diff --git a/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkPairDetector_prev.cpp b/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkPairDetector_prev.cpp
deleted file mode 100644
index 4f66c3a07..000000000
--- a/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkPairDetector_prev.cpp
+++ /dev/null
@@ -1,332 +0,0 @@
-/*
-
-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 "SpuGjkPairDetector.h"
-#include "SpuConvexPenetrationDepthSolver.h"
-#include "SpuLocalSupport.h"
-
-//#include "BulletCollision/CollisionShapes/btConvexShape.h"
-
-#if defined(DEBUG) || defined (_DEBUG)
-#include <stdio.h> //for debug printf
-#ifdef __SPU__
-#include <spu_printf.h>
-#define printf spu_printf
-#endif //__SPU__
-#endif
-
-//must be above the machine epsilon
-#define REL_ERROR2 float(1.0e-6)
-
-//temp globals, to improve GJK/EPA/penetration calculations
-int gSpuNumDeepPenetrationChecks = 0;
-int gSpuNumGjkChecks = 0;
-
-
-
-SpuGjkPairDetector::SpuGjkPairDetector(void* objectA,void* objectB,int shapeTypeA, int shapeTypeB, float marginA,float marginB,SpuVoronoiSimplexSolver* simplexSolver, const SpuConvexPenetrationDepthSolver*	penetrationDepthSolver)
-:m_cachedSeparatingAxis(float(0.),float(0.),float(1.)),
-m_penetrationDepthSolver(penetrationDepthSolver),
-m_simplexSolver(simplexSolver),
-m_minkowskiA(objectA),
-m_minkowskiB(objectB),
-m_shapeTypeA(shapeTypeA),
-m_shapeTypeB(shapeTypeB),
-m_marginA(marginA),
-m_marginB(marginB),
-m_ignoreMargin(false),
-m_lastUsedMethod(-1),
-m_catchDegeneracies(1)
-{
-}
-
-void SpuGjkPairDetector::getClosestPoints(const SpuClosestPointInput& input,SpuContactResult& output)
-{
-	float distance=float(0.);
-	Vectormath::Aos::Vector3	normalInB(float(0.),float(0.),float(0.));
-	Vectormath::Aos::Point3 pointOnA,pointOnB;
-	Vectormath::Aos::Transform3 localTransA = input.m_transformA;
-	Vectormath::Aos::Transform3 localTransB = input.m_transformB;
-
-	// World space coordinate 
-    Vectormath::Aos::Vector3 localOriginA = localTransA.getTranslation();
-    Vectormath::Aos::Vector3 localOriginB = localTransB.getTranslation();
-
-	// Average instance position.
-	Vectormath::Aos::Vector3 positionOffset = (localOriginA + localOriginB) * float(0.5);
-
-	// Adjust the instance positions so that they're equidistant from the origin.
-	localTransA.setTranslation(localOriginA - positionOffset);
-	localTransB.setTranslation(localOriginB - positionOffset);
-
-	float marginA = m_marginA;
-	float marginB = m_marginB;
-
-	gSpuNumGjkChecks++;
-
-	//for CCD we don't use margins
-	if (m_ignoreMargin)
-	{
-		marginA = float(0.);
-		marginB = float(0.);
-	}
-
-	m_curIter = 0;
-	int gGjkMaxIter = 1000;//this is to catch invalid input, perhaps check for #NaN?
-    m_cachedSeparatingAxis = Vectormath::Aos::Vector3(0.f,1.f,0.f);
-
-	bool isValid = false;
-	bool checkSimplex = false;
-	bool checkPenetration = true;
-	m_degenerateSimplex = 0;
-
-	m_lastUsedMethod = -1;
-
-	{
-		float squaredDistance = 1e30f;
-		// There's no reason to have this delta declared out here, it's set in the loop before it's used and it's not used outside of the loop.
-		float delta = float(0.);
-		
-		float margin = marginA + marginB;
-
-		m_simplexSolver->reset();
-
-		while (true)
-		{
-			// Get the separating axes into each bound's local space.
-			Vectormath::Aos::Vector3 seperatingAxisInA = orthoInverse(input.m_transformA) * (-m_cachedSeparatingAxis);
-			Vectormath::Aos::Vector3 seperatingAxisInB = orthoInverse(input.m_transformB) * m_cachedSeparatingAxis;
-
-            int shapeTypeA = m_shapeTypeA;
-            int shapeTypeB = m_shapeTypeB;
-//			int featureIndexA = 0, featureIndexB = 0;			// Feature index basically means vertex index.
-			Vectormath::Aos::Point3 pInA = localGetSupportingVertexWithoutMargin(shapeTypeA, m_minkowskiA, seperatingAxisInA);//, &featureIndexA);
-			Vectormath::Aos::Point3 qInB = localGetSupportingVertexWithoutMargin(shapeTypeB, m_minkowskiB, seperatingAxisInB);//, &featureIndexB);
-
-			// These are in a 'translated' world space where the origin of that world space corresponds to 'positionOffset' in the 'real' world space.
-            Vectormath::Aos::Point3  pWorld = localTransA * pInA;	
-			Vectormath::Aos::Point3  qWorld = localTransB * qInB;
-
-            //spu_printf("support point A: %f %f %f\n", pWorld.getX(), pWorld.getY(), pWorld.getZ());
-            //spu_printf("support point B: %f %f %f\n", qWorld.getX(), qWorld.getY(), qWorld.getZ());
-
-			// delta is sort of the distance between the current 'closest points' ...
-			// This seems kind of weird to me since m_cachedSeparatingAxis isn't a unit vector, so I'm not really sure what this signifies.
-			Vectormath::Aos::Vector3 w	= pWorld - qWorld;
-			delta = dot(m_cachedSeparatingAxis, w);
-
-			// potential exit, they don't overlap
-			if ((delta > float(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared)) 
-			{
-				checkPenetration = false;
-				break;
-			}
-
-			//exit 0: the new point is already in the simplex, or we didn't come any closer
-			if (m_simplexSolver->inSimplex(w))
-			{
-				m_degenerateSimplex = 1;
-				checkSimplex = true;
-				break;
-			}
-
-			// are we getting any closer ?
-			float f0 = squaredDistance - delta;
-			float f1 = squaredDistance * REL_ERROR2;
-
-			// Are we close enough
-			if (f0 <= f1)
-			{
-				if (f0 <= float(0.))
-				{
-					m_degenerateSimplex = 2;
-				}
-				checkSimplex = true;
-				break;
-			}
-			//add current vertex to simplex
-			m_simplexSolver->addVertex(w, pWorld, qWorld);//, featureIndexA, featureIndexB);
-
-			//calculate the closest point to the origin (update vector v)
-			if (!m_simplexSolver->closest(m_cachedSeparatingAxis))
-			{
-				m_degenerateSimplex = 3;
-				checkSimplex = true;
-				break;
-			}
-
-			float previousSquaredDistance = squaredDistance;
-			squaredDistance = lengthSqr(m_cachedSeparatingAxis);
-			
-			//redundant m_simplexSolver->compute_points(pointOnA, pointOnB);
-
-			//are we getting any closer ?
-			if (previousSquaredDistance - squaredDistance <= FLT_EPSILON * previousSquaredDistance) 
-			{ 
-				m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
-				checkSimplex = true;
-				break;
-			}
-
-			  //degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject   
-              if (m_curIter++ > gGjkMaxIter)   
-              {   
-                      #if defined(DEBUG) || defined (_DEBUG)   
-
-                              printf("SpuGjkPairDetector maxIter exceeded:%i\n",m_curIter);   
-                              printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n",   
-                              m_cachedSeparatingAxis.getX(),   
-                              m_cachedSeparatingAxis.getY(),   
-                              m_cachedSeparatingAxis.getZ(),   
-                              squaredDistance,   
-                              shapeTypeA,   
-                              shapeTypeB);   
-
-                      #endif   
-                      break;   
-
-              } 
-
-
-			bool check = (!m_simplexSolver->fullSimplex());
-			//bool check = (!m_simplexSolver->fullSimplex() && squaredDistance > FLT_EPSILON * m_simplexSolver->maxVertex());
-
-			if (!check)
-			{
-				//do we need this backup_closest here ?
-				m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
-				break;
-			}
-		}
-
-		if (checkSimplex)
-		{
-			m_simplexSolver->compute_points(pointOnA, pointOnB);
-			normalInB = pointOnA-pointOnB;
-			float lenSqr = lengthSqr(m_cachedSeparatingAxis);
-			//valid normal
-			if (lenSqr < 0.0001)
-			{
-				m_degenerateSimplex = 5;
-			} 
-			if (lenSqr > FLT_EPSILON*FLT_EPSILON)
-			{
-				float rlen = float(1.) / sqrtf(lenSqr );
-				normalInB *= rlen; //normalize
-				float s = sqrtf(squaredDistance);
-			
-				btAssert(s > float(0.0));
-				pointOnA -= m_cachedSeparatingAxis * (marginA / s);
-				pointOnB += m_cachedSeparatingAxis * (marginB / s);
-				distance = ((float(1.)/rlen) - margin);
-				isValid = true;
-				
-				m_lastUsedMethod = 1;
-			} else
-			{
-				m_lastUsedMethod = 2;
-			}
-		}
-
-		bool catchDegeneratePenetrationCase = 
-			(m_catchDegeneracies && m_penetrationDepthSolver && m_degenerateSimplex && ((distance+margin) < 0.01));
-
-		//if (checkPenetration && !isValid)
-		if (checkPenetration && (!isValid || catchDegeneratePenetrationCase ))
-		{
-			//penetration case
-		
-			//if there is no way to handle penetrations, bail out
-			if (m_penetrationDepthSolver)
-			{
-				// Penetration depth case.
-				Vectormath::Aos::Point3 tmpPointOnA,tmpPointOnB;
-				
-//				spu_printf("SPU: deep penetration check\n");
-				gSpuNumDeepPenetrationChecks++;
-
-				bool isValid2 = m_penetrationDepthSolver->calcPenDepth( 
-					*m_simplexSolver, 
-					m_minkowskiA,m_minkowskiB,
-                    m_shapeTypeA, m_shapeTypeB,
-                    marginA, marginB,
-					localTransA,localTransB,
-					m_cachedSeparatingAxis, tmpPointOnA, tmpPointOnB,
-					0,input.m_stackAlloc
-					);
-					
-
-				if (isValid2)
-				{
-					Vectormath::Aos::Vector3 tmpNormalInB = tmpPointOnB-tmpPointOnA;
-					float lenSqr = lengthSqr(tmpNormalInB);
-					if (lenSqr > (FLT_EPSILON*FLT_EPSILON))
-					{
-						tmpNormalInB /= sqrtf(lenSqr);
-						float distance2 = -dist(tmpPointOnA,tmpPointOnB);
-						//only replace valid penetrations when the result is deeper (check)
-						if (!isValid || (distance2 < distance))
-						{
-							distance = distance2;
-							pointOnA = tmpPointOnA;
-							pointOnB = tmpPointOnB;
-							normalInB = tmpNormalInB;
-							isValid = true;
-							m_lastUsedMethod = 3;
-						} else
-						{
-							
-						}
-					} else
-					{
-						//isValid = false;
-						m_lastUsedMethod = 4;
-					}
-				} else
-				{
-					m_lastUsedMethod = 5;
-				}
-				
-			}
-		}
-	}
-
-	if (isValid)
-	{
-#ifdef __SPU__
-		//spu_printf("distance\n");
-#endif //__CELLOS_LV2__
-
-
-		Vectormath::Aos::Point3	tmpPtOnB=pointOnB+positionOffset;
-		Vectormath::Aos::Point3	vmPtOnB(tmpPtOnB.getX(),tmpPtOnB.getY(),tmpPtOnB.getZ());
-		Vectormath::Aos::Vector3	vmNormalOnB(normalInB.getX(),normalInB.getY(),normalInB.getZ());
-
-		output.addContactPoint(
-			vmNormalOnB,
-			vmPtOnB,
-			distance
-            );
-			
-
-		//printf("gjk add:%f",distance);
-	}
-}
-
-
-
-
diff --git a/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver_prev.cpp b/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver_prev.cpp
deleted file mode 100644
index 93cfd97c6..000000000
--- a/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver_prev.cpp
+++ /dev/null
@@ -1,649 +0,0 @@
-
-/*
-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.
-	
-	Elsevier CDROM license agreements grants nonexclusive license to use the software
-	for any purpose, commercial or non-commercial as long as the following credit is included
-	identifying the original source of the software:
-
-	Parts of the source are "from the book Real-Time Collision Detection by
-	Christer Ericson, published by Morgan Kaufmann Publishers,
-	(c) 2005 Elsevier Inc."
-		
-*/
-
-
-// Needed to be able to DMA.
-#ifdef WIN32
-#include "SpuFakeDma.h"
-#else
-#include "SPU_Common/SpuDefines.h"
-#include <cell/spurs/common.h>
-#include <cell/dma.h>
-#endif //WIN32
-
-
-
-#include "SpuVoronoiSimplexSolver.h"
-#include "LinearMath/btScalar.h"
-
-#include <assert.h>
-#include <stdio.h>
-
-
-#define VERTA  0
-#define VERTB  1
-#define VERTC  2
-#define VERTD  3
-
-#define CATCH_DEGENERATE_TETRAHEDRON 1
-void	SpuVoronoiSimplexSolver::removeVertex(int index)
-{
-	assert(m_numVertices>0);
-	m_numVertices--;
-	m_simplexVectorW[index] = m_simplexVectorW[m_numVertices];
-	m_simplexPointsP[index] = m_simplexPointsP[m_numVertices];
-	m_simplexPointsQ[index] = m_simplexPointsQ[m_numVertices];
-//	m_VertexIndexA[index] = m_VertexIndexA[m_numVertices];
-//	m_VertexIndexB[index] = m_VertexIndexB[m_numVertices];
-}
-
-void	SpuVoronoiSimplexSolver::reduceVertices (const SpuUsageBitfield& usedVerts)
-{
-	if ((numVertices() >= 4) && (!usedVerts.usedVertexD))
-		removeVertex(3);
-
-	if ((numVertices() >= 3) && (!usedVerts.usedVertexC))
-		removeVertex(2);
-
-	if ((numVertices() >= 2) && (!usedVerts.usedVertexB))
-		removeVertex(1);
-	
-	if ((numVertices() >= 1) && (!usedVerts.usedVertexA))
-		removeVertex(0);
-
-}
-
-
-
-
-
-//clear the simplex, remove all the vertices
-void SpuVoronoiSimplexSolver::reset()
-{
-	m_cachedValidClosest = false;
-	m_numVertices = 0;
-	m_needsUpdate = true;
-	m_lastW = Vectormath::Aos::Vector3(float(1e30),float(1e30),float(1e30));
-	m_cachedBC.reset();
-}
-
-
-
-	//add a vertex
-void SpuVoronoiSimplexSolver::addVertex(const Vectormath::Aos::Vector3& w, const Vectormath::Aos::Point3& p, const Vectormath::Aos::Point3& q)//, int vertexIndexA, int vertexIndexB)
-{
-	m_lastW = w;
-	m_needsUpdate = true;
-
-	m_simplexVectorW[m_numVertices] = w;
-	m_simplexPointsP[m_numVertices] = Vectormath::Aos::Vector3(p);
-	m_simplexPointsQ[m_numVertices] = Vectormath::Aos::Vector3(q);
-
-	//m_VertexIndexA[m_numVertices] = vertexIndexA;
-	//m_VertexIndexB[m_numVertices] = vertexIndexB;
-
-	m_numVertices++;
-}
-
-bool	SpuVoronoiSimplexSolver::updateClosestVectorAndPoints()
-{
-	
-	if (m_needsUpdate)
-	{
-		m_cachedBC.reset();
-
-		m_needsUpdate = false;
-
-		switch (numVertices())
-		{
-		case 0:
-				m_cachedValidClosest = false;
-				break;
-		case 1:
-			{
-				m_cachedP1 = m_simplexPointsP[0];
-				m_cachedP2 = m_simplexPointsQ[0];
-				m_cachedV = m_cachedP1-m_cachedP2; //== m_simplexVectorW[0]
-				m_cachedBC.reset();
-				m_cachedBC.setBarycentricCoordinates(float(1.),float(0.),float(0.),float(0.));
-				m_cachedValidClosest = m_cachedBC.isValid();
-				break;
-			};
-		case 2:
-			{
-			//closest point origin from line segment
-					const Vectormath::Aos::Vector3& from = m_simplexVectorW[0];
-					const Vectormath::Aos::Vector3& to = m_simplexVectorW[1];
-					Vectormath::Aos::Vector3 nearest;
-
-					Vectormath::Aos::Vector3 p (float(0.),float(0.),float(0.));
-					Vectormath::Aos::Vector3 diff = p - from;
-					Vectormath::Aos::Vector3 v = to - from;
-					float t = dot(v, diff);
-					
-					if (t > 0) {
-						float dotVV = dot(v, v);
-						if (t < dotVV) {
-							t /= dotVV;
-							diff -= t*v;
-							m_cachedBC.m_usedVertices.usedVertexA = true;
-							m_cachedBC.m_usedVertices.usedVertexB = true;
-						} else {
-							t = 1;
-							diff -= v;
-							//reduce to 1 point
-							m_cachedBC.m_usedVertices.usedVertexB = true;
-						}
-					} else
-					{
-						t = 0;
-						//reduce to 1 point
-						m_cachedBC.m_usedVertices.usedVertexA = true;
-					}
-					m_cachedBC.setBarycentricCoordinates(1-t,t);
-					nearest = from + t*v;
-
-					m_cachedP1 = m_simplexPointsP[0] + t * (m_simplexPointsP[1] - m_simplexPointsP[0]);
-					m_cachedP2 = m_simplexPointsQ[0] + t * (m_simplexPointsQ[1] - m_simplexPointsQ[0]);
-					m_cachedV = m_cachedP1 - m_cachedP2;
-
-					reduceVertices(m_cachedBC.m_usedVertices);
-
-					m_cachedValidClosest = m_cachedBC.isValid();
-					break;
-			}
-		case 3:
-			{
-				//closest point origin from triangle
-				Vectormath::Aos::Vector3 p (float(0.),float(0.),float(0.));
-				
-				const Vectormath::Aos::Vector3& a = m_simplexVectorW[0];
-				const Vectormath::Aos::Vector3& b = m_simplexVectorW[1];
-				const Vectormath::Aos::Vector3& c = m_simplexVectorW[2];
-
-				closestPtPointTriangle(p,a,b,c,m_cachedBC);
-				m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] +
-								m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] +
-								m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2];
-
-				m_cachedP2 = m_simplexPointsQ[0] * m_cachedBC.m_barycentricCoords[0] +
-					m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] +
-					m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2];
-
-				m_cachedV = m_cachedP1-m_cachedP2;
-
-				reduceVertices (m_cachedBC.m_usedVertices);
-				m_cachedValidClosest =  m_cachedBC.isValid();
-
-				break;
-			}
-		case 4:
-			{
-
-				
-				Vectormath::Aos::Vector3 p (float(0.),float(0.),float(0.));
-				
-				const Vectormath::Aos::Vector3& a = m_simplexVectorW[0];
-				const Vectormath::Aos::Vector3& b = m_simplexVectorW[1];
-				const Vectormath::Aos::Vector3& c = m_simplexVectorW[2];
-				const Vectormath::Aos::Vector3& d = m_simplexVectorW[3];
-
-				bool hasSeperation = closestPtPointTetrahedron(p,a,b,c,d,m_cachedBC);
-
-				if (hasSeperation)
-				{
-
-					m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] +
-						m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] +
-						m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2] +
-						m_simplexPointsP[3] * m_cachedBC.m_barycentricCoords[3];
-
-					m_cachedP2 = m_simplexPointsQ[0] * m_cachedBC.m_barycentricCoords[0] +
-						m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] +
-						m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2] +
-						m_simplexPointsQ[3] * m_cachedBC.m_barycentricCoords[3];
-
-					m_cachedV = m_cachedP1-m_cachedP2;
-					reduceVertices (m_cachedBC.m_usedVertices);
-				} else
-				{
-//					printf("sub distance got penetration\n");
-
-					if (m_cachedBC.m_degenerate)
-					{
-						m_cachedValidClosest = false;
-					} else
-					{
-						m_cachedValidClosest = true;
-						//degenerate case == false, penetration = true + zero
-                        m_cachedV = Vectormath::Aos::Vector3(float(0.),float(0.),float(0.));
-					}
-					break;
-				}
-
-				m_cachedValidClosest = m_cachedBC.isValid();
-
-				//closest point origin from tetrahedron
-				break;
-			}
-		default:
-			{
-				m_cachedValidClosest = false;
-			}
-		};
-	}
-
-	return m_cachedValidClosest;
-
-}
-
-//return/calculate the closest vertex
-bool SpuVoronoiSimplexSolver::closest(Vectormath::Aos::Vector3& v)
-{
-	bool succes = updateClosestVectorAndPoints();
-	v = m_cachedV;
-	return succes;
-}
-
-
-
-float SpuVoronoiSimplexSolver::maxVertex()
-{
-	int i, numverts = numVertices();
-	float maxV = float(0.);
-	for (i=0;i<numverts;i++)
-	{
-		float curLen2 = lengthSqr(m_simplexVectorW[i]);
-		if (maxV < curLen2)
-			maxV = curLen2;
-	}
-	return maxV;
-}
-
-
-
-	//return the current simplex
-int SpuVoronoiSimplexSolver::getSimplex(Vectormath::Aos::Vector3 *pBuf, Vectormath::Aos::Vector3 *qBuf, Vectormath::Aos::Vector3 *yBuf) const
-{
-	int i;
-	for (i=0;i<numVertices();i++)
-	{
-		yBuf[i] = m_simplexVectorW[i];
-		pBuf[i] = m_simplexPointsP[i];
-		qBuf[i] = m_simplexPointsQ[i];
-	}
-	return numVertices();
-}
-
-
-
-
-bool SpuVoronoiSimplexSolver::inSimplex(const Vectormath::Aos::Vector3& w)
-{
-	bool found = false;
-	int i, numverts = numVertices();
-	//float maxV = float(0.);
-	
-	//w is in the current (reduced) simplex
-	for (i=0;i<numverts;i++)
-	{
-        // TODO: find a better way to determine equality
-		if (m_simplexVectorW[i].getX() == w.getX() &&
-            m_simplexVectorW[i].getY() == w.getY() &&
-            m_simplexVectorW[i].getZ() == w.getZ())
-			found = true;
-	}
-
-	//check in case lastW is already removed
-        // TODO: find a better way to determine equality
-	if (w.getX() == m_lastW.getX() &&
-        w.getY() == m_lastW.getY() &&
-        w.getZ() == m_lastW.getZ())
-		return true;
-    	
-	return found;
-}
-
-void SpuVoronoiSimplexSolver::backup_closest(Vectormath::Aos::Vector3& v) 
-{
-	v = m_cachedV;
-}
-
-
-bool SpuVoronoiSimplexSolver::emptySimplex() const 
-{
-	return (numVertices() == 0);
-
-}
-
-void SpuVoronoiSimplexSolver::compute_points(Vectormath::Aos::Point3& p1, Vectormath::Aos::Point3& p2) 
-{
-	updateClosestVectorAndPoints();
-	p1 = Vectormath::Aos::Point3(m_cachedP1);
-	p2 = Vectormath::Aos::Point3(m_cachedP2);
-
-}
-
-
-
-
-bool	SpuVoronoiSimplexSolver::closestPtPointTriangle(const Vectormath::Aos::Vector3& p, const Vectormath::Aos::Vector3& a, const Vectormath::Aos::Vector3& b, const Vectormath::Aos::Vector3& c,SpuSubSimplexClosestResult& result)
-{
-	result.m_usedVertices.reset();
-
-    // Check if P in vertex region outside A
-    Vectormath::Aos::Vector3 ab = b - a;
-    Vectormath::Aos::Vector3 ac = c - a;
-    Vectormath::Aos::Vector3 ap = p - a;
-    float d1 = dot(ab,ap);
-    float d2 = dot(ac,ap);
-    if (d1 <= float(0.0) && d2 <= float(0.0)) 
-	{
-		result.m_closestPointOnSimplex = Vectormath::Aos::Point3(a);
-		result.m_usedVertices.usedVertexA = true;
-		result.setBarycentricCoordinates(1,0,0);
-		return true;// a; // barycentric coordinates (1,0,0)
-	}
-
-    // Check if P in vertex region outside B
-    Vectormath::Aos::Vector3 bp = p - b;
-    float d3 = dot(ab,bp);
-    float d4 = dot(ac,bp);
-    if (d3 >= float(0.0) && d4 <= d3) 
-	{
-		result.m_closestPointOnSimplex = Vectormath::Aos::Point3(b);
-		result.m_usedVertices.usedVertexB = true;
-		result.setBarycentricCoordinates(0,1,0);
-
-		return true; // b; // barycentric coordinates (0,1,0)
-	}
-    // Check if P in edge region of AB, if so return projection of P onto AB
-    float vc = d1*d4 - d3*d2;
-    if (vc <= float(0.0) && d1 >= float(0.0) && d3 <= float(0.0)) {
-        float v = d1 / (d1 - d3);
-		result.m_closestPointOnSimplex = Vectormath::Aos::Point3(a + v * ab);
-		result.m_usedVertices.usedVertexA = true;
-		result.m_usedVertices.usedVertexB = true;
-		result.setBarycentricCoordinates(1-v,v,0);
-		return true;
-        //return a + v * ab; // barycentric coordinates (1-v,v,0)
-    }
-
-    // Check if P in vertex region outside C
-    Vectormath::Aos::Vector3 cp = p - c;
-    float d5 = dot(ab,cp);
-    float d6 = dot(ac,cp);
-    if (d6 >= float(0.0) && d5 <= d6) 
-	{
-		result.m_closestPointOnSimplex = Vectormath::Aos::Point3(c);
-		result.m_usedVertices.usedVertexC = true;
-		result.setBarycentricCoordinates(0,0,1);
-		return true;//c; // barycentric coordinates (0,0,1)
-	}
-
-    // Check if P in edge region of AC, if so return projection of P onto AC
-    float vb = d5*d2 - d1*d6;
-    if (vb <= float(0.0) && d2 >= float(0.0) && d6 <= float(0.0)) {
-        float w = d2 / (d2 - d6);
-		result.m_closestPointOnSimplex = Vectormath::Aos::Point3(a + w * ac);
-		result.m_usedVertices.usedVertexA = true;
-		result.m_usedVertices.usedVertexC = true;
-		result.setBarycentricCoordinates(1-w,0,w);
-		return true;
-        //return a + w * ac; // barycentric coordinates (1-w,0,w)
-    }
-
-    // Check if P in edge region of BC, if so return projection of P onto BC
-    float va = d3*d6 - d5*d4;
-    if (va <= float(0.0) && (d4 - d3) >= float(0.0) && (d5 - d6) >= float(0.0)) {
-        float w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
-		
-		result.m_closestPointOnSimplex = Vectormath::Aos::Point3(b + w * (c - b));
-		result.m_usedVertices.usedVertexB = true;
-		result.m_usedVertices.usedVertexC = true;
-		result.setBarycentricCoordinates(0,1-w,w);
-		return true;		
-       // return b + w * (c - b); // barycentric coordinates (0,1-w,w)
-    }
-
-    // P inside face region. Compute Q through its barycentric coordinates (u,v,w)
-    float denom = float(1.0) / (va + vb + vc);
-    float v = vb * denom;
-    float w = vc * denom;
-    
-	result.m_closestPointOnSimplex = Vectormath::Aos::Point3(a + ab * v + ac * w);
-	result.m_usedVertices.usedVertexA = true;
-	result.m_usedVertices.usedVertexB = true;
-	result.m_usedVertices.usedVertexC = true;
-	result.setBarycentricCoordinates(1-v-w,v,w);
-	
-	return true;
-//	return a + ab * v + ac * w; // = u*a + v*b + w*c, u = va * denom = float(1.0) - v - w
-}
-
-
-// This is specifically just removing duplicate indices.
-int SpuVoronoiSimplexSolver::RemoveDegenerateIndices (const int* inArray, int numIndices, int* outArray) const
-{
-	int outIndex = 0;
-	for (int firstIndex=0; firstIndex<numIndices; firstIndex++)
-	{
-		bool duplicate = false;
-		for (int secondIndex=0; secondIndex<firstIndex; secondIndex++)
-		{
-			if (inArray[secondIndex]==inArray[firstIndex])
-			{
-				duplicate = true;
-				break;
-			}
-		}
-
-		if (!duplicate)
-		{
-			outArray[outIndex++] = inArray[firstIndex];
-		}
-	}
-
-	return outIndex;
-}
-
-
-
-
-/// Test if point p and d lie on opposite sides of plane through abc
-int SpuVoronoiSimplexSolver::pointOutsideOfPlane(const Vectormath::Aos::Vector3& p, const Vectormath::Aos::Vector3& a, const Vectormath::Aos::Vector3& b, const Vectormath::Aos::Vector3& c, const Vectormath::Aos::Vector3& d)
-{
-	Vectormath::Aos::Vector3 normal = cross(b-a,c-a);
-
-    float signp = dot(p - a, normal); // [AP AB AC]
-    float signd = dot(d - a, normal); // [AD AB AC]
-
-#ifdef CATCH_DEGENERATE_TETRAHEDRON
-	if (signd * signd < (float(1e-4) * float(1e-4)))
-	{
-//		printf("affine dependent/degenerate\n");//
-		return -1;
-	}
-#endif
-	// Points on opposite sides if expression signs are opposite
-    return signp * signd < float(0.);
-}
-
-
-bool	SpuVoronoiSimplexSolver::closestPtPointTetrahedron(const Vectormath::Aos::Vector3& p, const Vectormath::Aos::Vector3& a, const Vectormath::Aos::Vector3& b, const Vectormath::Aos::Vector3& c, const Vectormath::Aos::Vector3& d, SpuSubSimplexClosestResult& finalResult)
-{
-	SpuSubSimplexClosestResult tempResult;
-
-    // Start out assuming point inside all halfspaces, so closest to itself
-	finalResult.m_closestPointOnSimplex = Vectormath::Aos::Point3(p);
-	finalResult.m_usedVertices.reset();
-    finalResult.m_usedVertices.usedVertexA = true;
-	finalResult.m_usedVertices.usedVertexB = true;
-	finalResult.m_usedVertices.usedVertexC = true;
-	finalResult.m_usedVertices.usedVertexD = true;
-
-	// Check only the tetrahedron faces that are closest to p.  We do that by checking each face (which itself is a triangle) to see if the excluded
-	//   vertex (the one vertex that isn't part of that face) is on the other side of that face from the point p.
-    int pointOutsideABC = pointOutsideOfPlane(p, a, b, c, d);
-	int pointOutsideACD = pointOutsideOfPlane(p, a, c, d, b);
-  	int	pointOutsideADB = pointOutsideOfPlane(p, a, d, b, c);
-	int	pointOutsideBDC = pointOutsideOfPlane(p, b, d, c, a);
-
-   if (pointOutsideABC < 0 || pointOutsideACD < 0 || pointOutsideADB < 0 || pointOutsideBDC < 0)
-   {
-	   finalResult.m_degenerate = true;
-	   return false;
-   }
-
-   if (!pointOutsideABC  && !pointOutsideACD && !pointOutsideADB && !pointOutsideBDC)
-	 {
-		 return false;
-	 }
-
-
-    float bestSqDist = 1e30f;//FLT_MAX;
-    // If point outside face abc then compute closest point on abc
-	if (pointOutsideABC) 
-	{
-        closestPtPointTriangle(p, a, b, c,tempResult);
-        Vectormath::Aos::Vector3 q = Vectormath::Aos::Vector3(tempResult.m_closestPointOnSimplex);
-
-        float sqDist = dot(q - p, q - p);
-        // Update best closest point if (squared) distance is less than current best
-        //if (sqDist < bestSqDist)
-		btAssert(sqDist < bestSqDist);		// This has to be true; we haven't actually tested any other combinations.
-		{
-			bestSqDist = sqDist;
-            finalResult.m_closestPointOnSimplex = Vectormath::Aos::Point3(q);
-			//convert result bitmask!
-			finalResult.m_usedVertices.reset();
-			finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
-			finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexB;
-			finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexC;
-			finalResult.setBarycentricCoordinates(
-					tempResult.m_barycentricCoords[VERTA],
-					tempResult.m_barycentricCoords[VERTB],
-					tempResult.m_barycentricCoords[VERTC],
-					0
-			);
-
-		}
-    }
-  
-
-	// Repeat test for face acd
-	if (pointOutsideACD) 
-	{
-        closestPtPointTriangle(p, a, c, d,tempResult);
-		Vectormath::Aos::Vector3 q = Vectormath::Aos::Vector3(tempResult.m_closestPointOnSimplex);
-		//convert result bitmask!
-
-        float sqDist = dot(q - p, q - p);
-        if (sqDist < bestSqDist) 
-		{
-			bestSqDist = sqDist;
-			finalResult.m_closestPointOnSimplex = Vectormath::Aos::Point3(q);
-			finalResult.m_usedVertices.reset();
-			finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
-			finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexB;
-			finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexC;
-			finalResult.setBarycentricCoordinates(
-					tempResult.m_barycentricCoords[VERTA],
-					0,
-					tempResult.m_barycentricCoords[VERTB],
-					tempResult.m_barycentricCoords[VERTC]
-			);
-
-		}
-    }
-    // Repeat test for face adb
-
-	
-	if (pointOutsideADB)
-	{
-		closestPtPointTriangle(p, a, d, b,tempResult);
-		Vectormath::Aos::Vector3 q = Vectormath::Aos::Vector3(tempResult.m_closestPointOnSimplex);
-		//convert result bitmask!
-
-        float sqDist = dot(q - p, q - p);
-        if (sqDist < bestSqDist) 
-		{
-			bestSqDist = sqDist;
-			finalResult.m_closestPointOnSimplex = Vectormath::Aos::Point3(q);
-			finalResult.m_usedVertices.reset();
-			finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
-			finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB;
-			finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexC;
-			finalResult.setBarycentricCoordinates(
-					tempResult.m_barycentricCoords[VERTA],
-					tempResult.m_barycentricCoords[VERTC],
-					0,
-					tempResult.m_barycentricCoords[VERTB]
-			);
-
-		}
-    }
-    // Repeat test for face bdc
-    
-
-	if (pointOutsideBDC)
-	{
-        closestPtPointTriangle(p, b, d, c,tempResult);
-		Vectormath::Aos::Vector3 q = Vectormath::Aos::Vector3(tempResult.m_closestPointOnSimplex);
-		//convert result bitmask!
-        float sqDist = dot(q - p, q - p);
-        if (sqDist < bestSqDist) 
-		{
-			bestSqDist = sqDist;
-			finalResult.m_closestPointOnSimplex = Vectormath::Aos::Point3(q);
-			finalResult.m_usedVertices.reset();
-			finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexA;
-			finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB;
-			finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexC;
-
-			finalResult.setBarycentricCoordinates(
-					0,
-					tempResult.m_barycentricCoords[VERTA],
-					tempResult.m_barycentricCoords[VERTC],
-					tempResult.m_barycentricCoords[VERTB]
-			);
-
-		}
-    }
-
-	//help! we ended up full !
-	
-	if (finalResult.m_usedVertices.usedVertexA &&
-		finalResult.m_usedVertices.usedVertexB &&
-		finalResult.m_usedVertices.usedVertexC &&
-		finalResult.m_usedVertices.usedVertexD) 
-	{
-		return true;
-	}
-
-    return true;
-}
-
-