use relative path, to make it easier to include btBulletWorldImporter, #include "../BulletFileLoader/btBulletFile.h"

Create a separate library for MiniCL (a rudimentary OpenCL wrapper to run kernels on multi-core CPU using the default C++ compiler, using Win32 Threads or Posix)
tweak vectormath/vmInclude.h for PS3 platforms
fix warning in btKinematicCharacterController

CMakeLists.txt

@@ -31,12 +31,16 @@ ENDIF()
 OPTION(USE_MSVC_RUNTIME_LIBRARY_DLL "Use MSVC Runtime Library DLL (/MD or /MDd)" ON)
 OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF)
 
-IF(WIN32)
-SET (VECTOR_MATH_INCLUDE ${BULLET_PHYSICS_SOURCE_DIR}/src/BulletMultiThreaded/vectormath/sse CACHE PATH "Vector Math library include path.")
-ELSE(WIN32)
-SET (VECTOR_MATH_INCLUDE ${BULLET_PHYSICS_SOURCE_DIR}/src/BulletMultiThreaded/vectormath/scalar CACHE PATH "Vector Math library include path.")
-ENDIF(WIN32)
+OPTION(USE_CUSTOM_VECTOR_MATH "Use custom vectormath library" OFF)
 
+IF (USE_CUSTOM_VECTOR_MATH)
+	ADD_DEFINITIONS(-DUSE_SYSTEM_VECTORMATH)
+	IF(WIN32)
+	SET (VECTOR_MATH_INCLUDE ${BULLET_PHYSICS_SOURCE_DIR}/src/vectormath/sse CACHE PATH "Vector Math library include path.")
+	ELSE(WIN32)
+	SET (VECTOR_MATH_INCLUDE ${BULLET_PHYSICS_SOURCE_DIR}/src/vectormath/scalar CACHE PATH "Vector Math library include path.")
+	ENDIF(WIN32)
+ENDIF(USE_CUSTOM_VECTOR_MATH)
 
 IF (WIN32)
 	FIND_PATH(DIRECTX_SDK_BASE_DIR Include/D3D11.h PATH  $ENV{DXSDK_DIR} )

Demos/ParticlesOpenCL/MiniCL/CMakeLists.txt

@@ -26,6 +26,7 @@ IF (USE_GLUT)
 		OpenGLSupport 
 		BulletDynamics  
 		BulletCollision
+		MiniCL
 		BulletMultiThreaded 
 		LinearMath 
 		${GLUT_glut_LIBRARY} 

Demos/VectorAdd_OpenCL/MiniCL/CMakeLists.txt

@@ -8,7 +8,9 @@ ${BULLET_PHYSICS_SOURCE_DIR}/src
 )
 
 LINK_LIBRARIES(
- BulletMultiThreaded LinearMath 
+	MiniCL
+	BulletMultiThreaded 
+	LinearMath
 )
 
 ADD_EXECUTABLE(AppVectorAdd_Mini

Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp

@@ -1,6 +1,6 @@
 
 #include "btBulletWorldImporter.h"
-#include "btBulletFile.h"
+#include "../BulletFileLoader/btBulletFile.h"
 
 #include "btBulletDynamicsCommon.h"
 #include "BulletCollision/Gimpact/btGImpactShape.h"

src/BulletDynamics/Character/btKinematicCharacterController.cpp

@@ -217,7 +217,7 @@ void btKinematicCharacterController::stepUp ( btCollisionWorld* world)
 {
 	// phase 1: up
 	btTransform start, end;
-	m_targetPosition = m_currentPosition + getUpAxisDirections()[m_upAxis] * (m_stepHeight + (m_verticalOffset > 0.0?m_verticalOffset:0.0));
+	m_targetPosition = m_currentPosition + getUpAxisDirections()[m_upAxis] * (m_stepHeight + (m_verticalOffset > 0.f?m_verticalOffset:0.f));
 
 	start.setIdentity ();
 	end.setIdentity ();
@@ -392,7 +392,7 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld
 	btVector3 gravity_drop = getUpAxisDirections()[m_upAxis] * downVelocity; 
 	m_targetPosition -= (step_drop + gravity_drop);*/
 
-	btScalar downVelocity = (m_verticalVelocity<0.0?-m_verticalVelocity:0.0) * dt;
+	btScalar downVelocity = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt;
 	if(downVelocity > 0.0 && downVelocity < m_stepHeight
 		&& (m_wasOnGround || !m_wasJumping))
 	{

src/BulletMultiThreaded/CMakeLists.txt

@@ -65,16 +65,6 @@ ADD_LIBRARY(BulletMultiThreaded
 		btGpuUtilsSharedCode.h
 		btGpuUtilsSharedDefs.h
 
-#MiniCL provides a small subset of OpenCL
-		MiniCL.cpp
-		MiniCLTaskScheduler.cpp
-		MiniCLTaskScheduler.h
-		MiniCLTask/MiniCLTask.cpp
-		MiniCLTask/MiniCLTask.h
-		../MiniCL/cl.h
-		../MiniCL/cl_gl.h
-		../MiniCL/cl_platform.h
-		../MiniCL/cl_MiniCL_Defs.h
 )
 
 #for now, only Direct 11 (Direct Compute)

src/CMakeLists.txt

@@ -1,4 +1,4 @@
-SUBDIRS( BulletMultiThreaded BulletSoftBody BulletCollision BulletDynamics LinearMath )
+SUBDIRS( MiniCL BulletMultiThreaded BulletSoftBody BulletCollision BulletDynamics LinearMath )
 
 IF(INSTALL_LIBS)
 	#INSTALL of other files requires CMake 2.6

src/MiniCL/CMakeLists.txt

@@ -0,0 +1,40 @@
+#MiniCL provides a small subset of OpenCL
+
+INCLUDE_DIRECTORIES(
+	${BULLET_PHYSICS_SOURCE_DIR}/src
+	${VECTOR_MATH_INCLUDE}
+)
+
+ADD_LIBRARY(MiniCL
+		MiniCL.cpp
+		MiniCLTaskScheduler.cpp
+		MiniCLTaskScheduler.h
+		MiniCLTask/MiniCLTask.cpp
+		MiniCLTask/MiniCLTask.h
+		../MiniCL/cl.h
+		../MiniCL/cl_gl.h
+		../MiniCL/cl_platform.h
+		../MiniCL/cl_MiniCL_Defs.h
+)
+
+
+IF (BUILD_SHARED_LIBS)
+	TARGET_LINK_LIBRARIES(MiniCL BulletMultiThreaded BulletDynamics BulletCollision)
+ENDIF (BUILD_SHARED_LIBS)
+
+IF (INSTALL_LIBS)
+	IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+		#INSTALL of other files requires CMake 2.6
+		IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+			IF(INSTALL_EXTRA_LIBS)
+				IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+					INSTALL(TARGETS MiniCL DESTINATION .)
+				ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+				INSTALL(TARGETS MiniCL DESTINATION lib)
+					INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} DESTINATION include FILES_MATCHING PATTERN "*.h")
+				ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+			ENDIF (INSTALL_EXTRA_LIBS)
+		ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+	ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+ENDIF (INSTALL_LIBS)
+

src/MiniCL/MiniCLTask/MiniCLTask.cpp

@@ -19,7 +19,7 @@ subject to the following restrictions:
 #include "BulletMultiThreaded/SpuFakeDma.h"
 #include "LinearMath/btMinMax.h"
 #include "MiniCLTask.h"
-#include "BulletMultiThreaded/MiniCLTaskScheduler.h"
+#include "MiniCL/MiniCLTaskScheduler.h"
 
 
 #ifdef __SPU__

src/vectormath/vmInclude.h

@@ -4,17 +4,11 @@
 
 #include "LinearMath/btScalar.h"
 
-#if defined (USE_SYSTEM_VECTORMATH)
+#if defined (USE_SYSTEM_VECTORMATH) || defined (__CELLOS_LV2__)
 	#include <vectormath_aos.h>
 #else //(USE_SYSTEM_VECTORMATH)
 	#if defined (BT_USE_SSE) && defined (_WIN32)
 		#include "sse/vectormath_aos.h"
-	#elif defined (__CELLOS_LV2__)
-		#ifdef __SPU__
-			#include "spu/vectormath_aos.h"
-		#else
-			#include "ppu/vectormath_aos.h"
-		#endif //__SPU__
 	#else //all other platforms
 		#include "scalar/vectormath_aos.h"
 	#endif //(BT_USE_SSE) && defined (_WIN32)