some doxygen updates, added some comments to classes, fix broken links, rename some prefix some internal GIMPACT collision structures using (for example use GIM_AABB instead of BT_AAABB),

removed obsolete btGjkEpa (it was replaced by btGjkEpa2 ages ago)

src/Bullet-C-Api.h

@@ -38,37 +38,37 @@ typedef plReal	plQuaternion[4];
 extern "C" { 
 #endif
 
-/*	Particular physics SDK */
+/**	Particular physics SDK (C-API) */
 	PL_DECLARE_HANDLE(plPhysicsSdkHandle);
 
-/* 	Dynamics world, belonging to some physics SDK */
+/** 	Dynamics world, belonging to some physics SDK (C-API)*/
 	PL_DECLARE_HANDLE(plDynamicsWorldHandle);
 
-/* Rigid Body that can be part of a Dynamics World */	
+/** Rigid Body that can be part of a Dynamics World (C-API)*/	
 	PL_DECLARE_HANDLE(plRigidBodyHandle);
 
-/* 	Collision Shape/Geometry, property of a Rigid Body */
+/** 	Collision Shape/Geometry, property of a Rigid Body (C-API)*/
 	PL_DECLARE_HANDLE(plCollisionShapeHandle);
 
-/* Constraint for Rigid Bodies */
+/** Constraint for Rigid Bodies (C-API)*/
 	PL_DECLARE_HANDLE(plConstraintHandle);
 
-/* Triangle Mesh interface */
+/** Triangle Mesh interface (C-API)*/
 	PL_DECLARE_HANDLE(plMeshInterfaceHandle);
 
-/* Broadphase Scene/Proxy Handles */
+/** Broadphase Scene/Proxy Handles (C-API)*/
 	PL_DECLARE_HANDLE(plCollisionBroadphaseHandle);
 	PL_DECLARE_HANDLE(plBroadphaseProxyHandle);
 	PL_DECLARE_HANDLE(plCollisionWorldHandle);
 
-/*
+/**
 	Create and Delete a Physics SDK	
 */
 
 	extern	plPhysicsSdkHandle	plNewBulletSdk(); //this could be also another sdk, like ODE, PhysX etc.
 	extern	void		plDeletePhysicsSdk(plPhysicsSdkHandle	physicsSdk);
 
-/* Collision World, not strictly necessary, you can also just create a Dynamics World with Rigid Bodies which internally manages the Collision World with Collision Objects */
+/** Collision World, not strictly necessary, you can also just create a Dynamics World with Rigid Bodies which internally manages the Collision World with Collision Objects */
 
 	typedef void(*btBroadphaseCallback)(void* clientData, void* object1,void* object2);
 

src/BulletCollision/BroadphaseCollision/btAxisSweep3.h

@@ -535,7 +535,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::removeHandle(BP_FP_INT_TYPE handle,bt
 
 	//explicitly remove the pairs containing the proxy
 	//we could do it also in the sortMinUp (passing true)
-	//todo: compare performance
+	///@todo: compare performance
 	if (!m_pairCache->hasDeferredRemoval())
 	{
 		m_pairCache->removeOverlappingPairsContainingProxy(pHandle,dispatcher);

src/BulletCollision/BroadphaseCollision/btDbvt.h

@@ -579,7 +579,7 @@ DBVT_INLINE int			Select(	const btDbvtAabbMm& o,
 {
 #if	DBVT_SELECT_IMPL == DBVT_IMPL_SSE
 	static DBVT_ALIGN const unsigned __int32	mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x7fffffff};
-	// TODO: the intrinsic version is 11% slower
+	///@todo: the intrinsic version is 11% slower
 #if DBVT_USE_INTRINSIC_SSE
 
 	union btSSEUnion ///NOTE: if we use more intrinsics, move btSSEUnion into the LinearMath directory

src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp

@@ -46,7 +46,6 @@ btHashedOverlappingPairCache::btHashedOverlappingPairCache():
 
 btHashedOverlappingPairCache::~btHashedOverlappingPairCache()
 {
-	//todo/test: show we erase/delete data, or is it automatic
 }
 
 
@@ -517,7 +516,6 @@ btSortedOverlappingPairCache::btSortedOverlappingPairCache():
 
 btSortedOverlappingPairCache::~btSortedOverlappingPairCache()
 {
-	//todo/test: show we erase/delete data, or is it automatic
 }
 
 void	btSortedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher)

src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h

@@ -369,7 +369,7 @@ public:
 		btVector3 v = (point - m_bvhAabbMin) * m_bvhQuantization;
 		///Make sure rounding is done in a way that unQuantize(quantizeWithClamp(...)) is conservative
 		///end-points always set the first bit, so that they are sorted properly (so that neighbouring AABBs overlap properly)
-		///todo: double-check this
+		///@todo: double-check this
 		if (isMax)
 		{
 			out[0] = (unsigned short) (((unsigned short)(v.getX()+btScalar(1.)) | 1));

src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp

@@ -115,7 +115,7 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
 		normal *= btScalar(-1.);
 	}
 
-	///todo: move this gContactBreakingThreshold into a proper structure
+	///@todo: move this gContactBreakingThreshold into a proper structure
 	extern btScalar gContactBreakingThreshold;
 
 	btScalar contactMargin = gContactBreakingThreshold;

src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h

@@ -22,7 +22,7 @@ class btPoolAllocator;
 
 ///btCollisionConfiguration allows to configure Bullet collision detection
 ///stack allocator size, default collision algorithms and persistent manifold pool size
-///todo: describe the meaning
+///@todo: describe the meaning
 class	btCollisionConfiguration
 {
 

src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -380,7 +380,7 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 			}
 		} else {
 			BT_PROFILE("rayTestCompound");
-			//todo: use AABB tree or other BVH acceleration structure!
+			///@todo: use AABB tree or other BVH acceleration structure, see btDbvt
 			if (collisionShape->isCompound())
 			{
 				const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
@@ -577,7 +577,7 @@ void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
 				triangleMesh->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal);
 			}
 		} else {
-			//todo: use AABB tree or other BVH acceleration structure!
+			///@todo : use AABB tree or other BVH acceleration structure!
 			if (collisionShape->isCompound())
 			{
 				const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);

src/BulletCollision/CollisionDispatch/btCollisionWorld.h

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  http://bulletphysics.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.
@@ -22,21 +22,21 @@ subject to the following restrictions:
  *
  * Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ).
  *
- * There is the Physics Forum for Feedback and bteral Collision Detection and Physics discussions.
+ * There is the Physics Forum for feedback and general Collision Detection and Physics discussions.
- * Please visit http://www.continuousphysics.com/Bullet/phpBB2/index.php
+ * Please visit http://www.bulletphysics.com
  *
  * @section install_sec Installation
  *
  * @subsection step1 Step 1: Download
- * You can download the Bullet Physics Library from our website: http://www.continuousphysics.com/Bullet/
+ * You can download the Bullet Physics Library from the Google Code repository: http://code.google.com/p/bullet/downloads/list
  * @subsection step2 Step 2: Building
  * Bullet comes with autogenerated Project Files for Microsoft Visual Studio 6, 7, 7.1 and 8.
  * The main Workspace/Solution is located in Bullet/msvc/8/wksbullet.sln (replace 8 with your version).
  * 
- * Under other platforms, like Linux or Mac OS-X, Bullet can be build using either using make, cmake, http://www.cmake.org, or jam, http://www.perforce.com/jam/jam.html . cmake can autogenerate Xcode, KDevelop, MSVC and other build systems. just run cmake . in the root of Bullet.
+ * Under other platforms, like Linux or Mac OS-X, Bullet can be build using either using make, cmake, http://www.cmake.org , or jam, http://www.perforce.com/jam/jam.html . cmake can autogenerate Xcode, KDevelop, MSVC and other build systems. just run cmake . in the root of Bullet.
  * So if you are not using MSVC or cmake, you can run ./autogen.sh ./configure to create both Makefile and Jamfile and then run make or jam.
  * Jam is a build system that can build the library, demos and also autogenerate the MSVC Project Files.
- * If you don't have jam installed, you can make jam from the included jam-2.5 sources, or download jam from ftp://ftp.perforce.com/pub/jam/
+ * If you don't have jam installed, you can make jam from the included jam-2.5 sources, or download jam from ftp://ftp.perforce.com/jam
  * 
  * @subsection step3 Step 3: Testing demos
  * Try to run and experiment with BasicDemo executable as a starting point.

src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp

@@ -38,7 +38,7 @@ subject to the following restrictions:
 
 #include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
 
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
 
 
@@ -122,21 +122,6 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 
 	{
 
-#ifdef USE_BT_GJKEPA
-	btConvexShape*				shape0(static_cast<btConvexShape*>(body0->getCollisionShape()));
-	btConvexShape*				shape1(static_cast<btConvexShape*>(body1->getCollisionShape()));
-	const btScalar				radialmargin(0/*shape0->getMargin()+shape1->getMargin()*/);
-	btGjkEpaSolver::sResults	results;
-	if(btGjkEpaSolver::Collide(	shape0,body0->getWorldTransform(),
-								shape1,body1->getWorldTransform(),
-								radialmargin,results))
-		{
-		dispatchInfo.m_debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
-		resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
-		}
-#else
-
-	
 	
 	btGjkPairDetector::ClosestPointInput input;
 
@@ -154,7 +139,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 	input.m_transformB = body1->getWorldTransform();
 	
 	gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
-#endif
+
 
 	btScalar sepDist = gjkPairDetector.getCachedSeparatingDistance()+dispatchInfo.m_convexConservativeDistanceThreshold;
 

src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp

@@ -17,7 +17,6 @@ subject to the following restrictions:
 
 #include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h"
 #include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
-#include "BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h"
 #include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
 #include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
 #include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h"
@@ -101,12 +100,10 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
 	int maxSize = sizeof(btConvexConvexAlgorithm);
 	int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm);
 	int maxSize3 = sizeof(btCompoundCollisionAlgorithm);
-	int maxSize4 = sizeof(SpuContactManifoldCollisionAlgorithm);
 	int sl = sizeof(btConvexSeparatingDistanceUtil);
 	sl = sizeof(btGjkPairDetector);
 	int	collisionAlgorithmMaxElementSize = btMax(maxSize,maxSize2);
 	collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);
-	collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize4);
 
 	if (constructionInfo.m_stackAlloc)
 	{

src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h

@@ -44,7 +44,7 @@ struct	btDefaultCollisionConstructionInfo
 
 ///btCollisionConfiguration allows to configure Bullet collision detection
 ///stack allocator, pool memory allocators
-///todo: describe the meaning
+///@todo: describe the meaning
 class	btDefaultCollisionConfiguration : public btCollisionConfiguration
 {
 

src/BulletCollision/CollisionDispatch/btGhostObject.h

@@ -118,7 +118,7 @@ public:
 
 
 
-///btGhostPairCache  keeps track of overlapping objects that have AABB overlap with the ghost
+///The btGhostPairCallback interfaces and forwards adding and removal of overlapping pairs from the btBroadphaseInterface to btGhostObject.
 class btGhostPairCallback : public btOverlappingPairCallback
 {
 	

src/BulletCollision/CollisionDispatch/btManifoldResult.cpp

@@ -93,7 +93,7 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
    newPt.m_index0  = m_index0;
    newPt.m_index1  = m_index1;
 	
-	///todo, check this for any side effects
+	///@todo, check this for any side effects
 	if (insertIndex >= 0)
 	{
 		//const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex);

src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp

@@ -262,7 +262,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
 		 btCollisionObject* colObj0 = static_cast<btCollisionObject*>(manifold->getBody0());
 		 btCollisionObject* colObj1 = static_cast<btCollisionObject*>(manifold->getBody1());
 		
-		 //todo: check sleeping conditions!
+		 ///@todo: check sleeping conditions!
 		 if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
 			((colObj1) && colObj1->getActivationState() != ISLAND_SLEEPING))
 		{
@@ -287,9 +287,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
 
 
 
-//
+///@todo: this is random access, it can be walked 'cache friendly'!
-// todo: this is random access, it can be walked 'cache friendly'!
-//
 void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback)
 {
 

src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp

@@ -59,7 +59,7 @@ void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* co
 	SphereTriangleDetector detector(sphere,triangle);
 	
 	btDiscreteCollisionDetectorInterface::ClosestPointInput input;
-	input.m_maximumDistanceSquared = btScalar(1e30);//todo: tighter bounds
+	input.m_maximumDistanceSquared = btScalar(1e30);///@todo: tighter bounds
 	input.m_transformA = sphereObj->getWorldTransform();
 	input.m_transformB = triObj->getWorldTransform();
 

src/BulletCollision/CollisionShapes/btCollisionShape.cpp

@@ -65,7 +65,7 @@ void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const b
 
 	// add linear motion
 	btVector3 linMotion = linvel*timeStep;
-	//todo: simd would have a vector max/min operation, instead of per-element access
+	///@todo: simd would have a vector max/min operation, instead of per-element access
 	if (linMotion.x() > btScalar(0.))
 		temporalAabbMaxx += linMotion.x(); 
 	else

src/BulletCollision/CollisionShapes/btConvexShape.h

@@ -24,8 +24,6 @@ subject to the following restrictions:
 #include "btCollisionMargin.h"
 #include "LinearMath/btAlignedAllocator.h"
 
-//todo: get rid of this btConvexCastResult thing!
-struct btConvexCastResult;
 #define MAX_PREFERRED_PENETRATION_DIRECTIONS 10
 
 /// The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape, btConvexHullShape etc.

src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp

@@ -108,7 +108,7 @@ void	btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargi
 		}
 	}
 	
-	//todo: could do the batch inside the callback!
+	///@todo: could do the batch inside the callback!
 
 
 	for (int j=0;j<numVectors;j++)

src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp

@@ -186,7 +186,7 @@ void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& poi
 
 	btVector3 v = (clampedPoint);// - m_bvhAabbMin) * m_bvhQuantization;
 
-	//TODO: optimization: check out how to removed this btFabs
+	///@todo: optimization: check out how to removed this btFabs
 		
 	out[0] = (int)(v.getX() + v.getX() / btFabs(v.getX())* btScalar(0.5) );
 	out[1] = (int)(v.getY() + v.getY() / btFabs(v.getY())* btScalar(0.5) );

src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp

@@ -35,7 +35,7 @@ btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVec
 
 void	btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
 {
-	//todo: could make recursive use of batching. probably this shape is not used frequently.
+	///@todo: could make recursive use of batching. probably this shape is not used frequently.
 	for (int i=0;i<numVectors;i++)
 	{
 		supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]);

src/BulletCollision/CollisionShapes/btTriangleBuffer.h

@@ -28,7 +28,7 @@ struct	btTriangle
 	int	m_triangleIndex;
 };
 
-///btTriangleBuffer can be useful to collect and store overlapping triangles between AABB and concave objects that support 'processAllTriangles'
+///The btTriangleBuffer callback can be useful to collect and store overlapping triangles between AABB and concave objects that support 'processAllTriangles'
 ///Example usage of this class:
 ///			btTriangleBuffer	triBuf;
 ///			concaveShape->processAllTriangles(&triBuf,aabbMin, aabbMax);

src/BulletCollision/CollisionShapes/btTriangleMesh.cpp

@@ -78,7 +78,7 @@ void	btTriangleMesh::addIndex(int index)
 int	btTriangleMesh::findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices)
 {
 	//return index of new/existing vertex
-	//todo: could use acceleration structure for this
+	///@todo: could use acceleration structure for this
 	if (m_use4componentVertices)
 	{
 		if (removeDuplicateVertices)

src/BulletCollision/Gimpact/btBoxCollision.h

@@ -26,9 +26,6 @@ subject to the following restrictions:
 
 #include "LinearMath/btTransform.h"
 
-/*! \defgroup BOUND_AABB_OPERATIONS
-*/
-//! @{
 
 ///Swap numbers
 #define BT_SWAP_NUMBERS(a,b){ \
@@ -646,6 +643,5 @@ SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btT
 }
 
 
-//! @}
 
 #endif // GIM_BOX_COLLISION_H_INCLUDED

src/BulletCollision/Gimpact/btClipPolygon.h

@@ -27,9 +27,6 @@ subject to the following restrictions:
 #include "LinearMath/btTransform.h"
 #include "LinearMath/btGeometryUtil.h"
 
-/*! \addtogroup GEOMETRIC_OPERATIONS
-*/
-//! @{
 
 SIMD_FORCE_INLINE btScalar bt_distance_point_plane(const btVector4 & plane,const btVector3 &point)
 {
@@ -181,6 +178,5 @@ SIMD_FORCE_INLINE int bt_plane_clip_triangle(
 
 
 
-//! @}
 
 #endif // GIM_TRI_COLLISION_H_INCLUDED

src/BulletCollision/Gimpact/btContactProcessing.cpp

@@ -103,12 +103,12 @@ void btContactArray::merge_contacts(
 
 	push_back(contacts[keycontacts[0].m_value]);
 
-	BT_CONTACT * pcontact = &(*this)[0];
+	GIM_CONTACT * pcontact = &(*this)[0];
 
 	for( i=1;i<keycontacts.size();i++)
 	{
 	    key = keycontacts[i].m_key;
-		const BT_CONTACT * scontact = &contacts[keycontacts[i].m_value];
+		const GIM_CONTACT * scontact = &contacts[keycontacts[i].m_value];
 
 		if(last_key ==  key)//same points
 		{
@@ -158,7 +158,7 @@ void btContactArray::merge_contacts_unique(const btContactArray & contacts)
 		return;
 	}
 
-	BT_CONTACT average_contact = contacts[0];
+	GIM_CONTACT average_contact = contacts[0];
 
 	for (int i=1;i<contacts.size() ;i++ )
 	{

src/BulletCollision/Gimpact/btContactProcessing.h

@@ -29,11 +29,6 @@ subject to the following restrictions:
 #include "btTriangleShapeEx.h"
 
 
-/*! \defgroup CONTACTS
-\brief
-Functions for managing and sorting contacts resulting from a collision query.
-*/
-//! @{
 
 /**
 Configuration var for applying interpolation of  contact normals
@@ -42,8 +37,9 @@ Configuration var for applying interpolation of  contact normals
 
 #define CONTACT_DIFF_EPSILON 0.00001f
 
-/// Structure for collision results
+///The GIM_CONTACT is an internal GIMPACT structure, similar to btManifoldPoint.
-class BT_CONTACT
+///@todo: remove and replace GIM_CONTACT by btManifoldPoint.
+class GIM_CONTACT
 {
 public:
     btVector3 m_point;
@@ -53,11 +49,11 @@ public:
     int m_feature1;//Face number
     int m_feature2;//Face number
 public:
-    BT_CONTACT()
+    GIM_CONTACT()
     {
     }
 
-    BT_CONTACT(const BT_CONTACT & contact):
+    GIM_CONTACT(const GIM_CONTACT & contact):
 				m_point(contact.m_point),
 				m_normal(contact.m_normal),
 				m_depth(contact.m_depth),
@@ -66,7 +62,7 @@ public:
     {
     }
 
-    BT_CONTACT(const btVector3 &point,const btVector3 & normal,
+    GIM_CONTACT(const btVector3 &point,const btVector3 & normal,
     	 			btScalar depth, int feature1, int feature2):
 				m_point(point),
 				m_normal(normal),
@@ -112,7 +108,7 @@ public:
 };
 
 
-class btContactArray:public btAlignedObjectArray<BT_CONTACT>
+class btContactArray:public btAlignedObjectArray<GIM_CONTACT>
 {
 public:
 	btContactArray()
@@ -124,11 +120,11 @@ public:
 		const btVector3 &point,const btVector3 & normal,
 		btScalar depth, int feature1, int feature2)
 	{
-		push_back( BT_CONTACT(point,normal,depth,feature1,feature2) );
+		push_back( GIM_CONTACT(point,normal,depth,feature1,feature2) );
 	}
 
 	SIMD_FORCE_INLINE void push_triangle_contacts(
-		const BT_TRIANGLE_CONTACT & tricontact,
+		const GIM_TRIANGLE_CONTACT & tricontact,
 		int feature1,int feature2)
 	{
 		for(int i = 0;i<tricontact.m_point_count ;i++ )
@@ -145,5 +141,5 @@ public:
 	void merge_contacts_unique(const btContactArray & contacts);
 };
 
-//! @}
+
 #endif // GIM_CONTACT_H_INCLUDED

src/BulletCollision/Gimpact/btGImpactBvh.cpp

@@ -65,7 +65,7 @@ float btGImpactBvh::getAverageTreeCollisionTime()
 /////////////////////// btBvhTree /////////////////////////////////
 
 int btBvhTree::_calc_splitting_axis(
-	BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex)
+	GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex)
 {
 
 	int i;
@@ -97,7 +97,7 @@ int btBvhTree::_calc_splitting_axis(
 
 
 int btBvhTree::_sort_and_calc_splitting_index(
-	BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,
+	GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,
 	int endIndex, int splitAxis)
 {
 	int i;
@@ -158,7 +158,7 @@ int btBvhTree::_sort_and_calc_splitting_index(
 }
 
 
-void btBvhTree::_build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex)
+void btBvhTree::_build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex)
 {
 	int curIndex = m_num_nodes;
 	m_num_nodes++;
@@ -211,7 +211,7 @@ void btBvhTree::_build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, int startIn
 
 //! stackless build tree
 void btBvhTree::build_tree(
-	BT_BVH_DATA_ARRAY & primitive_boxes)
+	GIM_BVH_DATA_ARRAY & primitive_boxes)
 {
 	// initialize node count to 0
 	m_num_nodes = 0;
@@ -236,7 +236,7 @@ void btGImpactBvh::refit()
 		}
 		else
 		{
-			//const BT_BVH_TREE_NODE * nodepointer = get_node_pointer(nodecount);
+			//const GIM_BVH_TREE_NODE * nodepointer = get_node_pointer(nodecount);
 			//get left bound
 			btAABB bound;
 			bound.invalidate();
@@ -266,7 +266,7 @@ void btGImpactBvh::refit()
 void btGImpactBvh::buildSet()
 {
 	//obtain primitive boxes
-	BT_BVH_DATA_ARRAY primitive_boxes;
+	GIM_BVH_DATA_ARRAY primitive_boxes;
 	primitive_boxes.resize(m_primitive_manager->get_primitive_count());
 
 	for (int i = 0;i<primitive_boxes.size() ;i++ )

src/BulletCollision/Gimpact/btGImpactBvh.h

@@ -32,29 +32,23 @@ subject to the following restrictions:
 
 
 
-/*! \defgroup BOX_TREES
-
-
-
-*/
-//! @{
 
 
 //! Overlapping pair
-struct BT_PAIR
+struct GIM_PAIR
 {
     int m_index1;
     int m_index2;
-    BT_PAIR()
+    GIM_PAIR()
     {}
 
-    BT_PAIR(const BT_PAIR & p)
+    GIM_PAIR(const GIM_PAIR & p)
     {
     	m_index1 = p.m_index1;
     	m_index2 = p.m_index2;
 	}
 
-	BT_PAIR(int index1, int index2)
+	GIM_PAIR(int index1, int index2)
     {
     	m_index1 = index1;
     	m_index2 = index2;
@@ -62,7 +56,7 @@ struct BT_PAIR
 };
 
 //! A pairset array
-class btPairSet: public btAlignedObjectArray<BT_PAIR>
+class btPairSet: public btAlignedObjectArray<GIM_PAIR>
 {
 public:
 	btPairSet()
@@ -71,32 +65,32 @@ public:
 	}
 	inline void push_pair(int index1,int index2)
 	{
-		push_back(BT_PAIR(index1,index2));
+		push_back(GIM_PAIR(index1,index2));
 	}
 
 	inline void push_pair_inv(int index1,int index2)
 	{
-		push_back(BT_PAIR(index2,index1));
+		push_back(GIM_PAIR(index2,index1));
 	}
 };
 
 
-
+///GIM_BVH_DATA is an internal GIMPACT collision structure to contain axis aligned bounding box
-struct BT_BVH_DATA
+struct GIM_BVH_DATA
 {
 	btAABB m_bound;
 	int m_data;
 };
 
 //! Node Structure for trees
-class BT_BVH_TREE_NODE
+class GIM_BVH_TREE_NODE
 {
 public:
 	btAABB m_bound;
 protected:
 	int	m_escapeIndexOrDataIndex;
 public:
-	BT_BVH_TREE_NODE()
+	GIM_BVH_TREE_NODE()
 	{
 		m_escapeIndexOrDataIndex = 0;
 	}
@@ -133,12 +127,12 @@ public:
 };
 
 
-class BT_BVH_DATA_ARRAY:public btAlignedObjectArray<BT_BVH_DATA>
+class GIM_BVH_DATA_ARRAY:public btAlignedObjectArray<GIM_BVH_DATA>
 {
 };
 
 
-class BT_BVH_TREE_NODE_ARRAY:public btAlignedObjectArray<BT_BVH_TREE_NODE>
+class GIM_BVH_TREE_NODE_ARRAY:public btAlignedObjectArray<GIM_BVH_TREE_NODE>
 {
 };
 
@@ -150,15 +144,15 @@ class btBvhTree
 {
 protected:
 	int m_num_nodes;
-	BT_BVH_TREE_NODE_ARRAY m_node_array;
+	GIM_BVH_TREE_NODE_ARRAY m_node_array;
 protected:
 	int _sort_and_calc_splitting_index(
-		BT_BVH_DATA_ARRAY & primitive_boxes,
+		GIM_BVH_DATA_ARRAY & primitive_boxes,
 		 int startIndex,  int endIndex, int splitAxis);
 
-	int _calc_splitting_axis(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
+	int _calc_splitting_axis(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
 
-	void _build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
+	void _build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
 public:
 	btBvhTree()
 	{
@@ -167,7 +161,7 @@ public:
 
 	//! prototype functions for box tree management
 	//!@{
-	void build_tree(BT_BVH_DATA_ARRAY & primitive_boxes);
+	void build_tree(GIM_BVH_DATA_ARRAY & primitive_boxes);
 
 	SIMD_FORCE_INLINE void clearNodes()
 	{
@@ -218,7 +212,7 @@ public:
 		return m_node_array[nodeindex].getEscapeIndex();
 	}
 
-	SIMD_FORCE_INLINE const BT_BVH_TREE_NODE * get_node_pointer(int index = 0) const
+	SIMD_FORCE_INLINE const GIM_BVH_TREE_NODE * get_node_pointer(int index = 0) const
 	{
 		return &m_node_array[index];
 	}
@@ -382,12 +376,11 @@ public:
 	}
 
 
-	SIMD_FORCE_INLINE const BT_BVH_TREE_NODE * get_node_pointer(int index = 0) const
+	SIMD_FORCE_INLINE const GIM_BVH_TREE_NODE * get_node_pointer(int index = 0) const
 	{
 		return m_box_tree.get_node_pointer(index);
 	}
 
-//! @}
 
 	static float getAverageTreeCollisionTime();
 

src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp

@@ -404,7 +404,7 @@ void btGImpactCollisionAlgorithm::collide_sat_triangles(btCollisionObject * body
 
 	btPrimitiveTriangle ptri0;
 	btPrimitiveTriangle ptri1;
-	BT_TRIANGLE_CONTACT contact_data;
+	GIM_TRIANGLE_CONTACT contact_data;
 
 	shape0->lockChildShapes();
 	shape1->lockChildShapes();
@@ -540,7 +540,7 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
 	int i = pairset.size();
 	while(i--)
 	{
-		BT_PAIR * pair = &pairset[i];
+		GIM_PAIR * pair = &pairset[i];
 		m_triface0 = pair->m_index1;
 		m_triface1 = pair->m_index2;
 		btCollisionShape * colshape0 = retriever0.getChildShape(m_triface0);

src/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp

@@ -67,7 +67,7 @@ float btGImpactQuantizedBvh::getAverageTreeCollisionTime()
 /////////////////////// btQuantizedBvhTree /////////////////////////////////
 
 void btQuantizedBvhTree::calc_quantization(
-	BT_BVH_DATA_ARRAY & primitive_boxes, btScalar boundMargin)
+	GIM_BVH_DATA_ARRAY & primitive_boxes, btScalar boundMargin)
 {
 	//calc globa box
 	btAABB global_bound;
@@ -86,7 +86,7 @@ void btQuantizedBvhTree::calc_quantization(
 
 
 int btQuantizedBvhTree::_calc_splitting_axis(
-	BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex)
+	GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex)
 {
 
 	int i;
@@ -118,7 +118,7 @@ int btQuantizedBvhTree::_calc_splitting_axis(
 
 
 int btQuantizedBvhTree::_sort_and_calc_splitting_index(
-	BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,
+	GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,
 	int endIndex, int splitAxis)
 {
 	int i;
@@ -179,7 +179,7 @@ int btQuantizedBvhTree::_sort_and_calc_splitting_index(
 }
 
 
-void btQuantizedBvhTree::_build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex)
+void btQuantizedBvhTree::_build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex)
 {
 	int curIndex = m_num_nodes;
 	m_num_nodes++;
@@ -232,7 +232,7 @@ void btQuantizedBvhTree::_build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, in
 
 //! stackless build tree
 void btQuantizedBvhTree::build_tree(
-	BT_BVH_DATA_ARRAY & primitive_boxes)
+	GIM_BVH_DATA_ARRAY & primitive_boxes)
 {
 	calc_quantization(primitive_boxes);
 	// initialize node count to 0
@@ -258,7 +258,7 @@ void btGImpactQuantizedBvh::refit()
 		}
 		else
 		{
-			//const BT_BVH_TREE_NODE * nodepointer = get_node_pointer(nodecount);
+			//const GIM_BVH_TREE_NODE * nodepointer = get_node_pointer(nodecount);
 			//get left bound
 			btAABB bound;
 			bound.invalidate();
@@ -288,7 +288,7 @@ void btGImpactQuantizedBvh::refit()
 void btGImpactQuantizedBvh::buildSet()
 {
 	//obtain primitive boxes
-	BT_BVH_DATA_ARRAY primitive_boxes;
+	GIM_BVH_DATA_ARRAY primitive_boxes;
 	primitive_boxes.resize(m_primitive_manager->get_primitive_count());
 
 	for (int i = 0;i<primitive_boxes.size() ;i++ )

src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h

@@ -29,12 +29,6 @@ subject to the following restrictions:
 
 
 
-/*! \defgroup BOX_TREES
-
-
-
-*/
-//! @{
 
 
 ///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
@@ -100,7 +94,7 @@ ATTRIBUTE_ALIGNED16	(struct) BT_QUANTIZED_BVH_NODE
 
 
 
-class BT_QUANTIZED_BVH_NODE_ARRAY:public btAlignedObjectArray<BT_QUANTIZED_BVH_NODE>
+class GIM_QUANTIZED_BVH_NODE_ARRAY:public btAlignedObjectArray<BT_QUANTIZED_BVH_NODE>
 {
 };
 
@@ -112,19 +106,19 @@ class btQuantizedBvhTree
 {
 protected:
 	int m_num_nodes;
-	BT_QUANTIZED_BVH_NODE_ARRAY m_node_array;
+	GIM_QUANTIZED_BVH_NODE_ARRAY m_node_array;
 	btAABB m_global_bound;
 	btVector3 m_bvhQuantization;
 protected:
-	void calc_quantization(BT_BVH_DATA_ARRAY & primitive_boxes, btScalar boundMargin = btScalar(1.0) );
+	void calc_quantization(GIM_BVH_DATA_ARRAY & primitive_boxes, btScalar boundMargin = btScalar(1.0) );
 
 	int _sort_and_calc_splitting_index(
-		BT_BVH_DATA_ARRAY & primitive_boxes,
+		GIM_BVH_DATA_ARRAY & primitive_boxes,
 		 int startIndex,  int endIndex, int splitAxis);
 
-	int _calc_splitting_axis(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
+	int _calc_splitting_axis(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
 
-	void _build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
+	void _build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
 public:
 	btQuantizedBvhTree()
 	{
@@ -133,7 +127,7 @@ public:
 
 	//! prototype functions for box tree management
 	//!@{
-	void build_tree(BT_BVH_DATA_ARRAY & primitive_boxes);
+	void build_tree(GIM_BVH_DATA_ARRAY & primitive_boxes);
 
 	SIMD_FORCE_INLINE void quantizePoint(
 		unsigned short * quantizedpoint, const btVector3 & point) const
@@ -365,7 +359,6 @@ public:
 		return m_box_tree.get_node_pointer(index);
 	}
 
-//! @}
 
 	static float getAverageTreeCollisionTime();
 

src/BulletCollision/Gimpact/btGenericPoolAllocator.cpp

@@ -251,16 +251,16 @@ bool btGenericPoolAllocator::freeMemory(void * pointer)
 #define BT_DEFAULT_POOL_ELEMENT_SIZE 8
 
 // main allocator
-class BT_STANDARD_ALLOCATOR: public btGenericPoolAllocator
+class GIM_STANDARD_ALLOCATOR: public btGenericPoolAllocator
 {
 public:
-	BT_STANDARD_ALLOCATOR():btGenericPoolAllocator(BT_DEFAULT_POOL_ELEMENT_SIZE,BT_DEFAULT_POOL_SIZE)
+	GIM_STANDARD_ALLOCATOR():btGenericPoolAllocator(BT_DEFAULT_POOL_ELEMENT_SIZE,BT_DEFAULT_POOL_SIZE)
 	{
 	}
 };
 
 // global allocator
-BT_STANDARD_ALLOCATOR g_main_allocator;
+GIM_STANDARD_ALLOCATOR g_main_allocator;
 
 
 void * btPoolAlloc(size_t size)

src/BulletCollision/Gimpact/btGenericPoolAllocator.h

@@ -155,14 +155,9 @@ public:
 
 
 
-/*! \defgroup POOL_MEMORY_FUNCTIONS
-standar managed Memory functions. Memory pools are used.
-*/
-//! @{
 void * btPoolAlloc(size_t size);
 void * btPoolRealloc(void *ptr, size_t oldsize, size_t newsize);
 void btPoolFree(void *ptr);
-//! @}
 
 
 #endif

src/BulletCollision/Gimpact/btGeometryOperations.h

@@ -29,9 +29,6 @@ subject to the following restrictions:
 
 
 
-/*! \defgroup GEOMETRIC_OPERATIONS
-*/
-//! @{
 
 
 #define PLANEDIREPSILON 0.0000001f
@@ -210,7 +207,6 @@ SIMD_FORCE_INLINE void bt_segment_collision(
 
 
 
-//! @}
 
 
 #endif // GIM_VECTOR_H_INCLUDED

src/BulletCollision/Gimpact/btQuantization.h

@@ -29,9 +29,6 @@ subject to the following restrictions:
 
 
 
-/*! \defgroup GEOMETRIC_OPERATIONS
-*/
-//! @{
 
 
 
@@ -86,7 +83,6 @@ SIMD_FORCE_INLINE btVector3 bt_unquantize(
 	return vecOut;
 }
 
-//! @}
 
 
 #endif // GIM_VECTOR_H_INCLUDED

src/BulletCollision/Gimpact/btTriangleShapeEx.cpp

@@ -25,7 +25,7 @@ subject to the following restrictions:
 
 
 
-void BT_TRIANGLE_CONTACT::merge_points(const btVector4 & plane,
+void GIM_TRIANGLE_CONTACT::merge_points(const btVector4 & plane,
                                        btScalar margin, const btVector3 * points, int point_count)
 {
     m_point_count = 0;
@@ -123,7 +123,7 @@ int btPrimitiveTriangle::clip_triangle(btPrimitiveTriangle & other, btVector3 *
     return clipped_count;
 }
 
-bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangle & other, BT_TRIANGLE_CONTACT & contacts)
+bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangle & other, GIM_TRIANGLE_CONTACT & contacts)
 {
     btScalar margin = m_margin + other.m_margin;
 
@@ -132,7 +132,7 @@ bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangl
     //create planes
     // plane v vs U points
 
-    BT_TRIANGLE_CONTACT contacts1;
+    GIM_TRIANGLE_CONTACT contacts1;
 
     contacts1.m_separating_normal = m_plane;
 
@@ -152,7 +152,7 @@ bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangl
 
 
     //Clip tri1 by tri2 edges
-    BT_TRIANGLE_CONTACT contacts2;
+    GIM_TRIANGLE_CONTACT contacts2;
     contacts2.m_separating_normal = other.m_plane;
 
     clipped_count = other.clip_triangle(*this,clipped_points);

src/BulletCollision/Gimpact/btTriangleShapeEx.h

@@ -35,14 +35,14 @@ subject to the following restrictions:
 #define MAX_TRI_CLIPPING 16
 
 //! Structure for collision
-struct BT_TRIANGLE_CONTACT
+struct GIM_TRIANGLE_CONTACT
 {
     btScalar m_penetration_depth;
     int m_point_count;
     btVector4 m_separating_normal;
     btVector3 m_points[MAX_TRI_CLIPPING];
 
-	SIMD_FORCE_INLINE void copy_from(const BT_TRIANGLE_CONTACT& other)
+	SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT& other)
 	{
 		m_penetration_depth = other.m_penetration_depth;
 		m_separating_normal = other.m_separating_normal;
@@ -54,11 +54,11 @@ struct BT_TRIANGLE_CONTACT
 		}
 	}
 
-	BT_TRIANGLE_CONTACT()
+	GIM_TRIANGLE_CONTACT()
 	{
 	}
 
-	BT_TRIANGLE_CONTACT(const BT_TRIANGLE_CONTACT& other)
+	GIM_TRIANGLE_CONTACT(const GIM_TRIANGLE_CONTACT& other)
 	{
 		copy_from(other);
 	}
@@ -123,7 +123,7 @@ public:
 	/*!
 	\pre this triangle and other must have their triangles calculated
 	*/
-    bool find_triangle_collision_clip_method(btPrimitiveTriangle & other, BT_TRIANGLE_CONTACT & contacts);
+    bool find_triangle_collision_clip_method(btPrimitiveTriangle & other, GIM_TRIANGLE_CONTACT & contacts);
 };
 
 

src/BulletCollision/Gimpact/gim_array.h

@@ -34,11 +34,6 @@ email: projectileman@yahoo.com
 
 #include "gim_memory.h"
 
-/*! \addtogroup CONTAINERS
-\brief
-Abstract class for template containers
-*/
-//! @{
 
 #define GIM_ARRAY_GROW_INCREMENT 2
 #define GIM_ARRAY_GROW_FACTOR 2
@@ -321,11 +316,10 @@ public:
 	{
 	    resizeData(m_size);
 	}
-//!@}
+
 };
 
 
-//! @}
 
 
 

src/BulletCollision/Gimpact/gim_basic_geometry_operations.h

@@ -40,9 +40,6 @@ email: projectileman@yahoo.com
 
 
 
-/*! \defgroup GEOMETRIC_OPERATIONS
-*/
-//! @{
 
 
 #define PLANEDIREPSILON 0.0000001f
@@ -541,7 +538,6 @@ SIMD_FORCE_INLINE void SORT_3_INDICES(
 
 
 
-//! @}
 
 
 #endif // GIM_VECTOR_H_INCLUDED

src/BulletCollision/Gimpact/gim_bitset.h

@@ -34,11 +34,6 @@ email: projectileman@yahoo.com
 
 #include "gim_array.h"
 
-/*! \addtogroup CONTAINERS
-\brief
-Abstract class for template containers
-*/
-//! @{
 
 #define GUINT_BIT_COUNT 32
 #define GUINT_EXPONENT 5
@@ -122,7 +117,6 @@ public:
 };
 
 
-//! @}
 
 
 

src/BulletCollision/Gimpact/gim_box_collision.h

@@ -35,9 +35,6 @@ email: projectileman@yahoo.com
 #include "gim_basic_geometry_operations.h"
 #include "LinearMath/btTransform.h"
 
-/*! \defgroup BOUND_AABB_OPERATIONS
-*/
-//! @{
 
 
 //SIMD_FORCE_INLINE bool test_cross_edge_box(
@@ -589,6 +586,5 @@ SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btT
 }
 
 
-//! @}
 
 #endif // GIM_BOX_COLLISION_H_INCLUDED

src/BulletCollision/Gimpact/gim_box_set.h

@@ -40,12 +40,6 @@ email: projectileman@yahoo.com
 #include "gim_tri_collision.h"
 
 
-/*! \defgroup BOX_PRUNNING
-
-
-
-*/
-//! @{
 
 //! Overlapping pair
 struct GIM_PAIR
@@ -446,7 +440,6 @@ public:
 		m_primitive_manager.get_primitive_triangle(getNodeData(nodeindex),triangle);
 	}
 
-//! @}
 };
 
 //! Class for Box Tree Sets

src/BulletCollision/Gimpact/gim_clip_polygon.h

@@ -33,9 +33,6 @@ email: projectileman@yahoo.com
 -----------------------------------------------------------------------------
 */
 
-/*! \addtogroup GEOMETRIC_OPERATIONS
-*/
-//! @{
 
 //! This function calcs the distance from a 3D plane
 class DISTANCE_PLANE_3D_FUNC
@@ -209,6 +206,5 @@ SIMD_FORCE_INLINE GUINT PLANE_CLIP_TRIANGLE3D(
 }
 
 
-//! @}
 
 #endif // GIM_TRI_COLLISION_H_INCLUDED

src/BulletCollision/Gimpact/gim_contact.h

@@ -36,17 +36,6 @@ email: projectileman@yahoo.com
 #include "gim_radixsort.h"
 #include "gim_array.h"
 
-/*! \defgroup CONTACTS
-\brief
-Functions for managing and sorting contacts resulting from a collision query.
-<ul>
-<li> Contact lists must be create by calling \ref GIM_CREATE_CONTACT_LIST
-<li> After querys, contact lists must be destroy by calling \ref GIM_DYNARRAY_DESTROY
-<li> Contacts can be merge for avoid duplicate results by calling \ref gim_merge_contacts
-</ul>
-
-*/
-//! @{
 
 /**
 Configuration var for applying interpolation of  contact normals
@@ -55,6 +44,10 @@ Configuration var for applying interpolation of  contact normals
 #define CONTACT_DIFF_EPSILON 0.00001f
 
 /// Structure for collision results
+///Functions for managing and sorting contacts resulting from a collision query.
+///Contact lists must be create by calling \ref GIM_CREATE_CONTACT_LIST
+///After querys, contact lists must be destroy by calling \ref GIM_DYNARRAY_DESTROY
+///Contacts can be merge for avoid duplicate results by calling \ref gim_merge_contacts
 class GIM_CONTACT
 {
 public:
@@ -168,5 +161,4 @@ public:
 	void merge_contacts_unique(const gim_contact_array & contacts);
 };
 
-//! @}
 #endif // GIM_CONTACT_H_INCLUDED

src/BulletCollision/Gimpact/gim_geom_types.h

@@ -36,11 +36,7 @@ email: projectileman@yahoo.com
 
 #include "gim_math.h"
 
-/*! \defgroup GEOMETRIC_TYPES
+
-\brief
-Basic types and constants for geometry
-*/
-//! @{
 
 //! Short Integer vector 2D
 typedef GSHORT vec2s[2];
@@ -95,7 +91,6 @@ typedef GREAL mat4f[4][4];
 typedef GREAL quatf[4];
 
 //typedef struct _aabb3f aabb3f;
-//! @}
 
 
 

src/BulletCollision/Gimpact/gim_hash_table.h

@@ -34,11 +34,6 @@ email: projectileman@yahoo.com
 
 #include "gim_radixsort.h"
 
-/*! \addtogroup CONTAINERS
-\brief
-Abstract class for collision objects
-*/
-//! @{
 
 #define GIM_INVALID_HASH 0xffffffff //!< A very very high value
 #define GIM_DEFAULT_HASH_TABLE_SIZE 380
@@ -204,12 +199,7 @@ protected:
     //SuperBufferedArray< _node_type > m_nodes;
     bool m_sorted;
 
-    /*! \defgroup HASH_TABLE_STRUCTURES
+    ///Hash table data management. The hash table has the indices to the corresponding m_nodes array
-    \brief
-    Hash table data management. The hash table has the indices to the corresponding m_nodes array
-    */
-    //! @{
-
     GUINT * m_hash_table;//!<
     GUINT m_table_size;//!<
     GUINT m_node_size;//!<
@@ -459,13 +449,8 @@ protected:
 
     }
 
-    //! @}
+    
-
+    ///Sorted array data management. The hash table has the indices to the corresponding m_nodes array
-    /*! \defgroup SORTED_ARRAY_STRUCTURES
-    \brief
-    Sorted array data management. The hash table has the indices to the corresponding m_nodes array
-    */
-    //! @{
     inline bool _erase_sorted(GUINT index)
     {
         if(index>=(GUINT)m_nodes.size()) return false;
@@ -575,8 +560,7 @@ protected:
         return GIM_INVALID_HASH;
     }
 
-    //! @}
+    
-
 
 public:
 
@@ -913,8 +897,6 @@ public:
 
 };
 
-//! @}
-
 
 
 #endif // GIM_CONTAINERS_H_INCLUDED

src/BulletCollision/Gimpact/gim_linear_math.h

@@ -40,11 +40,6 @@ email: projectileman@yahoo.com
 
 
 
-/*! \defgroup VECTOR_OPERATIONS
-T
-Operations for vectors : vec2f,vec3f and vec4f
-*/
-//! @{
 
 //! Zero out a 2D vector
 #define VEC_ZERO_2(a)				\
@@ -446,13 +441,8 @@ Takes two vectors a, b, blends them together with s <=1 */
 
 
 
-//! @}
 
 
-/*! \defgroup MATRIX_OPERATIONS
-Operations for matrices : mat2f, mat3f and mat4f
-*/
-//! @{
 
 /// initialize matrix
 #define IDENTIFY_MATRIX_3X3(m)			\
@@ -1579,6 +1569,5 @@ and m is a mat4f<br>
 }\
 
 
-//! @}
 
 #endif // GIM_VECTOR_H_INCLUDED

src/BulletCollision/Gimpact/gim_math.h

@@ -35,13 +35,6 @@ email: projectileman@yahoo.com
 #include "LinearMath/btScalar.h"
 
 
-/*! \defgroup BASIC_TYPES
-Basic types and constants
-Conventions:
-Types starting with G
-Constants starting with G_
-*/
-//! @{
 
 #define GREAL btScalar
 #define GREAL2 double
@@ -52,15 +45,7 @@ Constants starting with G_
 #define GINT64 long long
 #define GUINT64 unsigned long long
 
-//! @}
 
-/*! \defgroup BASIC_CONSTANTS
-Basic constants
-Conventions:
-Types starting with G
-Constants starting with G_
-*/
-//! @{
 
 #define G_PI 3.14159265358979f
 #define G_HALF_PI 1.5707963f
@@ -73,14 +58,9 @@ Constants starting with G_
 #define G_REAL_INFINITY FLT_MAX
 #define	G_SIGN_BITMASK			0x80000000
 #define G_EPSILON SIMD_EPSILON
-//! @}
 
 
-/*! \defgroup SCALAR_TYPES
+
-\brief
-Precision type constants
-*/
-//! @{
 enum GIM_SCALAR_TYPES
 {
 	G_STYPE_REAL =0,
@@ -92,12 +72,8 @@ enum GIM_SCALAR_TYPES
 	G_STYPE_INT64,
 	G_STYPE_UINT64
 };
-//! @}
 
-/*! \defgroup MATH_FUNCTIONS
+
-mathematical functions
-*/
-//! @{
 
 #define G_DEGTORAD(X) ((X)*3.1415926f/180.0f)
 #define G_RADTODEG(X) ((X)*180.0f/3.1415926f)
@@ -176,6 +152,6 @@ inline GREAL gim_sqrt(GREAL f)
     return r;
 }
 
-//! @}
+
 
 #endif // GIM_MATH_H_INCLUDED

src/BulletCollision/Gimpact/gim_memory.h

@@ -36,9 +36,6 @@ email: projectileman@yahoo.com
 #include "gim_math.h"
 #include <memory.h>
 
-//#define PREFETCH 1
-//! \defgroup PREFETCH
-//! @{
 #ifdef PREFETCH
 #include <xmmintrin.h>	// for prefetch
 #define pfval	64
@@ -53,13 +50,9 @@ email: projectileman@yahoo.com
 //! Prefetch 128
 #define pf2(_x,_i)
 #endif
-//! @}
 
-/*! \defgroup ARRAY_UTILITIES
+
-\brief
+///Functions for manip packed arrays of numbers
-Functions for manip packed arrays of numbers
-*/
-//! @{
 #define GIM_COPY_ARRAYS(dest_array,source_array,element_count)\
 {\
     for (GUINT _i_=0;_i_<element_count ;++_i_)\
@@ -92,50 +85,36 @@ Functions for manip packed arrays of numbers
     	array[_i_] = constant;\
     }\
 }\
-//! @}
 
-/*! \defgroup MEMORY_FUNCTION_PROTOTYPES
+
-Function prototypes to allocate and free memory.
+///Function prototypes to allocate and free memory.
-*/
-//! @{
 typedef void * gim_alloc_function (size_t size);
 typedef void * gim_alloca_function (size_t size);//Allocs on the heap
 typedef void * gim_realloc_function (void *ptr, size_t oldsize, size_t newsize);
 typedef void gim_free_function (void *ptr);
-//! @}
 
-/*! \defgroup MEMORY_FUNCTION_HANDLERS
+
-\brief
+///Memory Function Handlers
-Memory Function Handlers
+///set new memory management functions. if fn is 0, the default handlers are used.
- set new memory management functions. if fn is 0, the default handlers are
-  used. */
-//! @{
 void gim_set_alloc_handler (gim_alloc_function *fn);
 void gim_set_alloca_handler (gim_alloca_function *fn);
 void gim_set_realloc_handler (gim_realloc_function *fn);
 void gim_set_free_handler (gim_free_function *fn);
-//! @}
 
-/*! \defgroup MEMORY_FUNCTION_GET_HANDLERS
+
-\brief
+///get current memory management functions.
-get current memory management functions.
-*/
-//! @{
 gim_alloc_function *gim_get_alloc_handler (void);
 gim_alloca_function *gim_get_alloca_handler(void);
 gim_realloc_function *gim_get_realloc_handler (void);
 gim_free_function  *gim_get_free_handler (void);
-//! @}
 
-/*! \defgroup MEMORY_FUNCTIONS
+
-Standar Memory functions
+///Standar Memory functions
-*/
-//! @{
 void * gim_alloc(size_t size);
 void * gim_alloca(size_t size);
 void * gim_realloc(void *ptr, size_t oldsize, size_t newsize);
 void gim_free(void *ptr);
-//! @}
+
 
 
 #if defined (WIN32) && !defined(__MINGW32__) && !defined(__CYGWIN__)

src/BulletCollision/Gimpact/gim_radixsort.h

@@ -36,11 +36,7 @@ email: projectileman@yahoo.com
 
 #include "gim_memory.h"
 
-/*! \defgroup SORTING
+///Macros for sorting.
-\brief
-Macros for sorting.
-*/
-
 //! Prototype for comparators
 class less_comparator
 {
@@ -406,5 +402,5 @@ void gim_heap_sort(T *pArr, GUINT element_count, COMP_CLASS CompareFunc)
 
 
 
-//! @}
+
 #endif // GIM_RADIXSORT_H_INCLUDED

src/BulletCollision/Gimpact/gim_tri_collision.cpp

@@ -38,7 +38,7 @@ email: projectileman@yahoo.com
 #define MIN_EDGE_EDGE_DIS 0.00001f
 
 
-class _GIM_TRIANGLE_CALCULATION_CACHE
+class GIM_TRIANGLE_CALCULATION_CACHE
 {
 public:
 	GREAL margin;	
@@ -489,7 +489,7 @@ public:
 };
 
 
-/*class _GIM_TRIANGLE_CALCULATION_CACHE
+/*class GIM_TRIANGLE_CALCULATION_CACHE
 {
 public:
 	GREAL margin;
@@ -627,7 +627,7 @@ bool GIM_TRIANGLE::collide_triangle_hard_test(
 		const GIM_TRIANGLE & other,
 		GIM_TRIANGLE_CONTACT_DATA & contact_data) const
 {
-	_GIM_TRIANGLE_CALCULATION_CACHE calc_cache;	
+	GIM_TRIANGLE_CALCULATION_CACHE calc_cache;	
 	return calc_cache.triangle_collision(
 					m_vertices[0],m_vertices[1],m_vertices[2],m_margin,
 					other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],other.m_margin,

src/BulletCollision/Gimpact/gim_tri_collision.h

@@ -36,9 +36,6 @@ email: projectileman@yahoo.com
 #include "gim_box_collision.h"
 #include "gim_clip_polygon.h"
 
-/*! \addtogroup GEOMETRIC_OPERATIONS
-*/
-//! @{
 
 
 
@@ -378,6 +375,5 @@ if 0.0<= u+v <=1.0 then they are inside of triangle
 
 
 
-//! @}
 
 #endif // GIM_TRI_COLLISION_H_INCLUDED

src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp

@@ -1,628 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the
-use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it
-freely,
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not
-claim that you wrote the original software. If you use this software in a
-product, an acknowledgment in the product documentation would be appreciated
-but is not required.
-2. Altered source versions must be plainly marked as such, and must not be
-misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/*
-GJK-EPA collision solver by Nathanael Presson
-Nov.2006
-*/
-
-#include "btGjkEpa.h"
-#include <string.h> //for memset
-#include "LinearMath/btStackAlloc.h"
-
-#if defined(DEBUG) || defined (_DEBUG)
-#include <stdio.h> //for debug printf
-#ifdef __SPU__
-#include <spu_printf.h>
-#define printf spu_printf
-#endif //__SPU__
-#endif
-
-namespace gjkepa_impl
-{
-
-//
-// Port. typedefs
-//
-
-typedef	btScalar		F;
-typedef bool			Z;
-typedef int				I;
-typedef unsigned int	U;
-typedef unsigned char	U1;
-typedef unsigned short	U2;
-
-typedef btVector3		Vector3;
-typedef btMatrix3x3		Rotation;
-
-//
-// Config
-//
-
-#if 0
-#define BTLOCALSUPPORT	localGetSupportingVertexWithoutMargin
-#else
-#define BTLOCALSUPPORT	localGetSupportingVertex
-#endif
-
-//
-// Const
-//
-
-
-#define cstInf				SIMD_INFINITY
-#define cstPi				SIMD_PI
-#define	cst2Pi				SIMD_2_PI
-#define GJK_maxiterations	(128)
-#define GJK_hashsize		(1<<6)
-#define GJK_hashmask		(GJK_hashsize-1)
-#define GJK_insimplex_eps	F(0.0001)
-#define GJK_sqinsimplex_eps	(GJK_insimplex_eps*GJK_insimplex_eps)
-#define EPA_maxiterations	256
-#define	EPA_inface_eps		F(0.01)
-#define EPA_accuracy		F(0.001)
-
-//
-// Utils
-//
-
-static inline F								Abs(F v)					{ return(v<0?-v:v); }
-static inline F								Sign(F v)					{ return(F(v<0?-1:1)); }
-template <typename T> static inline void	Swap(T& a,T& b)				{ T 
-t(a);a=b;b=t; }
-template <typename T> static inline T		Min(const T& a,const T& b)	{ 
-return(a<b?a:b); }
-template <typename T> static inline T		Max(const T& a,const T& b)	{ 
-return(a>b?a:b); }
-static inline void							ClearMemory(void* p,U sz)	{ memset(p,0,(size_t)sz); 
-}
-#if 0
-template <typename T> static inline void	Raise(const T& object)		{
-throw(object); }
-#else
-template <typename T> static inline void	Raise(const T&)				{}
-#endif
-
-
-
-//
-// GJK
-//
-struct	GJK
-	{
-	struct Mkv
-		{
-		Vector3	w;		/* Minkowski vertice	*/
-		Vector3	r;		/* Ray					*/
-		};
-	struct He
-		{
-		Vector3	v;
-		He*		n;
-		};
-	btStackAlloc*				sa;
-	btBlock*		sablock;
-	He*						table[GJK_hashsize];
-	Rotation				wrotations[2];
-	Vector3					positions[2];
-	const btConvexShape*	shapes[2];
-	Mkv						simplex[5];
-	Vector3					ray;
-	U						order;
-	U						iterations;
-	F						margin;
-	Z						failed;
-	//
-					GJK(btStackAlloc* psa,
-						const Rotation& wrot0,const Vector3& pos0,const btConvexShape* shape0,
-						const Rotation& wrot1,const Vector3& pos1,const btConvexShape* shape1,
-						F pmargin=0)
-		{
-		wrotations[0]=wrot0;positions[0]=pos0;shapes[0]=shape0;
-		wrotations[1]=wrot1;positions[1]=pos1;shapes[1]=shape1;
-		sa		=psa;
-		sablock	=sa->beginBlock();
-		margin	=pmargin;
-		failed	=false;
-		}
-	//
-					~GJK()
-		{
-		sa->endBlock(sablock);
-		}
-	// vdh : very dumm hash
-	static inline U	Hash(const Vector3& v)
-		{
-		//this doesn't compile under GCC 3.3.5, so add the ()...
-		//const U	h(U(v[0]*15461)^U(v[1]*83003)^U(v[2]*15473));
-		//return(((*((const U*)&h))*169639)&GJK_hashmask);
-	    const U h((U)(v[0]*15461)^(U)(v[1]*83003)^(U)(v[2]*15473));
-	    return(((*((const U*)&h))*169639)&GJK_hashmask);
-		}
-	//
-	inline Vector3	LocalSupport(const Vector3& d,U i) const
-		{
-		return(wrotations[i]*shapes[i]->BTLOCALSUPPORT(d*wrotations[i])+positions[i]);
-		}
-	//
-	inline void		Support(const Vector3& d,Mkv& v) const
-		{
-		v.r	=	d;
-		v.w	=	LocalSupport(d,0)-LocalSupport(-d,1)+d*margin;
-		}
-	#define SPX(_i_)	simplex[_i_]
-	#define SPXW(_i_)	simplex[_i_].w
-	//
-	inline Z		FetchSupport()
-		{
-		const U			h(Hash(ray));
-		He*				e = (He*)(table[h]);
-		while(e) { if(e->v==ray) { --order;return(false); } else e=e->n; }
-		e=(He*)sa->allocate(sizeof(He));e->v=ray;e->n=table[h];table[h]=e;
-		Support(ray,simplex[++order]);
-		return(ray.dot(SPXW(order))>0);
-		}
-	//
-	inline Z		SolveSimplex2(const Vector3& ao,const Vector3& ab)
-		{
-		if(ab.dot(ao)>=0)
-			{
-			const Vector3	cabo(cross(ab,ao));
-			if(cabo.length2()>GJK_sqinsimplex_eps)
-				{ ray=cross(cabo,ab); }
-				else
-				{ return(true); }
-			}
-			else
-			{ order=0;SPX(0)=SPX(1);ray=ao;	}
-		return(false);
-		}
-	//
-	inline Z		SolveSimplex3(const Vector3& ao,const Vector3& ab,const Vector3& 
-ac)
-		{
-		return(SolveSimplex3a(ao,ab,ac,cross(ab,ac)));
-		}
-	//
-	inline Z		SolveSimplex3a(const Vector3& ao,const Vector3& ab,const Vector3& 
-ac,const Vector3& cabc)
-		{
-				if((cross(cabc,ab)).dot(ao)<-GJK_insimplex_eps)
-			{ order=1;SPX(0)=SPX(1);SPX(1)=SPX(2);return(SolveSimplex2(ao,ab));	}
-		else	if((cross(cabc,ac)).dot(ao)>+GJK_insimplex_eps)
-			{ order=1;SPX(1)=SPX(2);return(SolveSimplex2(ao,ac)); }
-		else
-			{
-			const F			d(cabc.dot(ao));
-			if(Abs(d)>GJK_insimplex_eps)
-				{
-				if(d>0)
-					{ ray=cabc; }
-					else
-					{ ray=-cabc;Swap(SPX(0),SPX(1)); }
-				return(false);
-				} else return(true);
-			}
-		}
-	//
-	inline Z		SolveSimplex4(const Vector3& ao,const Vector3& ab,const Vector3& 
-ac,const Vector3& ad)
-		{
-		Vector3			crs;
-				if((crs=cross(ab,ac)).dot(ao)>GJK_insimplex_eps)
-			{ 
-order=2;SPX(0)=SPX(1);SPX(1)=SPX(2);SPX(2)=SPX(3);return(SolveSimplex3a(ao,ab,ac,crs)); 
-}
-		else	if((crs=cross(ac,ad)).dot(ao)>GJK_insimplex_eps)
-			{ order=2;SPX(2)=SPX(3);return(SolveSimplex3a(ao,ac,ad,crs)); }
-		else	if((crs=cross(ad,ab)).dot(ao)>GJK_insimplex_eps)
-			{ 
-order=2;SPX(1)=SPX(0);SPX(0)=SPX(2);SPX(2)=SPX(3);return(SolveSimplex3a(ao,ad,ab,crs)); 
-}
-		else	return(true);
-		}
-	//
-	inline Z		SearchOrigin(const Vector3& initray=Vector3(1,0,0))
-		{
-		iterations	=	0;
-		order		=	(U)-1;
-		failed		=	false;
-		ray			=	initray.normalized();
-		ClearMemory(table,sizeof(void*)*GJK_hashsize);
-		FetchSupport();
-		ray			=	-SPXW(0);
-		for(;iterations<GJK_maxiterations;++iterations)
-			{
-			const F		rl(ray.length());
-			ray/=rl>0?rl:1;
-			if(FetchSupport())
-				{
-				Z	found(false);
-				switch(order)
-					{
-					case	1:	found=SolveSimplex2(-SPXW(1),SPXW(0)-SPXW(1));break;
-					case	2:	found=SolveSimplex3(-SPXW(2),SPXW(1)-SPXW(2),SPXW(0)-SPXW(2));break;
-					case	3:	found=SolveSimplex4(-SPXW(3),SPXW(2)-SPXW(3),SPXW(1)-SPXW(3),SPXW(0)-SPXW(3));break;
-					}
-				if(found) return(true);
-				} else return(false);
-			}
-		failed=true;
-		return(false);
-		}
-	//
-	inline Z		EncloseOrigin()
-		{
-		switch(order)
-			{
-			/* Point		*/
-			case	0:	break;
-			/* Line			*/
-			case	1:
-				{
-				const Vector3	ab(SPXW(1)-SPXW(0));
-				const Vector3	b[]={	cross(ab,Vector3(1,0,0)),
-										cross(ab,Vector3(0,1,0)),
-										cross(ab,Vector3(0,0,1))};
-				const F			m[]={b[0].length2(),b[1].length2(),b[2].length2()};
-				const Rotation	r(btQuaternion(ab.normalized(),cst2Pi/3));
-				Vector3			w(b[m[0]>m[1]?m[0]>m[2]?0:2:m[1]>m[2]?1:2]);
-				Support(w.normalized(),simplex[4]);w=r*w;
-				Support(w.normalized(),simplex[2]);w=r*w;
-				Support(w.normalized(),simplex[3]);w=r*w;
-				order=4;
-				return(true);
-				}
-			break;
-			/* Triangle		*/
-			case	2:
-				{
-				const 
-Vector3	n(cross((SPXW(1)-SPXW(0)),(SPXW(2)-SPXW(0))).normalized());
-				Support( n,simplex[3]);
-				Support(-n,simplex[4]);
-				order=4;
-				return(true);
-				}
-			break;
-			/* Tetrahedron	*/
-			case	3:	return(true);
-			/* Hexahedron	*/
-			case	4:	return(true);
-			}
-		return(false);
-		}
-	#undef SPX
-	#undef SPXW
-	};
-
-//
-// EPA
-//
-struct	EPA
-	{
-	//
-	struct Face
-		{
-		const GJK::Mkv*	v[3];
-		Face*			f[3];
-		U				e[3];
-		Vector3			n;
-		F				d;
-		U				mark;
-		Face*			prev;
-		Face*			next;
-		Face()			{}
-		};
-	//
-	GJK*			gjk;
-	btStackAlloc*		sa;
-	Face*			root;
-	U				nfaces;
-	U				iterations;
-	Vector3			features[2][3];
-	Vector3			nearest[2];
-	Vector3			normal;
-	F				depth;
-	Z				failed;
-	//
-					EPA(GJK* pgjk)
-		{
-		gjk		=	pgjk;
-		sa		=	pgjk->sa;
-		}
-	//
-					~EPA()
-		{
-		}
-	//
-	inline Vector3	GetCoordinates(const Face* face) const
-		{
-		const Vector3	o(face->n*-face->d);
-		const F			a[]={	cross(face->v[0]->w-o,face->v[1]->w-o).length(),
-								cross(face->v[1]->w-o,face->v[2]->w-o).length(),
-								cross(face->v[2]->w-o,face->v[0]->w-o).length()};
-		const F			sm(a[0]+a[1]+a[2]);
-		return(Vector3(a[1],a[2],a[0])/(sm>0?sm:1));
-		}
-	//
-	inline Face*	FindBest() const
-		{
-		Face*	bf = 0;
-		if(root)
-			{
-			Face*	cf = root;
-			F		bd(cstInf);
-			do	{
-				if(cf->d<bd) { bd=cf->d;bf=cf; }
-				} while(0!=(cf=cf->next));
-			}
-		return(bf);
-		}
-	//
-	inline Z		Set(Face* f,const GJK::Mkv* a,const GJK::Mkv* b,const GJK::Mkv*
-c) const
-		{
-		const Vector3	nrm(cross(b->w-a->w,c->w-a->w));
-		const F			len(nrm.length());
-		const Z			valid(	(cross(a->w,b->w).dot(nrm)>=-EPA_inface_eps)&&
-								(cross(b->w,c->w).dot(nrm)>=-EPA_inface_eps)&&
-								(cross(c->w,a->w).dot(nrm)>=-EPA_inface_eps));
-		f->v[0]	=	a;
-		f->v[1]	=	b;
-		f->v[2]	=	c;
-		f->mark	=	0;
-		f->n	=	nrm/(len>0?len:cstInf);
-		f->d	=	Max<F>(0,-f->n.dot(a->w));
-		return(valid);
-		}
-	//
-	inline Face*	NewFace(const GJK::Mkv* a,const GJK::Mkv* b,const GJK::Mkv* c)
-		{
-		Face*	pf = (Face*)sa->allocate(sizeof(Face));
-		if(Set(pf,a,b,c))
-			{
-			if(root) root->prev=pf;
-			pf->prev=0;
-			pf->next=root;
-			root	=pf;
-			++nfaces;
-			}
-			else
-			{
-			pf->prev=pf->next=0;
-			}
-		return(pf);
-		}
-	//
-	inline void		Detach(Face* face)
-		{
-		if(face->prev||face->next)
-			{
-			--nfaces;
-			if(face==root)
-				{ root=face->next;root->prev=0; }
-				else
-				{
-				if(face->next==0)
-					{ face->prev->next=0; }
-					else
-					{ face->prev->next=face->next;face->next->prev=face->prev; }
-				}
-			face->prev=face->next=0;
-			}
-		}
-	//
-	inline void		Link(Face* f0,U e0,Face* f1,U e1) const
-		{
-		f0->f[e0]=f1;f1->e[e1]=e0;
-		f1->f[e1]=f0;f0->e[e0]=e1;
-		}
-	//
-	GJK::Mkv*		Support(const Vector3& w) const
-		{
-		GJK::Mkv*		v =(GJK::Mkv*)sa->allocate(sizeof(GJK::Mkv));
-		gjk->Support(w,*v);
-		return(v);
-		}
-	//
-	U				BuildHorizon(U markid,const GJK::Mkv* w,Face& f,U e,Face*& cf,Face*& 
-ff)
-		{
-		static const U	mod3[]={0,1,2,0,1};
-		U				ne(0);
-		if(f.mark!=markid)
-			{
-			const U	e1(mod3[e+1]);
-			if((f.n.dot(w->w)+f.d)>0)
-				{
-				Face*	nf = NewFace(f.v[e1],f.v[e],w);
-				Link(nf,0,&f,e);
-				if(cf) Link(cf,1,nf,2); else ff=nf;
-				cf=nf;ne=1;
-				}
-				else
-				{
-				const U	e2(mod3[e+2]);
-				Detach(&f);
-				f.mark	=	markid;
-				ne		+=	BuildHorizon(markid,w,*f.f[e1],f.e[e1],cf,ff);
-				ne		+=	BuildHorizon(markid,w,*f.f[e2],f.e[e2],cf,ff);
-				}
-			}
-		return(ne);
-		}
-	//
-	inline F		EvaluatePD(F accuracy=EPA_accuracy)
-		{
-		btBlock*	sablock = sa->beginBlock();
-		Face*				bestface = 0;
-		U					markid(1);
-		depth		=	-cstInf;
-		normal		=	Vector3(0,0,0);
-		root		=	0;
-		nfaces		=	0;
-		iterations	=	0;
-		failed		=	false;
-		/* Prepare hull		*/
-		if(gjk->EncloseOrigin())
-			{
-			const U*		pfidx = 0;
-			U				nfidx= 0;
-			const U*		peidx = 0;
-			U				neidx = 0;
-			GJK::Mkv*		basemkv[5];
-			Face*			basefaces[6];
-			switch(gjk->order)
-				{
-				/* Tetrahedron		*/
-				case	3:	{
-							static const U	fidx[4][3]={{2,1,0},{3,0,1},{3,1,2},{3,2,0}};
-							static const 
-U	eidx[6][4]={{0,0,2,1},{0,1,1,1},{0,2,3,1},{1,0,3,2},{2,0,1,2},{3,0,2,2}};
-							pfidx=(const U*)fidx;nfidx=4;peidx=(const U*)eidx;neidx=6;
-							}	break;
-				/* Hexahedron		*/
-				case	4:	{
-							static const 
-U	fidx[6][3]={{2,0,4},{4,1,2},{1,4,0},{0,3,1},{0,2,3},{1,3,2}};
-							static const 
-U	eidx[9][4]={{0,0,4,0},{0,1,2,1},{0,2,1,2},{1,1,5,2},{1,0,2,0},{2,2,3,2},{3,1,5,0},{3,0,4,2},{5,1,4,1}};
-							pfidx=(const U*)fidx;nfidx=6;peidx=(const U*)eidx;neidx=9;
-							}	break;
-				}
-			U i;
-
-			for( i=0;i<=gjk->order;++i)		{ 
-basemkv[i]=(GJK::Mkv*)sa->allocate(sizeof(GJK::Mkv));*basemkv[i]=gjk->simplex[i]; 
-}
-			for( i=0;i<nfidx;++i,pfidx+=3)		{ 
-basefaces[i]=NewFace(basemkv[pfidx[0]],basemkv[pfidx[1]],basemkv[pfidx[2]]); 
-}
-			for( i=0;i<neidx;++i,peidx+=4)		{ 
-Link(basefaces[peidx[0]],peidx[1],basefaces[peidx[2]],peidx[3]); }
-			}
-		if(0==nfaces)
-			{
-			sa->endBlock(sablock);
-			return(depth);
-			}
-		/* Expand hull		*/
-		for(;iterations<EPA_maxiterations;++iterations)
-			{
-			Face*		bf = FindBest();
-			if(bf)
-				{
-				GJK::Mkv*	w = Support(-bf->n);
-				const F		d(bf->n.dot(w->w)+bf->d);
-				bestface	=	bf;
-				if(d<-accuracy)
-					{
-					Face*	cf =0;
-					Face*	ff =0;
-					U		nf = 0;
-					Detach(bf);
-					bf->mark=++markid;
-					for(U i=0;i<3;++i)	{ 
-nf+=BuildHorizon(markid,w,*bf->f[i],bf->e[i],cf,ff); }
-					if(nf<=2)			{ break; }
-					Link(cf,1,ff,2);
-					} else break;
-				} else break;
-			}
-		/* Extract contact	*/
-		if(bestface)
-			{
-			const Vector3	b(GetCoordinates(bestface));
-			normal			=	bestface->n;
-			depth			=	Max<F>(0,bestface->d);
-			for(U i=0;i<2;++i)
-				{
-				const F	s(F(i?-1:1));
-				for(U j=0;j<3;++j)
-					{
-					features[i][j]=gjk->LocalSupport(s*bestface->v[j]->r,i);
-					}
-				}
-			nearest[0]		=	features[0][0]*b.x()+features[0][1]*b.y()+features[0][2]*b.z();
-			nearest[1]		=	features[1][0]*b.x()+features[1][1]*b.y()+features[1][2]*b.z();
-			} else failed=true;
-		sa->endBlock(sablock);
-		return(depth);
-		}
-	};
-}
-
-//
-// Api
-//
-
-using namespace	gjkepa_impl;
-
-
-
-//
-bool	btGjkEpaSolver::Collide(const btConvexShape *shape0,const btTransform &wtrs0,
-								const btConvexShape *shape1,const btTransform &wtrs1,
-								btScalar	radialmargin,
-								btStackAlloc* stackAlloc,
-								sResults&	results)
-{
-	
-
-/* Initialize					*/
-results.witnesses[0]	=
-results.witnesses[1]	=
-results.normal			=	Vector3(0,0,0);
-results.depth			=	0;
-results.status			=	sResults::Separated;
-results.epa_iterations	=	0;
-results.gjk_iterations	=	0;
-/* Use GJK to locate origin		*/
-GJK			gjk(stackAlloc,
-				wtrs0.getBasis(),wtrs0.getOrigin(),shape0,
-				wtrs1.getBasis(),wtrs1.getOrigin(),shape1,
-				radialmargin+EPA_accuracy);
-const Z		collide(gjk.SearchOrigin());
-results.gjk_iterations	=	static_cast<int>(gjk.iterations+1);
-if(collide)
-	{
-	/* Then EPA for penetration depth	*/
-	EPA			epa(&gjk);
-	const F		pd(epa.EvaluatePD());
-	results.epa_iterations	=	static_cast<int>(epa.iterations+1);
-	if(pd>0)
-		{
-		results.status			=	sResults::Penetrating;
-		results.normal			=	epa.normal;
-		results.depth			=	pd;
-		results.witnesses[0]	=	epa.nearest[0];
-		results.witnesses[1]	=	epa.nearest[1];
-		return(true);
-		} else { if(epa.failed) results.status=sResults::EPA_Failed; }
-	} else { if(gjk.failed) results.status=sResults::GJK_Failed; }
-return(false);
-}
-
-
-
-
-

src/BulletCollision/NarrowPhaseCollision/btGjkEpa.h

@@ -1,53 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/*
-GJK-EPA collision solver by Nathanael Presson
-Nov.2006
-*/
-
-
-#ifndef _05E48D53_04E0_49ad_BB0A_D74FE62E7366_
-#define _05E48D53_04E0_49ad_BB0A_D74FE62E7366_
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-
-class btStackAlloc;
-
-///btGjkEpaSolver contributed under zlib by Nathanael Presson
-struct	btGjkEpaSolver
-{
-struct	sResults
-	{
-	enum eStatus
-		{
-		Separated,		/* Shapes doesnt penetrate												*/ 
-		Penetrating,	/* Shapes are penetrating												*/ 
-		GJK_Failed,		/* GJK phase fail, no big issue, shapes are probably just 'touching'	*/ 
-		EPA_Failed		/* EPA phase fail, bigger problem, need to save parameters, and debug	*/ 
-		}		status;
-	btVector3	witnesses[2];
-	btVector3	normal;
-	btScalar	depth;
-	int	epa_iterations;
-	int	gjk_iterations;
-	};
-static bool	Collide(const btConvexShape* shape0,const btTransform& wtrs0,
-					const btConvexShape* shape1,const btTransform& wtrs1,
-					btScalar	radialmargin,
-					btStackAlloc* stackAlloc,
-					sResults&	results);
-};
-
-#endif

src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp

@@ -18,13 +18,6 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btConvexShape.h"
 #include "btGjkEpaPenetrationDepthSolver.h"
 
-#ifndef __SPU__
-//#define USE_ORIGINAL_GJK 1
-#endif
-
-#ifdef USE_ORIGINAL_GJK
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
-#endif
 
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
 
@@ -41,20 +34,12 @@ bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& sim
 
 	const btScalar				radialmargin(btScalar(0.));
 	
-//#define USE_ORIGINAL_GJK 1
-#ifdef USE_ORIGINAL_GJK
-	btGjkEpaSolver::sResults	results;
-	if(btGjkEpaSolver::Collide(	pConvexA,transformA,
-								pConvexB,transformB,
-								radialmargin,stackAlloc,results))
-#else
 	btVector3	guessVector(transformA.getOrigin()-transformB.getOrigin());
 	btGjkEpaSolver2::sResults	results;
 	if(btGjkEpaSolver2::Penetration(pConvexA,transformA,
 								pConvexB,transformB,
 								guessVector,results))
 	
-#endif
 		{
 	//	debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
 		//resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);

src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h

@@ -106,7 +106,7 @@ public:
 		return m_pointCache[index];
 	}
 
-	/// todo: get this margin from the current physics / collision environment
+	///@todo: get this margin from the current physics / collision environment
 	btScalar	getContactBreakingThreshold() const;
 	
 	int getCacheEntry(const btManifoldPoint& newPoint) const;

src/BulletDynamics/ConstraintSolver/btContactConstraint.h

@@ -16,7 +16,7 @@ subject to the following restrictions:
 #ifndef CONTACT_CONSTRAINT_H
 #define CONTACT_CONSTRAINT_H
 
-//todo: make into a proper class working with the iterative constraint solver
+///@todo: make into a proper class working with the iterative constraint solver
 
 class btRigidBody;
 #include "LinearMath/btVector3.h"

src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp

@@ -156,7 +156,7 @@ btScalar btRotationalLimitMotor::solveAngularLimits(
 	// clip correction impulse
     btScalar clippedMotorImpulse;
 
-    //todo: should clip against accumulated impulse
+    ///@todo: should clip against accumulated impulse
     if (unclippedMotorImpulse>0.0f)
     {
         clippedMotorImpulse =  unclippedMotorImpulse > maxMotorForce? maxMotorForce: unclippedMotorImpulse;

src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp

@@ -323,7 +323,6 @@ void	btHingeConstraint::solveConstraint(btScalar	timeStep)
 				btScalar denom = getRigidBodyA().computeAngularImpulseDenominator(normal) +
 					getRigidBodyB().computeAngularImpulseDenominator(normal);
 				// scale for mass and relaxation
-				//todo:  expose this 0.9 factor to developer
 				velrelOrthog *= (btScalar(1.)/denom) * m_relaxationFactor;
 			}
 

src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp

@@ -840,7 +840,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 	int numConstraintPool = m_tmpSolverConstraintPool.size();
 	int numFrictionPool = m_tmpSolverFrictionConstraintPool.size();
 
-	///todo: use stack allocator for such temporarily memory, same for solver bodies/constraints
+	///@todo: use stack allocator for such temporarily memory, same for solver bodies/constraints
 	m_orderTmpConstraintPool.resize(numConstraintPool);
 	m_orderFrictionConstraintPool.resize(numFrictionPool);
 	{

src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h

@@ -23,10 +23,10 @@ class btIDebugDraw;
 #include "btSolverConstraint.h"
 
 
-/// btSequentialImpulseConstraintSolver uses a Propagation Method and Sequentially applies impulses
+///The btSequentialImpulseConstraintSolver uses a Propagation Method and Sequentially applies impulses
-/// The approach is the 3D version of Erin Catto's GDC 2006 tutorial. See http://www.gphysics.com
+///The approach is the 3D version of Erin Catto's GDC 2006 tutorial. See http://www.gphysics.com
-/// Although Sequential Impulse is more intuitive, it is mathematically equivalent to Projected Successive Overrelaxation (iterative LCP)
+///Although Sequential Impulse is more intuitive, it is mathematically equivalent to Projected Successive Overrelaxation (iterative LCP)
-/// Applies impulses for combined restitution and penetration recovery and to simulate friction
+///Applies impulses for combined restitution and penetration recovery and to simulate friction
 class btSequentialImpulseConstraintSolver : public btConstraintSolver
 {
 

src/BulletDynamics/ConstraintSolver/btSolverBody.h

@@ -24,7 +24,7 @@ class	btRigidBody;
 #include "LinearMath/btTransformUtil.h"
 
 
-///btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
+///The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
 ATTRIBUTE_ALIGNED16 (struct)	btSolverBody
 {
 	BT_DECLARE_ALIGNED_ALLOCATOR();

src/BulletDynamics/Dynamics/Bullet-C-API.cpp

@@ -38,7 +38,7 @@ subject to the following restrictions:
 #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
 #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
 #include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
 #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
 #include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -221,7 +221,7 @@ void	btDiscreteDynamicsWorld::debugDrawWorld()
 
 void	btDiscreteDynamicsWorld::clearForces()
 {
-	//todo: iterate over awake simulation islands!
+	///@todo: iterate over awake simulation islands!
 	for ( int i=0;i<m_collisionObjects.size();i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
@@ -237,7 +237,7 @@ void	btDiscreteDynamicsWorld::clearForces()
 ///apply gravity, call this once per timestep
 void	btDiscreteDynamicsWorld::applyGravity()
 {
-	//todo: iterate over awake simulation islands!
+	///@todo: iterate over awake simulation islands!
 	for ( int i=0;i<m_collisionObjects.size();i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
@@ -266,7 +266,7 @@ void	btDiscreteDynamicsWorld::synchronizeMotionStates()
 			{
 				//we need to call the update at least once, even for sleeping objects
 				//otherwise the 'graphics' transform never updates properly
-				//so todo: add 'dirty' flag
+				///@todo: add 'dirty' flag
 				//if (body->getActivationState() != ISLAND_SLEEPING)
 				{
 					btTransform interpolatedTransform;
@@ -1106,7 +1106,7 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
 				{
 					btConcaveShape* concaveMesh = (btConcaveShape*) shape;
 					
-					//todo pass camera, for some culling
+					///@todo pass camera, for some culling? no -> we are not a graphics lib
 					btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
 					btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
 

src/BulletDynamics/Dynamics/btRigidBody.h

@@ -30,7 +30,7 @@ extern btScalar gDeactivationTime;
 extern bool gDisableDeactivation;
 
 
-///btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape.
+///The btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape.
 ///It is recommended for performance and memory use to share btCollisionShape objects whenever possible.
 ///There are 3 types of rigid bodies: 
 ///- A) Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics.
@@ -74,7 +74,7 @@ class btRigidBody  : public btCollisionObject
 public:
 
 
-	///btRigidBodyConstructionInfo provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body.
+	///The btRigidBodyConstructionInfo structure provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body.
 	///For dynamic objects, you can use the collision shape to approximate the local inertia tensor, otherwise use the zero vector (default argument)
 	///You can use the motion state to synchronize the world transform between physics and graphics objects. 
 	///And if the motion state is provided, the rigid body will initialize its initial world transform from the motion state,

src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp

@@ -97,7 +97,7 @@ int		btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b
 
 void	btSimpleDynamicsWorld::clearForces()
 {
-	//todo: iterate over awake simulation islands!
+	///@todo: iterate over awake simulation islands!
 	for ( int i=0;i<m_collisionObjects.size();i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];
@@ -210,7 +210,7 @@ void	btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
 
 void	btSimpleDynamicsWorld::synchronizeMotionStates()
 {
-	//todo: iterate over awake simulation islands!
+	///@todo: iterate over awake simulation islands!
 	for ( int i=0;i<m_collisionObjects.size();i++)
 	{
 		btCollisionObject* colObj = m_collisionObjects[i];

src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h

@@ -22,7 +22,7 @@ class btDispatcher;
 class btOverlappingPairCache;
 class btConstraintSolver;
 
-///btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds.
+///The btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds.
 ///Please use btDiscreteDynamicsWorld instead (or btContinuousDynamicsWorld once it is finished).
 class btSimpleDynamicsWorld : public btDynamicsWorld
 {

src/BulletDynamics/Vehicle/btRaycastVehicle.cpp

@@ -188,7 +188,7 @@ btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
 		wheel.m_raycastInfo.m_contactNormalWS  = rayResults.m_hitNormalInWorld;
 		wheel.m_raycastInfo.m_isInContact = true;
 		
-		wheel.m_raycastInfo.m_groundObject = &s_fixedObject;//todo for driving on dynamic/movable objects!;
+		wheel.m_raycastInfo.m_groundObject = &s_fixedObject;///@todo for driving on dynamic/movable objects!;
 		//wheel.m_raycastInfo.m_groundObject = object;
 
 

src/BulletMultiThreaded/PosixThreadSupport.h

@@ -32,7 +32,7 @@ subject to the following restrictions:
 typedef void (*PosixThreadFunc)(void* userPtr,void* lsMemory);
 typedef void* (*PosixlsMemorySetupFunc)();
 
-// PosixThreadSupport helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
+///The PosixThreadSupport implements the btThreadSupportInterface using pthreads, to help porting SPU Tasks.
 class PosixThreadSupport : public btThreadSupportInterface 
 {
 public:

src/BulletMultiThreaded/SequentialThreadSupport.h

@@ -29,7 +29,8 @@ typedef void* (*SequentiallsMemorySetupFunc)();
 
 
 
-///SequentialThreadSupport is a portable non-parallel implementation of the btThreadSupportInterface
+///The SequentialThreadSupport is a portable non-parallel implementation of the btThreadSupportInterface
+///This is useful for debugging and porting SPU Tasks to other platforms.
 class SequentialThreadSupport : public btThreadSupportInterface 
 {
 public:

src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/Box.h

@@ -27,7 +27,7 @@ enum FeatureType { F, E, V };
 //----------------------------------------------------------------------------
 // Box
 //----------------------------------------------------------------------------
-
+///The Box is an internal class used by the boxBoxDistance calculation.
 class Box
 {
 public:
@@ -81,6 +81,7 @@ Box::GetAABB(const Matrix3& rotation) const
 // BoxPoint
 //-------------------------------------------------------------------------------------------------
 
+///The BoxPoint class is an internally used class to contain feature information for boxBoxDistance calculation.
 class BoxPoint
 {
 public:

src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.cpp

@@ -139,7 +139,7 @@ bool ManifoldResultAddContactPoint(const btVector3& normalOnBInWorld,
 		newPt.m_combinedRestitution = combinedRestitution;
 
 		/*
-		//potential TODO: SPU callbacks, either immediate (local on the SPU), or deferred
+		///@todo: SPU callbacks, either immediate (local on the SPU), or deferred
 		//User can override friction and/or restitution
 		if (gContactAddedCallback &&
 			//and if either of the two bodies requires custom material

src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp

@@ -266,9 +266,6 @@ public:
 
 		//		spu_printf("processNode with triangleIndex %d\n",triangleIndex);
 
-///TODO: add switch between short int, and int indices, based on indexType
-
-		// ugly solution to support both 16bit and 32bit indices
 		if (m_lsMemPtr->bvhShapeData.gIndexMesh.m_indexType == PHY_SHORT)
 		{
 			unsigned short int* indexBasePtr = (unsigned short int*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexBase+triangleIndex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexStride);
@@ -403,7 +400,7 @@ void	ProcessConvexConcaveSpuCollision(SpuCollisionPairInput* wuInput, CollisionT
 		int numBatch = subTrees.size();
 		for (int i=0;i<numBatch;)
 		{
-// BEN: TODO - can reorder DMA transfers for less stall
+			//@todo- can reorder DMA transfers for less stall
 			int remaining = subTrees.size() - i;
 			int nextBatch = remaining < MAX_SPU_SUBTREE_HEADERS ? remaining : MAX_SPU_SUBTREE_HEADERS;
 			
@@ -647,7 +644,7 @@ void	handleCollisionPair(SpuCollisionPairInput& collisionPairInput, CollisionTas
 		cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
 
 		// Both are compounds, do N^2 CD for now
-		// TODO: add some AABB-based pruning
+		///@todo: add some AABB-based pruning (probably not -> slower)
 	
 		btCompoundShape* spuCompoundShape0 = (btCompoundShape*)collisionShape0Loc;
 		btCompoundShape* spuCompoundShape1 = (btCompoundShape*)collisionShape1Loc;

src/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.cpp

@@ -720,7 +720,8 @@ static void solveConstraint (SpuSolverConstraint& constraint, SpuSolverBody& bod
 
 
 //-- CONSTRAINT SETUP METHODS
-// Compute the jacobian inverse @@TODO: Optimize
+/// Compute the jacobian inverse 
+///@todo: Optimize
 static float computeJacobianInverse (const btRigidBody* rb0, const btRigidBody* rb1,
 							  const btVector3& anchorAinW, const btVector3& anchorBinW, const btVector3& normal)
 {

src/BulletMultiThreaded/SpuSync.h

@@ -31,6 +31,7 @@ Written by: Marten Svanfeldt
 #include <Windows.h>
 #endif
 
+///The btSpinlock is a structure to allow multi-platform synchronization. This allows to port the SPU tasks to other platforms.
 class btSpinlock
 {
 public:
@@ -67,6 +68,7 @@ private:
 //#include <cell/atomic.h>
 #include <cell/sync/mutex.h>
 
+///The btSpinlock is a structure to allow multi-platform synchronization. This allows to port the SPU tasks to other platforms.
 class btSpinlock
 {
 public:

src/BulletMultiThreaded/Win32ThreadSupport.cpp

@@ -26,7 +26,7 @@ subject to the following restrictions:
 
 
 ///The number of threads should be equal to the number of available cores
-///Todo: each worker should be linked to a single core, using SetThreadIdealProcessor.
+///@todo: each worker should be linked to a single core, using SetThreadIdealProcessor.
 
 ///Win32ThreadSupport helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
 ///Setup and initialize SPU/CELL/Libspe2

src/BulletSoftBody/btSoftBody.h

@@ -44,7 +44,8 @@ struct	btSoftBodyWorldInfo
 };	
 
 
-/// btSoftBody is work-in-progress
+///The btSoftBody is an class to simulate cloth and volumetric soft bodies. 
+///There is two-way interaction between btSoftBody and btRigidBody/btCollisionObject.
 class	btSoftBody : public btCollisionObject
 {
 public:
@@ -616,9 +617,10 @@ public:
 		return m_worldInfo;
 	}
 
+	///@todo: avoid internal softbody shape hack and move collision code to collision library
 	virtual void	setCollisionShape(btCollisionShape* collisionShape)
 	{
-		//don't do anything, due to the internal shape hack: todo: fix this
+		
 	}
 
 	bool				checkLink(	int node0,

src/BulletSoftBody/btSparseSDF.h

@@ -125,7 +125,7 @@ struct	btSparseSdf
 		//printf("GC[%d]: %d cells, PpQ: %f\r\n",puid,ncells,nprobes/(btScalar)nqueries);
 		nqueries=1;
 		nprobes=1;
-		++puid;	/* TODO: Reset puid's when int range limit is reached	*/ 
+		++puid;	///@todo: Reset puid's when int range limit is reached	*/ 
 		/* else setup a priority list...						*/ 
 	}
 	//

src/LinearMath/btConvexHull.cpp

@@ -342,30 +342,30 @@ int shareedge(const int3 &a,const int3 &b)
 	return 0;
 }
 
-class Tri;
+class btHullTriangle;
 
 
 
-class Tri : public int3
+class btHullTriangle : public int3
 {
 public:
 	int3 n;
 	int id;
 	int vmax;
 	btScalar rise;
-	Tri(int a,int b,int c):int3(a,b,c),n(-1,-1,-1)
+	btHullTriangle(int a,int b,int c):int3(a,b,c),n(-1,-1,-1)
 	{
 		vmax=-1;
 		rise = btScalar(0.0);
 	}
-	~Tri()
+	~btHullTriangle()
 	{
 	}
 	int &neib(int a,int b);
 };
 
 
-int &Tri::neib(int a,int b)
+int &btHullTriangle::neib(int a,int b)
 {
 	static int er=-1;
 	int i;
@@ -379,7 +379,7 @@ int &Tri::neib(int a,int b)
 	btAssert(0);
 	return er;
 }
-void HullLibrary::b2bfix(Tri* s,Tri*t)
+void HullLibrary::b2bfix(btHullTriangle* s,btHullTriangle*t)
 {
 	int i;
 	for(i=0;i<3;i++) 
@@ -395,7 +395,7 @@ void HullLibrary::b2bfix(Tri* s,Tri*t)
 	}
 }
 
-void HullLibrary::removeb2b(Tri* s,Tri*t)
+void HullLibrary::removeb2b(btHullTriangle* s,btHullTriangle*t)
 {
 	b2bfix(s,t);
 	deAllocateTriangle(s);
@@ -403,7 +403,7 @@ void HullLibrary::removeb2b(Tri* s,Tri*t)
 	deAllocateTriangle(t);
 }
 
-void HullLibrary::checkit(Tri *t)
+void HullLibrary::checkit(btHullTriangle *t)
 {
 	(void)t;
 
@@ -427,36 +427,36 @@ void HullLibrary::checkit(Tri *t)
 	}
 }
 
-Tri*	HullLibrary::allocateTriangle(int a,int b,int c)
+btHullTriangle*	HullLibrary::allocateTriangle(int a,int b,int c)
 {
-	void* mem = btAlignedAlloc(sizeof(Tri),16);
+	void* mem = btAlignedAlloc(sizeof(btHullTriangle),16);
-	Tri* tr = new (mem)Tri(a,b,c);
+	btHullTriangle* tr = new (mem)btHullTriangle(a,b,c);
 	tr->id = m_tris.size();
 	m_tris.push_back(tr);
 
 	return tr;
 }
 
-void	HullLibrary::deAllocateTriangle(Tri* tri)
+void	HullLibrary::deAllocateTriangle(btHullTriangle* tri)
 {
 	btAssert(m_tris[tri->id]==tri);
 	m_tris[tri->id]=NULL;
-	tri->~Tri();
+	tri->~btHullTriangle();
 	btAlignedFree(tri);
 }
 
 
-void HullLibrary::extrude(Tri *t0,int v)
+void HullLibrary::extrude(btHullTriangle *t0,int v)
 {
 	int3 t= *t0;
 	int n = m_tris.size();
-	Tri* ta = allocateTriangle(v,t[1],t[2]);
+	btHullTriangle* ta = allocateTriangle(v,t[1],t[2]);
 	ta->n = int3(t0->n[0],n+1,n+2);
 	m_tris[t0->n[0]]->neib(t[1],t[2]) = n+0;
-	Tri* tb = allocateTriangle(v,t[2],t[0]);
+	btHullTriangle* tb = allocateTriangle(v,t[2],t[0]);
 	tb->n = int3(t0->n[1],n+2,n+0);
 	m_tris[t0->n[1]]->neib(t[2],t[0]) = n+1;
-	Tri* tc = allocateTriangle(v,t[0],t[1]);
+	btHullTriangle* tc = allocateTriangle(v,t[0],t[1]);
 	tc->n = int3(t0->n[2],n+0,n+1);
 	m_tris[t0->n[2]]->neib(t[0],t[1]) = n+2;
 	checkit(ta);
@@ -469,10 +469,10 @@ void HullLibrary::extrude(Tri *t0,int v)
 
 }
 
-Tri* HullLibrary::extrudable(btScalar epsilon)
+btHullTriangle* HullLibrary::extrudable(btScalar epsilon)
 {
 	int i;
-	Tri *t=NULL;
+	btHullTriangle *t=NULL;
 	for(i=0;i<m_tris.size();i++)
 	{
 		if(!t || (m_tris[i] && t->rise<m_tris[i]->rise))
@@ -550,23 +550,23 @@ int HullLibrary::calchullgen(btVector3 *verts,int verts_count, int vlimit)
 
 
 	btVector3 center = (verts[p[0]]+verts[p[1]]+verts[p[2]]+verts[p[3]]) / btScalar(4.0);  // a valid interior point
-	Tri *t0 = allocateTriangle(p[2],p[3],p[1]); t0->n=int3(2,3,1);
+	btHullTriangle *t0 = allocateTriangle(p[2],p[3],p[1]); t0->n=int3(2,3,1);
-	Tri *t1 = allocateTriangle(p[3],p[2],p[0]); t1->n=int3(3,2,0);
+	btHullTriangle *t1 = allocateTriangle(p[3],p[2],p[0]); t1->n=int3(3,2,0);
-	Tri *t2 = allocateTriangle(p[0],p[1],p[3]); t2->n=int3(0,1,3);
+	btHullTriangle *t2 = allocateTriangle(p[0],p[1],p[3]); t2->n=int3(0,1,3);
-	Tri *t3 = allocateTriangle(p[1],p[0],p[2]); t3->n=int3(1,0,2);
+	btHullTriangle *t3 = allocateTriangle(p[1],p[0],p[2]); t3->n=int3(1,0,2);
 	isextreme[p[0]]=isextreme[p[1]]=isextreme[p[2]]=isextreme[p[3]]=1;
 	checkit(t0);checkit(t1);checkit(t2);checkit(t3);
 
 	for(j=0;j<m_tris.size();j++)
 	{
-		Tri *t=m_tris[j];
+		btHullTriangle *t=m_tris[j];
 		btAssert(t);
 		btAssert(t->vmax<0);
 		btVector3 n=TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]);
 		t->vmax = maxdirsterid(verts,verts_count,n,allow);
 		t->rise = dot(n,verts[t->vmax]-verts[(*t)[0]]);
 	}
-	Tri *te;
+	btHullTriangle *te;
 	vlimit-=4;
 	while(vlimit >0 && ((te=extrudable(epsilon)) != 0))
 	{
@@ -594,7 +594,7 @@ int HullLibrary::calchullgen(btVector3 *verts,int verts_count, int vlimit)
 			int3 nt=*m_tris[j];
 			if(above(verts,nt,center,btScalar(0.01)*epsilon)  || cross(verts[nt[1]]-verts[nt[0]],verts[nt[2]]-verts[nt[1]]).length()< epsilon*epsilon*btScalar(0.1) )
 			{
-				Tri *nb = m_tris[m_tris[j]->n[0]];
+				btHullTriangle *nb = m_tris[m_tris[j]->n[0]];
 				btAssert(nb);btAssert(!hasvert(*nb,v));btAssert(nb->id<j);
 				extrude(nb,v);
 				j=m_tris.size(); 
@@ -603,7 +603,7 @@ int HullLibrary::calchullgen(btVector3 *verts,int verts_count, int vlimit)
 		j=m_tris.size();
 		while(j--)
 		{
-			Tri *t=m_tris[j];
+			btHullTriangle *t=m_tris[j];
 			if(!t) continue;
 			if(t->vmax>=0) break;
 			btVector3 n=TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]);

src/LinearMath/btConvexHull.h

@@ -188,7 +188,7 @@ public:
 class HullLibrary
 {
 
-	btAlignedObjectArray<class Tri*> m_tris;
+	btAlignedObjectArray<class btHullTriangle*> m_tris;
 
 public:
 
@@ -203,15 +203,15 @@ private:
 
 	bool ComputeHull(unsigned int vcount,const btVector3 *vertices,PHullResult &result,unsigned int vlimit);
 
-	class Tri*	allocateTriangle(int a,int b,int c);
+	class btHullTriangle*	allocateTriangle(int a,int b,int c);
-	void	deAllocateTriangle(Tri*);
+	void	deAllocateTriangle(btHullTriangle*);
-	void b2bfix(Tri* s,Tri*t);
+	void b2bfix(btHullTriangle* s,btHullTriangle*t);
 
-	void removeb2b(Tri* s,Tri*t);
+	void removeb2b(btHullTriangle* s,btHullTriangle*t);
 
-	void checkit(Tri *t);
+	void checkit(btHullTriangle *t);
 
-	Tri* extrudable(btScalar epsilon);
+	btHullTriangle* extrudable(btScalar epsilon);
 
 	int calchull(btVector3 *verts,int verts_count, TUIntArray& tris_out, int &tris_count,int vlimit);
 
@@ -221,7 +221,7 @@ private:
 
 	class ConvexH* ConvexHCrop(ConvexH& convex,const btPlane& slice);
 
-	void extrude(class Tri* t0,int v);
+	void extrude(class btHullTriangle* t0,int v);
 
 	ConvexH* test_cube();
 

src/LinearMath/btQuadWord.h

@@ -47,7 +47,7 @@ public:
 };
 
 
-/** @brief btQuadWord is base-class for vectors, points */
+/** @brief The btQuadWord is base-class for vectors, points */
 class	btQuadWord : public btQuadWordStorage
 {
 	public:

src/LinearMath/btStackAlloc.h

@@ -23,6 +23,7 @@ Nov.2006
 #include "btScalar.h" //for btAssert
 #include "btAlignedAllocator.h"
 
+///The btBlock class is an internal structure for the btStackAlloc memory allocator.
 struct btBlock
 {
 	btBlock*			previous;