From 794c8ec0648cbf93b88e04f318eeb75dc62d38c1 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Thu, 16 Apr 2015 10:17:35 -0700
Subject: [PATCH] add BspDemo.bsp data file add sphere2.urdf move
 btSpatialAlgebra into LinearMath remove some warnings, introduce BT_ZERO,
 BT_ONE, BT_HALF as defines for 0.f/0., 1.f/1., 0.5f/0.5 respectively

---
 build3/bin2cpp.bat                            |   2 +-
 build3/bin2cpp.lua                            |   2 +-
 build3/findOpenGLGlewGlut.lua                 |  30 +-
 build3/premake4.lua                           |  98 ++----
 data/BspDemo.bsp                              | Bin 0 -> 105100 bytes
 data/sphere2.urdf                             |  47 +++
 examples/HelloWorld/HelloWorld.cpp            |   2 +-
 .../btCollisionWorldImporter.h                |   2 +-
 .../btGeneric6DofSpring2Constraint.cpp        |  10 +-
 .../ConstraintSolver/btHingeConstraint.cpp    |   2 +-
 .../Featherstone/btMultiBodyLink.h            | 306 +---------------
 src/LinearMath/btMatrixX.h                    |   2 +-
 src/LinearMath/btScalar.h                     |   8 +
 src/LinearMath/btSpatialAlgebra.h             | 331 ++++++++++++++++++
 .../testExecuteBullet3NarrowphaseKernels.cpp  |   2 +-
 test/TestBullet3OpenCL/premake4.lua           |   5 +-
 test/collision/premake4.lua                   |   6 +
 test/gtest-1.7.0/premake4.lua                 |   8 +-
 test/hello_gtest/premake4.lua                 |   5 +
 19 files changed, 448 insertions(+), 420 deletions(-)
 create mode 100644 data/BspDemo.bsp
 create mode 100644 data/sphere2.urdf
 create mode 100644 src/LinearMath/btSpatialAlgebra.h

diff --git a/build3/bin2cpp.bat b/build3/bin2cpp.bat
index 28c5bedc0..df84f9259 100644
--- a/build3/bin2cpp.bat
+++ b/build3/bin2cpp.bat
@@ -2,6 +2,6 @@
 rem @echo off
 
 
-premake4 --file=bin2cpp.lua --binfile="../btgui/FontFiles/OpenSans.ttf" --cppfile="../btgui/OpenGLWindow/OpenSans.cpp" --stringname="OpenSansData" bin2cpp
+premake4 --file=bin2cpp.lua --binfile="../btgui/OpenGLWindow/OpenSans.ttf" --cppfile="../btgui/OpenGLWindow/OpenSans.cpp" --stringname="OpenSansData" bin2cpp
 
 pause
diff --git a/build3/bin2cpp.lua b/build3/bin2cpp.lua
index b3d82a4b8..8ae42290f 100644
--- a/build3/bin2cpp.lua
+++ b/build3/bin2cpp.lua
@@ -9,7 +9,7 @@ function convertFile(filenameIn, filenameOut, stringname)
       local bytes = f:read(block)
       if not bytes then break end
       for b in string.gfind(bytes, ".") do
-        fw:write(string.format("char(%u),", string.byte(b)))
+        fw:write(string.format("%u,", string.byte(b)))
       end
       --io.write(string.rep("   ", block - string.len(bytes) + 1))
       --io.write(string.gsub(bytes, "%c", "."), "\n")
diff --git a/build3/findOpenGLGlewGlut.lua b/build3/findOpenGLGlewGlut.lua
index e3e2581cd..886b6a561 100644
--- a/build3/findOpenGLGlewGlut.lua
+++ b/build3/findOpenGLGlewGlut.lua
@@ -43,26 +43,6 @@
 		configuration{}
 	end
 
-	function initGlut()
-		configuration {}
-		if os.is("Windows") then
-			configuration {"Windows"}
-			includedirs {
-				projectRootDir .. "btgui/OpenGLWindow/Glut"
-			}
-			libdirs { projectRootDir .. "btgui/OpenGLWindow/Glut"}
-			configuration {"Windows", "x32"}
-				links {"glut32"}
-			configuration {"Windows", "x64"}
-				links {"glut64"}
-		end
-		
-		configuration {"MacOSX"}
- 			links { "Glut.framework" } 
-		configuration {"Linux"}
-			links {"glut"}
-		configuration{}
-	end
 
 	function initGlew()
 		configuration {}
@@ -70,9 +50,9 @@
 			configuration {"Windows"}
 			defines { "GLEW_STATIC"}
 			includedirs {
-					projectRootDir .. "btgui/OpenGLWindow/GlewWindows"
+					projectRootDir .. "examples/ThirdPartyLibs/Glew"
 			}
-			files { projectRootDir .. "btgui/OpenGLWindow/GlewWindows/glew.c"}
+			files { projectRootDir .. "examples/ThirdPartyLibs/Glew/glew.c"}
 		end
 		if os.is("Linux") then
 			configuration{"Linux"}
@@ -83,9 +63,9 @@
 				print("Using static glew and dynamic loading of glx functions")
 			 	defines { "GLEW_STATIC","GLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1"}
                         	includedirs {
-                                        projectRootDir .. "btgui/OpenGLWindow/GlewWindows"
+                                        projectRootDir .. "examples/ThirdPartyLibs/Glew"
                         	}
-                        	files { projectRootDir .. "btgui/OpenGLWindow/GlewWindows/glew.c"}
+                        	files { projectRootDir .. "examples/ThirdPartyLibs/Glew/glew.c"}
 				links {"dl"}
 			end
 
@@ -100,7 +80,7 @@
 			else
 				print("No X11/X.h found, using dynamic loading of X11")
 				includedirs {
-                                        projectRootDir .. "btgui/OpenGLWindow/optionalX11"
+                                        projectRootDir .. "examples/ThirdPartyLibs/optionalX11"
                                 }
 				defines {"DYNAMIC_LOAD_X11_FUNCTIONS"}	
 				links {"dl","pthread"}
diff --git a/build3/premake4.lua b/build3/premake4.lua
index f6f9bd39b..81150eaaf 100644
--- a/build3/premake4.lua
+++ b/build3/premake4.lua
@@ -114,83 +114,35 @@
 
 	language "C++"
 
+	include "../examples/ExampleBrowser"
+	include "../examples/OpenGLWindow"
+	
+	include "../examples/ThirdPartyLibs/Gwen"
+
+	include "../examples/HelloWorld"
+	include "../examples/BasicDemo"
+	
+	
+	
 	if not _OPTIONS["without-gtest"] then
 		include "../test/gtest-1.7.0"
 --		include "../test/hello_gtest"
 		include "../test/collision"
 		include "../test/TestBullet3OpenCL"
 	end
-
-if findOpenGL3() then
-	include "../Demos3/AllBullet2Demos"
-	include "../Demos3/GpuDemos"
-	include"../Demos3/BasicDemoConsole"
-	include"../Demos3/BasicDemoCustomOpenGL2"
 	
---	include "../Demos3/CpuDemos"
---	include "../Demos3/Wavefront"
---	include "../btgui/MultiThreading"
-
-	include "../btgui/OpenGLWindow"
-	include "../btgui/Bullet3AppSupport"
-
---	include "../Demos3/ImplicitCloth"
-	include "../Demos3/SimpleOpenGL3"
-	include "../btgui/urdf"
-
-	include "../btgui/lua-5.2.3"
-	include "../test/lua"
-    include "../btgui/Gwen"
-    include "../btgui/GwenOpenGLTest"
-end
-
-
---		include "../demo/gpudemo"
-if _OPTIONS["midi"] then
-                include "../btgui/MidiTest"
-end
-
---		include "../opencl/vector_add_simplified"
---		include "../opencl/vector_add"
---		include "../test/clew"
---		include "../Demos3/GpuGuiInitialize"
-
---		include "../test/OpenCL/BasicInitialize"
-		include "../test/OpenCL/KernelLaunch"--
---		include "../test/OpenCL/BroadphaseCollision"
---		include "../test/OpenCL/NarrowphaseCollision"
-		include "../test/OpenCL/ParallelPrimitives"
-		include "../test/OpenCL/RadixSortBenchmark"
-
-		include "../src/BulletSoftBody"
-		include "../src/BulletDynamics"
-		include "../src/BulletCollision"
-		include "../src/LinearMath"
-
-		include "../src/Bullet3Dynamics"
-		include "../src/Bullet3Common"
-		include "../src/Bullet3Geometry"
-		include "../src/Bullet3Collision"
-		include "../src/Bullet3Serialize/Bullet2FileLoader"
-		include "../src/Bullet3OpenCL"
-
---		include "../demo/gpu_initialize"
---		include "../opencl/lds_bank_conflict"
---		include "../opencl/reduce"
---		include "../btgui/OpenGLWindow"
---		include "../demo/ObjLoader"
---		include "../test/b3DynamicBvhBroadphase"
-
-	if _OPTIONS["enet"] then
-		include "../btgui/enet"
-		include "../test/enet/server"
-		include "../test/enet/client"
-	end
-
-	if _OPTIONS["bullet2demos"] then
-		include "../Extras"
-		if findOpenGL() then
-        		include "../Demos"
-		end
-	end
-
+	
+	include "../src/BulletSoftBody"
+	include "../src/BulletDynamics"
+	include "../src/BulletCollision"
+	include "../src/LinearMath"
+	
+	include "../src/Bullet3Common"
+	include "../src/Bullet3Geometry"
+	include "../src/Bullet3Collision"
+	include "../src/Bullet3Dynamics"
+	include "../src/Bullet3OpenCL"
+	include "../src/Bullet3Serialize/Bullet2FileLoader"
+	
+	
+	
\ No newline at end of file
diff --git a/data/BspDemo.bsp b/data/BspDemo.bsp
new file mode 100644
index 0000000000000000000000000000000000000000..4ed414d75b92d4d94b05589c46bc8f66bee34686
GIT binary patch
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diff --git a/data/sphere2.urdf b/data/sphere2.urdf
new file mode 100644
index 000000000..35bf786a6
--- /dev/null
+++ b/data/sphere2.urdf
@@ -0,0 +1,47 @@
+<?xml version="0.0" ?>
+<robot name="urdf_robot">
+  <link name="baseLink">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="10.0"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+      <sphere radius="0.5"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 <sphere radius="0.5"/>
+      </geometry>
+    </collision>
+  </link>
+   <link name="childA">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="10.0"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.5"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.5"/>
+      </geometry>
+    </collision>
+  </link>
+   <joint name="joint_baseLink_childA" type="fixed">
+    <parent link="baseLink"/>
+    <child link="childA"/>
+    <origin xyz="0 0 1.0"/>
+  </joint>
+</robot>
+
diff --git a/examples/HelloWorld/HelloWorld.cpp b/examples/HelloWorld/HelloWorld.cpp
index f1934b269..bea045d0d 100644
--- a/examples/HelloWorld/HelloWorld.cpp
+++ b/examples/HelloWorld/HelloWorld.cpp
@@ -67,7 +67,7 @@ int main(int argc, char** argv)
 		if (isDynamic)
 			groundShape->calculateLocalInertia(mass,localInertia);
 
-		//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+		//using motionstate is optional, it provides interpolation capabilities, and only synchronizes 'active' objects
 		btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
 		btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
 		btRigidBody* body = new btRigidBody(rbInfo);
diff --git a/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.h b/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.h
index ba03015d4..9a6d16fbe 100644
--- a/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.h
+++ b/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.h
@@ -24,7 +24,7 @@ subject to the following restrictions:
 
 class btCollisionShape;
 class btCollisionObject;
-class btBulletSerializedArrays;
+struct btBulletSerializedArrays;
 
 
 struct ConstraintInput;
diff --git a/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp b/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
index ee57ca72b..cfa997bc5 100644
--- a/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
@@ -772,14 +772,14 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
 		//info->m_lowerLimit[srow] = -SIMD_INFINITY;
 		//info->m_upperLimit[srow] = SIMD_INFINITY;
 
-		btScalar dt = 1.0 / info->fps;
+		btScalar dt = BT_ONE / info->fps;
 		btScalar kd = limot->m_springDamping;
 		btScalar ks = limot->m_springStiffness;
 		btScalar vel = rotational ? angVelA.dot(ax1) - angVelB.dot(ax1) : linVelA.dot(ax1) - linVelB.dot(ax1);
 //		btScalar erp = 0.1;
-		btScalar cfm = 0.0;
-		btScalar mA = 1.0 / m_rbA.getInvMass();
-		btScalar mB = 1.0 / m_rbB.getInvMass();
+		btScalar cfm = BT_ZERO;
+		btScalar mA = BT_ONE / m_rbA.getInvMass();
+		btScalar mB = BT_ONE / m_rbB.getInvMass();
 		btScalar m = mA > mB ? mB : mA;
 		btScalar angularfreq = sqrt(ks / m);
 
@@ -787,7 +787,7 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
 		//limit stiffness (the spring should not be sampled faster that the quarter of its angular frequency)
 		if( 0.25 < angularfreq * dt)
 		{
-			ks = 1.0 / dt / dt / 16.0 / m;
+			ks = BT_ONE / dt / dt / btScalar(16.0) / m;
 		}
 		//avoid overdamping
 		if(kd * dt > m)
diff --git a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
index 857fe9199..76a150947 100644
--- a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
@@ -303,7 +303,7 @@ void	btHingeConstraint::buildJacobian()
 
 static inline btScalar btNormalizeAnglePositive(btScalar angle)
 {
-  return btFmod(btFmod(angle, 2.0*SIMD_PI) + 2.0*SIMD_PI, 2.0*SIMD_PI);
+  return btFmod(btFmod(angle, btScalar(2.0*SIMD_PI)) + btScalar(2.0*SIMD_PI), btScalar(2.0*SIMD_PI));
 }
 
 
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyLink.h b/src/BulletDynamics/Featherstone/btMultiBodyLink.h
index 90acef7d3..1ae859aaa 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyLink.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodyLink.h
@@ -36,311 +36,7 @@ enum	btMultiBodyLinkFlags
 
 #ifdef TEST_SPATIAL_ALGEBRA_LAYER
 
-	struct btSpatialForceVector
-	{	
-		btVector3 m_topVec, m_bottomVec;	
-		//
-		btSpatialForceVector() { setZero(); }
-		btSpatialForceVector(const btVector3 &angular, const btVector3 &linear) : m_topVec(linear), m_bottomVec(angular) {}
-		btSpatialForceVector(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
-		{
-			setValue(ax, ay, az, lx, ly, lz);
-		}
-		//
-		void setVector(const btVector3 &angular, const btVector3 &linear) { m_topVec = linear; m_bottomVec = angular; }
-		void setValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
-		{
-			m_bottomVec.setValue(ax, ay, az); m_topVec.setValue(lx, ly, lz);
-		}
-		//
-		void addVector(const btVector3 &angular, const btVector3 &linear) { m_topVec += linear; m_bottomVec += angular; }
-		void addValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
-		{
-			m_bottomVec[0] += ax; m_bottomVec[1] += ay; m_bottomVec[2] += az;
-			m_topVec[0] += lx; m_topVec[1] += ly; m_topVec[2] += lz;			
-		}
-		//
-		const btVector3 & getLinear()  const { return m_topVec; }
-		const btVector3 & getAngular() const { return m_bottomVec; }
-		//
-		void setLinear(const btVector3 &linear) { m_topVec = linear; }
-		void setAngular(const btVector3 &angular) { m_bottomVec = angular; }
-		//
-		void addAngular(const btVector3 &angular) { m_bottomVec += angular; }
-		void addLinear(const btVector3 &linear) { m_topVec += linear; }
-		//
-		void setZero() { m_topVec.setZero(); m_bottomVec.setZero(); }
-		//
-		btSpatialForceVector & operator += (const btSpatialForceVector &vec) { m_topVec += vec.m_topVec; m_bottomVec += vec.m_bottomVec; return *this; }
-		btSpatialForceVector & operator -= (const btSpatialForceVector &vec) { m_topVec -= vec.m_topVec; m_bottomVec -= vec.m_bottomVec; return *this; }
-		btSpatialForceVector operator - (const btSpatialForceVector &vec) const { return btSpatialForceVector(m_bottomVec - vec.m_bottomVec, m_topVec - vec.m_topVec); }
-		btSpatialForceVector operator + (const btSpatialForceVector &vec) const { return btSpatialForceVector(m_bottomVec + vec.m_bottomVec, m_topVec + vec.m_topVec); }
-		btSpatialForceVector operator - () const { return btSpatialForceVector(-m_bottomVec, -m_topVec); }
-		btSpatialForceVector operator * (const btScalar &s) const { return btSpatialForceVector(s * m_bottomVec, s * m_topVec); }		
-		//btSpatialForceVector & operator = (const btSpatialForceVector &vec) { m_topVec = vec.m_topVec; m_bottomVec = vec.m_bottomVec; return *this; }
-	};
-
-	struct btSpatialMotionVector
-	{
-		btVector3 m_topVec, m_bottomVec;
-		//
-		btSpatialMotionVector() { setZero(); }
-		btSpatialMotionVector(const btVector3 &angular, const btVector3 &linear) : m_topVec(angular), m_bottomVec(linear) {}		
-		//
-		void setVector(const btVector3 &angular, const btVector3 &linear) { m_topVec = angular; m_bottomVec = linear; }
-		void setValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
-		{
-			m_topVec.setValue(ax, ay, az); m_bottomVec.setValue(lx, ly, lz);
-		}
-		//
-		void addVector(const btVector3 &angular, const btVector3 &linear) { m_topVec += linear; m_bottomVec += angular; }
-		void addValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
-		{
-			m_topVec[0] += ax; m_topVec[1] += ay; m_topVec[2] += az;
-			m_bottomVec[0] += lx; m_bottomVec[1] += ly; m_bottomVec[2] += lz;			
-		}
-		//	
-		const btVector3 & getAngular() const { return m_topVec; }
-		const btVector3 & getLinear() const { return m_bottomVec; }
-		//
-		void setAngular(const btVector3 &angular) { m_topVec = angular; }
-		void setLinear(const btVector3 &linear) { m_bottomVec = linear; }
-		//
-		void addAngular(const btVector3 &angular) { m_topVec += angular; }
-		void addLinear(const btVector3 &linear) { m_bottomVec += linear; }
-		//
-		void setZero() { m_topVec.setZero(); m_bottomVec.setZero(); }
-		//
-		btScalar dot(const btSpatialForceVector &b) const
-		{
-			return m_bottomVec.dot(b.m_topVec) + m_topVec.dot(b.m_bottomVec);
-		}
-		//
-		template<typename SpatialVectorType>
-		void cross(const SpatialVectorType &b, SpatialVectorType &out) const
-		{
-			out.m_topVec = m_topVec.cross(b.m_topVec);
-			out.m_bottomVec = m_bottomVec.cross(b.m_topVec) + m_topVec.cross(b.m_bottomVec);
-		}
-		template<typename SpatialVectorType>
-		SpatialVectorType cross(const SpatialVectorType &b) const
-		{
-			SpatialVectorType out;
-			out.m_topVec = m_topVec.cross(b.m_topVec);
-			out.m_bottomVec = m_bottomVec.cross(b.m_topVec) + m_topVec.cross(b.m_bottomVec);
-			return out;
-		}
-		//
-		btSpatialMotionVector & operator += (const btSpatialMotionVector &vec) { m_topVec += vec.m_topVec; m_bottomVec += vec.m_bottomVec; return *this; }
-		btSpatialMotionVector & operator -= (const btSpatialMotionVector &vec) { m_topVec -= vec.m_topVec; m_bottomVec -= vec.m_bottomVec; return *this; }
-		btSpatialMotionVector & operator *= (const btScalar &s) { m_topVec *= s; m_bottomVec *= s; return *this; }
-		btSpatialMotionVector operator - (const btSpatialMotionVector &vec) const { return btSpatialMotionVector(m_topVec - vec.m_topVec, m_bottomVec - vec.m_bottomVec); }
-		btSpatialMotionVector operator + (const btSpatialMotionVector &vec) const { return btSpatialMotionVector(m_topVec + vec.m_topVec, m_bottomVec + vec.m_bottomVec); }
-		btSpatialMotionVector operator - () const { return btSpatialMotionVector(-m_topVec, -m_bottomVec); }
-		btSpatialMotionVector operator * (const btScalar &s) const { return btSpatialMotionVector(s * m_topVec, s * m_bottomVec); }
-	};
-
-	struct btSymmetricSpatialDyad
-	{
-		btMatrix3x3 m_topLeftMat, m_topRightMat, m_bottomLeftMat;
-		//		
-		btSymmetricSpatialDyad() { setIdentity(); }
-		btSymmetricSpatialDyad(const btMatrix3x3 &topLeftMat, const btMatrix3x3 &topRightMat, const btMatrix3x3 &bottomLeftMat) { setMatrix(topLeftMat, topRightMat, bottomLeftMat); }			
-		//
-		void setMatrix(const btMatrix3x3 &topLeftMat, const btMatrix3x3 &topRightMat, const btMatrix3x3 &bottomLeftMat)
-		{
-			m_topLeftMat = topLeftMat;
-			m_topRightMat = topRightMat;
-			m_bottomLeftMat = bottomLeftMat;
-		}
-		//
-		void addMatrix(const btMatrix3x3 &topLeftMat, const btMatrix3x3 &topRightMat, const btMatrix3x3 &bottomLeftMat)
-		{
-			m_topLeftMat += topLeftMat;
-			m_topRightMat += topRightMat;
-			m_bottomLeftMat += bottomLeftMat;
-		}
-		//
-		void setIdentity() { m_topLeftMat.setIdentity(); m_topRightMat.setIdentity(); m_bottomLeftMat.setIdentity();  }
-		//
-		btSymmetricSpatialDyad & operator -= (const btSymmetricSpatialDyad &mat)
-		{
-			m_topLeftMat -= mat.m_topLeftMat;
-			m_topRightMat -= mat.m_topRightMat;
-			m_bottomLeftMat -= mat.m_bottomLeftMat;
-			return *this; 
-		}
-		//
-		btSpatialForceVector operator * (const btSpatialMotionVector &vec)
-		{
-			return btSpatialForceVector(m_bottomLeftMat * vec.m_topVec + m_topLeftMat.transpose() * vec.m_bottomVec, m_topLeftMat * vec.m_topVec + m_topRightMat * vec.m_bottomVec);
-		}
-	};
-
-	struct btSpatialTransformationMatrix
-	{
-		btMatrix3x3 m_rotMat; //btMatrix3x3 m_trnCrossMat;
-		btVector3 m_trnVec;
-		//
-		enum eOutputOperation
-		{
-			None = 0,
-			Add = 1,
-			Subtract = 2
-		};
-		//
-		template<typename SpatialVectorType>
-		void transform(	const SpatialVectorType &inVec,
-                        SpatialVectorType &outVec,
-						eOutputOperation outOp = None)
-		{
-			if(outOp == None)
-			{
-				outVec.m_topVec = m_rotMat * inVec.m_topVec;
-				outVec.m_bottomVec = -m_trnVec.cross(outVec.m_topVec) + m_rotMat * inVec.m_bottomVec;
-			}
-			else if(outOp == Add)
-			{
-				outVec.m_topVec += m_rotMat * inVec.m_topVec;
-				outVec.m_bottomVec += -m_trnVec.cross(outVec.m_topVec) + m_rotMat * inVec.m_bottomVec;
-			}
-			else if(outOp == Subtract)
-			{
-				outVec.m_topVec -= m_rotMat * inVec.m_topVec;
-				outVec.m_bottomVec -= -m_trnVec.cross(outVec.m_topVec) + m_rotMat * inVec.m_bottomVec;
-			}
-			
-		}
-
-		template<typename SpatialVectorType>
-		void transformRotationOnly(	const SpatialVectorType &inVec,
-									SpatialVectorType &outVec,
-									eOutputOperation outOp = None)
-		{
-			if(outOp == None)
-			{
-				outVec.m_topVec = m_rotMat * inVec.m_topVec;
-				outVec.m_bottomVec = m_rotMat * inVec.m_bottomVec;
-			}
-			else if(outOp == Add)
-			{
-				outVec.m_topVec += m_rotMat * inVec.m_topVec;
-				outVec.m_bottomVec += m_rotMat * inVec.m_bottomVec;
-			}
-			else if(outOp == Subtract)
-			{
-				outVec.m_topVec -= m_rotMat * inVec.m_topVec;
-				outVec.m_bottomVec -= m_rotMat * inVec.m_bottomVec;
-			}
-			
-		}
-
-		template<typename SpatialVectorType>
-		void transformInverse(	const SpatialVectorType &inVec,
-								SpatialVectorType &outVec,
-								eOutputOperation outOp = None)
-		{
-			if(outOp == None)
-			{
-				outVec.m_topVec = m_rotMat.transpose() * inVec.m_topVec;
-				outVec.m_bottomVec = m_rotMat.transpose() * (inVec.m_bottomVec + m_trnVec.cross(inVec.m_topVec));
-			}
-			else if(outOp == Add)
-			{
-				outVec.m_topVec += m_rotMat.transpose() * inVec.m_topVec;
-				outVec.m_bottomVec += m_rotMat.transpose() * (inVec.m_bottomVec + m_trnVec.cross(inVec.m_topVec));
-			}
-			else if(outOp == Subtract)
-			{
-				outVec.m_topVec -= m_rotMat.transpose() * inVec.m_topVec;
-				outVec.m_bottomVec -= m_rotMat.transpose() * (inVec.m_bottomVec + m_trnVec.cross(inVec.m_topVec));
-			}			
-		}
-
-		template<typename SpatialVectorType>
-		void transformInverseRotationOnly(	const SpatialVectorType &inVec,
-											SpatialVectorType &outVec,
-											eOutputOperation outOp = None)
-		{
-			if(outOp == None)
-			{
-				outVec.m_topVec = m_rotMat.transpose() * inVec.m_topVec;
-				outVec.m_bottomVec = m_rotMat.transpose() * inVec.m_bottomVec;
-			}
-			else if(outOp == Add)
-			{
-				outVec.m_topVec += m_rotMat.transpose() * inVec.m_topVec;
-				outVec.m_bottomVec += m_rotMat.transpose() * inVec.m_bottomVec;
-			}
-			else if(outOp == Subtract)
-			{
-				outVec.m_topVec -= m_rotMat.transpose() * inVec.m_topVec;
-				outVec.m_bottomVec -= m_rotMat.transpose() * inVec.m_bottomVec;
-			}
-			
-		}
-
-		void transformInverse(	const btSymmetricSpatialDyad &inMat,
-								btSymmetricSpatialDyad &outMat,
-								eOutputOperation outOp = None)
-		{
-			const btMatrix3x3 r_cross(	0, -m_trnVec[2], m_trnVec[1],
-									m_trnVec[2], 0, -m_trnVec[0],
-									-m_trnVec[1], m_trnVec[0], 0);
-
-
-			if(outOp == None)
-			{
-				outMat.m_topLeftMat = m_rotMat.transpose() * ( inMat.m_topLeftMat - inMat.m_topRightMat * r_cross ) * m_rotMat;
-				outMat.m_topRightMat = m_rotMat.transpose() * inMat.m_topRightMat * m_rotMat;
-				outMat.m_bottomLeftMat = m_rotMat.transpose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat - inMat.m_topLeftMat.transpose() * r_cross) * m_rotMat;
-			}
-			else if(outOp == Add)
-			{
-				outMat.m_topLeftMat += m_rotMat.transpose() * ( inMat.m_topLeftMat - inMat.m_topRightMat * r_cross ) * m_rotMat;
-				outMat.m_topRightMat += m_rotMat.transpose() * inMat.m_topRightMat * m_rotMat;
-				outMat.m_bottomLeftMat += m_rotMat.transpose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat - inMat.m_topLeftMat.transpose() * r_cross) * m_rotMat;
-			}
-			else if(outOp == Subtract)
-			{
-				outMat.m_topLeftMat -= m_rotMat.transpose() * ( inMat.m_topLeftMat - inMat.m_topRightMat * r_cross ) * m_rotMat;
-				outMat.m_topRightMat -= m_rotMat.transpose() * inMat.m_topRightMat * m_rotMat;
-				outMat.m_bottomLeftMat -= m_rotMat.transpose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat - inMat.m_topLeftMat.transpose() * r_cross) * m_rotMat;
-			}
-		}
-
-		template<typename SpatialVectorType>
-		SpatialVectorType operator * (const SpatialVectorType &vec)
-		{
-			SpatialVectorType out;
-			transform(vec, out);
-			return out;
-		}
-	};
-
-	template<typename SpatialVectorType>
-	void symmetricSpatialOuterProduct(const SpatialVectorType &a, const SpatialVectorType &b, btSymmetricSpatialDyad &out)
-	{
-		//output op maybe?
-
-		out.m_topLeftMat = outerProduct(a.m_topVec, b.m_bottomVec);
-		out.m_topRightMat = outerProduct(a.m_topVec, b.m_topVec);
-		out.m_topLeftMat = outerProduct(a.m_bottomVec, b.m_bottomVec);
-		//maybe simple a*spatTranspose(a) would be nicer?
-	}
-
-	template<typename SpatialVectorType>
-	btSymmetricSpatialDyad symmetricSpatialOuterProduct(const SpatialVectorType &a, const SpatialVectorType &b)
-	{
-		btSymmetricSpatialDyad out;
-
-		out.m_topLeftMat = outerProduct(a.m_topVec, b.m_bottomVec);
-		out.m_topRightMat = outerProduct(a.m_topVec, b.m_topVec);
-		out.m_bottomLeftMat = outerProduct(a.m_bottomVec, b.m_bottomVec);
-
-		return out;
-		//maybe simple a*spatTranspose(a) would be nicer?
-	}
+#include "LinearMath/btSpatialAlgebra.h"
 
 #endif
 //}
diff --git a/src/LinearMath/btMatrixX.h b/src/LinearMath/btMatrixX.h
index abaaf6fd7..a3e46b2d4 100644
--- a/src/LinearMath/btMatrixX.h
+++ b/src/LinearMath/btMatrixX.h
@@ -94,7 +94,7 @@ struct btVectorX
 						{
 							T temp;
 							temp = scale / absxi;
-							ssq = ssq * (temp * temp) + 1.0;
+							ssq = ssq * (temp * temp) + BT_ONE;
 							scale = absxi;
 						}
 						else
diff --git a/src/LinearMath/btScalar.h b/src/LinearMath/btScalar.h
index abed6cbdd..2523ef4ba 100644
--- a/src/LinearMath/btScalar.h
+++ b/src/LinearMath/btScalar.h
@@ -486,9 +486,17 @@ SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmodf(x,y); }
 #ifdef BT_USE_DOUBLE_PRECISION
 #define SIMD_EPSILON      DBL_EPSILON
 #define SIMD_INFINITY     DBL_MAX
+#define BT_ONE			1.0
+#define BT_ZERO			0.0
+#define BT_TWO			2.0
+#define BT_HALF			0.5
 #else
 #define SIMD_EPSILON      FLT_EPSILON
 #define SIMD_INFINITY     FLT_MAX
+#define BT_ONE			1.0f
+#define BT_ZERO			0.0f
+#define BT_TWO			2.0f
+#define BT_HALF			0.5f
 #endif
 
 SIMD_FORCE_INLINE btScalar btAtan2Fast(btScalar y, btScalar x) 
diff --git a/src/LinearMath/btSpatialAlgebra.h b/src/LinearMath/btSpatialAlgebra.h
new file mode 100644
index 000000000..8e59658bc
--- /dev/null
+++ b/src/LinearMath/btSpatialAlgebra.h
@@ -0,0 +1,331 @@
+/*
+Copyright (c) 2003-2015 Erwin Coumans, Jakub Stepien
+
+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.
+*/
+
+///These spatial algebra classes are used for btMultiBody, 
+///see BulletDynamics/Featherstone
+
+#ifndef BT_SPATIAL_ALGEBRA_H
+#define BT_SPATIAL_ALGEBRA_H
+
+
+#include "btMatrix3x3.h"
+
+struct btSpatialForceVector
+{	
+	btVector3 m_topVec, m_bottomVec;	
+	//
+	btSpatialForceVector() { setZero(); }
+	btSpatialForceVector(const btVector3 &angular, const btVector3 &linear) : m_topVec(linear), m_bottomVec(angular) {}
+	btSpatialForceVector(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
+	{
+		setValue(ax, ay, az, lx, ly, lz);
+	}
+	//
+	void setVector(const btVector3 &angular, const btVector3 &linear) { m_topVec = linear; m_bottomVec = angular; }
+	void setValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
+	{
+		m_bottomVec.setValue(ax, ay, az); m_topVec.setValue(lx, ly, lz);
+	}
+	//
+	void addVector(const btVector3 &angular, const btVector3 &linear) { m_topVec += linear; m_bottomVec += angular; }
+	void addValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
+	{
+		m_bottomVec[0] += ax; m_bottomVec[1] += ay; m_bottomVec[2] += az;
+		m_topVec[0] += lx; m_topVec[1] += ly; m_topVec[2] += lz;			
+	}
+	//
+	const btVector3 & getLinear()  const { return m_topVec; }
+	const btVector3 & getAngular() const { return m_bottomVec; }
+	//
+	void setLinear(const btVector3 &linear) { m_topVec = linear; }
+	void setAngular(const btVector3 &angular) { m_bottomVec = angular; }
+	//
+	void addAngular(const btVector3 &angular) { m_bottomVec += angular; }
+	void addLinear(const btVector3 &linear) { m_topVec += linear; }
+	//
+	void setZero() { m_topVec.setZero(); m_bottomVec.setZero(); }
+	//
+	btSpatialForceVector & operator += (const btSpatialForceVector &vec) { m_topVec += vec.m_topVec; m_bottomVec += vec.m_bottomVec; return *this; }
+	btSpatialForceVector & operator -= (const btSpatialForceVector &vec) { m_topVec -= vec.m_topVec; m_bottomVec -= vec.m_bottomVec; return *this; }
+	btSpatialForceVector operator - (const btSpatialForceVector &vec) const { return btSpatialForceVector(m_bottomVec - vec.m_bottomVec, m_topVec - vec.m_topVec); }
+	btSpatialForceVector operator + (const btSpatialForceVector &vec) const { return btSpatialForceVector(m_bottomVec + vec.m_bottomVec, m_topVec + vec.m_topVec); }
+	btSpatialForceVector operator - () const { return btSpatialForceVector(-m_bottomVec, -m_topVec); }
+	btSpatialForceVector operator * (const btScalar &s) const { return btSpatialForceVector(s * m_bottomVec, s * m_topVec); }		
+	//btSpatialForceVector & operator = (const btSpatialForceVector &vec) { m_topVec = vec.m_topVec; m_bottomVec = vec.m_bottomVec; return *this; }
+};
+
+struct btSpatialMotionVector
+{
+	btVector3 m_topVec, m_bottomVec;
+	//
+	btSpatialMotionVector() { setZero(); }
+	btSpatialMotionVector(const btVector3 &angular, const btVector3 &linear) : m_topVec(angular), m_bottomVec(linear) {}		
+	//
+	void setVector(const btVector3 &angular, const btVector3 &linear) { m_topVec = angular; m_bottomVec = linear; }
+	void setValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
+	{
+		m_topVec.setValue(ax, ay, az); m_bottomVec.setValue(lx, ly, lz);
+	}
+	//
+	void addVector(const btVector3 &angular, const btVector3 &linear) { m_topVec += linear; m_bottomVec += angular; }
+	void addValue(const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
+	{
+		m_topVec[0] += ax; m_topVec[1] += ay; m_topVec[2] += az;
+		m_bottomVec[0] += lx; m_bottomVec[1] += ly; m_bottomVec[2] += lz;			
+	}
+	//	
+	const btVector3 & getAngular() const { return m_topVec; }
+	const btVector3 & getLinear() const { return m_bottomVec; }
+	//
+	void setAngular(const btVector3 &angular) { m_topVec = angular; }
+	void setLinear(const btVector3 &linear) { m_bottomVec = linear; }
+	//
+	void addAngular(const btVector3 &angular) { m_topVec += angular; }
+	void addLinear(const btVector3 &linear) { m_bottomVec += linear; }
+	//
+	void setZero() { m_topVec.setZero(); m_bottomVec.setZero(); }
+	//
+	btScalar dot(const btSpatialForceVector &b) const
+	{
+		return m_bottomVec.dot(b.m_topVec) + m_topVec.dot(b.m_bottomVec);
+	}
+	//
+	template<typename SpatialVectorType>
+	void cross(const SpatialVectorType &b, SpatialVectorType &out) const
+	{
+		out.m_topVec = m_topVec.cross(b.m_topVec);
+		out.m_bottomVec = m_bottomVec.cross(b.m_topVec) + m_topVec.cross(b.m_bottomVec);
+	}
+	template<typename SpatialVectorType>
+	SpatialVectorType cross(const SpatialVectorType &b) const
+	{
+		SpatialVectorType out;
+		out.m_topVec = m_topVec.cross(b.m_topVec);
+		out.m_bottomVec = m_bottomVec.cross(b.m_topVec) + m_topVec.cross(b.m_bottomVec);
+		return out;
+	}
+	//
+	btSpatialMotionVector & operator += (const btSpatialMotionVector &vec) { m_topVec += vec.m_topVec; m_bottomVec += vec.m_bottomVec; return *this; }
+	btSpatialMotionVector & operator -= (const btSpatialMotionVector &vec) { m_topVec -= vec.m_topVec; m_bottomVec -= vec.m_bottomVec; return *this; }
+	btSpatialMotionVector & operator *= (const btScalar &s) { m_topVec *= s; m_bottomVec *= s; return *this; }
+	btSpatialMotionVector operator - (const btSpatialMotionVector &vec) const { return btSpatialMotionVector(m_topVec - vec.m_topVec, m_bottomVec - vec.m_bottomVec); }
+	btSpatialMotionVector operator + (const btSpatialMotionVector &vec) const { return btSpatialMotionVector(m_topVec + vec.m_topVec, m_bottomVec + vec.m_bottomVec); }
+	btSpatialMotionVector operator - () const { return btSpatialMotionVector(-m_topVec, -m_bottomVec); }
+	btSpatialMotionVector operator * (const btScalar &s) const { return btSpatialMotionVector(s * m_topVec, s * m_bottomVec); }
+};
+
+struct btSymmetricSpatialDyad
+{
+	btMatrix3x3 m_topLeftMat, m_topRightMat, m_bottomLeftMat;
+	//		
+	btSymmetricSpatialDyad() { setIdentity(); }
+	btSymmetricSpatialDyad(const btMatrix3x3 &topLeftMat, const btMatrix3x3 &topRightMat, const btMatrix3x3 &bottomLeftMat) { setMatrix(topLeftMat, topRightMat, bottomLeftMat); }			
+	//
+	void setMatrix(const btMatrix3x3 &topLeftMat, const btMatrix3x3 &topRightMat, const btMatrix3x3 &bottomLeftMat)
+	{
+		m_topLeftMat = topLeftMat;
+		m_topRightMat = topRightMat;
+		m_bottomLeftMat = bottomLeftMat;
+	}
+	//
+	void addMatrix(const btMatrix3x3 &topLeftMat, const btMatrix3x3 &topRightMat, const btMatrix3x3 &bottomLeftMat)
+	{
+		m_topLeftMat += topLeftMat;
+		m_topRightMat += topRightMat;
+		m_bottomLeftMat += bottomLeftMat;
+	}
+	//
+	void setIdentity() { m_topLeftMat.setIdentity(); m_topRightMat.setIdentity(); m_bottomLeftMat.setIdentity();  }
+	//
+	btSymmetricSpatialDyad & operator -= (const btSymmetricSpatialDyad &mat)
+	{
+		m_topLeftMat -= mat.m_topLeftMat;
+		m_topRightMat -= mat.m_topRightMat;
+		m_bottomLeftMat -= mat.m_bottomLeftMat;
+		return *this; 
+	}
+	//
+	btSpatialForceVector operator * (const btSpatialMotionVector &vec)
+	{
+		return btSpatialForceVector(m_bottomLeftMat * vec.m_topVec + m_topLeftMat.transpose() * vec.m_bottomVec, m_topLeftMat * vec.m_topVec + m_topRightMat * vec.m_bottomVec);
+	}
+};
+
+struct btSpatialTransformationMatrix
+{
+	btMatrix3x3 m_rotMat; //btMatrix3x3 m_trnCrossMat;
+	btVector3 m_trnVec;
+	//
+	enum eOutputOperation
+	{
+		None = 0,
+		Add = 1,
+		Subtract = 2
+	};
+	//
+	template<typename SpatialVectorType>
+	void transform(	const SpatialVectorType &inVec,
+                      SpatialVectorType &outVec,
+					eOutputOperation outOp = None)
+	{
+		if(outOp == None)
+		{
+			outVec.m_topVec = m_rotMat * inVec.m_topVec;
+			outVec.m_bottomVec = -m_trnVec.cross(outVec.m_topVec) + m_rotMat * inVec.m_bottomVec;
+		}
+		else if(outOp == Add)
+		{
+			outVec.m_topVec += m_rotMat * inVec.m_topVec;
+			outVec.m_bottomVec += -m_trnVec.cross(outVec.m_topVec) + m_rotMat * inVec.m_bottomVec;
+		}
+		else if(outOp == Subtract)
+		{
+			outVec.m_topVec -= m_rotMat * inVec.m_topVec;
+			outVec.m_bottomVec -= -m_trnVec.cross(outVec.m_topVec) + m_rotMat * inVec.m_bottomVec;
+		}
+		
+	}
+
+	template<typename SpatialVectorType>
+	void transformRotationOnly(	const SpatialVectorType &inVec,
+								SpatialVectorType &outVec,
+								eOutputOperation outOp = None)
+	{
+		if(outOp == None)
+		{
+			outVec.m_topVec = m_rotMat * inVec.m_topVec;
+			outVec.m_bottomVec = m_rotMat * inVec.m_bottomVec;
+		}
+		else if(outOp == Add)
+		{
+			outVec.m_topVec += m_rotMat * inVec.m_topVec;
+			outVec.m_bottomVec += m_rotMat * inVec.m_bottomVec;
+		}
+		else if(outOp == Subtract)
+		{
+			outVec.m_topVec -= m_rotMat * inVec.m_topVec;
+			outVec.m_bottomVec -= m_rotMat * inVec.m_bottomVec;
+		}
+		
+	}
+
+	template<typename SpatialVectorType>
+	void transformInverse(	const SpatialVectorType &inVec,
+							SpatialVectorType &outVec,
+							eOutputOperation outOp = None)
+	{
+		if(outOp == None)
+		{
+			outVec.m_topVec = m_rotMat.transpose() * inVec.m_topVec;
+			outVec.m_bottomVec = m_rotMat.transpose() * (inVec.m_bottomVec + m_trnVec.cross(inVec.m_topVec));
+		}
+		else if(outOp == Add)
+		{
+			outVec.m_topVec += m_rotMat.transpose() * inVec.m_topVec;
+			outVec.m_bottomVec += m_rotMat.transpose() * (inVec.m_bottomVec + m_trnVec.cross(inVec.m_topVec));
+		}
+		else if(outOp == Subtract)
+		{
+			outVec.m_topVec -= m_rotMat.transpose() * inVec.m_topVec;
+			outVec.m_bottomVec -= m_rotMat.transpose() * (inVec.m_bottomVec + m_trnVec.cross(inVec.m_topVec));
+		}			
+	}
+
+	template<typename SpatialVectorType>
+	void transformInverseRotationOnly(	const SpatialVectorType &inVec,
+										SpatialVectorType &outVec,
+										eOutputOperation outOp = None)
+	{
+		if(outOp == None)
+		{
+			outVec.m_topVec = m_rotMat.transpose() * inVec.m_topVec;
+			outVec.m_bottomVec = m_rotMat.transpose() * inVec.m_bottomVec;
+		}
+		else if(outOp == Add)
+		{
+			outVec.m_topVec += m_rotMat.transpose() * inVec.m_topVec;
+			outVec.m_bottomVec += m_rotMat.transpose() * inVec.m_bottomVec;
+		}
+		else if(outOp == Subtract)
+		{
+			outVec.m_topVec -= m_rotMat.transpose() * inVec.m_topVec;
+			outVec.m_bottomVec -= m_rotMat.transpose() * inVec.m_bottomVec;
+		}
+		
+	}
+
+	void transformInverse(	const btSymmetricSpatialDyad &inMat,
+							btSymmetricSpatialDyad &outMat,
+							eOutputOperation outOp = None)
+	{
+		const btMatrix3x3 r_cross(	0, -m_trnVec[2], m_trnVec[1],
+								m_trnVec[2], 0, -m_trnVec[0],
+								-m_trnVec[1], m_trnVec[0], 0);
+
+
+		if(outOp == None)
+		{
+			outMat.m_topLeftMat = m_rotMat.transpose() * ( inMat.m_topLeftMat - inMat.m_topRightMat * r_cross ) * m_rotMat;
+			outMat.m_topRightMat = m_rotMat.transpose() * inMat.m_topRightMat * m_rotMat;
+			outMat.m_bottomLeftMat = m_rotMat.transpose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat - inMat.m_topLeftMat.transpose() * r_cross) * m_rotMat;
+		}
+		else if(outOp == Add)
+		{
+			outMat.m_topLeftMat += m_rotMat.transpose() * ( inMat.m_topLeftMat - inMat.m_topRightMat * r_cross ) * m_rotMat;
+			outMat.m_topRightMat += m_rotMat.transpose() * inMat.m_topRightMat * m_rotMat;
+			outMat.m_bottomLeftMat += m_rotMat.transpose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat - inMat.m_topLeftMat.transpose() * r_cross) * m_rotMat;
+		}
+		else if(outOp == Subtract)
+		{
+			outMat.m_topLeftMat -= m_rotMat.transpose() * ( inMat.m_topLeftMat - inMat.m_topRightMat * r_cross ) * m_rotMat;
+			outMat.m_topRightMat -= m_rotMat.transpose() * inMat.m_topRightMat * m_rotMat;
+			outMat.m_bottomLeftMat -= m_rotMat.transpose() * (r_cross * (inMat.m_topLeftMat - inMat.m_topRightMat * r_cross) + inMat.m_bottomLeftMat - inMat.m_topLeftMat.transpose() * r_cross) * m_rotMat;
+		}
+	}
+
+	template<typename SpatialVectorType>
+	SpatialVectorType operator * (const SpatialVectorType &vec)
+	{
+		SpatialVectorType out;
+		transform(vec, out);
+		return out;
+	}
+};
+
+template<typename SpatialVectorType>
+void symmetricSpatialOuterProduct(const SpatialVectorType &a, const SpatialVectorType &b, btSymmetricSpatialDyad &out)
+{
+	//output op maybe?
+
+	out.m_topLeftMat = outerProduct(a.m_topVec, b.m_bottomVec);
+	out.m_topRightMat = outerProduct(a.m_topVec, b.m_topVec);
+	out.m_topLeftMat = outerProduct(a.m_bottomVec, b.m_bottomVec);
+	//maybe simple a*spatTranspose(a) would be nicer?
+}
+
+template<typename SpatialVectorType>
+btSymmetricSpatialDyad symmetricSpatialOuterProduct(const SpatialVectorType &a, const SpatialVectorType &b)
+{
+	btSymmetricSpatialDyad out;
+
+	out.m_topLeftMat = outerProduct(a.m_topVec, b.m_bottomVec);
+	out.m_topRightMat = outerProduct(a.m_topVec, b.m_topVec);
+	out.m_bottomLeftMat = outerProduct(a.m_bottomVec, b.m_bottomVec);
+
+	return out;
+	//maybe simple a*spatTranspose(a) would be nicer?
+}
+
+#endif //BT_SPATIAL_ALGEBRA_H
+
diff --git a/test/OpenCL/AllBullet3Kernels/testExecuteBullet3NarrowphaseKernels.cpp b/test/OpenCL/AllBullet3Kernels/testExecuteBullet3NarrowphaseKernels.cpp
index d45b7d294..06f32b43a 100644
--- a/test/OpenCL/AllBullet3Kernels/testExecuteBullet3NarrowphaseKernels.cpp
+++ b/test/OpenCL/AllBullet3Kernels/testExecuteBullet3NarrowphaseKernels.cpp
@@ -12,7 +12,7 @@
 #include "Bullet3OpenCL/NarrowphaseCollision/kernels/primitiveContacts.h"
 
 #ifdef B3_USE_ZLIB
-#include "../btgui/minizip/unzip.h"
+#include "minizip/unzip.h"
 #endif
 
 #include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
diff --git a/test/TestBullet3OpenCL/premake4.lua b/test/TestBullet3OpenCL/premake4.lua
index f2a6e0042..1a51d3499 100644
--- a/test/TestBullet3OpenCL/premake4.lua
+++ b/test/TestBullet3OpenCL/premake4.lua
@@ -20,6 +20,7 @@ function createProject(vendor)
 	{
 		".","../gtest-1.7.0/include",
 		"../../src",
+		"../../examples/ThirdPartyLibs", --for unzip
 	}
 
 	links {"gtest",
@@ -34,8 +35,8 @@ function createProject(vendor)
 	--you can comment out the following few lines, then you need to unzip the untest_data.zip manually
 	defines {"B3_USE_ZLIB"}		
 	files {
-		"../../btgui/minizip/*.c",
-		"../../btgui/zlib/*.c",
+		"../../examples/ThirdPartyLibs/minizip/*.c",
+		"../../examples/ThirdPartyLibs/zlib/*.c",
 	}
 	
 	files {
diff --git a/test/collision/premake4.lua b/test/collision/premake4.lua
index 0fdc92f65..f0a56f600 100644
--- a/test/collision/premake4.lua
+++ b/test/collision/premake4.lua
@@ -15,6 +15,12 @@
 	
 	}
 
+
+	if os.is("Windows") then
+		--see http://stackoverflow.com/questions/12558327/google-test-in-visual-studio-2012
+		defines {"_VARIADIC_MAX=10"}
+	end
+	
 	links {"LinearMath", "gtest"}
 	
 	files {
diff --git a/test/gtest-1.7.0/premake4.lua b/test/gtest-1.7.0/premake4.lua
index 5fdf84042..676f06e66 100644
--- a/test/gtest-1.7.0/premake4.lua
+++ b/test/gtest-1.7.0/premake4.lua
@@ -5,9 +5,11 @@
 	files{"src/gtest-all.cc"}
 
 	--defines {"GTEST_HAS_PTHREAD=1"}	
-	
-	--see http://stackoverflow.com/questions/12558327/google-test-in-visual-studio-2012
-	defines {"_VARIADIC_MAX=10"}	
+		
+	if os.is("Windows") then
+		--see http://stackoverflow.com/questions/12558327/google-test-in-visual-studio-2012
+		defines {"_VARIADIC_MAX=10"}
+	end
 	
 	--targetdir "../../lib"	
 
diff --git a/test/hello_gtest/premake4.lua b/test/hello_gtest/premake4.lua
index 983b9ad08..fb89c2035 100644
--- a/test/hello_gtest/premake4.lua
+++ b/test/hello_gtest/premake4.lua
@@ -12,6 +12,11 @@
 		".","../gtest-1.7.0/include"
 	}
 
+	if os.is("Windows") then
+		--see http://stackoverflow.com/questions/12558327/google-test-in-visual-studio-2012
+		defines {"_VARIADIC_MAX=10"}
+	end
+	
 --        linkLib "gtest"			
 	links "gtest"