			int *intPtr=0;
+			short *shtPtr=0;
+			char *cp = 0;int dataLen =0;
+			intPtr = (int*)m_dna;
+
+			/*
+				SDNA (4 bytes) (magic number)
+				NAME (4 bytes)
+				<nr> (4 bytes) amount of names (int)
+				<string>
+				<string>
+			*/
+
+			if (strncmp((const char*)m_dna, "SDNA", 4)==0)
+			{
+				// skip ++ NAME
+				intPtr++; intPtr++;
+			}
+
+			// Parse names
+			if (!littleEndian)
+				*intPtr = btSwapEndian(*intPtr);
+				
+			dataLen = *intPtr;
+			
+			intPtr++;
+
+			cp = (char*)intPtr;
+			int i;
+			for ( i=0; i<dataLen; i++)
+			{
+				
+				while (*cp)cp++;
+				cp++;
+			}
+			cp = btAlignPointer(cp,4);
+
+			/*
+				TYPE (4 bytes)
+				<nr> amount of types (int)
+				<string>
+				<string>
+			*/
+
+			intPtr = (int*)cp;
+			btAssert(strncmp(cp, "TYPE", 4)==0); intPtr++;
+
+			if (!littleEndian)
+				*intPtr =  btSwapEndian(*intPtr);
+			
+			dataLen = *intPtr;
+			intPtr++;
+
+			
+			cp = (char*)intPtr;
+			for (i=0; i<dataLen; i++)
+			{
+				mTypes.push_back(cp);
+				while (*cp)cp++;
+				cp++;
+			}
+
+			cp = btAlignPointer(cp,4);
+
+
+			/*
+				TLEN (4 bytes)
+				<len> (short) the lengths of types
+				<len>
+			*/
+
+			// Parse type lens
+			intPtr = (int*)cp;
+			btAssert(strncmp(cp, "TLEN", 4)==0); intPtr++;
+
+			dataLen = (int)mTypes.size();
+
+			shtPtr = (short*)intPtr;
+			for (i=0; i<dataLen; i++, shtPtr++)
+			{
+				if (!littleEndian)
+					shtPtr[0] = btSwapEndian(shtPtr[0]);
+				mTlens.push_back(shtPtr[0]);
+			}
+
+			if (dataLen & 1) shtPtr++;
+
+			/*
+				STRC (4 bytes)
+				<nr> amount of structs (int)
+				<typenr>
+				<nr_of_elems>
+				<typenr>
+				<namenr>
+				<typenr>
+				<namenr>
+			*/
+
+			intPtr = (int*)shtPtr;
+			cp = (char*)intPtr;
+			btAssert(strncmp(cp, "STRC", 4)==0); intPtr++;
+
+			if (!littleEndian)
+				*intPtr = btSwapEndian(*intPtr);
+			dataLen = *intPtr ; 
+			intPtr++;
+
+
+			shtPtr = (short*)intPtr;
+			for (i=0; i<dataLen; i++)
+			{
+				mStructs.push_back (shtPtr);
+				
+				if (!littleEndian)
+				{
+					shtPtr[0]= btSwapEndian(shtPtr[0]);
+					shtPtr[1]= btSwapEndian(shtPtr[1]);
+
+					int len = shtPtr[1];
+					shtPtr+= 2;
+
+					for (int a=0; a<len; a++, shtPtr+=2)
+					{
+							shtPtr[0]= btSwapEndian(shtPtr[0]);
+							shtPtr[1]= btSwapEndian(shtPtr[1]);
+					}
+
+				} else
+				{
+					shtPtr+= (2*shtPtr[1])+2;
+				}
+			}
+
+			// build reverse lookups
+			for (i=0; i<(int)mStructs.size(); i++)
+			{
+				short *strc = mStructs.at(i);
+				mStructReverse.insert(strc[0], i);
+				mTypeLookup.insert(btHashString(mTypes[strc[0]]),i);
+			}
+		}
+
+public:	
+	
+
+	
+
+		btDefaultSerializer(int totalSize=0)
+			:m_totalSize(totalSize),
+			m_currentSize(0),
+			m_dna(0),
+			m_dnaLength(0),
+			m_serializationFlags(0)
+		{
+			m_buffer = m_totalSize?(unsigned char*)btAlignedAlloc(totalSize,16):0;
+			
+			const bool VOID_IS_8 = ((sizeof(void*)==8));
+
+#ifdef BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
+			if (VOID_IS_8)
+			{
+#if _WIN64
+				initDNA((const char*)sBulletDNAstr64,sBulletDNAlen64);
+#else
+				btAssert(0);
+#endif
+			} else
+			{
+#ifndef _WIN64
+				initDNA((const char*)sBulletDNAstr,sBulletDNAlen);
+#else
+				btAssert(0);
+#endif
+			}
+	
+#else //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
+			if (VOID_IS_8)
+			{
+				initDNA((const char*)sBulletDNAstr64,sBulletDNAlen64);
+			} else
+			{
+				initDNA((const char*)sBulletDNAstr,sBulletDNAlen);
+			}
+#endif //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
+	
+		}
+
+		virtual ~btDefaultSerializer() 
+		{
+			if (m_buffer)
+				btAlignedFree(m_buffer);
+			if (m_dna)
+				btAlignedFree(m_dna);
+		}
+
+		void	writeHeader(unsigned char* buffer) const
+		{
+			
+
+#ifdef  BT_USE_DOUBLE_PRECISION
+			memcpy(buffer, "BULLETd", 7);
+#else
+			memcpy(buffer, "BULLETf", 7);
+#endif //BT_USE_DOUBLE_PRECISION
+	
+			int littleEndian= 1;
+			littleEndian= ((char*)&littleEndian)[0];
+
+			if (sizeof(void*)==8)
+			{
+				buffer[7] = '-';
+			} else
+			{
+				buffer[7] = '_';
+			}
+
+			if (littleEndian)
+			{
+				buffer[8]='v';				
+			} else
+			{
+				buffer[8]='V';
+			}
+
+
+			buffer[9] = '2';
+			buffer[10] = '8';
+			buffer[11] = '1';
+
+		}
+
+		virtual	void	startSerialization()
+		{
+			m_uniqueIdGenerator= 1;
+			if (m_totalSize)
+			{
+				unsigned char* buffer = internalAlloc(BT_HEADER_LENGTH);
+				writeHeader(buffer);
+			}
+			
+		}
+
+		virtual	void	finishSerialization()
+		{
+			writeDNA();
+
+			//if we didn't pre-allocate a buffer, we need to create a contiguous buffer now
+			int mysize = 0;
+			if (!m_totalSize)
+			{
+				if (m_buffer)
+					btAlignedFree(m_buffer);
+
+				m_currentSize += BT_HEADER_LENGTH;
+				m_buffer = (unsigned char*)btAlignedAlloc(m_currentSize,16);
+
+				unsigned char* currentPtr = m_buffer;
+				writeHeader(m_buffer);
+				currentPtr += BT_HEADER_LENGTH;
+				mysize+=BT_HEADER_LENGTH;
+				for (int i=0;i<	m_chunkPtrs.size();i++)
+				{
+					int curLength = sizeof(btChunk)+m_chunkPtrs[i]->m_length;
+					memcpy(currentPtr,m_chunkPtrs[i], curLength);
+					btAlignedFree(m_chunkPtrs[i]);
+					currentPtr+=curLength;
+					mysize+=curLength;
+				}
+			}
+
+			mTypes.clear();
+			mStructs.clear();
+			mTlens.clear();
+			mStructReverse.clear();
+			mTypeLookup.clear();
+			m_chunkP.clear();
+			m_nameMap.clear();
+			m_uniquePointers.clear();
+			m_chunkPtrs.clear();
+		}
+
+		virtual	void*	getUniquePointer(void*oldPtr)
+		{
+			if (!oldPtr)
+				return 0;
+
+			btPointerUid* uptr = (btPointerUid*)m_uniquePointers.find(oldPtr);
+			if (uptr)
+			{
+				return uptr->m_ptr;
+			}
+			m_uniqueIdGenerator++;
+			
+			btPointerUid uid;
+			uid.m_uniqueIds[0] = m_uniqueIdGenerator;
+			uid.m_uniqueIds[1] = m_uniqueIdGenerator;
+			m_uniquePointers.insert(oldPtr,uid);
+			return uid.m_ptr;
+
+		}
+
+		virtual	const unsigned char*		getBufferPointer() const
+		{
+			return m_buffer;
+		}
+
+		virtual	int					getCurrentBufferSize() const
+		{
+			return	m_currentSize;
+		}
+
+		virtual	void	finalizeChunk(btChunk* chunk, const char* structType, int chunkCode,void* oldPtr)
+		{
+			if (!(m_serializationFlags&BT_SERIALIZE_NO_DUPLICATE_ASSERT))
+			{
+				btAssert(!findPointer(oldPtr));
+			}
+
+			chunk->m_dna_nr = getReverseType(structType);
+			
+			chunk->m_chunkCode = chunkCode;
+			
+			void* uniquePtr = getUniquePointer(oldPtr);
+			
+			m_chunkP.insert(oldPtr,uniquePtr);//chunk->m_oldPtr);
+			chunk->m_oldPtr = uniquePtr;//oldPtr;
+			
+		}
+
+		
+		virtual unsigned char* internalAlloc(size_t size)
+		{
+			unsigned char* ptr = 0;
+
+			if (m_totalSize)
+			{
+				ptr = m_buffer+m_currentSize;
+				m_currentSize += int(size);
+				btAssert(m_currentSize<m_totalSize);
+			} else
+			{
+				ptr = (unsigned char*)btAlignedAlloc(size,16);
+				m_currentSize += int(size);
+			}
+			return ptr;
+		}
+
+		
+
+		virtual	btChunk*	allocate(size_t size, int numElements)
+		{
+
+			unsigned char* ptr = internalAlloc(int(size)*numElements+sizeof(btChunk));
+
+			unsigned char* data = ptr + sizeof(btChunk);
+			
+			btChunk* chunk = (btChunk*)ptr;
+			chunk->m_chunkCode = 0;
+			chunk->m_oldPtr = data;
+			chunk->m_length = int(size)*numElements;
+			chunk->m_number = numElements;
+			
+			m_chunkPtrs.push_back(chunk);
+			
+
+			return chunk;
+		}
+
+		virtual	const char*	findNameForPointer(const void* ptr) const
+		{
+			const char*const * namePtr = m_nameMap.find(ptr);
+			if (namePtr && *namePtr)
+				return *namePtr;
+			return 0;
+
+		}
+
+		virtual	void	registerNameForPointer(const void* ptr, const char* name)
+		{
+			m_nameMap.insert(ptr,name);
+		}
+
+		virtual void	serializeName(const char* name)
+		{
+			if (name)
+			{
+				//don't serialize name twice
+				if (findPointer((void*)name))
+					return;
+
+				int len = btStrLen(name);
+				if (len)
+				{
+
+					int newLen = len+1;
+					int padding = ((newLen+3)&~3)-newLen;
+					newLen += padding;
+
+					//serialize name string now
+					btChunk* chunk = allocate(sizeof(char),newLen);
+					char* destinationName = (char*)chunk->m_oldPtr;
+					for (int i=0;i<len;i++)
+					{
+						destinationName[i] = name[i];
+					}
+					destinationName[len] = 0;
+					finalizeChunk(chunk,"char",BT_ARRAY_CODE,(void*)name);
+				}
+			}
+		}
+
+		virtual int		getSerializationFlags() const
+		{
+			return m_serializationFlags;
+		}
+
+		virtual void	setSerializationFlags(int flags)
+		{
+			m_serializationFlags = flags;
+		}
+
+};
+
+
+#endif //BT_SERIALIZER_H
+

Engine/lib/bullet/src/LinearMath/btTransform.h

@@ -14,17 +14,29 @@ subject to the following restrictions:
 
 
 
-#ifndef btTransform_H
-#define btTransform_H
+#ifndef BT_TRANSFORM_H
+#define BT_TRANSFORM_H
+
 
-#include "btVector3.h"
 #include "btMatrix3x3.h"
 
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btTransformData btTransformDoubleData
+#else
+#define btTransformData btTransformFloatData
+#endif
+
+
+
 
 /**@brief The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear.
  *It can be used in combination with btVector3, btQuaternion and btMatrix3x3 linear algebra classes. */
-class btTransform {
+ATTRIBUTE_ALIGNED16(class) btTransform {
 	
+  ///Storage for the rotation
+	btMatrix3x3 m_basis;
+  ///Storage for the translation
+	btVector3   m_origin;
 
 public:
 	
@@ -81,9 +93,7 @@ public:
 /**@brief Return the transform of the vector */
 	SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const
 	{
-		return btVector3(m_basis[0].dot(x) + m_origin.x(), 
-			m_basis[1].dot(x) + m_origin.y(), 
-			m_basis[2].dot(x) + m_origin.z());
+        return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin;
 	}
 
   /**@brief Return the transform of the vector */
@@ -195,12 +205,17 @@ public:
 		static const btTransform identityTransform(btMatrix3x3::getIdentity());
 		return identityTransform;
 	}
-	
-private:
-  ///Storage for the rotation
-	btMatrix3x3 m_basis;
-  ///Storage for the translation
-	btVector3   m_origin;
+
+	void	serialize(struct	btTransformData& dataOut) const;
+
+	void	serializeFloat(struct	btTransformFloatData& dataOut) const;
+
+	void	deSerialize(const struct	btTransformData& dataIn);
+
+	void	deSerializeDouble(const struct	btTransformDoubleData& dataIn);
+
+	void	deSerializeFloat(const struct	btTransformFloatData& dataIn);
+
 };
 
 
@@ -234,7 +249,54 @@ SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2)
 }
 
 
-#endif
+///for serialization
+struct	btTransformFloatData
+{
+	btMatrix3x3FloatData	m_basis;
+	btVector3FloatData	m_origin;
+};
+
+struct	btTransformDoubleData
+{
+	btMatrix3x3DoubleData	m_basis;
+	btVector3DoubleData	m_origin;
+};
+
+
+
+SIMD_FORCE_INLINE	void	btTransform::serialize(btTransformData& dataOut) const
+{
+	m_basis.serialize(dataOut.m_basis);
+	m_origin.serialize(dataOut.m_origin);
+}
+
+SIMD_FORCE_INLINE	void	btTransform::serializeFloat(btTransformFloatData& dataOut) const
+{
+	m_basis.serializeFloat(dataOut.m_basis);
+	m_origin.serializeFloat(dataOut.m_origin);
+}
+
+
+SIMD_FORCE_INLINE	void	btTransform::deSerialize(const btTransformData& dataIn)
+{
+	m_basis.deSerialize(dataIn.m_basis);
+	m_origin.deSerialize(dataIn.m_origin);
+}
+
+SIMD_FORCE_INLINE	void	btTransform::deSerializeFloat(const btTransformFloatData& dataIn)
+{
+	m_basis.deSerializeFloat(dataIn.m_basis);
+	m_origin.deSerializeFloat(dataIn.m_origin);
+}
+
+SIMD_FORCE_INLINE	void	btTransform::deSerializeDouble(const btTransformDoubleData& dataIn)
+{
+	m_basis.deSerializeDouble(dataIn.m_basis);
+	m_origin.deSerializeDouble(dataIn.m_origin);
+}
+
+
+#endif //BT_TRANSFORM_H
 
 
 

Engine/lib/bullet/src/LinearMath/btTransformUtil.h

@@ -13,8 +13,8 @@ subject to the following restrictions:
 */
 
 
-#ifndef SIMD_TRANSFORM_UTIL_H
-#define SIMD_TRANSFORM_UTIL_H
+#ifndef BT_TRANSFORM_UTIL_H
+#define BT_TRANSFORM_UTIL_H
 
 #include "btTransform.h"
 #define ANGULAR_MOTION_THRESHOLD btScalar(0.5)*SIMD_HALF_PI
@@ -98,8 +98,6 @@ public:
 	{
 		btQuaternion orn1 = orn0.nearest(orn1a);
 		btQuaternion dorn = orn1 * orn0.inverse();
-		///floating point inaccuracy can lead to w component > 1..., which breaks 
-		dorn.normalize();
 		angle = dorn.getAngle();
 		axis = btVector3(dorn.x(),dorn.y(),dorn.z());
 		axis[3] = btScalar(0.);
@@ -188,7 +186,7 @@ public:
 			btTransformUtil::calculateVelocityQuaternion(m_posB,toPosB,m_ornB,toOrnB,btScalar(1.),linVelB,angVelB);
 			btScalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB;
 			btVector3 relLinVel = (linVelB-linVelA);
-			btScalar relLinVelocLength = (linVelB-linVelA).dot(m_separatingNormal);
+			btScalar relLinVelocLength = relLinVel.dot(m_separatingNormal);
 			if (relLinVelocLength<0.f)
 			{
 				relLinVelocLength = 0.f;
@@ -226,5 +224,5 @@ public:
 };
 
 
-#endif //SIMD_TRANSFORM_UTIL_H
+#endif //BT_TRANSFORM_UTIL_H
 

Engine/lib/bullet/src/LinearMath/ibmsdk/Makefile

@@ -1,39 +0,0 @@
-#### Source code Dirs
-VPATH =	../
-
-ROOT = ../../..
-
-#### Library
-LIBRARY_ppu = bulletmath.a
-
-#### Compiler flags
-CPPFLAGS        = 		\
--DUSE_LIBSPE2			\
--I$(ROOT)/src			\
--I$(SDKINC)
-
-#### Optimization level flags
-#CC_OPT_LEVEL =  $(CC_OPT_LEVEL_DEBUG)
-CC_OPT_LEVEL =  -O3
-
-##### Objects to be archived in lib
-
-OBJS = 					\
-btAlignedAllocator.o			\
-btGeometryUtil.o			\
-btQuickprof.o
-
-#### Install directories
-INSTALL_DIR	=  $(ROOT)/lib/ibmsdk
-INSTALL_FILES	= $(LIBRARY_ppu)
-
-IBM_CELLSDK_VERSION := $(shell if [ -d /opt/cell ]; then echo "3.0"; fi)
-
-ifeq ("$(IBM_CELLSDK_VERSION)","3.0")
-        CELL_TOP ?= /opt/cell/sdk
-        include $(CELL_TOP)/buildutils/make.footer
-else
-        CELL_TOP ?= /opt/ibm/cell-sdk/prototype
-        include $(CELL_TOP)/make.footer
-endif
-

Engine/lib/bullet/src/LinearMath/premake4.lua

@@ -0,0 +1,11 @@
+	project "LinearMath"
+		
+	kind "StaticLib"
+	targetdir "../../lib"
+	includedirs {
+		"..",
+	}
+	files {
+		"**.cpp",
+		"**.h"
+	}