Apple contribution for OSX SSE and iOS NEON optimizations unit tests, thanks to Jordan Hubbard, Ian Ollmann and Hristo Hristov.

For OSX:
cd build
./premake_osx xcode4
for iOS:
cd build
./ios_build.sh
./ios_run.sh

Also integrated the branches/StackAllocation to make it easier to multi-thread collision detection in the near future. It avoids changing the btCollisionObject while performing collision detection.

As this is a large patch, some stuff might be temporarily broken, I'll keep an eye out on issues.

build/Info.plist

@@ -0,0 +1,42 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>CFBundleDevelopmentRegion</key>
+	<string>en</string>
+	<key>CFBundleDisplayName</key>
+	<string>${PRODUCT_NAME}</string>
+	<key>CFBundleExecutable</key>
+	<string>${EXECUTABLE_NAME}</string>
+	<key>CFBundleIcons</key>
+	<dict>
+		<key>CFBundlePrimaryIcon</key>
+		<dict>
+			<key>CFBundleIconFiles</key>
+			<array>
+				<string>icon.png</string>
+			</array>
+		</dict>
+	</dict>
+	<key>CFBundleIdentifier</key>
+	<string>com.yourcompany.${PRODUCT_NAME:identifier}</string>
+	<key>CFBundleInfoDictionaryVersion</key>
+	<string>6.0</string>
+	<key>CFBundleName</key>
+	<string>${PRODUCT_NAME}</string>
+	<key>CFBundlePackageType</key>
+	<string>APPL</string>
+	<key>CFBundleSignature</key>
+	<string>????</string>
+	<key>CFBundleVersion</key>
+	<string>1.5</string>
+	<key>LSRequiresIPhoneOS</key>
+	<true/>
+	<key>UIStatusBarHidden</key>
+	<true/>
+	<key>UISupportedInterfaceOrientations</key>
+	<array>
+		<string>UIInterfaceOrientationPortraitUpsideDown</string>
+	</array>
+</dict>
+</plist>

build/autoexp_dat.txt

@@ -0,0 +1,66 @@
+
+;------------------------------------------------------------------------------
+; Microsoft Visual Studio Debug Visualization for Bullet btVector3 and btAlignedObjectArray
+;
+; Copy and paste the contents of this file to the end of autoexp.dat, usually located at
+; C:\Program Files\Microsoft Visual Studio 8\Common7\Packages\Debugger\autoexp.dat
+;------------------------------------------------------------------------------
+
+
+[Visualizer]
+;------------------------------------------------------------------------------
+;  btVector3
+;------------------------------------------------------------------------------
+btVector3{
+	children
+	(
+	    #array
+	    (
+			expr :	($c.m_floats)[$i],  
+			size :	4
+		)
+	)
+	
+    preview
+    ( 
+        #( 
+			"[", 
+            #array
+            (
+				expr :	($c.m_floats)[$i],  
+				size :	4
+			), 
+			"]"
+		)
+	)
+}
+	
+;------------------------------------------------------------------------------
+;  btAlignedObjectArray
+;------------------------------------------------------------------------------
+btAlignedObjectArray<*>{
+	children
+	(
+	    #array
+	    (
+			expr :	($c.m_data)[$i],  
+			size :	$c.m_size
+		)
+	)
+	
+    preview
+    ( 
+        #( 
+			"[", 
+            $c.m_size ,
+            "](", 
+            
+            #array
+            (
+				expr : 	($c.m_data)[$i],  
+				size : 	$c.m_size
+			), 
+			")"
+		)
+	)
+}

build/bullet.rc

@@ -0,0 +1,29 @@
+// This file is generated automatically.
+
+1 VERSIONINFO
+FILEVERSION 2, 79, 0, 0
+PRODUCTVERSION 2, 79, 0, 0
+#ifdef CS_DEBUG
+FILEFLAGS 0x1
+#else
+FILEFLAGS 0x0
+#endif
+{
+  BLOCK "StringFileInfo"
+  {
+    BLOCK "040904E4"
+    {
+      VALUE "ProductName", "Bullet Continuous Collision Detection and Physics Library"
+      VALUE "ProductVersion", "2.79"
+      VALUE "FileVersion", "2.79"
+      VALUE "LegalCopyright", "Copyright (c) 2005-2011  Erwin Coumans"
+#ifdef CS_DEBUG
+      VALUE "Comments", "Debug build"
+#else
+      VALUE "Comments", "Release build"
+#endif
+      VALUE "WWW", "http://www.bulletphysics.org"
+    }
+  }
+}
+1 ICON "bullet_ico.ico"

build/findDirectX11.lua

@@ -0,0 +1,36 @@
+function findDirectX11()
+		local dx11path = os.getenv("DXSDK_DIR")
+		if (dx11path) then
+			local filepath = string.format("%s%s",dx11path,"Include/D3D11.h")
+			headerdx11 = io.open(filepath, "r")
+			if (headerdx11) then
+				 printf("Found DX11: '%s'", filepath)
+				return true
+			end
+		end
+		return false
+	end
+
+function initDirectX11()
+	configuration {}
+	
+	local dx11path = os.getenv("DXSDK_DIR")
+			defines { "ADL_ENABLE_DX11"}
+			includedirs {"$(DXSDK_DIR)/include"}
+	
+		configuration "x32"
+			libdirs {"$(DXSDK_DIR)/Lib/x86"}
+		configuration "x64"
+			libdirs {"$(DXSDK_DIR)/Lib/x64"}
+		configuration {}
+		links {"d3dcompiler",
+					"dxerr",
+					"dxguid",
+					"d3dx9",
+					"d3d9",
+					"winmm",
+					"comctl32",
+					"d3dx11"
+		}
+		return true
+end

build/findOpenCL.lua

@@ -0,0 +1,84 @@
+	-- todo: add Apple OpenCL environment vars
+
+	function findOpenCL_AMD()
+		local amdopenclpath = os.getenv("AMDAPPSDKROOT")
+		if (amdopenclpath) then
+			return true
+		end
+		return false
+	end
+
+	function findOpenCL_NVIDIA()
+		local nvidiaopenclpath = os.getenv("CUDA_PATH")
+		if (nvidiaopenclpath) then
+			return true
+		end
+		return false
+	end
+
+	function findOpenCL_Intel()
+		local intelopenclpath = os.getenv("INTELOCLSDKROOT")
+		if (intelopenclpath) then
+			return true
+		end
+		return false
+	end
+			
+	function initOpenCL_AMD()
+		configuration {}
+		local amdopenclpath = os.getenv("AMDAPPSDKROOT")
+		if (amdopenclpath) then
+			defines { "ADL_ENABLE_CL" , "CL_PLATFORM_AMD"}
+			includedirs {
+				"$(AMDAPPSDKROOT)/include"				
+			}
+			configuration "x32"
+				libdirs {"$(AMDAPPSDKROOT)/lib/x86"}
+			configuration "x64"
+				libdirs {"$(AMDAPPSDKROOT)/lib/x86_64"}
+			configuration {}
+			links {"OpenCL"}
+			return true
+		end
+		return false
+	end
+
+
+	function initOpenCL_NVIDIA()
+		configuration {}
+		local nvidiaopenclpath = os.getenv("CUDA_PATH")
+		if (nvidiaopenclpath) then
+			defines { "ADL_ENABLE_CL" , "CL_PLATFORM_NVIDIA"}
+			includedirs {
+				"$(CUDA_PATH)/include"				
+			}
+			configuration "x32"
+				libdirs {"$(CUDA_PATH)/lib/Win32"}
+			configuration "x64"
+				libdirs {"$(CUDA_PATH)/lib/x64"}
+			configuration {}
+			links {"OpenCL"}
+			return true
+		end
+		return false
+	end
+
+	function initOpenCL_Intel()
+		configuration {}
+		local intelopenclpath = os.getenv("INTELOCLSDKROOT")
+		if (intelopenclpath) then
+			defines { "ADL_ENABLE_CL" , "CL_PLATFORM_INTEL"}
+			includedirs {
+				"$(INTELOCLSDKROOT)/include"				
+			}
+			configuration "x32"
+				libdirs {"$(INTELOCLSDKROOT)/lib/x86"}
+			configuration "x64"
+				libdirs {"$(INTELOCLSDKROOT)/lib/x64"}
+			configuration {}
+			links {"OpenCL"}
+			return true
+		end
+		return false
+	end
+	

build/ios_build.sh

@@ -0,0 +1,3 @@
+#!/bin/sh
+./premake4_osx --ios xcode4
+xcodebuild -project xcode4ios/AppUnitTest.xcodeproj -configuration Release -arch armv7

build/ios_run.sh

@@ -0,0 +1,2 @@
+#!/bin/sh
+./fruitstrap_osx -d -n -b ../Test/bin/AppUnitTestx32ios.app

build/premake4.lua

@@ -0,0 +1,182 @@
+--add the 0 so the solution comes first in the directory (when sorted on name)
+--print "uncomment this hello premake4 world for debugging the script"
+
+solution "0BulletSolution"
+
+	 newoption {
+    trigger     = "ios",
+    description = "Enable iOS target (requires xcode4)"
+  }
+  
+	newoption {
+		trigger = "with-demos",
+	  description = "Enable demos and extras"	
+	}
+
+	newoption {
+    trigger     = "with-nacl",
+    description = "Enable Native Client build"
+  }
+  
+  newoption {
+    trigger     = "with-dx11",
+    description = "Enable DirectX11 build"
+  }
+  
+   newoption {
+    trigger     = "with-opencl",
+    description = "Enable OpenCL builds (various SDKs)"
+  }
+
+   newoption {
+    trigger     = "with-opencl-amd",
+    description = "Enable OpenCL builds (AMD SDK)"
+  }
+
+   newoption {
+    trigger     = "with-opencl-intel",
+    description = "Enable OpenCL builds (Intel SDK)"
+  }
+   newoption {
+    trigger     = "with-opencl-nvidia",
+    description = "Enable OpenCL builds (NVIDIA SDK)"
+  }
+
+  
+	configurations {"Release", "Debug"}
+	configuration "Release"
+		flags { "Optimize", "StaticRuntime", "NoMinimalRebuild", "FloatFast"}
+	configuration "Debug"
+		flags { "Symbols", "StaticRuntime" , "NoMinimalRebuild", "NoEditAndContinue" ,"FloatFast"}
+		
+	--platforms {"x32", "x64"}
+	platforms {"x32"}
+
+  configuration {"Windows"}
+  	defines { "_CRT_SECURE_NO_WARNINGS","_CRT_SECURE_NO_DEPRECATE"}
+  
+	configuration{}
+
+	postfix="";
+
+	if _ACTION == "xcode4" then
+		if _OPTIONS["ios"] then
+			postfix = "ios";
+			defines {"ARM_NEON_GCC_COMPATIBILITY"}
+			xcodebuildsettings
+			{
+				'INFOPLIST_FILE = "../../Test/Info.plist"',
+				'CODE_SIGN_IDENTITY = "iPhone Developer"',
+				"SDKROOT = iphoneos",
+				'ARCHS = "armv7"',
+				'TARGETED_DEVICE_FAMILY = "1,2"',
+				'VALID_ARCHS = "armv7"',
+			}	
+			else
+			xcodebuildsettings
+			{
+				'ARCHS = "$(ARCHS_STANDARD_32_BIT) $(ARCHS_STANDARD_64_BIT)"',
+				'VALID_ARCHS = "x86_64 i386"',
+			}
+		end
+	else
+	
+	end
+
+	configuration "x32"
+		targetsuffix ("x32" .. postfix)
+	configuration "x64"
+          targetsuffix ("x64" .. postfix)
+  configuration {"x64", "debug"}
+          targetsuffix ("x64Debug" .. postfix)
+  configuration {"x64", "release"}
+          targetsuffix ("x64" .. postfix)
+  configuration {"x32", "debug"}
+          targetsuffix ("Debug" .. postfix)                
+
+	configuration{}
+
+
+
+if not _OPTIONS["with-nacl"] then
+
+	flags { "NoRTTI"}
+	targetdir "../bin"
+
+	-- Disable exception handling on MSVC 2008 and higher. MSVC 2005 without service pack has some linker issue (ConvexDecompositionDemo uses STL through HACD library)	
+	if _ACTION == "vs2010" or _ACTION=="vs2008" then
+		flags { "NoExceptions"}
+		defines { "_HAS_EXCEPTIONS=0" }
+	end
+
+	-- Multithreaded compiling
+	if _ACTION == "vs2010" then
+		buildoptions { "/MP"  }
+	end 
+
+
+else
+	targetdir "../bin_html"
+end
+
+
+	dofile ("findOpenCL.lua")
+	dofile ("findDirectX11.lua")
+	
+	language "C++"
+	
+	location("./" .. _ACTION .. postfix)
+
+	
+	if _OPTIONS["with-dx11"] then
+		include "../Demos/DX11ClothDemo"
+		include "../src/BulletMultiThreaded/GpuSoftBodySolvers/DX11"
+	end
+
+--choose any OpenCL sdk that is installed on the system
+	if _OPTIONS["with-opencl"] then
+		include "../Demos/OpenCLClothDemo/AMD"
+		include "../src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/AMD"
+		include "../Demos/OpenCLClothDemo/NVidia"
+		include "../src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/NVidia"
+		include "../Demos/OpenCLClothDemo/Intel"
+		include "../src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Intel"
+	end
+
+--choose a particular OpenCL sdk, this is useful for distributing project files that just work for one OpenCL SDK	
+	if _OPTIONS["with-opencl-amd"] then
+		include "../Demos/OpenCLClothDemo/AMD"
+		include "../Demos/OpenGL"
+		include "../Demos/SoftDemo/AMD"
+		include "../src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/AMD"
+	end
+  
+  if _OPTIONS["with-opencl-intel"] then
+		include "../Demos/OpenCLClothDemo/Intel"
+		include "../src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Intel"
+	end
+
+  if _OPTIONS["with-opencl-nvidia"] then
+		include "../Demos/OpenCLClothDemo/NVidia"
+		include "../src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/NVidia"
+	end
+
+	if _OPTIONS["with-demos"] then
+		include "../Demos"
+  	include "../Extras"
+  end
+  
+  
+   if _OPTIONS["with-nacl"] then
+  	include "../Demos/NativeClient"
+  else
+  	include "../src/LinearMath"	
+		include "../src/BulletCollision"	
+		include "../src/BulletDynamics"	
+		include "../src/BulletSoftBody"	
+	end
+	
+	include "../Test"
+	include "../Demos/HelloWorld"
+	include "../Demos/Benchmarks"
+	

build/vs2005.bat

@@ -0,0 +1,4 @@
+
+premake4 vs2005
+
+pause

build/vs2008.bat

@@ -0,0 +1,10 @@
+
+rem premake4 --no-pelibs vs2008
+rem premake4 --no-pedemos vs2008
+rem premake4 --no-bulletlibs --no-pelibs vs2008
+rem premake4 --with-nacl vs2008
+
+premake4 vs2008
+
+
+pause

build/vs2010.bat

@@ -0,0 +1,4 @@
+
+premake4 --with-demos vs2010
+
+pause

build/vs2010_dx11.bat

@@ -0,0 +1,5 @@
+
+premake4 --with-dx11 vs2010
+
+rename vs2010 vs2010_dx11
+pause

build/vs2010_opencl.bat

@@ -0,0 +1,8 @@
+
+
+premake4 --with-opencl-amd vs2010
+
+
+rename vs2010 vs2010_opencl_amd
+
+pause

build/vs_all.bat

@@ -0,0 +1,36 @@
+rem this script is mainly to create distributable visual studio project file
+
+
+premake4 --with-opencl-nvidia vs2008
+rename vs2008 vs2008_opencl_nvidia
+
+premake4 --with-opencl-intel vs2008
+rename vs2008 vs2008_opencl_intel
+
+premake4 --with-opencl-amd vs2008
+rename vs2008 vs2008_opencl_amd
+
+premake4 --with-opencl-nvidia vs2010
+rename vs2010 vs2010_opencl_nvidia
+
+premake4 --with-opencl-intel vs2010
+rename vs2010 vs2010_opencl_intel
+
+premake4 --with-opencl-amd vs2010
+rename vs2010 vs2010_opencl_amd
+
+premake4 --with-dx11 vs2008
+rename vs2008 vs2008_dx11
+
+premake4 --with-dx11 vs2010
+rename vs2010 vs2010_dx11
+
+premake4 --with-dx11 vs2005
+rename vs2005 vs2005_dx11
+
+premake4 vs2005
+premake4 vs2008
+premake4 vs2010
+
+
+pause