Refactoring:

Moved optional code to Extras: AlgebraicCCD,EPA,quickstep
Moved SimpleBroadphase data to OverlappingPairCache, and derive both SimpleBroadphase and AxisSweep3 from OverlappingPairCache.
Added ParallelPhysicsEnvironment (prepair more parallel mainloop)
Upgraded hardcoded limit from 1024/8192 to 32766/65535 (max objects / max overlapping pairs)

Bullet/BroadphaseCollision/AxisSweep3.cpp

@@ -48,6 +48,7 @@ void	AxisSweep3::SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const
 
 
 AxisSweep3::AxisSweep3(const SimdPoint3& worldAabbMin,const SimdPoint3& worldAabbMax, int maxHandles, int maxOverlaps)
+:OverlappingPairCache(maxOverlaps)
 {
 	//assert(bounds.HasVolume());
 

Bullet/BroadphaseCollision/AxisSweep3.h

@@ -21,13 +21,13 @@
 
 #include "SimdPoint3.h"
 #include "SimdVector3.h"
-#include "SimpleBroadphase.h"
+#include "OverlappingPairCache.h"
 #include "BroadphaseProxy.h"
 
 /// AxisSweep3 is an efficient implementation of the 3d axis sweep and prune broadphase.
 /// It uses arrays rather then lists for storage of the 3 axis. Also it operates using integer coordinates instead of floats.
 /// The TestOverlap check is optimized to check the array index, rather then the actual AABB coordinates/pos
-class AxisSweep3 : public SimpleBroadphase
+class AxisSweep3 : public OverlappingPairCache
 {
 
 public:

Bullet/BroadphaseCollision/OverlappingPairCache.cpp

@@ -0,0 +1,213 @@
+
+/*
+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 "OverlappingPairCache.h"
+
+#include "Dispatcher.h"
+#include "CollisionAlgorithm.h"
+
+
+OverlappingPairCache::OverlappingPairCache(int maxOverlap):
+m_blockedForChanges(false),
+m_NumOverlapBroadphasePair(0),
+m_maxOverlap(maxOverlap)
+{
+	m_OverlappingPairs = new BroadphasePair[maxOverlap];
+}
+
+
+OverlappingPairCache::~OverlappingPairCache()
+{
+	delete [] m_OverlappingPairs;
+}
+
+
+void	OverlappingPairCache::RemoveOverlappingPair(BroadphasePair& pair)
+{
+	CleanOverlappingPair(pair);
+	int	index = &pair - &m_OverlappingPairs[0];
+	//remove efficiently, swap with the last
+	m_OverlappingPairs[index] = m_OverlappingPairs[m_NumOverlapBroadphasePair-1];
+	m_NumOverlapBroadphasePair--;
+}
+
+
+void	OverlappingPairCache::CleanOverlappingPair(BroadphasePair& pair)
+{
+	for (int dispatcherId=0;dispatcherId<SIMPLE_MAX_ALGORITHMS;dispatcherId++)
+	{
+		if (pair.m_algorithms[dispatcherId])
+		{
+			{
+				delete pair.m_algorithms[dispatcherId];
+				pair.m_algorithms[dispatcherId]=0;
+			}
+		}
+	}
+}
+
+
+
+
+
+void	OverlappingPairCache::AddOverlappingPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
+{
+	//don't add overlap with own
+	assert(proxy0 != proxy1);
+
+	if (!NeedsCollision(proxy0,proxy1))
+		return;
+
+
+	BroadphasePair pair(*proxy0,*proxy1);
+	m_OverlappingPairs[m_NumOverlapBroadphasePair] = pair;
+
+	int i;
+	for (i=0;i<SIMPLE_MAX_ALGORITHMS;i++)
+	{
+		assert(!m_OverlappingPairs[m_NumOverlapBroadphasePair].m_algorithms[i]);
+		m_OverlappingPairs[m_NumOverlapBroadphasePair].m_algorithms[i] = 0;
+	}
+
+	if (m_NumOverlapBroadphasePair >= m_maxOverlap)
+	{
+		//printf("Error: too many overlapping objects: m_NumOverlapBroadphasePair: %d\n",m_NumOverlapBroadphasePair);
+#ifdef DEBUG
+		assert(0);
+#endif 
+	} else
+	{
+		m_NumOverlapBroadphasePair++;
+	}
+
+
+}
+
+
+BroadphasePair*	OverlappingPairCache::FindPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
+{
+	BroadphasePair* foundPair = 0;
+
+	int i;
+	for (i=m_NumOverlapBroadphasePair-1;i>=0;i--)
+	{
+		BroadphasePair& pair = m_OverlappingPairs[i];
+		if (((pair.m_pProxy0 == proxy0) && (pair.m_pProxy1 == proxy1)) ||
+			((pair.m_pProxy0 == proxy1) && (pair.m_pProxy1 == proxy0)))
+		{
+			foundPair = &pair;
+			return foundPair;
+		}
+	}	
+
+	return foundPair;
+}
+
+
+
+void	OverlappingPairCache::CleanProxyFromPairs(BroadphaseProxy* proxy)
+{
+	for (int i=0;i<m_NumOverlapBroadphasePair;i++)
+	{
+		BroadphasePair& pair = m_OverlappingPairs[i];
+		if (pair.m_pProxy0 == proxy ||
+			pair.m_pProxy1 == proxy)
+		{
+			CleanOverlappingPair(pair);
+		}
+	}
+}
+
+void	OverlappingPairCache::RemoveOverlappingPairsContainingProxy(BroadphaseProxy* proxy)
+{
+	int i;
+	for ( i=m_NumOverlapBroadphasePair-1;i>=0;i--)
+	{
+		BroadphasePair& pair = m_OverlappingPairs[i];
+		if (pair.m_pProxy0 == proxy ||
+			pair.m_pProxy1 == proxy)
+		{
+			RemoveOverlappingPair(pair);
+		}
+	}
+}
+
+
+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

@@ -0,0 +1,85 @@
+
+/*
+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 OVERLAPPING_PAIR_CACHE_H
+#define OVERLAPPING_PAIR_CACHE_H
+
+
+#include "BroadphaseInterface.h"
+#include "BroadphaseProxy.h"
+#include "SimdPoint3.h"
+
+
+///OverlappingPairCache maintains the objects with overlapping AABB
+///Typically managed by the Broadphase, Axis3Sweep or SimpleBroadphase
+class	OverlappingPairCache : public BroadphaseInterface
+{
+
+	BroadphasePair*	m_OverlappingPairs;
+	int	m_NumOverlapBroadphasePair;
+	int m_maxOverlap;
+	
+	//during the dispatch, check that user doesn't destroy/create proxy
+	bool		m_blockedForChanges;
+
+	
+	public:
+		
+	OverlappingPairCache(int maxOverlap);	
+	virtual ~OverlappingPairCache();
+	
+	int		GetNumOverlappingPairs() const
+	{
+		return m_NumOverlapBroadphasePair;
+	}
+
+	BroadphasePair& GetOverlappingPair(int index)
+	{
+		return m_OverlappingPairs[index];
+	}
+
+	void	RemoveOverlappingPair(BroadphasePair& pair);
+
+	void	CleanOverlappingPair(BroadphasePair& pair);
+	
+	void	AddOverlappingPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
+
+	BroadphasePair*	FindPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
+	
+	
+	
+	void	CleanProxyFromPairs(BroadphaseProxy* proxy);
+
+	void	RemoveOverlappingPairsContainingProxy(BroadphaseProxy* proxy);
+
+
+	inline bool NeedsCollision(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1) const
+	{
+		bool collides = proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask;
+		collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
+		
+		return collides;
+	}
+		
+	void	DispatchAllCollisionPairs(Dispatcher&	dispatcher,DispatcherInfo& dispatchInfo);
+
+	virtual void	RefreshOverlappingPairs() =0;
+
+
+
+
+};
+#endif //OVERLAPPING_PAIR_CACHE_H

Bullet/BroadphaseCollision/SimpleBroadphase.cpp

@@ -36,18 +36,15 @@ void	SimpleBroadphase::validate()
 }
 
 SimpleBroadphase::SimpleBroadphase(int maxProxies,int maxOverlap)
-	:m_firstFreeProxy(0),
+	:OverlappingPairCache(maxOverlap),
+	m_firstFreeProxy(0),
 	m_numProxies(0),
-	m_blockedForChanges(false),
+	m_maxProxies(maxProxies)
-	m_NumOverlapBroadphasePair(0),
-	m_maxProxies(maxProxies),
-	m_maxOverlap(maxOverlap)
 {
 
 	m_proxies = new SimpleBroadphaseProxy[maxProxies];
 	m_freeProxies = new int[maxProxies];
 	m_pProxies = new SimpleBroadphaseProxy*[maxProxies];
-	m_OverlappingPairs = new BroadphasePair[maxOverlap];
 	
 
 	int i;
@@ -62,7 +59,6 @@ SimpleBroadphase::~SimpleBroadphase()
 	delete[] m_proxies;
 	delete []m_freeProxies;
 	delete [] m_pProxies;
-	delete [] m_OverlappingPairs;
 
 	/*int i;
 	for (i=m_numProxies-1;i>=0;i--)
@@ -99,19 +95,7 @@ BroadphaseProxy*	SimpleBroadphase::CreateProxy(  const SimdVector3& min,  const
 	return proxy;
 }
 
-void	SimpleBroadphase::RemoveOverlappingPairsContainingProxy(BroadphaseProxy* proxy)
+
-{
-	int i;
-		for ( i=m_NumOverlapBroadphasePair-1;i>=0;i--)
-		{
-			BroadphasePair& pair = m_OverlappingPairs[i];
-			if (pair.m_pProxy0 == proxy ||
-					pair.m_pProxy1 == proxy)
-			{
-				RemoveOverlappingPair(pair);
-			}
-		}
-}
 
 void	SimpleBroadphase::DestroyProxy(BroadphaseProxy* proxyOrg)
 {
@@ -148,93 +132,13 @@ void	SimpleBroadphase::SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin
 	sbp->m_max = aabbMax;
 }
 
-void	SimpleBroadphase::CleanOverlappingPair(BroadphasePair& pair)
-{
-	for (int dispatcherId=0;dispatcherId<SIMPLE_MAX_ALGORITHMS;dispatcherId++)
-	{
-		if (pair.m_algorithms[dispatcherId])
-		{
-			{
-				delete pair.m_algorithms[dispatcherId];
-				pair.m_algorithms[dispatcherId]=0;
-			}
-		}
-	}
-}
 
 
-void	SimpleBroadphase::CleanProxyFromPairs(BroadphaseProxy* proxy)
-{
-	for (int i=0;i<m_NumOverlapBroadphasePair;i++)
-	{
-		BroadphasePair& pair = m_OverlappingPairs[i];
-		if (pair.m_pProxy0 == proxy ||
-				pair.m_pProxy1 == proxy)
-		{
-			CleanOverlappingPair(pair);
-		}
-	}
-}
-
-void	SimpleBroadphase::AddOverlappingPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
-{
-	//don't add overlap with own
-	assert(proxy0 != proxy1);
-
-	if (!NeedsCollision(proxy0,proxy1))
-		return;
 
 
-	BroadphasePair pair(*proxy0,*proxy1);
-	m_OverlappingPairs[m_NumOverlapBroadphasePair] = pair;
-
-	int i;
-	for (i=0;i<SIMPLE_MAX_ALGORITHMS;i++)
-	{
-		assert(!m_OverlappingPairs[m_NumOverlapBroadphasePair].m_algorithms[i]);
-		m_OverlappingPairs[m_NumOverlapBroadphasePair].m_algorithms[i] = 0;
-	}
-
-	if (m_NumOverlapBroadphasePair >= m_maxOverlap)
-	{
-		//printf("Error: too many overlapping objects: m_NumOverlapBroadphasePair: %d\n",m_NumOverlapBroadphasePair);
-#ifdef DEBUG
-		assert(0);
-#endif 
-	} else
-	{
-		m_NumOverlapBroadphasePair++;
-	}
 	
 
-}
 
-BroadphasePair*	SimpleBroadphase::FindPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
-{
-	BroadphasePair* foundPair = 0;
-
-	int i;
-	for (i=m_NumOverlapBroadphasePair-1;i>=0;i--)
-	{
-		BroadphasePair& pair = m_OverlappingPairs[i];
-		if (((pair.m_pProxy0 == proxy0) && (pair.m_pProxy1 == proxy1)) ||
-			((pair.m_pProxy0 == proxy1) && (pair.m_pProxy1 == proxy0)))
-		{
-			foundPair = &pair;
-			return foundPair;
-		}
-	}	
-
-	return foundPair;
-}
-void	SimpleBroadphase::RemoveOverlappingPair(BroadphasePair& pair)
-{
-    CleanOverlappingPair(pair);
-	int	index = &pair - &m_OverlappingPairs[0];
-	//remove efficiently, swap with the last
-	m_OverlappingPairs[index] = m_OverlappingPairs[m_NumOverlapBroadphasePair-1];
-	m_NumOverlapBroadphasePair--;
-}
 
 bool	SimpleBroadphase::AabbOverlap(SimpleBroadphaseProxy* proxy0,SimpleBroadphaseProxy* proxy1)
 {
@@ -269,9 +173,10 @@ void	SimpleBroadphase::RefreshOverlappingPairs()
 	}
 
 	//then remove non-overlapping ones
-	for (i=0;i<m_NumOverlapBroadphasePair;i++)
+	for (i=0;i<GetNumOverlappingPairs();i++)
 	{
-		BroadphasePair& pair = m_OverlappingPairs[i];
+		BroadphasePair& pair = GetOverlappingPair(i);
+
 		SimpleBroadphaseProxy* proxy0 = GetSimpleProxyFromProxy(pair.m_pProxy0);
 		SimpleBroadphaseProxy* proxy1 = GetSimpleProxyFromProxy(pair.m_pProxy1);
 		if (!AabbOverlap(proxy0,proxy1))
@@ -284,69 +189,4 @@ void	SimpleBroadphase::RefreshOverlappingPairs()
 
 }
 
-void	SimpleBroadphase::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/SimpleBroadphase.h

@@ -16,12 +16,9 @@ subject to the following restrictions:
 #ifndef SIMPLE_BROADPHASE_H
 #define SIMPLE_BROADPHASE_H
 
-//#define SIMPLE_MAX_PROXIES 8192
-//#define SIMPLE_MAX_OVERLAP 4096
 
-#include "BroadphaseInterface.h"
+#include "OverlappingPairCache.h"
-#include "BroadphaseProxy.h"
+
-#include "SimdPoint3.h"
 
 struct SimpleBroadphaseProxy : public BroadphaseProxy
 {
@@ -40,7 +37,7 @@ struct SimpleBroadphaseProxy : public BroadphaseProxy
 };
 
 ///SimpleBroadphase is a brute force aabb culling broadphase based on O(n^2) aabb checks
-class SimpleBroadphase : public BroadphaseInterface
+class SimpleBroadphase : public OverlappingPairCache
 {
 
 	SimpleBroadphaseProxy*	m_proxies;
@@ -50,14 +47,10 @@ class SimpleBroadphase : public BroadphaseInterface
 	SimpleBroadphaseProxy** m_pProxies;
 	int				m_numProxies;
 
-	//during the dispatch, check that user doesn't destroy/create proxy
-	bool		m_blockedForChanges;
 	
-	BroadphasePair*	m_OverlappingPairs;
-	int	m_NumOverlapBroadphasePair;
 
 	int m_maxProxies;
-	int m_maxOverlap;
+	
 	
 	inline SimpleBroadphaseProxy*	GetSimpleProxyFromProxy(BroadphaseProxy* proxy)
 	{
@@ -70,13 +63,8 @@ class SimpleBroadphase : public BroadphaseInterface
 	void	validate();
 
 protected:
-	void	RemoveOverlappingPair(BroadphasePair& pair);
-	void	CleanOverlappingPair(BroadphasePair& pair);
 
-	void	RemoveOverlappingPairsContainingProxy(BroadphaseProxy* proxy);
 
-	void	AddOverlappingPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
-	BroadphasePair*	FindPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
 	virtual void	RefreshOverlappingPairs();
 public:
 	SimpleBroadphase(int maxProxies=4096,int maxOverlap=8192);
@@ -88,17 +76,10 @@ public:
 
 	virtual void	DestroyProxy(BroadphaseProxy* proxy);
 	virtual void	SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax);
-	virtual void	CleanProxyFromPairs(BroadphaseProxy* proxy);
-	virtual void	DispatchAllCollisionPairs(Dispatcher&	dispatcher,DispatcherInfo& dispatchInfo);
 		
 	
-	inline bool NeedsCollision(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1) const
-	{
-		bool collides = proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask;
-		collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
 	
-		return collides;
+
-	}
 
 
 };

Bullet/CollisionDispatch/CollisionDispatcher.cpp

@@ -79,7 +79,9 @@ CollisionDispatcher::CollisionDispatcher ():
 PersistentManifold*	CollisionDispatcher::GetNewManifold(void* b0,void* b1) 
 { 
 	gNumManifold++;
-	//printf("GetNewManifoldResult: gNumManifold %d\n",gNumManifold);
+	
+	//ASSERT(gNumManifold < 65535);
+	
 
 	CollisionObject* body0 = (CollisionObject*)b0;
 	CollisionObject* body1 = (CollisionObject*)b1;

BulletDynamics/ConstraintSolver/SequentialImpulseConstraintSolver.cpp

@@ -14,7 +14,7 @@ subject to the following restrictions:
 */
 
 
-#include "SimpleConstraintSolver.h"
+#include "SequentialImpulseConstraintSolver.h"
 #include "NarrowPhaseCollision/PersistentManifold.h"
 #include "Dynamics/RigidBody.h"
 #include "ContactConstraint.h"
@@ -45,14 +45,14 @@ bool  MyContactDestroyedCallback(void* userPersistentData)
 }
 
 
-SimpleConstraintSolver::SimpleConstraintSolver()
+SequentialImpulseConstraintSolver::SequentialImpulseConstraintSolver()
 {
 	gContactCallback = &MyContactDestroyedCallback;
 }
 
 
-/// SimpleConstraintSolver Sequentially applies impulses
+/// SequentialImpulseConstraintSolver Sequentially applies impulses
-float SimpleConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numManifolds,const ContactSolverInfo& infoGlobal,IDebugDraw* debugDrawer)
+float SequentialImpulseConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numManifolds,const ContactSolverInfo& infoGlobal,IDebugDraw* debugDrawer)
 {
 	
 	ContactSolverInfo info = infoGlobal;
@@ -113,7 +113,7 @@ SimdScalar restitutionCurve(SimdScalar rel_vel, SimdScalar restitution)
 
 
 
-float SimpleConstraintSolver::Solve(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer)
+float SequentialImpulseConstraintSolver::Solve(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer)
 {
 
 	RigidBody* body0 = (RigidBody*)manifoldPtr->GetBody0();
@@ -294,7 +294,7 @@ float SimpleConstraintSolver::Solve(PersistentManifold* manifoldPtr, const Conta
 	return maxImpulse;
 }
 
-float SimpleConstraintSolver::SolveFriction(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer)
+float SequentialImpulseConstraintSolver::SolveFriction(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer)
 {
 	RigidBody* body0 = (RigidBody*)manifoldPtr->GetBody0();
 	RigidBody* body1 = (RigidBody*)manifoldPtr->GetBody1();

BulletDynamics/ConstraintSolver/SequentialImpulseConstraintSolver.h

@@ -13,17 +13,17 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#ifndef SIMPLE_CONSTRAINT_SOLVER_H
+#ifndef SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
-#define SIMPLE_CONSTRAINT_SOLVER_H
+#define SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
 
 #include "ConstraintSolver.h"
 class IDebugDraw;
 
-/// SimpleConstraintSolver uses a Propagation Method and Sequentially applies impulses
+/// SequentialImpulseConstraintSolver uses a Propagation Method and Sequentially applies impulses
 /// The approach is the 3D version of Erin Catto's GDC 2006 tutorial. See http://www.gphysics.com
 /// Although Sequential Impulse is more intuitive, it is mathematically equivalent to Projected Successive Overrelaxation (iterative LCP)
 /// Applies impulses for combined restitution and penetration recovery and to simulate friction
-class SimpleConstraintSolver : public ConstraintSolver
+class SequentialImpulseConstraintSolver : public ConstraintSolver
 {
 	float Solve(PersistentManifold* manifold, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer);
 	float SolveFriction(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer);
@@ -31,13 +31,13 @@ class SimpleConstraintSolver : public ConstraintSolver
 
 public:
 
-	SimpleConstraintSolver();
+	SequentialImpulseConstraintSolver();
 
-	virtual ~SimpleConstraintSolver() {}
+	virtual ~SequentialImpulseConstraintSolver() {}
 	
 	virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info, IDebugDraw* debugDrawer=0);
 
 };
 
-#endif //SIMPLE_CONSTRAINT_SOLVER_H
+#endif //SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
 

BulletDynamics/Dynamics/RigidBody.h

@@ -31,7 +31,6 @@ typedef SimdScalar dMatrix3[4*3];
 extern float gLinearAirDamping;
 extern bool gUseEpa;
 
-#define MAX_RIGIDBODIES 8192
 
 
 /// RigidBody class for RigidBody Dynamics

Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp

@@ -69,14 +69,17 @@ extern float eye[3];
 extern int glutScreenWidth;
 extern int glutScreenHeight;
 
+const int maxProxies = 32766;
+const int maxOverlap = 65535;
+
 
 #ifdef _DEBUG
-const int numObjects = 22;
+const int numObjects = 5000;
 #else
-const int numObjects = 120;
+const int numObjects = 2000;
 #endif
 
-const int maxNumObjects = 450;
+const int maxNumObjects = 32760;
 
 MyMotionState ms[maxNumObjects];
 CcdPhysicsController* physObjects[maxNumObjects] = {0,0,0,0};
@@ -127,11 +130,11 @@ int main(int argc,char** argv)
 	CollisionDispatcher* dispatcher = new	CollisionDispatcher();
 
 
-	SimdVector3 worldAabbMin(-10000,-10000,-10000);
+	SimdVector3 worldAabbMin(-30000,-30000,-30000);
-	SimdVector3 worldAabbMax(10000,10000,10000);
+	SimdVector3 worldAabbMax(30000,30000,30000);
 
-	BroadphaseInterface* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax);
+	//BroadphaseInterface* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax,maxProxies,maxOverlap);
-	//BroadphaseInterface* broadphase = new SimpleBroadphase();
+	BroadphaseInterface* broadphase = new SimpleBroadphase(maxProxies,maxOverlap);
 
 	physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
 	physicsEnvironmentPtr->setDeactivationTime(2.f);

Demos/ConcaveDemo/ConcavePhysicsDemo.cpp

@@ -22,8 +22,8 @@ subject to the following restrictions:
 #include "Dynamics/RigidBody.h"
 #include "BroadphaseCollision/AxisSweep3.h"
 
-#include "ConstraintSolver/SimpleConstraintSolver.h"
+#include "ConstraintSolver/SequentialImpulseConstraintSolver.h"
-#include "ConstraintSolver/OdeConstraintSolver.h"
+//#include "ConstraintSolver/OdeConstraintSolver.h"
 #include "CollisionDispatch/CollisionDispatcher.h"
 #include "BroadphaseCollision/SimpleBroadphase.h"
 #include "CollisionShapes/TriangleMeshShape.h"
@@ -216,8 +216,8 @@ int main(int argc,char** argv)
 
 //	GLDebugDrawer	debugDrawer;
 
-	//ConstraintSolver* solver = new SimpleConstraintSolver;
+	ConstraintSolver* solver = new SequentialImpulseConstraintSolver;
-	ConstraintSolver* solver = new OdeConstraintSolver;
+	//ConstraintSolver* solver = new OdeConstraintSolver;
 
 	CollisionDispatcher* dispatcher = new	CollisionDispatcher();
 		

Demos/ConstraintDemo/ConstraintDemo.cpp

@@ -22,8 +22,8 @@ subject to the following restrictions:
 #include "CollisionShapes/EmptyShape.h"
 
 #include "Dynamics/RigidBody.h"
-#include "ConstraintSolver/SimpleConstraintSolver.h"
+#include "ConstraintSolver/SequentialImpulseConstraintSolver.h"
-#include "ConstraintSolver/OdeConstraintSolver.h"
+//#include "ConstraintSolver/OdeConstraintSolver.h"
 #include "CollisionDispatch/CollisionDispatcher.h"
 #include "BroadphaseCollision/SimpleBroadphase.h"
 #include "IDebugDraw.h"
@@ -72,7 +72,7 @@ int main(int argc,char** argv)
 {
 
 
-	ConstraintSolver* solver = new SimpleConstraintSolver;
+	ConstraintSolver* solver = new SequentialImpulseConstraintSolver;
 	//ConstraintSolver* solver = new OdeConstraintSolver;
 
 	CollisionDispatcher* dispatcher = new	CollisionDispatcher();

Demos/EPAPenDepthDemo/EpaPenDepthDemo.cpp

@@ -48,9 +48,11 @@ subject to the following restrictions:
 #include "NarrowPhaseCollision/Epa.h"
 #include "NarrowPhaseCollision/ConvexPenetrationDepthSolver.h"
 #include "NarrowPhaseCollision/EpaPenetrationDepthSolver.h"
+EpaPenetrationDepthSolver epaPenDepthSolver;
+
 
 SimplexSolverInterface	simplexSolver;
-EpaPenetrationDepthSolver epaPenDepthSolver;
+
 
 int screenWidth = 640.f;
 int screenHeight = 480.f;

Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp

@@ -29,7 +29,10 @@
 #include "NarrowPhaseCollision/GjkConvexCast.h"
 #include "NarrowPhaseCollision/ContinuousConvexCollision.h"
 #include "NarrowPhaseCollision/SubSimplexConvexCast.h"
+
+#ifdef USE_ALGEBRAIC_CCD
 #include "NarrowPhaseCollision/BU_CollisionPair.h"
+#endif //USE_ALGEBRAIC_CCD
 
 #include "CollisionShapes/SphereShape.h"
 
@@ -191,7 +194,7 @@ void clientDisplay(void) {
 		GjkConvexCast	convexCaster1(shapePtr[0],shapePtr[i],&gGjkSimplexSolver);
 		
 		//BU_CollisionPair (algebraic version) is currently broken, will look into this
-		BU_CollisionPair convexCaster2(shapePtr[0],shapePtr[i]);
+		//BU_CollisionPair convexCaster2(shapePtr[0],shapePtr[i]);
 		SubsimplexConvexCast convexCaster3(shapePtr[0],shapePtr[i],&gGjkSimplexSolver);
 				
 		gGjkSimplexSolver.reset();

Demos/Raytracer/Raytracer.cpp

@@ -30,8 +30,9 @@ Very basic raytracer, rendering into a texture.
 #include "NarrowPhaseCollision/SubSimplexConvexCast.h"
 #include "NarrowPhaseCollision/GjkConvexCast.h"
 #include "NarrowPhaseCollision/ContinuousConvexCollision.h"
+#ifdef USE_ALGEBRAIC_CCD
 #include "NarrowPhaseCollision/BU_CollisionPair.h"
-
+#endif //USE_ALGEBRAIC_CCD
 
 
 #include "CollisionShapes/SphereShape.h"

Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp

@@ -36,8 +36,7 @@ subject to the following restrictions:
 #include "BroadphaseCollision/Dispatcher.h"
 #include "NarrowPhaseCollision/PersistentManifold.h"
 #include "CollisionShapes/TriangleMeshShape.h"
-#include "ConstraintSolver/OdeConstraintSolver.h"
+#include "ConstraintSolver/SequentialImpulseConstraintSolver.h"
-#include "ConstraintSolver/SimpleConstraintSolver.h"
 
 
 //profiling/timings
@@ -325,7 +324,7 @@ static void DrawAabb(IDebugDraw* debugDrawer,const SimdVector3& from,const SimdV
 
 CcdPhysicsEnvironment::CcdPhysicsEnvironment(CollisionDispatcher* dispatcher,BroadphaseInterface* broadphase)
 :m_scalingPropagated(false),
-m_numIterations(10),
+m_numIterations(4),
 m_numTimeSubSteps(1),
 m_ccdMode(0),
 m_solverType(-1),
@@ -1034,7 +1033,7 @@ void		CcdPhysicsEnvironment::setSolverType(int solverType)
 			if (m_solverType != solverType)
 			{
 
-				m_solver = new SimpleConstraintSolver();
+				m_solver = new SequentialImpulseConstraintSolver();
 
 				break;
 			}
@@ -1044,7 +1043,7 @@ void		CcdPhysicsEnvironment::setSolverType(int solverType)
 	default:
 		if (m_solverType != solverType)
 		{
-			m_solver = new OdeConstraintSolver();
+//			m_solver = new OdeConstraintSolver();
 
 			break;
 		}

Extras/quickstep/OdeConstraintSolver.cpp

@@ -53,6 +53,9 @@ class BU_Joint;
 
 //see below
 
+//to bridge with ODE quickstep, we make a temp copy of the rigidbodies in each simultion island, stored in an array of size MAX_RIGIDBODIES
+#define MAX_QUICKSTEP_RIGIDBODIES 8192
+
 OdeConstraintSolver::OdeConstraintSolver():
 m_cfm(0.f),//1e-5f),
 m_erp(0.4f)
@@ -72,10 +75,10 @@ float OdeConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numM
 	m_CurJoint = 0;
 
 
-	RigidBody* bodies [MAX_RIGIDBODIES];
+	RigidBody* bodies [MAX_QUICKSTEP_RIGIDBODIES];
 
 	int numBodies = 0;
-	BU_Joint* joints [MAX_RIGIDBODIES*4];
+	BU_Joint* joints [MAX_QUICKSTEP_RIGIDBODIES*4];
 	int numJoints = 0;
 
 	for (int j=0;j<numManifolds;j++)
@@ -186,7 +189,7 @@ int OdeConstraintSolver::ConvertBody(RigidBody* body,RigidBody** bodies,int& num
 
 
 	
-#define MAX_JOINTS_1 8192
+#define MAX_JOINTS_1 65535
 
 static ContactJoint gJointArray[MAX_JOINTS_1];
 

msvc/8/libbullet.vcproj

@@ -4,12 +4,14 @@
 	Version="8.00"
 	Name="libbullet"
 	ProjectGUID="{90F5975E-550B-EEC8-9A8A-B8581D3FCF97}"
-	SccProjectName=""
+	>
-	SccLocalPath="">
 	<Platforms>
 		<Platform
-			Name="Win32"/>
+			Name="Win32"
+		/>
 	</Platforms>
+	<ToolFiles>
+	</ToolFiles>
 	<Configurations>
 		<Configuration
 			Name="Release|Win32"
@@ -17,73 +19,82 @@
 			IntermediateDirectory="..\..\out\release8\build\libbullet\"
 			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\libbullet\libbullet.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\libbullet\libbullet.pch"
 				AssemblerListingLocation="..\..\out\release8\build\libbullet\"
 				ObjectFile="..\..\out\release8\build\libbullet\"
 				ProgramDataBaseFileName="..\..\out\release8\build\libbullet\bullet.pdb"
 				WarningLevel="3"
-				SuppressStartupBanner="TRUE"
+				SuppressStartupBanner="true"
-				Detect64BitPortabilityProblems="TRUE"
+				Detect64BitPortabilityProblems="true"
-				TreatWChar_tAsBuiltInType="false"
+				DebugInformationFormat="3"
-				CompileAs="0"/>
+				CompileAs="0"
-			<Tool
-				Name="VCCustomBuildTool"/>
-			<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\libbullet\bullet.pdb"
-				TargetMachine="1"/>
-			<Tool
-				Name="VCLibrarianTool"
-				OutputFile="..\..\out\release8\libs\libbullet.lib"
-				SuppressStartupBanner="TRUE"/>
-			<Tool
-				Name="VCMIDLTool"
-				PreprocessorDefinitions="NDEBUG;_LIB;_WINDOWS"
-				MkTypLibCompatible="TRUE"
-				SuppressStartupBanner="TRUE"
-				TargetEnvironment="1"
-				TypeLibraryName="..\..\out\release8\build\libbullet\libbullet.tlb"/>
-			<Tool
-				Name="VCPostBuildEventTool"
 			/>
 			<Tool
-				Name="VCPreBuildEventTool"/>
+				Name="VCManagedResourceCompilerTool"
-			<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\libbullet.lib"
+				SuppressStartupBanner="true"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
 		</Configuration>
 		<Configuration
 			Name="Debug|Win32"
@@ -91,471 +102,554 @@
 			IntermediateDirectory="..\..\out\debug8\build\libbullet\"
 			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\libbullet\libbullet.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\libbullet\libbullet.pch"
 				AssemblerListingLocation="..\..\out\debug8\build\libbullet\"
 				ObjectFile="..\..\out\debug8\build\libbullet\"
 				ProgramDataBaseFileName="..\..\out\debug8\build\libbullet\bullet.pdb"
 				WarningLevel="3"
-				SuppressStartupBanner="TRUE"
+				SuppressStartupBanner="true"
-				Detect64BitPortabilityProblems="TRUE"
+				Detect64BitPortabilityProblems="true"
-				TreatWChar_tAsBuiltInType="false"
+				DebugInformationFormat="4"
-				CompileAs="0"/>
+				CompileAs="0"
-			<Tool
-				Name="VCCustomBuildTool"/>
-			<Tool
-				Name="VCLinkerTool"
-				LinkIncremental="2"
-				GenerateDebugInformation="TRUE"
-				IgnoreDefaultLibraryNames="LIBC,LIBCD"
-				AdditionalOptions=" "
-				AdditionalDependencies=""
-				IgnoreImportLibrary="TRUE"
-				SuppressStartupBanner="TRUE"
-				GenerateManifest="false"
-				AdditionalLibraryDirectories=""
-				ProgramDatabaseFile="..\..\out\debug8\build\libbullet\bullet.pdb"
-				TargetMachine="1"/>
-			<Tool
-				Name="VCLibrarianTool"
-				OutputFile="..\..\out\debug8\libs\libbullet_d.lib"
-				SuppressStartupBanner="TRUE"/>
-			<Tool
-				Name="VCMIDLTool"
-				PreprocessorDefinitions="_DEBUG;_LIB;_WINDOWS"
-				MkTypLibCompatible="TRUE"
-				SuppressStartupBanner="TRUE"
-				TargetEnvironment="1"
-				TypeLibraryName="..\..\out\debug8\build\libbullet\libbullet.tlb"/>
-			<Tool
-				Name="VCPostBuildEventTool"
 			/>
 			<Tool
-				Name="VCPreBuildEventTool"/>
+				Name="VCManagedResourceCompilerTool"
-			<Tool
+			/>
-				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\libbullet_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="..\..\Bullet\BroadphaseCollision\AxisSweep3.cpp">
+				RelativePath="..\..\Bullet\BroadphaseCollision\AxisSweep3.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\BroadphaseCollision\BroadphaseProxy.cpp">
+				RelativePath="..\..\Bullet\CollisionShapes\BoxShape.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\BroadphaseCollision\CollisionAlgorithm.cpp">
+				RelativePath="..\..\Bullet\BroadphaseCollision\BroadphaseProxy.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\BroadphaseCollision\Dispatcher.cpp">
+				RelativePath="..\..\Bullet\CollisionShapes\BvhTriangleMeshShape.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\BroadphaseCollision\SimpleBroadphase.cpp">
+				RelativePath="..\..\Bullet\BroadphaseCollision\CollisionAlgorithm.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionDispatch\CollisionDispatcher.cpp">
+				RelativePath="..\..\Bullet\CollisionDispatch\CollisionDispatcher.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionDispatch\CollisionObject.cpp">
+				RelativePath="..\..\Bullet\CollisionDispatch\CollisionObject.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionDispatch\CollisionWorld.cpp">
+				RelativePath="..\..\Bullet\CollisionShapes\CollisionShape.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionDispatch\CompoundCollisionAlgorithm.cpp">
+				RelativePath="..\..\Bullet\CollisionDispatch\CollisionWorld.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionDispatch\ConvexConcaveCollisionAlgorithm.cpp">
+				RelativePath="..\..\Bullet\CollisionDispatch\CompoundCollisionAlgorithm.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionDispatch\ConvexConvexAlgorithm.cpp">
+				RelativePath="..\..\Bullet\CollisionShapes\CompoundShape.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionDispatch\EmptyCollisionAlgorithm.cpp">
+				RelativePath="..\..\Bullet\CollisionShapes\ConeShape.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionDispatch\ManifoldResult.cpp">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\ContinuousConvexCollision.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionDispatch\UnionFind.cpp">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\ConvexCast.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\BoxShape.cpp">
+				RelativePath="..\..\Bullet\CollisionDispatch\ConvexConcaveCollisionAlgorithm.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\BvhTriangleMeshShape.cpp">
+				RelativePath="..\..\Bullet\CollisionDispatch\ConvexConvexAlgorithm.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\CollisionShape.cpp">
+				RelativePath="..\..\Bullet\CollisionShapes\ConvexHullShape.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\CompoundShape.cpp">
+				RelativePath="..\..\Bullet\CollisionShapes\ConvexShape.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\ConeShape.cpp">
+				RelativePath="..\..\Bullet\CollisionShapes\ConvexTriangleMeshShape.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\ConvexHullShape.cpp">
+				RelativePath="..\..\Bullet\CollisionShapes\CylinderShape.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\ConvexShape.cpp">
+				RelativePath="..\..\Bullet\BroadphaseCollision\Dispatcher.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\ConvexTriangleMeshShape.cpp">
+				RelativePath="..\..\Bullet\CollisionDispatch\EmptyCollisionAlgorithm.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\CylinderShape.cpp">
+				RelativePath="..\..\Bullet\CollisionShapes\EmptyShape.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\EmptyShape.cpp">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\GjkConvexCast.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\MinkowskiSumShape.cpp">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\GjkPairDetector.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\MultiSphereShape.cpp">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\Hull.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\OptimizedBvh.cpp">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\ManifoldContactAddResult.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\PolyhedralConvexShape.cpp">
+				RelativePath="..\..\Bullet\CollisionDispatch\ManifoldResult.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\Simplex1to4Shape.cpp">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\MinkowskiPenetrationDepthSolver.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\SphereShape.cpp">
+				RelativePath="..\..\Bullet\CollisionShapes\MinkowskiSumShape.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\StridingMeshInterface.cpp">
+				RelativePath="..\..\Bullet\CollisionShapes\MultiSphereShape.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\TriangleCallback.cpp">
+				RelativePath="..\..\Bullet\CollisionShapes\OptimizedBvh.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\TriangleIndexVertexArray.cpp">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\PersistentManifold.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\TriangleMesh.cpp">
+				RelativePath="..\..\Bullet\CollisionShapes\PolyhedralConvexShape.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\TriangleMeshShape.cpp">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\RaycastCallback.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_AlgebraicPolynomialSolver.cpp">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\Shape.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_Collidable.cpp">
+				RelativePath="..\..\Bullet\BroadphaseCollision\SimpleBroadphase.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_CollisionPair.cpp">
+				RelativePath="..\..\Bullet\CollisionShapes\Simplex1to4Shape.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_EdgeEdge.cpp">
+				RelativePath="..\..\Bullet\CollisionShapes\SphereShape.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_Screwing.cpp">
+				RelativePath="..\..\Bullet\CollisionShapes\StridingMeshInterface.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_VertexPoly.cpp">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\SubSimplexConvexCast.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\ContinuousConvexCollision.cpp">
+				RelativePath="..\..\Bullet\CollisionShapes\TriangleCallback.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\ConvexCast.cpp">
+				RelativePath="..\..\Bullet\CollisionShapes\TriangleIndexVertexArray.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\Epa.cpp">
+				RelativePath="..\..\Bullet\CollisionShapes\TriangleMesh.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\EpaFace.cpp">
+				RelativePath="..\..\Bullet\CollisionShapes\TriangleMeshShape.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\EpaPenetrationDepthSolver.cpp">
+				RelativePath="..\..\Bullet\CollisionDispatch\UnionFind.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\EpaPolyhedron.cpp">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\VoronoiSimplexSolver.cpp"
-			</File>
+				>
-			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\GjkConvexCast.cpp">
-			</File>
-			<File
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-			<File
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 			</File>
 		</Filter>
 		<Filter
 			Name="Header Files"
-			Filter="">
+			>
 			<File
-				RelativePath="..\..\Bullet\BroadphaseCollision\AxisSweep3.h">
+				RelativePath="..\..\Bullet\BroadphaseCollision\AxisSweep3.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\BroadphaseCollision\BroadphaseInterface.h">
+				RelativePath="..\..\Bullet\CollisionShapes\BoxShape.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\BroadphaseCollision\BroadphaseProxy.h">
+				RelativePath="..\..\Bullet\BroadphaseCollision\BroadphaseInterface.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\BroadphaseCollision\CollisionAlgorithm.h">
+				RelativePath="..\..\Bullet\BroadphaseCollision\BroadphaseProxy.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\BroadphaseCollision\Dispatcher.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_AlgebraicPolynomialSolver.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\BroadphaseCollision\SimpleBroadphase.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_Collidable.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionDispatch\CollisionDispatcher.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_CollisionPair.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionDispatch\CollisionObject.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_EdgeEdge.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionDispatch\CollisionWorld.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_MotionStateInterface.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionDispatch\CompoundCollisionAlgorithm.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_PolynomialSolverInterface.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionDispatch\ConvexConcaveCollisionAlgorithm.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_Screwing.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionDispatch\ConvexConvexAlgorithm.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_StaticMotionState.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionDispatch\EmptyCollisionAlgorithm.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_VertexPoly.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionDispatch\ManifoldResult.h">
+				RelativePath="..\..\Bullet\CollisionShapes\BvhTriangleMeshShape.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionDispatch\UnionFind.h">
+				RelativePath="..\..\Bullet\BroadphaseCollision\CollisionAlgorithm.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\BoxShape.h">
+				RelativePath="..\..\Bullet\CollisionDispatch\CollisionDispatcher.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\BvhTriangleMeshShape.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\CollisionMargin.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\CollisionMargin.h">
+				RelativePath="..\..\Bullet\CollisionShapes\CollisionMargin.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\CollisionShape.h">
+				RelativePath="..\..\Bullet\CollisionDispatch\CollisionObject.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\CompoundShape.h">
+				RelativePath="..\..\Bullet\CollisionShapes\CollisionShape.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\ConeShape.h">
+				RelativePath="..\..\Bullet\CollisionDispatch\CollisionWorld.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\ConvexHullShape.h">
+				RelativePath="..\..\Bullet\CollisionDispatch\CompoundCollisionAlgorithm.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\ConvexShape.h">
+				RelativePath="..\..\Bullet\CollisionShapes\CompoundShape.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\ConvexTriangleMeshShape.h">
+				RelativePath="..\..\Bullet\CollisionShapes\ConeShape.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\CylinderShape.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\ContinuousConvexCollision.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\EmptyShape.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\ConvexCast.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\MinkowskiSumShape.h">
+				RelativePath="..\..\Bullet\CollisionDispatch\ConvexConcaveCollisionAlgorithm.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\MultiSphereShape.h">
+				RelativePath="..\..\Bullet\CollisionDispatch\ConvexConvexAlgorithm.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\OptimizedBvh.h">
+				RelativePath="..\..\Bullet\CollisionShapes\ConvexHullShape.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\PolyhedralConvexShape.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\ConvexPenetrationDepthSolver.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\Simplex1to4Shape.h">
+				RelativePath="..\..\Bullet\CollisionShapes\ConvexShape.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\SphereShape.h">
+				RelativePath="..\..\Bullet\CollisionShapes\ConvexTriangleMeshShape.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\StridingMeshInterface.h">
+				RelativePath="..\..\Bullet\CollisionShapes\CylinderShape.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\TriangleCallback.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\DiscreteCollisionDetectorInterface.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\TriangleIndexVertexArray.h">
+				RelativePath="..\..\Bullet\BroadphaseCollision\Dispatcher.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\TriangleMesh.h">
+				RelativePath="..\..\Bullet\CollisionDispatch\EmptyCollisionAlgorithm.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\TriangleMeshShape.h">
+				RelativePath="..\..\Bullet\CollisionShapes\EmptyShape.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\CollisionShapes\TriangleShape.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\GjkConvexCast.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_AlgebraicPolynomialSolver.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\GjkPairDetector.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_Collidable.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\Hull.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_CollisionPair.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\HullContactCollector.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_EdgeEdge.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\ManifoldContactAddResult.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_MotionStateInterface.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\ManifoldPoint.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_PolynomialSolverInterface.h">
+				RelativePath="..\..\Bullet\CollisionDispatch\ManifoldResult.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_Screwing.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\MinkowskiPenetrationDepthSolver.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_StaticMotionState.h">
+				RelativePath="..\..\Bullet\CollisionShapes\MinkowskiSumShape.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\BU_VertexPoly.h">
+				RelativePath="..\..\Bullet\CollisionShapes\MultiSphereShape.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\CollisionMargin.h">
+				RelativePath="..\..\Bullet\CollisionShapes\OptimizedBvh.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\ContinuousConvexCollision.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\PersistentManifold.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\ConvexCast.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\PointCollector.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\ConvexPenetrationDepthSolver.h">
+				RelativePath="..\..\Bullet\CollisionShapes\PolyhedralConvexShape.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\DiscreteCollisionDetectorInterface.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\RaycastCallback.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\Epa.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\Shape.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\EpaCommon.h">
+				RelativePath="..\..\Bullet\BroadphaseCollision\SimpleBroadphase.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\EpaFace.h">
+				RelativePath="..\..\Bullet\CollisionShapes\Simplex1to4Shape.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\EpaHalfEdge.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\SimplexSolverInterface.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\EpaPenetrationDepthSolver.h">
+				RelativePath="..\..\Bullet\CollisionShapes\SphereShape.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\EpaPolyhedron.h">
+				RelativePath="..\..\Bullet\CollisionShapes\StridingMeshInterface.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\EpaVertex.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\SubSimplexConvexCast.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\GjkConvexCast.h">
+				RelativePath="..\..\Bullet\CollisionShapes\TriangleCallback.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\GjkPairDetector.h">
+				RelativePath="..\..\Bullet\CollisionShapes\TriangleIndexVertexArray.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\Hull.h">
+				RelativePath="..\..\Bullet\CollisionShapes\TriangleMesh.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\HullContactCollector.h">
+				RelativePath="..\..\Bullet\CollisionShapes\TriangleMeshShape.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\ManifoldContactAddResult.h">
+				RelativePath="..\..\Bullet\CollisionShapes\TriangleShape.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\ManifoldPoint.h">
+				RelativePath="..\..\Bullet\CollisionDispatch\UnionFind.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\MinkowskiPenetrationDepthSolver.h">
+				RelativePath="..\..\Bullet\NarrowPhaseCollision\VoronoiSimplexSolver.h"
-			</File>
+				>
-			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\PersistentManifold.h">
-			</File>
-			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\PointCollector.h">
-			</File>
-			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\RaycastCallback.h">
-			</File>
-			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\Shape.h">
-			</File>
-			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\SimplexSolverInterface.h">
-			</File>
-			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\SubSimplexConvexCast.h">
-			</File>
-			<File
-				RelativePath="..\..\Bullet\NarrowPhaseCollision\VoronoiSimplexSolver.h">
 			</File>
 		</Filter>
+		<File
+			RelativePath="..\..\Bullet\BroadphaseCollision\OverlappingPairCache.cpp"
+			>
+		</File>
+		<File
+			RelativePath="..\..\Bullet\BroadphaseCollision\OverlappingPairCache.h"
+			>
+		</File>
 	</Files>
 	<Globals>
 	</Globals>

msvc/8/libbulletccdphysics.vcproj

@@ -4,12 +4,14 @@
 	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"/>
-			<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"/>
+				Name="VCManagedResourceCompilerTool"
-			<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"
@@ -91,91 +102,116 @@
 			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"/>
-			<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"/>
-			<Tool
-				Name="VCMIDLTool"
-				PreprocessorDefinitions="_DEBUG;_LIB;_WINDOWS"
-				MkTypLibCompatible="TRUE"
-				SuppressStartupBanner="TRUE"
-				TargetEnvironment="1"
-				TypeLibraryName="..\..\out\debug8\build\libbulletccdphysics\libbulletccdphysics.tlb"/>
-			<Tool
-				Name="VCPostBuildEventTool"
 			/>
 			<Tool
-				Name="VCPreBuildEventTool"/>
+				Name="VCManagedResourceCompilerTool"
-			<Tool
+			/>
-				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>
+			<File
+				RelativePath="..\..\Extras\PhysicsInterface\CcdPhysics\ParallelPhysicsEnvironment.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\ParallelPhysicsEnvironment.h"
+				>
 			</File>
 		</Filter>
 	</Files>

msvc/8/libbulletdynamics.vcproj

@@ -4,12 +4,14 @@
 	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"/>
-			<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\libbulletdynamics\bulletdynamics.pdb"
-				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"/>
+				Name="VCManagedResourceCompilerTool"
-			<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"
@@ -91,165 +102,202 @@
 			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"/>
-			<Tool
-				Name="VCLinkerTool"
-				LinkIncremental="2"
-				GenerateDebugInformation="TRUE"
-				IgnoreDefaultLibraryNames="LIBC,LIBCD"
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-				OutputFile="..\..\out\debug8\libs\libbulletdynamics_d.lib"
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-			<Tool
-				Name="VCPostBuildEventTool"
 			/>
 			<Tool
-				Name="VCPreBuildEventTool"/>
+				Name="VCManagedResourceCompilerTool"
-			<Tool
+			/>
-				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\OdeConstraintSolver.cpp">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\Generic6DofConstraint.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\Point2PointConstraint.cpp">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\HingeConstraint.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\SimpleConstraintSolver.cpp">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\Point2PointConstraint.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\Solve2LinearConstraint.cpp">
+				RelativePath="..\..\BulletDynamics\Dynamics\RigidBody.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\SorLcp.cpp">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\Solve2LinearConstraint.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\TypedConstraint.cpp">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\TypedConstraint.cpp"
-			</File>
+				>
-			<File
-				RelativePath="..\..\BulletDynamics\Dynamics\BU_Joint.cpp">
-			</File>
-			<File
-				RelativePath="..\..\BulletDynamics\Dynamics\ContactJoint.cpp">
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-			<File
-				RelativePath="..\..\BulletDynamics\Dynamics\RigidBody.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\OdeConstraintSolver.h">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\HingeConstraint.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\Point2PointConstraint.h">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\JacobianEntry.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\SimpleConstraintSolver.h">
+				RelativePath="..\..\BulletDynamics\Dynamics\MassProps.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\Solve2LinearConstraint.h">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\OdeConstraintSolver.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\SorLcp.h">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\Point2PointConstraint.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\ConstraintSolver\TypedConstraint.h">
+				RelativePath="..\..\BulletDynamics\Dynamics\RigidBody.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\Dynamics\BU_Joint.h">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\SimpleConstraintSolver.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\Dynamics\ContactJoint.h">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\Solve2LinearConstraint.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\Dynamics\MassProps.h">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\SorLcp.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\BulletDynamics\Dynamics\RigidBody.h">
+				RelativePath="..\..\BulletDynamics\ConstraintSolver\TypedConstraint.h"
+				>
 			</File>
 		</Filter>
+		<File
+			RelativePath="..\..\BulletDynamics\ConstraintSolver\SequentialImpulseConstraintSolver.cpp"
+			>
+		</File>
+		<File
+			RelativePath="..\..\BulletDynamics\ConstraintSolver\SequentialImpulseConstraintSolver.h"
+			>
+		</File>
 	</Files>
 	<Globals>
 	</Globals>

msvc/8/wksbullet.sln

@@ -1,34 +1,172 @@
 Microsoft Visual Studio Solution File, Format Version 9.00
-# Visual C++ Express 2005
+# Visual Studio 2005
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appCcdPhysicsDemo", "appCcdPhysicsDemo.vcproj", "{7284F809-AF30-6315-88C6-86F1C0798760}"
+	ProjectSection(ProjectDependencies) = postProject
+		{85BCCE3E-992B-B6D7-28F6-CF0A12680822} = {85BCCE3E-992B-B6D7-28F6-CF0A12680822}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E} = {C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E}
+		{90F5975E-550B-EEC8-9A8A-B8581D3FCF97} = {90F5975E-550B-EEC8-9A8A-B8581D3FCF97}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appColladaDemo", "appColladaDemo.vcproj", "{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}"
+	ProjectSection(ProjectDependencies) = postProject
+		{A0958CD9-0E39-4A77-3711-9B488F508FBF} = {A0958CD9-0E39-4A77-3711-9B488F508FBF}
+		{8050F819-5B5B-1504-BC6D-7F2B4C6C85F3} = {8050F819-5B5B-1504-BC6D-7F2B4C6C85F3}
+		{5E57E40B-B2C3-7595-57AB-A3936FFBD7D4} = {5E57E40B-B2C3-7595-57AB-A3936FFBD7D4}
+		{85BCCE3E-992B-B6D7-28F6-CF0A12680822} = {85BCCE3E-992B-B6D7-28F6-CF0A12680822}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E} = {C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E}
+		{90F5975E-550B-EEC8-9A8A-B8581D3FCF97} = {90F5975E-550B-EEC8-9A8A-B8581D3FCF97}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appCollisionDemo", "appCollisionDemo.vcproj", "{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}"
+	ProjectSection(ProjectDependencies) = postProject
+		{85BCCE3E-992B-B6D7-28F6-CF0A12680822} = {85BCCE3E-992B-B6D7-28F6-CF0A12680822}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E} = {C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E}
+		{90F5975E-550B-EEC8-9A8A-B8581D3FCF97} = {90F5975E-550B-EEC8-9A8A-B8581D3FCF97}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appCollisionInterfaceDemo", "appCollisionInterfaceDemo.vcproj", "{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}"
+	ProjectSection(ProjectDependencies) = postProject
+		{85BCCE3E-992B-B6D7-28F6-CF0A12680822} = {85BCCE3E-992B-B6D7-28F6-CF0A12680822}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E} = {C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E}
+		{90F5975E-550B-EEC8-9A8A-B8581D3FCF97} = {90F5975E-550B-EEC8-9A8A-B8581D3FCF97}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appConcaveDemo", "appConcaveDemo.vcproj", "{B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}"
+	ProjectSection(ProjectDependencies) = postProject
+		{85BCCE3E-992B-B6D7-28F6-CF0A12680822} = {85BCCE3E-992B-B6D7-28F6-CF0A12680822}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E} = {C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E}
+		{90F5975E-550B-EEC8-9A8A-B8581D3FCF97} = {90F5975E-550B-EEC8-9A8A-B8581D3FCF97}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appConstraintDemo", "appConstraintDemo.vcproj", "{DAA547D0-0166-C085-0F93-B88CAB800F97}"
+	ProjectSection(ProjectDependencies) = postProject
+		{85BCCE3E-992B-B6D7-28F6-CF0A12680822} = {85BCCE3E-992B-B6D7-28F6-CF0A12680822}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E} = {C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E}
+		{90F5975E-550B-EEC8-9A8A-B8581D3FCF97} = {90F5975E-550B-EEC8-9A8A-B8581D3FCF97}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appContinuousConvexCollision", "appContinuousConvexCollision.vcproj", "{801CB6D4-A45C-C9D2-B176-9711A74B9164}"
+	ProjectSection(ProjectDependencies) = postProject
+		{85BCCE3E-992B-B6D7-28F6-CF0A12680822} = {85BCCE3E-992B-B6D7-28F6-CF0A12680822}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E} = {C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E}
+		{90F5975E-550B-EEC8-9A8A-B8581D3FCF97} = {90F5975E-550B-EEC8-9A8A-B8581D3FCF97}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appConvexDecompositionDemo", "appConvexDecompositionDemo.vcproj", "{69C821C7-1E18-D894-068D-C55E063F4859}"
-EndProject
+	ProjectSection(ProjectDependencies) = postProject
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appEPAPenDepthDemo", "appEPAPenDepthDemo.vcproj", "{1125C7F3-9E0D-27B1-C97B-CDAB5CE161A3}"
+		{A0958CD9-0E39-4A77-3711-9B488F508FBF} = {A0958CD9-0E39-4A77-3711-9B488F508FBF}
+		{8050F819-5B5B-1504-BC6D-7F2B4C6C85F3} = {8050F819-5B5B-1504-BC6D-7F2B4C6C85F3}
+		{5E57E40B-B2C3-7595-57AB-A3936FFBD7D4} = {5E57E40B-B2C3-7595-57AB-A3936FFBD7D4}
+		{85BCCE3E-992B-B6D7-28F6-CF0A12680822} = {85BCCE3E-992B-B6D7-28F6-CF0A12680822}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E} = {C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E}
+		{90F5975E-550B-EEC8-9A8A-B8581D3FCF97} = {90F5975E-550B-EEC8-9A8A-B8581D3FCF97}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appGjkConvexCastDemo", "appGjkConvexCastDemo.vcproj", "{780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}"
+	ProjectSection(ProjectDependencies) = postProject
+		{85BCCE3E-992B-B6D7-28F6-CF0A12680822} = {85BCCE3E-992B-B6D7-28F6-CF0A12680822}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E} = {C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E}
+		{90F5975E-550B-EEC8-9A8A-B8581D3FCF97} = {90F5975E-550B-EEC8-9A8A-B8581D3FCF97}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appRaytracer", "appRaytracer.vcproj", "{60F71B6A-F888-C449-EF49-268BB9F7C963}"
+	ProjectSection(ProjectDependencies) = postProject
+		{85BCCE3E-992B-B6D7-28F6-CF0A12680822} = {85BCCE3E-992B-B6D7-28F6-CF0A12680822}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E} = {C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E}
+		{90F5975E-550B-EEC8-9A8A-B8581D3FCF97} = {90F5975E-550B-EEC8-9A8A-B8581D3FCF97}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appSimplexDemo", "appSimplexDemo.vcproj", "{60A1DC9D-F837-3923-E9DE-A7925394A578}"
+	ProjectSection(ProjectDependencies) = postProject
+		{85BCCE3E-992B-B6D7-28F6-CF0A12680822} = {85BCCE3E-992B-B6D7-28F6-CF0A12680822}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E} = {C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E}
+		{90F5975E-550B-EEC8-9A8A-B8581D3FCF97} = {90F5975E-550B-EEC8-9A8A-B8581D3FCF97}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "grpall_bullet", "grpall_bullet.vcproj", "{6210A080-01C0-6D67-F1DB-669393175402}"
+	ProjectSection(ProjectDependencies) = postProject
+		{A0958CD9-0E39-4A77-3711-9B488F508FBF} = {A0958CD9-0E39-4A77-3711-9B488F508FBF}
+		{8050F819-5B5B-1504-BC6D-7F2B4C6C85F3} = {8050F819-5B5B-1504-BC6D-7F2B4C6C85F3}
+		{5E57E40B-B2C3-7595-57AB-A3936FFBD7D4} = {5E57E40B-B2C3-7595-57AB-A3936FFBD7D4}
+		{85BCCE3E-992B-B6D7-28F6-CF0A12680822} = {85BCCE3E-992B-B6D7-28F6-CF0A12680822}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E} = {C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E}
+		{90F5975E-550B-EEC8-9A8A-B8581D3FCF97} = {90F5975E-550B-EEC8-9A8A-B8581D3FCF97}
+		{60A1DC9D-F837-3923-E9DE-A7925394A578} = {60A1DC9D-F837-3923-E9DE-A7925394A578}
+		{60F71B6A-F888-C449-EF49-268BB9F7C963} = {60F71B6A-F888-C449-EF49-268BB9F7C963}
+		{780752A8-6322-5D3E-EF42-D0FD8BF9CEA1} = {780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}
+		{69C821C7-1E18-D894-068D-C55E063F4859} = {69C821C7-1E18-D894-068D-C55E063F4859}
+		{801CB6D4-A45C-C9D2-B176-9711A74B9164} = {801CB6D4-A45C-C9D2-B176-9711A74B9164}
+		{DAA547D0-0166-C085-0F93-B88CAB800F97} = {DAA547D0-0166-C085-0F93-B88CAB800F97}
+		{B94C19C6-F6E7-2F60-56E2-E0BA681B74B3} = {B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}
+		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B} = {F38629D2-EEB2-1A09-FB82-52B8A8DE759B}
+		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9} = {E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}
+		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF} = {D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}
+		{7284F809-AF30-6315-88C6-86F1C0798760} = {7284F809-AF30-6315-88C6-86F1C0798760}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "grpapps_bullet", "grpapps_bullet.vcproj", "{9E59B16D-0924-409C-1611-DF2207A0053F}"
+	ProjectSection(ProjectDependencies) = postProject
+		{60A1DC9D-F837-3923-E9DE-A7925394A578} = {60A1DC9D-F837-3923-E9DE-A7925394A578}
+		{60F71B6A-F888-C449-EF49-268BB9F7C963} = {60F71B6A-F888-C449-EF49-268BB9F7C963}
+		{780752A8-6322-5D3E-EF42-D0FD8BF9CEA1} = {780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}
+		{69C821C7-1E18-D894-068D-C55E063F4859} = {69C821C7-1E18-D894-068D-C55E063F4859}
+		{801CB6D4-A45C-C9D2-B176-9711A74B9164} = {801CB6D4-A45C-C9D2-B176-9711A74B9164}
+		{DAA547D0-0166-C085-0F93-B88CAB800F97} = {DAA547D0-0166-C085-0F93-B88CAB800F97}
+		{B94C19C6-F6E7-2F60-56E2-E0BA681B74B3} = {B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}
+		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B} = {F38629D2-EEB2-1A09-FB82-52B8A8DE759B}
+		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9} = {E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}
+		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF} = {D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}
+		{7284F809-AF30-6315-88C6-86F1C0798760} = {7284F809-AF30-6315-88C6-86F1C0798760}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "grplibs_bullet", "grplibs_bullet.vcproj", "{DFAF0062-4CD7-9AB8-0683-A6026B326F56}"
+	ProjectSection(ProjectDependencies) = postProject
+		{A0958CD9-0E39-4A77-3711-9B488F508FBF} = {A0958CD9-0E39-4A77-3711-9B488F508FBF}
+		{8050F819-5B5B-1504-BC6D-7F2B4C6C85F3} = {8050F819-5B5B-1504-BC6D-7F2B4C6C85F3}
+		{5E57E40B-B2C3-7595-57AB-A3936FFBD7D4} = {5E57E40B-B2C3-7595-57AB-A3936FFBD7D4}
+		{85BCCE3E-992B-B6D7-28F6-CF0A12680822} = {85BCCE3E-992B-B6D7-28F6-CF0A12680822}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E} = {C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E}
+		{90F5975E-550B-EEC8-9A8A-B8581D3FCF97} = {90F5975E-550B-EEC8-9A8A-B8581D3FCF97}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libbullet", "libbullet.vcproj", "{90F5975E-550B-EEC8-9A8A-B8581D3FCF97}"
 EndProject
@@ -49,232 +187,105 @@ EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "liblibxml", "liblibxml.vcproj", "{A0958CD9-0E39-4A77-3711-9B488F508FBF}"
 EndProject
 Global
-	GlobalSection(SolutionConfiguration) = preSolution
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
-		ConfigName.0 = Release
+		Debug|Win32 = Debug|Win32
-		ConfigName.1 = Debug
+		Release|Win32 = Release|Win32
 	EndGlobalSection
-	GlobalSection(ProjectDependencies) = postSolution
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
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-		{7284F809-AF30-6315-88C6-86F1C0798760}.1 = {C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E}
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-		{7284F809-AF30-6315-88C6-86F1C0798760}.2 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
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-		{7284F809-AF30-6315-88C6-86F1C0798760}.3 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
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-		{7284F809-AF30-6315-88C6-86F1C0798760}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
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-		{7284F809-AF30-6315-88C6-86F1C0798760}.5 = {85BCCE3E-992B-B6D7-28F6-CF0A12680822}
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-		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.0 = {90F5975E-550B-EEC8-9A8A-B8581D3FCF97}
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-		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.1 = {C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E}
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-		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.2 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
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-		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.3 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.Debug|Win32.Build.0 = Debug|Win32
-		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.Release|Win32.ActiveCfg = Release|Win32
-		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.5 = {85BCCE3E-992B-B6D7-28F6-CF0A12680822}
+		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.Release|Win32.Build.0 = Release|Win32
-		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.6 = {5E57E40B-B2C3-7595-57AB-A3936FFBD7D4}
+		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.Debug|Win32.ActiveCfg = Debug|Win32
-		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.7 = {8050F819-5B5B-1504-BC6D-7F2B4C6C85F3}
+		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.Debug|Win32.Build.0 = Debug|Win32
-		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.8 = {A0958CD9-0E39-4A77-3711-9B488F508FBF}
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-		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.0 = {90F5975E-550B-EEC8-9A8A-B8581D3FCF97}
+		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.Release|Win32.Build.0 = Release|Win32
-		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.1 = {C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E}
+		{B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}.Debug|Win32.ActiveCfg = Debug|Win32
-		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.2 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}.Debug|Win32.Build.0 = Debug|Win32
-		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.3 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}.Release|Win32.ActiveCfg = Release|Win32
-		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}.Release|Win32.Build.0 = Release|Win32
-		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.5 = {85BCCE3E-992B-B6D7-28F6-CF0A12680822}
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-		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.0 = {90F5975E-550B-EEC8-9A8A-B8581D3FCF97}
+		{DAA547D0-0166-C085-0F93-B88CAB800F97}.Debug|Win32.Build.0 = Debug|Win32
-		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.1 = {C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E}
+		{DAA547D0-0166-C085-0F93-B88CAB800F97}.Release|Win32.ActiveCfg = Release|Win32
-		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.2 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{DAA547D0-0166-C085-0F93-B88CAB800F97}.Release|Win32.Build.0 = Release|Win32
-		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.3 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{801CB6D4-A45C-C9D2-B176-9711A74B9164}.Debug|Win32.ActiveCfg = Debug|Win32
-		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{801CB6D4-A45C-C9D2-B176-9711A74B9164}.Debug|Win32.Build.0 = Debug|Win32
-		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.5 = {85BCCE3E-992B-B6D7-28F6-CF0A12680822}
+		{801CB6D4-A45C-C9D2-B176-9711A74B9164}.Release|Win32.ActiveCfg = Release|Win32
-		{B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}.0 = {90F5975E-550B-EEC8-9A8A-B8581D3FCF97}
+		{801CB6D4-A45C-C9D2-B176-9711A74B9164}.Release|Win32.Build.0 = Release|Win32
-		{B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}.1 = {C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E}
+		{69C821C7-1E18-D894-068D-C55E063F4859}.Debug|Win32.ActiveCfg = Debug|Win32
-		{B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}.2 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{69C821C7-1E18-D894-068D-C55E063F4859}.Debug|Win32.Build.0 = Debug|Win32
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+		{69C821C7-1E18-D894-068D-C55E063F4859}.Release|Win32.ActiveCfg = Release|Win32
-		{B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{69C821C7-1E18-D894-068D-C55E063F4859}.Release|Win32.Build.0 = Release|Win32
-		{B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}.5 = {85BCCE3E-992B-B6D7-28F6-CF0A12680822}
+		{780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}.Debug|Win32.ActiveCfg = Debug|Win32
-		{DAA547D0-0166-C085-0F93-B88CAB800F97}.0 = {90F5975E-550B-EEC8-9A8A-B8581D3FCF97}
+		{780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}.Debug|Win32.Build.0 = Debug|Win32
-		{DAA547D0-0166-C085-0F93-B88CAB800F97}.1 = {C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E}
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-		{DAA547D0-0166-C085-0F93-B88CAB800F97}.3 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
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+		{60F71B6A-F888-C449-EF49-268BB9F7C963}.Debug|Win32.Build.0 = Debug|Win32
-		{DAA547D0-0166-C085-0F93-B88CAB800F97}.5 = {85BCCE3E-992B-B6D7-28F6-CF0A12680822}
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-		{801CB6D4-A45C-C9D2-B176-9711A74B9164}.0 = {90F5975E-550B-EEC8-9A8A-B8581D3FCF97}
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-		{801CB6D4-A45C-C9D2-B176-9711A74B9164}.1 = {C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E}
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-		{801CB6D4-A45C-C9D2-B176-9711A74B9164}.3 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
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-		{801CB6D4-A45C-C9D2-B176-9711A74B9164}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
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-		{801CB6D4-A45C-C9D2-B176-9711A74B9164}.5 = {85BCCE3E-992B-B6D7-28F6-CF0A12680822}
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-		{69C821C7-1E18-D894-068D-C55E063F4859}.0 = {90F5975E-550B-EEC8-9A8A-B8581D3FCF97}
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-		{69C821C7-1E18-D894-068D-C55E063F4859}.1 = {C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E}
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-		{69C821C7-1E18-D894-068D-C55E063F4859}.2 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
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-		{69C821C7-1E18-D894-068D-C55E063F4859}.3 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
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-		{1125C7F3-9E0D-27B1-C97B-CDAB5CE161A3}.2 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
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-		{1125C7F3-9E0D-27B1-C97B-CDAB5CE161A3}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
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-		{1125C7F3-9E0D-27B1-C97B-CDAB5CE161A3}.5 = {85BCCE3E-992B-B6D7-28F6-CF0A12680822}
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-		{780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}.0 = {90F5975E-550B-EEC8-9A8A-B8581D3FCF97}
+		{C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E}.Debug|Win32.ActiveCfg = Debug|Win32
-		{780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}.1 = {C63CFD5B-23E8-FB4F-79DB-E40F463B0C1E}
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-		{780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}.3 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
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-		{780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}.5 = {85BCCE3E-992B-B6D7-28F6-CF0A12680822}
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-		{60F71B6A-F888-C449-EF49-268BB9F7C963}.0 = {90F5975E-550B-EEC8-9A8A-B8581D3FCF97}
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-		{A0958CD9-0E39-4A77-3711-9B488F508FBF}.Release.Build.0 = Release|Win32
-		{A0958CD9-0E39-4A77-3711-9B488F508FBF}.Debug.ActiveCfg = Debug|Win32
-		{A0958CD9-0E39-4A77-3711-9B488F508FBF}.Debug.Build.0 = Debug|Win32
-	EndGlobalSection
-	GlobalSection(ExtensibilityGlobals) = postSolution
-	EndGlobalSection
-	GlobalSection(ExtensibilityAddIns) = postSolution
 	EndGlobalSection
 EndGlobal