First MayaPlugin, still need to fix the makefiles and get unique ids for

the Maya nodes.
Got rid of boost dependencies.
Cleaned up mvl library

Extras/MayaPlugin/dSolverNode.h

@@ -0,0 +1,92 @@
+/*
+Bullet Continuous Collision Detection and Physics Library Maya Plugin
+Copyright (c) 2008 Walt Disney Studios
+ 
+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.
+ 
+Written by: Nicola Candussi <nicola@fluidinteractive.com>
+*/
+
+//dSolverNode.h
+
+#ifndef DYN_DSOLVERNODE_H
+#define DYN_DSOLVERNODE_H
+
+#include <maya/MString.h>
+#include <maya/MTypeId.h>
+#include <maya/MPxNode.h>
+#include <maya/MTime.h>
+
+#include <vector>
+
+#include "mathUtils.h"
+
+class dSolverNode : public MPxNode
+{
+public:
+    dSolverNode();
+    virtual ~dSolverNode();
+    virtual void postConstructor(); 
+
+    static  void *          creator();
+    static  MStatus         initialize();
+
+    virtual bool setInternalValueInContext ( const  MPlug & plug, const  MDataHandle & dataHandle,  MDGContext & ctx );
+
+    virtual MStatus     compute( const MPlug& plug, MDataBlock& data );
+
+    static  MObject     ia_time;
+    static  MObject     ia_startTime;
+    static  MObject     ia_gravity;
+    static  MObject     ia_enabled;
+    static  MObject     ia_splitImpulse;
+    static  MObject     ia_substeps;
+    static  MObject     oa_rigidBodies;
+
+    //Solver Settings
+    static  MObject     ssSolverType;
+
+    //
+
+public: 
+    static  MTypeId	typeId;
+    static  MString     typeName;
+
+protected:
+    
+    struct xforms_t {
+        vec3f m_x0;
+        vec3f m_x1;
+        quatf m_q0;
+        quatf m_q1;
+    };
+
+    void computeRigidBodies(const MPlug& plug, MDataBlock& data);
+    void dumpRigidBodyArray(MObject &node);
+    bool expandFileExpression(std::string const& expr, std::string &base_name, std::string &extension);
+
+    void initRigidBodies(MPlugArray &rbConnections);
+    void gatherPassiveTransforms(MPlugArray &rbConnections, std::vector<xforms_t> &xforms);
+    void updatePassiveRigidBodies(MPlugArray &rbConnections, std::vector<xforms_t> &xforms, float t);
+    void updateActiveRigidBodies(MPlugArray &rbConnections);
+    void applyFields(MPlugArray &rbConnections, float dt);
+
+protected:
+    MTime m_prevTime;
+};
+
+
+#endif