CDTestFramework, OPCODE, ICE redistributed under the ZLib License, with permission of Pierre Terdiman

Added Bullet SAP/MultiSAP support by Erwin Coumans (BulletSAPCompleteBoxPruningTest.*)
AABB tree broadphase by Nathanael Presson (btDbvt.*, DbvtTest.*)

Extras/CDTestFramework/Opcode/Ice/IceRevisitedRadix.h

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+/*
+ *	ICE / OPCODE - Optimized Collision Detection
+ * http://www.codercorner.com/Opcode.htm
+ * 
+ * Copyright (c) 2001-2008 Pierre Terdiman,  pierre@codercorner.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Contains source code from the article "Radix Sort Revisited".
+ *	\file		IceRevisitedRadix.h
+ *	\author		Pierre Terdiman
+ *	\date		April, 4, 2000
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Include Guard
+#ifndef __ICERADIXSORT_H__
+#define __ICERADIXSORT_H__
+
+	//! Allocate histograms & offsets locally
+	#define RADIX_LOCAL_RAM
+
+	enum RadixHint
+	{
+		RADIX_SIGNED,		//!< Input values are signed
+		RADIX_UNSIGNED,		//!< Input values are unsigned
+
+		RADIX_FORCE_DWORD = 0x7fffffff
+	};
+
+	class ICECORE_API RadixSort
+	{
+		public:
+		// Constructor/Destructor
+								RadixSort();
+								~RadixSort();
+		// Sorting methods
+				RadixSort&		Sort(const udword* input, udword nb, RadixHint hint=RADIX_SIGNED);
+				RadixSort&		Sort(const float* input, udword nb);
+
+		//! Access to results. mRanks is a list of indices in sorted order, i.e. in the order you may further process your data
+		inline_	const udword*	GetRanks()			const	{ return mRanks;		}
+
+		//! mIndices2 gets trashed on calling the sort routine, but otherwise you can recycle it the way you want.
+		inline_	udword*			GetRecyclable()		const	{ return mRanks2;		}
+
+		// Stats
+				udword			GetUsedRam()		const;
+		//! Returns the total number of calls to the radix sorter.
+		inline_	udword			GetNbTotalCalls()	const	{ return mTotalCalls;	}
+		//! Returns the number of eraly exits due to temporal coherence.
+		inline_	udword			GetNbHits()			const	{ return mNbHits;		}
+
+		private:
+#ifndef RADIX_LOCAL_RAM
+				udword*			mHistogram;			//!< Counters for each byte
+				udword*			mOffset;			//!< Offsets (nearly a cumulative distribution function)
+#endif
+				udword			mCurrentSize;		//!< Current size of the indices list
+				udword*			mRanks;				//!< Two lists, swapped each pass
+				udword*			mRanks2;
+		// Stats
+				udword			mTotalCalls;		//!< Total number of calls to the sort routine
+				udword			mNbHits;			//!< Number of early exits due to coherence
+		// Internal methods
+				void			CheckResize(udword nb);
+				bool			Resize(udword nb);
+	};
+
+#endif // __ICERADIXSORT_H__