Use a different check for duplicate vertices,

Thanks to fastflo, see http://code.google.com/p/bullet/issues/detail?id=555
and http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=7511&p=25762#p25762
Added missing Intel OpenCL build file, and fix some compile issue due to missing external

Demos/ParticlesOpenCL/Intel/CMakeLists.txt

@@ -0,0 +1,88 @@
+
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src 
+${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL
+${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
+${INTEL_OPENCL_INCLUDES}
+)
+
+ADD_DEFINITIONS(-DUSE_INTEL_OPENCL)
+ADD_DEFINITIONS(-DCL_PLATFORM_INTEL)
+
+
+IF (CMAKE_CL_64)
+	SET(CMAK_GLEW_LIBRARY
+		${BULLET_PHYSICS_SOURCE_DIR}/Glut/glew64.lib		)
+ELSE(CMAKE_CL_64)
+	SET(CMAK_GLEW_LIBRARY		${BULLET_PHYSICS_SOURCE_DIR}/Glut/glew32.lib		)
+ENDIF(CMAKE_CL_64)
+
+
+IF (USE_GLUT)
+	LINK_LIBRARIES(
+		OpenGLSupport 
+		BulletDynamics  
+		BulletCollision 
+		BulletMultiThreaded 
+		LinearMath 
+		${GLUT_glut_LIBRARY} 
+		${OPENGL_gl_LIBRARY} 
+		${OPENGL_glu_LIBRARY}
+		${CMAK_GLEW_LIBRARY}
+			${INTEL_OPENCL_LIBRARIES}
+	)
+
+
+	ADD_EXECUTABLE(AppParticlesOCL_Intel
+					${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btParticlesDynamicsWorld.h
+					${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btParticlesSharedDefs.h
+					${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btParticlesSharedTypes.h
+					${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesDemo.h
+					
+					${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/shaders.h	
+					${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL/btOclUtils.h
+					${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL/btOclCommon.h
+					${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL/btOclUtils.cpp
+					${BULLET_PHYSICS_SOURCE_DIR}/Demos/SharedOpenCL/btOclCommon.cpp
+					${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/btParticlesDemoDynamicsWorld.cpp
+					${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/main.cpp
+					${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesDemo.cpp
+					${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/shaders.cpp
+					
+					${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesOCL.cl
+	)
+ELSE (USE_GLUT)
+ENDIF (USE_GLUT)
+
+IF(WIN32)
+IF (CMAKE_CL_64)
+	IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+		ADD_CUSTOM_COMMAND(	TARGET AppParticlesOCL_Intel		POST_BUILD
+					COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}	)
+		ADD_CUSTOM_COMMAND(	TARGET AppParticlesOCL_Intel	POST_BUILD
+					COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLEW64.DLL ${CMAKE_CURRENT_BINARY_DIR})
+		ADD_CUSTOM_COMMAND(	TARGET AppParticlesOCL_Intel	POST_BUILD
+					COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesOCL.cl ${CMAKE_CURRENT_BINARY_DIR})
+	ENDIF()
+ELSE(CMAKE_CL_64)
+	IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+		ADD_CUSTOM_COMMAND(	TARGET AppParticlesOCL_Intel	POST_BUILD
+					COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR})
+		ADD_CUSTOM_COMMAND(	TARGET AppParticlesOCL_Intel	POST_BUILD
+					COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLEW32.DLL ${CMAKE_CURRENT_BINARY_DIR})
+		ADD_CUSTOM_COMMAND(	TARGET AppParticlesOCL_Intel	POST_BUILD
+					COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/ParticlesOpenCL/ParticlesOCL.cl ${CMAKE_CURRENT_BINARY_DIR})
+	ENDIF()
+ENDIF(CMAKE_CL_64)
+ENDIF(WIN32)
+
+IF (UNIX)
+  TARGET_LINK_LIBRARIES(AppParticlesOCL_Intel pthread)
+ENDIF(UNIX)
+
+IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+			SET_TARGET_PROPERTIES(AppParticlesOCL_Intel PROPERTIES  DEBUG_POSTFIX "_Debug")
+			SET_TARGET_PROPERTIES(AppParticlesOCL_Intel PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
+			SET_TARGET_PROPERTIES(AppParticlesOCL_Intel PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
+ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

Demos/SoftDemo/SoftDemo.cpp

@@ -52,7 +52,7 @@ static btRigidBody* staticBody = 0;
 static float waveheight = 5.f;
 
 const float TRIANGLE_SIZE=8.f;
-int		current_demo=29;
+unsigned int		current_demo=29;
 #define DEMO_MODE_TIMEOUT 15.f //15 seconds for each demo
 
 

src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp

@@ -213,7 +213,8 @@ bool	btPolyhedralConvexShape::initializePolyhedralFeatures()
 
 					for (int i=0;i<orgpoints.size();i++)
 					{
-						if ((rotatedPt-orgpoints[i]).length2()<0.001)
+						//if ((orgpoints[i].m_orgIndex == orgIndex) || ((rotatedPt-orgpoints[i]).length2()<0.0001))
+						if (orgpoints[i].m_orgIndex == orgIndex)
 						{
 							found=true;
 							break;