Refactoring for parallel processing of islands, collision detection and constraint solving.

Bullet/BroadphaseCollision/BroadphaseInterface.h

@@ -33,7 +33,7 @@ public:
 	virtual void	DestroyProxy(BroadphaseProxy* proxy)=0;
 	virtual void	SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax)=0;
 	virtual void	CleanProxyFromPairs(BroadphaseProxy* proxy)=0;
-	virtual void	DispatchAllCollisionPairs(Dispatcher&	dispatcher,DispatcherInfo& dispatchInfo)=0;
+	
 
 };
 

Bullet/BroadphaseCollision/OverlappingPairCache.cpp

@@ -147,67 +147,4 @@ void	OverlappingPairCache::RemoveOverlappingPairsContainingProxy(BroadphaseProxy
 }
 
 
-void	OverlappingPairCache::DispatchAllCollisionPairs(Dispatcher&	dispatcher,DispatcherInfo& dispatchInfo)
-{
-	m_blockedForChanges = true;
 
-	int i;
-
-	int dispatcherId = dispatcher.GetUniqueId();
-
-	RefreshOverlappingPairs();
-
-	for (i=0;i<m_NumOverlapBroadphasePair;i++)
-	{
-
-		BroadphasePair& pair = m_OverlappingPairs[i];
-
-		if (dispatcherId>= 0)
-		{
-			//dispatcher will keep algorithms persistent in the collision pair
-			if (!pair.m_algorithms[dispatcherId])
-			{
-				pair.m_algorithms[dispatcherId] = dispatcher.FindAlgorithm(
-					*pair.m_pProxy0,
-					*pair.m_pProxy1);
-			}
-
-			if (pair.m_algorithms[dispatcherId])
-			{
-				if (dispatchInfo.m_dispatchFunc == 		DispatcherInfo::DISPATCH_DISCRETE)
-				{
-					pair.m_algorithms[dispatcherId]->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
-				} else
-				{
-					float toi = pair.m_algorithms[dispatcherId]->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
-					if (dispatchInfo.m_timeOfImpact > toi)
-						dispatchInfo.m_timeOfImpact = toi;
-
-				}
-			}
-		} else
-		{
-			//non-persistent algorithm dispatcher
-			CollisionAlgorithm* algo = dispatcher.FindAlgorithm(
-				*pair.m_pProxy0,
-				*pair.m_pProxy1);
-
-			if (algo)
-			{
-				if (dispatchInfo.m_dispatchFunc == 		DispatcherInfo::DISPATCH_DISCRETE)
-				{
-					algo->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
-				} else
-				{
-					float toi = algo->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
-					if (dispatchInfo.m_timeOfImpact > toi)
-						dispatchInfo.m_timeOfImpact = toi;
-				}
-			}
-		}
-
-	}
-
-	m_blockedForChanges = false;
-
-}

Bullet/BroadphaseCollision/OverlappingPairCache.h

@@ -74,7 +74,7 @@ class	OverlappingPairCache : public BroadphaseInterface
 		return collides;
 	}
 		
-	void	DispatchAllCollisionPairs(Dispatcher&	dispatcher,DispatcherInfo& dispatchInfo);
+	
 
 	virtual void	RefreshOverlappingPairs() =0;
 

Bullet/CollisionDispatch/CollisionCreateFunc.h

@@ -0,0 +1,42 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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 COLLISION_CREATE_FUNC
+#define COLLISION_CREATE_FUNC
+
+#include <vector>
+
+typedef std::vector<struct CollisionObject*> CollisionObjectArray;
+class CollisionAlgorithm;
+struct BroadphaseProxy;
+
+
+
+struct CollisionAlgorithmCreateFunc
+{
+	bool m_swapped;
+	
+	CollisionAlgorithmCreateFunc()
+		:m_swapped(false)
+	{
+	}
+	virtual ~CollisionAlgorithmCreateFunc(){};
+
+	virtual	CollisionAlgorithm* CreateCollisionAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
+	{
+		return 0;
+	}
+};
+#endif //COLLISION_CREATE_FUNC

Bullet/CollisionDispatch/CollisionDispatcher.cpp

@@ -24,6 +24,7 @@ subject to the following restrictions:
 #include "CollisionShapes/CollisionShape.h"
 #include "CollisionDispatch/CollisionObject.h"
 #include <algorithm>
+#include "BroadphaseCollision/OverlappingPairCache.h"
 
 int gNumManifold = 0;
 
@@ -293,3 +294,69 @@ void	CollisionDispatcher::ReleaseManifoldResult(ManifoldResult*)
 {
 
 }
+
+
+void	CollisionDispatcher::DispatchAllCollisionPairs(OverlappingPairCache* pairCache,DispatcherInfo& dispatchInfo)
+{
+	//m_blockedForChanges = true;
+
+	int i;
+
+	int dispatcherId = GetUniqueId();
+
+	pairCache->RefreshOverlappingPairs();
+
+	for (i=0;i<pairCache->GetNumOverlappingPairs();i++)
+	{
+
+		BroadphasePair& pair = pairCache->GetOverlappingPair(i);
+
+		if (dispatcherId>= 0)
+		{
+			//dispatcher will keep algorithms persistent in the collision pair
+			if (!pair.m_algorithms[dispatcherId])
+			{
+				pair.m_algorithms[dispatcherId] = FindAlgorithm(
+					*pair.m_pProxy0,
+					*pair.m_pProxy1);
+			}
+
+			if (pair.m_algorithms[dispatcherId])
+			{
+				if (dispatchInfo.m_dispatchFunc == 		DispatcherInfo::DISPATCH_DISCRETE)
+				{
+					pair.m_algorithms[dispatcherId]->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
+				} else
+				{
+					float toi = pair.m_algorithms[dispatcherId]->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
+					if (dispatchInfo.m_timeOfImpact > toi)
+						dispatchInfo.m_timeOfImpact = toi;
+
+				}
+			}
+		} else
+		{
+			//non-persistent algorithm dispatcher
+			CollisionAlgorithm* algo = FindAlgorithm(
+				*pair.m_pProxy0,
+				*pair.m_pProxy1);
+
+			if (algo)
+			{
+				if (dispatchInfo.m_dispatchFunc == 		DispatcherInfo::DISPATCH_DISCRETE)
+				{
+					algo->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
+				} else
+				{
+					float toi = algo->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
+					if (dispatchInfo.m_timeOfImpact > toi)
+						dispatchInfo.m_timeOfImpact = toi;
+				}
+			}
+		}
+
+	}
+
+	//m_blockedForChanges = false;
+
+}

Bullet/CollisionDispatch/CollisionDispatcher.h

@@ -22,28 +22,15 @@ subject to the following restrictions:
 #include "CollisionDispatch/ManifoldResult.h"
 
 #include "BroadphaseCollision/BroadphaseProxy.h"
-#include <vector>
+
 
 class IDebugDraw;
-
+class OverlappingPairCache;
-typedef std::vector<struct CollisionObject*> CollisionObjectArray;
 
 
-struct CollisionAlgorithmCreateFunc
+#include "CollisionCreateFunc.h"
-{
+
-	bool m_swapped;
-	
-	CollisionAlgorithmCreateFunc()
-		:m_swapped(false)
-	{
-	}
-	virtual ~CollisionAlgorithmCreateFunc(){};
 
-	virtual	CollisionAlgorithm* CreateCollisionAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
-	{
-		return 0;
-	}
-};
 
 
 ///CollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
@@ -131,7 +118,7 @@ public:
 
 	virtual int GetUniqueId() { return RIGIDBODY_DISPATCHER;}
 	
-	
+	virtual void	DispatchAllCollisionPairs(OverlappingPairCache* pairCache,DispatcherInfo& dispatchInfo);
 
 };
 

Bullet/CollisionDispatch/CollisionWorld.cpp

@@ -150,10 +150,13 @@ void	CollisionWorld::PerformDiscreteCollisionDetection()
 	for (size_t i=0;i<m_collisionObjects.size();i++)
 	{
 		m_collisionObjects[i]->m_collisionShape->GetAabb(m_collisionObjects[i]->m_worldTransform,aabbMin,aabbMax);
-		m_broadphase->SetAabb(m_collisionObjects[i]->m_broadphaseHandle,aabbMin,aabbMax);
+		m_pairCache->SetAabb(m_collisionObjects[i]->m_broadphaseHandle,aabbMin,aabbMax);
 	}
 
-	m_broadphase->DispatchAllCollisionPairs(*GetDispatcher(),dispatchInfo);
+	CollisionDispatcher* dispatcher = GetDispatcher();
+	if (dispatcher)
+		dispatcher->DispatchAllCollisionPairs(m_pairCache,dispatchInfo);
+
 }
 
 

Bullet/CollisionDispatch/CollisionWorld.h

@@ -70,6 +70,7 @@ class BroadphaseInterface;
 #include "SimdTransform.h"
 #include "CollisionObject.h"
 #include "CollisionDispatcher.h" //for definition of CollisionObjectArray
+#include "BroadphaseCollision/OverlappingPairCache.h"
 
 #include <vector>
 
@@ -85,13 +86,14 @@ class CollisionWorld
 	
 	CollisionDispatcher*	m_dispatcher;
 
-	BroadphaseInterface*	m_broadphase;
+	OverlappingPairCache*	m_pairCache;
+	
 
 public:
 
-	CollisionWorld(CollisionDispatcher* dispatcher,BroadphaseInterface* broadphase)
+	CollisionWorld(CollisionDispatcher* dispatcher,OverlappingPairCache* pairCache)
 		:m_dispatcher(dispatcher),
-		m_broadphase(broadphase)
+		m_pairCache(pairCache)
 	{
 
 	}
@@ -102,9 +104,15 @@ public:
 
 	BroadphaseInterface*	GetBroadphase()
 	{
-		return m_broadphase;
+		return m_pairCache;
 	}
 
+	OverlappingPairCache*	GetPairCache()
+	{
+		return m_pairCache;
+	}
+
+
 	CollisionDispatcher*	GetDispatcher()
 	{
 		return m_dispatcher;

Bullet/CollisionDispatch/ManifoldResult.h

@@ -21,6 +21,10 @@ subject to the following restrictions:
 struct CollisionObject;
 class PersistentManifold;
 
+
+
+
+
 ///ManifoldResult is a helper class to manage  contact results.
 class ManifoldResult : public DiscreteCollisionDetectorInterface::Result
 {

Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp

@@ -27,6 +27,9 @@ subject to the following restrictions:
 
 #include "Dynamics/RigidBody.h"
 #include "CollisionDispatch/CollisionDispatcher.h"
+
+#include "ParallelIslandDispatcher.h"
+
 #include "BroadphaseCollision/SimpleBroadphase.h"
 #include "BroadphaseCollision/AxisSweep3.h"
 #include "ConstraintSolver/Point2PointConstraint.h"
@@ -128,13 +131,13 @@ int main(int argc,char** argv)
 
 
 	CollisionDispatcher* dispatcher = new	CollisionDispatcher();
-
+	Dispatcher* dispatcher2 = new	ParallelIslandDispatcher();
-
+	
 	SimdVector3 worldAabbMin(-30000,-30000,-30000);
 	SimdVector3 worldAabbMax(30000,30000,30000);
 
 	//BroadphaseInterface* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax,maxProxies,maxOverlap);
-	BroadphaseInterface* broadphase = new SimpleBroadphase(maxProxies,maxOverlap);
+	OverlappingPairCache* broadphase = new SimpleBroadphase(maxProxies,maxOverlap);
 
 	physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
 	physicsEnvironmentPtr->setDeactivationTime(2.f);

Demos/ColladaDemo/ColladaDemo.cpp

@@ -844,7 +844,7 @@ int main(int argc,char** argv)
 	CollisionDispatcher* dispatcher = new	CollisionDispatcher();
 	SimdVector3 worldAabbMin(-10000,-10000,-10000);
 	SimdVector3 worldAabbMax(10000,10000,10000);
-	BroadphaseInterface* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax);
+	OverlappingPairCache* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax);
 	//BroadphaseInterface* broadphase = new SimpleBroadphase();
 	physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
 	physicsEnvironmentPtr->setDeactivationTime(2.f);

Demos/ConcaveDemo/ConcavePhysicsDemo.cpp

@@ -221,7 +221,7 @@ int main(int argc,char** argv)
 
 	CollisionDispatcher* dispatcher = new	CollisionDispatcher();
 		
-	BroadphaseInterface* broadphase = new SimpleBroadphase();
+	OverlappingPairCache* broadphase = new SimpleBroadphase();
 
 
 	physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);

Demos/ConstraintDemo/ConstraintDemo.cpp

@@ -77,7 +77,7 @@ int main(int argc,char** argv)
 
 	CollisionDispatcher* dispatcher = new	CollisionDispatcher();
 		
-	BroadphaseInterface* broadphase = new SimpleBroadphase();
+	OverlappingPairCache* broadphase = new SimpleBroadphase();
 
 
 	physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);

Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp

@@ -337,8 +337,8 @@ int main(int argc,char** argv)
 	SimdVector3 worldAabbMin(-10000,-10000,-10000);
 	SimdVector3 worldAabbMax(10000,10000,10000);
 
-	BroadphaseInterface* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax);
+	OverlappingPairCache* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax);
-	//BroadphaseInterface* broadphase = new SimpleBroadphase();
+	//OverlappingPairCache* broadphase = new SimpleBroadphase();
 
 	physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
 	physicsEnvironmentPtr->setDeactivationTime(2.f);

Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp

@@ -322,7 +322,7 @@ static void DrawAabb(IDebugDraw* debugDrawer,const SimdVector3& from,const SimdV
 
 
 
-CcdPhysicsEnvironment::CcdPhysicsEnvironment(CollisionDispatcher* dispatcher,BroadphaseInterface* broadphase)
+CcdPhysicsEnvironment::CcdPhysicsEnvironment(CollisionDispatcher* dispatcher,OverlappingPairCache* pairCache)
 :m_scalingPropagated(false),
 m_numIterations(4),
 m_numTimeSubSteps(1),
@@ -336,18 +336,18 @@ m_enableSatCollisionDetection(false)
 	{
 		m_triggerCallbacks[i] = 0;
 	}
-	if (!dispatcher)
+	//if (!dispatcher)
-		dispatcher = new CollisionDispatcher();
+	//	dispatcher = new CollisionDispatcher();
 
 
-	if(!broadphase)
+	if(!pairCache)
 	{
 
 		//todo: calculate/let user specify this world sizes
 		SimdVector3 worldMin(-10000,-10000,-10000);
 		SimdVector3 worldMax(10000,10000,10000);
 
-		broadphase = new AxisSweep3(worldMin,worldMax);
+		pairCache = new AxisSweep3(worldMin,worldMax);
 
 		//broadphase = new SimpleBroadphase();
 	}
@@ -355,7 +355,7 @@ m_enableSatCollisionDetection(false)
 
 	setSolverType(1);//issues with quickstep and memory allocations
 
-	m_collisionWorld = new CollisionWorld(dispatcher,broadphase);
+	m_collisionWorld = new CollisionWorld(dispatcher,pairCache);
 
 	m_debugDrawer = 0;
 	m_gravity = SimdVector3(0.f,-10.f,0.f);
@@ -654,7 +654,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 	Profiler::endBlock("predictIntegratedTransform");
 #endif //USE_QUICKPROF
 
-	BroadphaseInterface*	scene = GetBroadphase();
+	OverlappingPairCache*	scene = m_collisionWorld->GetPairCache();
 
 
 	//
@@ -675,7 +675,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 	dispatchInfo.m_stepCount = 0;
 	dispatchInfo.m_enableSatConvex = m_enableSatCollisionDetection;
 
-	scene->DispatchAllCollisionPairs(*GetDispatcher(),dispatchInfo);///numsubstep,g);
+	GetDispatcher()->DispatchAllCollisionPairs(scene,dispatchInfo);
 
 
 #ifdef USE_QUICKPROF
@@ -842,7 +842,8 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 				dispatchInfo.m_stepCount = 0;
 				dispatchInfo.m_dispatchFunc = DispatcherInfo::DISPATCH_CONTINUOUS;
 
-				scene->DispatchAllCollisionPairs( *GetDispatcher(),dispatchInfo);///numsubstep,g);
+				GetDispatcher()->DispatchAllCollisionPairs(scene,dispatchInfo);
+				
 				toi = dispatchInfo.m_timeOfImpact;
 
 			}

Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h

@@ -37,6 +37,7 @@ class Dispatcher;
 class WrapperVehicle;
 class PersistentManifold;
 class BroadphaseInterface;
+class OverlappingPairCache;
 class IDebugDraw;
 
 /// CcdPhysicsEnvironment is experimental mainloop for physics simulation using optional continuous collision detection.
@@ -62,7 +63,7 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 	
 
 	public:
-		CcdPhysicsEnvironment(CollisionDispatcher* dispatcher=0, BroadphaseInterface* broadphase=0);
+		CcdPhysicsEnvironment(CollisionDispatcher* dispatcher=0, OverlappingPairCache* pairCache=0);
 
 		virtual		~CcdPhysicsEnvironment();
 

Extras/PhysicsInterface/CcdPhysics/ParallelIslandDispatcher.cpp

@@ -0,0 +1,295 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+
+
+#include "ParallelIslandDispatcher.h"
+
+
+#include "BroadphaseCollision/CollisionAlgorithm.h"
+#include "CollisionDispatch/ConvexConvexAlgorithm.h"
+#include "CollisionDispatch/EmptyCollisionAlgorithm.h"
+#include "CollisionDispatch/ConvexConcaveCollisionAlgorithm.h"
+#include "CollisionShapes/CollisionShape.h"
+#include "CollisionDispatch/CollisionObject.h"
+#include <algorithm>
+
+static int gNumManifold2 = 0;
+
+void ParallelIslandDispatcher::FindUnions()
+{
+	if (m_useIslands)
+	{
+		for (int i=0;i<GetNumManifolds();i++)
+		{
+			const PersistentManifold* manifold = this->GetManifoldByIndexInternal(i);
+			//static objects (invmass 0.f) don't merge !
+
+			 const  CollisionObject* colObj0 = static_cast<const CollisionObject*>(manifold->GetBody0());
+			 const  CollisionObject* colObj1 = static_cast<const CollisionObject*>(manifold->GetBody1());
+
+			 if (colObj0 && colObj1 && NeedsResponse(*colObj0,*colObj1))
+			 {
+				if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
+					((colObj1) && ((colObj1)->mergesSimulationIslands())))
+				{
+
+					m_unionFind.unite((colObj0)->m_islandTag1,
+						(colObj1)->m_islandTag1);
+				}
+			 }
+			
+			
+		}
+	}
+	
+}
+	
+
+	
+ParallelIslandDispatcher::ParallelIslandDispatcher (): 
+	m_useIslands(true),
+		m_defaultManifoldResult(0,0,0),
+		m_count(0)
+{
+	int i;
+	
+	for (i=0;i<MAX_BROADPHASE_COLLISION_TYPES;i++)
+	{
+		for (int j=0;j<MAX_BROADPHASE_COLLISION_TYPES;j++)
+		{
+			m_doubleDispatch[i][j] = 0;
+		}
+	}
+	
+	
+};
+	
+PersistentManifold*	ParallelIslandDispatcher::GetNewManifold(void* b0,void* b1) 
+{ 
+	gNumManifold2++;
+	
+	//ASSERT(gNumManifold < 65535);
+	
+
+	CollisionObject* body0 = (CollisionObject*)b0;
+	CollisionObject* body1 = (CollisionObject*)b1;
+	
+	PersistentManifold* manifold = new PersistentManifold (body0,body1);
+	m_manifoldsPtr.push_back(manifold);
+
+	return manifold;
+}
+
+void ParallelIslandDispatcher::ClearManifold(PersistentManifold* manifold)
+{
+	manifold->ClearManifold();
+}
+
+	
+void ParallelIslandDispatcher::ReleaseManifold(PersistentManifold* manifold)
+{
+	
+	gNumManifold2--;
+
+	//printf("ReleaseManifold: gNumManifold2 %d\n",gNumManifold2);
+
+	ClearManifold(manifold);
+
+	std::vector<PersistentManifold*>::iterator i =
+		std::find(m_manifoldsPtr.begin(), m_manifoldsPtr.end(), manifold);
+	if (!(i == m_manifoldsPtr.end()))
+	{
+		std::swap(*i, m_manifoldsPtr.back());
+		m_manifoldsPtr.pop_back();
+		delete manifold;
+
+	}
+	
+	
+}
+
+	
+//
+// todo: this is random access, it can be walked 'cache friendly'!
+//
+void ParallelIslandDispatcher::BuildAndProcessIslands(CollisionObjectArray& collisionObjects, IslandCallback* callback)
+{
+	int numBodies  = collisionObjects.size();
+
+	for (int islandId=0;islandId<numBodies;islandId++)
+	{
+
+		std::vector<PersistentManifold*>  islandmanifold;
+		
+		//int numSleeping = 0;
+
+		bool allSleeping = true;
+
+		int i;
+		for (i=0;i<numBodies;i++)
+		{
+			CollisionObject* colObj0 = collisionObjects[i];
+			if (colObj0->m_islandTag1 == islandId)
+			{
+				if (colObj0->GetActivationState()== ACTIVE_TAG)
+				{
+					allSleeping = false;
+				}
+				if (colObj0->GetActivationState()== DISABLE_DEACTIVATION)
+				{
+					allSleeping = false;
+				}
+			}
+		}
+
+		
+		for (i=0;i<GetNumManifolds();i++)
+		{
+			 PersistentManifold* manifold = this->GetManifoldByIndexInternal(i);
+			 
+			 //filtering for response
+
+			 CollisionObject* colObj0 = static_cast<CollisionObject*>(manifold->GetBody0());
+			 CollisionObject* colObj1 = static_cast<CollisionObject*>(manifold->GetBody1());
+			 {
+				if (((colObj0) && (colObj0)->m_islandTag1 == (islandId)) ||
+					((colObj1) && (colObj1)->m_islandTag1 == (islandId)))
+				{
+
+					if (NeedsResponse(*colObj0,*colObj1))
+						islandmanifold.push_back(manifold);
+				}
+			 }
+		}
+		if (allSleeping)
+		{
+			int i;
+			for (i=0;i<numBodies;i++)
+			{
+				CollisionObject* colObj0 = collisionObjects[i];
+				if (colObj0->m_islandTag1 == islandId)
+				{
+					colObj0->SetActivationState( ISLAND_SLEEPING );
+				}
+			}
+
+			
+		} else
+		{
+
+			int i;
+			for (i=0;i<numBodies;i++)
+			{
+				CollisionObject* colObj0 = collisionObjects[i];
+				if (colObj0->m_islandTag1 == islandId)
+				{
+					if ( colObj0->GetActivationState() == ISLAND_SLEEPING)
+					{
+						colObj0->SetActivationState( WANTS_DEACTIVATION);
+					}
+				}
+			}
+
+			/// Process the actual simulation, only if not sleeping/deactivated
+			if (islandmanifold.size())
+			{
+				callback->ProcessIsland(&islandmanifold[0],islandmanifold.size());
+			}
+
+		}
+	}
+}
+
+
+
+CollisionAlgorithm* ParallelIslandDispatcher::InternalFindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
+{
+	m_count++;
+	CollisionObject* body0 = (CollisionObject*)proxy0.m_clientObject;
+	CollisionObject* body1 = (CollisionObject*)proxy1.m_clientObject;
+
+	CollisionAlgorithmConstructionInfo ci;
+	ci.m_dispatcher = this;
+	
+	if (body0->m_collisionShape->IsConvex() && body1->m_collisionShape->IsConvex() )
+	{
+		return new ConvexConvexAlgorithm(0,ci,&proxy0,&proxy1);			
+	}
+
+	if (body0->m_collisionShape->IsConvex() && body1->m_collisionShape->IsConcave())
+	{
+		return new ConvexConcaveCollisionAlgorithm(ci,&proxy0,&proxy1);
+	}
+
+	if (body1->m_collisionShape->IsConvex() && body0->m_collisionShape->IsConcave())
+	{
+		return new ConvexConcaveCollisionAlgorithm(ci,&proxy1,&proxy0);
+	}
+
+	//failed to find an algorithm
+	return new EmptyAlgorithm(ci);
+	
+}
+
+bool	ParallelIslandDispatcher::NeedsResponse(const  CollisionObject& colObj0,const CollisionObject& colObj1)
+{
+
+	
+	//here you can do filtering
+	bool hasResponse = 
+		(!(colObj0.m_collisionFlags & CollisionObject::noContactResponse)) &&
+		(!(colObj1.m_collisionFlags & CollisionObject::noContactResponse));
+	hasResponse = hasResponse &&
+		(colObj0.IsActive() || colObj1.IsActive());
+	return hasResponse;
+}
+
+bool	ParallelIslandDispatcher::NeedsCollision(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
+{
+
+	CollisionObject* body0 = (CollisionObject*)proxy0.m_clientObject;
+	CollisionObject* body1 = (CollisionObject*)proxy1.m_clientObject;
+
+	assert(body0);
+	assert(body1);
+
+	bool needsCollision = true;
+
+	if ((body0->m_collisionFlags & CollisionObject::isStatic) && 
+		(body1->m_collisionFlags & CollisionObject::isStatic))
+		needsCollision = false;
+		
+	if ((!body0->IsActive()) && (!body1->IsActive()))
+		needsCollision = false;
+	
+	return needsCollision ;
+
+}
+
+///allows the user to get contact point callbacks 
+ManifoldResult*	ParallelIslandDispatcher::GetNewManifoldResult(CollisionObject* obj0,CollisionObject* obj1,PersistentManifold* manifold)
+{
+
+
+	//in-place, this prevents parallel dispatching, but just adding a list would fix that.
+	ManifoldResult* manifoldResult = new (&m_defaultManifoldResult)	ManifoldResult(obj0,obj1,manifold);
+	return manifoldResult;
+}
+	
+///allows the user to get contact point callbacks 
+void	ParallelIslandDispatcher::ReleaseManifoldResult(ManifoldResult*)
+{
+
+}

Extras/PhysicsInterface/CcdPhysics/ParallelIslandDispatcher.h

@@ -0,0 +1,126 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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 PARALLEL_ISLAND_DISPATCHER_H
+#define PARALLEL_ISLAND_DISPATCHER_H
+
+#include "BroadphaseCollision/Dispatcher.h"
+#include "NarrowPhaseCollision/PersistentManifold.h"
+#include "CollisionDispatch/UnionFind.h"
+#include "CollisionDispatch/ManifoldResult.h"
+
+#include "BroadphaseCollision/BroadphaseProxy.h"
+#include <vector>
+
+class IDebugDraw;
+
+
+#include "CollisionDispatch/CollisionCreateFunc.h"
+
+
+
+
+///ParallelIslandDispatcher dispatches entire simulation islands in parallel.
+///For both collision detection and constraint solving.
+///This development heads toward multi-core, CELL SPU and GPU approach
+class ParallelIslandDispatcher : public Dispatcher
+{
+	
+	std::vector<PersistentManifold*>	m_manifoldsPtr;
+
+	UnionFind m_unionFind;
+
+	bool m_useIslands;
+	
+	ManifoldResult	m_defaultManifoldResult;
+	
+	CollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
+	
+public:
+	
+	UnionFind& GetUnionFind() { return m_unionFind;}
+
+	struct	IslandCallback
+	{
+		virtual ~IslandCallback() {};
+
+		virtual	void	ProcessIsland(PersistentManifold**	manifolds,int numManifolds) = 0;
+	};
+
+
+	int	GetNumManifolds() const
+	{ 
+		return m_manifoldsPtr.size();
+	}
+
+	 PersistentManifold* GetManifoldByIndexInternal(int index)
+	{
+		return m_manifoldsPtr[index];
+	}
+
+	 const PersistentManifold* GetManifoldByIndexInternal(int index) const
+	{
+		return m_manifoldsPtr[index];
+	}
+
+	void InitUnionFind(int n)
+	{
+		if (m_useIslands)
+			m_unionFind.reset(n);
+	}
+	
+	void FindUnions();
+	
+	int m_count;
+	
+	ParallelIslandDispatcher ();
+	virtual ~ParallelIslandDispatcher() {};
+
+	virtual PersistentManifold*	GetNewManifold(void* b0,void* b1);
+	
+	virtual void ReleaseManifold(PersistentManifold* manifold);
+
+	
+	virtual void BuildAndProcessIslands(CollisionObjectArray& collisionObjects, IslandCallback* callback);
+
+	///allows the user to get contact point callbacks 
+	virtual	ManifoldResult*	GetNewManifoldResult(CollisionObject* obj0,CollisionObject* obj1,PersistentManifold* manifold);
+
+	///allows the user to get contact point callbacks 
+	virtual	void	ReleaseManifoldResult(ManifoldResult*);
+
+	virtual void ClearManifold(PersistentManifold* manifold);
+
+			
+	CollisionAlgorithm* FindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
+	{
+		CollisionAlgorithm* algo = InternalFindAlgorithm(proxy0,proxy1);
+		return algo;
+	}
+	
+	CollisionAlgorithm* InternalFindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1);
+	
+	virtual bool	NeedsCollision(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1);
+	
+	virtual bool	NeedsResponse(const CollisionObject& colObj0,const CollisionObject& colObj1);
+
+	virtual int GetUniqueId() { return RIGIDBODY_DISPATCHER;}
+	
+	
+
+};
+
+#endif //PARALLEL_ISLAND_DISPATCHER_H
+

Extras/PhysicsInterface/CcdPhysics/ParallelPhysicsEnvironment.cpp

@@ -0,0 +1,406 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+
+
+
+#include "ParallelPhysicsEnvironment.h"
+#include "CcdPhysicsController.h"
+#include "ParallelIslandDispatcher.h"
+
+
+ParallelPhysicsEnvironment::ParallelPhysicsEnvironment(ParallelIslandDispatcher* dispatcher, OverlappingPairCache* pairCache):
+CcdPhysicsEnvironment(0,pairCache)
+{
+
+}
+
+ParallelPhysicsEnvironment::~ParallelPhysicsEnvironment()
+{
+
+}
+
+
+
+/// Perform an integration step of duration 'timeStep'.
+bool	ParallelPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
+{
+
+/*
+	//printf("CcdPhysicsEnvironment::proceedDeltaTime\n");
+
+	if (SimdFuzzyZero(timeStep))
+		return true;
+
+	if (m_debugDrawer)
+	{
+		gDisableDeactivation = (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_NoDeactivation);
+	}
+
+
+#ifdef USE_QUICKPROF
+	Profiler::beginBlock("SyncMotionStates");
+#endif //USE_QUICKPROF
+
+
+	//this is needed because scaling is not known in advance, and scaling has to propagate to the shape
+	if (!m_scalingPropagated)
+	{
+		SyncMotionStates(timeStep);
+		m_scalingPropagated = true;
+	}
+
+
+#ifdef USE_QUICKPROF
+	Profiler::endBlock("SyncMotionStates");
+
+	Profiler::beginBlock("predictIntegratedTransform");
+#endif //USE_QUICKPROF
+
+	{
+		//		std::vector<CcdPhysicsController*>::iterator i;
+
+
+
+		int k;
+		for (k=0;k<GetNumControllers();k++)
+		{
+			CcdPhysicsController* ctrl = m_controllers[k];
+			//		SimdTransform predictedTrans;
+			RigidBody* body = ctrl->GetRigidBody();
+			if (body->IsActive())
+			{
+				if (!body->IsStatic())
+				{
+					body->applyForces( timeStep);
+					body->integrateVelocities( timeStep);
+					body->predictIntegratedTransform(timeStep,body->m_interpolationWorldTransform);
+				}
+			}
+
+		}
+	}
+
+#ifdef USE_QUICKPROF
+	Profiler::endBlock("predictIntegratedTransform");
+#endif //USE_QUICKPROF
+
+	BroadphaseInterface*	scene = GetBroadphase();
+
+
+	//
+	// collision detection (?)
+	//
+
+
+#ifdef USE_QUICKPROF
+	Profiler::beginBlock("DispatchAllCollisionPairs");
+#endif //USE_QUICKPROF
+
+
+	int numsubstep = m_numIterations;
+
+
+	DispatcherInfo dispatchInfo;
+	dispatchInfo.m_timeStep = timeStep;
+	dispatchInfo.m_stepCount = 0;
+	dispatchInfo.m_enableSatConvex = m_enableSatCollisionDetection;
+
+	scene->DispatchAllCollisionPairs(*GetDispatcher(),dispatchInfo);///numsubstep,g);
+
+
+#ifdef USE_QUICKPROF
+	Profiler::endBlock("DispatchAllCollisionPairs");
+#endif //USE_QUICKPROF
+
+
+	int numRigidBodies = m_controllers.size();
+
+	m_collisionWorld->UpdateActivationState();
+
+	{
+		int i;
+		int numConstraints = m_constraints.size();
+		for (i=0;i< numConstraints ; i++ )
+		{
+			TypedConstraint* constraint = m_constraints[i];
+
+			const RigidBody* colObj0 = &constraint->GetRigidBodyA();
+			const RigidBody* colObj1 = &constraint->GetRigidBodyB();
+			
+			if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
+						((colObj1) && ((colObj1)->mergesSimulationIslands())))
+			{
+				if (colObj0->IsActive() || colObj1->IsActive())
+				{
+					GetDispatcher()->GetUnionFind().unite((colObj0)->m_islandTag1,
+						(colObj1)->m_islandTag1);
+				}
+			}
+		}
+	}
+
+	m_collisionWorld->StoreIslandActivationState();
+
+
+
+	//contacts
+#ifdef USE_QUICKPROF
+	Profiler::beginBlock("SolveConstraint");
+#endif //USE_QUICKPROF
+
+
+	//solve the regular constraints (point 2 point, hinge, etc)
+
+	for (int g=0;g<numsubstep;g++)
+	{
+		//
+		// constraint solving
+		//
+
+
+		int i;
+		int numConstraints = m_constraints.size();
+
+		//point to point constraints
+		for (i=0;i< numConstraints ; i++ )
+		{
+			TypedConstraint* constraint = m_constraints[i];
+
+			constraint->BuildJacobian();
+			constraint->SolveConstraint( timeStep );
+
+		}
+
+
+	}
+
+#ifdef USE_QUICKPROF
+	Profiler::endBlock("SolveConstraint");
+#endif //USE_QUICKPROF
+
+	//solve the vehicles
+
+#ifdef NEW_BULLET_VEHICLE_SUPPORT
+	//vehicles
+	int numVehicles = m_wrapperVehicles.size();
+	for (int i=0;i<numVehicles;i++)
+	{
+		WrapperVehicle* wrapperVehicle = m_wrapperVehicles[i];
+		RaycastVehicle* vehicle = wrapperVehicle->GetVehicle();
+		vehicle->UpdateVehicle( timeStep);
+	}
+#endif //NEW_BULLET_VEHICLE_SUPPORT
+
+
+	struct InplaceSolverIslandCallback : public ParallelIslandDispatcher::IslandCallback
+	{
+
+		ContactSolverInfo& m_solverInfo;
+		ConstraintSolver*	m_solver;
+		IDebugDraw*	m_debugDrawer;
+
+		InplaceSolverIslandCallback(
+			ContactSolverInfo& solverInfo,
+			ConstraintSolver*	solver,
+			IDebugDraw*	debugDrawer)
+			:m_solverInfo(solverInfo),
+			m_solver(solver),
+			m_debugDrawer(debugDrawer)
+		{
+
+		}
+
+		virtual	void	ProcessIsland(PersistentManifold**	manifolds,int numManifolds)
+		{
+			m_solver->SolveGroup( manifolds, numManifolds,m_solverInfo,m_debugDrawer);
+		}
+
+	};
+
+
+	m_solverInfo.m_friction = 0.9f;
+	m_solverInfo.m_numIterations = m_numIterations;
+	m_solverInfo.m_timeStep = timeStep;
+	m_solverInfo.m_restitution = 0.f;//m_restitution;
+
+	InplaceSolverIslandCallback	solverCallback(
+		m_solverInfo,
+		m_solver,
+		m_debugDrawer);
+
+#ifdef USE_QUICKPROF
+	Profiler::beginBlock("BuildAndProcessIslands");
+#endif //USE_QUICKPROF
+
+	/// solve all the contact points and contact friction
+	GetDispatcher()->BuildAndProcessIslands(m_collisionWorld->GetCollisionObjectArray(),&solverCallback);
+
+#ifdef USE_QUICKPROF
+	Profiler::endBlock("BuildAndProcessIslands");
+
+	Profiler::beginBlock("CallbackTriggers");
+#endif //USE_QUICKPROF
+
+	CallbackTriggers();
+
+#ifdef USE_QUICKPROF
+	Profiler::endBlock("CallbackTriggers");
+
+
+	Profiler::beginBlock("proceedToTransform");
+
+#endif //USE_QUICKPROF
+	{
+
+
+
+		{
+
+			
+			
+			UpdateAabbs(timeStep);
+
+
+			float toi = 1.f;
+
+
+
+			if (m_ccdMode == 3)
+			{
+				DispatcherInfo dispatchInfo;
+				dispatchInfo.m_timeStep = timeStep;
+				dispatchInfo.m_stepCount = 0;
+				dispatchInfo.m_dispatchFunc = DispatcherInfo::DISPATCH_CONTINUOUS;
+
+				scene->DispatchAllCollisionPairs( *GetDispatcher(),dispatchInfo);///numsubstep,g);
+				toi = dispatchInfo.m_timeOfImpact;
+
+			}
+
+			
+
+			//
+			// integrating solution
+			//
+
+			{
+				
+				std::vector<CcdPhysicsController*>::iterator i;
+
+				for (i=m_controllers.begin();
+					!(i==m_controllers.end()); i++)
+				{
+
+					CcdPhysicsController* ctrl = *i;
+
+					SimdTransform predictedTrans;
+					RigidBody* body = ctrl->GetRigidBody();
+					
+					if (body->IsActive())
+					{
+
+						if (!body->IsStatic())
+						{
+							body->predictIntegratedTransform(timeStep*	toi, predictedTrans);
+							body->proceedToTransform( predictedTrans);
+						}
+
+					}
+				}
+
+			}
+
+
+
+
+
+			//
+			// disable sleeping physics objects
+			//
+
+			std::vector<CcdPhysicsController*> m_sleepingControllers;
+
+			std::vector<CcdPhysicsController*>::iterator i;
+
+			for (i=m_controllers.begin();
+				!(i==m_controllers.end()); i++)
+			{
+				CcdPhysicsController* ctrl = (*i);
+				RigidBody* body = ctrl->GetRigidBody();
+
+				ctrl->UpdateDeactivation(timeStep);
+
+
+				if (ctrl->wantsSleeping())
+				{
+					if (body->GetActivationState() == ACTIVE_TAG)
+						body->SetActivationState( WANTS_DEACTIVATION );
+				} else
+				{
+					if (body->GetActivationState() != DISABLE_DEACTIVATION)
+						body->SetActivationState( ACTIVE_TAG );
+				}
+
+				if (useIslands)
+				{
+					if (body->GetActivationState() == ISLAND_SLEEPING)
+					{
+						m_sleepingControllers.push_back(ctrl);
+					}
+				} else
+				{
+					if (ctrl->wantsSleeping())
+					{
+						m_sleepingControllers.push_back(ctrl);
+					}
+				}
+			}
+
+
+
+
+		}
+
+
+#ifdef USE_QUICKPROF
+		Profiler::endBlock("proceedToTransform");
+
+		Profiler::beginBlock("SyncMotionStates");
+#endif //USE_QUICKPROF
+
+		SyncMotionStates(timeStep);
+
+#ifdef USE_QUICKPROF
+		Profiler::endBlock("SyncMotionStates");
+
+		Profiler::endProfilingCycle();
+#endif //USE_QUICKPROF
+
+
+#ifdef NEW_BULLET_VEHICLE_SUPPORT
+		//sync wheels for vehicles
+		int numVehicles = m_wrapperVehicles.size();
+		for (int i=0;i<numVehicles;i++)
+		{
+			WrapperVehicle* wrapperVehicle = m_wrapperVehicles[i];
+
+			wrapperVehicle->SyncWheels();
+		}
+#endif //NEW_BULLET_VEHICLE_SUPPORT
+	}
+*/
+
+	return true;
+}

Extras/PhysicsInterface/CcdPhysics/ParallelPhysicsEnvironment.h

@@ -0,0 +1,42 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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 PARALLELPHYSICSENVIRONMENT
+#define PARALLELPHYSICSENVIRONMENT
+
+#include "CcdPhysicsEnvironment.h"
+class ParallelIslandDispatcher;
+
+
+/// ParallelPhysicsEnvironment is experimental parallel mainloop for physics simulation
+/// Physics Environment takes care of stepping the simulation and is a container for physics entities.
+/// It stores rigidbodies,constraints, materials etc.
+/// A derived class may be able to 'construct' entities by loading and/or converting
+class ParallelPhysicsEnvironment : public CcdPhysicsEnvironment
+{
+	
+
+	public:
+		ParallelPhysicsEnvironment(ParallelIslandDispatcher* dispatcher=0, OverlappingPairCache* pairCache=0);
+
+		virtual		~ParallelPhysicsEnvironment();
+
+		
+		/// Perform an integration step of duration 'timeStep'.
+		bool						proceedDeltaTimeOneStep(float timeStep);
+
+};
+
+#endif //PARALLELPHYSICSENVIRONMENT

msvc/8/libbulletccdphysics.vcproj

@@ -1,15 +1,17 @@
-<?xml version="1.0" encoding = "Windows-1252"?>
+<?xml version="1.0" encoding="Windows-1252"?>
 <VisualStudioProject
 	ProjectType="Visual C++"
 	Version="8.00"
 	Name="libbulletccdphysics"
 	ProjectGUID="{C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E}"
-	SccProjectName=""
+	>
-	SccLocalPath="">
 	<Platforms>
 		<Platform
-			Name="Win32"/>
+			Name="Win32"
+		/>
 	</Platforms>
+	<ToolFiles>
+	</ToolFiles>
 	<Configurations>
 		<Configuration
 			Name="Release|Win32"
@@ -17,73 +19,82 @@
 			IntermediateDirectory="..\..\out\release8\build\libbulletccdphysics\"
 			ConfigurationType="4"
 			UseOfMFC="0"
-			ATLMinimizesCRunTimeLibraryUsage="FALSE">
+			ATLMinimizesCRunTimeLibraryUsage="false"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+				PreprocessorDefinitions="NDEBUG;_LIB;_WINDOWS"
+				MkTypLibCompatible="true"
+				SuppressStartupBanner="true"
+				TargetEnvironment="1"
+				TypeLibraryName="..\..\out\release8\build\libbulletccdphysics\libbulletccdphysics.tlb"
+			/>
 			<Tool
 				Name="VCCLCompilerTool"
-				Optimization="2"
-				StringPooling="TRUE"
-				EnableFunctionLevelLinking="TRUE"
-				RuntimeLibrary="0"
-				DebugInformationFormat="3"
-				BufferSecurityCheck="FALSE"
-				PreprocessorDefinitions="NDEBUG;_LIB;_WINDOWS;WIN32"
-				OptimizeForProcessor="1"
-				ExceptionHandling="0"
 				AdditionalOptions=" "
+				Optimization="2"
 				AdditionalIncludeDirectories=".;..\..;..\..\Bullet;..\..\BulletDynamics;..\..\LinearMath;..\..\Extras\PhysicsInterface\Common"
+				PreprocessorDefinitions="NDEBUG;_LIB;_WINDOWS;WIN32"
+				StringPooling="true"
+				ExceptionHandling="0"
+				RuntimeLibrary="0"
+				BufferSecurityCheck="false"
+				EnableFunctionLevelLinking="true"
+				TreatWChar_tAsBuiltInType="false"
 				PrecompiledHeaderFile="..\..\out\release8\build\libbulletccdphysics\libbulletccdphysics.pch"
 				AssemblerListingLocation="..\..\out\release8\build\libbulletccdphysics\"
 				ObjectFile="..\..\out\release8\build\libbulletccdphysics\"
 				ProgramDataBaseFileName="..\..\out\release8\build\libbulletccdphysics\bulletccdphysics.pdb"
 				WarningLevel="3"
-				SuppressStartupBanner="TRUE"
+				SuppressStartupBanner="true"
-				Detect64BitPortabilityProblems="TRUE"
+				Detect64BitPortabilityProblems="true"
-				TreatWChar_tAsBuiltInType="false"
+				DebugInformationFormat="3"
-				CompileAs="0"/>
+				CompileAs="0"
+			/>
 			<Tool
-				Name="VCCustomBuildTool"/>
+				Name="VCManagedResourceCompilerTool"
-			<Tool
+			/>
-				Name="VCLinkerTool"
-				LinkIncremental="1"
-				OptimizeReferences="2"
-				EnableCOMDATFolding="2"
-				GenerateDebugInformation="TRUE"
-				IgnoreDefaultLibraryNames="LIBC,LIBCD"
-				AdditionalOptions=" "
-				AdditionalDependencies=""
-				IgnoreImportLibrary="TRUE"
-				SuppressStartupBanner="TRUE"
-				GenerateManifest="false"
-				AdditionalLibraryDirectories=""
-				ProgramDatabaseFile="..\..\out\release8\build\libbulletccdphysics\bulletccdphysics.pdb"
-				TargetMachine="1"/>
-			<Tool
-				Name="VCLibrarianTool"
-				OutputFile="..\..\out\release8\libs\libbulletccdphysics.lib"
-				SuppressStartupBanner="TRUE"/>
-			<Tool
-				Name="VCMIDLTool"
-				PreprocessorDefinitions="NDEBUG;_LIB;_WINDOWS"
-				MkTypLibCompatible="TRUE"
-				SuppressStartupBanner="TRUE"
-				TargetEnvironment="1"
-				TypeLibraryName="..\..\out\release8\build\libbulletccdphysics\libbulletccdphysics.tlb"/>
-			<Tool
-				Name="VCPostBuildEventTool"
-				/>
-			<Tool
-				Name="VCPreBuildEventTool"/>
-			<Tool
-				Name="VCPreLinkEventTool"/>
 			<Tool
 				Name="VCResourceCompilerTool"
 				PreprocessorDefinitions="NDEBUG;_LIB;_WINDOWS;PROJECTGEN_VERSION=8"
+				Culture="1033"
 				AdditionalIncludeDirectories=".;..\..;..\..\Bullet;..\..\BulletDynamics;..\..\LinearMath;..\..\Extras\PhysicsInterface\Common"
-				Culture="1033"/>
+			/>
 			<Tool
-				Name="VCWebServiceProxyGeneratorTool"/>
+				Name="VCPreLinkEventTool"
+			/>
 			<Tool
-				Name="VCWebDeploymentTool"/>
+				Name="VCLibrarianTool"
+				OutputFile="..\..\out\release8\libs\libbulletccdphysics.lib"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
 		</Configuration>
 		<Configuration
 			Name="Debug|Win32"
@@ -91,93 +102,126 @@
 			IntermediateDirectory="..\..\out\debug8\build\libbulletccdphysics\"
 			ConfigurationType="4"
 			UseOfMFC="0"
-			ATLMinimizesCRunTimeLibraryUsage="FALSE">
+			ATLMinimizesCRunTimeLibraryUsage="false"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+				PreprocessorDefinitions="_DEBUG;_LIB;_WINDOWS"
+				MkTypLibCompatible="true"
+				SuppressStartupBanner="true"
+				TargetEnvironment="1"
+				TypeLibraryName="..\..\out\debug8\build\libbulletccdphysics\libbulletccdphysics.tlb"
+			/>
 			<Tool
 				Name="VCCLCompilerTool"
-				Optimization="0"
-				MinimalRebuild="TRUE"
-				DebugInformationFormat="4"
-				RuntimeTypeInfo="FALSE"
-				RuntimeLibrary="1"
-				PreprocessorDefinitions="_DEBUG;_LIB;_WINDOWS;WIN32"
-				OptimizeForProcessor="1"
-				ExceptionHandling="0"
 				AdditionalOptions=" "
+				Optimization="0"
 				AdditionalIncludeDirectories=".;..\..;..\..\Bullet;..\..\BulletDynamics;..\..\LinearMath;..\..\Extras\PhysicsInterface\Common"
+				PreprocessorDefinitions="_DEBUG;_LIB;_WINDOWS;WIN32"
+				MinimalRebuild="true"
+				ExceptionHandling="0"
+				RuntimeLibrary="1"
+				TreatWChar_tAsBuiltInType="false"
+				RuntimeTypeInfo="false"
 				PrecompiledHeaderFile="..\..\out\debug8\build\libbulletccdphysics\libbulletccdphysics.pch"
 				AssemblerListingLocation="..\..\out\debug8\build\libbulletccdphysics\"
 				ObjectFile="..\..\out\debug8\build\libbulletccdphysics\"
 				ProgramDataBaseFileName="..\..\out\debug8\build\libbulletccdphysics\bulletccdphysics.pdb"
 				WarningLevel="3"
-				SuppressStartupBanner="TRUE"
+				SuppressStartupBanner="true"
-				Detect64BitPortabilityProblems="TRUE"
+				Detect64BitPortabilityProblems="true"
-				TreatWChar_tAsBuiltInType="false"
+				DebugInformationFormat="4"
-				CompileAs="0"/>
+				CompileAs="0"
+			/>
 			<Tool
-				Name="VCCustomBuildTool"/>
+				Name="VCManagedResourceCompilerTool"
-			<Tool
+			/>
-				Name="VCLinkerTool"
-				LinkIncremental="2"
-				GenerateDebugInformation="TRUE"
-				IgnoreDefaultLibraryNames="LIBC,LIBCD"
-				AdditionalOptions=" "
-				AdditionalDependencies=""
-				IgnoreImportLibrary="TRUE"
-				SuppressStartupBanner="TRUE"
-				GenerateManifest="false"
-				AdditionalLibraryDirectories=""
-				ProgramDatabaseFile="..\..\out\debug8\build\libbulletccdphysics\bulletccdphysics.pdb"
-				TargetMachine="1"/>
-			<Tool
-				Name="VCLibrarianTool"
-				OutputFile="..\..\out\debug8\libs\libbulletccdphysics_d.lib"
-				SuppressStartupBanner="TRUE"/>
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-				Name="VCMIDLTool"
-				PreprocessorDefinitions="_DEBUG;_LIB;_WINDOWS"
-				MkTypLibCompatible="TRUE"
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-				TypeLibraryName="..\..\out\debug8\build\libbulletccdphysics\libbulletccdphysics.tlb"/>
-			<Tool
-				Name="VCPostBuildEventTool"
-				/>
-			<Tool
-				Name="VCPreBuildEventTool"/>
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-				Name="VCPreLinkEventTool"/>
 			<Tool
 				Name="VCResourceCompilerTool"
 				PreprocessorDefinitions="_DEBUG;_LIB;_WINDOWS;PROJECTGEN_VERSION=8"
+				Culture="1033"
 				AdditionalIncludeDirectories=".;..\..;..\..\Bullet;..\..\BulletDynamics;..\..\LinearMath;..\..\Extras\PhysicsInterface\Common"
-				Culture="1033"/>
+			/>
 			<Tool
-				Name="VCWebServiceProxyGeneratorTool"/>
+				Name="VCPreLinkEventTool"
+			/>
 			<Tool
-				Name="VCWebDeploymentTool"/>
+				Name="VCLibrarianTool"
+				OutputFile="..\..\out\debug8\libs\libbulletccdphysics_d.lib"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
 		</Configuration>
 	</Configurations>
+	<References>
+	</References>
 	<Files>
 		<Filter
 			Name="Source Files"
-			Filter="">
+			>
 			<File
-				RelativePath="..\..\Extras\PhysicsInterface\CcdPhysics\CcdPhysicsController.cpp">
+				RelativePath="..\..\Extras\PhysicsInterface\CcdPhysics\CcdPhysicsController.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Extras\PhysicsInterface\CcdPhysics\CcdPhysicsEnvironment.cpp">
+				RelativePath="..\..\Extras\PhysicsInterface\CcdPhysics\CcdPhysicsEnvironment.cpp"
+				>
 			</File>
 		</Filter>
 		<Filter
 			Name="Header Files"
-			Filter="">
+			>
 			<File
-				RelativePath="..\..\Extras\PhysicsInterface\CcdPhysics\CcdPhysicsController.h">
+				RelativePath="..\..\Extras\PhysicsInterface\CcdPhysics\CcdPhysicsController.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Extras\PhysicsInterface\CcdPhysics\CcdPhysicsEnvironment.h">
+				RelativePath="..\..\Extras\PhysicsInterface\CcdPhysics\CcdPhysicsEnvironment.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\Extras\PhysicsInterface\CcdPhysics\ParallelIslandDispatcher.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\Extras\PhysicsInterface\CcdPhysics\ParallelIslandDispatcher.h"
+				>
 			</File>
 		</Filter>
+		<File
+			RelativePath="..\..\Extras\PhysicsInterface\CcdPhysics\ParallelPhysicsEnvironment.cpp"
+			>
+		</File>
+		<File
+			RelativePath="..\..\Extras\PhysicsInterface\CcdPhysics\ParallelPhysicsEnvironment.h"
+			>
+		</File>
 	</Files>
 	<Globals>
 	</Globals>

msvc/8/libbulletdynamics.vcproj

@@ -1,15 +1,17 @@
-<?xml version="1.0" encoding = "Windows-1252"?>
+<?xml version="1.0" encoding="Windows-1252"?>
 <VisualStudioProject
 	ProjectType="Visual C++"
 	Version="8.00"
 	Name="libbulletdynamics"
 	ProjectGUID="{61BD1097-CF2E-B296-DAA9-73A6FE135319}"
-	SccProjectName=""
+	>
-	SccLocalPath="">
 	<Platforms>
 		<Platform
-			Name="Win32"/>
+			Name="Win32"
+		/>
 	</Platforms>
+	<ToolFiles>
+	</ToolFiles>
 	<Configurations>
 		<Configuration
 			Name="Release|Win32"
@@ -17,73 +19,82 @@
 			IntermediateDirectory="..\..\out\release8\build\libbulletdynamics\"
 			ConfigurationType="4"
 			UseOfMFC="0"
-			ATLMinimizesCRunTimeLibraryUsage="FALSE">
+			ATLMinimizesCRunTimeLibraryUsage="false"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+				PreprocessorDefinitions="NDEBUG;_LIB;_WINDOWS"
+				MkTypLibCompatible="true"
+				SuppressStartupBanner="true"
+				TargetEnvironment="1"
+				TypeLibraryName="..\..\out\release8\build\libbulletdynamics\libbulletdynamics.tlb"
+			/>
 			<Tool
 				Name="VCCLCompilerTool"
-				Optimization="2"
-				StringPooling="TRUE"
-				EnableFunctionLevelLinking="TRUE"
-				RuntimeLibrary="0"
-				DebugInformationFormat="3"
-				BufferSecurityCheck="FALSE"
-				PreprocessorDefinitions="NDEBUG;_LIB;_WINDOWS;WIN32"
-				OptimizeForProcessor="1"
-				ExceptionHandling="0"
 				AdditionalOptions=" "
+				Optimization="2"
 				AdditionalIncludeDirectories=".;..\..;..\..\Bullet;..\..\BulletDynamics;..\..\LinearMath"
+				PreprocessorDefinitions="NDEBUG;_LIB;_WINDOWS;WIN32"
+				StringPooling="true"
+				ExceptionHandling="0"
+				RuntimeLibrary="0"
+				BufferSecurityCheck="false"
+				EnableFunctionLevelLinking="true"
+				TreatWChar_tAsBuiltInType="false"
 				PrecompiledHeaderFile="..\..\out\release8\build\libbulletdynamics\libbulletdynamics.pch"
 				AssemblerListingLocation="..\..\out\release8\build\libbulletdynamics\"
 				ObjectFile="..\..\out\release8\build\libbulletdynamics\"
 				ProgramDataBaseFileName="..\..\out\release8\build\libbulletdynamics\bulletdynamics.pdb"
 				WarningLevel="3"
-				SuppressStartupBanner="TRUE"
+				SuppressStartupBanner="true"
-				Detect64BitPortabilityProblems="TRUE"
+				Detect64BitPortabilityProblems="true"
-				TreatWChar_tAsBuiltInType="false"
+				DebugInformationFormat="3"
-				CompileAs="0"/>
+				CompileAs="0"
+			/>
 			<Tool
-				Name="VCCustomBuildTool"/>
+				Name="VCManagedResourceCompilerTool"
-			<Tool
+			/>
-				Name="VCLinkerTool"
-				LinkIncremental="1"
-				OptimizeReferences="2"
-				EnableCOMDATFolding="2"
-				GenerateDebugInformation="TRUE"
-				IgnoreDefaultLibraryNames="LIBC,LIBCD"
-				AdditionalOptions=" "
-				AdditionalDependencies=""
-				IgnoreImportLibrary="TRUE"
-				SuppressStartupBanner="TRUE"
-				GenerateManifest="false"
-				AdditionalLibraryDirectories=""
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-				TargetMachine="1"/>
-			<Tool
-				Name="VCLibrarianTool"
-				OutputFile="..\..\out\release8\libs\libbulletdynamics.lib"
-				SuppressStartupBanner="TRUE"/>
-			<Tool
-				Name="VCMIDLTool"
-				PreprocessorDefinitions="NDEBUG;_LIB;_WINDOWS"
-				MkTypLibCompatible="TRUE"
-				SuppressStartupBanner="TRUE"
-				TargetEnvironment="1"
-				TypeLibraryName="..\..\out\release8\build\libbulletdynamics\libbulletdynamics.tlb"/>
-			<Tool
-				Name="VCPostBuildEventTool"
-				/>
-			<Tool
-				Name="VCPreBuildEventTool"/>
-			<Tool
-				Name="VCPreLinkEventTool"/>
 			<Tool
 				Name="VCResourceCompilerTool"
 				PreprocessorDefinitions="NDEBUG;_LIB;_WINDOWS;PROJECTGEN_VERSION=8"
+				Culture="1033"
 				AdditionalIncludeDirectories=".;..\..;..\..\Bullet;..\..\BulletDynamics;..\..\LinearMath"
-				Culture="1033"/>
+			/>
 			<Tool
-				Name="VCWebServiceProxyGeneratorTool"/>
+				Name="VCPreLinkEventTool"
+			/>
 			<Tool
-				Name="VCWebDeploymentTool"/>
+				Name="VCLibrarianTool"
+				OutputFile="..\..\out\release8\libs\libbulletdynamics.lib"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
 		</Configuration>
 		<Configuration
 			Name="Debug|Win32"
@@ -91,151 +102,188 @@
 			IntermediateDirectory="..\..\out\debug8\build\libbulletdynamics\"
 			ConfigurationType="4"
 			UseOfMFC="0"
-			ATLMinimizesCRunTimeLibraryUsage="FALSE">
+			ATLMinimizesCRunTimeLibraryUsage="false"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+				PreprocessorDefinitions="_DEBUG;_LIB;_WINDOWS"
+				MkTypLibCompatible="true"
+				SuppressStartupBanner="true"
+				TargetEnvironment="1"
+				TypeLibraryName="..\..\out\debug8\build\libbulletdynamics\libbulletdynamics.tlb"
+			/>
 			<Tool
 				Name="VCCLCompilerTool"
-				Optimization="0"
-				MinimalRebuild="TRUE"
-				DebugInformationFormat="4"
-				RuntimeTypeInfo="FALSE"
-				RuntimeLibrary="1"
-				PreprocessorDefinitions="_DEBUG;_LIB;_WINDOWS;WIN32"
-				OptimizeForProcessor="1"
-				ExceptionHandling="0"
 				AdditionalOptions=" "
+				Optimization="0"
 				AdditionalIncludeDirectories=".;..\..;..\..\Bullet;..\..\BulletDynamics;..\..\LinearMath"
+				PreprocessorDefinitions="_DEBUG;_LIB;_WINDOWS;WIN32"
+				MinimalRebuild="true"
+				ExceptionHandling="0"
+				RuntimeLibrary="1"
+				TreatWChar_tAsBuiltInType="false"
+				RuntimeTypeInfo="false"
 				PrecompiledHeaderFile="..\..\out\debug8\build\libbulletdynamics\libbulletdynamics.pch"
 				AssemblerListingLocation="..\..\out\debug8\build\libbulletdynamics\"
 				ObjectFile="..\..\out\debug8\build\libbulletdynamics\"
 				ProgramDataBaseFileName="..\..\out\debug8\build\libbulletdynamics\bulletdynamics.pdb"
 				WarningLevel="3"
-				SuppressStartupBanner="TRUE"
+				SuppressStartupBanner="true"
-				Detect64BitPortabilityProblems="TRUE"
+				Detect64BitPortabilityProblems="true"
-				TreatWChar_tAsBuiltInType="false"
+				DebugInformationFormat="4"
-				CompileAs="0"/>
+				CompileAs="0"
+			/>
 			<Tool
-				Name="VCCustomBuildTool"/>
+				Name="VCManagedResourceCompilerTool"
-			<Tool
+			/>
-				Name="VCLinkerTool"
-				LinkIncremental="2"
-				GenerateDebugInformation="TRUE"
-				IgnoreDefaultLibraryNames="LIBC,LIBCD"
-				AdditionalOptions=" "
-				AdditionalDependencies=""
-				IgnoreImportLibrary="TRUE"
-				SuppressStartupBanner="TRUE"
-				GenerateManifest="false"
-				AdditionalLibraryDirectories=""
-				ProgramDatabaseFile="..\..\out\debug8\build\libbulletdynamics\bulletdynamics.pdb"
-				TargetMachine="1"/>
-			<Tool
-				Name="VCLibrarianTool"
-				OutputFile="..\..\out\debug8\libs\libbulletdynamics_d.lib"
-				SuppressStartupBanner="TRUE"/>
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-				MkTypLibCompatible="TRUE"
-				SuppressStartupBanner="TRUE"
-				TargetEnvironment="1"
-				TypeLibraryName="..\..\out\debug8\build\libbulletdynamics\libbulletdynamics.tlb"/>
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-			<Tool
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-				Name="VCPreLinkEventTool"/>
 			<Tool
 				Name="VCResourceCompilerTool"
 				PreprocessorDefinitions="_DEBUG;_LIB;_WINDOWS;PROJECTGEN_VERSION=8"
+				Culture="1033"
 				AdditionalIncludeDirectories=".;..\..;..\..\Bullet;..\..\BulletDynamics;..\..\LinearMath"
-				Culture="1033"/>
+			/>
 			<Tool
-				Name="VCWebServiceProxyGeneratorTool"/>
+				Name="VCPreLinkEventTool"
+			/>
 			<Tool
-				Name="VCWebDeploymentTool"/>
+				Name="VCLibrarianTool"
+				OutputFile="..\..\out\debug8\libs\libbulletdynamics_d.lib"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
 		</Configuration>
 	</Configurations>
+	<References>
+	</References>
 	<Files>
 		<Filter
 			Name="Source Files"
-			Filter="">
+			>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\ContactConstraint.cpp">
+				RelativePath="..\..\BulletDynamics\Dynamics\BU_Joint.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\Generic6DofConstraint.cpp">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\ContactConstraint.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\HingeConstraint.cpp">
+				RelativePath="..\..\BulletDynamics\Dynamics\ContactJoint.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\Point2PointConstraint.cpp">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\Generic6DofConstraint.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\SequentialImpulseConstraintSolver.cpp">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\HingeConstraint.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\Solve2LinearConstraint.cpp">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\Point2PointConstraint.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\TypedConstraint.cpp">
+				RelativePath="..\..\BulletDynamics\Dynamics\RigidBody.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\Dynamics\BU_Joint.cpp">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\SequentialImpulseConstraintSolver.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\Dynamics\ContactJoint.cpp">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\Solve2LinearConstraint.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\Dynamics\RigidBody.cpp">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\TypedConstraint.cpp"
+				>
 			</File>
 		</Filter>
 		<Filter
 			Name="Header Files"
-			Filter="">
+			>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\ConstraintSolver.h">
+				RelativePath="..\..\BulletDynamics\Dynamics\BU_Joint.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\ContactConstraint.h">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\ConstraintSolver.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\ContactSolverInfo.h">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\ContactConstraint.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\Generic6DofConstraint.h">
+				RelativePath="..\..\BulletDynamics\Dynamics\ContactJoint.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\HingeConstraint.h">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\ContactSolverInfo.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\JacobianEntry.h">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\Generic6DofConstraint.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\Point2PointConstraint.h">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\HingeConstraint.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\SequentialImpulseConstraintSolver.h">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\JacobianEntry.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\Solve2LinearConstraint.h">
+				RelativePath="..\..\BulletDynamics\Dynamics\MassProps.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\TypedConstraint.h">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\Point2PointConstraint.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\Dynamics\BU_Joint.h">
+				RelativePath="..\..\BulletDynamics\Dynamics\RigidBody.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\Dynamics\ContactJoint.h">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\SequentialImpulseConstraintSolver.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\Dynamics\MassProps.h">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\Solve2LinearConstraint.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\Dynamics\RigidBody.h">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\TypedConstraint.h"
+				>
 			</File>
 		</Filter>
 	</Files>