diff --git a/Demos/CMakeLists.txt b/Demos/CMakeLists.txt
index 22d04b0b0..e578a4b8b 100644
--- a/Demos/CMakeLists.txt
+++ b/Demos/CMakeLists.txt
@@ -2,11 +2,11 @@ if (CMAKE_SIZEOF_VOID_P MATCHES "8")
 SUBDIRS( OpenGL AllBulletDemos  ConvexDecompositionDemo Benchmarks HelloWorld
 CcdPhysicsDemo ConstraintDemo SliderConstraintDemo GenericJointDemo
 RagdollDemo ForkLiftDemo BasicDemo BspDemo MovingConcaveDemo VehicleDemo
-ColladaDemo UserCollisionAlgorithm CharacterDemo SoftDemo TerrainDemo )
+ColladaDemo UserCollisionAlgorithm CharacterDemo SoftDemo TerrainDemo HeightFieldFluidDemo)
 else (CMAKE_SIZEOF_VOID_P MATCHES "8")
 SUBDIRS( OpenGL AllBulletDemos ConvexDecompositionDemo Benchmarks HelloWorld
 MultiThreadedDemo CcdPhysicsDemo ConstraintDemo SliderConstraintDemo
 GenericJointDemo RagdollDemo ForkLiftDemo BasicDemo BspDemo MovingConcaveDemo
 VehicleDemo ColladaDemo UserCollisionAlgorithm CharacterDemo SoftDemo
-TerrainDemo )
+TerrainDemo HeightFieldFluidDemo)
 endif (CMAKE_SIZEOF_VOID_P MATCHES "8")
diff --git a/Demos/CollisionDemo/CollisionDemo.cpp b/Demos/CollisionDemo/CollisionDemo.cpp
index 8480c3c97..c98524360 100644
--- a/Demos/CollisionDemo/CollisionDemo.cpp
+++ b/Demos/CollisionDemo/CollisionDemo.cpp
@@ -235,7 +235,7 @@ void CollisionDemo::displayCallback(void) {
 		
 		tr[i].getOpenGLMatrix( m );
 
-		m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
+		m_shapeDrawer->drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
 
 
 	}
@@ -251,7 +251,7 @@ void CollisionDemo::displayCallback(void) {
 	btTransform ident;
 	ident.setIdentity();
 	ident.getOpenGLMatrix(m);
-	m_shapeDrawer.drawOpenGL(m,&simplex,btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
+	m_shapeDrawer->drawOpenGL(m,&simplex,btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
 
 
 	btQuaternion orn;
diff --git a/Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp b/Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
index a660d6e34..584d2eba8 100644
--- a/Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
+++ b/Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
@@ -163,7 +163,7 @@ void CollisionInterfaceDemo::displayCallback(void) {
 	{
 		
 		objects[i].getWorldTransform().getOpenGLMatrix( m );
-		m_shapeDrawer.drawOpenGL(m,objects[i].getCollisionShape(),btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
+		m_shapeDrawer->drawOpenGL(m,objects[i].getCollisionShape(),btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
 
 	}
 
diff --git a/Demos/ContinuousConvexCollision/ContinuousConvexCollisionDemo.cpp b/Demos/ContinuousConvexCollision/ContinuousConvexCollisionDemo.cpp
index 3bc8fbbd5..350a3ad5a 100644
--- a/Demos/ContinuousConvexCollision/ContinuousConvexCollisionDemo.cpp
+++ b/Demos/ContinuousConvexCollision/ContinuousConvexCollisionDemo.cpp
@@ -179,7 +179,7 @@ void btContinuousConvexCollisionDemo::displayCallback(void) {
 				//m_shapeDrawer.drawOpenGL(m,shapePtr[i]);
 
 				interpolatedTrans.getOpenGLMatrix( m );
-				m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,0,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
+				m_shapeDrawer->drawOpenGL(m,shapePtr[i],btVector3(1,0,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
 			}
 		}
 	}
@@ -231,10 +231,10 @@ void btContinuousConvexCollisionDemo::displayCallback(void) {
 	for (i=0;i<numObjects;i++)
 	{	
 		fromTrans[i].getOpenGLMatrix(m);
-		m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
+		m_shapeDrawer->drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
 	}
 
-	btDebugCastResult	rayResult1(fromTrans[0],shapePtr[0],linVels[0],angVels[0],&m_shapeDrawer);
+	btDebugCastResult	rayResult1(fromTrans[0],shapePtr[0],linVels[0],angVels[0],m_shapeDrawer);
 	
 
 	for (i=1;i<numObjects;i++)
@@ -269,12 +269,12 @@ void btContinuousConvexCollisionDemo::displayCallback(void) {
 			btTransformUtil::integrateTransform(fromTrans[0],linVels[0],angVels[0],rayResultPtr->m_fraction,hitTrans);
 
 			hitTrans.getOpenGLMatrix(m);
-			m_shapeDrawer.drawOpenGL(m,shapePtr[0],btVector3(0,1,0),getDebugMode(),worldBoundsMin,worldBoundsMax);
+			m_shapeDrawer->drawOpenGL(m,shapePtr[0],btVector3(0,1,0),getDebugMode(),worldBoundsMin,worldBoundsMax);
 
 			btTransformUtil::integrateTransform(fromTrans[i],linVels[i],angVels[i],rayResultPtr->m_fraction,hitTrans);
 
 			hitTrans.getOpenGLMatrix(m);
-			m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(0,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
+			m_shapeDrawer->drawOpenGL(m,shapePtr[i],btVector3(0,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
 	
 
 		}
diff --git a/Demos/DoublePrecisionDemo/DoublePrecisionDemo.cpp b/Demos/DoublePrecisionDemo/DoublePrecisionDemo.cpp
index 2b869e74c..38f96ad7d 100644
--- a/Demos/DoublePrecisionDemo/DoublePrecisionDemo.cpp
+++ b/Demos/DoublePrecisionDemo/DoublePrecisionDemo.cpp
@@ -1,278 +1,278 @@
-/*
-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.
-*/
-
-
-///
-/// DoublePrecisionDemo shows high level usage of the Collision Detection.
-///
-
-#include "GL_Simplex1to4.h"
-
-//include common Bullet Collision Detection headerfiles
-#include "btBulletCollisionCommon.h"
-
-#include "LinearMath/btIDebugDraw.h"
-#include "BMF_Api.h"
-#include "GL_ShapeDrawer.h"
-#include "DoublePrecisionDemo.h"
-#include "GlutStuff.h"
-#include "GLDebugDrawer.h"
-
-btScalar yaw=btScalar(0.);
-btScalar pitch=btScalar(0.);
-btScalar roll=btScalar(0.);
-const int maxNumObjects = 4;
-const int numObjects = 2;
-
-GL_Simplex1to4 simplex;
-
-
-btCollisionObject	objects[maxNumObjects];
-btCollisionWorld*	collisionWorld = 0;
-
-// so pixel ratio is 1:1
-int screenWidth = 640;
-int screenHeight = 640;
-GLDebugDrawer debugDrawer;
-
-const btScalar LARGE_DISTANCE_FROM_ORIGIN = btScalar(999999.0);
-const btScalar VERY_SMALL_INCREMENT = btScalar(0.000009);
-
-int main(int argc,char** argv)
-{
-	DoublePrecisionDemo* doublePrecisionDemo = new DoublePrecisionDemo();
-
-	doublePrecisionDemo->initPhysics();
-	doublePrecisionDemo->setCameraDistance(btScalar(2.0));
-
-	doublePrecisionDemo->clientResetScene();
-
-	return glutmain(argc, argv,screenWidth,screenHeight,"Double Precision Demo",doublePrecisionDemo);
-}
-
-void	DoublePrecisionDemo::initPhysics()
-{
-  m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
-	
-	btMatrix3x3 basisA;
-	basisA.setIdentity();
-
-	btMatrix3x3 basisB;
-	basisB.setIdentity();
-
-	objects[0].getWorldTransform().setBasis(basisA);
-	objects[1].getWorldTransform().setBasis(basisB);
-	
-
-	btBoxShape* boxA = new btBoxShape(btVector3(0.5,0.5,0.5));
-	btBoxShape* boxB = new btBoxShape(btVector3(0.5,0.5,0.5));
-
-	objects[0].setCollisionShape(boxA);//&hullA;
-	objects[1].setCollisionShape(boxB);//&hullB;
-
-	btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
-	btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
-	btVector3	worldAabbMin(80000,80000,80000);
-	btVector3	worldAabbMax(120000,120000,120000);
-
-	btAxisSweep3*	broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
-	
-	collisionWorld = new btCollisionWorld(dispatcher,broadphase,collisionConfiguration);
-		
-	collisionWorld->addCollisionObject(&objects[0]);
-	collisionWorld->addCollisionObject(&objects[1]);
-
-}
-
-
-//to be implemented by the demo
-
-void DoublePrecisionDemo::clientMoveAndDisplay()
-{
-	
-	displayCallback();
-}
-
-
-static btVoronoiSimplexSolver sGjkSimplexSolver;
-btSimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
-
-void DoublePrecisionDemo::displayCallback(void) 
-{
-  glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
-	glDisable(GL_LIGHTING);
-
-	collisionWorld->getDispatchInfo().m_debugDraw = &debugDrawer;
-	
-  if (collisionWorld)
-    collisionWorld->performDiscreteCollisionDetection();
-
-  int i;
-
+/*
+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.
+*/
+
+
+///
+/// DoublePrecisionDemo shows high level usage of the Collision Detection.
+///
+
+#include "GL_Simplex1to4.h"
+
+//include common Bullet Collision Detection headerfiles
+#include "btBulletCollisionCommon.h"
+
+#include "LinearMath/btIDebugDraw.h"
+#include "BMF_Api.h"
+#include "GL_ShapeDrawer.h"
+#include "DoublePrecisionDemo.h"
+#include "GlutStuff.h"
+#include "GLDebugDrawer.h"
+
+btScalar yaw=btScalar(0.);
+btScalar pitch=btScalar(0.);
+btScalar roll=btScalar(0.);
+const int maxNumObjects = 4;
+const int numObjects = 2;
+
+GL_Simplex1to4 simplex;
+
+
+btCollisionObject	objects[maxNumObjects];
+btCollisionWorld*	collisionWorld = 0;
+
+// so pixel ratio is 1:1
+int screenWidth = 640;
+int screenHeight = 640;
+GLDebugDrawer debugDrawer;
+
+const btScalar LARGE_DISTANCE_FROM_ORIGIN = btScalar(999999.0);
+const btScalar VERY_SMALL_INCREMENT = btScalar(0.000009);
+
+int main(int argc,char** argv)
+{
+	DoublePrecisionDemo* doublePrecisionDemo = new DoublePrecisionDemo();
+
+	doublePrecisionDemo->initPhysics();
+	doublePrecisionDemo->setCameraDistance(btScalar(2.0));
+
+	doublePrecisionDemo->clientResetScene();
+
+	return glutmain(argc, argv,screenWidth,screenHeight,"Double Precision Demo",doublePrecisionDemo);
+}
+
+void	DoublePrecisionDemo::initPhysics()
+{
+  m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
+	
+	btMatrix3x3 basisA;
+	basisA.setIdentity();
+
+	btMatrix3x3 basisB;
+	basisB.setIdentity();
+
+	objects[0].getWorldTransform().setBasis(basisA);
+	objects[1].getWorldTransform().setBasis(basisB);
+	
+
+	btBoxShape* boxA = new btBoxShape(btVector3(0.5,0.5,0.5));
+	btBoxShape* boxB = new btBoxShape(btVector3(0.5,0.5,0.5));
+
+	objects[0].setCollisionShape(boxA);//&hullA;
+	objects[1].setCollisionShape(boxB);//&hullB;
+
+	btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
+	btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
+	btVector3	worldAabbMin(80000,80000,80000);
+	btVector3	worldAabbMax(120000,120000,120000);
+
+	btAxisSweep3*	broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
+	
+	collisionWorld = new btCollisionWorld(dispatcher,broadphase,collisionConfiguration);
+		
+	collisionWorld->addCollisionObject(&objects[0]);
+	collisionWorld->addCollisionObject(&objects[1]);
+
+}
+
+
+//to be implemented by the demo
+
+void DoublePrecisionDemo::clientMoveAndDisplay()
+{
+	
+	displayCallback();
+}
+
+
+static btVoronoiSimplexSolver sGjkSimplexSolver;
+btSimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
+
+void DoublePrecisionDemo::displayCallback(void) 
+{
+  glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
+	glDisable(GL_LIGHTING);
+
+	collisionWorld->getDispatchInfo().m_debugDraw = &debugDrawer;
+	
+  if (collisionWorld)
+    collisionWorld->performDiscreteCollisionDetection();
+
+  int i;
+
 	btVector3	worldBoundsMin,worldBoundsMax;
 	collisionWorld->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
-
-
-  ///one way to draw all the contact points is iterating over contact manifolds / points:
-  int numManifolds = collisionWorld->getDispatcher()->getNumManifolds();
-  for (i=0;i<numManifolds;i++)
-  {
-    btPersistentManifold* contactManifold = collisionWorld->getDispatcher()->getManifoldByIndexInternal(i);
-    btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
-    btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
-    contactManifold->refreshContactPoints(obA->getWorldTransform(),obB->getWorldTransform());
-
-    int numContacts = contactManifold->getNumContacts();
-    for (int j=0;j<numContacts;j++)
-    {
-      btManifoldPoint& pt = contactManifold->getContactPoint(j);
-
-      glBegin(GL_LINES);
-      glColor3f(1, 1, 1);
-
-      btVector3 ptA = pt.getPositionWorldOnA() - m_cameraPosition;
-      btVector3 ptB = pt.getPositionWorldOnB() - m_cameraPosition;
-
-      glVertex3d(ptA.x(),ptA.y(),ptA.z());
-      glVertex3d(ptB.x(),ptB.y(),ptB.z());
-      glEnd();
-    }
-
-    //you can un-comment out this line, and then all points are removed
-    //contactManifold->clearManifold();	
-  }
-
-	btScalar m[16];
-	btTransform temp;
-	
-
-  btVector3 color;
-  //int i;
-	for (i=0;i<numObjects;i++)
-	{
-	  if (i % 2)
-	  {
-	    color = btVector3(1,0,0);
-	  }
-	  else
-	  {
-      color = btVector3(0,0,1);
-	  }
-	  temp = objects[i].getWorldTransform();
-	  temp.setOrigin(temp.getOrigin() - m_cameraPosition);
-		temp.getOpenGLMatrix( m );
-		m_shapeDrawer.drawOpenGL(m,objects[i].getCollisionShape(),color,getDebugMode(),worldBoundsMin,worldBoundsMax);
-	}
-
-  objects[1].getWorldTransform().setOrigin(objects[1].getWorldTransform().getOrigin()+btVector3(-VERY_SMALL_INCREMENT,-VERY_SMALL_INCREMENT,0));
-  objects[0].getWorldTransform().setOrigin(objects[0].getWorldTransform().getOrigin()+btVector3(VERY_SMALL_INCREMENT,VERY_SMALL_INCREMENT,0));
-  
-  float yStart = 20.f;
-  float yIncr = 20.f;
-  char buf[124];
-
-  glColor3f(0, 0, 0);
-
-  setOrthographicProjection();
-
-  glRasterPos3f(10.0f,yStart,0);
-  #ifdef BT_USE_DOUBLE_PRECISION
-  BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),"Double Precision Mode");
-  #else
-  BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),"Single Precision Mode");
-  #endif
-  yStart += yIncr;
-  
-  glRasterPos3f(10.0f,yStart,0);
-  sprintf(buf,"Movement distance in x and y axis = %lf", VERY_SMALL_INCREMENT);
-
-  BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
-  yStart += yIncr;
-  
-  glRasterPos3f(10.0f,yStart,0);
-  btScalar xValue = objects[0].getWorldTransform().getOrigin().x();
-  btScalar yValue = objects[0].getWorldTransform().getOrigin().y();
-  btScalar zValue = objects[0].getWorldTransform().getOrigin().z();
-  sprintf(buf,"Cube 0 location = ( %lf, %lf, %lf )", xValue, yValue, zValue);
-  BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
-  yStart += yIncr;
-
-  xValue = objects[1].getWorldTransform().getOrigin().x();
-  yValue = objects[1].getWorldTransform().getOrigin().y();
-  zValue = objects[1].getWorldTransform().getOrigin().z();
-  glRasterPos3f(10.0f,yStart,0);
-  sprintf(buf,"Cube 1 location = ( %lf, %lf, %lf )", xValue, yValue, zValue);
-  BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
-  yStart += yIncr;
-
-  glRasterPos3f(10.0f,yStart,0);
-  BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),"w=toggle wireframe/solid");
-
-  resetPerspectiveProjection();
-
-	glFlush();
-  glutSwapBuffers();
-}
-
-void DoublePrecisionDemo::clientResetScene()
-{
-	objects[0].getWorldTransform().setOrigin(btVector3(LARGE_DISTANCE_FROM_ORIGIN,LARGE_DISTANCE_FROM_ORIGIN,LARGE_DISTANCE_FROM_ORIGIN));
-	objects[1].getWorldTransform().setOrigin(btVector3(LARGE_DISTANCE_FROM_ORIGIN-VERY_SMALL_INCREMENT,LARGE_DISTANCE_FROM_ORIGIN-VERY_SMALL_INCREMENT,LARGE_DISTANCE_FROM_ORIGIN));
-}
-
-
-
-void DoublePrecisionDemo::updateCamera() 
-{
-  glMatrixMode(GL_PROJECTION);
-  glLoadIdentity();
-
-  // look at the stationary cube
-  m_cameraTargetPosition = objects[0].getWorldTransform().getOrigin();
-
-  m_cameraPosition = m_cameraTargetPosition;
-  m_cameraPosition[2] = m_cameraTargetPosition[2] - m_cameraDistance;
-
-  //update OpenGL camera settings
-  glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 10000.0);
-
-  // To not loose precision in the rendering process, we shift the object to the origin
-  gluLookAt(0.0, 0.0, 0.0,
-    m_cameraTargetPosition[0]-m_cameraPosition[0],m_cameraTargetPosition[1]-m_cameraPosition[1], m_cameraTargetPosition[2]-m_cameraPosition[2],
-    m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
-  glMatrixMode(GL_MODELVIEW);
-}
-
-void DoublePrecisionDemo::keyboardCallback(unsigned char key, int x, int y)
-{
-  if (key == 'w')
-  {
-    if (m_debugMode & btIDebugDraw::DBG_DrawWireframe)
-    {
-      m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawWireframe);
-      m_debugMode |= btIDebugDraw::DBG_DrawAabb;
-    }
-    else
-    {
-      m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawAabb);
-      m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
-    }
-    return;
-  }
-  
-  DemoApplication::keyboardCallback(key, x, y);
-}
-
-
+
+
+  ///one way to draw all the contact points is iterating over contact manifolds / points:
+  int numManifolds = collisionWorld->getDispatcher()->getNumManifolds();
+  for (i=0;i<numManifolds;i++)
+  {
+    btPersistentManifold* contactManifold = collisionWorld->getDispatcher()->getManifoldByIndexInternal(i);
+    btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
+    btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
+    contactManifold->refreshContactPoints(obA->getWorldTransform(),obB->getWorldTransform());
+
+    int numContacts = contactManifold->getNumContacts();
+    for (int j=0;j<numContacts;j++)
+    {
+      btManifoldPoint& pt = contactManifold->getContactPoint(j);
+
+      glBegin(GL_LINES);
+      glColor3f(1, 1, 1);
+
+      btVector3 ptA = pt.getPositionWorldOnA() - m_cameraPosition;
+      btVector3 ptB = pt.getPositionWorldOnB() - m_cameraPosition;
+
+      glVertex3d(ptA.x(),ptA.y(),ptA.z());
+      glVertex3d(ptB.x(),ptB.y(),ptB.z());
+      glEnd();
+    }
+
+    //you can un-comment out this line, and then all points are removed
+    //contactManifold->clearManifold();	
+  }
+
+	btScalar m[16];
+	btTransform temp;
+	
+
+  btVector3 color;
+  //int i;
+	for (i=0;i<numObjects;i++)
+	{
+	  if (i % 2)
+	  {
+	    color = btVector3(1,0,0);
+	  }
+	  else
+	  {
+      color = btVector3(0,0,1);
+	  }
+	  temp = objects[i].getWorldTransform();
+	  temp.setOrigin(temp.getOrigin() - m_cameraPosition);
+		temp.getOpenGLMatrix( m );
+		m_shapeDrawer->drawOpenGL(m,objects[i].getCollisionShape(),color,getDebugMode(),worldBoundsMin,worldBoundsMax);
+	}
+
+  objects[1].getWorldTransform().setOrigin(objects[1].getWorldTransform().getOrigin()+btVector3(-VERY_SMALL_INCREMENT,-VERY_SMALL_INCREMENT,0));
+  objects[0].getWorldTransform().setOrigin(objects[0].getWorldTransform().getOrigin()+btVector3(VERY_SMALL_INCREMENT,VERY_SMALL_INCREMENT,0));
+  
+  float yStart = 20.f;
+  float yIncr = 20.f;
+  char buf[124];
+
+  glColor3f(0, 0, 0);
+
+  setOrthographicProjection();
+
+  glRasterPos3f(10.0f,yStart,0);
+  #ifdef BT_USE_DOUBLE_PRECISION
+  BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),"Double Precision Mode");
+  #else
+  BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),"Single Precision Mode");
+  #endif
+  yStart += yIncr;
+  
+  glRasterPos3f(10.0f,yStart,0);
+  sprintf(buf,"Movement distance in x and y axis = %lf", VERY_SMALL_INCREMENT);
+
+  BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+  yStart += yIncr;
+  
+  glRasterPos3f(10.0f,yStart,0);
+  btScalar xValue = objects[0].getWorldTransform().getOrigin().x();
+  btScalar yValue = objects[0].getWorldTransform().getOrigin().y();
+  btScalar zValue = objects[0].getWorldTransform().getOrigin().z();
+  sprintf(buf,"Cube 0 location = ( %lf, %lf, %lf )", xValue, yValue, zValue);
+  BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+  yStart += yIncr;
+
+  xValue = objects[1].getWorldTransform().getOrigin().x();
+  yValue = objects[1].getWorldTransform().getOrigin().y();
+  zValue = objects[1].getWorldTransform().getOrigin().z();
+  glRasterPos3f(10.0f,yStart,0);
+  sprintf(buf,"Cube 1 location = ( %lf, %lf, %lf )", xValue, yValue, zValue);
+  BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+  yStart += yIncr;
+
+  glRasterPos3f(10.0f,yStart,0);
+  BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),"w=toggle wireframe/solid");
+
+  resetPerspectiveProjection();
+
+	glFlush();
+  glutSwapBuffers();
+}
+
+void DoublePrecisionDemo::clientResetScene()
+{
+	objects[0].getWorldTransform().setOrigin(btVector3(LARGE_DISTANCE_FROM_ORIGIN,LARGE_DISTANCE_FROM_ORIGIN,LARGE_DISTANCE_FROM_ORIGIN));
+	objects[1].getWorldTransform().setOrigin(btVector3(LARGE_DISTANCE_FROM_ORIGIN-VERY_SMALL_INCREMENT,LARGE_DISTANCE_FROM_ORIGIN-VERY_SMALL_INCREMENT,LARGE_DISTANCE_FROM_ORIGIN));
+}
+
+
+
+void DoublePrecisionDemo::updateCamera() 
+{
+  glMatrixMode(GL_PROJECTION);
+  glLoadIdentity();
+
+  // look at the stationary cube
+  m_cameraTargetPosition = objects[0].getWorldTransform().getOrigin();
+
+  m_cameraPosition = m_cameraTargetPosition;
+  m_cameraPosition[2] = m_cameraTargetPosition[2] - m_cameraDistance;
+
+  //update OpenGL camera settings
+  glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 10000.0);
+
+  // To not loose precision in the rendering process, we shift the object to the origin
+  gluLookAt(0.0, 0.0, 0.0,
+    m_cameraTargetPosition[0]-m_cameraPosition[0],m_cameraTargetPosition[1]-m_cameraPosition[1], m_cameraTargetPosition[2]-m_cameraPosition[2],
+    m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
+  glMatrixMode(GL_MODELVIEW);
+}
+
+void DoublePrecisionDemo::keyboardCallback(unsigned char key, int x, int y)
+{
+  if (key == 'w')
+  {
+    if (m_debugMode & btIDebugDraw::DBG_DrawWireframe)
+    {
+      m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawWireframe);
+      m_debugMode |= btIDebugDraw::DBG_DrawAabb;
+    }
+    else
+    {
+      m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawAabb);
+      m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
+    }
+    return;
+  }
+  
+  DemoApplication::keyboardCallback(key, x, y);
+}
+
+
diff --git a/Demos/ForkLiftDemo/ForkLiftDemo.cpp b/Demos/ForkLiftDemo/ForkLiftDemo.cpp
index 48ee295b3..5c0a64b2b 100644
--- a/Demos/ForkLiftDemo/ForkLiftDemo.cpp
+++ b/Demos/ForkLiftDemo/ForkLiftDemo.cpp
@@ -433,7 +433,7 @@ void ForkLiftDemo::renderme()
 		m_vehicle->updateWheelTransform(i,true);
 		//draw wheels (cylinders)
 		m_vehicle->getWheelInfo(i).m_worldTransform.getOpenGLMatrix(m);
-		m_shapeDrawer.drawOpenGL(m,&wheelShape,wheelColor,getDebugMode(),worldBoundsMin,worldBoundsMax);
+		m_shapeDrawer->drawOpenGL(m,&wheelShape,wheelColor,getDebugMode(),worldBoundsMin,worldBoundsMax);
 	}
 
 
diff --git a/Demos/GimpactTestDemo/GimpactTestDemo.cpp b/Demos/GimpactTestDemo/GimpactTestDemo.cpp
index 72cbac131..a78f8de43 100644
--- a/Demos/GimpactTestDemo/GimpactTestDemo.cpp
+++ b/Demos/GimpactTestDemo/GimpactTestDemo.cpp
@@ -157,7 +157,7 @@ void GimpactConcaveDemo::renderme()
 				}
 			}
 
-			m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode(),worldBoundsMin,worldBoundsMax);
+			m_shapeDrawer->drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode(),worldBoundsMin,worldBoundsMax);
 		}
 
 
diff --git a/Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp b/Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp
index 00e4c965f..a1733d087 100644
--- a/Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp
+++ b/Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp
@@ -158,11 +158,11 @@ void LinearConvexCastDemo::displayCallback(void)
 	btTransform tmp = tr[0];
 	tmp.setOrigin(result.m_hitPoint);
 	tmp.getOpenGLMatrix(m3);
-	m_shapeDrawer.drawOpenGL( m3, &sphere, btVector3( 1, 0, 1 ), getDebugMode() ,worldBoundsMin,worldBoundsMax);
+	m_shapeDrawer->drawOpenGL( m3, &sphere, btVector3( 1, 0, 1 ), getDebugMode() ,worldBoundsMin,worldBoundsMax);
 
 
-	m_shapeDrawer.drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 0, 0 ), getDebugMode() ,worldBoundsMin,worldBoundsMax);
-	m_shapeDrawer.drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 0, 0 ), getDebugMode() ,worldBoundsMin,worldBoundsMax);
+	m_shapeDrawer->drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 0, 0 ), getDebugMode() ,worldBoundsMin,worldBoundsMax);
+	m_shapeDrawer->drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 0, 0 ), getDebugMode() ,worldBoundsMin,worldBoundsMax);
 
 	btVector3 originA, originB;
 	originA.setInterpolate3( tr[ 0 ].getOrigin(), toA.getOrigin(), result.m_fraction );
@@ -177,8 +177,8 @@ void LinearConvexCastDemo::displayCallback(void)
 	A.getOpenGLMatrix( m1 );
 	B.getOpenGLMatrix( m2 );
 
-	m_shapeDrawer.drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 1, 0 ), getDebugMode() ,worldBoundsMin,worldBoundsMax);
-	m_shapeDrawer.drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 1, 0 ), getDebugMode() ,worldBoundsMin,worldBoundsMax);
+	m_shapeDrawer->drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 1, 0 ), getDebugMode() ,worldBoundsMin,worldBoundsMax);
+	m_shapeDrawer->drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 1, 0 ), getDebugMode() ,worldBoundsMin,worldBoundsMax);
 
 	glFlush();
     glutSwapBuffers();
diff --git a/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluid.cpp b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluid.cpp
new file mode 100644
index 000000000..daebeab3b
--- /dev/null
+++ b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluid.cpp
@@ -0,0 +1,1017 @@
+#include <stdio.h>
+#include "btHfFluid.h"
+#include "btHfFluidCollisionShape.h"
+#include "btHfFluidBuoyantConvexShape.h"
+#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
+#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
+#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
+#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
+#include "BulletCollision/CollisionShapes/btTriangleShape.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "Demos/OpenGL/GLDebugDrawer.h"
+								
+btHfFluid::btHfFluid (btScalar gridCellWidth, int numNodesWidth, int numNodesLength)
+{
+	m_eta = NULL;
+	m_temp = NULL;
+	m_ground = NULL;
+	m_height[0] = NULL;
+	m_height[1] = NULL;
+	m_u[0] = NULL;
+	m_u[1] = NULL;
+	m_v[0] = NULL;
+	m_v[1] = NULL;
+	m_r[0] = NULL;
+	m_r[1] = NULL;
+	m_flags = NULL;
+	m_fillRatio = NULL;
+	m_internalType = CO_HF_FLUID;
+	m_heightIndex = 0;
+	m_velocityIndex = 0;
+	m_rIndex = 0;
+	setGridDimensions (gridCellWidth, numNodesWidth, numNodesLength);
+
+	btScalar maxHeight = 20.0;
+	m_aabbMin = btVector3 (0.0, 0.0, 0.0);
+	m_aabbMax = btVector3 (m_gridWidth, maxHeight, m_gridLength);
+
+	setCollisionShape (new btHfFluidCollisionShape (this));
+
+	m_globalVelocityU = btScalar(0.0f);
+	m_globalVelocityV = btScalar(0.0f);
+	m_gravity = btScalar(-10.0f);
+
+	m_volumeDisplacementScale = btScalar(0.5f);
+	m_horizontalVelocityScale = btScalar(0.5f);
+
+	m_epsEta = btScalar(0.01f);
+	m_epsHeight = btScalar(0.001f);
+}
+
+btHfFluid::~btHfFluid ()
+{
+	btCollisionShape* collisionShape = getCollisionShape ();
+	delete collisionShape;
+	btAlignedFree (m_temp);
+	btAlignedFree (m_height[0]);
+	btAlignedFree (m_height[1]);
+	btAlignedFree (m_ground);
+	btAlignedFree (m_eta);
+	btAlignedFree (m_u[0]);
+	btAlignedFree (m_u[1]);
+	btAlignedFree (m_v[0]);
+	btAlignedFree (m_v[1]);
+	btAlignedFree (m_flags);
+	btAlignedFree (m_fillRatio);
+}
+
+void btHfFluid::predictMotion(btScalar dt)
+{
+	transferDisplaced (dt);
+	
+	advectEta (dt);
+	advectVelocityU (dt);
+	advectVelocityV (dt);
+	updateHeight (dt);
+	computeFlagsAndFillRatio ();
+	updateVelocity (dt);
+	setReflectBoundaryLeft ();
+	setReflectBoundaryRight ();
+	setReflectBoundaryTop ();
+	setReflectBoundaryBottom ();
+	debugTests();
+	//m_heightIndex = (m_heightIndex + 1) % 2;
+	//m_velocityIndex = (m_velocityIndex + 1) % 2;
+}
+
+void btHfFluid::prep ()
+{
+	for (int i = 0; i < m_numNodesLength*m_numNodesWidth;i++)
+	{
+		m_height[0][i] = m_eta[i] + m_ground[i];
+		m_height[1][i] = m_eta[i] + m_ground[i];
+	}
+	computeFlagsAndFillRatio ();
+}
+
+btScalar btHfFluid::widthPos (int i) const
+{
+	return m_gridCellWidth * i;
+}
+
+btScalar btHfFluid::lengthPos (int j) const
+{
+return m_gridCellWidth * j;
+}
+
+int btHfFluid::arrayIndex (int i, int j) const
+{
+	btAssert (i >= 0);
+	btAssert (i < m_numNodesWidth);
+	btAssert (j >= 0);
+	btAssert (j < m_numNodesLength);
+	int index = i + (j * m_numNodesWidth);
+	return index;
+}
+
+int btHfFluid::arrayIndex (btScalar i, btScalar j) const
+{
+	int ii = (int)i; // truncate / floor
+	int ij = (int)j; // truncate / floor
+
+	return arrayIndex (ii, ij);
+}
+
+const btScalar* btHfFluid::getHeightArray () const
+{
+	return m_height[m_heightIndex];
+}
+
+const btScalar* btHfFluid::getGroundArray () const
+{
+	return m_ground;
+}
+const btScalar* btHfFluid::getEtaArray () const
+{
+	return m_eta;
+}
+const btScalar* btHfFluid::getVelocityUArray () const
+{
+	return m_u[m_velocityIndex];
+}
+const btScalar* btHfFluid::getVelocityVArray () const
+{
+	return m_v[m_velocityIndex];
+}
+
+const bool* btHfFluid::getFlagsArray () const
+{
+	return m_flags;
+}
+
+ btScalar* btHfFluid::getHeightArray ()
+{
+	return m_height[m_heightIndex];
+}
+ btScalar* btHfFluid::getGroundArray ()
+{
+	return m_ground;
+}
+ btScalar* btHfFluid::getEtaArray ()
+{
+	return m_eta;
+}
+ btScalar* btHfFluid::getVelocityUArray ()
+{
+	return m_u[m_velocityIndex];
+}
+ btScalar* btHfFluid::getVelocityVArray ()
+{
+	return m_v[m_velocityIndex];
+}
+
+bool* btHfFluid::getFlagsArray ()
+{
+	return m_flags;
+}
+
+void btHfFluid::setFluidHeight (int x, int y, btScalar height)
+{
+	int index = arrayIndex (x,y);
+	setFluidHeight (index, height);
+}
+
+void btHfFluid::setFluidHeight (int index, btScalar height)
+{
+	m_eta[index] = height;
+	m_height[m_heightIndex][index] = m_ground[index] + m_eta[index];
+	m_flags[index] = true;
+}
+
+void btHfFluid::addFluidHeight (int x, int y, btScalar height)
+{
+	int index = arrayIndex (x,y);
+	m_eta[index] += height;
+	m_height[m_heightIndex][index] = m_ground[index] + m_eta[index];
+	m_flags[index] = true;
+}
+
+void btHfFluid::getAabbForColumn (int i, int j, btVector3& aabbMin, btVector3& aabbMax)
+{
+	btVector3 com = getWorldTransform().getOrigin();
+	int sw = arrayIndex (i, j);
+	int se = arrayIndex (i+1, j);
+	int nw = arrayIndex (i, j+1);
+	int ne = arrayIndex (i+1, j+1);
+
+	btScalar h = m_height[m_heightIndex][sw];
+	btScalar g = m_ground[sw];
+
+	aabbMin = btVector3(widthPos (i), g, lengthPos (j));
+	aabbMax = btVector3(widthPos (i+1), h, lengthPos (j+1));
+	aabbMin += com;
+	aabbMax += com;
+}
+
+void btHfFluid::foreachGroundTriangle(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax)
+{
+	btVector3 verts[3];
+
+	btScalar minX, minZ, maxX, maxZ;
+	int startNodeX, startNodeZ, endNodeX, endNodeZ;
+
+	minX = aabbMin.getX();
+	minZ = aabbMin.getZ();
+	maxX = aabbMax.getX();
+	maxZ = aabbMax.getZ();
+
+	startNodeX = (int)(minX * m_gridCellWidthInv);
+	startNodeZ = (int)(minZ * m_gridCellWidthInv);
+
+	endNodeX = (int)(maxX * m_gridCellWidthInv);
+	endNodeZ = (int)(maxZ * m_gridCellWidthInv);
+
+	endNodeX++;
+	endNodeZ++;
+
+	startNodeX = btMax (1, startNodeX);
+	startNodeZ = btMax (1, startNodeZ);
+	endNodeX = btMin (m_numNodesWidth-1, endNodeX);
+	endNodeZ = btMin (m_numNodesLength-1, endNodeZ);
+
+#ifdef __BRUTE__
+	for (int i = 1; i < m_numNodesWidth-1; i++)
+	{
+		for (int j = 1; j < m_numNodesLength-1; j++)
+		{
+			// triangle 1
+			verts[0] = btVector3(widthPos(i), m_ground[arrayIndex(i,j)], lengthPos(j));
+			verts[1] = btVector3(widthPos(i), m_ground[arrayIndex(i,j+1)], lengthPos(j+1));
+			verts[2] = btVector3(widthPos(i+1), m_ground[arrayIndex(i+1,j)], lengthPos(j));
+			callback->processTriangle(verts,i,j);
+			// triangle 2
+			verts[0] = btVector3(widthPos(i+1), m_ground[arrayIndex(i+1,j)], lengthPos(j));
+			verts[1] = btVector3(widthPos(i), m_ground[arrayIndex(i,j+1)], lengthPos(j+1));
+			verts[2] = btVector3(widthPos(i+1), m_ground[arrayIndex(i+1,j+1)], lengthPos(j+1));
+			callback->processTriangle(verts,i,j);
+		}
+	}
+#else
+
+	for (int i = startNodeX; i < endNodeX; i++)
+	{
+		for (int j = startNodeZ; j < endNodeZ; j++)
+		{
+			// triangle 1
+			verts[0] = btVector3(widthPos(i), m_ground[arrayIndex(i,j)], lengthPos(j));
+			verts[1] = btVector3(widthPos(i), m_ground[arrayIndex(i,j+1)], lengthPos(j+1));
+			verts[2] = btVector3(widthPos(i+1), m_ground[arrayIndex(i+1,j)], lengthPos(j));
+			callback->processTriangle(verts,i,j);
+			// triangle 2
+			verts[0] = btVector3(widthPos(i+1), m_ground[arrayIndex(i+1,j)], lengthPos(j));
+			verts[1] = btVector3(widthPos(i), m_ground[arrayIndex(i,j+1)], lengthPos(j+1));
+			verts[2] = btVector3(widthPos(i+1), m_ground[arrayIndex(i+1,j+1)], lengthPos(j+1));
+			callback->processTriangle(verts,i,j);
+		}
+	}
+#endif
+}
+
+void btHfFluid::foreachFluidColumn (btHfFluidColumnCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax)
+{
+	btScalar minX, minZ, maxX, maxZ;
+	int startNodeX, startNodeZ, endNodeX, endNodeZ;
+
+	minX = aabbMin.getX();
+	minZ = aabbMin.getZ();
+	maxX = aabbMax.getX();
+	maxZ = aabbMax.getZ();
+
+	startNodeX = (int)(minX * m_gridCellWidthInv);
+	startNodeZ = (int)(minZ * m_gridCellWidthInv);
+
+	endNodeX = (int)(maxX * m_gridCellWidthInv);
+	endNodeZ = (int)(maxZ * m_gridCellWidthInv);
+
+	endNodeX++;
+	endNodeZ++;
+
+	startNodeX = btMax (1, startNodeX);
+	startNodeZ = btMax (1, startNodeZ);
+	endNodeX = btMin (m_numNodesWidth-2, endNodeX);
+	endNodeZ = btMin (m_numNodesLength-2, endNodeZ);
+
+	bool r;
+	for (int i = startNodeX; i < endNodeX; i++)
+	{
+		for (int j = startNodeZ; j < endNodeZ; j++)
+		{
+			if (m_flags[arrayIndex (i, j)] == false)
+				continue;
+
+			r = callback->processColumn (this, i, j);
+			if (!r)
+				return;
+		}
+	}
+}
+
+void btHfFluid::foreachSurfaceTriangle (btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax)
+{
+	btVector3 verts[3];
+
+	btScalar minX, minZ, maxX, maxZ;
+	int startNodeX, startNodeZ, endNodeX, endNodeZ;
+
+	minX = aabbMin.getX();
+	minZ = aabbMin.getZ();
+	maxX = aabbMax.getX();
+	maxZ = aabbMax.getZ();
+
+	startNodeX = (int)(minX * m_gridCellWidthInv);
+	startNodeZ = (int)(minZ * m_gridCellWidthInv);
+
+	endNodeX = (int)(maxX * m_gridCellWidthInv);
+	endNodeZ = (int)(maxZ * m_gridCellWidthInv);
+
+	endNodeX++;
+	endNodeZ++;
+
+	startNodeX = btMax (1, startNodeX);
+	startNodeZ = btMax (1, startNodeZ);
+	endNodeX = m_numNodesWidth-1;
+	endNodeZ = m_numNodesLength-1;
+
+	for (int i = startNodeX; i < endNodeX; i++)
+	{
+		for (int j = startNodeZ; j < endNodeZ; j++)
+		{
+			if (!m_flags[arrayIndex(i,j)])
+				continue;
+			// triangle 1
+			verts[0] = btVector3(widthPos(i), m_height[m_heightIndex][arrayIndex(i,j)], lengthPos(j));
+			verts[1] = btVector3(widthPos(i), m_height[m_heightIndex][arrayIndex(i,j+1)], lengthPos(j+1));
+			verts[2] = btVector3(widthPos(i+1), m_height[m_heightIndex][arrayIndex(i+1,j)], lengthPos(j));
+			callback->processTriangle(verts,i,j);
+			// triangle 2
+			verts[0] = btVector3(widthPos(i+1), m_height[m_heightIndex][arrayIndex(i+1,j)], lengthPos(j));
+			verts[1] = btVector3(widthPos(i), m_height[m_heightIndex][arrayIndex(i,j+1)], lengthPos(j+1));
+			verts[2] = btVector3(widthPos(i+1), m_height[m_heightIndex][arrayIndex(i+1,j+1)], lengthPos(j+1));
+			callback->processTriangle(verts,i,j);
+		}
+	}
+}
+
+void btHfFluid::setGridDimensions (btScalar gridCellWidth,
+								   int numNodesWidth, int numNodesLength)
+{
+	m_gridWidth = gridCellWidth * numNodesWidth;
+	m_gridLength = gridCellWidth * numNodesLength;
+	m_gridCellWidth = gridCellWidth;
+	m_numNodesWidth = numNodesWidth;
+	m_numNodesLength = numNodesLength;
+	m_gridCellWidthInv = btScalar(1.0) / gridCellWidth;
+
+	allocateArrays ();
+}
+
+btScalar btHfFluid::bilinearInterpolate (const btScalar* array, btScalar iPos, btScalar jPos)
+{
+	int i = (int)iPos;
+	int j = (int)jPos;
+
+	btScalar iParam1 = iPos - btScalar(i);
+	btScalar iParam0 = btScalar(1.0) - iParam1;
+
+	btScalar jParam1 = jPos - btScalar(j);
+	btScalar jParam0 = btScalar(1.0) - jParam1;
+
+	btScalar SW = array[arrayIndex(i, j)];
+	btScalar SE = array[arrayIndex(i+1, j)];
+	btScalar NW = array[arrayIndex(i, j+1)];
+	btScalar NE = array[arrayIndex(i+1, j+1)];
+
+	btScalar a = jParam0 * SW + jParam1 * NW;
+	btScalar b = jParam0 * SE + jParam1 * NE;
+	return iParam0 * a + iParam1 * b;
+}
+
+btScalar btHfFluid::advect (const btScalar* array, btScalar i, btScalar j, btScalar di, btScalar dj,btScalar dt)
+{
+	// trace particle backwards in time
+	btScalar srcI = i - di * dt * m_gridCellWidthInv;
+	btScalar srcJ = j - dj * dt * m_gridCellWidthInv;
+
+	// srcI and srcJ are indices into the array,
+	// we need to clamp them to within the domain
+	srcI = btMax (srcI, btScalar(0.0));
+	srcI = btMin (srcI, btScalar(m_numNodesWidth-1));
+	srcJ = btMax (srcJ, btScalar(0.0));
+	srcJ = btMin (srcJ, btScalar(m_numNodesLength-1));
+
+	return bilinearInterpolate (array, srcI, srcJ);
+}
+
+void btHfFluid::advectEta (btScalar dt)
+{
+	for (int i = 1; i < m_numNodesWidth-1; i++)
+	{
+		for (int j = 1; j < m_numNodesLength-1; j++)
+		{
+			int index = arrayIndex (i, j);
+
+			if (!m_flags[index])
+				continue;
+
+			btScalar u = m_globalVelocityU;
+			btScalar v = m_globalVelocityV;
+
+			u += (m_u[m_velocityIndex][index]+m_u[m_velocityIndex][index+1]) * btScalar(0.5);
+			v += (m_v[m_velocityIndex][index]+m_v[m_velocityIndex][index+m_numNodesWidth]) * btScalar(0.5);
+
+			m_temp[index] = advect (m_eta, btScalar(i), btScalar(j), u, v, dt);
+		}
+	}
+	for (int i = 1; i < m_numNodesWidth-1; i++)
+	{
+		for (int j = 1; j < m_numNodesLength-1; j++)
+		{
+			int index = arrayIndex (i, j);
+			m_eta[index] = m_temp[index];
+		}
+	}
+}
+
+void btHfFluid::updateHeight (btScalar dt)
+{
+	for (int j = 1; j < m_numNodesLength-1; j++)
+	{
+		for (int i = 1; i < m_numNodesWidth-1; i++)
+		{
+			int index = arrayIndex (i, j);
+			if (!m_flags[index])
+			{
+				m_height[m_heightIndex][index] = m_ground[index] + m_eta[index];
+				continue;
+			}
+			btScalar deta = -btScalar(0.5f) * m_eta[index] * dt * m_gridCellWidthInv * ( (m_u[m_velocityIndex][index+1] - m_u[m_velocityIndex][index]) + (m_v[m_velocityIndex][index+m_numNodesWidth] - m_v[m_velocityIndex][index]));
+			m_eta[index] += deta;
+			m_height[m_heightIndex][index] = m_ground[index] + btMax(m_eta[index],btScalar(0.0f));
+		}
+	}
+}
+
+void btHfFluid::advectVelocityU (btScalar dt)
+{
+	for (int i = 1; i < m_numNodesWidth-1; i++)
+	{
+		for (int j = 1; j < m_numNodesLength-1; j++)
+		{
+			int index = arrayIndex (i, j);
+			if (!m_flags[index])
+			{
+				continue;
+			}
+			btScalar u = m_globalVelocityU;
+			btScalar v = m_globalVelocityV;
+
+			u += m_u[m_velocityIndex][index];
+			v += (m_v[m_velocityIndex][index]+m_v[m_velocityIndex][index+1]+m_v[m_velocityIndex][index+m_numNodesWidth]+m_v[m_velocityIndex][index+m_numNodesWidth+1]) * btScalar(0.25);
+
+			m_temp[index] = advect (m_u[m_velocityIndex], btScalar(i), btScalar(j), u, v, dt);
+		}
+	}
+
+	for (int i = 1; i < m_numNodesWidth-1; i++)
+	{
+		for (int j = 1; j < m_numNodesLength-1; j++)
+		{
+			int index = arrayIndex (i, j);
+			m_u[m_velocityIndex][index] = m_temp[index];
+		}
+	}
+}
+
+void btHfFluid::advectVelocityV (btScalar dt)
+{
+	for (int i = 1; i < m_numNodesWidth-1; i++)
+	{
+		for (int j = 1; j < m_numNodesLength-1; j++)
+		{
+			int index = arrayIndex (i, j);
+			if (!m_flags[index])
+			{
+				continue;
+			}
+			btScalar u = m_globalVelocityU;
+			btScalar v = m_globalVelocityV;
+
+			u += (m_u[m_velocityIndex][index]+m_u[m_velocityIndex][index+1]+m_u[m_velocityIndex][index+m_numNodesWidth]+m_u[m_velocityIndex][index+m_numNodesWidth+1]) * btScalar(0.25);
+			v += m_v[m_velocityIndex][index];
+			
+
+			m_temp[index] = advect (m_v[m_velocityIndex], btScalar(i), btScalar(j), u, v, dt);
+		}
+	}
+	for (int i = 1; i < m_numNodesWidth-1; i++)
+	{
+		for (int j = 1; j < m_numNodesLength-1; j++)
+		{
+			int index = arrayIndex (i, j);
+			m_v[m_velocityIndex][index] = m_temp[index];
+		}
+	}
+}
+
+void btHfFluid::addDisplaced (int i, int j, btScalar r)
+{
+	m_r[m_rIndex][arrayIndex(i,j)] += r;
+}
+
+void btHfFluid::transferDisplaced (btScalar dt)
+{
+	for (int i = 2; i < m_numNodesWidth - 2; i++)
+	{
+		for (int j = 2; j < m_numNodesLength - 2; j++)
+		{
+			btScalar deltaR = m_r[m_rIndex][arrayIndex(i,j)] - m_r[(m_rIndex+1)%2][arrayIndex(i,j)];
+			// deltaR is in volume, but we want to change the height..
+			deltaR = deltaR / (m_gridCellWidth * m_gridCellWidth);
+			deltaR *= m_volumeDisplacementScale;
+			btScalar qdeltaR = deltaR / btScalar(4.0f);
+			m_eta[arrayIndex(i-1,j-1)] += qdeltaR;
+			m_eta[arrayIndex(i-1,j+1)] += qdeltaR;
+			m_eta[arrayIndex(i+1,j-1)] += qdeltaR;
+			m_eta[arrayIndex(i+1,j+1)] += qdeltaR;
+			m_eta[arrayIndex(i,j)] -= deltaR;
+			// OPTIMIZATION: zero out next frames r value
+			m_r[(m_rIndex+1)%2][arrayIndex(i,j)] = btScalar(0.0);
+		}
+	}
+	m_rIndex = (m_rIndex + 1) % 2; // flip frame
+}
+
+void btHfFluid::updateVelocity (btScalar dt)
+{
+	for (int j = 1; j < m_numNodesLength-1; j++)
+	{
+		for (int i = 2; i < m_numNodesWidth-1; i++)
+		{
+			int index = arrayIndex (i, j);
+			if (!m_flags[index])
+			{
+				continue;
+			}
+			m_u[m_velocityIndex][index] += m_gravity * dt * m_gridCellWidthInv * (m_height[m_heightIndex][index]-m_height[m_heightIndex][index-1]);
+		}
+	}
+
+	for (int j = 2; j < m_numNodesLength-1; j++)
+	{
+		for (int i = 1; i < m_numNodesWidth-1; i++)
+		{
+			int index = arrayIndex (i, j);
+			if (!m_flags[index])
+			{
+				continue;
+			}
+			m_v[m_velocityIndex][index] += m_gravity * dt * m_gridCellWidthInv * (m_height[m_heightIndex][index]-m_height[m_heightIndex][index-m_numNodesWidth]);
+		}
+	}
+}
+
+void btHfFluid::setReflectBoundaryLeft ()
+{
+	for (int j = 0; j < m_numNodesLength; j++)
+	{
+		int indexL = arrayIndex (0, j);
+
+		m_height[m_heightIndex][indexL] = m_height[m_heightIndex][indexL+1];
+		m_u[m_velocityIndex][indexL+1] = btScalar(0.0);
+		m_v[m_velocityIndex][indexL] = btScalar(0.0);
+	}
+}
+
+void btHfFluid::setReflectBoundaryRight ()
+{
+	for (int j = 0; j < m_numNodesLength; j++)
+	{
+		int indexR = arrayIndex (m_numNodesWidth-1, j);
+
+		m_height[m_heightIndex][indexR] = m_height[m_heightIndex][indexR-1];
+		m_u[m_velocityIndex][indexR-1] = btScalar(0.0);
+		m_v[m_velocityIndex][indexR] = btScalar(0.0);
+	}
+}
+
+void btHfFluid::setReflectBoundaryBottom ()
+{
+	for (int i = 0; i < m_numNodesWidth; i++)
+	{
+		int indexT = arrayIndex (i, 0);
+		
+		m_height[m_heightIndex][indexT] = m_height[m_heightIndex][indexT+m_numNodesWidth];
+		m_v[m_velocityIndex][indexT+m_numNodesWidth] = btScalar(0.0);
+		m_u[m_velocityIndex][indexT] = btScalar(0.0);
+	}
+}
+
+void btHfFluid::setReflectBoundaryTop ()
+{
+	for (int i = 0; i < m_numNodesWidth; i++)
+	{
+		int indexB = arrayIndex (i, m_numNodesLength-1);
+
+		m_height[m_heightIndex][indexB] = m_height[m_heightIndex][indexB-m_numNodesWidth];
+		m_v[m_velocityIndex][indexB-m_numNodesWidth] = btScalar(0.0);
+		m_u[m_velocityIndex][indexB] = btScalar(0.0);
+	}
+}
+
+void btHfFluid::setAbsorbBoundaryLeft (btScalar dt)
+{
+	for (int j = 0; j < m_numNodesLength; j++)
+	{
+		int indexL = arrayIndex (0, j);
+
+		btScalar c = btSqrt(m_eta[indexL+1]*m_gravity);
+		m_height[m_heightIndex][indexL] = ((m_gridCellWidthInv * m_height[(m_heightIndex+1)%2][indexL+1])+(dt*c*m_height[m_heightIndex][indexL+1]))/(m_gridCellWidthInv + dt * c);
+		m_u[m_velocityIndex][indexL+1] = btScalar(0.0f);
+		m_v[m_velocityIndex][indexL+1] = btScalar(0.0);
+	}
+}
+
+void btHfFluid::setAbsorbBoundaryRight (btScalar dt)
+{
+}
+
+void btHfFluid::setAbsorbBoundaryTop (btScalar dt)
+{
+}
+
+void btHfFluid::setAbsorbBoundaryBottom (btScalar dt)
+{
+}
+
+void btHfFluid::computeFlagsAndFillRatio ()
+{
+	for (int i = 1; i < m_numNodesWidth-1; i++)
+	{
+		for (int j = 1; j < m_numNodesLength-1; j++)
+		{
+			btScalar h = m_height[m_heightIndex][arrayIndex(i,j)];
+			btScalar hMin = computeHmin(i,j);
+			btScalar hMax = computeHmax(i,j);
+			btScalar etaMax = computeEtaMax(i,j);
+			if (h <= hMin && etaMax < m_epsEta)
+			{
+				m_flags[arrayIndex(i,j)] = false;
+				m_fillRatio[arrayIndex(i,j)] = btScalar(0.0f);
+			} else if (h > hMax) {
+				m_flags[arrayIndex(i,j)] = true;
+				m_fillRatio[arrayIndex(i,j)] = btScalar(1.0f);
+			} else {
+				m_flags[arrayIndex(i,j)] = true;
+				m_fillRatio[arrayIndex(i,j)] = (h - hMin)/(hMax - hMin);
+			}
+			
+		}
+	}
+}
+
+btScalar btHfFluid::computeHmin (int i, int j)
+{
+	btAssert (i > 0);
+	btAssert (i < m_numNodesWidth-1);
+	btAssert (j > 0);
+	btAssert (j < m_numNodesLength-1);
+
+	btScalar h1 = m_height[m_heightIndex][arrayIndex(i-1,j-1)];
+	btScalar h2 = m_height[m_heightIndex][arrayIndex(i-1,j+1)];
+	btScalar h3 = m_height[m_heightIndex][arrayIndex(i+1,j-1)];
+	btScalar h4 = m_height[m_heightIndex][arrayIndex(i+1,j+1)];
+	btScalar h = m_height[m_heightIndex][arrayIndex(i,j)];
+	btScalar minh = btMin(h1, btMin(h2, btMin(h3,h4)));
+
+	return (minh + h) * btScalar(0.5f);
+}
+
+btScalar btHfFluid::computeHmax (int i, int j)
+{
+	btAssert (i > 0);
+	btAssert (i < m_numNodesWidth-1);
+	btAssert (j > 0);
+	btAssert (j < m_numNodesLength-1);
+
+	btScalar h1 = m_height[m_heightIndex][arrayIndex(i-1,j-1)];
+	btScalar h2 = m_height[m_heightIndex][arrayIndex(i-1,j+1)];
+	btScalar h3 = m_height[m_heightIndex][arrayIndex(i+1,j-1)];
+	btScalar h4 = m_height[m_heightIndex][arrayIndex(i+1,j+1)];
+	btScalar h = m_height[m_heightIndex][arrayIndex(i,j)];
+	btScalar maxh = btMax(h1, btMax(h2, btMax(h3,h4)));
+
+	return (maxh + h) * btScalar(0.5f) + m_epsHeight;
+}
+
+btScalar btHfFluid::computeEtaMax (int i, int j)
+{
+	btAssert (i > 0);
+	btAssert (i < m_numNodesWidth-1);
+	btAssert (j > 0);
+	btAssert (j < m_numNodesLength-1);
+
+	btScalar eta1 = m_eta[arrayIndex(i-1,j-1)];
+	btScalar eta2 = m_eta[arrayIndex(i-1,j+1)];
+	btScalar eta3 = m_eta[arrayIndex(i+1,j-1)];
+	btScalar eta4 = m_eta[arrayIndex(i+1,j+1)];
+	btScalar eta = m_eta[arrayIndex(i,j)];
+	btScalar maxeta = btMax(eta1, btMax(eta2, btMax(eta3,eta4)));
+
+	return (maxeta + eta) * btScalar(0.5f);
+}
+
+void btHfFluid::allocateArrays ()
+{
+	if (m_temp)
+		btAlignedFree (m_temp);
+	if (m_height[0])
+	{
+		btAlignedFree (m_height[0]);
+		btAlignedFree (m_height[1]);
+	}
+	if (m_ground)
+		btAlignedFree (m_ground);
+	if (m_eta)
+		btAlignedFree (m_eta);
+	if (m_u[0])
+	{
+		btAlignedFree (m_u[0]);
+		btAlignedFree (m_u[1]);
+	}
+	if (m_v)
+	{
+		btAlignedFree (m_v[0]);
+		btAlignedFree (m_v[1]);
+	}
+	if (m_r)
+	{
+		btAlignedFree (m_r[0]);
+		btAlignedFree (m_r[1]);
+	}
+	if (m_flags)
+		btAlignedFree (m_flags);
+	if (m_fillRatio)
+		btAlignedFree (m_fillRatio);
+
+	m_heightIndex = 0;
+	m_velocityIndex = 0;
+	m_temp = (btScalar*)btAlignedAlloc (sizeof(btScalar) * m_numNodesWidth * m_numNodesLength, 16);
+	m_height[0] = (btScalar*)btAlignedAlloc (sizeof(btScalar) * m_numNodesWidth * m_numNodesLength, 16);
+	m_height[1] = (btScalar*)btAlignedAlloc (sizeof(btScalar) * m_numNodesWidth * m_numNodesLength, 16);
+	m_ground = (btScalar*)btAlignedAlloc (sizeof(btScalar) * m_numNodesWidth * m_numNodesLength, 16);
+	m_eta = (btScalar*)btAlignedAlloc (sizeof(btScalar) * m_numNodesWidth * m_numNodesLength, 16);
+	m_u[0] = (btScalar*)btAlignedAlloc (sizeof(btScalar) * m_numNodesWidth * m_numNodesLength, 16);
+	m_u[1] = (btScalar*)btAlignedAlloc (sizeof(btScalar) * m_numNodesWidth * m_numNodesLength, 16);
+	m_v[0] = (btScalar*)btAlignedAlloc (sizeof(btScalar) * m_numNodesWidth * m_numNodesLength, 16);
+	m_v[1] = (btScalar*)btAlignedAlloc (sizeof(btScalar) * m_numNodesWidth * m_numNodesLength, 16);
+	m_r[0] = (btScalar*)btAlignedAlloc (sizeof(btScalar) * m_numNodesWidth * m_numNodesLength, 16);
+	m_r[1] = (btScalar*)btAlignedAlloc (sizeof(btScalar) * m_numNodesWidth * m_numNodesLength, 16);
+	m_fillRatio = (btScalar*)btAlignedAlloc (sizeof(btScalar) * m_numNodesWidth * m_numNodesLength, 16);
+	m_flags = (bool*)btAlignedAlloc (sizeof(bool) * m_numNodesWidth * m_numNodesLength, 16);
+
+	{
+		int bufferSize = sizeof(btScalar) * m_numNodesWidth * m_numNodesLength;
+		printf("[HfFluid] Fluid buffer size %d bytes\n", bufferSize);
+		printf("[HfFluid] Temp %d buffers\n", 1);
+		printf("[HfFluid] Height %d buffers\n", 2);
+		printf("[HfFluid] Velocity %d buffers\n", 4);
+		printf("[HfFluid] Eta %d buffers\n", 1);
+		printf("[HfFluid] Fill Ratio %d buffers\n", 1);
+		printf("[HfFluid] ===============================\n");
+		printf("[HfFluid] Total %d buffers\n", 9);
+		printf("[HfFluid] Total %d KB\n", (9 * bufferSize)/1024);
+	}
+	for (int i = 0; i < m_numNodesWidth*m_numNodesLength; i++)
+	{
+		m_eta[i] = btScalar(0.0);
+		m_u[0][i] = btScalar(0.0);
+		m_u[1][i] = btScalar(0.0);
+		m_v[0][i] = btScalar(0.0);
+		m_v[1][i] = btScalar(0.0);
+		m_r[0][i] = btScalar(0.0);
+		m_r[1][i] = btScalar(0.0);
+		m_height[0][i] = btScalar(0.0);
+		m_height[1][i] = btScalar(0.0);
+		m_ground[i] = btScalar(0.0);
+		m_flags[i] = false;
+		m_fillRatio[i] = btScalar(0.0);
+		m_temp[i] = btScalar(0.0);
+	}
+}
+
+
+void btHfFluid::debugTests ()
+{
+	static btScalar total_volume = btScalar(0.0f);
+	btScalar new_total_volume = btScalar(0.0f);
+	for (int i = 0; i < m_numNodesWidth*m_numNodesLength; i++)
+	{
+		new_total_volume += m_eta[i] * m_gridCellWidth * m_gridCellWidth;
+	}
+	printf("volume = %f volume delta = %f\n", new_total_volume, new_total_volume - total_volume);
+	total_volume = new_total_volume;
+}
+
+// You can enforce a global velocity at the surface of the fluid
+// default: 0.0 and 0.0
+void btHfFluid::setGlobaVelocity (btScalar globalVelocityU, btScalar globalVelocityV)
+{
+	m_globalVelocityU = globalVelocityU;
+	m_globalVelocityV = globalVelocityV;
+}
+
+void btHfFluid::getGlobalVelocity (btScalar& globalVelocityU, btScalar& globalVelocityV) const
+{
+	globalVelocityU = m_globalVelocityU;
+	globalVelocityV = m_globalVelocityV;
+}
+
+// Control force of gravity, should match physics world
+// default: -10.0
+void btHfFluid::setGravity (btScalar gravity)
+{
+	m_gravity = gravity;
+}
+btScalar btHfFluid::getGravity () const
+{
+	return m_gravity;
+}
+
+// When a body is submerged into the fluid, the displaced fluid
+// is spread to adjacent cells. You can control the percentage of this
+// by setting this value between 0.0 and 1.0
+// default: 0.5
+void btHfFluid::setVolumeDisplacementScale (btScalar volumeDisplacementScale)
+{
+	m_volumeDisplacementScale = volumeDisplacementScale;
+}
+
+btScalar btHfFluid::getVolumeDisplacementScale () const
+{
+	return m_volumeDisplacementScale;
+}
+
+// The horizontal velocity of the fluid can influence bodies submerged
+// in the fluid. You can control how much influence by setting this
+// between 0.0 and 1.0
+// default: 0.5
+void btHfFluid::setHorizontalVelocityScale (btScalar horizontalVelocityScale)
+{
+	m_horizontalVelocityScale = horizontalVelocityScale;
+}
+
+btScalar btHfFluid::getHorizontalVelocityScale () const
+{
+	return m_horizontalVelocityScale;
+}
+
+static btScalar rangeOverlap (btScalar lo1, btScalar hi1, btScalar lo2, btScalar hi2, btScalar& loOut, btScalar& hiOut)
+{
+	if (!(lo1 <= hi2 && lo2 <= hi1))
+		return btScalar(0.0f);
+
+	if (lo1 >= lo2 && lo1 <= hi2 &&
+		hi1 >= lo2 && hi1 <= hi2)
+	{
+		hiOut = hi1;
+		loOut = lo1;
+		return hi1 - lo1;
+	} else if (lo2 >= lo1 && lo2 <= hi1 &&
+			   hi2 >= lo1 && hi2 <= hi1)
+	{
+		hiOut = hi2;
+		loOut = lo2;
+		return hi2 - lo2;
+	} else if (hi1 >= lo2 && lo1 <= lo2) {
+		hiOut = hi1;
+		loOut = lo2;
+		return hi1 - lo2;
+	} else {
+		hiOut = hi2;
+		loOut = lo1;
+		return hi2 - lo1;
+	}
+}
+
+btHfFluidColumnRigidBodyCallback::btHfFluidColumnRigidBodyCallback (btRigidBody* rigidBody, btIDebugDraw* debugDraw, btScalar density, btScalar floatyness)
+{
+	m_rigidBody = rigidBody;
+	m_buoyantShape = (btHfFluidBuoyantConvexShape*)rigidBody->getCollisionShape();
+	m_debugDraw = debugDraw;
+	m_rigidBody->getAabb (m_aabbMin, m_aabbMax);
+	m_volume = btScalar(0.0f);
+	m_density = density;
+	m_floatyness = floatyness;
+	m_numVoxels = m_buoyantShape->getNumVoxels ();
+	for (int i = 0; i < m_numVoxels; i++)
+	{
+		btVector3 p = m_buoyantShape->getVoxelPositionsArray()[i];
+		p = m_rigidBody->getWorldTransform().getBasis() * p;
+		p += m_rigidBody->getWorldTransform().getOrigin();
+		m_voxelPositionsXformed[i] = p;
+		m_voxelSubmerged[i] = false;
+	}
+}
+
+static bool sphereVsAABB (const btVector3& aabbMin, const btVector3& aabbMax, const btVector3& sphereCenter, const btScalar sphereRadius)
+{
+  btScalar totalDistance = 0;
+
+  // Accumulate the distance of the sphere's center on each axis
+  for(int i = 0; i < 3; ++i) {
+
+    // If the sphere's center is outside the aabb, we've got distance on this axis
+    if(sphereCenter[i] < aabbMin[i]) {
+      btScalar borderDistance = aabbMin[i] - sphereCenter[i];
+      totalDistance += borderDistance * borderDistance;
+
+    } else if(sphereCenter[i] > aabbMax[i]) {
+      btScalar borderDistance = sphereCenter[i] - aabbMax[i];
+      totalDistance += borderDistance * borderDistance;
+
+    }
+    // Otherwise the sphere's center is within the box on this axis, so the
+    // distance will be 0 and we do not need to accumulate anything at all
+
+  }
+
+  // If the distance to the box is lower than the sphere's radius, both are overlapping
+  return (totalDistance <= (sphereRadius * sphereRadius));
+}
+
+bool btHfFluidColumnRigidBodyCallback::processColumn (btHfFluid* fluid, int w, int l)
+{
+	btVector3 columnAabbMin,columnAabbMax;
+
+	fluid->getAabbForColumn (w, l, columnAabbMin, columnAabbMax);
+
+	bool applyBuoyancyImpulse = true;
+	bool applyFluidVelocityImpulse = true;
+	bool applyFluidDisplace = true;
+
+	btScalar dt = btScalar(1.0f/60.0f);
+
+	btScalar columnVolume = btScalar(0.0f);
+
+	for (int i = 0; i < m_buoyantShape->getNumVoxels(); i++)
+	{
+		if (m_voxelSubmerged[i])
+			continue;
+
+		if (sphereVsAABB(columnAabbMin, columnAabbMax, m_voxelPositionsXformed[i], m_buoyantShape->getVoxelRadius()))
+		{
+			m_voxelSubmerged[i] = true;
+			btScalar voxelVolume = m_buoyantShape->getVolumePerVoxel();
+			columnVolume += voxelVolume;
+
+			btVector3 application_point = m_voxelPositionsXformed[i];
+			btVector3 relative_position = application_point - m_rigidBody->getCenterOfMassPosition();
+
+			if (applyBuoyancyImpulse)
+			{
+				btScalar massDisplacedWater = voxelVolume * m_density * m_floatyness;
+				btScalar force = massDisplacedWater * -fluid->getGravity();
+				btScalar impulseMag = force * dt;
+				btVector3 impulseVec = btVector3(btScalar(0.0f), btScalar(1.0f), btScalar(0.0f)) * impulseMag;
+//#define CENTER_IMPULSE_ONLY 1
+#ifdef CENTER_IMPULSE_ONLY
+				m_rigidBody->applyCentralImpulse (impulseVec);
+#else
+				m_rigidBody->applyImpulse (impulseVec, relative_position);
+#endif
+			}
+		}
+	}
+
+	if (columnVolume > btScalar(0.0))
+	{
+		m_volume += columnVolume;
+
+		if (applyFluidDisplace)
+		{
+			fluid->addDisplaced (w, l, columnVolume);
+		}
+
+		if (applyFluidVelocityImpulse)
+		{
+			int index = fluid->arrayIndex (w,l);
+			btScalar u = fluid->getVelocityUArray()[index];
+			btScalar v = fluid->getVelocityVArray()[index];
+			btVector3 vd = btVector3(u, btScalar(0.0f), v);
+			btVector3 impulse = vd * dt * fluid->getHorizontalVelocityScale();
+			m_rigidBody->applyCentralImpulse (impulse);
+		}
+	}
+
+	return true;
+}
\ No newline at end of file
diff --git a/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluid.h b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluid.h
new file mode 100644
index 000000000..d0d4572b3
--- /dev/null
+++ b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluid.h
@@ -0,0 +1,224 @@
+#ifndef __HFFLUID_H
+#define __HFFLUID_H
+
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
+
+class btPersistentManifold;
+class btManifoldResult;
+
+// FIX AABB calculation for whole btHfFluid shape
+// Fix flags and fill ratio
+// -> Figure out the constants used in flags and fill ratio code
+// Fix volume removal
+// add buoyant convex vs. convex / concave
+// add buoyant concave support (try bunny model)
+
+class btHfFluid : public btCollisionObject
+{
+public:
+	btHfFluid (btScalar gridCellWidth, int numNodesWidth, int numNodesLength);
+
+	~btHfFluid ();
+
+	void predictMotion(btScalar dt);
+
+	/* Prep does some initial setup of the height field fluid.
+	 * You should call this at initialization time.
+	 */
+	void prep ();
+		
+	static const btHfFluid*	upcast(const btCollisionObject* colObj)
+	{
+		if (colObj->getInternalType()==CO_HF_FLUID)
+			return (const btHfFluid*)colObj;
+		return 0;
+	}
+	static btHfFluid*			upcast(btCollisionObject* colObj)
+	{
+		if (colObj->getInternalType()==CO_HF_FLUID)
+			return (btHfFluid*)colObj;
+		return 0;
+	}
+
+	//
+	// ::btCollisionObject
+	//
+
+	virtual void getAabb(btVector3& aabbMin,btVector3& aabbMax) const
+	{
+		aabbMin = m_aabbMin;
+		aabbMax = m_aabbMax;
+	}
+
+	int getNumNodesWidth () const { return m_numNodesWidth; }
+	int getNumNodesLength () const { return m_numNodesLength; }
+
+	btScalar getGridCellWidth () const { return m_gridCellWidth; }
+	btScalar widthPos (int i) const;
+	btScalar lengthPos (int j) const;
+
+	int arrayIndex (int i, int j) const;
+	int arrayIndex (btScalar i, btScalar j) const;
+	int arrayIndex (unsigned int i, unsigned int j) const;
+	const btScalar* getHeightArray () const;
+	const btScalar* getGroundArray () const;
+	const btScalar* getEtaArray () const;
+	const btScalar* getVelocityUArray () const;
+	const btScalar* getVelocityVArray () const;
+	const bool* getFlagsArray () const;
+
+	void setFluidHeight (int x, int y, btScalar height);
+	void setFluidHeight (int index, btScalar height);
+
+	void addFluidHeight (int x, int y, btScalar height);
+	void addDisplaced (int i, int j, btScalar r);
+
+	void getAabbForColumn (int x, int y, btVector3& aabbMin, btVector3& aabbMax);
+
+	btScalar* getHeightArray ();
+	btScalar* getGroundArray ();
+	btScalar* getEtaArray ();
+	btScalar* getVelocityUArray ();
+	btScalar* getVelocityVArray ();
+	bool* getFlagsArray ();
+
+	void foreachGroundTriangle(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax);
+	class btHfFluidColumnCallback 
+	{
+	public:
+		btHfFluidColumnCallback () {}
+
+		virtual ~btHfFluidColumnCallback () {}
+
+		virtual bool processColumn (btHfFluid* fluid, int w, int l)
+		{
+			return true; // keep going
+		}
+	};
+
+	void foreachFluidColumn (btHfFluidColumnCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax);
+
+	void foreachSurfaceTriangle (btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax);
+protected:
+	int m_numNodesWidth;
+	int m_numNodesLength;
+
+	btScalar m_gridCellWidth;
+	btScalar m_gridWidth;
+	btScalar m_gridLength;
+
+	btScalar m_gridCellWidthInv;
+	
+	btVector3 m_aabbMin;
+	btVector3 m_aabbMax;
+
+	void setGridDimensions (btScalar gridCellWidth,
+							int numNodesWidth, int numNodesLength);
+
+	btScalar bilinearInterpolate (const btScalar* array, btScalar i, btScalar j);
+
+	btScalar advect (const btScalar* array, btScalar i, btScalar j, btScalar di, btScalar dj, btScalar dt);
+
+	void advectEta (btScalar dt);
+	void updateHeight (btScalar dt);
+
+	void advectVelocityU (btScalar dt);
+	void advectVelocityV (btScalar dt);
+	void updateVelocity (btScalar dt);
+
+	void transferDisplaced (btScalar dt);
+
+	void setReflectBoundaryLeft ();
+	void setReflectBoundaryRight ();
+	void setReflectBoundaryTop ();
+	void setReflectBoundaryBottom ();
+
+	void setAbsorbBoundaryLeft (btScalar dt);
+	void setAbsorbBoundaryRight (btScalar dt);
+	void setAbsorbBoundaryTop (btScalar dt);
+	void setAbsorbBoundaryBottom (btScalar dt);
+
+	void computeFlagsAndFillRatio ();
+	btScalar computeHmin (int i, int j);
+	btScalar computeHmax (int i, int j);
+	btScalar computeEtaMax (int i, int j);
+
+	void allocateArrays ();
+
+	void debugTests ();
+
+	btScalar* m_temp; // temp
+	int m_heightIndex;
+	btScalar* m_height[2];
+	btScalar* m_ground;
+	btScalar* m_eta; // height - ground
+	btScalar* m_u[2];
+	btScalar* m_v[2];
+	int m_rIndex;
+	btScalar* m_r[2];
+	int m_velocityIndex;
+	bool* m_flags;
+	btScalar* m_fillRatio;
+
+	// tweakables
+	btScalar m_globalVelocityU;
+	btScalar m_globalVelocityV;
+	btScalar m_gravity;
+	btScalar m_volumeDisplacementScale;
+	btScalar m_horizontalVelocityScale;
+
+	btScalar m_epsHeight;
+	btScalar m_epsEta;
+public:
+	// You can enforce a global velocity at the surface of the fluid
+	// default: 0.0 and 0.0
+	void setGlobaVelocity (btScalar globalVelocityU, btScalar globalVelocityV);
+	void getGlobalVelocity (btScalar& globalVelocityU, btScalar& globalVelocityV) const;
+
+	// Control force of gravity, should match physics world
+	// default: -10.0
+	void setGravity (btScalar gravity);
+	btScalar getGravity () const;
+
+	// When a body is submerged into the fluid, the displaced fluid
+	// is spread to adjacent cells. You can control the percentage of this
+	// by setting this value between 0.0 and 1.0
+	// default: 0.5
+	void setVolumeDisplacementScale (btScalar volumeDisplacementScale);
+	btScalar getVolumeDisplacementScale () const;
+
+	// The horizontal velocity of the fluid can influence bodies submerged
+	// in the fluid. You can control how much influence by setting this
+	// between 0.0 and 1.0
+	// default: 0.5
+	void setHorizontalVelocityScale (btScalar horizontalVelocityScale);
+	btScalar getHorizontalVelocityScale () const;
+};
+
+class btRigidBody;
+class btIDebugDraw;
+class btHfFluidBuoyantConvexShape;
+
+class btHfFluidColumnRigidBodyCallback : public btHfFluid::btHfFluidColumnCallback
+{
+protected:
+	btRigidBody* m_rigidBody;
+	btHfFluidBuoyantConvexShape* m_buoyantShape;
+	btIDebugDraw* m_debugDraw;
+	int m_numVoxels;
+	btVector3 m_voxelPositionsXformed[32*32*32];
+	bool m_voxelSubmerged[32*32*32];
+	btVector3 m_aabbMin;
+	btVector3 m_aabbMax;
+	btScalar m_volume;
+	btScalar m_density;
+	btScalar m_floatyness;
+public:
+	btHfFluidColumnRigidBodyCallback (btRigidBody* rigidBody, btIDebugDraw* debugDraw, btScalar density, btScalar floatyness);
+	bool processColumn (btHfFluid* fluid, int w, int l);
+	btScalar getVolume () const { return m_volume; }
+};
+
+#endif
+
diff --git a/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidBuoyantConvexShape.cpp b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidBuoyantConvexShape.cpp
new file mode 100644
index 000000000..b148dc2bf
--- /dev/null
+++ b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidBuoyantConvexShape.cpp
@@ -0,0 +1,163 @@
+#include <stdio.h>
+
+#include "LinearMath/btAabbUtil2.h"
+#include "BulletCollision/CollisionShapes/btConvexShape.h"
+#include "BulletCollision/CollisionShapes/btSphereShape.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
+#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
+#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
+#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
+
+#include "BulletHfFluid/btHfFluidBuoyantConvexShape.h"
+
+btHfFluidBuoyantConvexShape::btHfFluidBuoyantConvexShape (btConvexShape* convexShape)
+{
+	m_convexShape = convexShape;
+	m_shapeType = HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE;
+	m_radius = btScalar(0.f);
+	m_totalVolume = btScalar(0.0f);
+	m_floatyness = btScalar(1.5f);
+}
+
+void btHfFluidBuoyantConvexShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+{
+	return m_convexShape->getAabb (t, aabbMin, aabbMax);
+}
+
+void btHfFluidBuoyantConvexShape::setMargin(btScalar margin)
+{
+	m_convexShape->setMargin (margin);
+}
+
+void btHfFluidBuoyantConvexShape::setLocalScaling(const btVector3& scaling)
+{
+	m_convexShape->setLocalScaling (scaling);
+}
+
+const char*	btHfFluidBuoyantConvexShape::getName() const
+{
+	return "HF_FLUID_BUOYANT_CONVEX_SHAPE";
+}
+
+const btVector3& btHfFluidBuoyantConvexShape::getLocalScaling() const
+{
+	return m_convexShape->getLocalScaling();
+}
+
+void btHfFluidBuoyantConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+	m_convexShape->calculateLocalInertia (mass, inertia);
+}
+
+btScalar btHfFluidBuoyantConvexShape::getMargin() const
+{
+	return m_convexShape->getMargin();
+}
+
+//must be above the machine epsilon
+#define REL_ERROR2 btScalar(1.0e-6)
+static bool intersect(btVoronoiSimplexSolver* simplexSolver, 
+					  const btTransform& transformA, 
+					  const btTransform& transformB,
+					  btConvexShape* a,
+					  btConvexShape* b)
+{
+	
+	btScalar squaredDistance = SIMD_INFINITY;
+	btTransform	localTransA = transformA;
+	btTransform localTransB = transformB;
+	btVector3 positionOffset = (localTransA.getOrigin() + localTransB.getOrigin()) * btScalar(0.5);
+	localTransA.getOrigin() -= positionOffset;
+	localTransB.getOrigin() -= positionOffset;
+	btScalar delta = btScalar(0.);
+	btVector3 v = btVector3(1.0f, 0.0f, 0.0f);
+	simplexSolver->reset ();
+	do
+	{
+			btVector3 seperatingAxisInA = (-v)* transformA.getBasis();
+			btVector3 seperatingAxisInB = v* transformB.getBasis();
+
+			btVector3 pInA = a->localGetSupportVertexNonVirtual(seperatingAxisInA);
+			btVector3 qInB = b->localGetSupportVertexNonVirtual(seperatingAxisInB);
+
+			btVector3  pWorld = localTransA(pInA);	
+			btVector3  qWorld = localTransB(qInB);
+
+			btVector3 w	= pWorld - qWorld;
+			delta = v.dot(w);
+
+			// potential exit, they don't overlap
+			if ((delta > btScalar(0.0)))
+			{
+				return false;
+			}
+
+			if (simplexSolver->inSimplex (w))
+			{
+				return false;
+			}
+
+			simplexSolver->addVertex (w, pWorld, qWorld);
+
+			if (!simplexSolver->closest(v))
+			{
+				return false;
+			}
+
+			btScalar previousSquaredDistance = squaredDistance;
+			squaredDistance = v.length2();
+
+			if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance) 
+			{ 
+				return false;
+			}
+	} while (!simplexSolver->fullSimplex() && squaredDistance > REL_ERROR2 * simplexSolver->maxVertex());
+
+    return true;
+}
+
+void btHfFluidBuoyantConvexShape::generateShape (btScalar radius, btScalar gap)
+{
+	btTransform T;
+	T.setIdentity ();
+	btVector3 aabbMin, aabbMax;
+	getAabb (T, aabbMin, aabbMax);
+
+	m_radius = radius;
+	m_numVoxels = 0;
+
+	btVoronoiSimplexSolver simplexSolver;
+	btSphereShape sphereShape(radius);
+	for (int i = 0; i < MAX_VOXEL_DIMENSION; i++)
+	{
+		for (int j = 0; j < MAX_VOXEL_DIMENSION; j++)
+		{
+			for (int k = 0; k < MAX_VOXEL_DIMENSION; k++)
+			{
+				btVector3 point;
+				btTransform sT;
+				sT.setIdentity ();
+				
+				point.setX(aabbMin.getX() + (i * btScalar(2.0f) * radius) + (i * gap));
+				point.setY(aabbMin.getY() + (j * btScalar(2.0f) * radius) + (j * gap));
+				point.setZ(aabbMin.getZ() + (k * btScalar(2.0f) * radius) + (k * gap));
+				
+				if (TestPointAgainstAabb2(aabbMin, aabbMax, point))
+				{
+					btTransform sT;
+					sT.setIdentity ();
+					sT.setOrigin (point);
+
+					if (intersect (&simplexSolver, T, sT, m_convexShape, &sphereShape))
+					{
+						m_voxelPositions[m_numVoxels] = point;
+						m_numVoxels++;
+					}
+				}
+			}
+		}
+	}
+	m_volumePerVoxel = btScalar(4.0f)/btScalar(3.0f)*SIMD_PI*radius*radius*radius;
+	m_totalVolume = m_numVoxels * m_volumePerVoxel;
+	m_radius = radius;
+}
\ No newline at end of file
diff --git a/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidBuoyantConvexShape.h b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidBuoyantConvexShape.h
new file mode 100644
index 000000000..180183cfc
--- /dev/null
+++ b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidBuoyantConvexShape.h
@@ -0,0 +1,46 @@
+#ifndef __BT_HFFLUID_BUOYANT_CONVEX_SHAPE_H
+#define __BT_HFFLUID_BUOYANT_CONVEX_SHAPE_H
+
+#include "LinearMath/btVector3.h"
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+
+#define MAX_VOXEL_DIMENSION 32
+
+class btConvexShape;
+
+class btHfFluidBuoyantConvexShape : public btCollisionShape
+{
+public:
+	btHfFluidBuoyantConvexShape (btConvexShape* convexShape);
+
+	void generateShape (btScalar radius, btScalar gap);
+
+	btConvexShape* getConvexShape () { return m_convexShape; }
+
+	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+	virtual void	setMargin(btScalar margin);
+	virtual btScalar	getMargin() const;
+	virtual void	setLocalScaling(const btVector3& scaling);
+	virtual const btVector3& getLocalScaling() const;
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+	virtual const char*	getName()const;
+
+	btScalar getVoxelRadius () const { return m_radius; }
+	btScalar getTotalVolume () const { return m_totalVolume; }
+	btScalar getVolumePerVoxel () const { return m_volumePerVoxel; }
+	btScalar getFloatyness () const { return m_floatyness; }
+	void setFloatyness (btScalar floatyness) { m_floatyness = floatyness; }
+	int getNumVoxels () const { return m_numVoxels; }
+	const btVector3* getVoxelPositionsArray() { return m_voxelPositions; }
+
+protected:
+	btScalar m_floatyness;
+	btScalar m_radius;
+	btScalar m_totalVolume;
+	btScalar m_volumePerVoxel;
+	int m_numVoxels;
+	btVector3 m_voxelPositions[MAX_VOXEL_DIMENSION*MAX_VOXEL_DIMENSION*MAX_VOXEL_DIMENSION];
+	btConvexShape* m_convexShape;
+};
+
+#endif
diff --git a/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidBuoyantShapeCollisionAlgorithm.cpp b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidBuoyantShapeCollisionAlgorithm.cpp
new file mode 100644
index 000000000..bba6e286f
--- /dev/null
+++ b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidBuoyantShapeCollisionAlgorithm.cpp
@@ -0,0 +1,58 @@
+#include <stdio.h>
+
+#include "btHfFluidBuoyantShapeCollisionAlgorithm.h"
+#include "btHfFluidBuoyantConvexShape.h"
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "BulletCollision/CollisionShapes/btSphereShape.h"
+#include "BulletCollision/CollisionShapes/btBoxShape.h"
+
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "btHfFluid.h"
+
+btHfFluidBuoyantShapeCollisionAlgorithm::btHfFluidBuoyantShapeCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
+: btCollisionAlgorithm(ci), m_convexConvexAlgorithm(NULL, ci, col0, col1, simplexSolver, pdSolver) 
+{
+	m_collisionObject0 = col0;
+	m_collisionObject1 = col1;
+}
+
+btHfFluidBuoyantShapeCollisionAlgorithm::~btHfFluidBuoyantShapeCollisionAlgorithm()
+{
+}
+
+void btHfFluidBuoyantShapeCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+	btHfFluidBuoyantConvexShape* tmpShape0 = (btHfFluidBuoyantConvexShape*)body0->getCollisionShape();
+	btHfFluidBuoyantConvexShape* tmpShape1 = (btHfFluidBuoyantConvexShape*)body1->getCollisionShape();
+	btConvexShape* convexShape0 = tmpShape0->getConvexShape();
+	btConvexShape* convexShape1 = tmpShape1->getConvexShape();
+
+	body0->setCollisionShape (convexShape0);
+	body1->setCollisionShape (convexShape1);
+
+	m_convexConvexAlgorithm.processCollision (body0, body1, dispatchInfo,resultOut);
+
+	body0->setCollisionShape (tmpShape0);
+	body1->setCollisionShape (tmpShape1);
+}
+
+btScalar btHfFluidBuoyantShapeCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+	btHfFluidBuoyantConvexShape* tmpShape0 = (btHfFluidBuoyantConvexShape*)body0->getCollisionShape();
+	btHfFluidBuoyantConvexShape* tmpShape1 = (btHfFluidBuoyantConvexShape*)body1->getCollisionShape();
+	btConvexShape* convexShape0 = tmpShape0->getConvexShape();
+	btConvexShape* convexShape1 = tmpShape1->getConvexShape();
+
+	body0->setCollisionShape (convexShape0);
+	body1->setCollisionShape (convexShape1);
+
+	btScalar toi = btScalar(0.0f);
+
+	toi = m_convexConvexAlgorithm.calculateTimeOfImpact (body0, body1, dispatchInfo, resultOut);
+
+	body0->setCollisionShape (tmpShape0);
+	body1->setCollisionShape (tmpShape1);
+
+	return toi;
+}
diff --git a/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidBuoyantShapeCollisionAlgorithm.h b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidBuoyantShapeCollisionAlgorithm.h
new file mode 100644
index 000000000..580ced3b2
--- /dev/null
+++ b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidBuoyantShapeCollisionAlgorithm.h
@@ -0,0 +1,83 @@
+/*
+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 HF_FLUID_BUOYANT_SHAPE_COLLISION_ALGORITHM_H
+#define HF_FLUID_BUOYANT_SHAPE_COLLISION_ALGORITHM_H
+
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
+#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
+#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h"
+#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
+
+#include "LinearMath/btVector3.h"
+class btHfFluid;
+
+class btConvexConvexAlgorithm;
+class btConvexPenetrationDepthSolver;
+class btSimplexSolverInterface;
+/// btHfFluidBuoyantShapeCollisionAlgorithm  provides collision detection between btHfFluidBuoyantConvexShape and btHfFluidBuoyantConvexShape
+class btHfFluidBuoyantShapeCollisionAlgorithm : public btCollisionAlgorithm
+{
+	btCollisionObject*		m_collisionObject0;
+	btCollisionObject*		m_collisionObject1;
+
+	btConvexConvexAlgorithm m_convexConvexAlgorithm;
+public:
+
+	btHfFluidBuoyantShapeCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
+
+	virtual ~btHfFluidBuoyantShapeCollisionAlgorithm();
+
+	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	{
+		m_convexConvexAlgorithm.getAllContactManifolds (manifoldArray);
+	}
+
+
+	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	{
+		btConvexPenetrationDepthSolver*		m_pdSolver;
+		btSimplexSolverInterface*			m_simplexSolver;
+		
+		CreateFunc(btSimplexSolverInterface*			simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
+		{
+			m_simplexSolver = simplexSolver;
+			m_pdSolver = pdSolver;
+		}
+		
+		virtual ~CreateFunc() {}
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		{
+			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btHfFluidBuoyantShapeCollisionAlgorithm));
+			if (!m_swapped)
+			{
+				return new(mem) btHfFluidBuoyantShapeCollisionAlgorithm(ci,body0,body1, m_simplexSolver, m_pdSolver);
+			} else
+			{
+				return new(mem) btHfFluidBuoyantShapeCollisionAlgorithm(ci,body0,body1, m_simplexSolver, m_pdSolver);
+			}
+		}
+	};
+};
+
+#endif //HF_FLUID_BUOYANT_SHAPE_COLLISION_ALGORITHM_H
diff --git a/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidCollisionShape.cpp b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidCollisionShape.cpp
new file mode 100644
index 000000000..0ac51da06
--- /dev/null
+++ b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidCollisionShape.cpp
@@ -0,0 +1,2 @@
+#include "btHfFluidCollisionShape.h"
+
diff --git a/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidCollisionShape.h b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidCollisionShape.h
new file mode 100644
index 000000000..e067ad9c5
--- /dev/null
+++ b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidCollisionShape.h
@@ -0,0 +1,78 @@
+#ifndef BT_HF_FLUID_COLLISION_SHAPE_H
+#define BT_HF_FLUID_COLLISION_SHAPE_H
+
+#include "BulletHfFluid/btHfFluid.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
+#include "BulletCollision/CollisionShapes/btConcaveShape.h"
+
+class btHfFluidCollisionShape : public btConcaveShape
+{
+	public:
+	btHfFluid*						m_fluid;
+	
+	btHfFluidCollisionShape(btHfFluid* backptr) : btConcaveShape ()
+	{
+		m_shapeType = HFFLUID_SHAPE_PROXYTYPE;
+		m_fluid=backptr;
+	}
+
+	virtual ~btHfFluidCollisionShape()
+	{
+
+	}
+
+	void	processAllTriangles(btTriangleCallback* /*callback*/,const btVector3& /*aabbMin*/,const btVector3& /*aabbMax*/) const
+	{
+		//not yet
+		btAssert(0);
+	}
+
+	///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
+	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+	{
+		/* t should be identity, but better be safe than...fast? */ 
+		btVector3	mins;
+		btVector3	maxs;
+
+		m_fluid->getAabb (mins, maxs);
+
+		const btVector3	crns[]={t*btVector3(mins.x(),mins.y(),mins.z()),
+								t*btVector3(maxs.x(),mins.y(),mins.z()),
+								t*btVector3(maxs.x(),maxs.y(),mins.z()),
+								t*btVector3(mins.x(),maxs.y(),mins.z()),
+								t*btVector3(mins.x(),mins.y(),maxs.z()),
+								t*btVector3(maxs.x(),mins.y(),maxs.z()),
+								t*btVector3(maxs.x(),maxs.y(),maxs.z()),
+								t*btVector3(mins.x(),maxs.y(),maxs.z())};
+		aabbMin=aabbMax=crns[0];
+		for(int i=1;i<8;++i)
+		{
+			aabbMin.setMin(crns[i]);
+			aabbMax.setMax(crns[i]);
+		}
+	}
+
+	virtual void	setLocalScaling(const btVector3& /*scaling*/)
+	{		
+		///na
+		btAssert(0);
+	}
+	virtual const btVector3& getLocalScaling() const
+	{
+		static const btVector3 dummy(1,1,1);
+		return dummy;
+	}
+	virtual void	calculateLocalInertia(btScalar /*mass*/,btVector3& /*inertia*/) const
+	{
+		///not yet
+		btAssert(0);
+	}
+	virtual const char*	getName()const
+	{
+		return "HfFluid";
+	}
+};
+
+#endif
diff --git a/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidCollisionAlgorithm.cpp b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidCollisionAlgorithm.cpp
new file mode 100644
index 000000000..e361589db
--- /dev/null
+++ b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidCollisionAlgorithm.cpp
@@ -0,0 +1,116 @@
+#include <stdio.h>
+
+#include "btHfFluidRigidCollisionAlgorithm.h"
+#include "btHfFluidBuoyantConvexShape.h"
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "BulletCollision/CollisionShapes/btSphereShape.h"
+#include "BulletCollision/CollisionShapes/btBoxShape.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "btHfFluid.h"
+
+btHfFluidRigidCollisionAlgorithm::~btHfFluidRigidCollisionAlgorithm()
+{
+}
+
+btHfFluidRigidCollisionAlgorithm::btHfFluidRigidCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
+: btCollisionAlgorithm(ci), m_isSwapped(isSwapped), 
+	m_convexTrianglecallback(ci.m_dispatcher1, col0, col1, !isSwapped) // we flip the isSwapped because we are hf fluid vs. convex and callback expects convex vs. concave
+{
+	m_manifoldPtr = m_convexTrianglecallback.m_manifoldPtr;
+	if (m_isSwapped)
+	{
+		m_hfFluid = static_cast<btHfFluid*>(col1);
+		m_rigidCollisionObject = static_cast<btCollisionObject*>(col0);
+		m_manifoldPtr->setBodies(m_hfFluid,m_rigidCollisionObject);
+	} else {
+		m_hfFluid = static_cast<btHfFluid*>(col0);
+		m_rigidCollisionObject = static_cast<btCollisionObject*>(col1);
+		m_manifoldPtr->setBodies(m_rigidCollisionObject,m_hfFluid);
+	}
+}
+
+void btHfFluidRigidCollisionAlgorithm::processGround (const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+	btScalar triangleMargin = m_rigidCollisionObject->getCollisionShape()->getMargin();
+	resultOut->setPersistentManifold(m_manifoldPtr);
+	// to perform the convex shape vs. ground terrain:
+	// we pull the convex shape out of the buoyant shape and replace it temporarily
+	btHfFluidBuoyantConvexShape* tmpShape = (btHfFluidBuoyantConvexShape*)m_rigidCollisionObject->getCollisionShape();
+	btConvexShape* convexShape = ((btHfFluidBuoyantConvexShape*)tmpShape)->getConvexShape();
+	m_rigidCollisionObject->setCollisionShape (convexShape);
+	m_convexTrianglecallback.setTimeStepAndCounters (triangleMargin, dispatchInfo, resultOut);
+	m_hfFluid->foreachGroundTriangle (&m_convexTrianglecallback, m_convexTrianglecallback.getAabbMin(),m_convexTrianglecallback.getAabbMax());
+	resultOut->refreshContactPoints();
+	// restore the buoyant shape 
+	m_rigidCollisionObject->setCollisionShape (tmpShape);
+}
+
+btScalar btHfFluidRigidCollisionAlgorithm::processFluid (const btDispatcherInfo& dispatchInfo, btScalar density, btScalar floatyness)
+{
+	btRigidBody* rb = btRigidBody::upcast(m_rigidCollisionObject);
+	btHfFluidColumnRigidBodyCallback columnCallback (rb, dispatchInfo.m_debugDraw, density, floatyness);
+	m_hfFluid->foreachFluidColumn (&columnCallback, m_convexTrianglecallback.getAabbMin(), m_convexTrianglecallback.getAabbMax());
+	return columnCallback.getVolume ();
+}
+
+void btHfFluidRigidCollisionAlgorithm::applyFluidFriction (btScalar mu, btScalar submerged_percentage)
+{
+	btRigidBody* rb = btRigidBody::upcast(m_rigidCollisionObject);
+	btScalar dt = btScalar(1.0f/60.0f);
+
+//#define OLD_WAY
+#ifdef OLD_WAY
+	btScalar radius = btScalar(0.0f);
+	{
+		btVector3 aabbMin, aabbMax;
+		btTransform T;
+		T.setIdentity();
+		rb->getCollisionShape()->getAabb (T, aabbMin, aabbMax);
+		radius = (aabbMax-aabbMin).length()*btScalar(0.5);
+	}
+	btScalar viscosity = btScalar(0.05);
+	btVector3 force = btScalar(6.0f) * SIMD_PI * viscosity * radius * -rb->getLinearVelocity();
+	
+	btVector3 impulse = force * dt;
+	rb->applyCentralImpulse (impulse);
+
+	if (true)
+	{
+		btVector3 av = rb->getAngularVelocity();
+		av *= btScalar(0.99);
+		rb->setAngularVelocity (av);
+	}
+#else
+	btScalar scaled_mu = mu * submerged_percentage * btScalar(0.4f);
+	rb->applyCentralImpulse (dt * scaled_mu * -rb->getLinearVelocity());
+	rb->applyTorqueImpulse (dt * scaled_mu * -rb->getAngularVelocity());
+#endif
+}
+
+void btHfFluidRigidCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+	processGround (dispatchInfo, resultOut);
+	btHfFluidBuoyantConvexShape* buoyantShape = (btHfFluidBuoyantConvexShape*)m_rigidCollisionObject->getCollisionShape();
+	btRigidBody* rb = btRigidBody::upcast(m_rigidCollisionObject);
+	if (rb)
+	{
+		btScalar mass = btScalar(1.0f) / rb->getInvMass ();
+		btScalar volume = buoyantShape->getTotalVolume ();
+		btScalar density = mass / volume;
+		btScalar floatyness = buoyantShape->getFloatyness ();
+		btScalar submerged_volume = processFluid (dispatchInfo, density, floatyness);
+		if (submerged_volume > btScalar(0.0))
+		{
+			btScalar submerged_percentage = submerged_volume/buoyantShape->getTotalVolume();
+			//printf("%f\n", submerged_percentage);
+			btScalar mu = btScalar(6.0f);
+			applyFluidFriction (mu, submerged_percentage);
+		}
+	}
+}
+
+btScalar btHfFluidRigidCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+	return btScalar(1.0);
+}
diff --git a/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidCollisionAlgorithm.h b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidCollisionAlgorithm.h
new file mode 100644
index 000000000..e7223ace8
--- /dev/null
+++ b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidCollisionAlgorithm.h
@@ -0,0 +1,78 @@
+/*
+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 HF_FLUID_RIGID_COLLISION_ALGORITHM_H
+#define HF_FLUID_RIGID_COLLISION_ALGORITHM_H
+
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
+#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
+#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
+
+#include "LinearMath/btVector3.h"
+class btHfFluid;
+
+/// btHfFluidRigidCollisionAlgorithm  provides collision detection between btHfFluid and btRigidBody
+class btHfFluidRigidCollisionAlgorithm : public btCollisionAlgorithm
+{
+	btPersistentManifold*	m_manifoldPtr;
+
+	btHfFluid*				m_hfFluid;
+	btCollisionObject*		m_rigidCollisionObject;
+
+	///for rigid versus fluid (instead of fluid versus rigid), we use this swapped boolean
+	bool	m_isSwapped;
+
+	btConvexTriangleCallback m_convexTrianglecallback;
+
+	void processGround (const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+	void applyFluidFriction (btScalar mu, btScalar submerged_percentage);
+	btScalar processFluid (const btDispatcherInfo& dispatchInfo, btScalar density, btScalar floatyness);
+public:
+
+	btHfFluidRigidCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
+
+	virtual ~btHfFluidRigidCollisionAlgorithm();
+
+	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	{
+		manifoldArray.push_back (m_manifoldPtr);
+	}
+
+
+	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	{
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		{
+			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btHfFluidRigidCollisionAlgorithm));
+			if (!m_swapped)
+			{
+				return new(mem) btHfFluidRigidCollisionAlgorithm(ci,body0,body1,false);
+			} else
+			{
+				return new(mem) btHfFluidRigidCollisionAlgorithm(ci,body0,body1,true);
+			}
+		}
+	};
+};
+
+#endif //HF_FLUID_RIGID_COLLISION_ALGORITHM_H
diff --git a/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidCollisionConfiguration.cpp b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidCollisionConfiguration.cpp
new file mode 100644
index 000000000..bf253e811
--- /dev/null
+++ b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidCollisionConfiguration.cpp
@@ -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.
+*/
+
+#include "btHfFluidRigidCollisionConfiguration.h"
+#include "btHfFluidRigidCollisionAlgorithm.h"
+#include "btHfFluidBuoyantShapeCollisionAlgorithm.h"
+#include "LinearMath/btPoolAllocator.h"
+
+btHfFluidRigidCollisionConfiguration::btHfFluidRigidCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo)
+:btDefaultCollisionConfiguration(constructionInfo)
+{
+	void* mem;
+
+	mem = btAlignedAlloc(sizeof(btHfFluidRigidCollisionAlgorithm::CreateFunc),16);
+	m_hfFluidRigidConvexCreateFunc = new(mem) btHfFluidRigidCollisionAlgorithm::CreateFunc;
+
+	mem = btAlignedAlloc(sizeof(btHfFluidRigidCollisionAlgorithm::CreateFunc),16);
+	m_swappedHfFluidRigidConvexCreateFunc = new(mem) btHfFluidRigidCollisionAlgorithm::CreateFunc;
+	m_swappedHfFluidRigidConvexCreateFunc->m_swapped = true;
+
+	mem = btAlignedAlloc(sizeof(btHfFluidBuoyantShapeCollisionAlgorithm::CreateFunc),16);
+	m_hfFluidBuoyantShapeCollisionCreateFunc = new(mem) btHfFluidBuoyantShapeCollisionAlgorithm::CreateFunc(m_simplexSolver, m_pdSolver);
+
+	if (m_ownsCollisionAlgorithmPool && m_collisionAlgorithmPool)
+	{
+		int curElemSize = m_collisionAlgorithmPool->getElementSize();
+		///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
+
+		int maxSize0 = sizeof(btHfFluidRigidCollisionAlgorithm);
+		int maxSize1 = 0;
+		int maxSize2 = 0;
+
+		int	collisionAlgorithmMaxElementSize = btMax(maxSize0,maxSize1);
+		collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
+		
+		if (collisionAlgorithmMaxElementSize > curElemSize)
+		{
+			m_collisionAlgorithmPool->~btPoolAllocator();
+			btAlignedFree(m_collisionAlgorithmPool);
+			void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
+			m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
+		}
+	}
+}
+
+btHfFluidRigidCollisionConfiguration::~btHfFluidRigidCollisionConfiguration()
+{
+	m_hfFluidRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
+	m_swappedHfFluidRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
+	btAlignedFree(m_hfFluidRigidConvexCreateFunc);
+	btAlignedFree(m_swappedHfFluidRigidConvexCreateFunc);
+}
+
+btCollisionAlgorithmCreateFunc* btHfFluidRigidCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1)
+{
+	if ((proxyType0 == HFFLUID_SHAPE_PROXYTYPE) && (proxyType1 == HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE))
+	{
+		return	m_hfFluidRigidConvexCreateFunc;
+	}
+
+	if ((proxyType0 == HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE) && (proxyType1 == HFFLUID_SHAPE_PROXYTYPE))
+	{
+		return	m_swappedHfFluidRigidConvexCreateFunc;
+	}
+
+	if ((proxyType0 == HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE) && (proxyType1 == HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE))
+	{
+		return m_hfFluidBuoyantShapeCollisionCreateFunc;
+	}
+
+	///fallback to the regular rigid collision shape
+	return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0,proxyType1);
+}
\ No newline at end of file
diff --git a/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidCollisionConfiguration.h b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidCollisionConfiguration.h
new file mode 100644
index 000000000..78389cee7
--- /dev/null
+++ b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidCollisionConfiguration.h
@@ -0,0 +1,45 @@
+/*
+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 BT_HFFLUID_RIGID_COLLISION_CONFIGURATION
+#define BT_HFFLUID_RIGID_COLLISION_CONFIGURATION
+
+#include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h"
+
+class btVoronoiSimplexSolver;
+class btGjkEpaPenetrationDepthSolver;
+
+
+///btSoftBodyRigidBodyCollisionConfiguration add softbody interaction on top of btDefaultCollisionConfiguration
+class	btHfFluidRigidCollisionConfiguration : public btDefaultCollisionConfiguration
+{
+	//default CreationFunctions, filling the m_doubleDispatch table
+	btCollisionAlgorithmCreateFunc*	m_hfFluidRigidConvexCreateFunc;
+	btCollisionAlgorithmCreateFunc*	m_swappedHfFluidRigidConvexCreateFunc;
+	btCollisionAlgorithmCreateFunc*	m_hfFluidBuoyantShapeCollisionCreateFunc;
+
+public:
+
+	btHfFluidRigidCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo());
+
+	virtual ~btHfFluidRigidCollisionConfiguration();
+
+	///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation
+	virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1);
+
+};
+
+#endif //BT_HFFLUID_RIGID_COLLISION_CONFIGURATION
+
diff --git a/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidDynamicsWorld.cpp b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidDynamicsWorld.cpp
new file mode 100644
index 000000000..c8f25490d
--- /dev/null
+++ b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidDynamicsWorld.cpp
@@ -0,0 +1,271 @@
+/*
+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 <stdio.h>
+#include "LinearMath/btQuickprof.h"
+#include "LinearMath/btIDebugDraw.h"
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+
+// height field fluid
+#include "btHfFluid.h"
+#include "btHfFluidBuoyantConvexShape.h"
+#include "btHfFluidRigidDynamicsWorld.h"
+
+
+
+
+btHfFluidRigidDynamicsWorld::btHfFluidRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
+:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
+{
+	m_drawMode = DRAWMODE_NORMAL;
+	m_bodyDrawMode = BODY_DRAWMODE_NORMAL;
+}
+		
+btHfFluidRigidDynamicsWorld::~btHfFluidRigidDynamicsWorld()
+{
+
+}
+
+void	btHfFluidRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
+{
+	btDiscreteDynamicsWorld::predictUnconstraintMotion( timeStep);
+
+	for ( int i=0;i<m_hfFluids.size();++i)
+	{
+		btHfFluid* phff = m_hfFluids[i];
+
+		// XXX: phff->predictMotion(timeStep);		
+	}
+}
+		
+void	btHfFluidRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
+{
+	btDiscreteDynamicsWorld::internalSingleStepSimulation( timeStep );
+
+	updateFluids (timeStep);
+
+	solveFluidConstraints (timeStep);
+}
+
+void	btHfFluidRigidDynamicsWorld::updateFluids(btScalar timeStep)
+{
+	BT_PROFILE("updateFluids");
+	
+	for ( int i=0;i<m_hfFluids.size();i++)
+	{
+		btHfFluid*	phff=(btHfFluid*)m_hfFluids[i];
+		phff->predictMotion (timeStep);
+	}
+}
+
+void	btHfFluidRigidDynamicsWorld::solveFluidConstraints(btScalar timeStep)
+{
+	BT_PROFILE("solve Fluid Contacts");
+	
+#if 0
+	if(m_hfFluids.size())
+		{
+		btHfFluid::solveClusters(m_hfFluids);
+		}
+	
+	for(int i=0;i<m_hfFluids.size();++i)
+	{
+		btHfFluid*	psb=(btHfFluid*)m_hfFluids[i];
+		psb->solveConstraints();
+	}
+#endif
+}
+
+void	btHfFluidRigidDynamicsWorld::addHfFluid(btHfFluid* body)
+{
+	m_hfFluids.push_back(body);
+
+	btCollisionWorld::addCollisionObject(body,
+					btBroadphaseProxy::DefaultFilter,
+					btBroadphaseProxy::AllFilter);
+
+}
+
+void	btHfFluidRigidDynamicsWorld::removeHfFluid(btHfFluid* body)
+{
+	m_hfFluids.remove(body);
+
+	btCollisionWorld::removeCollisionObject(body);
+}
+
+void btHfFluidRigidDynamicsWorld::drawHfFluidGround (btIDebugDraw* debugDraw, btHfFluid* fluid)
+{
+	const btScalar* ground = fluid->getGroundArray ();
+	btVector3 com = fluid->getWorldTransform().getOrigin();
+	btVector3 color = btVector3(btScalar(0.13f), btScalar(0.13f), btScalar(0.0));
+	for (int i = 1; i < fluid->getNumNodesWidth()-1; i++)
+	{
+		for (int j = 1; j < fluid->getNumNodesLength()-1; j++)
+		{
+			int sw = fluid->arrayIndex (i, j);
+			int se = fluid->arrayIndex (i+1, j);
+			int nw = fluid->arrayIndex (i, j+1);
+			int ne = fluid->arrayIndex (i+1, j+1);
+			btVector3 swV = btVector3 (fluid->widthPos (i), ground[sw], fluid->lengthPos (j));
+			btVector3 seV = btVector3 (fluid->widthPos (i+1), ground[se], fluid->lengthPos (j));
+			btVector3 nwV = btVector3 (fluid->widthPos (i), ground[nw], fluid->lengthPos (j+1));
+			btVector3 neV = btVector3 (fluid->widthPos (i+1), ground[ne], fluid->lengthPos (j+1));
+			debugDraw->drawTriangle (swV+com, seV+com, nwV+com, color, btScalar(1.0f));
+			debugDraw->drawTriangle (seV+com, neV+com, nwV+com, color, btScalar(1.0f));
+		}
+	}
+}
+
+void btHfFluidRigidDynamicsWorld::drawHfFluidVelocity (btIDebugDraw* debugDraw, btHfFluid* fluid)
+{
+	btScalar alpha(0.7f);
+	const btScalar* height = fluid->getHeightArray ();
+	btVector3 com = fluid->getWorldTransform().getOrigin();
+	btVector3 red = btVector3(btScalar(1.0f), btScalar(0.0f), btScalar(0.0));
+	btVector3 green = btVector3(btScalar(0.0f), btScalar(1.0f), btScalar(0.0));
+	const bool* flags = fluid->getFlagsArray ();
+	for (int i = 1; i < fluid->getNumNodesWidth()-1; i++)
+	{
+		for (int j = 1; j < fluid->getNumNodesLength()-1; j++)
+		{
+			int index = fluid->arrayIndex (i, j);
+			if (!flags[index])
+				continue;
+			btVector3 from = btVector3 (fluid->widthPos (i), height[index]+btScalar(0.1f), fluid->lengthPos (j));
+			btVector3 velocity;
+			velocity.setX (fluid->getVelocityUArray()[index]);
+			velocity.setY (btScalar(0.0f));
+			velocity.setZ (fluid->getVelocityVArray()[index]);
+			velocity.normalize();
+			btVector3 to = from + velocity;
+			
+			debugDraw->drawLine (from+com, to+com, red, green);
+		}
+	}
+}
+
+void btHfFluidRigidDynamicsWorld::drawHfFluidBuoyantConvexShape (btIDebugDraw* debugDrawer, btCollisionObject* object, btHfFluidBuoyantConvexShape* buoyantShape, int voxelDraw)
+{
+	if (voxelDraw)
+	{
+		btTransform xform = object->getWorldTransform();
+		for (int i = 0; i < buoyantShape->getNumVoxels(); i++)
+		{
+			btVector3 p = buoyantShape->getVoxelPositionsArray()[i];
+			p = xform.getBasis() * p;
+			p += xform.getOrigin();
+			debugDrawer->drawSphere (p, buoyantShape->getVoxelRadius(), btVector3(1.0, 0.0, 0.0));
+		}
+	} else {
+		btVector3 color(btScalar(255.),btScalar(255.),btScalar(255.));
+		switch(object->getActivationState())
+		{
+		case  ACTIVE_TAG:
+		color = btVector3(btScalar(255.),btScalar(255.),btScalar(255.)); break;
+		case ISLAND_SLEEPING:
+		color =  btVector3(btScalar(0.),btScalar(255.),btScalar(0.));break;
+		case WANTS_DEACTIVATION:
+		color = btVector3(btScalar(0.),btScalar(255.),btScalar(255.));break;
+		case DISABLE_DEACTIVATION:
+		color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.));break;
+		case DISABLE_SIMULATION:
+		color = btVector3(btScalar(255.),btScalar(255.),btScalar(0.));break;
+		default:
+		{
+		color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.));
+		}
+		};
+
+		btConvexShape* convexShape = ((btHfFluidBuoyantConvexShape*)object->getCollisionShape())->getConvexShape();
+		debugDrawObject(object->getWorldTransform(),(btCollisionShape*)convexShape,color);
+	}
+}
+
+void btHfFluidRigidDynamicsWorld::drawHfFluidNormal (btIDebugDraw* debugDraw, btHfFluid* fluid)
+{
+	int colIndex = 0;
+	btVector3 col[2];
+	col[0] = btVector3(btScalar(0.0f), btScalar(0.0f), btScalar(1.0));
+	col[1] = btVector3(btScalar(0.0f), btScalar(0.5f), btScalar(0.5));
+	btScalar alpha(0.7f);
+	const btScalar* height = fluid->getHeightArray ();
+	const btScalar* eta = fluid->getEtaArray ();
+	const btScalar* ground = fluid->getGroundArray ();
+	btVector3 com = fluid->getWorldTransform().getOrigin();
+	const bool* flags = fluid->getFlagsArray ();
+	for (int i = 0; i < fluid->getNumNodesWidth()-1; i++)
+	{
+		for (int j = 0; j < fluid->getNumNodesLength()-1; j++)
+		{
+			int sw = fluid->arrayIndex (i, j);
+			int se = fluid->arrayIndex (i+1, j);
+			int nw = fluid->arrayIndex (i, j+1);
+			int ne = fluid->arrayIndex (i+1, j+1);
+
+			btScalar h = eta[sw];
+			btScalar g = ground[sw];
+
+			if (h < btScalar(0.05f))
+				continue;
+
+			if (h <= btScalar(0.01f))
+				continue;
+
+			btVector3 boxMin = btVector3(fluid->widthPos (i), g, fluid->lengthPos(j));
+			btVector3 boxMax = btVector3(fluid->widthPos(i+1), g+h, fluid->lengthPos(j+1));
+			boxMin += com;
+			boxMax += com;
+			
+			debugDraw->drawBox (boxMin, boxMax, btVector3(btScalar(0.0f), btScalar(0.0f), btScalar(1.0f)), btScalar(1.0f));
+		}
+	}
+}
+
+void btHfFluidRigidDynamicsWorld::debugDrawWorld()
+{
+	if (getDebugDrawer())
+	{
+		int i;
+		for (  i=0;i<this->m_hfFluids.size();i++)
+		{
+			btHfFluid*	phh=(btHfFluid*)this->m_hfFluids[i];
+			switch (m_drawMode)
+			{
+			case DRAWMODE_NORMAL:
+				drawHfFluidGround (m_debugDrawer, phh);
+				//drawHfFluidNormal (m_debugDrawer, phh);
+			break;
+			case DRAWMODE_VELOCITY:
+				drawHfFluidGround (m_debugDrawer, phh);
+				//drawHfFluidNormal (m_debugDrawer, phh);
+				drawHfFluidVelocity (m_debugDrawer, phh);
+			break;
+			default:
+				btAssert (0);
+			break;
+			}
+		}	
+		for (i = 0; i < this->m_collisionObjects.size(); i++)
+		{
+			btCollisionShape* shape = m_collisionObjects[i]->getCollisionShape();
+			if (shape->getShapeType() == HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE)
+			{
+				btHfFluidBuoyantConvexShape* buoyantShape = (btHfFluidBuoyantConvexShape*)shape;
+				drawHfFluidBuoyantConvexShape (m_debugDrawer, m_collisionObjects[i], buoyantShape, m_bodyDrawMode);
+			}
+		}
+	}
+	btDiscreteDynamicsWorld::debugDrawWorld();
+}
diff --git a/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidDynamicsWorld.h b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidDynamicsWorld.h
new file mode 100644
index 000000000..08ed8c90f
--- /dev/null
+++ b/Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidDynamicsWorld.h
@@ -0,0 +1,89 @@
+/*
+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 "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
+
+#ifndef BT_HFFLUID_RIGID_DYNAMICS_WORLD_H
+#define BT_HFFLUID_RIGID_DYNAMICS_WORLD_H
+
+class btHfFluid;
+typedef	btAlignedObjectArray<btHfFluid*> btHfFluidArray;
+
+#define DRAWMODE_NORMAL 0
+#define DRAWMODE_VELOCITY 1
+#define DRAWMODE_MAX 2
+
+#define BODY_DRAWMODE_NORMAL 0
+#define BODY_DRAWMODE_VOXEL 1
+#define BODY_DRAWMODE_MAX 2
+
+class btHfFluidBuoyantConvexShape;
+
+class btHfFluidRigidDynamicsWorld : public btDiscreteDynamicsWorld
+{
+	
+	btHfFluidArray	m_hfFluids;
+	int m_drawMode;
+	int m_bodyDrawMode;
+protected:
+	
+	virtual void	predictUnconstraintMotion(btScalar timeStep);
+	
+	virtual void	internalSingleStepSimulation( btScalar timeStep);
+
+	void	updateFluids(btScalar timeStep);
+
+	void	solveFluidConstraints(btScalar timeStep);
+
+	virtual void	debugDrawWorld();
+
+	void drawHfFluidGround (btIDebugDraw* debugDraw, btHfFluid* fluid);
+	void drawHfFluidVelocity (btIDebugDraw* debugDraw, btHfFluid* fluid);
+	void drawHfFluidBuoyantConvexShape (btIDebugDraw* debugDrawer, btCollisionObject* object, btHfFluidBuoyantConvexShape* buoyantShape, int voxelDraw);
+	void drawHfFluidNormal (btIDebugDraw* debugDraw, btHfFluid* fluid);
+public:
+	
+	btHfFluidRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
+
+	virtual ~btHfFluidRigidDynamicsWorld();
+		
+			
+	void	addHfFluid(btHfFluid* fluid);
+
+	void	removeHfFluid(btHfFluid* fluid);
+	
+	void setDrawMode (int drawMode)
+	{
+		m_drawMode = drawMode;
+	}
+
+	void setBodyDrawMode (int bodyDrawMode)
+	{
+		m_bodyDrawMode = bodyDrawMode;
+	}
+
+	btHfFluidArray& getHfFluidArray()
+	{
+		return m_hfFluids;
+	}
+
+	const btHfFluidArray& getHfFluidArray() const
+	{
+		return m_hfFluids;
+	}
+		
+};
+
+#endif //BT_HFFLUID_RIGID_DYNAMICS_WORLD_H
diff --git a/Demos/HeightFieldFluidDemo/CMakeLists.txt b/Demos/HeightFieldFluidDemo/CMakeLists.txt
new file mode 100644
index 000000000..e07139c1d
--- /dev/null
+++ b/Demos/HeightFieldFluidDemo/CMakeLists.txt
@@ -0,0 +1,35 @@
+# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
+
+
+# For every executable you have with a main method you should have an add_executable line below.
+# For every add executable line you should list every .cpp and .h file you have associated with that executable.  
+
+
+
+
+# You shouldn't have to modify anything below this line 
+########################################################
+
+
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
+)
+
+LINK_LIBRARIES(
+LibOpenGLSupport LibBulletDynamics  LibBulletCollision LibLinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+)
+
+ADD_EXECUTABLE(HfFluidDemo
+	HfFluidDemo_GL_ShapeDrawer.cpp
+	BulletHfFluid/btHfFluid.cpp
+	BulletHfFluid/btHfFluidBuoyantConvexShape.cpp
+	BulletHfFluid/btHfFluidBuoyantShapeCollisionAlgorithm.cpp
+	BulletHfFluid/btHfFluidCollisionShape.cpp
+	BulletHfFluid/btHfFluidRigidCollisionAlgorithm.cpp
+	BulletHfFluid/btHfFluidRigidCollisionConfiguration.cpp
+	BulletHfFluid/btHfFluidRigidDynamicsWorld.cpp
+	main.cpp
+	HfFluidDemo.cpp
+)
+
diff --git a/Demos/HeightFieldFluidDemo/HfFluidDemo.cpp b/Demos/HeightFieldFluidDemo/HfFluidDemo.cpp
new file mode 100644
index 000000000..fca1077c3
--- /dev/null
+++ b/Demos/HeightFieldFluidDemo/HfFluidDemo.cpp
@@ -0,0 +1,1414 @@
+/*
+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 "btBulletDynamicsCommon.h"
+
+#include "BulletHfFluid/btHfFluidRigidDynamicsWorld.h"
+#include "BulletHfFluid/btHfFluid.h"
+#include "BulletHfFluid/btHfFluidRigidCollisionConfiguration.h"
+#include "BulletHfFluid/btHfFluidBuoyantConvexShape.h"
+#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
+#include "LinearMath/btQuickprof.h"
+#include "LinearMath/btIDebugDraw.h"
+#include "LinearMath/btRandom.h"
+#include "BMF_Api.h"
+#include <stdio.h> //printf debugging
+#include "LinearMath/btConvexHull.h"
+
+#include "HfFluidDemo.h"
+#include "GL_ShapeDrawer.h"
+#include "HfFluidDemo_GL_ShapeDrawer.h"
+
+#include "GlutStuff.h"
+
+extern float eye[3];
+extern int glutScreenWidth;
+extern int glutScreenHeight;
+
+const int maxProxies = 32766;
+const int maxOverlap = 65535;
+
+static btVector3*	gGroundVertices=0;
+static int*	gGroundIndices=0;
+static btBvhTriangleMeshShape* trimeshShape =0;
+static btRigidBody* staticBody = 0;
+static float waveheight = 5.f;
+
+const float TRIANGLE_SIZE=8.f;
+
+#define ARRAY_SIZE_X 1
+#define ARRAY_SIZE_Y 1
+#define ARRAY_SIZE_Z 1
+
+//maximum number of objects (and allow user to shoot additional boxes)
+#define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024)
+
+#define START_POS_X 5
+#define START_POS_Y -5
+#define START_POS_Z 3
+
+unsigned int current_draw_mode=DRAWMODE_NORMAL;
+unsigned int current_body_draw_mode = 0;
+unsigned	current_demo=0;
+
+void Init_Floatyness (HfFluidDemo* fluidDemo)
+{
+	btHfFluid* fluid = NULL;
+
+	fluid = new btHfFluid (btScalar(0.25), 100, 100);
+	btTransform xform;
+	xform.setIdentity ();
+	xform.getOrigin() = btVector3(btScalar(-10.0), btScalar(-5.0), btScalar(-10.0));
+	fluid->setWorldTransform (xform);
+	fluid->setHorizontalVelocityScale (btScalar(0.0f));
+	fluid->setVolumeDisplacementScale (btScalar(0.0f));
+	fluidDemo->getHfFluidDynamicsWorld()->addHfFluid (fluid);
+
+	for (int i = 0; i < fluid->getNumNodesLength()*fluid->getNumNodesWidth(); i++)
+	{
+		fluid->setFluidHeight(i, btScalar(5.0f));
+	}
+
+	fluid->prep ();
+
+	const int numObjects = 5;
+	btScalar floatyness = btScalar(1.0f);
+	btScalar dfloatyness = btScalar(0.25f);
+	btScalar start_x = btScalar(-5.0f);
+	btScalar step_x = btScalar(3.0f);
+	btScalar start_z = btScalar(-5.0f);
+	for (int i = 0; i < numObjects; i++)
+	{
+		//btConvexShape* colShape = new btBoxShape(btVector3(1.0, 1.0, 1.0));
+		btConvexShape* colShape = new btSphereShape(btScalar(1.));
+		btHfFluidBuoyantConvexShape* buoyantShape = new btHfFluidBuoyantConvexShape(colShape);
+		buoyantShape->generateShape (btScalar(0.25f), btScalar(0.05f));
+		buoyantShape->setFloatyness (floatyness + dfloatyness * i);
+		fluidDemo->m_collisionShapes.push_back (buoyantShape);
+
+		btTransform startTransform;
+		startTransform.setIdentity();
+
+		btScalar	mass(1.f);
+
+		btVector3 localInertia(0,0,0);
+		colShape->calculateLocalInertia(mass,localInertia);
+
+		btVector3 origin = btVector3(step_x * i + start_x, 7.5f, start_z);
+		startTransform.setOrigin(origin);
+
+		//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+		btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
+		btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,buoyantShape,localInertia);
+		btRigidBody* body = new btRigidBody(rbInfo);
+		fluidDemo->getHfFluidDynamicsWorld()->addRigidBody(body);
+	}
+	floatyness = btScalar(2.0f);
+	start_z = btScalar(5.0f);
+	for (int i = 0; i < numObjects; i++)
+	{
+		//btConvexShape* colShape = new btBoxShape(btVector3(1.0, 1.0, 1.0));
+		btConvexShape* colShape = new btSphereShape(btScalar(1.));
+		btHfFluidBuoyantConvexShape* buoyantShape = new btHfFluidBuoyantConvexShape(colShape);
+		buoyantShape->generateShape (btScalar(0.25f), btScalar(0.05f));
+		buoyantShape->setFloatyness (floatyness + dfloatyness * i);
+		fluidDemo->m_collisionShapes.push_back (buoyantShape);
+
+		btTransform startTransform;
+		startTransform.setIdentity();
+
+		btScalar	mass(1.f);
+
+		btVector3 localInertia(0,0,0);
+		colShape->calculateLocalInertia(mass,localInertia);
+
+		btVector3 origin = btVector3(step_x * i + start_x, -4.0f, start_z);
+		startTransform.setOrigin(origin);
+
+		//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+		btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
+		btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,buoyantShape,localInertia);
+		btRigidBody* body = new btRigidBody(rbInfo);
+		fluidDemo->getHfFluidDynamicsWorld()->addRigidBody(body);
+	}
+}
+
+void Init_Bowl (HfFluidDemo* fluidDemo)
+{
+	btHfFluid* fluid = NULL;
+
+	fluid = new btHfFluid (btScalar(1.0), 50, 50);
+	btTransform xform;
+	xform.setIdentity ();
+	xform.getOrigin() = btVector3(btScalar(-10.0), btScalar(-5.0), btScalar(-10.0));
+	fluid->setWorldTransform (xform);
+	fluidDemo->getHfFluidDynamicsWorld()->addHfFluid (fluid);
+
+	btScalar* ground = fluid->getGroundArray();
+	btScalar* eta = fluid->getEtaArray();
+	btScalar amplitude = btScalar(200.0);
+	for (int i = 0; i < fluid->getNumNodesWidth(); i++)
+	{
+		btScalar x = btScalar(i - fluid->getNumNodesWidth()/2)/btScalar(fluid->getNumNodesWidth()*2);
+		btScalar xh = amplitude * (x * x) + btScalar(5.0);
+		for (int j = 0; j < fluid->getNumNodesLength(); j++)
+		{
+			btScalar y = btScalar(j - fluid->getNumNodesLength()/2)/btScalar(fluid->getNumNodesLength()*2);
+			btScalar yh = amplitude * (y * y) + btScalar(5.0);
+			btScalar gHeight = max(xh,yh);
+			int index = fluid->arrayIndex (i, j);
+			ground[index] = gHeight;
+			btScalar wHeight = btScalar(0.0f);
+			if (gHeight > 14.0)
+			{
+				wHeight = btScalar(0.0f);
+			} else {
+				wHeight = btScalar(14.0f) - gHeight;
+			}
+			eta[index] = wHeight;		}
+	}
+
+	fluid->prep ();
+
+	{
+		//create a few dynamic rigidbodies
+		// Re-using the same collision is better for memory usage and performance
+
+		btConvexShape* colShape = new btBoxShape(btVector3(1,1,1));
+		btHfFluidBuoyantConvexShape* buoyantShape = new btHfFluidBuoyantConvexShape(colShape);
+		buoyantShape->generateShape (btScalar(0.25f), btScalar(0.05f));
+		//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
+		fluidDemo->m_collisionShapes.push_back(colShape);
+		fluidDemo->m_collisionShapes.push_back (buoyantShape);
+
+		/// Create Dynamic Objects
+		btTransform startTransform;
+		startTransform.setIdentity();
+
+		btScalar	mass(1.f);
+
+		//rigidbody is dynamic if and only if mass is non zero, otherwise static
+		bool isDynamic = (mass != 0.f);
+
+		btVector3 localInertia(0,0,0);
+		if (isDynamic)
+			colShape->calculateLocalInertia(mass,localInertia);
+
+		float start_x = START_POS_X - ARRAY_SIZE_X/2;
+		float start_y = START_POS_Y;
+		float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
+
+		for (int k=0;k<ARRAY_SIZE_Y;k++)
+		{
+			for (int i=0;i<ARRAY_SIZE_X;i++)
+			{
+				for(int j = 0;j<ARRAY_SIZE_Z;j++)
+				{
+					startTransform.setOrigin(btVector3(
+										2.0*i + start_x,
+										10+2.0*k + start_y,
+										2.0*j + start_z));
+
+			
+					//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+					btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
+					btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,buoyantShape,localInertia);
+					btRigidBody* body = new btRigidBody(rbInfo);
+					fluidDemo->getHfFluidDynamicsWorld()->addRigidBody(body);
+				}
+			}
+		}
+	}
+}
+
+void Init_Drops (HfFluidDemo* fluidDemo)
+{
+	btHfFluid* fluid = NULL;
+
+	fluid = new btHfFluid (btScalar(0.5), 50, 50);
+	btTransform xform;
+	xform.setIdentity ();
+	xform.getOrigin() = btVector3(btScalar(-10.0), btScalar(-5.0), btScalar(-10.0));
+	fluid->setWorldTransform (xform);
+	fluidDemo->getHfFluidDynamicsWorld()->addHfFluid (fluid);
+
+	for (int i = 0; i < fluid->getNumNodesLength()*fluid->getNumNodesWidth(); i++)
+	{
+		fluid->setFluidHeight(i, btScalar(5.0f));
+	}
+
+	fluid->prep ();
+	{
+		//create a few dynamic rigidbodies
+		// Re-using the same collision is better for memory usage and performance
+
+		btConvexShape* colShape = new btBoxShape(btVector3(5,0.5,5));
+		btHfFluidBuoyantConvexShape* buoyantShape = new btHfFluidBuoyantConvexShape(colShape);
+		buoyantShape->generateShape (btScalar(0.25f), btScalar(0.05f));
+		//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
+		fluidDemo->m_collisionShapes.push_back(colShape);
+		fluidDemo->m_collisionShapes.push_back (buoyantShape);
+
+		/// Create Dynamic Objects
+		btTransform startTransform;
+		startTransform.setIdentity();
+
+		btScalar	mass(1.f);
+
+		//rigidbody is dynamic if and only if mass is non zero, otherwise static
+		bool isDynamic = (mass != 0.f);
+
+		btVector3 localInertia(0,0,0);
+		if (isDynamic)
+			colShape->calculateLocalInertia(mass,localInertia);
+
+		float start_x = START_POS_X - ARRAY_SIZE_X/2;
+		float start_y = START_POS_Y;
+		float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
+
+		for (int k=0;k<ARRAY_SIZE_Y;k++)
+		{
+			for (int i=0;i<ARRAY_SIZE_X;i++)
+			{
+				for(int j = 0;j<ARRAY_SIZE_Z;j++)
+				{
+					startTransform.setOrigin(btVector3(
+										2.0*i + start_x,
+										10+2.0*k + start_y,
+										2.0*j + start_z));
+
+			
+					//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+					btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
+					btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,buoyantShape,localInertia);
+					btRigidBody* body = new btRigidBody(rbInfo);
+					fluidDemo->getHfFluidDynamicsWorld()->addRigidBody(body);
+				}
+			}
+		}
+	}
+}
+
+void Init_Wave (HfFluidDemo* fluidDemo)
+{
+	btHfFluid* fluid = NULL;
+
+	fluid = new btHfFluid (btScalar(1.0f), 75, 50);
+	btTransform xform;
+	xform.setIdentity ();
+	xform.getOrigin() = btVector3(btScalar(-50.0), btScalar(-5.0), btScalar(-50.0));
+	fluid->setWorldTransform (xform);
+	fluidDemo->getHfFluidDynamicsWorld()->addHfFluid (fluid);
+
+	for (int i = 0; i < fluid->getNumNodesLength()*fluid->getNumNodesWidth(); i++)
+	{
+		fluid->getEtaArray()[i] = btScalar(10.0f);
+	}
+
+	for (int i = 1; i < fluid->getNumNodesWidth()-1; i++)
+	{
+		fluid->getEtaArray()[fluid->arrayIndex (i, fluid->getNumNodesLength()/2-1)] = btScalar (2.0);
+		fluid->getEtaArray()[fluid->arrayIndex (i, fluid->getNumNodesLength()/2)] = btScalar (2.0);
+		fluid->getEtaArray()[fluid->arrayIndex (i, fluid->getNumNodesLength()/2+1)] = btScalar (2.0);
+	}
+
+	fluid->prep ();
+}
+
+void Init_RandomDrops (HfFluidDemo* fluidDemo)
+{
+	btHfFluid* fluid = NULL;
+
+	fluid = new btHfFluid (btScalar(1.0),75, 50);
+	btTransform xform;
+	xform.setIdentity ();
+	xform.getOrigin() = btVector3(btScalar(-50.0), btScalar(-5.0), btScalar(-50.0));
+	fluid->setWorldTransform (xform);
+	fluidDemo->getHfFluidDynamicsWorld()->addHfFluid (fluid);
+	for (int i = 0; i < fluid->getNumNodesLength()*fluid->getNumNodesWidth(); i++)
+	{
+		fluid->getEtaArray()[i] = btScalar(0.0f);
+	}
+	fluid->prep ();
+}
+
+void Init_FillPool (HfFluidDemo* fluidDemo)
+{
+	btHfFluid* fluid = NULL;
+	const int gridLength = 50;
+	const int gridWidth = 50;
+	fluid = new btHfFluid (btScalar(1.0), gridLength, gridWidth);
+	btTransform xform;
+	xform.setIdentity ();
+	xform.getOrigin() = btVector3(btScalar(-20.0), btScalar(-5.0), btScalar(-20.0));
+	fluid->setWorldTransform (xform);
+	fluidDemo->getHfFluidDynamicsWorld()->addHfFluid (fluid);
+
+	btScalar* ground = fluid->getGroundArray();
+	btScalar* eta = fluid->getEtaArray();
+
+	const btScalar poolEdgeHeight = btScalar(10.0f);
+	const btScalar poolBottomHeight = btScalar(1.0f);
+	const btScalar poolPourerHeight = btScalar(6.0f);
+	for (int j = 1; j < fluid->getNumNodesLength()-1; j++)
+	{
+		for (int i = 1; i < fluid->getNumNodesWidth()-1; i++)
+		{
+			int index = fluid->arrayIndex (i, j);
+			// pool edge
+			if (j == 1 || i == 1 || j == fluid->getNumNodesLength()-2 || i == fluid->getNumNodesWidth()-2)
+			{
+				ground[index] = poolEdgeHeight;
+				continue;
+			}
+			if (j > 35)
+			{
+				if (i <= 25 || i >= 30)
+				{
+					ground[index] = poolEdgeHeight;
+				} else {
+					ground[index] = poolPourerHeight;
+				}
+				continue;
+			}
+			ground[index] = poolBottomHeight;
+			//eta[index] = btScalar(3.0f);
+		}
+	}
+	fluid->prep ();
+
+	{
+		btConvexShape* colShape = new btBoxShape(btVector3(btScalar(1.), btScalar(1.), btScalar(1.)));
+		btHfFluidBuoyantConvexShape* buoyantShape = new btHfFluidBuoyantConvexShape(colShape);
+		buoyantShape->generateShape (btScalar(0.25f), btScalar(0.05f));
+		fluidDemo->m_collisionShapes.push_back(colShape);
+		fluidDemo->m_collisionShapes.push_back(buoyantShape);
+
+		/// Create Dynamic Objects
+		btTransform startTransform;
+		startTransform.setIdentity();
+
+		btScalar	mass(1.f);
+
+		//rigidbody is dynamic if and only if mass is non zero, otherwise static
+		bool isDynamic = (mass != 0.f);
+
+		btVector3 localInertia(0,0,0);
+		if (isDynamic)
+			colShape->calculateLocalInertia(mass,localInertia);
+
+		int gridSize = 2;
+		btScalar startPosX = btScalar(-10.0f);
+		btScalar startPosY = btScalar(2.0f);
+		btScalar startPosZ = btScalar(-10.f);
+		float start_x = startPosX - gridSize/2;
+		float start_y = startPosY;
+		float start_z = startPosZ - gridSize/2;
+		
+		for (int k=0;k<gridSize;k++)
+		{
+			for (int i=0;i<gridSize;i++)
+			{
+				for(int j = 0;j<gridSize;j++)
+				{
+					startTransform.setOrigin(btVector3(
+										2.0*i + start_x,
+										10+2.0*k + start_y,
+										2.0*j + start_z));
+
+			
+					//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+					btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
+					btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,buoyantShape,localInertia);
+					btRigidBody* body = new btRigidBody(rbInfo);
+					fluidDemo->getHfFluidDynamicsWorld()->addRigidBody(body);
+				}
+			}
+		}
+	}
+}
+
+void Run_FillPool (HfFluidDemo* fluidDemo)
+{
+	static btScalar dtSinceLastDrop = btScalar(0.0f);
+	btScalar dt = btScalar(1.0/60.);
+	btHfFluidArray& fluids = fluidDemo->getHfFluidDynamicsWorld ()->getHfFluidArray ();
+	btHfFluid* fluid = fluids[0];
+
+	for (int i = 26; i < 30; i++)
+	{
+		fluid->setFluidHeight (i, fluid->getNumNodesLength()-3, btScalar(3.0f));
+	}
+}
+
+
+void Run_RandomDrops (HfFluidDemo* fluidDemo)
+{
+	static btScalar dtSinceLastDrop = btScalar(0.0f);
+	btScalar dt = btScalar(1.0/60.);	
+
+	
+	btHfFluidArray& fluids = fluidDemo->getHfFluidDynamicsWorld ()->getHfFluidArray ();
+	btHfFluid* fluid = fluids[0];
+
+	if (dtSinceLastDrop > btScalar(0.5f))
+	{
+		dtSinceLastDrop = btScalar(0.0f);
+		int randomXNode = GEN_rand () % (fluid->getNumNodesWidth()-2);
+		int randomZNode = GEN_rand () % (fluid->getNumNodesLength()-2);
+		if (randomXNode <= 1)
+			randomXNode = 2;
+		if (randomZNode <= 1)
+			randomZNode = 2;
+
+		btScalar* eta = fluid->getEtaArray ();
+		btScalar* height = fluid->getHeightArray ();
+		const btScalar* ground = fluid->getGroundArray ();
+		bool* flags = fluid->getFlagsArray();
+		int index = fluid->arrayIndex (randomXNode, randomZNode);
+		eta[index] += btScalar(4.5f);
+		eta[index-1] += btScalar(2.25f);
+		eta[index+1] += btScalar(2.25f);
+		eta[index+fluid->getNumNodesWidth()] += btScalar(2.25f);
+		eta[index-fluid->getNumNodesWidth()] += btScalar(2.25f);
+		height[index] = eta[index] + ground[index];
+		height[index-1] = eta[index-1] + ground[index-1];
+		height[index+1] = eta[index+1] + ground[index+1];
+		height[index+fluid->getNumNodesWidth()] = eta[index+fluid->getNumNodesWidth()] + ground[index+fluid->getNumNodesWidth()];
+		height[index-fluid->getNumNodesWidth()] = eta[index-fluid->getNumNodesWidth()] + ground[index-fluid->getNumNodesWidth()];
+		flags[index] = true;
+		flags[index-1] = true;
+		flags[index+1] = true;
+		flags[index+fluid->getNumNodesWidth()] = true;
+		flags[index-fluid->getNumNodesWidth()] = true;
+	} else {
+		dtSinceLastDrop += dt;
+	}
+}
+
+void Init_Fill (HfFluidDemo* fluidDemo)
+{
+	btHfFluid* fluid = NULL;
+
+	fluid = new btHfFluid (btScalar(1.0f), 75, 50);
+	btTransform xform;
+	xform.setIdentity ();
+	xform.getOrigin() = btVector3(btScalar(-50.0), btScalar(-5.0), btScalar(-50.0));
+	fluid->setWorldTransform (xform);
+	fluidDemo->getHfFluidDynamicsWorld()->addHfFluid (fluid);
+	for (int i = 0; i < fluid->getNumNodesLength()*fluid->getNumNodesWidth(); i++)
+	{
+		fluid->getEtaArray()[i] = btScalar(0.0f);
+	}
+	fluid->prep ();
+}
+
+void Run_Fill (HfFluidDemo* fluidDemo)
+{
+	static btScalar dtSinceLastDrop = btScalar(0.0f);
+	btScalar dt = btScalar(1.0/60.);
+
+	btHfFluidArray& fluids = fluidDemo->getHfFluidDynamicsWorld ()->getHfFluidArray ();
+	btHfFluid* fluid = fluids[0];
+
+	if (dtSinceLastDrop > btScalar(0.25f))
+	{
+		dtSinceLastDrop = btScalar(0.0f);
+
+		btScalar* eta = fluid->getEtaArray ();
+		btScalar* velocityU = fluid->getVelocityUArray ();
+		btScalar* velocityV = fluid->getVelocityVArray ();
+		btScalar* height = fluid->getHeightArray ();
+		const btScalar* ground = fluid->getGroundArray ();
+		bool* flags = fluid->getFlagsArray();
+		int index = fluid->arrayIndex (fluid->getNumNodesWidth()/2, fluid->getNumNodesLength()/2);
+		eta[index] += btScalar(4.5f);
+		eta[index-1] += btScalar(2.25f);
+		eta[index+1] += btScalar(2.25f);
+		eta[index+fluid->getNumNodesWidth()] += btScalar(2.25f);
+		eta[index-fluid->getNumNodesWidth()] += btScalar(2.25f);
+
+		velocityU[index] = btScalar(0.0f);
+		velocityU[index-1] = btScalar(-10.0f);
+		velocityU[index+1] = btScalar(10.0f);
+		velocityU[index+fluid->getNumNodesWidth()] = btScalar(0.0f);
+		velocityU[index-fluid->getNumNodesWidth()] = btScalar(0.0f);
+
+		velocityV[index] = btScalar(0.0f);
+		velocityV[index-1] = btScalar(0.0f);
+		velocityV[index+1] = btScalar(0.0f);
+		velocityV[index+fluid->getNumNodesWidth()] = btScalar(10.0f);
+		velocityV[index-fluid->getNumNodesWidth()] = btScalar(-10.0f);
+
+		height[index] = eta[index] + ground[index];
+		height[index-1] = eta[index-1] + ground[index-1];
+		height[index+1] = eta[index+1] + ground[index+1];
+		height[index+fluid->getNumNodesWidth()] = eta[index+fluid->getNumNodesWidth()] + ground[index+fluid->getNumNodesWidth()];
+		height[index-fluid->getNumNodesWidth()] = eta[index-fluid->getNumNodesWidth()] + ground[index-fluid->getNumNodesWidth()];
+		flags[index] = true;
+		flags[index-1] = true;
+		flags[index+1] = true;
+		flags[index+fluid->getNumNodesWidth()] = true;
+		flags[index-fluid->getNumNodesWidth()] = true;
+	} else {
+		dtSinceLastDrop += dt;
+	}
+	
+}
+
+void Init_BlockWave (HfFluidDemo* fluidDemo)
+{
+	btHfFluid* fluid = NULL;
+
+	fluid = new btHfFluid (btScalar(1.0), 75, 50);
+	btTransform xform;
+	xform.setIdentity ();
+	xform.getOrigin() = btVector3(btScalar(-50.0), btScalar(-5.0), btScalar(-50.0));
+	fluid->setWorldTransform (xform);
+	fluidDemo->getHfFluidDynamicsWorld()->addHfFluid (fluid);
+
+	btScalar* eta = fluid->getEtaArray ();
+
+	for (int i = 0; i < fluid->getNumNodesLength() * fluid->getNumNodesWidth(); i++)
+	{
+		eta[i] = btScalar(12.0f);
+	}
+
+	for (int i = fluid->getNumNodesWidth()/8; i < fluid->getNumNodesWidth()/4; i++)
+	{
+		for (int j = fluid->getNumNodesLength()/8; j < fluid->getNumNodesLength()/4; j++)
+		{
+			int index = fluid->arrayIndex(i, j);
+			eta[index] = btScalar(4.0f);
+		}
+	}
+	fluid->prep ();
+
+	{
+		btConvexShape* colShape = new btSphereShape(btScalar(1.));
+		btHfFluidBuoyantConvexShape* buoyantShape = new btHfFluidBuoyantConvexShape(colShape);
+		buoyantShape->generateShape (btScalar(0.25f), btScalar(0.05f));
+		fluidDemo->m_collisionShapes.push_back(buoyantShape);
+		fluidDemo->m_collisionShapes.push_back(colShape);
+
+		/// Create Dynamic Objects
+		btTransform startTransform;
+		startTransform.setIdentity();
+
+		btScalar	mass(1.f);
+
+		//rigidbody is dynamic if and only if mass is non zero, otherwise static
+		bool isDynamic = (mass != 0.f);
+
+		btVector3 localInertia(0,0,0);
+		if (isDynamic)
+			colShape->calculateLocalInertia(mass,localInertia);
+
+		int gridSize = 2;
+		btScalar startPosX = btScalar(-10.0f);
+		btScalar startPosY = btScalar(2.0f);
+		btScalar startPosZ = btScalar(-10.f);
+		float start_x = startPosX - gridSize/2;
+		float start_y = startPosY;
+		float start_z = startPosZ - gridSize/2;
+		
+		for (int k=0;k<gridSize;k++)
+		{
+			for (int i=0;i<gridSize;i++)
+			{
+				for(int j = 0;j<gridSize;j++)
+				{
+					startTransform.setOrigin(btVector3(
+										2.0*i + start_x,
+										10+2.0*k + start_y,
+										2.0*j + start_z));
+
+			
+					//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+					btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
+					btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,buoyantShape,localInertia);
+					btRigidBody* body = new btRigidBody(rbInfo);
+					fluidDemo->getHfFluidDynamicsWorld()->addRigidBody(body);
+				}
+			}
+		}
+	}
+}
+
+void Init_Ground (HfFluidDemo* fluidDemo)
+{
+	btHfFluid* fluid = NULL;
+
+	fluid = new btHfFluid (btScalar(1.0f),75, 50);
+	btTransform xform;
+	xform.setIdentity ();
+	xform.getOrigin() = btVector3(btScalar(-50.0), btScalar(5.0), btScalar(-50.0));
+	fluid->setWorldTransform (xform);
+	fluidDemo->getHfFluidDynamicsWorld()->addHfFluid (fluid);
+
+	btScalar* eta = fluid->getEtaArray ();
+
+	for (int i = 0; i < fluid->getNumNodesLength() * fluid->getNumNodesWidth(); i++)
+	{
+		eta[i] = btScalar(4.0f);
+	}
+
+	btScalar* ground = fluid->getGroundArray ();
+	for (int i = 0; i < fluid->getNumNodesWidth(); i++)
+	{
+		for (int j = 0; j < fluid->getNumNodesLength(); j++)
+		{
+			int index = fluid->arrayIndex (i, j);
+
+			if (j <= fluid->getNumNodesLength()/2)
+			{
+				
+				ground[index] = btScalar(5.0f);
+			} else if (j > (fluid->getNumNodesLength()/8*6)) { 
+				ground[index] = btScalar(0.0f);
+			} else {
+				ground[index] = btScalar(6.5f);
+			}
+
+			if (j <= fluid->getNumNodesLength()/4 && j > fluid->getNumNodesLength()/8)
+			{
+				eta[index] = btScalar(8.0f);
+			} else if (j <= fluid->getNumNodesLength()/8)
+			{
+				eta[index] = btScalar(20.0f);
+			} else {
+				eta[index] = btScalar(0.0f);
+			}
+			
+		}
+	}
+	fluid->prep ();
+}
+
+void Init_Ground2 (HfFluidDemo* fluidDemo)
+{
+	btHfFluid* fluid = NULL;
+
+	fluid = new btHfFluid (btScalar(1.0f), 75, 50);
+	btTransform xform;
+	xform.setIdentity ();
+	xform.getOrigin() = btVector3(btScalar(-50.0), btScalar(5.0), btScalar(-50.0));
+	fluid->setWorldTransform (xform);
+	fluidDemo->getHfFluidDynamicsWorld()->addHfFluid (fluid);
+
+	btScalar* eta = fluid->getEtaArray ();
+
+	for (int i = 0; i < fluid->getNumNodesLength() * fluid->getNumNodesWidth(); i++)
+	{
+		eta[i] = btScalar(4.0f);
+	}
+
+	btScalar* ground = fluid->getGroundArray ();
+	for (int i = 0; i < fluid->getNumNodesWidth(); i++)
+	{
+		for (int j = 0; j < fluid->getNumNodesLength(); j++)
+		{
+			int index = fluid->arrayIndex (i, j);
+
+			ground[index] = (btScalar(j)/fluid->getNumNodesLength()-1)*btScalar(8.0f);
+		}
+	}
+
+	for (int i = 0; i < fluid->getNumNodesLength() * fluid->getNumNodesWidth(); i++)
+	{
+		eta[i] = btScalar(2.0f);
+	}
+
+	for (int i = fluid->getNumNodesWidth()/8; i < fluid->getNumNodesWidth()/4; i++)
+	{
+		for (int j = fluid->getNumNodesLength()/8; j < fluid->getNumNodesLength()/4; j++)
+		{
+			int index = fluid->arrayIndex(i, j);
+			eta[index] = btScalar(8.0f);
+		}
+	}
+	fluid->prep ();
+}
+
+void Init_Fill2 (HfFluidDemo* fluidDemo)
+{
+	btHfFluid* fluid = NULL;
+
+	fluid = new btHfFluid (btScalar(1.0), 100, 100);
+	btTransform xform;
+	xform.setIdentity ();
+	xform.getOrigin() = btVector3(btScalar(-50.0), btScalar(-5.0), btScalar(-50.0));
+	fluid->setWorldTransform (xform);
+	fluidDemo->getHfFluidDynamicsWorld()->addHfFluid (fluid);
+	for (int i = 0; i < fluid->getNumNodesLength()*fluid->getNumNodesWidth(); i++)
+	{
+		fluid->getEtaArray()[i] = btScalar(0.0f);
+	}
+	fluid->prep ();
+}
+
+void Run_Fill2 (HfFluidDemo* fluidDemo)
+{
+	static btScalar dtSinceLastDrop = btScalar(0.0f);
+	btScalar dt = btScalar(1.0/60.);
+
+	btHfFluidArray& fluids = fluidDemo->getHfFluidDynamicsWorld ()->getHfFluidArray ();
+	btHfFluid* fluid = fluids[0];
+
+	if (dtSinceLastDrop > btScalar(0.25f))
+	{
+		dtSinceLastDrop = btScalar(0.0f);
+
+		btScalar* eta = fluid->getEtaArray ();
+		btScalar* velocityU = fluid->getVelocityUArray ();
+		btScalar* velocityV = fluid->getVelocityVArray ();
+		btScalar* height = fluid->getHeightArray ();
+		const btScalar* ground = fluid->getGroundArray ();
+		bool* flags = fluid->getFlagsArray();
+
+		for (int i = 1; i < fluid->getNumNodesWidth()-1; i++)
+		{
+			int index = fluid->arrayIndex (i, 1);
+			eta[index] += btScalar(3.0f);
+			velocityU[index] = btScalar(4.0f);
+			height[index] = ground[index] + eta[index];
+			flags[index] = true;
+		}
+	} else {
+		dtSinceLastDrop += dt;
+	}
+	
+}
+
+void Init_MovingPour (HfFluidDemo* fluidDemo)
+{
+	btHfFluid* fluid = NULL;
+
+	fluid = new btHfFluid (btScalar(1.0),75, 50);
+	btTransform xform;
+	xform.setIdentity ();
+	xform.getOrigin() = btVector3(btScalar(-50.0), btScalar(-5.0), btScalar(-50.0));
+	fluid->setWorldTransform (xform);
+	fluidDemo->getHfFluidDynamicsWorld()->addHfFluid (fluid);
+
+	for (int i = 0; i < fluid->getNumNodesLength()*fluid->getNumNodesWidth(); i++)
+	{
+		fluid->getEtaArray()[i] = btScalar(5.0f);
+	}
+	
+
+	fluid->prep ();
+	{
+		//create a few dynamic rigidbodies
+		// Re-using the same collision is better for memory usage and performance
+
+		btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
+		//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
+		fluidDemo->m_collisionShapes.push_back(colShape);
+
+		/// Create Dynamic Objects
+		btTransform startTransform;
+		startTransform.setIdentity();
+
+		btScalar	mass(1.f);
+
+		//rigidbody is dynamic if and only if mass is non zero, otherwise static
+		bool isDynamic = (mass != 0.f);
+
+		btVector3 localInertia(0,0,0);
+		if (isDynamic)
+			colShape->calculateLocalInertia(mass,localInertia);
+
+		float start_x = START_POS_X - ARRAY_SIZE_X/2;
+		float start_y = START_POS_Y;
+		float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
+
+		for (int k=0;k<ARRAY_SIZE_Y;k++)
+		{
+			for (int i=0;i<ARRAY_SIZE_X;i++)
+			{
+				for(int j = 0;j<ARRAY_SIZE_Z;j++)
+				{
+					startTransform.setOrigin(btVector3(
+										2.0*i + start_x,
+										10+2.0*k + start_y,
+										2.0*j + start_z));
+
+			
+					//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+					btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
+					btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
+					btRigidBody* body = new btRigidBody(rbInfo);
+					fluidDemo->getHfFluidDynamicsWorld()->addRigidBody(body);
+				}
+			}
+		}
+	}
+}
+
+void Run_MovingPour(HfFluidDemo* fluidDemo)
+{
+	static btScalar dtSinceLastDrop = btScalar(0.0f);
+	static btScalar x = 4;
+	static btScalar z = 4;
+	static btScalar dx = btScalar(20.0f);
+	static btScalar dz = btScalar(30.0f);
+	btScalar dt = btScalar(1.0/60.);
+
+	btHfFluidArray& fluids = fluidDemo->getHfFluidDynamicsWorld ()->getHfFluidArray ();
+	btHfFluid* fluid = fluids[0];
+
+	int minX = 2;
+	int minZ = 2;
+	int maxX = fluid->getNumNodesWidth() - 2;
+	int maxZ = fluid->getNumNodesLength() - 2;
+
+	x += dx * dt;
+	
+	if (x <= minX)
+	{
+		dx *= btScalar(-1.0f);
+		x = minX;
+	} else if (x >= maxX) {
+		dx *= btScalar(-1.0f);
+		x = maxX;
+	}
+	z += dz * dt;
+	
+	if (z <= minZ)
+	{
+		dz *= btScalar(-1.0f);
+		z = minZ;
+	} else if (z >= maxZ) {
+		dz *= btScalar(-1.0f);
+		z = maxZ;
+	}
+
+	const btScalar dropHeight = btScalar(3.0f);
+	
+	{
+		int iX = (int)x;
+		int iZ = (int)z;
+		fluid->addFluidHeight (iX,iZ, dropHeight);
+		//fluid->addFluidHeight (x, z+1, dropHeight);
+		//fluid->addFluidHeight (x+1, z, dropHeight);
+		//fluid->addFluidHeight (x+1, z+1, dropHeight);
+	}
+}
+
+#define NUM_DEMOS 12
+
+void (*demo_run_functions[NUM_DEMOS])(HfFluidDemo*)=
+{
+	NULL, // Run_Floatyness
+	NULL, // Run_Bowl
+	Run_FillPool, //Run_FillPool
+	NULL, // Run_Drops
+	NULL, // Run_Wave
+	Run_RandomDrops,
+	Run_Fill,
+	Run_Fill2,
+	NULL, // Run_BlockWave
+	NULL, // Run_Ground
+	NULL, // Run_Ground2
+	Run_MovingPour,
+};
+void (*demo_init_functions[NUM_DEMOS])(HfFluidDemo*)=
+{
+	Init_Floatyness,
+	Init_Bowl,
+	Init_FillPool,
+	Init_Drops,
+	Init_Wave,
+	Init_RandomDrops,
+	Init_Fill,
+	Init_Fill2,
+	Init_BlockWave,
+	Init_Ground,
+	Init_Ground2,
+	Init_MovingPour,
+};
+
+#ifdef _DEBUG
+const int gNumObjects = 1;
+#else
+const int gNumObjects = 1;//try this in release mode: 3000. never go above 16384, unless you increate maxNumObjects  value in DemoApplication.cp
+#endif
+
+const int maxNumObjects = 32760;
+
+#define CUBE_HALF_EXTENTS 1.5
+#define EXTRA_HEIGHT -10.f
+
+//
+void HfFluidDemo::createStack( btCollisionShape* boxShape, float halfCubeSize, int size, float zPos )
+{
+	btTransform trans;
+	trans.setIdentity();
+
+	for(int i=0; i<size; i++)
+	{
+		// This constructs a row, from left to right
+		int rowSize = size - i;
+		for(int j=0; j< rowSize; j++)
+		{
+			btVector3 pos;
+			pos.setValue(
+				-rowSize * halfCubeSize + halfCubeSize + j * 2.0f * halfCubeSize,
+				halfCubeSize + i * halfCubeSize * 2.0f,
+				zPos);
+
+			trans.setOrigin(pos);
+			btScalar mass = 1.f;
+
+			btRigidBody* body = 0;
+			body = localCreateRigidBody(mass,trans,boxShape);
+		}
+	}
+}
+
+
+void HfFluidDemo::setShootBoxShape ()
+{
+	if (!m_shootBoxShape)
+	{
+		btHfFluidBuoyantConvexShape* buoyantShape = new btHfFluidBuoyantConvexShape((btConvexShape*)m_shootBoxShape);
+		buoyantShape->generateShape (btScalar(0.25f), btScalar(0.05f));
+		m_shootBoxShape = buoyantShape;
+	}
+}
+
+////////////////////////////////////
+
+extern int gNumManifold;
+extern int gOverlappingPairs;
+
+void HfFluidDemo::clientMoveAndDisplay()
+{
+	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT|GL_STENCIL_BUFFER_BIT); 
+
+
+	float dt = 1.0/60.;	
+
+	if (m_dynamicsWorld)
+	{	
+		if (demo_run_functions[current_demo])
+		{
+			demo_run_functions[current_demo](this);
+		}
+	}
+
+	if (m_dynamicsWorld)
+	{
+	if(m_drag)
+		{
+		const int				x=m_lastmousepos[0];
+		const int				y=m_lastmousepos[1];
+		const btVector3			rayFrom=m_cameraPosition;
+		const btVector3			rayTo=getRayTo(x,y);
+		const btVector3			rayDir=(rayTo-rayFrom).normalized();
+		const btVector3			N=(m_cameraTargetPosition-m_cameraPosition).normalized();
+		const btScalar			O=dot(m_impact,N);
+		const btScalar			den=dot(N,rayDir);
+		if((den*den)>0)
+			{
+			const btScalar			num=O-dot(N,rayFrom);
+			const btScalar			hit=num/den;
+			if((hit>0)&&(hit<1500))
+				{				
+				m_goal=rayFrom+rayDir*hit;
+				}				
+			}		
+		btVector3				delta;
+		static const btScalar	maxdrag=10;
+		if(delta.length2()>(maxdrag*maxdrag))
+			{
+			delta=delta.normalized()*maxdrag;
+			}
+		}
+	
+#define FIXED_STEP
+#ifdef FIXED_STEP
+		m_dynamicsWorld->stepSimulation(dt=1.0f/60.f,0);
+
+#else
+		//during idle mode, just run 1 simulation step maximum, otherwise 4 at max
+		int maxSimSubSteps = m_idle ? 1 : 4;
+		//if (m_idle)
+		//	dt = 1.0/420.f;
+
+		int numSimSteps;
+		numSimSteps = m_dynamicsWorld->stepSimulation(dt);
+
+#ifdef VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
+		if (!numSimSteps)
+			printf("Interpolated transforms\n");
+		else
+		{
+			if (numSimSteps > maxSimSubSteps)
+			{
+				//detect dropping frames
+				printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
+			} else
+			{
+				printf("Simulated (%i) steps\n",numSimSteps);
+			}
+		}
+#endif //VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
+
+#endif		
+
+		//optional but useful: debug drawing
+		
+	}
+
+#ifdef USE_QUICKPROF 
+	btProfiler::beginBlock("render"); 
+#endif //USE_QUICKPROF 
+
+	renderme(); 
+
+	//render the graphics objects, with center of mass shift
+
+	updateCamera();
+
+
+
+#ifdef USE_QUICKPROF 
+	btProfiler::endBlock("render"); 
+#endif 
+	glFlush();
+	//some additional debugging info
+#ifdef PRINT_CONTACT_STATISTICS
+	printf("num manifolds: %i\n",gNumManifold);
+	printf("num gOverlappingPairs: %i\n",gOverlappingPairs);
+	printf("num gTotalContactPoints : %i\n",gTotalContactPoints );
+#endif //PRINT_CONTACT_STATISTICS
+
+	//gTotalContactPoints = 0;
+	glutSwapBuffers();
+
+}
+
+
+
+void HfFluidDemo::displayCallback(void) {
+
+	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
+
+
+	renderme();
+
+	glFlush();
+	glutSwapBuffers();
+}
+
+
+
+
+void	HfFluidDemo::clientResetScene()
+{
+	DemoApplication::clientResetScene();
+	/* Clean up	*/ 
+	for(int i=m_dynamicsWorld->getNumCollisionObjects()-1;i>0;i--)
+	{
+		btCollisionObject*	obj=m_dynamicsWorld->getCollisionObjectArray()[i];
+		btRigidBody*		body=btRigidBody::upcast(obj);
+		if(body&&body->getMotionState())
+		{
+			delete body->getMotionState();
+		}
+		while(m_dynamicsWorld->getNumConstraints())
+			{
+			btTypedConstraint*	pc=m_dynamicsWorld->getConstraint(0);
+			m_dynamicsWorld->removeConstraint(pc);
+			delete pc;
+			}
+		btHfFluid* hfFluid = btHfFluid::upcast(obj);
+		if (hfFluid)
+		{
+			getHfFluidDynamicsWorld()->removeHfFluid(hfFluid);
+		} else
+		{
+			m_dynamicsWorld->removeCollisionObject(obj);
+		}
+		delete obj;
+	}
+	
+		/* Init		*/ 
+
+
+	m_autocam						=	false;
+	m_raycast						=	false;
+	m_cutting						=	false;
+	printf("current_demo = %d\n", current_demo);
+	demo_init_functions[current_demo](this);
+}
+
+void	HfFluidDemo::renderme()
+{
+	btIDebugDraw*	idraw=m_dynamicsWorld->getDebugDrawer();
+	
+	m_dynamicsWorld->debugDrawWorld();
+	
+	/* Bodies		*/ 
+	btVector3	ps(0,0,0);
+	int			nps=0;
+
+	DemoApplication::renderme();	
+}
+
+
+void	HfFluidDemo::keyboardCallback(unsigned char key, int x, int y)
+{
+	switch(key)
+	{
+	case	']':
+		current_demo = (current_demo+1)%NUM_DEMOS;
+		clientResetScene();
+	break;
+	case	'[':
+		current_demo = (current_demo-1)%NUM_DEMOS;
+		clientResetScene();
+	break;
+	case	'.':
+		current_draw_mode = (current_draw_mode+1) % DRAWMODE_MAX;
+		getHfFluidDynamicsWorld()->setDrawMode (current_draw_mode);
+	break;
+	case	'v':
+		current_body_draw_mode = (current_body_draw_mode+1) % BODY_DRAWMODE_MAX;
+		getHfFluidDynamicsWorld()->setBodyDrawMode (current_body_draw_mode);
+	break;
+	default:
+		DemoApplication::keyboardCallback(key,x,y);
+	break;
+	}
+}
+
+//
+void	HfFluidDemo::mouseMotionFunc(int x,int y)
+{
+	DemoApplication::mouseMotionFunc(x,y);
+}
+
+//
+void	HfFluidDemo::mouseFunc(int button, int state, int x, int y)
+{
+if(button==0)
+	{
+	switch(state)
+		{
+		case	0:
+			{
+				DemoApplication::mouseFunc(button,state,x,y);
+			}
+		break;
+		case	1:
+				DemoApplication::mouseFunc(button,state,x,y);
+		break;
+		}
+	}
+	else
+	{
+		DemoApplication::mouseFunc(button,state,x,y);
+	}
+}
+
+
+void	HfFluidDemo::initPhysics()
+{
+///create concave ground mesh
+
+	btCollisionShape* groundShape = 0;
+	bool useConcaveMesh = false;//not ready yet true;
+
+	if (useConcaveMesh)
+	{
+		int i;
+		int j;
+
+		const int NUM_VERTS_X = 30;
+		const int NUM_VERTS_Y = 30;
+		const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
+		const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
+
+		gGroundVertices = new btVector3[totalVerts];
+		gGroundIndices = new int[totalTriangles*3];
+
+		btScalar offset(-50);
+
+		for ( i=0;i<NUM_VERTS_X;i++)
+		{
+			for (j=0;j<NUM_VERTS_Y;j++)
+			{
+				gGroundVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
+					//0.f,
+					waveheight*sinf((float)i)*cosf((float)j+offset),
+					(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
+			}
+		}
+
+		int vertStride = sizeof(btVector3);
+		int indexStride = 3*sizeof(int);
+		
+		int index=0;
+		for ( i=0;i<NUM_VERTS_X-1;i++)
+		{
+			for (int j=0;j<NUM_VERTS_Y-1;j++)
+			{
+				gGroundIndices[index++] = j*NUM_VERTS_X+i;
+				gGroundIndices[index++] = j*NUM_VERTS_X+i+1;
+				gGroundIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
+
+				gGroundIndices[index++] = j*NUM_VERTS_X+i;
+				gGroundIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
+				gGroundIndices[index++] = (j+1)*NUM_VERTS_X+i;
+			}
+		}
+
+		btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
+			gGroundIndices,
+			indexStride,
+			totalVerts,(btScalar*) &gGroundVertices[0].x(),vertStride);
+
+		bool useQuantizedAabbCompression = true;
+
+		groundShape = new btBvhTriangleMeshShape(indexVertexArrays,useQuantizedAabbCompression);
+	} else
+	{
+		groundShape = new btBoxShape (btVector3(200,CUBE_HALF_EXTENTS,200));
+	}
+
+	 
+	m_collisionShapes.push_back(groundShape);
+	
+	btCompoundShape* cylinderCompound = new btCompoundShape;
+	btCollisionShape* cylinderShape = new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
+	btTransform localTransform;
+	localTransform.setIdentity();
+	cylinderCompound->addChildShape(localTransform,cylinderShape);
+	btQuaternion orn(btVector3(0,1,0),SIMD_PI);
+	localTransform.setRotation(orn);
+	cylinderCompound->addChildShape(localTransform,cylinderShape);
+	
+	m_collisionShapes.push_back(cylinderCompound);
+
+
+	m_dispatcher=0;
+
+	/* FIXME: Register new collision algorithm */
+	///register some softbody collision algorithms on top of the default btDefaultCollisionConfiguration
+	m_collisionConfiguration = new btHfFluidRigidCollisionConfiguration();
+
+
+	m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);
+
+	////////////////////////////
+	///Register HfFluid versus rigidbody collision algorithm
+
+
+	btVector3 worldAabbMin(-1000,-1000,-1000);
+	btVector3 worldAabbMax(1000,1000,1000);
+
+	m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
+
+	btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
+
+	m_solver = solver;
+
+	btDiscreteDynamicsWorld* world = new btHfFluidRigidDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
+	m_dynamicsWorld = world;
+
+
+	m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
+	m_dynamicsWorld->setGravity(btVector3(0,-10,0));
+	
+	btTransform tr;
+	tr.setIdentity();
+	tr.setOrigin(btVector3(0,-12,0));
+
+
+
+	localCreateRigidBody(0.f,tr,m_collisionShapes[0]);
+
+
+	//	clientResetScene();
+
+	clientResetScene();
+}
+
+
+
+
+
+
+void	HfFluidDemo::exitPhysics()
+{
+
+	//cleanup in the reverse order of creation/initialization
+
+	//remove the rigidbodies from the dynamics world and delete them
+	int i;
+	for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
+	{
+		btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+		btRigidBody* body = btRigidBody::upcast(obj);
+		if (body && body->getMotionState())
+		{
+			delete body->getMotionState();
+		}
+		m_dynamicsWorld->removeCollisionObject( obj );
+		delete obj;
+	}
+
+	//delete collision shapes
+	for (int j=0;j<m_collisionShapes.size();j++)
+	{
+		btCollisionShape* shape = m_collisionShapes[j];
+		m_collisionShapes[j] = 0;
+		delete shape;
+	}
+
+	//delete dynamics world
+	delete m_dynamicsWorld;
+
+	//delete solver
+	delete m_solver;
+
+	//delete broadphase
+	delete m_broadphase;
+
+	//delete dispatcher
+	delete m_dispatcher;
+
+
+
+	delete m_collisionConfiguration;
+
+
+}
+
+HfFluidDemo::HfFluidDemo() : m_drag(false)
+{
+	overrideGLShapeDrawer (new HfFluidDemo_GL_ShapeDrawer());
+	setTexturing(true);
+	setShadows(true);
+}
+
+
+
+
+
diff --git a/Demos/HeightFieldFluidDemo/HfFluidDemo.h b/Demos/HeightFieldFluidDemo/HfFluidDemo.h
new file mode 100644
index 000000000..e5c0ce855
--- /dev/null
+++ b/Demos/HeightFieldFluidDemo/HfFluidDemo.h
@@ -0,0 +1,150 @@
+/*
+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 HFFLUID_DEMO_H
+#define HFFLUID_DEMO_H
+
+#include "DemoApplication.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "BulletHfFluid/btHfFluid.h"
+
+class btBroadphaseInterface;
+class btCollisionShape;
+class btOverlappingPairCache;
+class btCollisionDispatcher;
+class btConstraintSolver;
+struct btCollisionAlgorithmCreateFunc;
+class btDefaultCollisionConfiguration;
+
+class btHfFluidRigidDynamicsWorld;
+///collisions between a btSoftBody and a btRigidBody
+class btFluidRididCollisionAlgorithm;
+
+
+///CcdPhysicsDemo shows basic stacking using Bullet physics, and allows toggle of Ccd (using key '1')
+class HfFluidDemo : public DemoApplication
+{
+public:
+	btAlignedObjectArray<btFluidRididCollisionAlgorithm*> m_FluidRigidCollisionAlgorithms;
+
+	
+	bool								m_autocam;
+	bool								m_cutting;
+	bool								m_raycast;
+	btScalar							m_animtime;
+	btClock								m_clock;
+	int									m_lastmousepos[2];
+	btVector3							m_impact;
+	btVector3							m_goal;
+	bool								m_drag;
+
+
+	//keep the collision shapes, for deletion/cleanup
+	btAlignedObjectArray<btCollisionShape*>		m_collisionShapes;
+
+	btBroadphaseInterface*	m_broadphase;
+
+	btCollisionDispatcher*	m_dispatcher;
+
+
+	btConstraintSolver*	m_solver;
+
+	btCollisionAlgorithmCreateFunc*	m_boxBoxCF;
+
+	btDefaultCollisionConfiguration* m_collisionConfiguration;
+
+public:
+
+	void	initPhysics();
+
+	void	exitPhysics();
+
+	HfFluidDemo ();
+
+	virtual ~HfFluidDemo()
+	{
+		exitPhysics();
+	}
+
+	virtual	void setDrawClusters(bool drawClusters)
+	{
+
+	}
+
+	virtual void setShootBoxShape ();
+
+	virtual void clientMoveAndDisplay();
+
+	virtual void displayCallback();
+
+	void createStack( btCollisionShape* boxShape, float halfCubeSize, int size, float zPos );
+
+	static DemoApplication* Create()
+	{
+		HfFluidDemo* demo = new HfFluidDemo;
+		demo->myinit();
+		demo->initPhysics();
+		return demo;
+	}
+
+	virtual const btHfFluidRigidDynamicsWorld*	getHfFluidDynamicsWorld() const
+	{
+		///just make it a btSoftRigidDynamicsWorld please
+		///or we will add type checking
+		return (btHfFluidRigidDynamicsWorld*) m_dynamicsWorld;
+	}
+
+	virtual btHfFluidRigidDynamicsWorld*	getHfFluidDynamicsWorld()
+	{
+		///just make it a btSoftRigidDynamicsWorld please
+		///or we will add type checking
+		return (btHfFluidRigidDynamicsWorld*) m_dynamicsWorld;
+	}
+
+	//
+	void	clientResetScene();
+	void	renderme();
+	void	keyboardCallback(unsigned char key, int x, int y);
+	void	mouseFunc(int button, int state, int x, int y);
+	void	mouseMotionFunc(int x,int y);
+
+};
+
+#define MACRO_SOFT_DEMO(a) class HfFluidDemo##a : public HfFluidDemo\
+{\
+public:\
+	static DemoApplication* Create()\
+	{\
+		HfFluidDemo* demo = new HfFluidDemo##a;\
+		extern unsigned int current_demo;\
+		current_demo=a;\
+		demo->myinit();\
+		demo->initPhysics();\
+		return demo;\
+	}\
+};
+
+
+MACRO_SOFT_DEMO(0) //Init_Drops
+MACRO_SOFT_DEMO(1) //Init_Wave
+MACRO_SOFT_DEMO(2) //Init_RandomDrops
+MACRO_SOFT_DEMO(3)
+
+#endif //CCD_PHYSICS_DEMO_H
+
+
+
+
+
diff --git a/Demos/HeightFieldFluidDemo/HfFluidDemo_GL_ShapeDrawer.cpp b/Demos/HeightFieldFluidDemo/HfFluidDemo_GL_ShapeDrawer.cpp
new file mode 100644
index 000000000..737ee7de9
--- /dev/null
+++ b/Demos/HeightFieldFluidDemo/HfFluidDemo_GL_ShapeDrawer.cpp
@@ -0,0 +1,604 @@
+/*
+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.
+*/
+
+#ifdef WIN32 //needed for glut.h
+#include <windows.h>
+#endif
+
+//think different
+#if defined(__APPLE__) && !defined (VMDMESA)
+#include <OpenGL/gl.h>
+#include <OpenGL/glu.h>
+#include <GLUT/glut.h>
+#else
+#include <GL/glut.h>
+#endif
+
+#include "GlutStuff.h"
+#include "HfFluidDemo_GL_ShapeDrawer.h"
+
+#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
+#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
+#include "BulletCollision/CollisionShapes/btBoxShape.h"
+#include "BulletCollision/CollisionShapes/btSphereShape.h"
+#include "BulletCollision/CollisionShapes/btConeShape.h"
+#include "BulletCollision/CollisionShapes/btCylinderShape.h"
+#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
+#include "BulletCollision/CollisionShapes/btCompoundShape.h"
+#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
+#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
+#include "BulletCollision/CollisionShapes/btUniformScalingShape.h"
+#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
+///
+#include "BulletCollision/CollisionShapes/btShapeHull.h"
+#include "BulletHfFluid/btHfFluidBuoyantConvexShape.h"
+#include "BulletHfFluid/btHfFluid.h"
+#include "BulletHfFluid/btHfFluidCollisionShape.h"
+
+#include "LinearMath/btTransformUtil.h"
+
+
+#include "LinearMath/btIDebugDraw.h"
+//for debugmodes
+#include "BMF_Api.h"
+#include <stdio.h> //printf debugging
+
+#include <map>
+
+using namespace std;
+
+
+class GlDrawcallback : public btTriangleCallback
+{
+
+public:
+
+	bool	m_wireframe;
+
+	GlDrawcallback()
+		:m_wireframe(false)
+	{
+	}
+
+	virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)
+	{
+
+		(void)triangleIndex;
+		(void)partId;
+
+
+		if (m_wireframe)
+		{
+			glBegin(GL_LINES);
+			glColor3f(1, 0, 0);
+			glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+			glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+			glColor3f(0, 1, 0);
+			glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+			glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+			glColor3f(0, 0, 1);
+			glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+			glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+			glEnd();
+		} else
+		{
+			glBegin(GL_TRIANGLES);
+			//glColor3f(1, 1, 1);
+			
+			
+			glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+			glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+			glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+
+			glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+			glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+			glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+			glEnd();
+		}
+	}
+};
+
+class TriangleGlDrawcallback : public btInternalTriangleIndexCallback
+{
+public:
+	virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int  triangleIndex)
+	{
+		(void)triangleIndex;
+		(void)partId;
+
+
+		glBegin(GL_TRIANGLES);//LINES);
+		glColor3f(1, 0, 0);
+		glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+		glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+		glColor3f(0, 1, 0);
+		glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+		glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
+		glColor3f(0, 0, 1);
+		glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
+		glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
+		glEnd();
+	}
+};
+
+
+
+void HfFluidDemo_GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int	debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax)
+{
+
+
+	glPushMatrix(); 
+	btglMultMatrix(m);
+
+	if (shape->getShapeType() == UNIFORM_SCALING_SHAPE_PROXYTYPE)
+	{
+		const btUniformScalingShape* scalingShape = static_cast<const btUniformScalingShape*>(shape);
+		const btConvexShape* convexShape = scalingShape->getChildShape();
+		float	scalingFactor = (float)scalingShape->getUniformScalingFactor();
+		{
+			btScalar tmpScaling[4][4]={{scalingFactor,0,0,0},
+			{0,scalingFactor,0,0},
+			{0,0,scalingFactor,0},
+			{0,0,0,1}};
+
+			drawOpenGL( (btScalar*)tmpScaling,convexShape,color,debugMode,worldBoundsMin,worldBoundsMax);
+		}
+		glPopMatrix();
+		return;
+	}
+
+	if (shape->getShapeType() == HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE)
+	{
+		btConvexShape* convexShape = ((btHfFluidBuoyantConvexShape*)shape)->getConvexShape();
+		btTransform I;
+		I.setIdentity();
+		btScalar mat[16];
+		I.getOpenGLMatrix (&mat[0]);
+		drawOpenGL (mat, convexShape, color, debugMode, worldBoundsMin, worldBoundsMax);
+		return;
+	}
+
+	if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
+	{
+		const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
+		for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--)
+		{
+			btTransform childTrans = compoundShape->getChildTransform(i);
+			const btCollisionShape* colShape = compoundShape->getChildShape(i);
+			btScalar childMat[16];
+			childTrans.getOpenGLMatrix(childMat);
+			drawOpenGL(childMat,colShape,color,debugMode,worldBoundsMin,worldBoundsMax);
+
+		}
+
+	} else
+	{
+		if(m_textureenabled&&(!m_textureinitialized))
+		{
+			GLubyte*	image=new GLubyte[256*256*3];
+			for(int y=0;y<256;++y)
+			{
+				const int	t=y>>4;
+				GLubyte*	pi=image+y*256*3;
+				for(int x=0;x<256;++x)
+				{
+					const int		s=x>>4;
+					const GLubyte	b=180;					
+					GLubyte			c=b+((s+t&1)&1)*(255-b);
+					pi[0]=pi[1]=pi[2]=c;pi+=3;
+				}
+			}
+			glGenTextures(1,(GLuint*)&m_texturehandle);
+			glBindTexture(GL_TEXTURE_2D,m_texturehandle);
+			glTexEnvf(GL_TEXTURE_ENV,GL_TEXTURE_ENV_MODE,GL_MODULATE);
+			glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR_MIPMAP_LINEAR);
+			glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR_MIPMAP_LINEAR);
+			glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_WRAP_S,GL_REPEAT);
+			glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_WRAP_T,GL_REPEAT);
+			gluBuild2DMipmaps(GL_TEXTURE_2D,3,256,256,GL_RGB,GL_UNSIGNED_BYTE,image);
+			delete[] image;
+
+			glMatrixMode(GL_TEXTURE);
+			glLoadIdentity();
+			glScalef(0.025,0.025,0.025);
+
+			static const GLfloat	planex[]={1,0,0,0};
+			static const GLfloat	planey[]={0,1,0,0};
+			static const GLfloat	planez[]={0,0,1,0};
+			glTexGenfv(GL_S,GL_OBJECT_PLANE,planex);
+			glTexGenfv(GL_T,GL_OBJECT_PLANE,planez);
+			glTexGeni(GL_S,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
+			glTexGeni(GL_T,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
+			glEnable(GL_TEXTURE_GEN_S);
+			glEnable(GL_TEXTURE_GEN_T);
+			glEnable(GL_TEXTURE_GEN_R);
+			m_textureinitialized=true;
+		}
+		//drawCoordSystem();
+
+		//glPushMatrix();
+		glEnable(GL_COLOR_MATERIAL);
+		if(m_textureenabled) 
+		{
+			glEnable(GL_TEXTURE_2D);
+			glBindTexture(GL_TEXTURE_2D,m_texturehandle);
+		} else
+		{
+			glDisable(GL_TEXTURE_2D);
+		}
+
+
+		glColor3f(color.x(),color.y(), color.z());		
+
+		bool useWireframeFallback = true;
+
+		if (!(debugMode & btIDebugDraw::DBG_DrawWireframe))
+		{
+			///you can comment out any of the specific cases, and use the default
+			///the benefit of 'default' is that it approximates the actual collision shape including collision margin
+			int shapetype=m_textureenabled?MAX_BROADPHASE_COLLISION_TYPES:shape->getShapeType();
+			switch (shapetype)
+			{
+			case BOX_SHAPE_PROXYTYPE:
+				{
+					const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
+					btVector3 halfExtent = boxShape->getHalfExtentsWithMargin();
+					glScaled(2*halfExtent[0], 2*halfExtent[1], 2*halfExtent[2]);
+					glutSolidCube(1.0);
+					useWireframeFallback = false;
+					break;
+				}
+
+
+			case SPHERE_SHAPE_PROXYTYPE:
+				{
+					const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
+					float radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
+					glutSolidSphere(radius,10,10);
+					useWireframeFallback = false;
+					break;
+				}
+
+			case CONE_SHAPE_PROXYTYPE:
+				{
+					const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
+					int upIndex = coneShape->getConeUpIndex();
+					float radius = coneShape->getRadius();//+coneShape->getMargin();
+					float height = coneShape->getHeight();//+coneShape->getMargin();
+					switch (upIndex)
+					{
+					case 0:
+						glRotatef(90.0, 0.0, 1.0, 0.0);
+						break;
+					case 1:
+						glRotatef(-90.0, 1.0, 0.0, 0.0);
+						break;
+					case 2:
+						break;
+					default:
+						{
+						}
+					};
+
+					glTranslatef(0.0, 0.0, -0.5*height);
+					glutSolidCone(radius,height,10,10);
+					useWireframeFallback = false;
+					break;
+
+				}
+
+
+			case STATIC_PLANE_PROXYTYPE:
+				{
+					const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
+					btScalar planeConst = staticPlaneShape->getPlaneConstant();
+					const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
+					btVector3 planeOrigin = planeNormal * planeConst;
+					btVector3 vec0,vec1;
+					btPlaneSpace1(planeNormal,vec0,vec1);
+					btScalar vecLen = 100.f;
+					btVector3 pt0 = planeOrigin + vec0*vecLen;
+					btVector3 pt1 = planeOrigin - vec0*vecLen;
+					btVector3 pt2 = planeOrigin + vec1*vecLen;
+					btVector3 pt3 = planeOrigin - vec1*vecLen;
+					glBegin(GL_LINES);
+					glVertex3f(pt0.getX(),pt0.getY(),pt0.getZ());
+					glVertex3f(pt1.getX(),pt1.getY(),pt1.getZ());
+					glVertex3f(pt2.getX(),pt2.getY(),pt2.getZ());
+					glVertex3f(pt3.getX(),pt3.getY(),pt3.getZ());
+					glEnd();
+
+
+					break;
+
+				}
+
+			case CYLINDER_SHAPE_PROXYTYPE:
+				{
+					const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
+					int upAxis = cylinder->getUpAxis();
+
+
+					float radius = cylinder->getRadius();
+					float halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
+
+					drawCylinder(radius,halfHeight,upAxis);
+
+					break;
+				}
+
+			default:
+				{
+
+
+					if (shape->isConvex())
+					{
+						ShapeCache*	sc=cache((btConvexShape*)shape);
+
+						//if (shape->getUserPointer())
+						{
+							//glutSolidCube(1.0);
+							btShapeHull* hull = &sc->m_shapehull/*(btShapeHull*)shape->getUserPointer()*/;
+
+
+							if (hull->numTriangles () > 0)
+							{
+								int index = 0;
+								const unsigned int* idx = hull->getIndexPointer();
+								const btVector3* vtx = hull->getVertexPointer();
+
+								glBegin (GL_TRIANGLES);
+
+								for (int i = 0; i < hull->numTriangles (); i++)
+								{
+									int i1 = index++;
+									int i2 = index++;
+									int i3 = index++;
+									btAssert(i1 < hull->numIndices () &&
+										i2 < hull->numIndices () &&
+										i3 < hull->numIndices ());
+
+									int index1 = idx[i1];
+									int index2 = idx[i2];
+									int index3 = idx[i3];
+									btAssert(index1 < hull->numVertices () &&
+										index2 < hull->numVertices () &&
+										index3 < hull->numVertices ());
+
+									btVector3 v1 = vtx[index1];
+									btVector3 v2 = vtx[index2];
+									btVector3 v3 = vtx[index3];
+									btVector3 normal = (v3-v1).cross(v2-v1);
+									normal.normalize ();
+
+									glNormal3f(normal.getX(),normal.getY(),normal.getZ());
+									glVertex3f (v1.x(), v1.y(), v1.z());
+									glVertex3f (v2.x(), v2.y(), v2.z());
+									glVertex3f (v3.x(), v3.y(), v3.z());
+
+								}
+								glEnd ();
+
+							}
+						}
+					}
+				}
+			}
+
+		}
+
+
+
+
+		/// for polyhedral shapes
+		if (debugMode==btIDebugDraw::DBG_DrawFeaturesText && (shape->isPolyhedral()))
+		{
+			btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
+
+			{
+				glRasterPos3f(0.0,  0.0,  0.0);
+				//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),polyshape->getExtraDebugInfo());
+
+				glColor3f(1.f, 1.f, 1.f);
+				int i;
+				for (i=0;i<polyshape->getNumVertices();i++)
+				{
+					btVector3 vtx;
+					polyshape->getVertex(i,vtx);
+					glRasterPos3f(vtx.x(),  vtx.y(),  vtx.z());
+					char buf[12];
+					sprintf(buf," %d",i);
+					BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+				}
+
+				for (i=0;i<polyshape->getNumPlanes();i++)
+				{
+					btVector3 normal;
+					btVector3 vtx;
+					polyshape->getPlane(normal,vtx,i);
+					btScalar d = vtx.dot(normal);
+
+					glRasterPos3f(normal.x()*d,  normal.y()*d, normal.z()*d);
+					char buf[12];
+					sprintf(buf," plane %d",i);
+					BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+
+				}
+			}
+
+		}
+
+
+#ifdef USE_DISPLAY_LISTS
+
+		if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
+		{
+			GLuint dlist =   OGL_get_displaylist_for_shape((btCollisionShape * )shape);
+			if (dlist)
+			{
+				glCallList(dlist);
+			}
+			else
+			{
+#else		
+		if (shape->isConcave())//>getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
+			//		if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
+		{
+			btConcaveShape* concaveMesh = (btConcaveShape*) shape;
+
+			GlDrawcallback drawCallback;
+			drawCallback.m_wireframe = (debugMode & btIDebugDraw::DBG_DrawWireframe)!=0;
+
+			concaveMesh->processAllTriangles(&drawCallback,worldBoundsMin,worldBoundsMax);
+
+		}
+		if (shape->getShapeType() == HFFLUID_SHAPE_PROXYTYPE)
+		{
+			btHfFluidCollisionShape* hfFluidShape = (btHfFluidCollisionShape*)shape;
+			btHfFluid* fluid = hfFluidShape->m_fluid;
+
+			GlDrawcallback drawCallback;
+			drawCallback.m_wireframe = (debugMode & btIDebugDraw::DBG_DrawWireframe) != 0;
+			fluid->foreachSurfaceTriangle (&drawCallback, worldBoundsMin, worldBoundsMax);
+		}
+#endif
+
+#ifdef USE_DISPLAY_LISTS
+	}
+}
+#endif
+
+/*
+if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
+{
+btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
+
+//todo: pass camera for some culling			
+btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
+btVector3 aabbMin(-btScalar(1e30),-btScalar(1e30),-btScalar(1e30));
+TriangleGlDrawcallback drawCallback;
+convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
+
+}
+*/
+
+
+
+glDisable(GL_DEPTH_TEST);
+glRasterPos3f(0,0,0);//mvtx.x(),  vtx.y(),  vtx.z());
+if (debugMode&btIDebugDraw::DBG_DrawText)
+{
+	BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->getName());
+}
+
+if (debugMode& btIDebugDraw::DBG_DrawFeaturesText)
+{
+	//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->getExtraDebugInfo());
+}
+glEnable(GL_DEPTH_TEST);
+
+//	glPopMatrix();	
+if(m_textureenabled) glDisable(GL_TEXTURE_2D);
+	}
+	glPopMatrix();
+
+}
+
+//
+void		HfFluidDemo_GL_ShapeDrawer::drawShadow(btScalar* m,const btVector3& extrusion,const btCollisionShape* shape,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax)
+{
+	glPushMatrix(); 
+	btglMultMatrix(m);
+	if(shape->getShapeType() == UNIFORM_SCALING_SHAPE_PROXYTYPE)
+	{
+		const btUniformScalingShape* scalingShape = static_cast<const btUniformScalingShape*>(shape);
+		const btConvexShape* convexShape = scalingShape->getChildShape();
+		float	scalingFactor = (float)scalingShape->getUniformScalingFactor();
+		btScalar tmpScaling[4][4]={	{scalingFactor,0,0,0},
+		{0,scalingFactor,0,0},
+		{0,0,scalingFactor,0},
+		{0,0,0,1}};
+		drawShadow((btScalar*)tmpScaling,extrusion,convexShape,worldBoundsMin,worldBoundsMax);
+		glPopMatrix();
+		return;
+	}
+	else if(shape->getShapeType()==COMPOUND_SHAPE_PROXYTYPE)
+	{
+		const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
+		for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--)
+		{
+			btTransform childTrans = compoundShape->getChildTransform(i);
+			const btCollisionShape* colShape = compoundShape->getChildShape(i);
+			btScalar childMat[16];
+			childTrans.getOpenGLMatrix(childMat);
+			drawShadow(childMat,extrusion*childTrans.getBasis(),colShape,worldBoundsMin,worldBoundsMax);
+		}
+	}
+	else
+	{
+		bool useWireframeFallback = true;
+		if (shape->isConvex())
+		{
+			ShapeCache*	sc=cache((btConvexShape*)shape);
+			btShapeHull* hull =&sc->m_shapehull;
+			glBegin(GL_QUADS);
+			for(int i=0;i<sc->m_edges.size();++i)
+			{			
+				const btScalar		d=dot(sc->m_edges[i].n[0],extrusion);
+				if((d*dot(sc->m_edges[i].n[1],extrusion))<0)
+				{
+					const int			q=	d<0?1:0;
+					const btVector3&	a=	hull->getVertexPointer()[sc->m_edges[i].v[q]];
+					const btVector3&	b=	hull->getVertexPointer()[sc->m_edges[i].v[1-q]];
+					glVertex3f(a[0],a[1],a[2]);
+					glVertex3f(b[0],b[1],b[2]);
+					glVertex3f(b[0]+extrusion[0],b[1]+extrusion[1],b[2]+extrusion[2]);
+					glVertex3f(a[0]+extrusion[0],a[1]+extrusion[1],a[2]+extrusion[2]);
+				}
+			}
+			glEnd();
+		}
+
+	}
+
+
+
+
+	if (shape->isConcave())//>getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
+		//		if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
+	{
+		btConcaveShape* concaveMesh = (btConcaveShape*) shape;
+
+		GlDrawcallback drawCallback;
+		drawCallback.m_wireframe = false;
+
+		concaveMesh->processAllTriangles(&drawCallback,worldBoundsMin,worldBoundsMax);
+
+	}
+	glPopMatrix();
+
+}
+
+//
+HfFluidDemo_GL_ShapeDrawer::HfFluidDemo_GL_ShapeDrawer()
+{
+	m_texturehandle		=	0;
+	m_textureenabled	=	true;
+	m_textureinitialized	=	false;
+}
+
+HfFluidDemo_GL_ShapeDrawer::~HfFluidDemo_GL_ShapeDrawer()
+{
+}
\ No newline at end of file
diff --git a/Demos/HeightFieldFluidDemo/HfFluidDemo_GL_ShapeDrawer.h b/Demos/HeightFieldFluidDemo/HfFluidDemo_GL_ShapeDrawer.h
new file mode 100644
index 000000000..a65e8f226
--- /dev/null
+++ b/Demos/HeightFieldFluidDemo/HfFluidDemo_GL_ShapeDrawer.h
@@ -0,0 +1,33 @@
+/*
+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 HFFLUID_GL_SHAPE_DRAWER_H
+#define HFFLUID_GL_SHAPE_DRAWER_H
+
+#include "GL_ShapeDrawer.h"
+
+/// OpenGL shape drawing
+class HfFluidDemo_GL_ShapeDrawer : public GL_ShapeDrawer
+{
+	public:
+		HfFluidDemo_GL_ShapeDrawer();
+
+		virtual ~HfFluidDemo_GL_ShapeDrawer();
+
+		///drawOpenGL might allocate temporary memoty, stores pointer in shape userpointer
+		virtual void drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int	debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax);
+		virtual void drawShadow(btScalar* m, const btVector3& extrusion,const btCollisionShape* shape,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax);
+};
+
+#endif //HFFLUID_GL_SHAPE_DRAWER_H
diff --git a/Demos/HeightFieldFluidDemo/Jamfile b/Demos/HeightFieldFluidDemo/Jamfile
new file mode 100644
index 000000000..cb5642e9c
--- /dev/null
+++ b/Demos/HeightFieldFluidDemo/Jamfile
@@ -0,0 +1,3 @@
+SubDir TOP Demos HfFluidDemo ;
+
+BulletHfFluidDemo HfFluidDemo : [ Wildcard *.h *.cpp BulletHfFluid/*.h BulletHfFluid/*.cpp ] ;
diff --git a/Demos/HeightFieldFluidDemo/main.cpp b/Demos/HeightFieldFluidDemo/main.cpp
new file mode 100644
index 000000000..6bb566fb1
--- /dev/null
+++ b/Demos/HeightFieldFluidDemo/main.cpp
@@ -0,0 +1,37 @@
+/*
+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 "HfFluidDemo.h"
+#include "GlutStuff.h"
+#include "GLDebugDrawer.h"
+#include "btBulletDynamicsCommon.h"
+
+GLDebugDrawer	gDebugDrawer;
+
+int main(int argc,char** argv)
+{
+
+	HfFluidDemo* fluidDemo = new HfFluidDemo();
+
+	fluidDemo->initPhysics();
+	fluidDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
+
+
+	glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",fluidDemo);
+
+	delete fluidDemo;
+	return 0;
+
+}
diff --git a/Demos/Jamfile b/Demos/Jamfile
index 509d8e6ab..b29045e04 100644
--- a/Demos/Jamfile
+++ b/Demos/Jamfile
@@ -102,4 +102,5 @@ SubInclude TOP Demos Raytracer ;
 SubInclude TOP Demos SimplexDemo ;
 SubInclude TOP Demos DoublePrecisionDemo ;
 SubInclude TOP Demos TerrainDemo ;
+SubInclude TOP Demos HeightFieldFluidDemo ;
 
diff --git a/Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp b/Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp
index 8dcfe48db..ff728385f 100644
--- a/Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp
+++ b/Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp
@@ -1539,7 +1539,7 @@ void ConcaveDemo::renderme()
 				}
 			}
 
-			m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode(),worldBoundsMin,worldBoundsMax);
+			m_shapeDrawer->drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode(),worldBoundsMin,worldBoundsMax);
 		}
 
 
diff --git a/Demos/OpenGL/DemoApplication.cpp b/Demos/OpenGL/DemoApplication.cpp
index 41733110c..6fc7fb948 100644
--- a/Demos/OpenGL/DemoApplication.cpp
+++ b/Demos/OpenGL/DemoApplication.cpp
@@ -82,7 +82,8 @@ m_sundirection(btVector3(1,-2,1)*1000)
 	m_profileIterator = CProfileManager::Get_Iterator();
 #endif //BT_NO_PROFILE
 
-	m_shapeDrawer.enableTexture(true);
+	m_shapeDrawer = new GL_ShapeDrawer ();
+	m_shapeDrawer->enableTexture(true);
 	m_enableshadows = false;
 }
 
@@ -97,9 +98,18 @@ DemoApplication::~DemoApplication()
 	if (m_shootBoxShape)
 		delete m_shootBoxShape;
 
+	if (m_shapeDrawer)
+		delete m_shapeDrawer;
 }
 
 
+void DemoApplication::overrideGLShapeDrawer (GL_ShapeDrawer* shapeDrawer)
+{
+	shapeDrawer->enableTexture (m_shapeDrawer->hasTextureEnabled());
+	delete m_shapeDrawer;
+	m_shapeDrawer = shapeDrawer;
+}
+
 void DemoApplication::myinit(void)
 {
 
@@ -298,7 +308,7 @@ void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
 	case 'x' : zoomOut(); break;
 	case 'i' : toggleIdle(); break;
 	case 'g' : m_enableshadows=!m_enableshadows;break;
-	case 'u' : m_shapeDrawer.enableTexture(!m_shapeDrawer.enableTexture(false));break;
+	case 'u' : m_shapeDrawer->enableTexture(!m_shapeDrawer->enableTexture(false));break;
 	case 'h':
 		if (m_debugMode & btIDebugDraw::DBG_NoHelpText)
 			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoHelpText);
@@ -510,7 +520,19 @@ void DemoApplication::displayCallback()
 }
 
 
-
+void	DemoApplication::setShootBoxShape ()
+{
+		if (!m_shootBoxShape)
+		{
+			//#define TEST_UNIFORM_SCALING_SHAPE 1
+#ifdef TEST_UNIFORM_SCALING_SHAPE
+			btConvexShape* childShape = new btBoxShape(btVector3(1.f,1.f,1.f));
+			m_shootBoxShape = new btUniformScalingShape(childShape,0.5f);
+#else
+			m_shootBoxShape = new btSphereShape(1.f);//BoxShape(btVector3(1.f,1.f,1.f));
+#endif//
+		}
+}
 
 void	DemoApplication::shootBox(const btVector3& destination)
 {
@@ -523,16 +545,7 @@ void	DemoApplication::shootBox(const btVector3& destination)
 		btVector3 camPos = getCameraPosition();
 		startTransform.setOrigin(camPos);
 
-		if (!m_shootBoxShape)
-		{
-			//#define TEST_UNIFORM_SCALING_SHAPE 1
-#ifdef TEST_UNIFORM_SCALING_SHAPE
-			btConvexShape* childShape = new btBoxShape(btVector3(1.f,1.f,1.f));
-			m_shootBoxShape = new btUniformScalingShape(childShape,0.5f);
-#else
-			m_shootBoxShape = new btSphereShape(1.f);//BoxShape(btVector3(1.f,1.f,1.f));
-#endif//
-		}
+		setShootBoxShape ();
 
 		btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_shootBoxShape);
 
@@ -981,9 +994,9 @@ void	DemoApplication::renderscene(int pass)
 
 		switch(pass)
 		{
-		case	0:	m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode(),aabbMin,aabbMax);break;
-		case	1:	m_shapeDrawer.drawShadow(m,m_sundirection*rot,colObj->getCollisionShape(),aabbMin,aabbMax);break;
-		case	2:	m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor*0.3,0,aabbMin,aabbMax);break;
+		case	0:	m_shapeDrawer->drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode(),aabbMin,aabbMax);break;
+		case	1:	m_shapeDrawer->drawShadow(m,m_sundirection*rot,colObj->getCollisionShape(),aabbMin,aabbMax);break;
+		case	2:	m_shapeDrawer->drawOpenGL(m,colObj->getCollisionShape(),wireColor*0.3,0,aabbMin,aabbMax);break;
 		}
 	}
 }
diff --git a/Demos/OpenGL/DemoApplication.h b/Demos/OpenGL/DemoApplication.h
index c43711c8b..dc697627c 100644
--- a/Demos/OpenGL/DemoApplication.h
+++ b/Demos/OpenGL/DemoApplication.h
@@ -82,7 +82,7 @@ class DemoApplication
 	void showProfileInfo(float& xOffset,float& yStart, float yIncr);
 	void renderscene(int pass);
 
-	GL_ShapeDrawer	m_shapeDrawer;
+	GL_ShapeDrawer*	m_shapeDrawer;
 	bool			m_enableshadows;
 	btVector3		m_sundirection;
 
@@ -102,15 +102,16 @@ public:
 
 	}
 
+	void overrideGLShapeDrawer (GL_ShapeDrawer* shapeDrawer);
 	
 	void setOrthographicProjection();
 	void resetPerspectiveProjection();
 	
-	bool	setTexturing(bool enable) { return(m_shapeDrawer.enableTexture(enable)); }
+	bool	setTexturing(bool enable) { return(m_shapeDrawer->enableTexture(enable)); }
 	bool	setShadows(bool enable)	{ bool p=m_enableshadows;m_enableshadows=enable;return(p); }
 	bool	getTexturing() const
 	{
-		return m_shapeDrawer.hasTextureEnabled();
+		return m_shapeDrawer->hasTextureEnabled();
 	}
 	bool	getShadows() const
 	{
@@ -176,6 +177,7 @@ public:
 	virtual void	clientResetScene();
 
 	///Demo functions
+	virtual void setShootBoxShape ();
 	void	shootBox(const btVector3& destination);
 
 
diff --git a/Demos/OpenGL/GLDebugDrawer.cpp b/Demos/OpenGL/GLDebugDrawer.cpp
index 6811c8bb0..1c768a682 100644
--- a/Demos/OpenGL/GLDebugDrawer.cpp
+++ b/Demos/OpenGL/GLDebugDrawer.cpp
@@ -21,6 +21,17 @@ GLDebugDrawer::GLDebugDrawer()
 {
 
 }
+
+void	GLDebugDrawer::drawLine(const btVector3& from,const btVector3& to,const btVector3& fromColor, const btVector3& toColor)
+{
+	glBegin(GL_LINES);
+		glColor3f(fromColor.getX(), fromColor.getY(), fromColor.getZ());
+		glVertex3d(from.getX(), from.getY(), from.getZ());
+		glColor3f(toColor.getX(), toColor.getY(), toColor.getZ());
+		glVertex3d(to.getX(), to.getY(), to.getZ());
+	glEnd();
+}
+
 void	GLDebugDrawer::drawLine(const btVector3& from,const btVector3& to,const btVector3& color)
 {
 //	if (m_debugMode > 0)
@@ -33,6 +44,30 @@ void	GLDebugDrawer::drawLine(const btVector3& from,const btVector3& to,const btV
 	}
 }
 
+void GLDebugDrawer::drawSphere (const btVector3& p, btScalar radius, const btVector3& color)
+{
+	glColor4f (color.getX(), color.getY(), color.getZ(), btScalar(1.0f));
+	glPushMatrix ();
+	glTranslatef (p.getX(), p.getY(), p.getZ());
+	glutSolidSphere (radius, 10, 10);
+	glPopMatrix();
+}
+
+void GLDebugDrawer::drawBox (const btVector3& boxMin, const btVector3& boxMax, const btVector3& color, btScalar alpha)
+{
+	btVector3 halfExtent = (boxMax - boxMin) * btScalar(0.5f);
+	btVector3 center = (boxMax + boxMin) * btScalar(0.5f);
+	//glEnable(GL_BLEND);     // Turn blending On
+	//glBlendFunc(GL_SRC_ALPHA, GL_ONE);
+	glColor4f (color.getX(), color.getY(), color.getZ(), alpha);
+	glPushMatrix ();
+	glTranslatef (center.getX(), center.getY(), center.getZ());
+	glScaled(2*halfExtent[0], 2*halfExtent[1], 2*halfExtent[2]);
+	glutSolidCube(1.0);
+	glPopMatrix ();
+	//glDisable(GL_BLEND);
+}
+
 void	GLDebugDrawer::drawTriangle(const btVector3& a,const btVector3& b,const btVector3& c,const btVector3& color,btScalar alpha)
 {
 //	if (m_debugMode > 0)
diff --git a/Demos/OpenGL/GLDebugDrawer.h b/Demos/OpenGL/GLDebugDrawer.h
index b2ad621e7..2a05405a7 100644
--- a/Demos/OpenGL/GLDebugDrawer.h
+++ b/Demos/OpenGL/GLDebugDrawer.h
@@ -14,8 +14,13 @@ public:
 	GLDebugDrawer();
 
 
+	virtual void	drawLine(const btVector3& from,const btVector3& to,const btVector3& fromColor, const btVector3& toColor);
+
 	virtual void	drawLine(const btVector3& from,const btVector3& to,const btVector3& color);
-	
+
+	virtual void	drawSphere (const btVector3& p, btScalar radius, const btVector3& color);
+	virtual void	drawBox (const btVector3& boxMin, const btVector3& boxMax, const btVector3& color, btScalar alpha);
+
 	virtual void	drawTriangle(const btVector3& a,const btVector3& b,const btVector3& c,const btVector3& color,btScalar alpha);
 	
 	virtual void	drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color);
diff --git a/Demos/OpenGL/GL_ShapeDrawer.h b/Demos/OpenGL/GL_ShapeDrawer.h
index 30eb7a6ca..6b7b3e222 100644
--- a/Demos/OpenGL/GL_ShapeDrawer.h
+++ b/Demos/OpenGL/GL_ShapeDrawer.h
@@ -25,6 +25,7 @@ class btShapeHull;
 /// OpenGL shape drawing
 class GL_ShapeDrawer
 {
+protected:
 	struct ShapeCache
 	{
 	struct Edge { btVector3 n[2];int v[2]; };
@@ -38,17 +39,17 @@ class GL_ShapeDrawer
 	bool								m_textureenabled;
 	bool								m_textureinitialized;
 	
-	private:
+
 	ShapeCache*							cache(btConvexShape*);
 
-	public:
+public:
 		GL_ShapeDrawer();
 
 		virtual ~GL_ShapeDrawer();
 
 		///drawOpenGL might allocate temporary memoty, stores pointer in shape userpointer
-		void		drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int	debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax);
-		void		drawShadow(btScalar* m, const btVector3& extrusion,const btCollisionShape* shape,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax);
+		virtual void		drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int	debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax);
+		virtual void		drawShadow(btScalar* m, const btVector3& extrusion,const btCollisionShape* shape,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax);
 		
 		bool		enableTexture(bool enable) { bool p=m_textureenabled;m_textureenabled=enable;return(p); }
 		bool		hasTextureEnabled() const
@@ -64,4 +65,4 @@ class GL_ShapeDrawer
 void OGL_displaylist_register_shape(btCollisionShape * shape);
 void OGL_displaylist_clean();
 
-#endif //GL_SHAPE_DRAWER_H
+#endif //GL_SHAPE_DRAWER_H
\ No newline at end of file
diff --git a/Demos/SimplexDemo/SimplexDemo.cpp b/Demos/SimplexDemo/SimplexDemo.cpp
index e9c044a25..f804c73d9 100644
--- a/Demos/SimplexDemo/SimplexDemo.cpp
+++ b/Demos/SimplexDemo/SimplexDemo.cpp
@@ -91,7 +91,7 @@ void SimplexDemo::displayCallback()
 		transA.getOpenGLMatrix( m );
 
 		/// draw the simplex
-		m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
+		m_shapeDrawer->drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
 
 		/// calculate closest point from simplex to the origin, and draw this vector
 		simplex.calcClosest(m);
diff --git a/Demos/VehicleDemo/VehicleDemo.cpp b/Demos/VehicleDemo/VehicleDemo.cpp
index 86f7444dd..277bcaf6e 100644
--- a/Demos/VehicleDemo/VehicleDemo.cpp
+++ b/Demos/VehicleDemo/VehicleDemo.cpp
@@ -414,7 +414,7 @@ void VehicleDemo::renderme()
 		m_vehicle->updateWheelTransform(i,true);
 		//draw wheels (cylinders)
 		m_vehicle->getWheelInfo(i).m_worldTransform.getOpenGLMatrix(m);
-		m_shapeDrawer.drawOpenGL(m,&wheelShape,wheelColor,getDebugMode(),worldBoundsMin,worldBoundsMax);
+		m_shapeDrawer->drawOpenGL(m,&wheelShape,wheelColor,getDebugMode(),worldBoundsMin,worldBoundsMax);
 	}
 
 
diff --git a/msvc/8/wksbullet.sln b/msvc/8/wksbullet.sln
index 56fb98980..f4fe0a305 100644
--- a/msvc/8/wksbullet.sln
+++ b/msvc/8/wksbullet.sln
@@ -1,76 +1,403 @@
 Microsoft Visual Studio Solution File, Format Version 9.00
-# Visual C++ Express 2005
+# Visual Studio 2005
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appAllBulletDemos", "appAllBulletDemos.vcproj", "{7CE54E12-D3D5-878F-9CC5-786265A3F9CE}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{C04EA8AC-D96C-0E1F-0823-094C1010F087} = {C04EA8AC-D96C-0E1F-0823-094C1010F087}
+		{8050F819-5B5B-1504-BC6D-7F2B4C6C85F3} = {8050F819-5B5B-1504-BC6D-7F2B4C6C85F3}
+		{B1B5F775-54A9-2437-E4AC-7E817E492142} = {B1B5F775-54A9-2437-E4AC-7E817E492142}
+		{81819498-F4A8-E0CA-8ED5-724E27AB34E7} = {81819498-F4A8-E0CA-8ED5-724E27AB34E7}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appBasicDemo", "appBasicDemo.vcproj", "{3578834A-4B06-DE6F-78AC-FE11F7226D35}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appBenchmarks", "appBenchmarks.vcproj", "{67034B5D-16DD-DC97-82F6-23B9E6108940}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appBspDemo", "appBspDemo.vcproj", "{255A379C-F159-5362-4024-D5ADB9F5FBD2}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appBulletDino", "appBulletDino.vcproj", "{2707A1D2-F23C-0C78-B99B-AA148865D6DD}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appCcdPhysicsDemo", "appCcdPhysicsDemo.vcproj", "{7284F809-AF30-6315-88C6-86F1C0798760}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appCharacterDemo", "appCharacterDemo.vcproj", "{06166AA4-DDAE-0CA9-6D52-DA45A1965B88}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appColladaDemo", "appColladaDemo.vcproj", "{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}"
+	ProjectSection(ProjectDependencies) = postProject
+		{ED51AA4D-82EF-089C-CD6D-91CF224E2A9E} = {ED51AA4D-82EF-089C-CD6D-91CF224E2A9E}
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{6AB01C9C-9163-F400-B5C3-20D046631E17} = {6AB01C9C-9163-F400-B5C3-20D046631E17}
+		{A0958CD9-0E39-4A77-3711-9B488F508FBF} = {A0958CD9-0E39-4A77-3711-9B488F508FBF}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appCollisionDemo", "appCollisionDemo.vcproj", "{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appCollisionInterfaceDemo", "appCollisionInterfaceDemo.vcproj", "{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appConcaveDemo", "appConcaveDemo.vcproj", "{B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appConstraintDemo", "appConstraintDemo.vcproj", "{DAA547D0-0166-C085-0F93-B88CAB800F97}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appContinuousConvexCollision", "appContinuousConvexCollision.vcproj", "{801CB6D4-A45C-C9D2-B176-9711A74B9164}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appConvexDecompositionDemo", "appConvexDecompositionDemo.vcproj", "{69C821C7-1E18-D894-068D-C55E063F4859}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{8050F819-5B5B-1504-BC6D-7F2B4C6C85F3} = {8050F819-5B5B-1504-BC6D-7F2B4C6C85F3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appDoublePrecisionDemo", "appDoublePrecisionDemo.vcproj", "{E2707D44-8B82-55F1-6C5A-D03B19159248}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appEPAPenDepthDemo", "appEPAPenDepthDemo.vcproj", "{1125C7F3-9E0D-27B1-C97B-CDAB5CE161A3}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appForkLiftDemo", "appForkLiftDemo.vcproj", "{4FF98546-7A0D-00AA-743C-F1EA15BC00E2}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appGenericJointDemo", "appGenericJointDemo.vcproj", "{33C16464-831E-103A-5F37-65CCD4F9191F}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appGimpactTestDemo", "appGimpactTestDemo.vcproj", "{12B291F0-1880-AFC5-26E1-26DF78EA6D2E}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{8050F819-5B5B-1504-BC6D-7F2B4C6C85F3} = {8050F819-5B5B-1504-BC6D-7F2B4C6C85F3}
+		{B1B5F775-54A9-2437-E4AC-7E817E492142} = {B1B5F775-54A9-2437-E4AC-7E817E492142}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appGjkConvexCastDemo", "appGjkConvexCastDemo.vcproj", "{780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appHelloWorld", "appHelloWorld.vcproj", "{5239CE6A-7C7A-2170-6334-DF8EE0C44543}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appiffCheck", "appiffCheck.vcproj", "{D423BB79-A5EE-4742-956D-69482488AF7C}"
+	ProjectSection(ProjectDependencies) = postProject
+		{0E48992F-80FB-7458-8BAF-A7054C73558F} = {0E48992F-80FB-7458-8BAF-A7054C73558F}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appMovingConcaveDemo", "appMovingConcaveDemo.vcproj", "{2D714360-B8EC-F8E0-ED74-E95336301075}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appMultiMaterialDemo", "appMultiMaterialDemo.vcproj", "{7C050627-6267-11A1-E342-374FA0095116}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appMultiThreadedDemo", "appMultiThreadedDemo.vcproj", "{6D016A7B-39C8-2018-733F-22921BE94AC4}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appRagdollDemo", "appRagdollDemo.vcproj", "{EFEF2072-51F9-DAE8-AC38-3E653C680F74}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appRaytracer", "appRaytracer.vcproj", "{60F71B6A-F888-C449-EF49-268BB9F7C963}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appSimplexDemo", "appSimplexDemo.vcproj", "{60A1DC9D-F837-3923-E9DE-A7925394A578}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appSliderConstraintDemo", "appSliderConstraintDemo.vcproj", "{E7461CAA-D8C1-90D0-FB1E-FCD4F340FAAE}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appSoftBodyDemo", "appSoftBodyDemo.vcproj", "{106E3D23-110E-5DD8-4A6A-D8A2250C43C9}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{C04EA8AC-D96C-0E1F-0823-094C1010F087} = {C04EA8AC-D96C-0E1F-0823-094C1010F087}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appTerrainDemo", "appTerrainDemo.vcproj", "{7FE87C67-4B29-D636-0AEC-BFFCE47A2164}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appUserCollisionAlgorithm", "appUserCollisionAlgorithm.vcproj", "{330B5049-6935-5CE6-79B7-28F570962895}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appVehicleDemo", "appVehicleDemo.vcproj", "{07E712DB-DAF8-887E-F099-CE43D4E8B1F9}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "grpall_bullet", "grpall_bullet.vcproj", "{6210A080-01C0-6D67-F1DB-669393175402}"
+	ProjectSection(ProjectDependencies) = postProject
+		{7CE54E12-D3D5-878F-9CC5-786265A3F9CE} = {7CE54E12-D3D5-878F-9CC5-786265A3F9CE}
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35} = {3578834A-4B06-DE6F-78AC-FE11F7226D35}
+		{67034B5D-16DD-DC97-82F6-23B9E6108940} = {67034B5D-16DD-DC97-82F6-23B9E6108940}
+		{255A379C-F159-5362-4024-D5ADB9F5FBD2} = {255A379C-F159-5362-4024-D5ADB9F5FBD2}
+		{2707A1D2-F23C-0C78-B99B-AA148865D6DD} = {2707A1D2-F23C-0C78-B99B-AA148865D6DD}
+		{7284F809-AF30-6315-88C6-86F1C0798760} = {7284F809-AF30-6315-88C6-86F1C0798760}
+		{06166AA4-DDAE-0CA9-6D52-DA45A1965B88} = {06166AA4-DDAE-0CA9-6D52-DA45A1965B88}
+		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF} = {D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}
+		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9} = {E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}
+		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B} = {F38629D2-EEB2-1A09-FB82-52B8A8DE759B}
+		{B94C19C6-F6E7-2F60-56E2-E0BA681B74B3} = {B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}
+		{DAA547D0-0166-C085-0F93-B88CAB800F97} = {DAA547D0-0166-C085-0F93-B88CAB800F97}
+		{801CB6D4-A45C-C9D2-B176-9711A74B9164} = {801CB6D4-A45C-C9D2-B176-9711A74B9164}
+		{69C821C7-1E18-D894-068D-C55E063F4859} = {69C821C7-1E18-D894-068D-C55E063F4859}
+		{E2707D44-8B82-55F1-6C5A-D03B19159248} = {E2707D44-8B82-55F1-6C5A-D03B19159248}
+		{1125C7F3-9E0D-27B1-C97B-CDAB5CE161A3} = {1125C7F3-9E0D-27B1-C97B-CDAB5CE161A3}
+		{4FF98546-7A0D-00AA-743C-F1EA15BC00E2} = {4FF98546-7A0D-00AA-743C-F1EA15BC00E2}
+		{33C16464-831E-103A-5F37-65CCD4F9191F} = {33C16464-831E-103A-5F37-65CCD4F9191F}
+		{12B291F0-1880-AFC5-26E1-26DF78EA6D2E} = {12B291F0-1880-AFC5-26E1-26DF78EA6D2E}
+		{780752A8-6322-5D3E-EF42-D0FD8BF9CEA1} = {780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}
+		{5239CE6A-7C7A-2170-6334-DF8EE0C44543} = {5239CE6A-7C7A-2170-6334-DF8EE0C44543}
+		{D423BB79-A5EE-4742-956D-69482488AF7C} = {D423BB79-A5EE-4742-956D-69482488AF7C}
+		{2D714360-B8EC-F8E0-ED74-E95336301075} = {2D714360-B8EC-F8E0-ED74-E95336301075}
+		{7C050627-6267-11A1-E342-374FA0095116} = {7C050627-6267-11A1-E342-374FA0095116}
+		{6D016A7B-39C8-2018-733F-22921BE94AC4} = {6D016A7B-39C8-2018-733F-22921BE94AC4}
+		{EFEF2072-51F9-DAE8-AC38-3E653C680F74} = {EFEF2072-51F9-DAE8-AC38-3E653C680F74}
+		{60F71B6A-F888-C449-EF49-268BB9F7C963} = {60F71B6A-F888-C449-EF49-268BB9F7C963}
+		{60A1DC9D-F837-3923-E9DE-A7925394A578} = {60A1DC9D-F837-3923-E9DE-A7925394A578}
+		{E7461CAA-D8C1-90D0-FB1E-FCD4F340FAAE} = {E7461CAA-D8C1-90D0-FB1E-FCD4F340FAAE}
+		{106E3D23-110E-5DD8-4A6A-D8A2250C43C9} = {106E3D23-110E-5DD8-4A6A-D8A2250C43C9}
+		{7FE87C67-4B29-D636-0AEC-BFFCE47A2164} = {7FE87C67-4B29-D636-0AEC-BFFCE47A2164}
+		{330B5049-6935-5CE6-79B7-28F570962895} = {330B5049-6935-5CE6-79B7-28F570962895}
+		{07E712DB-DAF8-887E-F099-CE43D4E8B1F9} = {07E712DB-DAF8-887E-F099-CE43D4E8B1F9}
+		{ED51AA4D-82EF-089C-CD6D-91CF224E2A9E} = {ED51AA4D-82EF-089C-CD6D-91CF224E2A9E}
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{C04EA8AC-D96C-0E1F-0823-094C1010F087} = {C04EA8AC-D96C-0E1F-0823-094C1010F087}
+		{6AB01C9C-9163-F400-B5C3-20D046631E17} = {6AB01C9C-9163-F400-B5C3-20D046631E17}
+		{8050F819-5B5B-1504-BC6D-7F2B4C6C85F3} = {8050F819-5B5B-1504-BC6D-7F2B4C6C85F3}
+		{B1B5F775-54A9-2437-E4AC-7E817E492142} = {B1B5F775-54A9-2437-E4AC-7E817E492142}
+		{81819498-F4A8-E0CA-8ED5-724E27AB34E7} = {81819498-F4A8-E0CA-8ED5-724E27AB34E7}
+		{0E48992F-80FB-7458-8BAF-A7054C73558F} = {0E48992F-80FB-7458-8BAF-A7054C73558F}
+		{A0958CD9-0E39-4A77-3711-9B488F508FBF} = {A0958CD9-0E39-4A77-3711-9B488F508FBF}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "grpapps_bullet", "grpapps_bullet.vcproj", "{9E59B16D-0924-409C-1611-DF2207A0053F}"
+	ProjectSection(ProjectDependencies) = postProject
+		{7CE54E12-D3D5-878F-9CC5-786265A3F9CE} = {7CE54E12-D3D5-878F-9CC5-786265A3F9CE}
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35} = {3578834A-4B06-DE6F-78AC-FE11F7226D35}
+		{67034B5D-16DD-DC97-82F6-23B9E6108940} = {67034B5D-16DD-DC97-82F6-23B9E6108940}
+		{255A379C-F159-5362-4024-D5ADB9F5FBD2} = {255A379C-F159-5362-4024-D5ADB9F5FBD2}
+		{2707A1D2-F23C-0C78-B99B-AA148865D6DD} = {2707A1D2-F23C-0C78-B99B-AA148865D6DD}
+		{7284F809-AF30-6315-88C6-86F1C0798760} = {7284F809-AF30-6315-88C6-86F1C0798760}
+		{06166AA4-DDAE-0CA9-6D52-DA45A1965B88} = {06166AA4-DDAE-0CA9-6D52-DA45A1965B88}
+		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF} = {D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}
+		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9} = {E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}
+		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B} = {F38629D2-EEB2-1A09-FB82-52B8A8DE759B}
+		{B94C19C6-F6E7-2F60-56E2-E0BA681B74B3} = {B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}
+		{DAA547D0-0166-C085-0F93-B88CAB800F97} = {DAA547D0-0166-C085-0F93-B88CAB800F97}
+		{801CB6D4-A45C-C9D2-B176-9711A74B9164} = {801CB6D4-A45C-C9D2-B176-9711A74B9164}
+		{69C821C7-1E18-D894-068D-C55E063F4859} = {69C821C7-1E18-D894-068D-C55E063F4859}
+		{E2707D44-8B82-55F1-6C5A-D03B19159248} = {E2707D44-8B82-55F1-6C5A-D03B19159248}
+		{1125C7F3-9E0D-27B1-C97B-CDAB5CE161A3} = {1125C7F3-9E0D-27B1-C97B-CDAB5CE161A3}
+		{4FF98546-7A0D-00AA-743C-F1EA15BC00E2} = {4FF98546-7A0D-00AA-743C-F1EA15BC00E2}
+		{33C16464-831E-103A-5F37-65CCD4F9191F} = {33C16464-831E-103A-5F37-65CCD4F9191F}
+		{12B291F0-1880-AFC5-26E1-26DF78EA6D2E} = {12B291F0-1880-AFC5-26E1-26DF78EA6D2E}
+		{780752A8-6322-5D3E-EF42-D0FD8BF9CEA1} = {780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}
+		{5239CE6A-7C7A-2170-6334-DF8EE0C44543} = {5239CE6A-7C7A-2170-6334-DF8EE0C44543}
+		{D423BB79-A5EE-4742-956D-69482488AF7C} = {D423BB79-A5EE-4742-956D-69482488AF7C}
+		{2D714360-B8EC-F8E0-ED74-E95336301075} = {2D714360-B8EC-F8E0-ED74-E95336301075}
+		{7C050627-6267-11A1-E342-374FA0095116} = {7C050627-6267-11A1-E342-374FA0095116}
+		{6D016A7B-39C8-2018-733F-22921BE94AC4} = {6D016A7B-39C8-2018-733F-22921BE94AC4}
+		{EFEF2072-51F9-DAE8-AC38-3E653C680F74} = {EFEF2072-51F9-DAE8-AC38-3E653C680F74}
+		{60F71B6A-F888-C449-EF49-268BB9F7C963} = {60F71B6A-F888-C449-EF49-268BB9F7C963}
+		{60A1DC9D-F837-3923-E9DE-A7925394A578} = {60A1DC9D-F837-3923-E9DE-A7925394A578}
+		{E7461CAA-D8C1-90D0-FB1E-FCD4F340FAAE} = {E7461CAA-D8C1-90D0-FB1E-FCD4F340FAAE}
+		{106E3D23-110E-5DD8-4A6A-D8A2250C43C9} = {106E3D23-110E-5DD8-4A6A-D8A2250C43C9}
+		{7FE87C67-4B29-D636-0AEC-BFFCE47A2164} = {7FE87C67-4B29-D636-0AEC-BFFCE47A2164}
+		{330B5049-6935-5CE6-79B7-28F570962895} = {330B5049-6935-5CE6-79B7-28F570962895}
+		{07E712DB-DAF8-887E-F099-CE43D4E8B1F9} = {07E712DB-DAF8-887E-F099-CE43D4E8B1F9}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "grplibs_bullet", "grplibs_bullet.vcproj", "{DFAF0062-4CD7-9AB8-0683-A6026B326F56}"
+	ProjectSection(ProjectDependencies) = postProject
+		{ED51AA4D-82EF-089C-CD6D-91CF224E2A9E} = {ED51AA4D-82EF-089C-CD6D-91CF224E2A9E}
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{61BD1097-CF2E-B296-DAA9-73A6FE135319} = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
+		{7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A} = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
+		{A24D77FD-D69A-75A0-A7DC-730894C9D0F7} = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
+		{7C428E76-9271-6284-20F0-9B38ED6931E3} = {7C428E76-9271-6284-20F0-9B38ED6931E3}
+		{C04EA8AC-D96C-0E1F-0823-094C1010F087} = {C04EA8AC-D96C-0E1F-0823-094C1010F087}
+		{6AB01C9C-9163-F400-B5C3-20D046631E17} = {6AB01C9C-9163-F400-B5C3-20D046631E17}
+		{8050F819-5B5B-1504-BC6D-7F2B4C6C85F3} = {8050F819-5B5B-1504-BC6D-7F2B4C6C85F3}
+		{B1B5F775-54A9-2437-E4AC-7E817E492142} = {B1B5F775-54A9-2437-E4AC-7E817E492142}
+		{81819498-F4A8-E0CA-8ED5-724E27AB34E7} = {81819498-F4A8-E0CA-8ED5-724E27AB34E7}
+		{0E48992F-80FB-7458-8BAF-A7054C73558F} = {0E48992F-80FB-7458-8BAF-A7054C73558F}
+		{A0958CD9-0E39-4A77-3711-9B488F508FBF} = {A0958CD9-0E39-4A77-3711-9B488F508FBF}
+	EndProjectSection
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libBulletColladaConverter", "libBulletColladaConverter.vcproj", "{ED51AA4D-82EF-089C-CD6D-91CF224E2A9E}"
 EndProject
@@ -98,864 +425,626 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libiff", "libiff.vcproj", "
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "liblibxml", "liblibxml.vcproj", "{A0958CD9-0E39-4A77-3711-9B488F508FBF}"
 EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "appHeightFieldFluidDemo", "appHeightFieldFluidDemo.vcproj", "{6611E163-4570-42F7-B746-F0176D26E080}"
+	ProjectSection(ProjectDependencies) = postProject
+		{6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE} = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
+		{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}
+	EndProjectSection
+EndProject
 Global
-	GlobalSection(SolutionConfiguration) = preSolution
-		ConfigName.0 = Release
-		ConfigName.1 = ReleaseDll
-		ConfigName.2 = ReleaseDoublePrecision
-		ConfigName.3 = Debug
-		ConfigName.4 = DebugDll
-		ConfigName.5 = DebugDoublePrecision
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Win32 = Debug|Win32
+		DebugDll|Win32 = DebugDll|Win32
+		DebugDoublePrecision|Win32 = DebugDoublePrecision|Win32
+		Release|Win32 = Release|Win32
+		ReleaseDll|Win32 = ReleaseDll|Win32
+		ReleaseDoublePrecision|Win32 = ReleaseDoublePrecision|Win32
 	EndGlobalSection
-	GlobalSection(ProjectDependencies) = postSolution
-		{7CE54E12-D3D5-878F-9CC5-786265A3F9CE}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{7CE54E12-D3D5-878F-9CC5-786265A3F9CE}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{7CE54E12-D3D5-878F-9CC5-786265A3F9CE}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{7CE54E12-D3D5-878F-9CC5-786265A3F9CE}.3 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{7CE54E12-D3D5-878F-9CC5-786265A3F9CE}.4 = {C04EA8AC-D96C-0E1F-0823-094C1010F087}
-		{7CE54E12-D3D5-878F-9CC5-786265A3F9CE}.5 = {8050F819-5B5B-1504-BC6D-7F2B4C6C85F3}
-		{7CE54E12-D3D5-878F-9CC5-786265A3F9CE}.6 = {B1B5F775-54A9-2437-E4AC-7E817E492142}
-		{7CE54E12-D3D5-878F-9CC5-786265A3F9CE}.7 = {81819498-F4A8-E0CA-8ED5-724E27AB34E7}
-		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.3 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{67034B5D-16DD-DC97-82F6-23B9E6108940}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{67034B5D-16DD-DC97-82F6-23B9E6108940}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{67034B5D-16DD-DC97-82F6-23B9E6108940}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{67034B5D-16DD-DC97-82F6-23B9E6108940}.3 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{67034B5D-16DD-DC97-82F6-23B9E6108940}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.3 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{2707A1D2-F23C-0C78-B99B-AA148865D6DD}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{2707A1D2-F23C-0C78-B99B-AA148865D6DD}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{2707A1D2-F23C-0C78-B99B-AA148865D6DD}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{2707A1D2-F23C-0C78-B99B-AA148865D6DD}.3 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{2707A1D2-F23C-0C78-B99B-AA148865D6DD}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{7284F809-AF30-6315-88C6-86F1C0798760}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{7284F809-AF30-6315-88C6-86F1C0798760}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{7284F809-AF30-6315-88C6-86F1C0798760}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{7284F809-AF30-6315-88C6-86F1C0798760}.3 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{7284F809-AF30-6315-88C6-86F1C0798760}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{06166AA4-DDAE-0CA9-6D52-DA45A1965B88}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{06166AA4-DDAE-0CA9-6D52-DA45A1965B88}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{06166AA4-DDAE-0CA9-6D52-DA45A1965B88}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{06166AA4-DDAE-0CA9-6D52-DA45A1965B88}.3 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{06166AA4-DDAE-0CA9-6D52-DA45A1965B88}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.0 = {ED51AA4D-82EF-089C-CD6D-91CF224E2A9E}
-		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.1 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.2 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.3 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.5 = {6AB01C9C-9163-F400-B5C3-20D046631E17}
-		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.6 = {A0958CD9-0E39-4A77-3711-9B488F508FBF}
-		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.3 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.3 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}.3 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{DAA547D0-0166-C085-0F93-B88CAB800F97}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{DAA547D0-0166-C085-0F93-B88CAB800F97}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{DAA547D0-0166-C085-0F93-B88CAB800F97}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{DAA547D0-0166-C085-0F93-B88CAB800F97}.3 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{DAA547D0-0166-C085-0F93-B88CAB800F97}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{801CB6D4-A45C-C9D2-B176-9711A74B9164}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{801CB6D4-A45C-C9D2-B176-9711A74B9164}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{801CB6D4-A45C-C9D2-B176-9711A74B9164}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{801CB6D4-A45C-C9D2-B176-9711A74B9164}.3 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{801CB6D4-A45C-C9D2-B176-9711A74B9164}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{69C821C7-1E18-D894-068D-C55E063F4859}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{69C821C7-1E18-D894-068D-C55E063F4859}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{69C821C7-1E18-D894-068D-C55E063F4859}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{69C821C7-1E18-D894-068D-C55E063F4859}.3 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{69C821C7-1E18-D894-068D-C55E063F4859}.4 = {8050F819-5B5B-1504-BC6D-7F2B4C6C85F3}
-		{E2707D44-8B82-55F1-6C5A-D03B19159248}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{E2707D44-8B82-55F1-6C5A-D03B19159248}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{E2707D44-8B82-55F1-6C5A-D03B19159248}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{E2707D44-8B82-55F1-6C5A-D03B19159248}.3 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{E2707D44-8B82-55F1-6C5A-D03B19159248}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{1125C7F3-9E0D-27B1-C97B-CDAB5CE161A3}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{1125C7F3-9E0D-27B1-C97B-CDAB5CE161A3}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{1125C7F3-9E0D-27B1-C97B-CDAB5CE161A3}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{1125C7F3-9E0D-27B1-C97B-CDAB5CE161A3}.3 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{4FF98546-7A0D-00AA-743C-F1EA15BC00E2}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{4FF98546-7A0D-00AA-743C-F1EA15BC00E2}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{4FF98546-7A0D-00AA-743C-F1EA15BC00E2}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{4FF98546-7A0D-00AA-743C-F1EA15BC00E2}.3 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{4FF98546-7A0D-00AA-743C-F1EA15BC00E2}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{33C16464-831E-103A-5F37-65CCD4F9191F}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{33C16464-831E-103A-5F37-65CCD4F9191F}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{33C16464-831E-103A-5F37-65CCD4F9191F}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{33C16464-831E-103A-5F37-65CCD4F9191F}.3 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{33C16464-831E-103A-5F37-65CCD4F9191F}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{12B291F0-1880-AFC5-26E1-26DF78EA6D2E}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{12B291F0-1880-AFC5-26E1-26DF78EA6D2E}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{12B291F0-1880-AFC5-26E1-26DF78EA6D2E}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{12B291F0-1880-AFC5-26E1-26DF78EA6D2E}.3 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{12B291F0-1880-AFC5-26E1-26DF78EA6D2E}.4 = {8050F819-5B5B-1504-BC6D-7F2B4C6C85F3}
-		{12B291F0-1880-AFC5-26E1-26DF78EA6D2E}.5 = {B1B5F775-54A9-2437-E4AC-7E817E492142}
-		{780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}.3 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{5239CE6A-7C7A-2170-6334-DF8EE0C44543}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{5239CE6A-7C7A-2170-6334-DF8EE0C44543}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{5239CE6A-7C7A-2170-6334-DF8EE0C44543}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{D423BB79-A5EE-4742-956D-69482488AF7C}.0 = {0E48992F-80FB-7458-8BAF-A7054C73558F}
-		{2D714360-B8EC-F8E0-ED74-E95336301075}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{2D714360-B8EC-F8E0-ED74-E95336301075}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{2D714360-B8EC-F8E0-ED74-E95336301075}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{2D714360-B8EC-F8E0-ED74-E95336301075}.3 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{7C050627-6267-11A1-E342-374FA0095116}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{7C050627-6267-11A1-E342-374FA0095116}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{7C050627-6267-11A1-E342-374FA0095116}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{7C050627-6267-11A1-E342-374FA0095116}.3 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{7C050627-6267-11A1-E342-374FA0095116}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{6D016A7B-39C8-2018-733F-22921BE94AC4}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{6D016A7B-39C8-2018-733F-22921BE94AC4}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{6D016A7B-39C8-2018-733F-22921BE94AC4}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{6D016A7B-39C8-2018-733F-22921BE94AC4}.3 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{6D016A7B-39C8-2018-733F-22921BE94AC4}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{EFEF2072-51F9-DAE8-AC38-3E653C680F74}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{EFEF2072-51F9-DAE8-AC38-3E653C680F74}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{EFEF2072-51F9-DAE8-AC38-3E653C680F74}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{EFEF2072-51F9-DAE8-AC38-3E653C680F74}.3 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{EFEF2072-51F9-DAE8-AC38-3E653C680F74}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{60F71B6A-F888-C449-EF49-268BB9F7C963}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{60F71B6A-F888-C449-EF49-268BB9F7C963}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{60F71B6A-F888-C449-EF49-268BB9F7C963}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{60F71B6A-F888-C449-EF49-268BB9F7C963}.3 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{60F71B6A-F888-C449-EF49-268BB9F7C963}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{60A1DC9D-F837-3923-E9DE-A7925394A578}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{60A1DC9D-F837-3923-E9DE-A7925394A578}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{60A1DC9D-F837-3923-E9DE-A7925394A578}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{60A1DC9D-F837-3923-E9DE-A7925394A578}.3 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{60A1DC9D-F837-3923-E9DE-A7925394A578}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{E7461CAA-D8C1-90D0-FB1E-FCD4F340FAAE}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{E7461CAA-D8C1-90D0-FB1E-FCD4F340FAAE}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{E7461CAA-D8C1-90D0-FB1E-FCD4F340FAAE}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{E7461CAA-D8C1-90D0-FB1E-FCD4F340FAAE}.3 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{E7461CAA-D8C1-90D0-FB1E-FCD4F340FAAE}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{106E3D23-110E-5DD8-4A6A-D8A2250C43C9}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{106E3D23-110E-5DD8-4A6A-D8A2250C43C9}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{106E3D23-110E-5DD8-4A6A-D8A2250C43C9}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{106E3D23-110E-5DD8-4A6A-D8A2250C43C9}.3 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{106E3D23-110E-5DD8-4A6A-D8A2250C43C9}.4 = {C04EA8AC-D96C-0E1F-0823-094C1010F087}
-		{7FE87C67-4B29-D636-0AEC-BFFCE47A2164}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{7FE87C67-4B29-D636-0AEC-BFFCE47A2164}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{7FE87C67-4B29-D636-0AEC-BFFCE47A2164}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{7FE87C67-4B29-D636-0AEC-BFFCE47A2164}.3 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{7FE87C67-4B29-D636-0AEC-BFFCE47A2164}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{330B5049-6935-5CE6-79B7-28F570962895}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{330B5049-6935-5CE6-79B7-28F570962895}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{330B5049-6935-5CE6-79B7-28F570962895}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{330B5049-6935-5CE6-79B7-28F570962895}.3 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{330B5049-6935-5CE6-79B7-28F570962895}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{07E712DB-DAF8-887E-F099-CE43D4E8B1F9}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{07E712DB-DAF8-887E-F099-CE43D4E8B1F9}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{07E712DB-DAF8-887E-F099-CE43D4E8B1F9}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{07E712DB-DAF8-887E-F099-CE43D4E8B1F9}.3 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{07E712DB-DAF8-887E-F099-CE43D4E8B1F9}.4 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{6210A080-01C0-6D67-F1DB-669393175402}.0 = {7CE54E12-D3D5-878F-9CC5-786265A3F9CE}
-		{6210A080-01C0-6D67-F1DB-669393175402}.1 = {3578834A-4B06-DE6F-78AC-FE11F7226D35}
-		{6210A080-01C0-6D67-F1DB-669393175402}.2 = {67034B5D-16DD-DC97-82F6-23B9E6108940}
-		{6210A080-01C0-6D67-F1DB-669393175402}.3 = {255A379C-F159-5362-4024-D5ADB9F5FBD2}
-		{6210A080-01C0-6D67-F1DB-669393175402}.4 = {2707A1D2-F23C-0C78-B99B-AA148865D6DD}
-		{6210A080-01C0-6D67-F1DB-669393175402}.5 = {7284F809-AF30-6315-88C6-86F1C0798760}
-		{6210A080-01C0-6D67-F1DB-669393175402}.6 = {06166AA4-DDAE-0CA9-6D52-DA45A1965B88}
-		{6210A080-01C0-6D67-F1DB-669393175402}.7 = {D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}
-		{6210A080-01C0-6D67-F1DB-669393175402}.8 = {E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}
-		{6210A080-01C0-6D67-F1DB-669393175402}.9 = {F38629D2-EEB2-1A09-FB82-52B8A8DE759B}
-		{6210A080-01C0-6D67-F1DB-669393175402}.10 = {B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}
-		{6210A080-01C0-6D67-F1DB-669393175402}.11 = {DAA547D0-0166-C085-0F93-B88CAB800F97}
-		{6210A080-01C0-6D67-F1DB-669393175402}.12 = {801CB6D4-A45C-C9D2-B176-9711A74B9164}
-		{6210A080-01C0-6D67-F1DB-669393175402}.13 = {69C821C7-1E18-D894-068D-C55E063F4859}
-		{6210A080-01C0-6D67-F1DB-669393175402}.14 = {E2707D44-8B82-55F1-6C5A-D03B19159248}
-		{6210A080-01C0-6D67-F1DB-669393175402}.15 = {1125C7F3-9E0D-27B1-C97B-CDAB5CE161A3}
-		{6210A080-01C0-6D67-F1DB-669393175402}.16 = {4FF98546-7A0D-00AA-743C-F1EA15BC00E2}
-		{6210A080-01C0-6D67-F1DB-669393175402}.17 = {33C16464-831E-103A-5F37-65CCD4F9191F}
-		{6210A080-01C0-6D67-F1DB-669393175402}.18 = {12B291F0-1880-AFC5-26E1-26DF78EA6D2E}
-		{6210A080-01C0-6D67-F1DB-669393175402}.19 = {780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}
-		{6210A080-01C0-6D67-F1DB-669393175402}.20 = {5239CE6A-7C7A-2170-6334-DF8EE0C44543}
-		{6210A080-01C0-6D67-F1DB-669393175402}.21 = {D423BB79-A5EE-4742-956D-69482488AF7C}
-		{6210A080-01C0-6D67-F1DB-669393175402}.22 = {2D714360-B8EC-F8E0-ED74-E95336301075}
-		{6210A080-01C0-6D67-F1DB-669393175402}.23 = {7C050627-6267-11A1-E342-374FA0095116}
-		{6210A080-01C0-6D67-F1DB-669393175402}.24 = {6D016A7B-39C8-2018-733F-22921BE94AC4}
-		{6210A080-01C0-6D67-F1DB-669393175402}.25 = {EFEF2072-51F9-DAE8-AC38-3E653C680F74}
-		{6210A080-01C0-6D67-F1DB-669393175402}.26 = {60F71B6A-F888-C449-EF49-268BB9F7C963}
-		{6210A080-01C0-6D67-F1DB-669393175402}.27 = {60A1DC9D-F837-3923-E9DE-A7925394A578}
-		{6210A080-01C0-6D67-F1DB-669393175402}.28 = {E7461CAA-D8C1-90D0-FB1E-FCD4F340FAAE}
-		{6210A080-01C0-6D67-F1DB-669393175402}.29 = {106E3D23-110E-5DD8-4A6A-D8A2250C43C9}
-		{6210A080-01C0-6D67-F1DB-669393175402}.30 = {7FE87C67-4B29-D636-0AEC-BFFCE47A2164}
-		{6210A080-01C0-6D67-F1DB-669393175402}.31 = {330B5049-6935-5CE6-79B7-28F570962895}
-		{6210A080-01C0-6D67-F1DB-669393175402}.32 = {07E712DB-DAF8-887E-F099-CE43D4E8B1F9}
-		{6210A080-01C0-6D67-F1DB-669393175402}.33 = {ED51AA4D-82EF-089C-CD6D-91CF224E2A9E}
-		{6210A080-01C0-6D67-F1DB-669393175402}.34 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{6210A080-01C0-6D67-F1DB-669393175402}.35 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{6210A080-01C0-6D67-F1DB-669393175402}.36 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{6210A080-01C0-6D67-F1DB-669393175402}.37 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{6210A080-01C0-6D67-F1DB-669393175402}.38 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{6210A080-01C0-6D67-F1DB-669393175402}.39 = {C04EA8AC-D96C-0E1F-0823-094C1010F087}
-		{6210A080-01C0-6D67-F1DB-669393175402}.40 = {6AB01C9C-9163-F400-B5C3-20D046631E17}
-		{6210A080-01C0-6D67-F1DB-669393175402}.41 = {8050F819-5B5B-1504-BC6D-7F2B4C6C85F3}
-		{6210A080-01C0-6D67-F1DB-669393175402}.42 = {B1B5F775-54A9-2437-E4AC-7E817E492142}
-		{6210A080-01C0-6D67-F1DB-669393175402}.43 = {81819498-F4A8-E0CA-8ED5-724E27AB34E7}
-		{6210A080-01C0-6D67-F1DB-669393175402}.44 = {0E48992F-80FB-7458-8BAF-A7054C73558F}
-		{6210A080-01C0-6D67-F1DB-669393175402}.45 = {A0958CD9-0E39-4A77-3711-9B488F508FBF}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.0 = {7CE54E12-D3D5-878F-9CC5-786265A3F9CE}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.1 = {3578834A-4B06-DE6F-78AC-FE11F7226D35}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.2 = {67034B5D-16DD-DC97-82F6-23B9E6108940}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.3 = {255A379C-F159-5362-4024-D5ADB9F5FBD2}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.4 = {2707A1D2-F23C-0C78-B99B-AA148865D6DD}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.5 = {7284F809-AF30-6315-88C6-86F1C0798760}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.6 = {06166AA4-DDAE-0CA9-6D52-DA45A1965B88}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.7 = {D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.8 = {E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.9 = {F38629D2-EEB2-1A09-FB82-52B8A8DE759B}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.10 = {B94C19C6-F6E7-2F60-56E2-E0BA681B74B3}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.11 = {DAA547D0-0166-C085-0F93-B88CAB800F97}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.12 = {801CB6D4-A45C-C9D2-B176-9711A74B9164}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.13 = {69C821C7-1E18-D894-068D-C55E063F4859}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.14 = {E2707D44-8B82-55F1-6C5A-D03B19159248}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.15 = {1125C7F3-9E0D-27B1-C97B-CDAB5CE161A3}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.16 = {4FF98546-7A0D-00AA-743C-F1EA15BC00E2}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.17 = {33C16464-831E-103A-5F37-65CCD4F9191F}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.18 = {12B291F0-1880-AFC5-26E1-26DF78EA6D2E}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.19 = {780752A8-6322-5D3E-EF42-D0FD8BF9CEA1}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.20 = {5239CE6A-7C7A-2170-6334-DF8EE0C44543}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.21 = {D423BB79-A5EE-4742-956D-69482488AF7C}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.22 = {2D714360-B8EC-F8E0-ED74-E95336301075}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.23 = {7C050627-6267-11A1-E342-374FA0095116}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.24 = {6D016A7B-39C8-2018-733F-22921BE94AC4}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.25 = {EFEF2072-51F9-DAE8-AC38-3E653C680F74}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.26 = {60F71B6A-F888-C449-EF49-268BB9F7C963}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.27 = {60A1DC9D-F837-3923-E9DE-A7925394A578}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.28 = {E7461CAA-D8C1-90D0-FB1E-FCD4F340FAAE}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.29 = {106E3D23-110E-5DD8-4A6A-D8A2250C43C9}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.30 = {7FE87C67-4B29-D636-0AEC-BFFCE47A2164}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.31 = {330B5049-6935-5CE6-79B7-28F570962895}
-		{9E59B16D-0924-409C-1611-DF2207A0053F}.32 = {07E712DB-DAF8-887E-F099-CE43D4E8B1F9}
-		{DFAF0062-4CD7-9AB8-0683-A6026B326F56}.0 = {ED51AA4D-82EF-089C-CD6D-91CF224E2A9E}
-		{DFAF0062-4CD7-9AB8-0683-A6026B326F56}.1 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
-		{DFAF0062-4CD7-9AB8-0683-A6026B326F56}.2 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
-		{DFAF0062-4CD7-9AB8-0683-A6026B326F56}.3 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{DFAF0062-4CD7-9AB8-0683-A6026B326F56}.4 = {A24D77FD-D69A-75A0-A7DC-730894C9D0F7}
-		{DFAF0062-4CD7-9AB8-0683-A6026B326F56}.5 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
-		{DFAF0062-4CD7-9AB8-0683-A6026B326F56}.6 = {C04EA8AC-D96C-0E1F-0823-094C1010F087}
-		{DFAF0062-4CD7-9AB8-0683-A6026B326F56}.7 = {6AB01C9C-9163-F400-B5C3-20D046631E17}
-		{DFAF0062-4CD7-9AB8-0683-A6026B326F56}.8 = {8050F819-5B5B-1504-BC6D-7F2B4C6C85F3}
-		{DFAF0062-4CD7-9AB8-0683-A6026B326F56}.9 = {B1B5F775-54A9-2437-E4AC-7E817E492142}
-		{DFAF0062-4CD7-9AB8-0683-A6026B326F56}.10 = {81819498-F4A8-E0CA-8ED5-724E27AB34E7}
-		{DFAF0062-4CD7-9AB8-0683-A6026B326F56}.11 = {0E48992F-80FB-7458-8BAF-A7054C73558F}
-		{DFAF0062-4CD7-9AB8-0683-A6026B326F56}.12 = {A0958CD9-0E39-4A77-3711-9B488F508FBF}
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{7CE54E12-D3D5-878F-9CC5-786265A3F9CE}.Debug|Win32.ActiveCfg = Debug|Win32
+		{7CE54E12-D3D5-878F-9CC5-786265A3F9CE}.Debug|Win32.Build.0 = Debug|Win32
+		{7CE54E12-D3D5-878F-9CC5-786265A3F9CE}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
+		{7CE54E12-D3D5-878F-9CC5-786265A3F9CE}.DebugDll|Win32.Build.0 = DebugDll|Win32
+		{7CE54E12-D3D5-878F-9CC5-786265A3F9CE}.DebugDoublePrecision|Win32.ActiveCfg = DebugDoublePrecision|Win32
+		{7CE54E12-D3D5-878F-9CC5-786265A3F9CE}.DebugDoublePrecision|Win32.Build.0 = DebugDoublePrecision|Win32
+		{7CE54E12-D3D5-878F-9CC5-786265A3F9CE}.Release|Win32.ActiveCfg = Release|Win32
+		{7CE54E12-D3D5-878F-9CC5-786265A3F9CE}.Release|Win32.Build.0 = Release|Win32
+		{7CE54E12-D3D5-878F-9CC5-786265A3F9CE}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
+		{7CE54E12-D3D5-878F-9CC5-786265A3F9CE}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
+		{7CE54E12-D3D5-878F-9CC5-786265A3F9CE}.ReleaseDoublePrecision|Win32.ActiveCfg = ReleaseDoublePrecision|Win32
+		{7CE54E12-D3D5-878F-9CC5-786265A3F9CE}.ReleaseDoublePrecision|Win32.Build.0 = ReleaseDoublePrecision|Win32
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.Debug|Win32.ActiveCfg = Debug|Win32
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.Debug|Win32.Build.0 = Debug|Win32
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.DebugDll|Win32.Build.0 = DebugDll|Win32
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.DebugDoublePrecision|Win32.ActiveCfg = DebugDoublePrecision|Win32
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.DebugDoublePrecision|Win32.Build.0 = DebugDoublePrecision|Win32
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.Release|Win32.ActiveCfg = Release|Win32
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.Release|Win32.Build.0 = Release|Win32
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.ReleaseDoublePrecision|Win32.ActiveCfg = ReleaseDoublePrecision|Win32
+		{3578834A-4B06-DE6F-78AC-FE11F7226D35}.ReleaseDoublePrecision|Win32.Build.0 = ReleaseDoublePrecision|Win32
+		{67034B5D-16DD-DC97-82F6-23B9E6108940}.Debug|Win32.ActiveCfg = Debug|Win32
+		{67034B5D-16DD-DC97-82F6-23B9E6108940}.Debug|Win32.Build.0 = Debug|Win32
+		{67034B5D-16DD-DC97-82F6-23B9E6108940}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
+		{67034B5D-16DD-DC97-82F6-23B9E6108940}.DebugDll|Win32.Build.0 = DebugDll|Win32
+		{67034B5D-16DD-DC97-82F6-23B9E6108940}.DebugDoublePrecision|Win32.ActiveCfg = DebugDoublePrecision|Win32
+		{67034B5D-16DD-DC97-82F6-23B9E6108940}.DebugDoublePrecision|Win32.Build.0 = DebugDoublePrecision|Win32
+		{67034B5D-16DD-DC97-82F6-23B9E6108940}.Release|Win32.ActiveCfg = Release|Win32
+		{67034B5D-16DD-DC97-82F6-23B9E6108940}.Release|Win32.Build.0 = Release|Win32
+		{67034B5D-16DD-DC97-82F6-23B9E6108940}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
+		{67034B5D-16DD-DC97-82F6-23B9E6108940}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
+		{67034B5D-16DD-DC97-82F6-23B9E6108940}.ReleaseDoublePrecision|Win32.ActiveCfg = ReleaseDoublePrecision|Win32
+		{67034B5D-16DD-DC97-82F6-23B9E6108940}.ReleaseDoublePrecision|Win32.Build.0 = ReleaseDoublePrecision|Win32
+		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.Debug|Win32.ActiveCfg = Debug|Win32
+		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.Debug|Win32.Build.0 = Debug|Win32
+		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
+		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.DebugDll|Win32.Build.0 = DebugDll|Win32
+		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.DebugDoublePrecision|Win32.ActiveCfg = DebugDoublePrecision|Win32
+		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.DebugDoublePrecision|Win32.Build.0 = DebugDoublePrecision|Win32
+		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.Release|Win32.ActiveCfg = Release|Win32
+		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.Release|Win32.Build.0 = Release|Win32
+		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
+		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
+		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.ReleaseDoublePrecision|Win32.ActiveCfg = ReleaseDoublePrecision|Win32
+		{255A379C-F159-5362-4024-D5ADB9F5FBD2}.ReleaseDoublePrecision|Win32.Build.0 = ReleaseDoublePrecision|Win32
+		{2707A1D2-F23C-0C78-B99B-AA148865D6DD}.Debug|Win32.ActiveCfg = Debug|Win32
+		{2707A1D2-F23C-0C78-B99B-AA148865D6DD}.Debug|Win32.Build.0 = Debug|Win32
+		{2707A1D2-F23C-0C78-B99B-AA148865D6DD}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
+		{2707A1D2-F23C-0C78-B99B-AA148865D6DD}.DebugDll|Win32.Build.0 = DebugDll|Win32
+		{2707A1D2-F23C-0C78-B99B-AA148865D6DD}.DebugDoublePrecision|Win32.ActiveCfg = DebugDoublePrecision|Win32
+		{2707A1D2-F23C-0C78-B99B-AA148865D6DD}.DebugDoublePrecision|Win32.Build.0 = DebugDoublePrecision|Win32
+		{2707A1D2-F23C-0C78-B99B-AA148865D6DD}.Release|Win32.ActiveCfg = Release|Win32
+		{2707A1D2-F23C-0C78-B99B-AA148865D6DD}.Release|Win32.Build.0 = Release|Win32
+		{2707A1D2-F23C-0C78-B99B-AA148865D6DD}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
+		{2707A1D2-F23C-0C78-B99B-AA148865D6DD}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
+		{2707A1D2-F23C-0C78-B99B-AA148865D6DD}.ReleaseDoublePrecision|Win32.ActiveCfg = ReleaseDoublePrecision|Win32
+		{2707A1D2-F23C-0C78-B99B-AA148865D6DD}.ReleaseDoublePrecision|Win32.Build.0 = ReleaseDoublePrecision|Win32
+		{7284F809-AF30-6315-88C6-86F1C0798760}.Debug|Win32.ActiveCfg = Debug|Win32
+		{7284F809-AF30-6315-88C6-86F1C0798760}.Debug|Win32.Build.0 = Debug|Win32
+		{7284F809-AF30-6315-88C6-86F1C0798760}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
+		{7284F809-AF30-6315-88C6-86F1C0798760}.DebugDll|Win32.Build.0 = DebugDll|Win32
+		{7284F809-AF30-6315-88C6-86F1C0798760}.DebugDoublePrecision|Win32.ActiveCfg = DebugDoublePrecision|Win32
+		{7284F809-AF30-6315-88C6-86F1C0798760}.DebugDoublePrecision|Win32.Build.0 = DebugDoublePrecision|Win32
+		{7284F809-AF30-6315-88C6-86F1C0798760}.Release|Win32.ActiveCfg = Release|Win32
+		{7284F809-AF30-6315-88C6-86F1C0798760}.Release|Win32.Build.0 = Release|Win32
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+		{7284F809-AF30-6315-88C6-86F1C0798760}.ReleaseDoublePrecision|Win32.ActiveCfg = ReleaseDoublePrecision|Win32
+		{7284F809-AF30-6315-88C6-86F1C0798760}.ReleaseDoublePrecision|Win32.Build.0 = ReleaseDoublePrecision|Win32
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+		{06166AA4-DDAE-0CA9-6D52-DA45A1965B88}.Debug|Win32.Build.0 = Debug|Win32
+		{06166AA4-DDAE-0CA9-6D52-DA45A1965B88}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
+		{06166AA4-DDAE-0CA9-6D52-DA45A1965B88}.DebugDll|Win32.Build.0 = DebugDll|Win32
+		{06166AA4-DDAE-0CA9-6D52-DA45A1965B88}.DebugDoublePrecision|Win32.ActiveCfg = DebugDoublePrecision|Win32
+		{06166AA4-DDAE-0CA9-6D52-DA45A1965B88}.DebugDoublePrecision|Win32.Build.0 = DebugDoublePrecision|Win32
+		{06166AA4-DDAE-0CA9-6D52-DA45A1965B88}.Release|Win32.ActiveCfg = Release|Win32
+		{06166AA4-DDAE-0CA9-6D52-DA45A1965B88}.Release|Win32.Build.0 = Release|Win32
+		{06166AA4-DDAE-0CA9-6D52-DA45A1965B88}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
+		{06166AA4-DDAE-0CA9-6D52-DA45A1965B88}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
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+		{06166AA4-DDAE-0CA9-6D52-DA45A1965B88}.ReleaseDoublePrecision|Win32.Build.0 = ReleaseDoublePrecision|Win32
+		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.Debug|Win32.ActiveCfg = Debug|Win32
+		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.Debug|Win32.Build.0 = Debug|Win32
+		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
+		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.DebugDll|Win32.Build.0 = DebugDll|Win32
+		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.DebugDoublePrecision|Win32.ActiveCfg = DebugDoublePrecision|Win32
+		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.DebugDoublePrecision|Win32.Build.0 = DebugDoublePrecision|Win32
+		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.Release|Win32.ActiveCfg = Release|Win32
+		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.Release|Win32.Build.0 = Release|Win32
+		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
+		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
+		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.ReleaseDoublePrecision|Win32.ActiveCfg = ReleaseDoublePrecision|Win32
+		{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}.ReleaseDoublePrecision|Win32.Build.0 = ReleaseDoublePrecision|Win32
+		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.Debug|Win32.ActiveCfg = Debug|Win32
+		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.Debug|Win32.Build.0 = Debug|Win32
+		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
+		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.DebugDll|Win32.Build.0 = DebugDll|Win32
+		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.DebugDoublePrecision|Win32.ActiveCfg = DebugDoublePrecision|Win32
+		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.DebugDoublePrecision|Win32.Build.0 = DebugDoublePrecision|Win32
+		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.Release|Win32.ActiveCfg = Release|Win32
+		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.Release|Win32.Build.0 = Release|Win32
+		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
+		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
+		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.ReleaseDoublePrecision|Win32.ActiveCfg = ReleaseDoublePrecision|Win32
+		{E70DB92E-C1F5-AE72-F9E2-DB9B4B3DBEC9}.ReleaseDoublePrecision|Win32.Build.0 = ReleaseDoublePrecision|Win32
+		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.Debug|Win32.ActiveCfg = Debug|Win32
+		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.Debug|Win32.Build.0 = Debug|Win32
+		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.DebugDll|Win32.ActiveCfg = DebugDll|Win32
+		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.DebugDll|Win32.Build.0 = DebugDll|Win32
+		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.DebugDoublePrecision|Win32.ActiveCfg = DebugDoublePrecision|Win32
+		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.DebugDoublePrecision|Win32.Build.0 = DebugDoublePrecision|Win32
+		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.Release|Win32.ActiveCfg = Release|Win32
+		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.Release|Win32.Build.0 = Release|Win32
+		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.ReleaseDll|Win32.ActiveCfg = ReleaseDll|Win32
+		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.ReleaseDll|Win32.Build.0 = ReleaseDll|Win32
+		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.ReleaseDoublePrecision|Win32.ActiveCfg = ReleaseDoublePrecision|Win32
+		{F38629D2-EEB2-1A09-FB82-52B8A8DE759B}.ReleaseDoublePrecision|Win32.Build.0 = ReleaseDoublePrecision|Win32
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 	EndGlobalSection
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-		{A0958CD9-0E39-4A77-3711-9B488F508FBF}.Debug.ActiveCfg = Debug|Win32
-		{A0958CD9-0E39-4A77-3711-9B488F508FBF}.Debug.Build.0 = Debug|Win32
-		{A0958CD9-0E39-4A77-3711-9B488F508FBF}.DebugDll.ActiveCfg = DebugDll|Win32
-		{A0958CD9-0E39-4A77-3711-9B488F508FBF}.DebugDll.Build.0 = DebugDll|Win32
-		{A0958CD9-0E39-4A77-3711-9B488F508FBF}.DebugDoublePrecision.ActiveCfg = DebugDoublePrecision|Win32
-		{A0958CD9-0E39-4A77-3711-9B488F508FBF}.DebugDoublePrecision.Build.0 = DebugDoublePrecision|Win32
-	EndGlobalSection
-	GlobalSection(ExtensibilityGlobals) = postSolution
-	EndGlobalSection
-	GlobalSection(ExtensibilityAddIns) = postSolution
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
 	EndGlobalSection
 EndGlobal
diff --git a/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
index a53814bb4..7bdc5c9b8 100644
--- a/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
+++ b/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
@@ -69,7 +69,8 @@ CONCAVE_SHAPES_END_HERE,
 	COMPOUND_SHAPE_PROXYTYPE,
 
 	SOFTBODY_SHAPE_PROXYTYPE,
-
+	HFFLUID_SHAPE_PROXYTYPE,
+	HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE,
 	INVALID_SHAPE_PROXYTYPE,
 
 	MAX_BROADPHASE_COLLISION_TYPES
diff --git a/src/BulletCollision/CollisionDispatch/btCollisionObject.h b/src/BulletCollision/CollisionDispatch/btCollisionObject.h
index fedd69517..4fe361f97 100644
--- a/src/BulletCollision/CollisionDispatch/btCollisionObject.h
+++ b/src/BulletCollision/CollisionDispatch/btCollisionObject.h
@@ -114,10 +114,11 @@ public:
 	{
 		CO_COLLISION_OBJECT =1,
 		CO_RIGID_BODY,
-		CO_SOFT_BODY,
 		///CO_GHOST_OBJECT keeps track of all objects overlapping its AABB and that pass its collision filter
 		///It is useful for collision sensors, explosion objects, character controller etc.
-		CO_GHOST_OBJECT
+		CO_GHOST_OBJECT,
+		CO_SOFT_BODY,
+		CO_HF_FLUID
 	};
 
 	SIMD_FORCE_INLINE bool mergesSimulationIslands() const
diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
index 54f17c95b..f31cbc5ba 100644
--- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
+++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
@@ -338,7 +338,8 @@ int	btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
 	//process some debugging flags
 	if (getDebugDrawer())
 	{
-		gDisableDeactivation = (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0;
+		btIDebugDraw* debugDrawer = getDebugDrawer ();
+		gDisableDeactivation = (debugDrawer->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0;
 	}
 	if (numSimulationSubSteps)
 	{
diff --git a/src/LinearMath/btAlignedAllocator.h b/src/LinearMath/btAlignedAllocator.h
index 87487d75e..150dd7ed2 100644
--- a/src/LinearMath/btAlignedAllocator.h
+++ b/src/LinearMath/btAlignedAllocator.h
@@ -38,7 +38,7 @@ void	btAlignedFreeInternal	(void* ptr,int line,char* filename);
 	void*	btAlignedAllocInternal	(size_t size, int alignment);
 	void	btAlignedFreeInternal	(void* ptr);
 
-	#define btAlignedAlloc(a,b) btAlignedAllocInternal(a,b)
+	#define btAlignedAlloc(size,alignment) btAlignedAllocInternal(size,alignment)
 	#define btAlignedFree(ptr) btAlignedFreeInternal(ptr)
 
 #endif
diff --git a/src/LinearMath/btIDebugDraw.h b/src/LinearMath/btIDebugDraw.h
index 563615a9a..e1cbf9f81 100644
--- a/src/LinearMath/btIDebugDraw.h
+++ b/src/LinearMath/btIDebugDraw.h
@@ -57,6 +57,19 @@ class	btIDebugDraw
 
 	virtual ~btIDebugDraw() {};
 
+	virtual void    drawLine(const btVector3& from,const btVector3& to, const btVector3& fromColor, const btVector3& toColor)
+	{
+		drawLine (from, to, fromColor);
+	}
+
+	virtual void	drawBox (const btVector3& boxMin, const btVector3& boxMax, const btVector3& color, btScalar alpha)
+	{
+	}
+
+	virtual void	drawSphere (const btVector3& p, btScalar radius, const btVector3& color)
+	{
+	}
+
 	virtual void	drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0;
 	
 	virtual	void	drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& /*n0*/,const btVector3& /*n1*/,const btVector3& /*n2*/,const btVector3& color, btScalar alpha)