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/Makefile

@@ -0,0 +1,88 @@
+
+#Dynamica Makefile
+
+CPP = g++412
+LD = ld
+
+CPPFLAGS = -DBits64_ -m64 -DUNIX -D_BOOL -DLINUX -DFUNCPROTO -D_GNU_SOURCE -DLINUX_64 -fPIC \
+		-fno-strict-aliasing -DREQUIRE_IOSTREAM -Wno-deprecated -Wall \
+		-Wno-multichar -Wno-comment -Wno-sign-compare -funsigned-char \
+		-Wno-reorder -fno-gnu-keywords -ftemplate-depth-25 -pthread \
+		-Wno-deprecated -fno-gnu-keywords \
+		-g
+
+LDFLAGS =-Wl,-Bsymbolic -shared
+
+LIBRARY=dynamica.so
+
+ifdef DISNEY
+#inside Disney
+CPPFLAGS += -DINSIDE_DISNEY
+
+MAYA_PLUG_IN_PATH=/tmp 
+
+BULLET=$(RP_bullet)
+BULLET_INCLUDE=-I$(BULLET)/include
+BULLET_LIB=-L$(BULLET)/lib \
+                -lGIMPACT -lGIMPACTUtils -lbulletdynamics \
+                 -lbulletmath -lbulletcollision
+
+GL_INCLUDE=-I$(RP_glut)/include -I$(RP_glew)/include
+GL_LIB=-L$(RP_glut)/lib -L$(RP_glew)/lib -lGL -lGLU -lglut -lGLEW
+else
+#Nicola's
+
+MAYA_PLUG_IN_PATH=/usr/maya-plugins
+
+BULLET=/usr/bullet-2.70
+BULLET_INCLUDE=-I$(BULLET)/src -I$(BULLET)/Extras/GIMPACT/include
+BULLET_LIB=-L$(BULLET)/out/linux/optimize/libs \
+                -lGIMPACT -lGIMPACTUtils -lbulletdynamics \
+                 -lbulletmath -lbulletcollision -lbulletopenglsupport
+
+GL_LIB=-lGL -lGLU -lglut -lGLEW
+endif
+
+MAYA=$(MAYA_LOCATION)
+MAYA_INCLUDE=-I$(MAYA)/include
+MAYA_LIB=-L$(MAYA)/lib -lOpenMaya -lFoundation -lOpenMayaUI -lOpenMayaFX
+
+SOURCES = pluginMain.cpp rigidBodyNode.cpp rigidBodyArrayNode.cpp collisionShapeNode.cpp \
+	  solver.cpp bt_solver.cpp dSolverNode.cpp dSolverCmd.cpp dRigidBodyCmd.cpp dRigidBodyArrayCmd.cpp \
+	  pdbIO.cpp
+
+HEADERS = box_shape.h             bt_sphere_shape.h         dSolverNode.h         rigid_body_impl.h \
+	box_shape_impl.h        collision_shape.h         mathUtils.h           rigidBodyNode.h \
+	bt_box_shape.h          collision_shape_impl.h    mayaUtils.h           solver.h \
+	bt_collision_shape.h    collisionShapeNode.h      mesh_shape.h          solver_impl.h \
+	bt_convex_hull_shape.h  convex_hull_shape.h       mesh_shape_impl.h     sphere_shape.h \
+	bt_mesh_shape.h         convex_hull_shape_impl.h  plane_shape.h         sphere_shape_impl.h \
+	bt_plane_shape.h        dRigidBodyArrayCmd.h      plane_shape_impl.h \
+	bt_rigid_body.h         dRigidBodyCmd.h           rigidBodyArrayNode.h \
+	bt_solver.h             dSolverCmd.h              rigid_body.h 		pdbIO.h \
+	shared_ptr.h
+
+
+INCLUDE_FLAGS= $(GL_INCLUDE) $(BULLET_INCLUDE) $(MAYA_INCLUDE)
+LIB_FLAGS=$(BULLET_LIB) $(MAYA_LIB) $(GL_LIB) 
+
+OBJECTS=$(SOURCES:.cpp=.o)
+
+all: $(SOURCES) $(LIBRARY)
+
+.cpp.o: $(SOURCES) $(HEADERS)
+	$(CPP) -c $< $(CPPFLAGS) $(INCLUDE_FLAGS) -o $@ 
+
+$(OBJECTS): $(HEADERS)
+
+$(LIBRARY): $(OBJECTS) 
+	$(CPP) $(OBJECTS) $(LDFLAGS) $(LIB_FLAGS) -o $@
+
+install: $(LIBRARY)
+	cp -f $(LIBRARY) $(MAYA_PLUG_IN_PATH)	
+	cp -f scripts/*.mel $(MAYA_PLUG_IN_PATH)	
+	cp -f icons/*.xpm $(MAYA_PLUG_IN_PATH)	
+
+clean:
+	rm -f *.o *.so
+

Extras/MayaPlugin/box_shape.h

@@ -0,0 +1,44 @@
+/*
+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>
+*/
+
+//box_shape.h
+
+#ifndef DYN_BOX_SHAPE_H
+#define DYN_BOX_SHAPE_H
+
+#include "collision_shape.h"
+#include "box_shape_impl.h"
+
+class box_shape_t: public collision_shape_t
+{
+public:
+    //typedefs
+    typedef shared_ptr<box_shape_t> pointer;
+
+protected:
+    friend class solver_t;
+
+    box_shape_t(collision_shape_impl_t* impl): collision_shape_t(impl) { }  
+
+};
+
+#endif

Extras/MayaPlugin/box_shape_impl.h

@@ -0,0 +1,39 @@
+/*
+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>
+*/
+
+//box_shape_impl.h
+
+#ifndef DYN_BOX_SHAPE_IMPL_H
+#define DYN_BOX_SHAPE_IMPL_H
+
+#include "collision_shape_impl.h"
+
+class box_shape_impl_t: public collision_shape_impl_t
+{
+public:
+    //typedefs
+
+private:
+    
+};
+
+#endif

Extras/MayaPlugin/bt_box_shape.h

@@ -0,0 +1,94 @@
+/*
+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>
+*/
+ 
+//bt_box_shape.h
+
+#ifndef DYN_BT_BOX_SHAPE_H
+#define DYN_BT_BOX_SHAPE_H
+
+#include "box_shape_impl.h"
+
+class bt_box_shape_t: public bt_collision_shape_t, public box_shape_impl_t 
+{
+public:
+    virtual void gl_draw(size_t draw_style) {
+        btBoxShape *box_shape = static_cast<btBoxShape*>(shape());
+        btVector3 const& e = box_shape->getHalfExtentsWithoutMargin();
+        glPushMatrix();
+
+        glScalef(2 * e.x(), 2 * e.y(), 2 * e.z()); 
+        if(draw_style & collision_shape_t::kDSSolid) {
+            glutSolidCube(1.0);
+        } else {
+            glutWireCube(1.0);
+        }
+        glPopMatrix();
+    }
+
+    virtual void set_scale(vec3f const& s) {
+        const btVector3& scale = shape()->getLocalScaling();
+        if(scale.x() != s[0] || scale.y() != s[1] || scale.z() != s[2]) {
+            shape()->setLocalScaling(btVector3(s[0], s[1], s[2]));
+            update();
+        }
+    }
+
+    virtual void get_scale(vec3f& s) {
+        const btVector3& scale = shape()->getLocalScaling();
+        s = vec3f(scale.x(), scale.y(), scale.z());
+    }
+
+    virtual float volume()                  { return m_volume;  }
+    virtual vec3f const& local_inertia()    { return m_local_inertia;  }
+    virtual vec3f const& center()           { return m_center; }
+    virtual quatf const& rotation()         { return m_rotation;  }
+
+protected:
+    friend class bt_solver_t;
+
+    bt_box_shape_t(vec3f const& halfExtents): 
+        bt_collision_shape_t()
+    { 
+        set_shape(new btBoxShape(btVector3(halfExtents[0], halfExtents[0], halfExtents[0])));
+        update();
+    }
+
+    void update()
+    {
+        btBoxShape *box_shape = static_cast<btBoxShape*>(shape());
+        btVector3 e = 2 * box_shape->getHalfExtentsWithoutMargin();
+        m_volume = e.x() * e.y() * e.z();
+        m_center = vec3f(0, 0, 0);
+        m_rotation = qidentity<float>();
+        m_local_inertia = vec3f((e.y() * e.y() + e.z() * e.z()) / 12.0f,
+                                (e.x() * e.x() + e.z() * e.z()) / 12.0f,
+                                (e.x() * e.x() + e.y() * e.y()) / 12.0f);
+    }
+
+private:
+    float m_volume;
+    vec3f m_center;
+    quatf m_rotation;
+    vec3f m_local_inertia;
+};
+
+#endif

Extras/MayaPlugin/bt_collision_shape.h

@@ -0,0 +1,51 @@
+/*
+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>
+*/
+
+//bt_collision_shape.h
+
+#ifndef DYN_BT_COLLISION_SHAPE_H
+#define DYN_BT_COLLISION_SHAPE_H
+
+#include "btBulletCollisionCommon.h"
+#include "btBulletDynamicsCommon.h"
+
+class bt_collision_shape_t 
+{
+public:
+
+protected:
+    friend class bt_solver_t;
+
+    bt_collision_shape_t() { }
+
+    btCollisionShape* shape()               { return m_shape.get(); }
+    void set_shape(btCollisionShape *shape) { return m_shape.reset(shape); }
+
+public:
+    friend class bt_rigid_body_t;
+    virtual ~bt_collision_shape_t() { }
+
+private:
+    shared_ptr<btCollisionShape> m_shape; 
+};
+
+#endif

Extras/MayaPlugin/bt_convex_hull_shape.h

@@ -0,0 +1,138 @@
+/*
+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>
+*/
+
+//bt_convex_hull_shape.h
+
+#ifndef DYN_BT_CONVEX_HULL_SHAPE_H
+#define DYN_BT_CONVEX_HULL_SHAPE_H
+
+#include <vector>
+
+#include "convex_hull_shape_impl.h"
+#include "bt_collision_shape.h"
+
+class bt_convex_hull_shape_t: public bt_collision_shape_t, public convex_hull_shape_impl_t 
+{
+public:
+    virtual void gl_draw(size_t draw_style) {
+
+        if(m_vertices.empty() || m_indices.empty()) return;
+
+        glEnableClientState(GL_VERTEX_ARRAY);
+        glEnableClientState(GL_NORMAL_ARRAY);
+        if(draw_style & collision_shape_t::kDSSolid) {
+            glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
+        } else {
+            glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
+        }
+        glVertexPointer(3, GL_FLOAT, 0, &(m_vertices[0]));
+        glNormalPointer(GL_FLOAT, 0, &(m_normals[0]));
+        glDrawElements(GL_TRIANGLES, m_indices.size(), GL_UNSIGNED_INT, &(m_indices[0]));
+        glDisableClientState(GL_VERTEX_ARRAY);
+        glDisableClientState(GL_NORMAL_ARRAY);
+        glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
+    }
+
+    virtual void set_scale(vec3f const& s) {
+        shape()->setLocalScaling(btVector3(s[0], s[1], s[2]));
+        update();
+    }
+
+    virtual void get_scale(vec3f& s) {
+        const btVector3& scale = shape()->getLocalScaling();
+        s = vec3f(scale.x(), scale.y(), scale.z());
+    }
+
+    virtual float volume()                  { return m_volume;  }
+    virtual vec3f const& local_inertia()    { return m_local_inertia;  }
+    virtual vec3f const& center()           { return m_center; }
+    virtual quatf const& rotation()         { return m_rotation;  }
+
+protected:
+    friend class bt_solver_t;
+
+    bt_convex_hull_shape_t(vec3f const* vertices, size_t num_vertices,
+                           vec3f const* normals,
+                            unsigned int const *indices, size_t num_indices): 
+                        bt_collision_shape_t(),
+                        m_normals(normals, normals + num_vertices),
+                        m_indices(indices, indices + num_indices)
+    { 
+        m_volume = ::volume(vertices, (int*)indices, num_indices);
+        m_center = center_of_mass(vertices, (int*)indices, num_indices);
+        mat3x3f I = inertia(vertices, (int*)indices, num_indices, m_center);
+        m_rotation = diagonalizer(I);
+
+        mat3x3f Q, Qinv; 
+        q_to_mat(m_rotation, Q); 
+        q_to_mat(qconj(m_rotation), Qinv);
+        
+        //D = trans(Q) * I * Q;
+        m_local_inertia = diag(prod(trans(Q), mat3x3f(prod(I, Q))));
+
+        m_vertices.resize(num_vertices);
+        for(size_t i = 0; i < m_vertices.size(); ++i) {
+            m_vertices[i] = prod(Qinv, vertices[i] - m_center);
+        }
+
+        set_shape(new btConvexHullShape((float const*)&(m_vertices[0]), num_vertices, sizeof(vec3f)));
+    }
+
+    void update()
+    {
+        btConvexHullShape *cu_shape = static_cast<btConvexHullShape*>(shape());
+
+        //apply the scaling
+        btVector3 const& scale = cu_shape->getLocalScaling();
+        btPoint3 const* points = cu_shape->getPoints();
+        for(int i = 0; i < cu_shape->getNumPoints(); ++i) {
+            m_vertices[i] = vec3f(scale.x() * points[i].x(), scale.y() * points[i].y(), scale.z() * points[i].z()); 
+        }
+        m_volume = ::volume(&(m_vertices[0]), (int*)&(m_indices[0]), m_indices.size());
+        mat3x3f I = inertia(&(m_vertices[0]), (int*)&(m_indices[0]), (int)m_indices.size(), vec3f(0, 0, 0));
+        //std::cout << I << std::endl;
+        //m_rotation = diagonalizer(I);
+        //std::cout << rotation << std::endl;
+        //the rotation shouldn't change from scaling
+
+        mat3x3f Q, Qinv; 
+        q_to_mat(m_rotation, Q); 
+        q_to_mat(qconj(m_rotation), Qinv);
+
+        //D = Q * I * trans(Q);
+        m_local_inertia = diag(prod(trans(Q), mat3x3f(prod(I, Q))));
+    }
+
+private:
+    std::vector<vec3f> m_vertices;
+    std::vector<vec3f> m_normals;
+    std::vector<unsigned int> m_indices; 
+
+    float m_volume;
+    vec3f m_center;
+    quatf m_rotation;
+    vec3f m_local_inertia;
+
+
+};
+
+#endif

Extras/MayaPlugin/bt_mesh_shape.h

@@ -0,0 +1,154 @@
+/*
+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>
+*/
+
+//bt_mesh_shape.h
+
+#ifndef DYN_BT_MESH_SHAPE_H
+#define DYN_BT_MESH_SHAPE_H
+
+#include <vector>
+#include <iterator>
+
+#include "mesh_shape_impl.h"
+#include "bt_collision_shape.h"
+
+class bt_mesh_shape_t: public bt_collision_shape_t, public mesh_shape_impl_t 
+{
+public:
+    virtual void gl_draw(size_t draw_style) {
+
+        if(m_vertices.empty() || m_indices.empty()) return;
+
+        btVector3 const& scale = shape()->getLocalScaling();
+        glPushMatrix();
+        //glTranslatef(m_center[0], m_center[1], m_center[2]);
+        glScalef(scale.x(), scale.y(), scale.z());
+        glEnableClientState(GL_VERTEX_ARRAY);
+        glEnableClientState(GL_NORMAL_ARRAY);
+        if(draw_style & collision_shape_t::kDSSolid) {
+            glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
+        } else {
+            glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
+        }
+        glVertexPointer(3, GL_FLOAT, 0, &(m_vertices[0]));
+        glNormalPointer(GL_FLOAT, 0, &(m_normals[0]));
+        glDrawElements(GL_TRIANGLES, m_indices.size(), GL_UNSIGNED_INT, &(m_indices[0]));
+        glDisableClientState(GL_VERTEX_ARRAY);
+        glDisableClientState(GL_NORMAL_ARRAY);
+        glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
+        glPopMatrix();
+    }
+
+    virtual void set_scale(vec3f const& s) {
+        btGImpactMeshShape *gi_shape = static_cast<btGImpactMeshShape*>(shape());
+        gi_shape->setLocalScaling(btVector3(s[0], s[1], s[2]));
+        gi_shape->updateBound();
+        update();
+    }
+
+    virtual void get_scale(vec3f& s) {
+        const btVector3& scale = shape()->getLocalScaling();
+        s = vec3f(scale.x(), scale.y(), scale.z());
+    }
+
+    virtual float volume()                  { return m_volume;  }
+    virtual vec3f const& local_inertia()    { return m_local_inertia;  }
+    virtual vec3f const& center()           { return m_center; }
+    virtual quatf const& rotation()         { return m_rotation;  }
+
+protected:
+    friend class bt_solver_t;
+
+    bt_mesh_shape_t(vec3f const* vertices, size_t num_vertices,
+                    vec3f const* normals,
+                    unsigned int const *indices, size_t num_indices): 
+                    bt_collision_shape_t(),
+                    m_normals(normals, normals + num_vertices),
+                    m_indices(indices, indices + num_indices)
+    { 
+        m_volume = ::volume(vertices, (int*)indices, num_indices);
+        m_center = center_of_mass(vertices, (int*)indices, num_indices);
+        mat3x3f I = inertia(vertices, (int*)indices, num_indices, m_center);
+        m_rotation = diagonalizer(I);
+
+        mat3x3f Q, Qinv; 
+        q_to_mat(m_rotation, Q); 
+        q_to_mat(qconj(m_rotation), Qinv);
+        
+        //D = trans(Q) * I * Q;
+        m_local_inertia = diag(prod(trans(Q), mat3x3f(prod(I, Q))));
+
+        m_vertices.resize(num_vertices);
+        for(size_t i = 0; i < m_vertices.size(); ++i) {
+            m_vertices[i] = prod(Qinv, vertices[i] - m_center);
+        }
+
+        m_tiva.reset(new btTriangleIndexVertexArray(num_indices / 3, (int*)&(m_indices[0]), 3 * sizeof(unsigned int),
+                                                    num_vertices, (float*)&(m_vertices[0]), sizeof(vec3f)));
+
+        btGImpactMeshShape* gimpactShape = new btGImpactMeshShape(m_tiva.get());
+	gimpactShape->setLocalScaling(btVector3(1.0f,1.0f,1.0f));
+        gimpactShape->updateBound();
+        set_shape(gimpactShape);
+
+       // gimpactShape->setMargin(0.05);
+    }
+
+    void update()
+    {
+        btGImpactMeshShape *gi_shape = static_cast<btGImpactMeshShape*>(shape());
+
+        //apply the scaling
+        btVector3 const& scale = gi_shape->getLocalScaling();
+
+        std::vector<vec3f> vertices(m_vertices.size());
+        for(int i = 0; i < vertices.size(); ++i) {
+            vertices[i] = vec3f(scale.x() * m_vertices[i][0], scale.y() * m_vertices[i][1], scale.z() * m_vertices[i][2]); 
+        }
+        m_volume = ::volume(&(vertices[0]), (int*)&(m_indices[0]), (int)m_indices.size());
+        mat3x3f I = inertia(&(vertices[0]), (int*)&(m_indices[0]), (int)m_indices.size(), vec3f(0, 0, 0));
+     //   std::cout << I << std::endl;
+        //m_rotation = diagonalizer(I);
+        //std::cout << rotation << std::endl;
+        //the rotation shouldn't change from scaling
+
+        mat3x3f Q, Qinv; 
+        q_to_mat(m_rotation, Q); 
+        q_to_mat(qconj(m_rotation), Qinv);
+
+        //D = Q * I * trans(Q);
+        m_local_inertia = diag(prod(trans(Q), mat3x3f(prod(I, Q))));
+    }
+
+private:
+    std::vector<vec3f> m_vertices;
+    std::vector<vec3f> m_normals;
+    std::vector<unsigned int> m_indices; 
+    shared_ptr<btTriangleIndexVertexArray> m_tiva;
+
+    float m_volume;
+    vec3f m_center;
+    quatf m_rotation;
+    vec3f m_local_inertia;
+};
+
+#endif

Extras/MayaPlugin/bt_plane_shape.h

@@ -0,0 +1,81 @@
+/*
+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>
+*/
+
+//bt_plane_shape.h
+
+#ifndef DYN_BT_PLANE_SHAPE_H
+#define DYN_BT_PLANE_SHAPE_H
+
+#include "plane_shape_impl.h"
+
+class bt_plane_shape_t: public bt_collision_shape_t, public plane_shape_impl_t 
+{
+public:
+    virtual void gl_draw(size_t draw_style) {
+      //  btStaticPlaneShape *plane_shape = static_cast<btStaticPlaneShape*>(shape());
+        glPushMatrix();
+        glScalef(100.0, 0.001, 100.0); 
+        if(draw_style & collision_shape_t::kDSSolid) {
+            glutSolidCube(1.0);
+        } else {
+            glutWireCube(1.0);
+        }
+        glPopMatrix();
+    }
+
+    virtual void set_scale(vec3f const& s) {
+        shape()->setLocalScaling(btVector3(s[0], s[1], s[2]));
+    }
+
+    virtual void get_scale(vec3f& s) {
+        const btVector3& scale = shape()->getLocalScaling();
+        s = vec3f(scale.x(), scale.y(), scale.z());
+    }
+
+    virtual float volume()                  { return m_volume;  }
+    virtual vec3f const& local_inertia()    { return m_local_inertia;  }
+    virtual vec3f const& center()           { return m_center; }
+    virtual quatf const& rotation()         { return m_rotation;  }
+
+protected:
+    friend class bt_solver_t;
+
+    bt_plane_shape_t(vec3f const& normal, float d): 
+        bt_collision_shape_t(),
+        m_volume(0),
+        m_local_inertia(1, 1, 1),
+        m_center(0, 0, 0),
+        m_rotation(qidentity<float>())
+    { 
+        set_shape(new btStaticPlaneShape(btVector3(normal[0], normal[1], normal[2]), d));
+      //  shape()->setMargin(0.1);
+    }
+
+private:
+    float m_volume;
+    vec3f m_center;
+    quatf m_rotation;
+    vec3f m_local_inertia;
+
+};
+
+#endif

Extras/MayaPlugin/bt_rigid_body.h

@@ -0,0 +1,194 @@
+/*
+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>
+*/
+
+//bt_rigid_body.h
+
+#ifndef DYN_BT_RIGID_BODY_H
+#define DYN_BT_RIGID_BODY_H
+
+#include "shared_ptr.h"
+#include "rigid_body_impl.h"
+#include "bt_collision_shape.h"
+
+class bt_rigid_body_t: public rigid_body_impl_t {
+public:
+    virtual void get_transform(mat4x4f &xform) const
+    {
+        float m[16];
+        m_body->getWorldTransform().getOpenGLMatrix(m);
+        xform = trans(cmat<float, 4, 4>(m));
+    }
+
+    virtual void get_transform(vec3f &position, quatf &rotation) const
+    {
+        const btTransform& btxform = m_body->getWorldTransform();
+        btQuaternion q = btxform.getRotation();
+        btVector3 p = btxform.getOrigin();
+ //       position = vec3f(p.x(), p.y(), p.z()) - m_collision_shape->center();
+        position = vec3f(p.x(), p.y(), p.z());
+        //rotation = qprod(quatf(q.w(), q.x(), q.y(), q.z()), qconj(m_collision_shape->rotation()));
+        rotation = quatf(q.w(), q.x(), q.y(), q.z());
+    }
+
+    virtual void set_transform(vec3f const &position, quatf const &rotation)
+    {
+//        vec3f tp = position + m_collision_shape->center();
+        vec3f tp = position;
+        //        quatf tr = qprod(rotation, m_collision_shape->rotation());
+        quatf tr = rotation;
+      //  std::cout << "----------" << std::endl;
+      //  std::cout << rotation << std::endl;
+      //  std::cout << m_collision_shape->rotation() << std::endl;
+        btTransform xform(btQuaternion(tr[1], tr[2], tr[3], tr[0]),
+                          btVector3(tp[0], tp[1], tp[2])); 
+        m_body->setWorldTransform(xform);
+    }
+
+    virtual void set_kinematic(bool kinematic)
+    {
+        if(kinematic) {
+            m_body->setCollisionFlags(m_body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+            m_body->setActivationState(DISABLE_DEACTIVATION);
+            m_body->setMassProps(0, btVector3(0.0,0.0,0.0)); 
+            m_body->updateInertiaTensor();
+        } else {
+            m_body->setCollisionFlags(m_body->getCollisionFlags() & ~btCollisionObject::CF_KINEMATIC_OBJECT);
+            m_body->setActivationState(ACTIVE_TAG);
+            m_body->setMassProps(m_mass, m_inertia); 
+            m_body->updateInertiaTensor();
+        }
+    }
+    
+    virtual void set_mass(float mass)                
+    {
+//        std::cout << "bt_rigid_body::set_mass: " << mass << std::endl;
+        m_mass = mass;
+        if(m_body->getCollisionFlags() & btCollisionObject::CF_KINEMATIC_OBJECT) {
+            m_body->setMassProps(0, btVector3(0,0,0));
+        } else  {
+            m_body->setMassProps(m_mass, m_inertia); 
+        }
+        m_body->updateInertiaTensor();
+    }
+
+    virtual void set_inertia(vec3f const& I)
+    {
+        m_inertia = btVector3(I[0], I[1], I[2]);
+        if(m_body->getCollisionFlags() & btCollisionObject::CF_KINEMATIC_OBJECT) {
+            m_body->setMassProps(0, btVector3(0,0,0));
+        } else  {
+            m_body->setMassProps(m_mass, m_inertia); 
+        }
+        m_body->updateInertiaTensor();
+    }
+
+    virtual void set_restitution(float r)
+    {
+       // std::cout << r << std::endl;
+        m_body->setRestitution(r);
+    }
+
+    virtual void set_friction(float f)
+    {
+        m_body->setFriction(f);
+    }
+
+    virtual void set_linear_damping(float d)
+    {
+        m_linear_damping = d;
+        m_body->setDamping(m_linear_damping, m_angular_damping);
+    }
+
+    virtual void set_angular_damping(float d)
+    {
+        m_angular_damping = d;
+        m_body->setDamping(m_linear_damping, m_angular_damping);
+    }
+
+    virtual void set_linear_velocity(vec3f const& v)
+    {
+        m_body->setLinearVelocity(btVector3(v[0], v[1], v[2]));
+    }
+
+    virtual void get_linear_velocity(vec3f& v) const
+    {
+        const btVector3 &val = m_body->getLinearVelocity();
+        v = vec3f(val.x(), val.y(), val.z()); 
+    }
+
+    virtual void set_angular_velocity(vec3f const& v)
+    {
+        m_body->setAngularVelocity(btVector3(v[0], v[1], v[2]));
+    }
+
+    virtual void get_angular_velocity(vec3f& v) const
+    {
+        const btVector3 &val = m_body->getAngularVelocity();
+        v = vec3f(val.x(), val.y(), val.z()); 
+    }
+
+    virtual void clear_forces()
+    {
+        m_body->clearForces();
+    }
+
+    virtual void apply_central_force(vec3f const& f)
+    {
+        m_body->applyCentralForce(btVector3(f[0], f[1], f[2]));
+    }
+
+    virtual void apply_torque(vec3f const& t)
+    {
+        m_body->applyTorque(btVector3(t[0], t[1], t[2]));
+    }
+
+    btRigidBody* body() { return m_body.get(); }
+
+protected:
+    friend class bt_solver_t;
+
+    bt_rigid_body_t(collision_shape_impl_t* cs):
+        m_collision_shape(cs),
+        m_mass(1),
+        m_inertia(2.0/5.0, 2.0/5.0, 2.0/5.0),
+        m_linear_damping(0),
+        m_angular_damping(0)
+    { 
+        bt_collision_shape_t* bt_shape = dynamic_cast<bt_collision_shape_t*>(cs);
+        btRigidBody::btRigidBodyConstructionInfo rbInfo(m_mass, NULL, bt_shape->shape(), m_inertia);
+        rbInfo.m_restitution = 0;
+        rbInfo.m_friction = 0.1;
+        rbInfo.m_linearDamping = m_linear_damping;
+        rbInfo.m_angularDamping = m_angular_damping;
+        m_body.reset(new btRigidBody(rbInfo));
+    }
+
+private:
+    shared_ptr<btRigidBody> m_body; 
+    collision_shape_impl_t* m_collision_shape;
+    float m_mass;
+    btVector3 m_inertia;
+    float m_linear_damping;
+    float m_angular_damping;
+};
+
+#endif

Extras/MayaPlugin/bt_solver.cpp

@@ -0,0 +1,48 @@
+/*
+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>
+*/
+
+//bt_solver.cpp
+
+#include "bt_solver.h"
+
+
+btVector3 worldAabbMin(-10000, -10000, -10000);
+btVector3 worldAabbMax(10000, 10000, 10000);
+int	maxProxies = 32000;
+
+bt_solver_t::bt_solver_t():
+            m_broadphase(new btAxisSweep3(worldAabbMin, worldAabbMax, maxProxies)),
+            m_solver(new btSequentialImpulseConstraintSolver),
+            m_collisionConfiguration(new btDefaultCollisionConfiguration),
+            m_dispatcher(new btCollisionDispatcher(m_collisionConfiguration.get())),
+            m_dynamicsWorld(new btDiscreteDynamicsWorld(m_dispatcher.get(),
+                                                        m_broadphase.get(),
+                                                        m_solver.get(),
+                                                        m_collisionConfiguration.get()))
+{
+    //register algorithm for concave meshes
+    btGImpactCollisionAlgorithm::registerAlgorithm(m_dispatcher.get());
+
+    m_dynamicsWorld->setGravity(btVector3(0, -9.81, 0));
+
+  //  m_dynamicsWorld->getSolverInfo().m_splitImpulse = true;
+}

Extras/MayaPlugin/bt_solver.h

@@ -0,0 +1,114 @@
+/*
+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>
+*/
+
+//bt_solver.h
+
+#ifndef DYN_BT_SOLVER_H
+#define DYN_BT_SOLVER_H
+
+#include "btBulletCollisionCommon.h"
+#include "btBulletDynamicsCommon.h"
+#include "GIMPACT/Bullet/btGImpactShape.h"
+#include "GIMPACT/Bullet/btGImpactCollisionAlgorithm.h"
+
+#include "solver_impl.h"
+#include "bt_rigid_body.h"
+#include "bt_sphere_shape.h"
+#include "bt_plane_shape.h"
+#include "bt_box_shape.h"
+#include "bt_convex_hull_shape.h"
+#include "bt_mesh_shape.h"
+
+class bt_solver_t: public solver_impl_t
+{
+public:
+    virtual rigid_body_impl_t* create_rigid_body(collision_shape_impl_t* cs) {
+        return new bt_rigid_body_t(cs);
+    }
+
+    virtual collision_shape_impl_t* create_sphere_shape(float radius) {
+        return new bt_sphere_shape_t(radius);
+    }
+
+    virtual collision_shape_impl_t* create_plane_shape(vec3f const& normal, float d) {
+        return new bt_plane_shape_t(normal, d);
+    }
+
+    virtual collision_shape_impl_t* create_box_shape(vec3f const& halfExtents) {
+        return new bt_box_shape_t(halfExtents);
+    }
+
+    virtual collision_shape_impl_t* create_convex_hull_shape(vec3f const* vertices, size_t num_vertices,
+                                                             vec3f const* normals,
+                                                             unsigned int const *indices, size_t num_indices)
+    {
+        return new bt_convex_hull_shape_t(vertices, num_vertices, normals, indices, num_indices);
+    }
+
+    virtual collision_shape_impl_t* create_mesh_shape(vec3f const* vertices, size_t num_vertices,
+                                                      vec3f const* normals,
+                                                      unsigned int const *indices, size_t num_indices)
+    {
+        return new bt_mesh_shape_t(vertices, num_vertices, normals, indices, num_indices);
+    }
+
+    virtual void add_rigid_body(rigid_body_impl_t* rb)
+    {
+        bt_rigid_body_t* bt_body = static_cast<bt_rigid_body_t*>(rb);
+        m_dynamicsWorld->addRigidBody(bt_body->body());
+    }
+
+    virtual void remove_rigid_body(rigid_body_impl_t* rb)
+    {
+        bt_rigid_body_t* bt_body = static_cast<bt_rigid_body_t*>(rb);
+        m_dynamicsWorld->removeRigidBody(bt_body->body());
+    }
+
+    virtual void set_gravity(vec3f const& g)
+    {
+        m_dynamicsWorld->setGravity(btVector3(g[0], g[1], g[2]));
+    }
+
+    virtual void set_split_impulse(bool enabled)
+    {
+        m_dynamicsWorld->getSolverInfo().m_splitImpulse = enabled;
+    }
+
+    virtual void step_simulation(float dt) 
+    {
+        m_dynamicsWorld->stepSimulation(dt, 1000, 1.0 / 120.0);
+    }
+
+protected:
+    friend class solver_t;
+    bt_solver_t();
+
+private:
+
+    shared_ptr<btBroadphaseInterface>            m_broadphase;
+    shared_ptr<btConstraintSolver>               m_solver;
+    shared_ptr<btDefaultCollisionConfiguration>  m_collisionConfiguration;
+    shared_ptr<btCollisionDispatcher>            m_dispatcher;
+    shared_ptr<btDiscreteDynamicsWorld>          m_dynamicsWorld;
+};
+
+#endif

Extras/MayaPlugin/bt_sphere_shape.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>
+*/
+
+//bt_sphere_shape.h
+
+#ifndef DYN_BT_SPHERE_SHAPE_H
+#define DYN_BT_SPHERE_SHAPE_H
+
+#include <GL/glut.h>
+
+#include "sphere_shape_impl.h"
+#include "bt_collision_shape.h"
+#include "collision_shape.h"
+
+class bt_sphere_shape_t: public bt_collision_shape_t, public sphere_shape_impl_t 
+{
+public:
+    virtual void gl_draw(size_t draw_style) {
+        btSphereShape *sphere_shape = static_cast<btSphereShape*>(shape());
+        if(draw_style & collision_shape_t::kDSSolid) {
+            glutSolidSphere(sphere_shape->getRadius(), 10, 10);
+        } else {
+            glutWireSphere(sphere_shape->getRadius(), 10, 10);
+        }
+    }
+
+    virtual void set_scale(vec3f const& s) {
+        shape()->setLocalScaling(btVector3(s[0], s[1], s[2]));
+        update();
+    }
+
+    virtual void get_scale(vec3f& s) {
+        const btVector3& scale = shape()->getLocalScaling();
+        s = vec3f(scale.x(), scale.y(), scale.z());
+    }
+
+    virtual float volume()                  { return m_volume;  }
+    virtual vec3f const& local_inertia()    { return m_local_inertia;  }
+    virtual vec3f const& center()           { return m_center; }
+    virtual quatf const& rotation()         { return m_rotation;  }
+
+protected:
+    friend class bt_solver_t;
+
+    bt_sphere_shape_t(float radius): 
+        bt_collision_shape_t()
+    {
+        set_shape(new btSphereShape(radius));
+       // shape()->setMargin(0.1);
+        update();
+    }
+
+    void update()
+    {
+        btSphereShape *sphere_shape = static_cast<btSphereShape*>(shape());
+        float radius = sphere_shape->getRadius();
+        m_volume = (4.0 * 3.1415926 * radius * radius * radius) / 3.0;
+        m_center = vec3f(0, 0, 0);
+        m_rotation = qidentity<float>();
+        m_local_inertia = vec3f(2.0 / 5.0 * radius * radius,
+                                2.0 / 5.0 * radius * radius,
+                                2.0 / 5.0 * radius * radius);
+    }
+
+private:
+    float m_volume;
+    vec3f m_center;
+    quatf m_rotation;
+    vec3f m_local_inertia;
+
+};
+
+#endif

Extras/MayaPlugin/collisionShapeNode.cpp

@@ -0,0 +1,326 @@
+/*
+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>
+*/
+
+//collisionShapeNode.cpp
+
+#include <GL/glut.h>
+
+#include <maya/MFnMessageAttribute.h>
+#include <maya/MFnNumericAttribute.h>
+#include <maya/MFnEnumAttribute.h>
+#include <maya/MPlugArray.h>
+#include <maya/MFloatPointArray.h>
+#include <maya/MFloatVectorArray.h>
+#include <maya/MIntArray.h>
+#include <maya/MFnMesh.h>
+#include <maya/MDagPath.h>
+
+#include <iterator>
+#include <vector>
+#include <assert.h>
+
+#include "collisionShapeNode.h"
+#include "mayaUtils.h"
+#include "solver.h"
+
+MTypeId     collisionShapeNode::typeId( 0x100307 );
+MString     collisionShapeNode::typeName( "dCollisionShape" );
+
+MObject     collisionShapeNode::ia_shape;
+MObject     collisionShapeNode::ia_type;
+MObject     collisionShapeNode::ia_scale;
+MObject     collisionShapeNode::ca_collisionShape;
+MObject     collisionShapeNode::ca_collisionShapeParam;
+MObject     collisionShapeNode::oa_collisionShape;
+
+MStatus collisionShapeNode::initialize()
+{
+    MStatus status;
+    MFnMessageAttribute fnMsgAttr;
+    MFnNumericAttribute fnNumericAttr;
+    MFnEnumAttribute fnEnumAttr;
+
+    ia_type = fnEnumAttr.create("type", "tp", 5, &status);
+    MCHECKSTATUS(status, "creating type attribute")
+    fnEnumAttr.addField("Convex Hull", 0);
+    fnEnumAttr.addField("Mesh", 1);
+    fnEnumAttr.addField("Cylinder", 2);
+    fnEnumAttr.addField("Capsule", 3);
+    fnEnumAttr.addField("Box", 4);
+    fnEnumAttr.addField("Sphere", 5);
+    fnEnumAttr.addField("Plane", 6);
+    fnEnumAttr.setKeyable(true);
+    status = addAttribute(ia_type);
+    MCHECKSTATUS(status, "adding type attribute")
+
+    ia_scale = fnNumericAttr.createPoint("scale", "sc", &status);
+    MCHECKSTATUS(status, "creating ia_scale attribute")
+    fnNumericAttr.setDefault(1.0, 1.0, 1.0);
+    fnNumericAttr.setKeyable(true);
+    status = addAttribute(ia_scale);
+    MCHECKSTATUS(status, "adding ia_scale attribute")
+
+    oa_collisionShape = fnMsgAttr.create("outCollisionShape", "oucs", &status);
+    MCHECKSTATUS(status, "creating outCollisionShape attribute")
+    status = addAttribute(oa_collisionShape);
+    MCHECKSTATUS(status, "adding outCollisionShape attribute")
+
+    ia_shape = fnMsgAttr.create("inShape", "insh", &status);
+    MCHECKSTATUS(status, "creating inShape attribute")
+    status = addAttribute(ia_shape);
+    MCHECKSTATUS(status, "adding inShape attribute")
+
+    ca_collisionShape = fnNumericAttr.create("ca_collisionShape", "ccs", MFnNumericData::kBoolean, 0, &status);
+    MCHECKSTATUS(status, "creating ca_collisionShape attribute")
+    fnNumericAttr.setConnectable(false);
+    fnNumericAttr.setHidden(true);
+    fnNumericAttr.setStorable(false);
+    fnNumericAttr.setKeyable(false);
+    status = addAttribute(ca_collisionShape);
+    MCHECKSTATUS(status, "adding ca_collisionShape attribute")
+
+    ca_collisionShapeParam = fnNumericAttr.create("collisionShapeParam", "cspm", MFnNumericData::kBoolean, 0, &status);
+    MCHECKSTATUS(status, "creating ca_collisionShapeParam attribute")
+    fnNumericAttr.setConnectable(false);
+    fnNumericAttr.setHidden(true);
+    fnNumericAttr.setStorable(false);
+    fnNumericAttr.setKeyable(false);
+    status = addAttribute(ca_collisionShapeParam);
+    MCHECKSTATUS(status, "adding ca_collisionShapeParam attribute")
+
+    //
+    status = attributeAffects(ia_shape, oa_collisionShape);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_shape, oa_collisionShape)")
+
+    status = attributeAffects(ia_type, oa_collisionShape);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_type, oa_collisionShape)")
+
+    status = attributeAffects(ia_scale, oa_collisionShape);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_scale, oa_collisionShape)")
+
+    //
+    status = attributeAffects(ia_shape, ca_collisionShape);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_shape, ca_collisionShape)")
+
+    status = attributeAffects(ia_type, ca_collisionShape);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_shape, ca_collisionShape)")
+
+    //
+    status = attributeAffects(ia_shape, ca_collisionShapeParam);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_shape, oa_collisionShapeParam)")
+
+    status = attributeAffects(ia_scale, ca_collisionShapeParam);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_scale, oa_collisionShapeParam)")
+
+    status = attributeAffects(ia_type, ca_collisionShapeParam);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_type, oa_collisionShapeParam)")
+
+    return MS::kSuccess;
+}
+
+collisionShapeNode::collisionShapeNode()
+{
+    // std::cout << "collisionShapeNode::collisionShapeNode" << std::endl;
+}
+
+collisionShapeNode::~collisionShapeNode()
+{
+    // std::cout << "collisionShapeNode::~collisionShapeNode" << std::endl;
+}
+
+
+void* collisionShapeNode::creator()
+{
+    return new collisionShapeNode();
+}
+
+
+bool collisionShapeNode::setInternalValueInContext ( const  MPlug & plug,
+                                                   const  MDataHandle & dataHandle,
+                                                   MDGContext & ctx)
+{
+    return false; //setInternalValueInContext(plug,dataHandle,ctx);
+}
+
+MStatus collisionShapeNode::compute( const MPlug& plug, MDataBlock& data )
+{
+    if(plug == oa_collisionShape) {
+         computeOutputShape(plug, data);
+    } else if(plug == ca_collisionShape) {
+         computeCollisionShape(plug, data);
+    } else  if(plug == ca_collisionShapeParam) {
+         computeCollisionShapeParam(plug, data);
+    } else {
+        return MStatus::kUnknownParameter;
+    }
+    return MStatus::kSuccess;
+}
+
+collision_shape_t::pointer collisionShapeNode::collisionShape()
+{
+    MObject thisObject(thisMObject());
+    MObject update;
+    MPlug(thisObject, oa_collisionShape).getValue(update);
+    MPlug(thisObject, ca_collisionShapeParam).getValue(update);
+    return m_collision_shape;
+}
+
+void collisionShapeNode::computeCollisionShape(const MPlug& plug, MDataBlock& data)
+{
+  //  std::cout << "collisionShapeNode::computeCollisionShape" << std::endl;
+
+    MObject thisObject(thisMObject());
+
+    MPlug plgInShape(thisObject, ia_shape);
+
+    MPlug plgType(thisObject, ia_type);
+    int type;
+    plgType.getValue(type);
+    switch(type) {
+    case 0:  
+        {
+        //convex hull
+        MPlugArray plgaConnectedTo;
+        plgInShape.connectedTo(plgaConnectedTo, true, true);
+        if(plgaConnectedTo.length() > 0) {
+            MObject node = plgaConnectedTo[0].node();
+            if(node.hasFn(MFn::kMesh)) {
+                MDagPath dagPath;
+                MDagPath::getAPathTo(node, dagPath);
+                MFnMesh fnMesh(dagPath);
+                MFloatPointArray mpoints;
+                MFloatVectorArray mnormals;
+                MIntArray mtrianglecounts;
+                MIntArray mtrianglevertices;
+                fnMesh.getPoints(mpoints, MSpace::kWorld);
+                fnMesh.getNormals(mnormals, MSpace::kWorld);
+                fnMesh.getTriangles(mtrianglecounts, mtrianglevertices);
+
+                std::vector<vec3f> vertices(mpoints.length());
+                std::vector<vec3f> normals(mpoints.length());
+                std::vector<unsigned int> indices(mtrianglevertices.length());
+
+                for(size_t i = 0; i < vertices.size(); ++i) {
+                    vertices[i] = vec3f(mpoints[i].x, mpoints[i].y, mpoints[i].z);
+                    normals[i] = vec3f(mnormals[i].x, mnormals[i].y, mnormals[i].z);
+                }
+                for(size_t i = 0; i < indices.size(); ++i) {
+                    indices[i] = mtrianglevertices[i];
+                }
+                m_collision_shape = solver_t::create_convex_hull_shape(&(vertices[0]), vertices.size(), &(normals[0]),
+                                                                       &(indices[0]), indices.size());
+            }
+        }
+        }
+        break;
+    case 1:
+        //mesh
+        {
+        //convex hull
+        MPlugArray plgaConnectedTo;
+        plgInShape.connectedTo(plgaConnectedTo, true, true);
+        if(plgaConnectedTo.length() > 0) {
+            MObject node = plgaConnectedTo[0].node();
+            if(node.hasFn(MFn::kMesh)) {
+                MDagPath dagPath;
+                MDagPath::getAPathTo(node, dagPath);
+                MFnMesh fnMesh(dagPath);
+                MFloatPointArray mpoints;
+                MFloatVectorArray mnormals;
+                MIntArray mtrianglecounts;
+                MIntArray mtrianglevertices;
+                fnMesh.getPoints(mpoints, MSpace::kWorld);
+                fnMesh.getNormals(mnormals, MSpace::kWorld);
+                fnMesh.getTriangles(mtrianglecounts, mtrianglevertices);
+
+                std::vector<vec3f> vertices(mpoints.length());
+                std::vector<vec3f> normals(mpoints.length());
+                std::vector<unsigned int> indices(mtrianglevertices.length());
+
+                for(size_t i = 0; i < vertices.size(); ++i) {
+                    vertices[i] = vec3f(mpoints[i].x, mpoints[i].y, mpoints[i].z);
+                    normals[i] = vec3f(mnormals[i].x, mnormals[i].y, mnormals[i].z);
+                }
+                for(size_t i = 0; i < indices.size(); ++i) {
+                    indices[i] = mtrianglevertices[i];
+                }
+                m_collision_shape = solver_t::create_mesh_shape(&(vertices[0]), vertices.size(), &(normals[0]),
+                                                                &(indices[0]), indices.size());
+            }
+        }
+        }
+        break;
+    case 2:
+        //cylinder
+        break;
+    case 3:
+        //capsule
+        break;
+    case 4:
+        //box
+        m_collision_shape = solver_t::create_box_shape();
+        break;
+    case 5:
+        //sphere
+        m_collision_shape = solver_t::create_sphere_shape();
+        break;
+    case 6:
+        //plane
+        m_collision_shape = solver_t::create_plane_shape();
+        break;
+    }
+
+    assert(m_collision_shape);
+
+    data.setClean(plug);
+}
+
+
+void collisionShapeNode::computeCollisionShapeParam(const MPlug& plug, MDataBlock& data)
+{
+   // std::cout << "collisionShapeNode::computeCollisionShapeParam" << std::endl;
+
+    MObject thisObject(thisMObject());
+
+    MObject update;
+    MPlug(thisObject, ia_shape).getValue(update);
+    MPlug(thisObject, ia_type).getValue(update);
+
+    float3& scale = data.inputValue(ia_scale).asFloat3();
+
+    m_collision_shape->set_scale(vec3f(scale[0], scale[1], scale[2]));
+
+    data.setClean(plug);
+}
+
+void collisionShapeNode::computeOutputShape(const MPlug& plug, MDataBlock& data)
+{
+   // std::cout << "collisionShapeNode::computeOutputShape" << std::endl;
+
+    MObject thisObject(thisMObject());
+
+    MObject update;
+    MPlug(thisObject, ca_collisionShape).getValue(update);
+    MPlug(thisObject, ca_collisionShapeParam).getValue(update);
+
+    data.setClean(plug);
+}

Extras/MayaPlugin/collisionShapeNode.h

@@ -0,0 +1,80 @@
+/*
+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>
+*/
+
+//collisionShapeNode.h
+
+#ifndef DYN_COLLISION_SHAPE_NODE_H
+#define DYN_COLLISION_SHAPE_NODE_H
+
+#include <maya/MString.h>
+#include <maya/MTypeId.h>
+#include <maya/MPxNode.h>
+
+#include "collision_shape.h"
+
+
+class collisionShapeNode: public MPxNode
+{
+public:
+    collisionShapeNode();
+    virtual ~collisionShapeNode();
+
+    virtual bool        setInternalValueInContext ( const  MPlug & plug,
+                                                    const  MDataHandle & dataHandle,
+                                                    MDGContext & ctx);
+
+    virtual MStatus     compute( const MPlug& plug, MDataBlock& data );
+
+    static  void *      creator();
+    static  MStatus     initialize();
+
+public:
+
+    collision_shape_t::pointer collisionShape();
+  
+public:
+
+    //Attributes
+    static  MObject     ia_shape;
+    static  MObject     ia_type;
+    static  MObject     ia_scale;
+    static  MObject     ca_collisionShape;
+    static  MObject     ca_collisionShapeParam;
+    static  MObject     oa_collisionShape;
+
+public:
+    static  MTypeId     typeId;
+    static  MString     typeName;
+
+protected:
+    void computeCollisionShape(const MPlug& plug, MDataBlock& data);
+    void computeCollisionShapeParam(const MPlug& plug, MDataBlock& data);
+    void computeOutputShape(const MPlug& plug, MDataBlock& data);
+
+private:
+    collision_shape_t::pointer m_collision_shape;
+    
+};
+
+
+
+#endif

Extras/MayaPlugin/collision_shape.h

@@ -0,0 +1,68 @@
+/*
+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>
+*/
+
+//collision_shape.h
+
+#ifndef DYN_COLLISION_SHAPE_H
+#define DYN_COLLISION_SHAPE_H
+
+#include "shared_ptr.h"
+#include "collision_shape_impl.h"
+
+class collision_shape_t
+{
+public:
+    //typedefs
+    typedef shared_ptr<collision_shape_t> pointer;
+
+    //enums
+    enum DrawStyle {
+        kDSWireframe = 0x0001,
+        kDSSolid = 0x0002
+    };
+
+    virtual void gl_draw(size_t draw_style = kDSSolid) { m_impl->gl_draw(draw_style); }  
+
+    virtual void set_scale(vec3f const& s)  { m_impl->set_scale(s);  }
+    virtual void get_scale(vec3f& s)        { m_impl->get_scale(s);  }
+
+    virtual float volume()               { return m_impl->volume();  }
+    //for the inertia is assumed that the mass is 1.0. just multiply by the mass
+    virtual vec3f const& local_inertia() { return m_impl->local_inertia();  }
+    virtual vec3f const& center()        { return m_impl->center();   }
+    virtual quatf const& rotation()      { return m_impl->rotation();   }
+
+public:
+    virtual ~collision_shape_t() {}
+
+protected:
+    friend class solver_t;
+
+    collision_shape_t(collision_shape_impl_t* impl): m_impl(impl) { }
+
+    collision_shape_impl_t* impl()              { return m_impl.get(); }
+    
+private:
+    shared_ptr<collision_shape_impl_t> m_impl;
+};
+
+#endif

Extras/MayaPlugin/collision_shape_impl.h

@@ -0,0 +1,49 @@
+/*
+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>
+*/
+
+//collision_shape_impl.h
+
+#ifndef DYN_COLLISION_SHAPE_IMPL_H
+#define DYN_COLLISION_SHAPE_IMPL_H
+
+#include "shared_ptr.h"
+#include "mathUtils.h"
+
+class collision_shape_impl_t
+{
+public:
+    //
+    virtual void gl_draw(size_t draw_style) = 0;
+
+    virtual void set_scale(vec3f const& s) = 0;
+    virtual void get_scale(vec3f& s) = 0;
+
+    virtual float volume() = 0;
+    virtual vec3f const& local_inertia() = 0;
+    virtual vec3f const& center() = 0;
+    virtual quatf const& rotation() = 0;
+
+public:
+    virtual ~collision_shape_impl_t() {};
+};
+
+#endif

Extras/MayaPlugin/convex_hull_shape.h

@@ -0,0 +1,44 @@
+/*
+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>
+*/
+
+//convex_hull_shape.h
+
+#ifndef DYN_CONVEX_HULL_SHAPE_H
+#define DYN_CONVEX_HULL_SHAPE_H
+
+#include "collision_shape.h"
+#include "collision_shape_impl.h"
+
+class convex_hull_shape_t: public collision_shape_t
+{
+public:
+    //typedefs
+    typedef shared_ptr<convex_hull_shape_t> pointer;
+
+protected:
+    friend class solver_t;
+
+    convex_hull_shape_t(collision_shape_impl_t* impl): collision_shape_t(impl) { }
+
+};
+
+#endif

Extras/MayaPlugin/convex_hull_shape_impl.h

@@ -0,0 +1,39 @@
+/*
+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>
+*/
+
+//convex_hull_shape_impl.h
+
+#ifndef DYN_CONVEX_HULL_SHAPE_IMPL_H
+#define DYN_CONVEX_HULL_SHAPE_IMPL_H
+
+#include "collision_shape_impl.h"
+
+class convex_hull_shape_impl_t: public collision_shape_impl_t
+{
+public:
+    //typedefs
+
+private:
+
+};
+
+#endif

Extras/MayaPlugin/dRigidBodyArrayCmd.cpp

@@ -0,0 +1,147 @@
+/*
+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>
+*/
+
+//dRigidBodyArrayCmd.cpp
+
+#include <maya/MGlobal.h>
+#include <maya/MItDependencyNodes.h>
+#include <maya/MSyntax.h>
+
+#include "rigidBodyArrayNode.h"
+#include "dRigidBodyArrayCmd.h"
+
+
+MString dRigidBodyArrayCmd::typeName("dRigidBodyArray");
+
+dRigidBodyArrayCmd::dRigidBodyArrayCmd()
+  : m_argDatabase(0),
+    m_dagModifier(0)
+{
+}
+
+
+dRigidBodyArrayCmd::~dRigidBodyArrayCmd()
+{
+  if (m_argDatabase) {
+    delete m_argDatabase;
+  }
+
+  if (m_dagModifier) {
+    delete m_dagModifier;
+  }
+}
+
+
+void *
+dRigidBodyArrayCmd::creator()
+{
+  return new dRigidBodyArrayCmd;
+}
+
+
+MSyntax
+dRigidBodyArrayCmd::syntax()
+{
+    MSyntax syntax;
+    syntax.enableQuery(false);
+    syntax.enableEdit(false);
+
+    syntax.addFlag("-n", "-name", MSyntax::kString);
+  //  syntax.addFlag("-fn", "-filename", MSyntax::kString);
+   // syntax.addFlag("-col", "-color", MSyntax::kString);
+   // syntax.addFlag("-dia", "-diameter", MSyntax::kDouble);
+
+    return syntax;
+}
+
+
+MStatus
+dRigidBodyArrayCmd::doIt(const MArgList &args)
+{
+    MStatus stat;
+    m_argDatabase = new MArgDatabase(syntax(), args, &stat);
+    if (stat == MS::kFailure) {
+	return stat;
+    }
+    return redoIt();
+}
+
+
+MStatus
+dRigidBodyArrayCmd::undoIt()
+{
+  MGlobal::setActiveSelectionList(m_undoSelectionList);
+
+  if (m_dagModifier) {
+      m_dagModifier->undoIt();
+      delete m_dagModifier;
+      m_dagModifier = 0;
+  }
+
+  return MS::kSuccess;
+}
+
+
+MStatus
+dRigidBodyArrayCmd::redoIt()
+{
+    MGlobal::getActiveSelectionList(m_undoSelectionList);
+
+    MString name;
+    if (m_argDatabase->isFlagSet("-name")) {
+	m_argDatabase->getFlagArgument("-name", 0, name);
+    }
+    if (!name.length()) {
+	name = "dRigidBodyArray";
+    }
+
+    m_dagModifier = new MDagModifier;
+
+    MObject parentObj = m_dagModifier->createNode("transform");
+    m_dagModifier->renameNode(parentObj, name + "#");
+    m_dagModifier->doIt();
+
+    MObject dRigidBodyArrayObj = m_dagModifier->createNode(rigidBodyArrayNode::typeId, parentObj);
+    std::string dRigidBodyArrayName = MFnDependencyNode(parentObj).name().asChar();
+    std::string::size_type pos = dRigidBodyArrayName.find_last_not_of("0123456789");
+    dRigidBodyArrayName.insert(pos + 1, "Shape");
+    m_dagModifier->renameNode(dRigidBodyArrayObj, dRigidBodyArrayName.c_str());
+    m_dagModifier->doIt();
+
+    // connect the solver attribute
+    MPlug plgSolver(dRigidBodyArrayObj, rigidBodyArrayNode::ia_solver);
+    MSelectionList slist;
+    slist.add("dSolver1");
+    MObject solverObj;
+    if(slist.length() != 0) {
+        slist.getDependNode(0, solverObj);
+	MPlug plgRigidBodies = MFnDependencyNode(solverObj).findPlug("rigidBodies", false);
+	m_dagModifier->connect(plgRigidBodies, plgSolver);
+	m_dagModifier->doIt();
+    }
+
+    MGlobal::select(parentObj, MGlobal::kReplaceList);
+
+    setResult(MFnDependencyNode(dRigidBodyArrayObj).name());
+
+    return MS::kSuccess;
+}

Extras/MayaPlugin/dRigidBodyArrayCmd.h

@@ -0,0 +1,58 @@
+/*
+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>
+*/
+
+//dRigidBodyArrayCmd.h
+
+#ifndef DYN_DRIGIDBODYARRAYCMD_H
+#define DYN_DRIGIDBODYARRAYCMD_H
+
+#include <maya/MArgDatabase.h>
+#include <maya/MDagModifier.h>
+#include <maya/MSelectionList.h>
+
+#include <maya/MPxCommand.h>
+
+class dRigidBodyArrayCmd : public MPxCommand
+{
+public:
+    dRigidBodyArrayCmd();
+    virtual ~dRigidBodyArrayCmd();
+
+    static void *creator();
+    static MSyntax syntax();
+
+    MStatus doIt(const MArgList &i_mArgList);
+    MStatus redoIt();
+    MStatus undoIt();
+    bool isUndoable() const { return true; }
+    bool hasSyntax() const { return true; }
+
+    static MString typeName;
+
+protected:
+    MArgDatabase *m_argDatabase;
+    MDagModifier *m_dagModifier;
+
+    MSelectionList m_undoSelectionList;
+};
+
+#endif

Extras/MayaPlugin/dRigidBodyCmd.cpp

@@ -0,0 +1,147 @@
+/*
+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>
+*/
+
+//dRidigBodyCmd.cpp
+
+#include <maya/MGlobal.h>
+#include <maya/MItDependencyNodes.h>
+#include <maya/MSyntax.h>
+
+#include "rigidBodyNode.h"
+#include "dRigidBodyCmd.h"
+
+
+MString dRigidBodyCmd::typeName("dRigidBody");
+
+dRigidBodyCmd::dRigidBodyCmd()
+  : m_argDatabase(0),
+    m_dagModifier(0)
+{
+}
+
+
+dRigidBodyCmd::~dRigidBodyCmd()
+{
+  if (m_argDatabase) {
+    delete m_argDatabase;
+  }
+
+  if (m_dagModifier) {
+    delete m_dagModifier;
+  }
+}
+
+
+void *
+dRigidBodyCmd::creator()
+{
+  return new dRigidBodyCmd;
+}
+
+
+MSyntax
+dRigidBodyCmd::syntax()
+{
+    MSyntax syntax;
+    syntax.enableQuery(false);
+    syntax.enableEdit(false);
+
+    syntax.addFlag("-n", "-name", MSyntax::kString);
+  //  syntax.addFlag("-fn", "-filename", MSyntax::kString);
+   // syntax.addFlag("-col", "-color", MSyntax::kString);
+   // syntax.addFlag("-dia", "-diameter", MSyntax::kDouble);
+
+    return syntax;
+}
+
+
+MStatus
+dRigidBodyCmd::doIt(const MArgList &args)
+{
+    MStatus stat;
+    m_argDatabase = new MArgDatabase(syntax(), args, &stat);
+    if (stat == MS::kFailure) {
+	return stat;
+    }
+    return redoIt();
+}
+
+
+MStatus
+dRigidBodyCmd::undoIt()
+{
+  MGlobal::setActiveSelectionList(m_undoSelectionList);
+
+  if (m_dagModifier) {
+      m_dagModifier->undoIt();
+      delete m_dagModifier;
+      m_dagModifier = 0;
+  }
+
+  return MS::kSuccess;
+}
+
+
+MStatus
+dRigidBodyCmd::redoIt()
+{
+    MGlobal::getActiveSelectionList(m_undoSelectionList);
+
+    MString name;
+    if (m_argDatabase->isFlagSet("-name")) {
+	m_argDatabase->getFlagArgument("-name", 0, name);
+    }
+    if (!name.length()) {
+	name = "dRigidBody";
+    }
+
+    m_dagModifier = new MDagModifier;
+
+    MObject parentObj = m_dagModifier->createNode("transform");
+    m_dagModifier->renameNode(parentObj, name + "#");
+    m_dagModifier->doIt();
+
+    MObject dRigidBodyObj = m_dagModifier->createNode(rigidBodyNode::typeId, parentObj);
+    std::string dRigidBodyName = MFnDependencyNode(parentObj).name().asChar();
+    std::string::size_type pos = dRigidBodyName.find_last_not_of("0123456789");
+    dRigidBodyName.insert(pos + 1, "Shape");
+    m_dagModifier->renameNode(dRigidBodyObj, dRigidBodyName.c_str());
+    m_dagModifier->doIt();
+
+    // connect the solver attribute
+    MPlug plgSolver(dRigidBodyObj, rigidBodyNode::ia_solver);
+    MSelectionList slist;
+    slist.add("dSolver1");
+    MObject solverObj;
+    if(slist.length() != 0) {
+        slist.getDependNode(0, solverObj);
+	MPlug plgRigidBodies = MFnDependencyNode(solverObj).findPlug("rigidBodies", false);
+	m_dagModifier->connect(plgRigidBodies, plgSolver);
+	m_dagModifier->doIt();
+    }
+
+    MGlobal::select(parentObj, MGlobal::kReplaceList);
+
+    setResult(MFnDependencyNode(dRigidBodyObj).name());
+
+    return MS::kSuccess;
+}

Extras/MayaPlugin/dRigidBodyCmd.h

@@ -0,0 +1,58 @@
+/*
+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>
+*/
+
+//dRigidBodyCmd.h
+
+#ifndef DYN_DRIGIDBODYCMD_H
+#define DYN_DRIGIDBODYCMD_H
+
+#include <maya/MArgDatabase.h>
+#include <maya/MDagModifier.h>
+#include <maya/MSelectionList.h>
+
+#include <maya/MPxCommand.h>
+
+class dRigidBodyCmd : public MPxCommand
+{
+public:
+    dRigidBodyCmd();
+    virtual ~dRigidBodyCmd();
+
+    static void *creator();
+    static MSyntax syntax();
+
+    MStatus doIt(const MArgList &i_mArgList);
+    MStatus redoIt();
+    MStatus undoIt();
+    bool isUndoable() const { return true; }
+    bool hasSyntax() const { return true; }
+
+    static MString typeName;
+
+protected:
+    MArgDatabase *m_argDatabase;
+    MDagModifier *m_dagModifier;
+
+    MSelectionList m_undoSelectionList; 
+};
+
+#endif

Extras/MayaPlugin/dSolverCmd.cpp

@@ -0,0 +1,126 @@
+/*
+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>
+*/
+
+//dSolverCmd.cpp
+
+#include <maya/MItDependencyNodes.h>
+#include <maya/MSyntax.h>
+
+#include "dSolverNode.h"
+#include "dSolverCmd.h"
+
+MString dSolverCmd::typeName("dSolver");
+
+dSolverCmd::dSolverCmd()
+  : m_argDatabase(0),
+    m_dgModifier(0)
+{
+}
+
+
+dSolverCmd::~dSolverCmd()
+{
+    if (m_argDatabase) {
+        delete m_argDatabase;
+    }
+    
+    if (m_dgModifier) {
+        delete m_dgModifier;
+    }
+}
+
+
+void *
+dSolverCmd::creator()
+{
+  return new dSolverCmd;
+}
+
+
+MSyntax
+dSolverCmd::syntax()
+{
+    MSyntax syntax;
+    syntax.enableQuery(false);
+    syntax.enableEdit(false);
+
+    return syntax;
+}
+
+
+MStatus
+dSolverCmd::doIt(const MArgList &args)
+{
+    MStatus stat;
+    m_argDatabase = new MArgDatabase(syntax(), args, &stat);
+    if (stat == MS::kFailure) {
+	return stat;
+    }
+    return redoIt();
+}
+
+
+MStatus
+dSolverCmd::undoIt()
+{
+  if (m_dgModifier) {
+      m_dgModifier->undoIt();
+      delete m_dgModifier;
+      m_dgModifier = 0;
+  }
+
+  return MS::kSuccess;
+}
+
+
+MStatus
+dSolverCmd::redoIt()
+{
+    MStatus stat;
+
+    // see if node exists
+    MItDependencyNodes depIt(MFn::kPluginDependNode);
+    for (; !depIt.isDone(); depIt.next()) {
+	MObject obj = depIt.thisNode();
+	if (MFnDependencyNode(obj).typeId() == dSolverNode::typeId) {
+	    return stat;
+	}
+    }
+
+    m_dgModifier = new MDGModifier;
+
+    MObject dSolverObj = m_dgModifier->createNode(dSolverNode::typeId);
+    m_dgModifier->doIt();
+
+    // connect the time attribute
+    MPlug plgInTime(dSolverObj, dSolverNode::ia_time);
+    MItDependencyNodes depNodeIt(MFn::kTime);
+    MObject timeObj = depNodeIt.thisNode();
+    if (timeObj != MObject::kNullObj) {
+	MPlug plgOutTime = MFnDependencyNode(timeObj).findPlug("outTime", false);
+	m_dgModifier->connect(plgOutTime, plgInTime);
+	m_dgModifier->doIt();
+    }
+    setResult(MFnDependencyNode(dSolverObj).name());
+
+    return stat;
+}

Extras/MayaPlugin/dSolverCmd.h

@@ -0,0 +1,56 @@
+/*
+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>
+*/
+
+//dSolverCmd.h
+
+#ifndef DYN_DSOLVERCMD_H
+#define DYN_DSOLVERCMD_H
+
+#include <maya/MArgDatabase.h>
+#include <maya/MDagModifier.h>
+
+#include <maya/MPxCommand.h>
+
+
+class dSolverCmd : public MPxCommand
+{
+public:
+    dSolverCmd();
+    virtual ~dSolverCmd();
+
+    static void *creator();
+    static MSyntax syntax();
+
+    MStatus doIt(const MArgList &i_mArgList);
+    MStatus redoIt();
+    MStatus undoIt();
+    bool isUndoable() const { return true; }
+    bool hasSyntax() const { return true; }
+
+    static MString typeName;
+
+protected:
+    MArgDatabase *m_argDatabase;
+    MDGModifier *m_dgModifier;
+};
+
+#endif

Extras/MayaPlugin/dSolverNode.cpp

@@ -0,0 +1,771 @@
+/*
+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.cpp
+
+#include <maya/MFnNumericAttribute.h>           
+#include <maya/MFnEnumAttribute.h>           
+#include <maya/MFnTypedAttribute.h>           
+#include <maya/MFnUnitAttribute.h>           
+#include <maya/MFnMessageAttribute.h>           
+#include <maya/MFnStringData.h>           
+#include <maya/MFnStringArrayData.h>
+#include <maya/MPlugArray.h>
+#include <maya/MFnDagNode.h>
+#include <maya/MEulerRotation.h>
+#include <maya/MQuaternion.h>
+#include <maya/MFnTransform.h>
+#include <maya/MVector.h>
+#include <maya/MGlobal.h>
+#include <maya/MFnField.h>
+#include <maya/MVectorArray.h>
+#include <maya/MItDag.h>
+
+#include <fstream>
+#include <sstream>
+
+#include "mayaUtils.h"
+#include "dSolverNode.h"
+#include "solver.h"
+#include "rigidBodyNode.h"
+#include "rigidBodyArrayNode.h"
+#include "pdbIO.h"
+
+MTypeId dSolverNode::typeId( 0x104203 );
+MString dSolverNode::typeName( "dSolver" );
+
+MObject dSolverNode::ia_time;
+MObject dSolverNode::ia_startTime;
+MObject dSolverNode::ia_gravity;
+MObject dSolverNode::ia_enabled;
+MObject dSolverNode::ia_splitImpulse;
+MObject dSolverNode::ia_substeps;
+MObject dSolverNode::oa_rigidBodies;
+MObject dSolverNode::ssSolverType;
+
+#define ATTR_POSITION "position"
+//#define ATTR_POSITION_TYPE VECTOR_ATTR
+#define ATTR_VELOCITY "velocity"
+//#define ATTR_VELOCITY_TYPE VECTOR_ATTR
+
+#define ATTR_IN_RAXIS  "in_rotvec"               /* vector */
+//#define ATTR_IN_RAXIS_TYPE VECTOR_ATTR
+#define ATTR_IN_RANGLE "in_rotang"               /* float  */
+//#define ATTR_IN_RANGLE_TYPE FLOAT_ATTR
+#define ATTR_IN_ROTVEL "in_rotvel"               /* float  */
+//#define ATTR_IN_ROTVEL_TYPE FLOAT_ATTR
+#define ATTR_IN_RAXISNEXT  "in_rotvec_next"      /* vector */
+//#define ATTR_IN_RAXISNEXT_TYPE VECTOR_ATTR
+#define ATTR_IN_RANGLENEXT "in_rotang_next"      /* float  */
+//#define ATTR_IN_RANGLENEXT_TYPE FLOAT_ATTR
+
+
+
+MStatus dSolverNode::initialize()
+{ 
+    MStatus                 status;
+    MFnEnumAttribute        fnEnumAttr;
+    MFnMessageAttribute     fnMsgAttr;
+    MFnUnitAttribute        fnUnitAttr;
+    MFnNumericAttribute     fnNumericAttr;
+
+    //
+    ssSolverType = fnEnumAttr.create( "ssSolverType", "ssst", 0, &status );
+    MCHECKSTATUS(status, "creating ssSolverType attribute")
+    fnEnumAttr.addField( "Bullet Physics", 0 );
+    fnEnumAttr.addField( "Ageia PhysX", 1 );
+    fnEnumAttr.addField( "Stanford PhysBAM", 2 );
+    status = addAttribute(ssSolverType);
+    MCHECKSTATUS(status, "adding ssSolverType attribute")
+
+    //
+    ia_time = fnUnitAttr.create( "inTime", "it", MFnUnitAttribute::kTime, 0.0, &status );
+    MCHECKSTATUS(status, "creating ia_time attribute")
+    fnUnitAttr.setHidden(true);
+    status = addAttribute(ia_time);
+    MCHECKSTATUS(status, "adding ia_time attribute")
+
+    ia_startTime = fnUnitAttr.create( "startTime", "stm", MFnUnitAttribute::kTime, 1.0, &status );
+    MCHECKSTATUS(status, "creating ia_startTime attribute")
+    status = addAttribute(ia_startTime);
+    MCHECKSTATUS(status, "adding ia_startTime attribute")
+
+    oa_rigidBodies = fnMsgAttr.create("rigidBodies", "rbds", &status);
+    MCHECKSTATUS(status, "creating oa_rigidBodies attribute")
+    status = addAttribute(oa_rigidBodies);
+    MCHECKSTATUS(status, "adding oa_rigidBodies attribute")
+
+    ia_gravity = fnNumericAttr.createPoint("gravity", "grvt", &status);
+    MCHECKSTATUS(status, "creating gravity attribute")
+    fnNumericAttr.setDefault(0.0, -9.81, 0.0);
+    fnNumericAttr.setKeyable(true);
+    status = addAttribute(ia_gravity);
+    MCHECKSTATUS(status, "adding ia_gravity attribute")
+
+    ia_substeps = fnNumericAttr.create("substeps", "sbs", MFnNumericData::kInt, 1, &status);
+    MCHECKSTATUS(status, "creating substeps attribute")
+    fnNumericAttr.setKeyable(true);
+    status = addAttribute(ia_substeps);
+    MCHECKSTATUS(status, "adding ia_substeps attribute")
+
+    ia_enabled = fnNumericAttr.create("enabled", "enbl", MFnNumericData::kBoolean, true, &status);
+    MCHECKSTATUS(status, "creating enabled attribute")
+    status = addAttribute(ia_enabled);
+    MCHECKSTATUS(status, "adding ia_enabled attribute")
+
+    ia_splitImpulse = fnNumericAttr.create("splitImpulse", "spli", MFnNumericData::kBoolean, false, &status);
+    MCHECKSTATUS(status, "creating splitImpulse attribute")
+    status = addAttribute(ia_splitImpulse);
+    MCHECKSTATUS(status, "adding ia_splitImpulse attribute")
+
+    status = attributeAffects(ia_time, oa_rigidBodies);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_time, oa_rigidBodies)")
+
+    status = attributeAffects(ia_enabled, oa_rigidBodies);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_enabled, oa_rigidBodies)")
+
+    return MS::kSuccess;
+}
+
+dSolverNode::dSolverNode()
+{
+}
+
+dSolverNode::~dSolverNode()
+{
+}
+
+void dSolverNode::postConstructor()
+{
+    //prevent deletion if all the rigidbodies are deleted
+    setExistWithoutOutConnections(true);
+}
+
+void* dSolverNode::creator()
+{
+    return new dSolverNode();
+}
+
+bool dSolverNode::setInternalValueInContext( const  MPlug & plug, const  MDataHandle & dataHandle,  MDGContext & ctx )
+{
+    return false;
+}
+
+MStatus dSolverNode::compute(const MPlug& plug, MDataBlock& data)
+{
+    if(plug == oa_rigidBodies) {
+         computeRigidBodies(plug, data);
+    } else {
+        return MStatus::kUnknownParameter;
+    } 
+    return MStatus::kSuccess;
+}
+
+void initRigidBody(MObject &node)
+{
+    MFnDagNode fnDagNode(node);
+
+    rigidBodyNode *rbNode = static_cast<rigidBodyNode*>(fnDagNode.userNode()); 
+    rigid_body_t::pointer rb = rbNode->rigid_body();
+
+    if(fnDagNode.parentCount() == 0) {
+        std::cout << "No transform found!" << std::endl;
+        return;
+    }
+
+    MFnTransform fnTransform(fnDagNode.parent(0));
+
+    MPlug plgActive(node, rigidBodyNode::ia_active);
+    bool active = false;
+    plgActive.getValue(active);
+    if(active) {
+        //active rigid body, set the world transform from the initial* attributes
+        MObject obj;
+
+        vec3f pos;
+        MPlug plgInitialValue(node, rigidBodyNode::ia_initialPosition);
+        plgInitialValue.child(0).getValue(pos[0]);
+        plgInitialValue.child(1).getValue(pos[1]);
+        plgInitialValue.child(2).getValue(pos[2]);
+
+        vec3f rot;
+        plgInitialValue.setAttribute(rigidBodyNode::ia_initialRotation);
+        plgInitialValue.child(0).getValue(rot[0]);
+        plgInitialValue.child(1).getValue(rot[1]);
+        plgInitialValue.child(2).getValue(rot[2]);
+
+        vec3f vel;
+        plgInitialValue.setAttribute(rigidBodyNode::ia_initialVelocity);
+        plgInitialValue.child(0).getValue(vel[0]);
+        plgInitialValue.child(1).getValue(vel[1]);
+        plgInitialValue.child(2).getValue(vel[2]);
+
+        vec3f spin;
+        plgInitialValue.setAttribute(rigidBodyNode::ia_initialSpin);
+        plgInitialValue.child(0).getValue(spin[0]);
+        plgInitialValue.child(1).getValue(spin[1]);
+        plgInitialValue.child(2).getValue(spin[2]);
+
+        MEulerRotation meuler(deg2rad(rot[0]), deg2rad(rot[1]), deg2rad(rot[2]));
+        MQuaternion mquat = meuler.asQuaternion();
+        rb->set_transform(pos, quatf(mquat.w, mquat.x, mquat.y, mquat.z)); 
+        rb->set_linear_velocity(vel);
+        rb->set_angular_velocity(spin);
+        rb->set_kinematic(false);
+
+        fnTransform.setRotation(meuler);
+        fnTransform.setTranslation(MVector(pos[0], pos[1], pos[2]), MSpace::kTransform);
+    } else {
+        //passive rigid body, get the world trasform from from the shape node
+        MQuaternion mquat;
+        fnTransform.getRotation(mquat);
+        MVector mpos(fnTransform.getTranslation(MSpace::kTransform));
+        rb->set_transform(vec3f(mpos.x, mpos.y, mpos.z), quatf(mquat.w, mquat.x, mquat.y, mquat.z));
+        rb->set_kinematic(true);
+    }
+}
+
+void initRigidBodyArray(MObject &node)
+{
+    MFnDagNode fnDagNode(node);
+
+    rigidBodyArrayNode *rbNode = static_cast<rigidBodyArrayNode*>(fnDagNode.userNode()); 
+    std::vector<rigid_body_t::pointer>& rbs = rbNode->rigid_bodies();
+
+    if(fnDagNode.parentCount() == 0) {
+        std::cout << "No transform found!" << std::endl;
+        return;
+    }
+
+    MFnTransform fnTransform(fnDagNode.parent(0));
+
+    MPlug plgActive(node, rigidBodyArrayNode::ia_active);
+    bool active = false;
+    plgActive.getValue(active);
+    if(active) {
+        //active rigid body, set the world transform from the initial* attributes
+        MObject obj;
+
+        MPlug plgInitialPosition(node, rigidBodyArrayNode::ia_initialPosition);
+        MPlug plgInitialRotation(node, rigidBodyArrayNode::ia_initialRotation);
+        MPlug plgInitialVelocity(node, rigidBodyArrayNode::ia_initialVelocity);
+        MPlug plgInitialSpin(node, rigidBodyArrayNode::ia_initialSpin);
+
+        MPlug plgElement;
+        for(size_t j = 0; j < rbs.size(); ++j) {
+            vec3f pos;
+            plgElement = plgInitialPosition.elementByLogicalIndex(j);
+            plgElement.child(0).getValue(pos[0]);
+            plgElement.child(1).getValue(pos[1]);
+            plgElement.child(2).getValue(pos[2]);
+
+            vec3f rot;
+            plgElement = plgInitialRotation.elementByLogicalIndex(j);
+            plgElement.child(0).getValue(rot[0]);
+            plgElement.child(1).getValue(rot[1]);
+            plgElement.child(2).getValue(rot[2]);
+
+            vec3f vel;
+            plgElement = plgInitialVelocity.elementByLogicalIndex(j);
+            plgElement.child(0).getValue(vel[0]);
+            plgElement.child(1).getValue(vel[1]);
+            plgElement.child(2).getValue(vel[2]);
+
+            vec3f spin;
+            plgElement = plgInitialSpin.elementByLogicalIndex(j);
+            plgElement.child(0).getValue(spin[0]);
+            plgElement.child(1).getValue(spin[1]);
+            plgElement.child(2).getValue(spin[2]);
+
+            MEulerRotation meuler(deg2rad(rot[0]), deg2rad(rot[1]), deg2rad(rot[2]));
+            MQuaternion mquat = meuler.asQuaternion();
+            rbs[j]->set_transform(pos, quatf(mquat.w, mquat.x, mquat.y, mquat.z)); 
+            rbs[j]->set_linear_velocity(vel);
+            rbs[j]->set_angular_velocity(spin);
+            rbs[j]->set_kinematic(false);
+        }
+
+    } else {
+        //passive rigid body, get the world trasform from from the position/rotation attributes
+        MPlug plgPosition(node, rigidBodyArrayNode::io_position);
+        MPlug plgRotation(node, rigidBodyArrayNode::io_rotation);
+
+        MPlug plgElement;
+        for(size_t j = 0; j < rbs.size(); ++j) {
+            vec3f pos;
+            plgElement = plgPosition.elementByLogicalIndex(j);
+            plgElement.child(0).getValue(pos[0]);
+            plgElement.child(1).getValue(pos[1]);
+            plgElement.child(2).getValue(pos[2]);
+
+            vec3f rot;
+            plgElement = plgRotation.elementByLogicalIndex(j);
+            plgElement.child(0).getValue(rot[0]);
+            plgElement.child(1).getValue(rot[1]);
+            plgElement.child(2).getValue(rot[2]);
+
+            MEulerRotation meuler(deg2rad(rot[0]), deg2rad(rot[1]), deg2rad(rot[2]));
+            MQuaternion mquat = meuler.asQuaternion();
+            rbs[j]->set_transform(pos, quatf(mquat.w, mquat.x, mquat.y, mquat.z)); 
+            rbs[j]->set_kinematic(false);
+        }
+    }
+}
+
+//init the rigid bodies to it's first frame configuration
+void dSolverNode::initRigidBodies(MPlugArray &rbConnections)
+{
+    for(size_t i = 0; i < rbConnections.length(); ++i) {
+        MObject node = rbConnections[i].node();
+        MFnDependencyNode fnNode(node);
+
+        if(fnNode.typeId() == rigidBodyNode::typeId) {
+            initRigidBody(node);
+        } else if(fnNode.typeId() == rigidBodyArrayNode::typeId) {
+            initRigidBodyArray(node);
+        }
+    }
+}
+
+//gather previous and current frame transformations for substep interpolation
+void dSolverNode::gatherPassiveTransforms(MPlugArray &rbConnections, std::vector<xforms_t> &xforms)
+{
+    xforms.resize(0);
+    xforms_t xform;
+
+
+    for(size_t i = 0; i < rbConnections.length(); ++i) {
+        MObject node = rbConnections[i].node();
+        MFnDagNode fnDagNode(node);
+        if(fnDagNode.typeId() == rigidBodyNode::typeId) {
+            rigidBodyNode *rbNode = static_cast<rigidBodyNode*>(fnDagNode.userNode()); 
+            rigid_body_t::pointer rb = rbNode->rigid_body();
+
+            if(fnDagNode.parentCount() == 0) {
+                std::cout << "No transform found!" << std::endl;
+                continue;
+            }
+
+            MFnTransform fnTransform(fnDagNode.parent(0));
+
+            MPlug plgActive(node, rigidBodyNode::ia_active);
+            bool active = false;
+            plgActive.getValue(active);
+            if(!active) {
+                MQuaternion mquat;
+                fnTransform.getRotation(mquat);
+                MVector mpos(fnTransform.getTranslation(MSpace::kTransform));
+                rb->get_transform(xform.m_x0, xform.m_q0); 
+                
+                xform.m_x1 = vec3f(mpos.x, mpos.y, mpos.z);
+                xform.m_q1 = quatf(mquat.w, mquat.x, mquat.y, mquat.z); 
+                xforms.push_back(xform);
+            }
+        } else if(fnDagNode.typeId() == rigidBodyArrayNode::typeId) {
+            rigidBodyArrayNode *rbNode = static_cast<rigidBodyArrayNode*>(fnDagNode.userNode()); 
+            std::vector<rigid_body_t::pointer>& rbs = rbNode->rigid_bodies();
+        
+            if(fnDagNode.parentCount() == 0) {
+                std::cout << "No transform found!" << std::endl;
+                return;
+            }
+
+            MPlug plgActive(node, rigidBodyArrayNode::ia_active);
+            bool active = false;
+            plgActive.getValue(active);
+            if(!active) {
+                MPlug plgPosition(node, rigidBodyArrayNode::io_position);
+                MPlug plgRotation(node, rigidBodyArrayNode::io_rotation);
+
+                MPlug plgElement;
+                for(size_t j = 0; j < rbs.size(); ++j) {
+                    rbs[j]->get_transform(xform.m_x0, xform.m_q0); 
+
+                    plgElement = plgPosition.elementByLogicalIndex(j);
+                    plgElement.child(0).getValue(xform.m_x1[0]);
+                    plgElement.child(1).getValue(xform.m_x1[1]);
+                    plgElement.child(2).getValue(xform.m_x1[2]);
+
+                    vec3f rot;
+                    plgElement = plgRotation.elementByLogicalIndex(j);
+                    plgElement.child(0).getValue(rot[0]);
+                    plgElement.child(1).getValue(rot[1]);
+                    plgElement.child(2).getValue(rot[2]);
+
+                    MEulerRotation meuler(deg2rad(rot[0]), deg2rad(rot[1]), deg2rad(rot[2]));
+                    MQuaternion mquat = meuler.asQuaternion();
+                    xform.m_q1 = quatf(mquat.w, mquat.x, mquat.y, mquat.z); 
+                    xforms.push_back(xform);
+                }
+            }
+        }
+    }
+}
+
+
+//update the passive rigid bodies by interpolation of the previous and current frame
+void dSolverNode::updatePassiveRigidBodies(MPlugArray &rbConnections, std::vector<xforms_t> &xforms, float t)
+{
+    size_t pb = 0;
+    for(size_t i = 0; i < rbConnections.length(); ++i) {
+        MObject node = rbConnections[i].node();
+        MFnDagNode fnDagNode(node);
+        if(fnDagNode.typeId() == rigidBodyNode::typeId) {
+            rigidBodyNode *rbNode = static_cast<rigidBodyNode*>(fnDagNode.userNode()); 
+            rigid_body_t::pointer rb = rbNode->rigid_body();
+
+            if(fnDagNode.parentCount() == 0) {
+                std::cout << "No transform found!" << std::endl;
+                continue;
+            }
+
+            MPlug plgActive(node, rigidBodyNode::ia_active);
+            bool active = false;
+            plgActive.getValue(active);
+            if(!active) {
+                //do linear interpolation for now
+                rb->set_transform(xforms[pb].m_x0 + t * (xforms[pb].m_x1 - xforms[pb].m_x0),
+                                  normalize(xforms[pb].m_q0 + t * (xforms[pb].m_q1 - xforms[pb].m_q0))); 
+                ++pb;
+            }
+        } else if(fnDagNode.typeId() == rigidBodyArrayNode::typeId) {
+            rigidBodyArrayNode *rbNode = static_cast<rigidBodyArrayNode*>(fnDagNode.userNode()); 
+            std::vector<rigid_body_t::pointer>& rbs = rbNode->rigid_bodies();
+        
+            if(fnDagNode.parentCount() == 0) {
+                std::cout << "No transform found!" << std::endl;
+                return;
+            }
+
+            MPlug plgActive(node, rigidBodyArrayNode::ia_active);
+            bool active = false;
+            plgActive.getValue(active);
+            if(!active) {
+                for(size_t j = 0; j < rbs.size(); ++j) {
+                    rbs[j]->set_transform(xforms[pb].m_x0 + t * (xforms[pb].m_x1 - xforms[pb].m_x0),
+                                      normalize(xforms[pb].m_q0 + t * (xforms[pb].m_q1 - xforms[pb].m_q0))); 
+                    ++pb;
+                }
+            }
+        }
+    }
+}
+
+//update the scene after a simulation step
+void dSolverNode::updateActiveRigidBodies(MPlugArray &rbConnections)
+{
+   //update the active rigid bodies to the new configuration
+    for(size_t i = 0; i < rbConnections.length(); ++i) {
+        MObject node = rbConnections[i].node();
+        MFnDagNode fnDagNode(node);
+        if(fnDagNode.typeId() == rigidBodyNode::typeId) {
+            rigidBodyNode *rbNode = static_cast<rigidBodyNode*>(fnDagNode.userNode()); 
+            rigid_body_t::pointer rb = rbNode->rigid_body();
+
+            if(fnDagNode.parentCount() == 0) {
+                std::cout << "No transform found!" << std::endl;
+                continue;
+            }
+
+            MFnTransform fnTransform(fnDagNode.parent(0));
+
+            MPlug plgActive(node, rigidBodyNode::ia_active);
+            bool active = false;
+            plgActive.getValue(active);
+            if(active) {
+                quatf rot;
+                vec3f pos; 
+                rb->get_transform(pos, rot);
+                fnTransform.setRotation(MQuaternion(rot[1], rot[2], rot[3], rot[0]));
+                fnTransform.setTranslation(MVector(pos[0], pos[1], pos[2]), MSpace::kTransform);
+            }
+        } else if(fnDagNode.typeId() == rigidBodyArrayNode::typeId) {
+            //check if we have to output the rigid bodies to a file
+            MPlug plgFileIO(node, rigidBodyArrayNode::ia_fileIO);
+            bool doIO;
+            plgFileIO.getValue(doIO);
+            if(doIO) {
+                dumpRigidBodyArray(node);
+            }
+        }
+    }
+}
+
+//apply fields in the scene from the rigid body
+void dSolverNode::applyFields(MPlugArray &rbConnections, float dt)
+{
+    MVectorArray position;
+    MVectorArray velocity;
+    MDoubleArray mass;
+
+    std::vector<rigid_body_t*> rigid_bodies;
+    //gather active rigid bodies
+    for(size_t i = 0; i < rbConnections.length(); ++i) {
+        MObject node = rbConnections[i].node();
+        MFnDagNode fnDagNode(node);
+        if(fnDagNode.typeId() == rigidBodyNode::typeId) {
+            rigidBodyNode *rbNode = static_cast<rigidBodyNode*>(fnDagNode.userNode()); 
+            rigid_body_t::pointer rb = rbNode->rigid_body();
+
+            MPlug plgActive(node, rigidBodyNode::ia_active);
+            bool active = false;
+            plgActive.getValue(active);
+            if(active) {
+                rigid_bodies.push_back(rb.get());
+            }
+        } else if(fnDagNode.typeId() == rigidBodyArrayNode::typeId) {
+            rigidBodyArrayNode *rbNode = static_cast<rigidBodyArrayNode*>(fnDagNode.userNode()); 
+            std::vector<rigid_body_t::pointer>& rbs = rbNode->rigid_bodies();
+
+            MPlug plgActive(node, rigidBodyArrayNode::ia_active);
+            bool active = false;
+            plgActive.getValue(active);
+            if(active) {
+                for(size_t j = 0; j < rbs.size(); ++j) {
+                    rigid_bodies.push_back(rbs[j].get());
+                }
+            }
+        }
+    }
+
+    //clear forces and get the properties needed for field computation    
+    for(size_t i = 0; i < rigid_bodies.size(); ++i) {
+        rigid_bodies[i]->clear_forces();
+        vec3f pos, vel;
+        quatf rot;
+        rigid_bodies[i]->get_transform(pos, rot); 
+        rigid_bodies[i]->get_linear_velocity(vel);
+        position.append(MVector(pos[0], pos[1], pos[2]));
+        velocity.append(MVector(vel[0], vel[1], vel[2]));
+        //TODO
+        mass.append(1.0);
+        //
+    }
+
+    //apply the fields to the rigid bodies
+    MVectorArray force;
+    for(MItDag it(MItDag::kDepthFirst, MFn::kField); !it.isDone(); it.next()) {
+        MFnField fnField(it.item());
+        fnField.getForceAtPoint(position, velocity, mass, force, dt);
+        for(size_t i = 0; i < rigid_bodies.size(); ++i) {
+            rigid_bodies[i]->apply_central_force(vec3f(force[i].x, force[i].y, force[i].z));
+        }
+    }
+}
+
+void dSolverNode::computeRigidBodies(const MPlug& plug, MDataBlock& data)
+{
+  //  std::cout << "dSolverNode::computeRigidBodies" << std::endl;
+
+    bool enabled = data.inputValue(ia_enabled).asBool();
+    if(!enabled) {
+        data.outputValue(oa_rigidBodies).set(true);
+        data.setClean(plug);
+        return;
+    }
+
+    MTime time = data.inputValue(ia_time).asTime();
+    MTime startTime = data.inputValue(ia_startTime).asTime();
+    int subSteps = data.inputValue(ia_substeps).asInt();
+    MObject thisObject = thisMObject();
+    MPlug plgRigidBodies(thisObject, oa_rigidBodies); 
+    MPlugArray rbConnections;
+    plgRigidBodies.connectedTo(rbConnections, true, true);
+
+    MPlug plgSplitImpulse(thisObject, ia_splitImpulse);
+    bool splitImpulseEnabled;
+    plgSplitImpulse.getValue(splitImpulseEnabled);
+
+    if(time == startTime) {
+        //first frame, init the simulation
+        initRigidBodies(rbConnections);
+        solver_t::set_split_impulse(splitImpulseEnabled);
+        m_prevTime = time;
+    } else if(time > m_prevTime && ((time - m_prevTime).value() <= 1.0)) { 
+         //step the simulation forward,
+        //don't update if we are jumping more than one frame
+
+        float dt = (time - m_prevTime).as(MTime::kSeconds);
+
+        //gather start and end transform for passive rigid bodies, used for interpolation
+        std::vector<xforms_t> passiveXForms;
+        gatherPassiveTransforms(rbConnections, passiveXForms);
+
+
+        //set the gravity in the solver
+        MPlug plgGravity(thisObject, ia_gravity);
+        vec3f gravity;
+        plgGravity.child(0).getValue(gravity[0]);
+        plgGravity.child(1).getValue(gravity[1]);
+        plgGravity.child(2).getValue(gravity[2]);
+
+        solver_t::set_gravity(gravity);
+
+        solver_t::set_split_impulse(splitImpulseEnabled);
+
+        for(int i = 1; i <= subSteps; ++i) {
+            //first update the passive rigid bodies
+            updatePassiveRigidBodies(rbConnections, passiveXForms, i * dt / subSteps);
+
+            //fields
+            applyFields(rbConnections, dt / subSteps);
+
+            //step the simulation
+            solver_t::step_simulation(dt / subSteps);
+        }
+
+        m_prevTime = time;
+
+        updateActiveRigidBodies(rbConnections);
+    } 
+
+    data.outputValue(oa_rigidBodies).set(true);
+    data.setClean(plug);
+}
+
+void tokenize(const std::string& str,
+              std::vector<std::string>& tokens,
+              const std::string& delimiters = " ")
+{
+    // Skip delimiters at beginning.
+    std::string::size_type lastPos = str.find_first_not_of(delimiters, 0);
+    // Find first "non-delimiter".
+    std::string::size_type pos     = str.find_first_of(delimiters, lastPos);
+
+    while (std::string::npos != pos || std::string::npos != lastPos)
+    {
+        // Found a token, add it to the vector.
+        tokens.push_back(str.substr(lastPos, pos - lastPos));
+        // Skip delimiters.  Note the "not_of"
+        lastPos = str.find_first_not_of(delimiters, pos);
+        // Find next "non-delimiter"
+        pos = str.find_first_of(delimiters, lastPos);
+    }
+}
+
+void replace(std::string &str, std::string const& what, std::string const& with_what)
+{
+    size_t pos;
+    while((pos = str.find(what)) != std::string::npos) {
+        str.replace(pos, pos + what.size(), with_what);
+    }
+}
+
+bool dSolverNode::expandFileExpression(std::string const& expr, std::string &base_name, std::string &extension)
+{
+    std::vector<std::string> tokens;
+
+    //check for extension
+    tokenize(expr, tokens, ".");
+    if(tokens.size() < 2) return false;
+    if(tokens.back().size() != 3) return false;
+    extension = tokens.back();
+
+    std::copy(expr.begin(), expr.end() - 4, std::back_inserter(base_name));
+
+    int time = (int) m_prevTime.value();
+
+    std::stringstream ss;
+    ss << time;
+    std::string str_time(ss.str());
+    //replace ${frame}
+    replace(base_name, "${frame}", str_time);
+
+    //replace ${waveFrame}
+    while(str_time.size() < 4) str_time = "0" + str_time;
+    replace(base_name, "${waveFrame}", str_time);
+
+    return true;
+}
+
+void dSolverNode::dumpRigidBodyArray(MObject &node)
+{ 
+   // std::cout << "dSolverNode::dumpRigidBodyArray" << std::endl;
+
+    MFnDagNode fnDagNode(node);
+    rigidBodyArrayNode *rbaNode = static_cast<rigidBodyArrayNode*>(fnDagNode.userNode());
+
+    MPlug plgFiles(node, rigidBodyArrayNode::ia_fioFiles);
+  //  MPlug plgPositionAttribute(node, rigidBodyArrayNode::ia_fioPositionAttribute);
+   // MPlug plgRotationAttribute(node, rigidBodyArrayNode::ia_fioRotationAttribute);
+
+    MString mstr;
+    plgFiles.getValue(mstr);
+    std::string expr(mstr.asChar());
+    std::string base_path, extension;
+    if(!expandFileExpression(expr, base_path, extension)) {
+        std::cout << "dSolverNode::dumpRigidBodyArray: syntax error in file expression: " << std::endl <<
+            expr << std::endl;
+        return;
+    }
+    if(extension != "pdb") {
+        std::cout << "dSolverNode::dumpRigidBodyArray: only pdb files are supported" << std::endl;
+        return;
+    }
+    std::string file_name = base_path + "." + extension;
+
+    std::vector<rigid_body_t::pointer>& rbs = rbaNode->rigid_bodies();
+    pdb_io_t pdb_io;
+    pdb_io.m_num_particles = rbs.size();
+    pdb_io.m_time = m_prevTime.value();
+    pdb_io.m_attributes.resize(3);
+    //position
+    pdb_io.m_attributes[0].m_num_elements = 1;
+    pdb_io.m_attributes[0].m_name = ATTR_POSITION;
+    pdb_io.m_attributes[0].m_type = pdb_io_t::kVector;
+    pdb_io.m_attributes[0].m_vector_data.resize(rbs.size());
+
+    //rotation angle (in degrees)
+    pdb_io.m_attributes[1].m_num_elements = 1;
+    pdb_io.m_attributes[1].m_name = ATTR_IN_RANGLE;
+    pdb_io.m_attributes[1].m_type = pdb_io_t::kReal;
+    pdb_io.m_attributes[1].m_real_data.resize(rbs.size());
+
+    //rotation vector
+    pdb_io.m_attributes[2].m_num_elements = 1;
+    pdb_io.m_attributes[2].m_name = ATTR_IN_RAXIS;
+    pdb_io.m_attributes[2].m_type = pdb_io_t::kVector;
+    pdb_io.m_attributes[2].m_vector_data.resize(rbs.size());
+
+    for(size_t i = 0; i < rbs.size(); ++i) {
+        vec3f pos;
+        quatf rot;
+        rbs[i]->get_transform(pos, rot);
+        pdb_io.m_attributes[0].m_vector_data[i].x = pos[0];
+        pdb_io.m_attributes[0].m_vector_data[i].y = pos[1];
+        pdb_io.m_attributes[0].m_vector_data[i].z = pos[2];
+
+        //
+        vec3f axis;
+        float angle;
+        q_to_axis_angle(rot, axis, angle);
+        pdb_io.m_attributes[1].m_real_data[i] = rad2deg(angle);
+
+        pdb_io.m_attributes[2].m_vector_data[i].x = axis[0];
+        pdb_io.m_attributes[2].m_vector_data[i].y = axis[1];
+        pdb_io.m_attributes[2].m_vector_data[i].z = axis[2];
+    }
+
+    std::ofstream out(file_name.c_str());
+    pdb_io.write(out);
+}
+

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

Extras/MayaPlugin/icons/dynamica.xpm

@@ -0,0 +1,511 @@
+/* XPM */
+static char * dynamica1_xpm[] = {
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Extras/MayaPlugin/icons/dynamicaCreateActiveBoxRB.xpm

@@ -0,0 +1,114 @@
+/* XPM */
+static char * dynamicaCreateActiveBoxRB_xpm[] = {
+"32 32 79 1",
+" 	c #A47D7D",
+".	c #A53030",
+"+	c #AA2424",
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+"=	c #850000",
+"-	c #C30000",
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+",	c #860202",
+"'	c #A17070",
+")	c #A17373",
+"!	c #898989",
+"~	c #969696",
+"{	c #9C9C9C",
+"]	c #A7A7A7",
+"^	c #0F0F0F",
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+":	c #2C2C2C",
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+"}	c #7F7F7F",
+"|	c #080808",
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+"j	c #414141",
+"k	c #454545",
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Extras/MayaPlugin/icons/dynamicaCreateActiveBoxRBArray.xpm

@@ -0,0 +1,100 @@
+/* XPM */
+static char * dynamicaCreateActiveBoxRBArray_xpm[] = {
+"32 32 65 1",
+" 	c #B1B1B1",
+".	c #BE0000",
+"+	c #898989",
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+"                                ",
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+"   ghepppppppppppupnppppppppeo  ",
+"    gvwwwwwwwwwwwwwwwwwwwwwwwwx ",
+"     yzzzzzzzzzzzzzzzzzzzzzzzz  "};

Extras/MayaPlugin/icons/dynamicaCreateActiveHullRB.xpm

@@ -0,0 +1,273 @@
+/* XPM */
+static char * dynamicaCreateActiveHullRB_xpm[] = {
+"32 32 238 2",
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Extras/MayaPlugin/icons/dynamicaCreateActiveHullRBArray.xpm

@@ -0,0 +1,145 @@
+/* XPM */
+static char * dynamicaCreateActiveHullRBArray_xpm[] = {
+"32 32 110 2",
+"  	c #B1B1B1",
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+"          !.~.~.~.~.~.~.~.~.~.~.~.~.~.~.~.~.~.~.~.~.~.~.~.~.    "};

Extras/MayaPlugin/icons/dynamicaCreateActiveMeshRB.xpm

@@ -0,0 +1,247 @@
+/* XPM */
+static char * dynamicaCreateActiveMeshRB_xpm[] = {
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Extras/MayaPlugin/icons/dynamicaCreateActiveMeshRBArray.xpm

@@ -0,0 +1,174 @@
+/* XPM */
+static char * dynamicaCreateActiveMeshRBArray_xpm[] = {
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+"2 p q r s t u a a a a a v w                                     ",
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+"          [ h.h.h.h.h.h.h.h.h.h.h.h.h.h.h.h.h.h.h.h.h.h.h.h.    "};

Extras/MayaPlugin/icons/dynamicaCreateActivePlaneRB.xpm

@@ -0,0 +1,55 @@
+/* XPM */
+static char * dynamicaCreateActivePlaneRB_xpm[] = {
+"32 32 20 1",
+" 	c #B1B1B1",
+".	c #958F8F",
+"+	c #8F8181",
+"@	c #908383",
+"#	c #ACACAC",
+"$	c #969595",
+"%	c #8B7171",
+"&	c #C52525",
+"*	c #C22828",
+"=	c #7C7C7C",
+"-	c #8A7272",
+";	c #DC0909",
+">	c #E40000",
+",	c #DB0B0B",
+"'	c #887373",
+")	c #867575",
+"!	c #986161",
+"~	c #887B7B",
+"{	c #AAAAAA",
+"]	c #A1A1A1",
+"                                ",
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+"  $-;>>>>>>>>>>>>>>>>>>>>>>,=#  ",
+"   $';>>>>>>>>>>>>>>>>>>>>>>,=  ",
+"    $)!!!!!!!!!!!!!!!!!!!!!!!!~ ",
+"     {]]]]]]]]]]]]]]]]]]]]]]]]  ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                "};

Extras/MayaPlugin/icons/dynamicaCreateActivePlaneRBArray.xpm

@@ -0,0 +1,66 @@
+/* XPM */
+static char * dynamicaCreateActivePlaneRBArray_xpm[] = {
+"32 32 31 1",
+" 	c #B1B1B1",
+".	c #928787",
+"+	c #8B7D7D",
+"@	c #8C7E7E",
+"#	c #8C7D7D",
+"$	c #8F8181",
+"%	c #969696",
+"&	c #8D7E7E",
+"*	c #AE4141",
+"=	c #CB1E1E",
+"-	c #CC1D1D",
+";	c #AC4444",
+">	c #8D7F7F",
+",	c #ADADAD",
+"'	c #7F7B7B",
+")	c #E30101",
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+"~	c #946666",
+"{	c #959090",
+"]	c #948D8D",
+"^	c #9C5C5C",
+"/	c #DE0707",
+"(	c #807B7B",
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+":	c #986161",
+"<	c #956565",
+"[	c #996060",
+"}	c #7F7A7A",
+"|	c #AFAFAF",
+"1	c #A1A1A1",
+"2	c #A2A2A2",
+"                                ",
+"                                ",
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+"  &*===========-;>              ",
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+"             &*===========-;>   ",
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+"   &*===========-;>             ",
+"   ,')!!!!!!!!!!!!~{            ",
+"    ]^!!!!!!!!!!!!/(            ",
+"     _:<<<<<<<<<<<[}|           ",
+"      1222222222221|            ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                "};

Extras/MayaPlugin/icons/dynamicaCreateActiveRB.xpm

@@ -0,0 +1,37 @@
+/* XPM */
+static char * dynamicaCreateActiveRB_xpm[] = {
+"32 32 2 1",
+" 	c None",
+".	c #4E36E0",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
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+"................................",
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+"................................",
+"................................",
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+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
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+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................"};

Extras/MayaPlugin/icons/dynamicaCreateActiveSphereRB.xpm

@@ -0,0 +1,229 @@
+/* XPM */
+static char * dynamicaCreateActiveSphereRB_xpm[] = {
+"32 32 194 2",
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+"              . + @ # $ %                                       ",
+"          & * = - ; > , ' ) ! ~                                 ",
+"        { ] ^ / - ( _ : < [ } | 1                               ",
+"      2 3 3 ^ / 4 5 6 7 8 9 0 a b c                             ",
+"    d e 3 3 f g ; h i j k l m n n o p                           ",
+"    q 3 3 ^ / 4 5 r ' s t u n n n n v                           ",
+"  w 3 ^ ^ / - ( x y z A B n n n n n C D                         ",
+"  E f f / - F _ G s H I n n n n n n n J                         ",
+"  K g L 4 ( _ M N } O P n n n n n n n Q                         ",
+"  R 4 ; 5 _ : S T U V n n n n n n n n W                         ",
+"  X 5 > x i Y Z ` a n n n n n n n n n  .                        ",
+"  ..x +.G j @.t #.n n n n n n n n n n $.                        ",
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+"  ;.j 8 >.,.'.n n n n n n n n n n n ).!.                        ",
+"    ~.{.].U n n n n n n n n n n n n ^.                          ",
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+"      [.}.n n n n n n n n n n n |.p                             ",
+"        1.2.n n n n n n n n n W 3.                              ",
+"          4.5.6.n n 7.n b 8.9.                      0.a.        ",
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+"                          A.B.C.D.E.      C.B.F.                ",
+"                            G.u.h.H.    q.I.J.                  ",
+"  K.F.F.F.F.F.F.F.F.F.F.F.L.M.h.h.p.F.F.N.O.P.F.F.F.l.Q.        ",
+"  R.S.T.T.T.T.T.T.T.T.T.E.U.V.h.h.W.T.J.v.X.T.T.T.T.Y.Z.Q.      ",
+"    R.S.P.`.`.`.`.`.`.`.`.`.T. +.+m.++@+s.`.`.`.`.`.`.P.Z.Q.    ",
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+"        R.$+%+%+%+%+%+%+%+%+%+%+%+%+%+%+%+%+%+%+%+%+%+%+%+%+&+  ",
+"          *+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+    "};

Extras/MayaPlugin/icons/dynamicaCreateActiveSphereRBArray.xpm

@@ -0,0 +1,134 @@
+/* XPM */
+static char * dynamicaCreateActiveSphereRBArray_xpm[] = {
+"32 32 99 2",
+"  	c #B1B1B1",
+". 	c #B69C9C",
+"+ 	c #B99292",
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+"= 	c #BB8989",
+"- 	c #D90F0F",
+"; 	c #BD7F7F",
+"> 	c #B89696",
+", 	c #C56262",
+"' 	c #CD4141",
+") 	c #C17070",
+"! 	c #B79898",
+"~ 	c #DC0202",
+"{ 	c #B2AFAF",
+"] 	c #DB0808",
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+"/ 	c #B5A2A2",
+"( 	c #D71717",
+"_ 	c #B79A9A",
+": 	c #C85555",
+"< 	c #C65C5C",
+"[ 	c #BD8181",
+"} 	c #D13030",
+"| 	c #B69E9E",
+"1 	c #B4A5A5",
+"2 	c #C26E6E",
+"3 	c #DA0A0A",
+"4 	c #BF7979",
+"5 	c #DA0C0C",
+"6 	c #CC4343",
+"7 	c #BA8C8C",
+"8 	c #898989",
+"9 	c #969696",
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+"b 	c #0F0F0F",
+"c 	c #707070",
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+"e 	c #737373",
+"f 	c #2C2C2C",
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+"x 	c #858585",
+"y 	c #929292",
+"z 	c #A0A0A0",
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+"B 	c #626262",
+"C 	c #6C6C6C",
+"D 	c #414141",
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+"G 	c #434343",
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+"X 	c #6A6A6A",
+"Y 	c #3C3C3C",
+"Z 	c #111111",
+"` 	c #666666",
+" .	c #090909",
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+"+.	c #5B5B5B",
+"@.	c #5F5F5F",
+"#.	c #616161",
+"$.	c #A5A5A5",
+"%.	c #959595",
+"                                                                ",
+"        . +                 . +                                 ",
+"    @ # $ % & *         @ # $ % & *                             ",
+"  = - ;     > % ,     = - ;     > % ,                           ",
+"  ' )         ! ~ {   ' )         ! ~ {                         ",
+"  ] ^           % +   ] ^           % +                         ",
+"  - /           ( _   - /           ( _                         ",
+"  : <         [ }     : <         [ }                           ",
+"  | ~ : . 1 2 3 4     | ~ : . 1 2 3 4                           ",
+"    1 < $ 5 6 7         1 < $ 5 6 7                             ",
+"        . +                 . +                                 ",
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+"  = - ;     > % ,     = - ;     > % ,                           ",
+"  ' )         ! ~ {   ' )         ! ~ {                         ",
+"  ] ^           % +   ] ^           % +                         ",
+"  - /           ( _   - /           ( _                         ",
+"  : <         [ }     : <         [ }                           ",
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+"                          c b z A B       z b C                 ",
+"                            D t g E     p F G                   ",
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+"    O P M X X X X X X X X X Q Y Z l `  .r X X X X X X M W N     ",
+"      O P M X X X X X X X X X X X ..X V X X X X X X X X M W     ",
+"        O +.@.@.@.@.@.@.@.@.@.@.@.@.@.@.@.@.@.@.@.@.@.@.@.@.#.  ",
+"          $.%.%.%.%.%.%.%.%.%.%.%.%.%.%.%.%.%.%.%.%.%.%.%.%.    "};

Extras/MayaPlugin/icons/dynamicaCreatePassiveBoxRB.xpm

@@ -0,0 +1,112 @@
+/* XPM */
+static char * dynamicaCreatePassiveBoxRB_xpm[] = {
+"32 32 77 1",
+" 	c #B1B1B1",
+".	c #B0B0B0",
+"+	c #979797",
+"@	c #808080",
+"#	c #949494",
+"$	c #595959",
+"%	c #7A7A7A",
+"&	c #747474",
+"*	c #939393",
+"=	c #575757",
+"-	c #7B7B7B",
+";	c #888888",
+">	c #A2A2A2",
+",	c #848484",
+"'	c #5F5F5F",
+")	c #323232",
+"!	c #313131",
+"~	c #373737",
+"{	c #444444",
+"]	c #9E9E9E",
+"^	c #656565",
+"/	c #3D3D3D",
+"(	c #343434",
+"_	c #454545",
+":	c #4C4C4C",
+"<	c #303030",
+"[	c #2B2B2B",
+"}	c #202020",
+"|	c #2C2C2C",
+"1	c #4A4A4A",
+"2	c #8A8A8A",
+"3	c #8C8C8C",
+"4	c #ADADAD",
+"5	c #434343",
+"6	c #262626",
+"7	c #797979",
+"8	c #4D4D4D",
+"9	c #868686",
+"0	c #565656",
+"a	c #101010",
+"b	c #000000",
+"c	c #505050",
+"d	c #020202",
+"e	c #0E0E0E",
+"f	c #828282",
+"g	c #AFAFAF",
+"h	c #555555",
+"i	c #161616",
+"j	c #989898",
+"k	c #515151",
+"l	c #0C0C0C",
+"m	c #686868",
+"n	c #585858",
+"o	c #090909",
+"p	c #060606",
+"q	c #636363",
+"r	c #2E2E2E",
+"s	c #181818",
+"t	c #909090",
+"u	c #535353",
+"v	c #171717",
+"w	c #6B6B6B",
+"x	c #919191",
+"y	c #5E5E5E",
+"z	c #424242",
+"A	c #6E6E6E",
+"B	c #858585",
+"C	c #4F4F4F",
+"D	c #080808",
+"E	c #414141",
+"F	c #242424",
+"G	c #1A1A1A",
+"H	c #3F3F3F",
+"I	c #9C9C9C",
+"J	c #666666",
+"K	c #A5A5A5",
+"L	c #878787",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"       .                        ",
+"       +@@@@@@@@@@@@@@#         ",
+"       +$%&&&&&&&&&&&&&*        ",
+"       +=$-&&&&&&&&&&&&&*       ",
+"       +==$-&&&&&&&&&&&&&*      ",
+"       +===$;;;;;;;;;;;;;;.     ",
+"       +====;;;;;;;;;;;;;;      ",
+"       +====;;;;;;;;;;;;;;      ",
+"     >,')!~{@;;;;;;;;;;;;;      ",
+"  ]^/(_:<![}|1-;;;;;;;;;;;      ",
+"  2=34 +====&56789;;;;;;;;      ",
+"       +====;;0abc;;;;;;;;      ",
+"       +====;;0dbef;;;;;;;   4-g",
+"       +====;;hibb5;;;;;;; jklm ",
+"       ]n===;;;;cop%;;;;;qrbbsg ",
+"        tn==;;;;;uvk;;;;;webb@  ",
+"         xn=;;;;;;y[zAB;&CDdE   ",
+"          xn;;;;;;;-1FvGFHIJK   ",
+"           x;;;;;;;;;;;,L;      ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                "};

Extras/MayaPlugin/icons/dynamicaCreatePassiveBoxRBArray.xpm

@@ -0,0 +1,100 @@
+/* XPM */
+static char * dynamicaCreatePassiveBoxRBArray_xpm[] = {
+"32 32 65 1",
+" 	c #B1B1B1",
+".	c #4E4E4E",
+"+	c #A2A2A2",
+"@	c #848484",
+"#	c #707070",
+"$	c #666666",
+"%	c #2C2C2C",
+"&	c #8B8B8B",
+"*	c #A7A7A7",
+"=	c #9E9E9E",
+"-	c #656565",
+";	c #3D3D3D",
+">	c #343434",
+",	c #454545",
+"'	c #595959",
+")	c #626262",
+"!	c #575757",
+"~	c #414141",
+"{	c #3A3A3A",
+"]	c #606060",
+"^	c #A0A0A0",
+"/	c #8A8A8A",
+"(	c #8C8C8C",
+"_	c #ADADAD",
+":	c #424242",
+"<	c #262626",
+"[	c #161616",
+"}	c #646464",
+"|	c #4D4D4D",
+"1	c #141414",
+"2	c #000000",
+"3	c #686868",
+"4	c #323232",
+"5	c #010101",
+"6	c #080808",
+"7	c #4A4A4A",
+"8	c #7B7B7B",
+"9	c #AFAFAF",
+"0	c #6E6E6E",
+"a	c #0D0D0D",
+"b	c #989898",
+"c	c #515151",
+"d	c #0C0C0C",
+"e	c #676767",
+"f	c #050505",
+"g	c #818181",
+"h	c #2E2E2E",
+"i	c #181818",
+"j	c #2F2F2F",
+"k	c #1D1D1D",
+"l	c #696969",
+"m	c #0E0E0E",
+"n	c #808080",
+"o	c #383838",
+"p	c #555555",
+"q	c #909090",
+"r	c #979797",
+"s	c #020202",
+"t	c #1F1F1F",
+"u	c #0F0F0F",
+"v	c #525252",
+"w	c #9C9C9C",
+"x	c #A5A5A5",
+"y	c #4C4C4C",
+"z	c #B0B0B0",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"         ....... .......        ",
+"         .     . .     .        ",
+"         .     . .     .        ",
+"         .     . .     .        ",
+"     +@#$%#&*  . .     .        ",
+"  =-;>,')%!~{]^. .     .        ",
+"  /!(_   ...:<[,}|......        ",
+"              #123              ",
+"         .....45267.....     _89",
+"         .    0a22!    .   bcd3 ",
+"         .     .ef6=   . gh22i9 ",
+"         .     . jkl   . (m22n  ",
+"         .     . .8opq_.re6s~   ",
+"         .     . . ^]jtujvw$x   ",
+"         ....... ......yz       ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                "};

Extras/MayaPlugin/icons/dynamicaCreatePassiveHullRB.xpm

@@ -0,0 +1,159 @@
+/* XPM */
+static char * dynamicaCreatePassiveHullRB_xpm[] = {
+"32 32 124 2",
+"  	c #B1B1B1",
+". 	c #9D9D9D",
+"+ 	c #989898",
+"@ 	c #A4A4A4",
+"# 	c #ABABAB",
+"$ 	c #838383",
+"% 	c #565656",
+"& 	c #5D5D5D",
+"* 	c #575757",
+"= 	c #525252",
+"- 	c #636363",
+"; 	c #6E6E6E",
+"> 	c #797979",
+", 	c #8B8B8B",
+"' 	c #979797",
+") 	c #A2A2A2",
+"! 	c #A9A9A9",
+"~ 	c #7C7C7C",
+"{ 	c #5A5A5A",
+"] 	c #747474",
+"^ 	c #727272",
+"/ 	c #B3B3B3",
+"( 	c #919191",
+"_ 	c #8C8C8C",
+": 	c #939393",
+"< 	c #888888",
+"[ 	c #787878",
+"} 	c #696969",
+"| 	c #5E5E5E",
+"1 	c #626262",
+"2 	c #6D6D6D",
+"3 	c #8F8F8F",
+"4 	c #959595",
+"5 	c #ACACAC",
+"6 	c #A7A7A7",
+"7 	c #7A7A7A",
+"8 	c #595959",
+"9 	c #ADADAD",
+"0 	c #828282",
+"a 	c #AFAFAF",
+"b 	c #C2C2C2",
+"c 	c #858585",
+"d 	c #8E8E8E",
+"e 	c #A8A8A8",
+"f 	c #9F9F9F",
+"g 	c #949494",
+"h 	c #606060",
+"i 	c #A5A5A5",
+"j 	c #808080",
+"k 	c #818181",
+"l 	c #BBBBBB",
+"m 	c #AAAAAA",
+"n 	c #8D8D8D",
+"o 	c #C0C0C0",
+"p 	c #5F5F5F",
+"q 	c #848484",
+"r 	c #9B9B9B",
+"s 	c #9C9C9C",
+"t 	c #B0B0B0",
+"u 	c #BCBCBC",
+"v 	c #868686",
+"w 	c #5C5C5C",
+"x 	c #767676",
+"y 	c #969696",
+"z 	c #B6B6B6",
+"A 	c #C1C1C1",
+"B 	c #B5B5B5",
+"C 	c #7F7F7F",
+"D 	c #707070",
+"E 	c #7B7B7B",
+"F 	c #B7B7B7",
+"G 	c #8A8A8A",
+"H 	c #9E9E9E",
+"I 	c #444444",
+"J 	c #1F1F1F",
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+"L 	c #2E2E2E",
+"M 	c #414141",
+"N 	c #6B6B6B",
+"O 	c #484848",
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+"S 	c #646464",
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+"U 	c #4F4F4F",
+"V 	c #4A4A4A",
+"W 	c #373737",
+"X 	c #545454",
+"Y 	c #161616",
+"Z 	c #000000",
+"` 	c #6C6C6C",
+" .	c #7D7D7D",
+"..	c #BFBFBF",
+"+.	c #030303",
+"@.	c #151515",
+"#.	c #B9B9B9",
+"$.	c #BDBDBD",
+"%.	c #585858",
+"&.	c #A3A3A3",
+"*.	c #202020",
+"=.	c #B4B4B4",
+"-.	c #515151",
+";.	c #0C0C0C",
+">.	c #686868",
+",.	c #717171",
+"'.	c #080808",
+").	c #BABABA",
+"!.	c #A0A0A0",
+"~.	c #181818",
+"{.	c #737373",
+"].	c #0E0E0E",
+"^.	c #676767",
+"/.	c #323232",
+"(.	c #363636",
+"_.	c #474747",
+":.	c #020202",
+"<.	c #666666",
+"[.	c #909090",
+"}.	c #5B5B5B",
+"|.	c #555555",
+"1.	c #292929",
+"2.	c #212121",
+"3.	c #2F2F2F",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                        . + @                                   ",
+"                    # $ % & * = - ; > , ' )                     ",
+"                ! ~ { ] ^ ! / ( _ : < [ } | = 1 2 [ , 3 4 5     ",
+"            6 7 8 7 6 9 0 a b , 0 $ c < d e   f g 7 h | * & 5   ",
+"        i [ { j @ ( k [ < a b l a 9 m e f n     f ~ / o p ; 5   ",
+"      a & q r 4 > s t u b b b b b b b b b v r   c # b k w 5     ",
+"      @ { x < y z b b b b b b b b b b b b t k # 7 A B | d       ",
+"      ( | e C } D ; E + F b b b b b b b b b G n r b _ { a       ",
+"    H I J K L M N ; p O P Q a b b b b b b b / R A b S T         ",
+"    G U V + 0 : b b b b i p W 9 ; o b b b b b b b m X 5         ",
+"        7 1 t a b b b b b b E Y Z ^ b b b b b b b Q `           ",
+"        t {  ...b b b b b b E +.Z @.#.b b b b $.E %.i     9 E a ",
+"          $ Q &.b b b b b b > *.Z Z h b b b =.; 8 )   + -.;.>.  ",
+"          e * < b b b b b b b b ,.;.'.9 b ).D %.!.k L Z Z ~.a   ",
+"            ^ D R b b b b b b b b x *.{.).{.* H   _ ].Z Z j     ",
+"            f ^.{ {.  b b b b b b b j /.(._.R   ' ^.'.:.M       ",
+"                s <.% x + [.G C ^ ^.}.|.L 1.J 2.3.= s <.i       ",
+"                    s } = | 1 N ] 0 g H a     5 t               ",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                                                                "};

Extras/MayaPlugin/icons/dynamicaCreatePassiveHullRBArray.xpm

@@ -0,0 +1,125 @@
+/* XPM */
+static char * dynamicaCreatePassiveHullRBArray_xpm[] = {
+"32 32 90 1",
+" 	c #B1B1B1",
+".	c #ADADAD",
+"+	c #878787",
+"@	c #707070",
+"#	c #797979",
+"$	c #838383",
+"%	c #909090",
+"&	c #9C9C9C",
+"*	c #A6A6A6",
+"=	c #ABABAB",
+"-	c #6D6D6D",
+";	c #818181",
+">	c #A0A0A0",
+",	c #858585",
+"'	c #787878",
+")	c #737373",
+"!	c #747474",
+"~	c #777777",
+"{	c #7D7D7D",
+"]	c #979797",
+"^	c #6E6E6E",
+"/	c #848484",
+"(	c #A8A8A8",
+"_	c #ACACAC",
+":	c #989898",
+"<	c #646464",
+"[	c #727272",
+"}	c #9D9D9D",
+"|	c #8E8E8E",
+"1	c #9E9E9E",
+"2	c #959595",
+"3	c #7B7B7B",
+"4	c #808080",
+"5	c #828282",
+"6	c #AFAFAF",
+"7	c #9B9B9B",
+"8	c #666666",
+"9	c #656565",
+"0	c #8B8B8B",
+"a	c #A7A7A7",
+"b	c #8D8D8D",
+"c	c #717171",
+"d	c #2F2F2F",
+"e	c #232323",
+"f	c #424242",
+"g	c #595959",
+"h	c #626262",
+"i	c #575757",
+"j	c #414141",
+"k	c #2E2E2E",
+"l	c #3C3C3C",
+"m	c #8A8A8A",
+"n	c #919191",
+"o	c #888888",
+"p	c #7F7F7F",
+"q	c #5F5F5F",
+"r	c #535353",
+"s	c #323232",
+"t	c #545454",
+"u	c #7A7A7A",
+"v	c #141414",
+"w	c #000000",
+"x	c #A9A9A9",
+"y	c #020202",
+"z	c #0F0F0F",
+"A	c #484848",
+"B	c #AAAAAA",
+"C	c #515151",
+"D	c #0C0C0C",
+"E	c #686868",
+"F	c #3B3B3B",
+"G	c #0B0B0B",
+"H	c #080808",
+"I	c #181818",
+"J	c #6C6C6C",
+"K	c #1D1D1D",
+"L	c #696969",
+"M	c #8C8C8C",
+"N	c #0E0E0E",
+"O	c #383838",
+"P	c #555555",
+"Q	c #676767",
+"R	c #606060",
+"S	c #1F1F1F",
+"T	c #212121",
+"U	c #525252",
+"V	c #A5A5A5",
+"W	c #B0B0B0",
+"X	c #898989",
+"Y	c #AEAEAE",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"      .+@#$%&*=                 ",
+"    =+-;>&%,')!~{               ",
+"   ]^/(       _:<               ",
+"   [}          /|  .+@#$%&*=    ",
+"   @1         =^==+-;>&%,')!~{  ",
+"   23         45]^/(       _:<  ",
+"   6@7/@89@0abc.[}          /|  ",
+"  19defgh<ijkl7 @1         =^=  ",
+"  mim5-5nop)qrs1tu         45   ",
+"              @vwfx       bc.   ",
+"      .+@#$%&*-ywz[x     |^_ .36",
+"    =+-;>&%,')Avwwf-5nop)@B:CDE ",
+"   ]^/(       _:FGH1     ;kwwI6 ",
+"   [}          /|JKL     MNww4  ",
+"   @1         =^= 3OP%. ]QHyj   ",
+"   23         45   >RdSTdU&8V   ",
+"   6@x       bc.       _W       ",
+"    X'x     |^_                 ",
+"    Y,-5nop)@B                  ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                "};

Extras/MayaPlugin/icons/dynamicaCreatePassiveMeshRB.xpm

@@ -0,0 +1,152 @@
+/* XPM */
+static char * dynamicaCreatePassiveMeshRB_xpm[] = {
+"32 32 117 2",
+"  	c #B1B1B1",
+". 	c #A5A5A5",
+"+ 	c #929292",
+"@ 	c #8C8C8C",
+"# 	c #9F9F9F",
+"$ 	c #AEAEAE",
+"% 	c #858585",
+"& 	c #9B9B9B",
+"* 	c #9E9E9E",
+"= 	c #8E8E8E",
+"- 	c #A0A0A0",
+"; 	c #AAAAAA",
+"> 	c #A6A6A6",
+", 	c #ADADAD",
+"' 	c #8F8F8F",
+") 	c #919191",
+"! 	c #979797",
+"~ 	c #838383",
+"{ 	c #868686",
+"] 	c #848484",
+"^ 	c #ACACAC",
+"/ 	c #999999",
+"( 	c #8D8D8D",
+"_ 	c #949494",
+": 	c #969696",
+"< 	c #A3A3A3",
+"[ 	c #AFAFAF",
+"} 	c #9C9C9C",
+"| 	c #A1A1A1",
+"1 	c #A7A7A7",
+"2 	c #A9A9A9",
+"3 	c #959595",
+"4 	c #888888",
+"5 	c #909090",
+"6 	c #9D9D9D",
+"7 	c #9A9A9A",
+"8 	c #8B8B8B",
+"9 	c #A8A8A8",
+"0 	c #727272",
+"a 	c #616161",
+"b 	c #606060",
+"c 	c #5E5E5E",
+"d 	c #696969",
+"e 	c #7F7F7F",
+"f 	c #989898",
+"g 	c #878787",
+"h 	c #898989",
+"i 	c #7B7B7B",
+"j 	c #565656",
+"k 	c #313131",
+"l 	c #2D2D2D",
+"m 	c #343434",
+"n 	c #444444",
+"o 	c #595959",
+"p 	c #5B5B5B",
+"q 	c #4E4E4E",
+"r 	c #3A3A3A",
+"s 	c #515151",
+"t 	c #7A7A7A",
+"u 	c #6C6C6C",
+"v 	c #7C7C7C",
+"w 	c #8A8A8A",
+"x 	c #6B6B6B",
+"y 	c #464646",
+"z 	c #282828",
+"A 	c #828282",
+"B 	c #B0B0B0",
+"C 	c #585858",
+"D 	c #101010",
+"E 	c #000000",
+"F 	c #808080",
+"G 	c #787878",
+"H 	c #6F6F6F",
+"I 	c #636363",
+"J 	c #505050",
+"K 	c #4C4C4C",
+"L 	c #545454",
+"M 	c #020202",
+"N 	c #0D0D0D",
+"O 	c #656565",
+"P 	c #4B4B4B",
+"Q 	c #6D6D6D",
+"R 	c #797979",
+"S 	c #767676",
+"T 	c #757575",
+"U 	c #494949",
+"V 	c #131313",
+"W 	c #4F4F4F",
+"X 	c #555555",
+"Y 	c #0C0C0C",
+"Z 	c #686868",
+"` 	c #6A6A6A",
+" .	c #676767",
+"..	c #646464",
+"+.	c #626262",
+"@.	c #050505",
+"#.	c #030303",
+"$.	c #434343",
+"%.	c #818181",
+"&.	c #2E2E2E",
+"*.	c #181818",
+"=.	c #777777",
+"-.	c #5D5D5D",
+";.	c #525252",
+">.	c #2C2C2C",
+",.	c #0E0E0E",
+"'.	c #393939",
+").	c #202020",
+"!.	c #3D3D3D",
+"~.	c #7E7E7E",
+"{.	c #080808",
+"].	c #414141",
+"^.	c #6E6E6E",
+"/.	c #666666",
+"(.	c #2F2F2F",
+"_.	c #1F1F1F",
+":.	c #212121",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                        . + @ #                                 ",
+"                      $ % & * = -                     ; > ,     ",
+"                      $ = # . @ = ' ) + ! ;       * ~ { { ] ,   ",
+"                ^ / ( % ( # . # / ! _ + = :     < { + ' % ~ $   ",
+"          [ . } { ! | 1 2 > < | # } / ! 3 4 |   ) + 5 ] ! $     ",
+"        6 ] @ _ < 2 2 1 . | # } & 7 ! 3 _ ) = , % 5 % 8         ",
+"      9 4 ' 0 a b c d e : & f ! : 3 _ + + + g : h ~ i &         ",
+"    * j k l m n o p q r k s ] ) 5 5 ' = = @ 4 ~ t u v 1         ",
+"    w s x ) g @ & 7 f 3 i y z v q 4 4 % A i 0 d b c A B         ",
+"        : g @ ( ) ) 5 ' @ w C D E q F G H I C J K 0 6           ",
+"          # ~ { { g 4 g % ] L M E N u O C P P q Q :       , i [ ",
+"            3 e i t R G S T U V E E l W P P X v /     f s Y Z   ",
+"            < e 0 Q `  ...+.a c m @.#.$.P J v *   %.&.E E *.[   ",
+"              : =.+.-.C L ;.W P P &.Y >.s R 7     @ ,.E E F     ",
+"              , : G -.q P P P P P P '.).!.~.,   !  .{.M ].      ",
+"                  * F ^./.I I /.u T e h -.(._.:.(.;.} /..       ",
+"                    $ - / ! ! / * > $         ^ B               ",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                                                                "};

Extras/MayaPlugin/icons/dynamicaCreatePassiveMeshRBArray.xpm

@@ -0,0 +1,128 @@
+/* XPM */
+static char * dynamicaCreatePassiveMeshRBArray_xpm[] = {
+"32 32 93 2",
+"  	c #B1B1B1",
+". 	c #898989",
+"+ 	c #616161",
+"@ 	c #ACACAC",
+"# 	c #AEAEAE",
+"$ 	c #A3A3A3",
+"% 	c #A7A7A7",
+"& 	c #8A8A8A",
+"* 	c #525252",
+"= 	c #656565",
+"- 	c #565656",
+"; 	c #515151",
+"> 	c #8E8E8E",
+", 	c #545454",
+"' 	c #9C9C9C",
+") 	c #868686",
+"! 	c #535353",
+"~ 	c #5A5A5A",
+"{ 	c #606060",
+"] 	c #686868",
+"^ 	c #676767",
+"/ 	c #646464",
+"( 	c #909090",
+"_ 	c #585858",
+": 	c #636363",
+"< 	c #A0A0A0",
+"[ 	c #989898",
+"} 	c #555555",
+"| 	c #5B5B5B",
+"1 	c #696969",
+"2 	c #626262",
+"3 	c #707070",
+"4 	c #595959",
+"5 	c #666666",
+"6 	c #A8A8A8",
+"7 	c #5D5D5D",
+"8 	c #808080",
+"9 	c #979797",
+"0 	c #575757",
+"a 	c #505050",
+"b 	c #AFAFAF",
+"c 	c #5F5F5F",
+"d 	c #787878",
+"e 	c #A2A2A2",
+"f 	c #848484",
+"g 	c #2D2D2D",
+"h 	c #393939",
+"i 	c #4C4C4C",
+"j 	c #7B7B7B",
+"k 	c #B0B0B0",
+"l 	c #9E9E9E",
+"m 	c #3D3D3D",
+"n 	c #343434",
+"o 	c #454545",
+"p 	c #444444",
+"q 	c #282828",
+"r 	c #222222",
+"s 	c #3C3C3C",
+"t 	c #717171",
+"u 	c #9D9D9D",
+"v 	c #8C8C8C",
+"w 	c #ADADAD",
+"x 	c #323232",
+"y 	c #878787",
+"z 	c #303030",
+"A 	c #0D0D0D",
+"B 	c #000000",
+"C 	c #020202",
+"D 	c #090909",
+"E 	c #6E6E6E",
+"F 	c #171717",
+"G 	c #4D4D4D",
+"H 	c #0C0C0C",
+"I 	c #3A3A3A",
+"J 	c #030303",
+"K 	c #040404",
+"L 	c #5E5E5E",
+"M 	c #424242",
+"N 	c #1F1F1F",
+"O 	c #181818",
+"P 	c #4B4B4B",
+"Q 	c #353535",
+"R 	c #0E0E0E",
+"S 	c #2C2C2C",
+"T 	c #6B6B6B",
+"U 	c #7D7D7D",
+"V 	c #080808",
+"W 	c #414141",
+"X 	c #2F2F2F",
+"Y 	c #212121",
+"Z 	c #A5A5A5",
+"` 	c #8B8B8B",
+" .	c #6D6D6D",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                      . + . @ #       $ $                       ",
+"                  % & * = - ; ; &   > , , $                     ",
+"              ' ) ! ~ { ] ^ = / - ( _ : , <                     ",
+"            [ } | = 1 1 1 1 1 1 2 ; : ~ &                       ",
+"            3 + 4 5 1 1 1 1 1 1 ] 2 ^ * 6                       ",
+"            [ } { ] 1 1 1 1 1 1 1 1 7 8                         ",
+"              9 0 1 1 1 1 1 1 1 1 ~ a 6                         ",
+"              b a c 1 1 1 1 1 ] ~ d     . + . @ #       $ $     ",
+"          e f 3 | g h i 7 + 7 } j k % & * = - ; ; &   > , , $   ",
+"    l = m n o 4 2 / p q r s t u ' ) ! ~ { ] ^ = / - ( _ : , <   ",
+"    & 0 v w             9 0 x y z ~ = 1 1 1 1 1 1 2 ; : ~ &     ",
+"                            3 A B n 5 1 1 1 1 1 1 ] 2 ^ * 6     ",
+"                . + . @ #   3 C B D : 1 1 1 1 1 1 1 1 7 8 w j b ",
+"            % & * = - ; ; & E F B B z 1 1 1 1 1 1 1 ~ o G H ]   ",
+"        ' ) ! ~ { ] ^ = / - ( _ I J K L 1 1 1 1 ] M N B B O b   ",
+"      [ } | = 1 1 1 1 1 1 2 ; : ~ P A Q + : + 7 } + R B B 8     ",
+"      3 + 4 5 1 1 1 1 1 1 ] 2 ^ * 6 j S Q } T U ) ^ V C W       ",
+"      [ } { ] 1 1 1 1 1 1 1 1 7 8     < { X N Y X * ' 5 Z       ",
+"        9 0 1 1 1 1 1 1 1 1 ~ a 6             @ k               ",
+"        b a c 1 1 1 1 1 ] ~ d                                   ",
+"          u a ~ + : + 7 } j k                                   ",
+"              `  .1 E U u                                       ",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                                                                "};

Extras/MayaPlugin/icons/dynamicaCreatePassivePlaneRB.xpm

@@ -0,0 +1,108 @@
+/* XPM */
+static char * dynamicaCreatePassivePlaneRB_xpm[] = {
+"32 32 73 1",
+" 	c #B1B1B1",
+".	c #A2A2A2",
+"+	c #848484",
+"@	c #707070",
+"#	c #666666",
+"$	c #656565",
+"%	c #8B8B8B",
+"&	c #A7A7A7",
+"*	c #9E9E9E",
+"=	c #3D3D3D",
+"-	c #343434",
+";	c #454545",
+">	c #595959",
+",	c #626262",
+"'	c #646464",
+")	c #575757",
+"!	c #414141",
+"~	c #3A3A3A",
+"{	c #606060",
+"]	c #A0A0A0",
+"^	c #8A8A8A",
+"/	c #8C8C8C",
+"(	c #ADADAD",
+"_	c #979797",
+":	c #323232",
+"<	c #AFAFAF",
+"[	c #7C7C7C",
+"}	c #6C6C6C",
+"|	c #0C0C0C",
+"1	c #000000",
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+"3	c #6E6E6E",
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+"6	c #5C5C5C",
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+"9	c #5F5F5F",
+"0	c #636363",
+"a	c #555555",
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+"e	c #424242",
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+"i	c #070707",
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+"u	c #2F2F2F",
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+"w	c #797979",
+"x	c #919191",
+"y	c #7F7F7F",
+"z	c #565656",
+"A	c #020202",
+"B	c #363636",
+"C	c #1F1F1F",
+"D	c #212121",
+"E	c #525252",
+"F	c #9C9C9C",
+"G	c #ACACAC",
+"H	c #B0B0B0",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"     .+@#$@%&                   ",
+"  *$=-;>,')!~{]                 ",
+"  ^)/(      _):*'<              ",
+" [}}}}}}}}}}}};|12}}}}}}}}34    ",
+" 56'''''''''''27189'''''''0a4(b<",
+"  56cdddddddddef11-dddddddd>g|c ",
+"   56cddddddddddhij9dddddkl11|< ",
+"    5m99999999999~no99999pi11;q ",
+"     rsssssssssssstuvwxsyziABs  ",
+"                   ]{uCDuEF#r   ",
+"                       GH       ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                "};

Extras/MayaPlugin/icons/dynamicaCreatePassivePlaneRBArray.xpm

@@ -0,0 +1,117 @@
+/* XPM */
+static char * dynamicaCreatePassivePlaneRBArray_xpm[] = {
+"32 32 82 1",
+" 	c #B1B1B1",
+".	c #6E6E6E",
+"+	c #5F5F5F",
+"@	c #616161",
+"#	c #606060",
+"$	c #666666",
+"%	c #7E7E7E",
+"&	c #626262",
+"*	c #6D6D6D",
+"=	c #636363",
+"-	c #A9A9A9",
+";	c #4E4E4E",
+">	c #767676",
+",	c #777777",
+"'	c #5B5B5B",
+")	c #787878",
+"!	c #757575",
+"~	c #5E5E5E",
+"{	c #747474",
+"]	c #505050",
+"^	c #4D4D4D",
+"/	c #5C5C5C",
+"(	c #5D5D5D",
+"_	c #4F4F4F",
+":	c #ADADAD",
+"<	c #868686",
+"[	c #6F6F6F",
+"}	c #565656",
+"|	c #555555",
+"1	c #8C8C8C",
+"2	c #959595",
+"3	c #929292",
+"4	c #9E9E9E",
+"5	c #656565",
+"6	c #3D3D3D",
+"7	c #343434",
+"8	c #454545",
+"9	c #595959",
+"0	c #646464",
+"a	c #575757",
+"b	c #414141",
+"c	c #3A3A3A",
+"d	c #3C3C3C",
+"e	c #8A8A8A",
+"f	c #979797",
+"g	c #303030",
+"h	c #1B1B1B",
+"i	c #3E3E3E",
+"j	c #6C6C6C",
+"k	c #323232",
+"l	c #0E0E0E",
+"m	c #000000",
+"n	c #464646",
+"o	c #4A4A4A",
+"p	c #010101",
+"q	c #0D0D0D",
+"r	c #717171",
+"s	c #7B7B7B",
+"t	c #AFAFAF",
+"u	c #2D2D2D",
+"v	c #2B2B2B",
+"w	c #060606",
+"x	c #090909",
+"y	c #858585",
+"z	c #272727",
+"A	c #181818",
+"B	c #151515",
+"C	c #696969",
+"D	c #808080",
+"E	c #383838",
+"F	c #909090",
+"G	c #676767",
+"H	c #080808",
+"I	c #020202",
+"J	c #2F2F2F",
+"K	c #1F1F1F",
+"L	c #212121",
+"M	c #525252",
+"N	c #9C9C9C",
+"O	c #A5A5A5",
+"P	c #ACACAC",
+"Q	c #B0B0B0",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"  .+@@@@@@@@@@@#$%              ",
+"  &@************@=              ",
+"  -;>,,,,,,,,,,,,')             ",
+"   !~,,,,,,,,,,,,{]             ",
+"    ^/'''''''''''(_:            ",
+"     <[~}|+!122223:             ",
+"  456789&0abcd}@@@@@@@@@@@#$%   ",
+"  ea1:      fgh@ij*********@=   ",
+"             -klmn,,,,,,,,,,')  ",
+"              opmqr,,,,,,,,,{;st",
+"              .qmmu'''''''';vw$ ",
+"                |xwy22222*zmmAt ",
+"   .+@@@@@@@@@@@#iBC     1lmmD  ",
+"   &@************@8E|F: fGHIb   ",
+"   -;>,,,,,,,,,,,,'j#JKLJMN$O   ",
+"    !~,,,,,,,,,,,,{]   PQ       ",
+"     ^/'''''''''''(_:           ",
+"      3222222222223:            ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                "};

Extras/MayaPlugin/icons/dynamicaCreatePassiveRB.xpm

@@ -0,0 +1,37 @@
+/* XPM */
+static char * dynamicaCreatePassiveRB_xpm[] = {
+"32 32 2 1",
+" 	c None",
+".	c #E0AE36",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
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+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................",
+"................................"};

Extras/MayaPlugin/icons/dynamicaCreatePassiveSphereRB.xpm

@@ -0,0 +1,177 @@
+/* XPM */
+static char * dynamicaCreatePassiveSphereRB_xpm[] = {
+"32 32 142 2",
+"  	c #B1B1B1",
+". 	c #ADADAD",
+"+ 	c #ABABAB",
+"@ 	c #AEAEAE",
+"# 	c #A8A8A8",
+"$ 	c #A5A5A5",
+"% 	c #B2B2B2",
+"& 	c #B6B6B6",
+"* 	c #B5B5B5",
+"= 	c #A4A4A4",
+"- 	c #AAAAAA",
+"; 	c #B0B0B0",
+"> 	c #A9A9A9",
+", 	c #C3C3C3",
+"' 	c #D4D4D4",
+") 	c #D5D5D5",
+"! 	c #D3D3D3",
+"~ 	c #D2D2D2",
+"{ 	c #D0D0D0",
+"] 	c #CDCDCD",
+"^ 	c #C7C7C7",
+"/ 	c #D6D6D6",
+"( 	c #CFCFCF",
+"_ 	c #CBCBCB",
+": 	c #C2C2C2",
+"< 	c #BABABA",
+"[ 	c #A7A7A7",
+"} 	c #B9B9B9",
+"| 	c #D1D1D1",
+"1 	c #CECECE",
+"2 	c #CACACA",
+"3 	c #C5C5C5",
+"4 	c #BFBFBF",
+"5 	c #B8B8B8",
+"6 	c #C8C8C8",
+"7 	c #BBBBBB",
+"8 	c #A0A0A0",
+"9 	c #A2A2A2",
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+"v 	c #727272",
+"w 	c #6B6B6B",
+"x 	c #8A8A8A",
+"y 	c #9E9E9E",
+"z 	c #656565",
+"A 	c #3D3D3D",
+"B 	c #343434",
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+"D 	c #626262",
+"E 	c #707070",
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+"K 	c #BCBCBC",
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+"O 	c #5E5E5E",
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+"Q 	c #8C8C8C",
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+"U 	c #606060",
+"V 	c #4F4F4F",
+"W 	c #676767",
+"X 	c #747474",
+"Y 	c #141414",
+"Z 	c #000000",
+"` 	c #696969",
+" .	c #5C5C5C",
+"..	c #505050",
+"+.	c #4E4E4E",
+"@.	c #6A6A6A",
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+"$.	c #0F0F0F",
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+"&.	c #565656",
+"*.	c #717171",
+"=.	c #7B7B7B",
+"-.	c #A6A6A6",
+";.	c #9B9B9B",
+">.	c #979797",
+",.	c #151515",
+"'.	c #2E2E2E",
+").	c #858585",
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+"_.	c #383838",
+":.	c #050505",
+"<.	c #030303",
+"[.	c #464646",
+"}.	c #525252",
+"|.	c #181818",
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+"                                                                ",
+"                                                                ",
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+"                            . + + + @                           ",
+"                      @ # $ % & & * . = - ;                     ",
+"                    > > , ' ) ! ~ { ] ^ * = -                   ",
+"                ; > & ) / / ) ! ~ ( _ ^ : < [ >                 ",
+"                > } / / / / ' ! | 1 2 3 4 5   $ -               ",
+"              + ; ! ' ) / ) ' ~ { ] 6 : 7 % > 8 9 @             ",
+"              = _ ! ! ' ' ' ! | 1 _ 0 a * + b c d #             ",
+"            e f | | ~ ! ! ~ | 1 _ ^ g 5 . 8 d h i j k           ",
+"          9 l m n i o p q ( r 6 0 : < @ s t u v w x +           ",
+"    y z A B C D E F G H I J f g K 5 @ b L M J N O n #           ",
+"    x P Q . p q 3 0 0 0 # R S = z + 8 T i w U P V W [           ",
+"            = K a a a a K < X Y Z U t n `  ...+.+.` [           ",
+"            $ % f %   ; @ e @.#.Z $.%.z &.+.+.+.+.*.>     . =.k ",
+"            > # -.9 y ;.>.d &.,.Z Z '.+.+.+.+.+.+.).e !.~.{.].  ",
+"            . 9 !.^./.(.M F J W _.:.<.[.+.+.+.+.}.X '.Z Z |.k   ",
+"              [ ^.1.X %.@.G  .2.+.3.4.3.+.+.+.+.m ).5.Z Z u     ",
+"              e j X @.G  .6.+.+.+.+.S 7.8.9.0.O a.N b.#.C       ",
+"                - c.z d...+.+.+.+.+.+.[.e.Y f.g.'.}.h.N $       ",
+"                  > i.O +.+.+.+.+.+.+.+.+.W j -.;               ",
+"                    + 9 j.k.+.+.+.+.~.].T [ .                   ",
+"                        + -.8 d d c p [ .                       ",
+"                              @ @ @                             ",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                                                                ",
+"                                                                "};

Extras/MayaPlugin/icons/dynamicaCreatePassiveSphereRBArray.xpm

@@ -0,0 +1,122 @@
+/* XPM */
+static char * dynamicaCreatePassiveSphereRBArray_xpm[] = {
+"32 32 87 1",
+" 	c #B1B1B1",
+".	c #A6A6A6",
+"+	c #A0A0A0",
+"@	c #949494",
+"#	c #6D6D6D",
+"$	c #5D5D5D",
+"%	c #636363",
+"&	c #616161",
+"*	c #888888",
+"=	c #9C9C9C",
+"-	c #5A5A5A",
+";	c #969696",
+">	c #A2A2A2",
+",	c #878787",
+"'	c #757575",
+")	c #8E8E8E",
+"!	c #A4A4A4",
+"~	c #535353",
+"{	c #B0B0B0",
+"]	c #565656",
+"^	c #ADADAD",
+"/	c #A9A9A9",
+"(	c #5E5E5E",
+"_	c #A5A5A5",
+":	c #848484",
+"<	c #606060",
+"[	c #5C5C5C",
+"}	c #656565",
+"|	c #707070",
+"1	c #8B8B8B",
+"2	c #A7A7A7",
+"3	c #979797",
+"4	c #6C6C6C",
+"5	c #808080",
+"6	c #838383",
+"7	c #9E9E9E",
+"8	c #3D3D3D",
+"9	c #343434",
+"0	c #454545",
+"a	c #585858",
+"b	c #525252",
+"c	c #5B5B5B",
+"d	c #424242",
+"e	c #434343",
+"f	c #AAAAAA",
+"g	c #8D8D8D",
+"h	c #939393",
+"i	c #8A8A8A",
+"j	c #575757",
+"k	c #8C8C8C",
+"l	c #595959",
+"m	c #323232",
+"n	c #646464",
+"o	c #AFAFAF",
+"p	c #767676",
+"q	c #9D9D9D",
+"r	c #141414",
+"s	c #000000",
+"t	c #686868",
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+"w	c #7B7B7B",
+"x	c #545454",
+"y	c #1D1D1D",
+"z	c #2C2C2C",
+"A	c #989898",
+"B	c #515151",
+"C	c #0C0C0C",
+"D	c #676767",
+"E	c #121212",
+"F	c #060606",
+"G	c #2E2E2E",
+"H	c #181818",
+"I	c #1F1F1F",
+"J	c #696969",
+"K	c #7E7E7E",
+"L	c #0E0E0E",
+"M	c #787878",
+"N	c #383838",
+"O	c #555555",
+"P	c #909090",
+"Q	c #080808",
+"R	c #414141",
+"S	c #2F2F2F",
+"T	c #494949",
+"U	c #666666",
+"V	c #929292",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
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+"        @#$%&*    @#$%&*        ",
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+"       ]^     %+ ]^     %+      ",
+"       -/     (_ -/     (_      ",
+"     >:<[}|1234  56    34       ",
+"  7}890abc]de~,  2~5.fgah       ",
+"  ijk^  f6$l4]m7nof6$lpq        ",
+"          .+  |rst  .+          ",
+"        @#$%&*|usvg#$%&*     ^wo",
+"       =-;  >%xyssz;  >%,  ABCt ",
+"       ')    !~{DEF7   !~5GssHo ",
+"       ]^     %+ ~IJ    %KLss5  ",
+"       -/     (_ -MNOP^ cnQuR   ",
+"       56    34  56+<SIGTb=U_   ",
+"       2~5.fgah  2~5.fgjV       ",
+"        f6$lpq    f6$lpq        ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                ",
+"                                "};

Extras/MayaPlugin/mathUtils.h

@@ -0,0 +1,183 @@
+/*
+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>
+*/
+
+//mathUtils.h
+
+#ifndef DYN_MATH_UTILS_H
+#define DYN_MATH_UTILS_H
+
+#include "mvl/vec.h"
+#include "mvl/mat.h"
+#include "mvl/quat.h"
+using namespace mvl;
+
+typedef vec<float, 3> vec3f;
+typedef mat<float, 4, 4> mat4x4f;
+typedef mat<float, 3, 3> mat3x3f;
+typedef vec<float, 4> quatf;
+
+template<typename T>
+inline T deg2rad(T x) { return x * T(3.141592654 / 180.0); }
+
+template<typename T>
+inline T rad2deg(T x) { return x * T(180.0 / 3.141592654); }
+
+
+template<typename T> 
+inline T clamp(T x, T min, T max)
+{
+    if(x < min) return min;
+    if(x > max) return max;
+    return x;
+}
+
+template<typename T>
+inline T sqr(T x) {
+    return x * x;
+}
+
+
+// A must be a symmetric matrix.
+// returns quaternion q such that its corresponding matrix Q 
+// can be used to Diagonalize A
+//Diagonal matrix D = Q^T * A * Q;  and  A = Q*D*Q^T
+// The colums of q are the eigenvectors D's diagonal is the eigenvalues
+// As per 'column' convention if float3x3 Q = q.getmatrix(); then Q*v = q*v*conj(q)
+template<typename T>
+vec<T, 4> diagonalizer(const mat<T, 3, 3> &A)
+{
+    const int maxsteps = 24;  // certainly wont need that many.
+
+    typedef vec<T, 3> vec3_t;
+    typedef vec<T, 4> quat_t;
+    typedef mat<T, 3, 3> mat3x3_t;
+    quat_t q(qidentity<T>());
+    for(int i = 0; i < maxsteps; ++i)
+    {
+        mat3x3_t Q;
+        q_to_mat(q, Q); // Q*v == q*v*conj(q)
+        mat3x3_t D = prod(trans(Q), mat3x3_t(prod(A, Q)));     // A = Q^T*D*Q
+        vec3_t offdiag(D(2, 1), D(2, 0), D(1, 0));  // elements not on the diagonal
+        vec3_t om(fabs(offdiag[0]), fabs(offdiag[1]), fabs(offdiag[2])); // mag of each offdiag elem
+        int k = (om[0] > om[1] && om[0] > om[2]) ? 0 : (om[1] > om[2]) ? 1 : 2; // index of largest element of offdiag
+        int k1 = (k + 1) % 3;
+        int k2 = (k + 2) % 3;
+        if(offdiag[k] == T()) break;  // diagonal already
+        T thet = (D(k2, k2) - D(k1, k1)) / (T(2.0) * offdiag[k]);
+        T sgn = (thet > 0.0f) ? T(1.0) : T(-1.0);
+        thet *= sgn; // make it positive
+        T t = sgn / (thet + ((thet < T(1.E6)) ? sqrtf(sqr(thet) + T(1.0)) : thet)) ; // sign(T)/(|T|+sqrt(T^2+1))
+        T c = T(1.0) / sqrtf(sqr(t) + T(1.0)); //  c= 1/(t^2+1) , t=s/c 
+        if(c == T(1.0)) break;  // no room for improvement - reached machine precision.
+        quat_t jr(0,0,0,0); // jacobi rotation for this iteration.
+        jr[1 + k] = sgn * sqrtf((T(1.0) - c) / T(2.0));  // using 1/2 angle identity sin(a/2) = sqrt((1-cos(a))/2)  
+        jr[1 + k] *= -T(1.0); // since our quat-to-matrix convention was for v*M instead of M*v
+        jr[0]  = sqrtf(T(1.0) - sqr(jr[1 + k]));
+        if(jr[0] == T(1.0)) break; // reached limits of floating point precision
+        q = qprod(q, jr);  
+        q = normalize(q);
+    } 
+    return q;
+}    
+
+template<typename T> 
+inline T determinant(vec<T, 3> const& v0, vec<T, 3> const& v1, vec<T, 3> const& v2)
+{
+    return dot(v0, cross(v1, v2));
+}
+
+template<typename T>
+T volume(vec<T, 3> const* vertices, int const* indices, const int num_indices) 
+{
+    // count is the number of triangles (tris) 
+    T  volume = T();
+    for(int i = 0; i < num_indices / 3; i++) { // for each triangle
+        volume += determinant(vertices[indices[i * 3 + 0]],
+                              vertices[indices[i * 3 + 1]],
+                              vertices[indices[i * 3 + 2]]);
+    }
+    return volume / T(6.0);  // since the determinant give 6 times tetra volume
+}
+
+template<typename T> 
+vec<T, 3> center_of_mass(vec<T, 3> const* vertices, int const* indices, int num_indices) 
+{
+    // count is the number of triangles (tris) 
+    vec<T, 3> com(0, 0, 0);
+
+    T  volume = 0; // actually accumulates the volume*6
+    for(int i = 0; i < num_indices / 3; i++)  // for each triangle
+    {
+        T vol = determinant(vertices[indices[i * 3 + 0]],
+                            vertices[indices[i * 3 + 1]],
+                            vertices[indices[i * 3 + 2]]);
+        com += vol * (vertices[indices[i * 3 + 0]] + vertices[indices[i * 3 + 1]] + vertices[indices[i * 3 + 2]]); 
+        volume += vol;
+    }
+    com /= volume * 4.0f; 
+    return com;
+}
+
+template<typename T> 
+mat<T, 3, 3> inertia(vec<T, 3> const* vertices, int const* indices, int num_indices, vec<T, 3> com = vec<T, 3>(0, 0, 0)) 
+{
+    typedef vec<T, 3> vec3_t;
+    typedef mat<T, 3, 3> mat3x3_t;
+    // count is the number of triangles (tris) 
+    // The moments are calculated based on the center of rotation com which is [0,0,0] by default
+    // assume mass==1.0  you can multiply by mass later.
+    // for improved accuracy the next 3 variables, the determinant d, and its calculation should be changed to double
+    T volume = 0;                          // technically this variable accumulates the volume times 6
+    vec3_t diag(0,0,0);                       // accumulate matrix main diagonal integrals [x*x, y*y, z*z]
+    vec3_t offd(0,0,0);                       // accumulate matrix off-diagonal  integrals [y*z, x*z, x*y]
+
+    for(int i=0; i < num_indices / 3; i++)  // for each triangle
+    {
+        vec3_t const &v0(vertices[indices[i * 3 + 0]]);
+        vec3_t const &v1(vertices[indices[i * 3 + 1]]);
+        vec3_t const &v2(vertices[indices[i * 3 + 2]]);
+        mat3x3_t A(v0[0] - com[0], v0[1] - com[1], v0[2] - com[2],
+                   v1[0] - com[0], v1[1] - com[1], v1[2] - com[2],
+                   v2[0] - com[0], v2[1] - com[1], v2[2] - com[2]);
+        // vol of tiny parallelapiped= d * dr * ds * dt (the 3 partials of my tetral triple integral equation)
+        T d = determinant(vec<T, 3>(A(0, 0), A(1, 0), A(2, 0)),
+                          vec<T, 3>(A(0, 1), A(1, 1), A(2, 1)),
+                          vec<T, 3>(A(0, 2), A(1, 2), A(2, 2)));  
+        volume +=d;             // add vol of current tetra (note it could be negative - that's ok we need that sometimes)
+        for(int j = 0; j < 3; ++j) {
+            int j1=(j+1)%3;   
+            int j2=(j+2)%3;   
+            diag[j] += (A(0, j) * A(1, j) + A(1, j) * A(2, j) + A(2, j) * A(0, j) + 
+                        A(0, j) * A(0, j) + A(1, j) * A(1, j) + A(2, j) * A(2, j)  ) * d;         // divide by 60.0f later;
+            offd[j] += (A(0, j1) * A(1, j2)  + A(1, j1) * A(2, j2)  + A(2, j1) * A(0, j2)  +
+                        A(0, j1) * A(2, j2)  + A(1, j1) * A(0, j2)  + A(2, j1) * A(1, j2)  +
+                        A(0, j1) * A(0, j2) * T(2) + A(1, j1) * A(1, j2) * T(2) + A(2, j1) * A(2, j2) * T(2)) *d; // divide by 120.0f later
+        }
+    }
+    diag /= volume * (T(60.0) / T(6.0));  // divide by total volume (vol/6) since density=1/volume
+    offd /= volume * (T(120.0) / T(6.0));
+    return mat3x3_t(diag[1] + diag[2]  , -offd[2]      , -offd[1],
+                   -offd[2]        , diag[0] + diag[2], -offd[0],
+                   -offd[1]        , -offd[0]      , diag[0] + diag[1] );
+}
+
+#endif

Extras/MayaPlugin/mayaUtils.h

@@ -0,0 +1,38 @@
+/*
+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>
+*/
+
+//mayaUtils.h
+
+#ifndef DYN_MAYA_UTILS_H
+#define DYN_MAYA_UTILS_H
+
+#define MCHECKSTATUS(status, context)            \
+        {                                       \
+            if(!status) {                        \
+                std::cout << "maya error: " << status.errorString().asChar()    \
+                      << " while: " << context << std::endl;               \
+                return status;                                             \
+            }       \
+        }   
+
+#endif
+

Extras/MayaPlugin/mesh_shape.h

@@ -0,0 +1,44 @@
+/*
+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>
+*/
+
+//mesh_shape.h
+
+#ifndef DYN_MESH_SHAPE_H
+#define DYN_MESH_SHAPE_H
+
+#include "collision_shape.h"
+#include "collision_shape_impl.h"
+
+class mesh_shape_t: public collision_shape_t
+{
+public:
+    //typedefs
+    typedef shared_ptr<mesh_shape_t> pointer;
+
+protected:
+    friend class solver_t;
+
+    mesh_shape_t(collision_shape_impl_t* impl): collision_shape_t(impl) { }
+
+};
+
+#endif

Extras/MayaPlugin/mesh_shape_impl.h

@@ -0,0 +1,39 @@
+/*
+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>
+*/
+
+//mesh_shape_impl.h
+
+#ifndef DYN_MESH_SHAPE_IMPL_H
+#define DYN_MESH_SHAPE_IMPL_H
+
+#include "collision_shape_impl.h"
+
+class mesh_shape_impl_t: public collision_shape_impl_t
+{
+public:
+    //typedefs
+
+private:
+
+};
+
+#endif

Extras/MayaPlugin/mvl/base.h

@@ -0,0 +1,35 @@
+/*
+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>
+*/
+
+//base.h
+
+#ifndef MVL_BASE_H
+#define MVL_BASE_H
+
+namespace mvl {
+
+
+
+} //namespace mvl
+
+#endif
+

Extras/MayaPlugin/mvl/mat.h

@@ -0,0 +1,399 @@
+/*
+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>
+*/
+
+//mat.h
+
+#ifndef MVL_MAT_H
+#define MVL_MAT_H
+
+#include <cmath>
+#include "base.h"
+#include "traits.h"
+
+namespace mvl {
+
+template<typename T, std::size_t R, std::size_t C>
+class mat
+{
+public:
+    typedef T                                       value_type;
+    typedef T&                                      reference;
+    typedef T const&                                const_reference;
+    typedef T*                                      iterator;
+    typedef T const*                                const_iterator;
+    typedef std::reverse_iterator<iterator>         reverse_iterator;
+    typedef std::reverse_iterator<const_iterator>   const_reverse_iterator;
+
+public:
+    enum {
+        Rows        = R,
+        Cols        = C,
+        Size        = Rows * Cols,
+    };
+   
+public:
+    //constructors
+    explicit mat() {}
+
+    template<typename T2>
+    mat(mat<T2, Rows, Cols> const& m)
+    {
+        *this = m;
+    }  
+
+    explicit mat(value_type val)
+    {
+        for(int i = 0; i < Size; ++i){
+            m_data[i] = val;
+        }
+    } 
+
+    explicit mat(value_type m00, value_type m01,
+                 value_type m10, value_type m11)
+    {
+        operator()(0, 0) = m00; operator()(0, 1) = m01;
+        operator()(1, 0) = m10; operator()(1, 1) = m11;
+    }
+
+    explicit mat(value_type m00, value_type m01, value_type m02,
+                 value_type m10, value_type m11, value_type m12,
+                 value_type m20, value_type m21, value_type m22)
+    {
+        operator()(0, 0) = m00; operator()(0, 1) = m01; operator()(0, 2) = m02;
+        operator()(1, 0) = m10; operator()(1, 1) = m11; operator()(1, 2) = m12;
+        operator()(2, 0) = m20; operator()(2, 1) = m21; operator()(2, 2) = m22;
+    }
+
+    explicit mat(value_type m00, value_type m01, value_type m02, value_type m03,
+                 value_type m10, value_type m11, value_type m12, value_type m13,
+                 value_type m20, value_type m21, value_type m22, value_type m23,
+                 value_type m30, value_type m31, value_type m32, value_type m33)
+    {
+        operator()(0, 0) = m00; operator()(0, 1) = m01; operator()(0, 2) = m02; operator()(0, 3) = m03;
+        operator()(1, 0) = m10; operator()(1, 1) = m11; operator()(1, 2) = m12; operator()(1, 3) = m13;
+        operator()(2, 0) = m20; operator()(2, 1) = m21; operator()(2, 2) = m22; operator()(2, 3) = m23;
+        operator()(3, 0) = m30; operator()(3, 1) = m31; operator()(3, 2) = m32; operator()(3, 3) = m33;
+    }
+
+public:
+    //data access
+    value_type operator()(std::size_t i, std::size_t j) const  { return m_data[j * Rows + i]; }
+    reference operator()(std::size_t i, std::size_t j)         { return m_data[j * Rows + i]; }
+
+public:
+    //stl
+    static std::size_t size()               { return Size; }
+    static std::size_t max_size()           { return Size; }
+    static bool empty()                     { return false; }
+
+    iterator begin()                        { return m_data; }
+    iterator end()                          { return m_data + Size; }
+    const_iterator begin() const            { return m_data; }
+    const_iterator end() const              { return m_data + Size; }
+    reverse_iterator rbegin()               { return reverse_iterator(end()); }
+    reverse_iterator rend()                 { return reverse_iterator(begin()); }
+    const_reverse_iterator rbegin() const   { return const_reverse_iterator(end()); }
+    const_reverse_iterator rend() const     { return const_reverse_iterator(begin()); }
+
+    value_type front()                      { return m_data[0]; }
+    value_type back()                       { return m_data[Size - 1]; }
+    const_reference front() const           { return m_data[0]; }
+    const_reference back() const            { return m_data[Size - 1]; }
+
+    friend std::ostream& operator << (std::ostream& out, mat const& m) {
+        out << "("; 
+        for(size_t i = 0; i < Rows - 1; i++) {
+            for(size_t j = 0; j < Cols; j++) {
+                out << m(i, j) << ", ";
+            }
+            out << std::endl;
+        }
+        for(size_t j = 0; j < Cols - 1; j++) {
+            out << m(Rows - 1, j) << ", ";
+        }
+        out << m(Rows - 1, Cols - 1) << ")"; 
+        return out;
+    }
+
+public:
+    //
+    mat& operator=(mat const& rhs) {
+        std::copy(rhs.begin(),rhs.end(), begin());
+        return *this;
+    }
+
+    template<typename T2> 
+    mat& operator=(mat<T2, Rows, Cols> const& rhs) {
+        std::copy(rhs.begin(),rhs.end(), begin()); 
+        return *this;
+    }
+
+private:
+    //data is stored in column major order, so the matrix can passed directly to the graphics APIs
+    T   m_data[Size];
+};
+
+//assignment operators 
+// OP(mat<T1>, mat<T2>)
+// OP(mat<T>, T)
+
+#define MAT_IMPLEMENT_MACRO(OP)                                                         \
+template<typename T1, typename T2, std::size_t R, std::size_t C>                        \
+inline                                                                                  \
+mat<T1, R, C>&                                                                          \
+operator OP(mat<T1, R, C>& lhs, mat<T2, R, C> const& rhs) {                             \
+    for(int i = 0; i < C * R; ++i) {                                                    \
+        lhs[i] OP rhs[i];                                                               \
+    }                                                                                   \
+    return lhs;                                                                         \
+}                                                                                       \
+                                                                                        \
+template<typename T, std::size_t R, std::size_t C>                                      \
+inline                                                                                  \
+mat<T, R, C>&                                                                           \
+operator OP(mat<T, R, C>& lhs, typename mat<T, R, C>::value_type const& rhs) {          \
+    for(int i = 0; i < C * R; ++i) {                                                    \
+        lhs[i] OP rhs[i];                                                               \
+    }                                                                                   \
+    return lhs;                                                                         \
+}                                                                                       \
+  
+MAT_IMPLEMENT_MACRO(+=)
+MAT_IMPLEMENT_MACRO(-=)
+MAT_IMPLEMENT_MACRO(*=)
+MAT_IMPLEMENT_MACRO(/=)
+
+#undef MAT_IMPLEMENT_MACRO
+
+//operator + (mat, mat)
+template<typename T1, typename T2, std::size_t R, std::size_t C>                                                  
+inline                                                                                              
+mat<typename promote_traits<T1, T2>::value_type, R, C>                                                                              
+operator + (mat<T1, R, C> const& lhs, mat<T2, R, C> const& rhs) {                            
+    mat<typename promote_traits<T1, T2>::value_type, R, C> res;
+    for(int i = 0; i < R ; ++i) {
+        for(int j = 0; j < C; ++j) {
+            res(i, j) = lhs(i, j) + rhs(i, j);
+        }
+    }
+    return res;         
+}                                                                                                   
+
+//operator - (mat, mat)
+template<typename T1, typename T2, std::size_t R, std::size_t C>                                                  
+inline                                                                                              
+mat<typename promote_traits<T1, T2>::value_type, R, C>                                                                              
+operator - (mat<T1, R, C> const& lhs, mat<T2, R, C> const& rhs) {                            
+    mat<typename promote_traits<T1, T2>::value_type, R, C> res;
+    for(int i = 0; i < R ; ++i) {
+        for(int j = 0; j < C; ++j) {
+            res(i, j) = lhs(i, j) - rhs(i, j);
+        }
+    }
+    return res;         
+}                                                                                                   
+
+//operator * (mat, POD)
+template<typename T1, typename T2, std::size_t R, std::size_t C>                                                    
+inline
+mat<typename promote_traits<T1, T2>::value_type, R, C>                                                                              
+operator * (mat<T1, R, C> const& lhs, T2 const& rhs) {                                            
+    mat<typename promote_traits<T1, T2>::value_type, R, C> res;
+    for(int i = 0; i < R ; ++i) {
+        for(int j = 0; j < C; ++j) {
+            res(i, j) = lhs(i, j) * rhs;
+        }
+    }
+    return res;         
+}                                                                                                   
+
+//operator * (POD, mat)
+template<typename T1, typename T2, std::size_t R, std::size_t C>                                                 
+inline                                                                                           
+mat<typename promote_traits<T1, T2>::value_type, R, C>                                                                              
+operator * (T1 const& lhs, mat<T2, R, C> const& rhs) {                                          
+    mat<typename promote_traits<T1, T2>::value_type, R, C> res;
+    for(int i = 0; i < R ; ++i) {
+        for(int j = 0; j < C; ++j) {
+            res(i, j) = lhs * rhs(i, j);
+        }
+    }
+    return res;         
+}                                                                                                
+
+//operator / (mat, POD)
+template<typename T1, typename T2, std::size_t R, std::size_t C>                                                    
+inline                                                                                              
+mat<typename promote_traits<T1, T2>::value_type, R, C>                                                                              
+operator / (mat<T1, R, C> const& lhs, T2 const& rhs) {                                            
+    mat<typename promote_traits<T1, T2>::value_type, R, C> res;
+    for(int i = 0; i < R ; ++i) {
+        for(int j = 0; j < C; ++j) {
+            res(i, j) = lhs(i, j) / rhs;
+        }
+    }
+    return res;         
+}                                                                                                   
+
+//element_prod(mat, mat)
+template<typename T1, typename T2, std::size_t R, std::size_t C>                                                  
+inline                                                                                              
+mat<typename promote_traits<T1, T2>::value_type, R, C>                                                                              
+element_prod(mat<T1, R, C> const& lhs, mat<T2, R, C> const& rhs) {                            
+    mat<typename promote_traits<T1, T2>::value_type, R, C> res;
+    for(int i = 0; i < R ; ++i) {
+        for(int j = 0; j < C; ++j) {
+            res(i, j) = lhs(i, j) * rhs(i, j);
+        }
+    }
+    return res;         
+}
+
+//element_div(mat, mat)
+template<typename T1, typename T2, std::size_t R, std::size_t C>                                                  
+inline                                                                                              
+mat<typename promote_traits<T1, T2>::value_type, R, C>                                                                              
+element_div(mat<T1, R, C> const& lhs, mat<T2, R, C> const& rhs) {                            
+    mat<typename promote_traits<T1, T2>::value_type, R, C> res;
+    for(int i = 0; i < R ; ++i) {
+        for(int j = 0; j < C; ++j) {
+            res(i, j) = lhs(i, j) / rhs(i, j);
+        }
+    }
+    return res;         
+}                                                                                                   
+
+//unary operator -(mat)
+template<typename T, std::size_t R, std::size_t C>                                                  
+inline                                                                                              
+mat<T, R, C>
+operator -(mat<T, R, C> const& rhs) {                            
+    mat<T, R, C> res;
+    for(int i = 0; i < R ; ++i) {
+        for(int j = 0; j < C; ++j) {
+            res(i, j) = -rhs(i, j);
+        }
+    }
+    return res;         
+}
+
+//matrix transpose
+template<typename T, std::size_t R, std::size_t C>
+inline 
+mat<T, R, C>
+trans(mat<T, R, C> const& rhs) {
+    mat<T, R, C> res;
+    for(int i = 0; i < R ; ++i) {
+        for(int j = 0; j < C; ++j) {
+            res(i, j) = rhs(j, i);
+        }
+    }
+    return res;
+}  
+
+//identity matrix
+template<typename T, std::size_t Sz>
+inline
+mat<T, Sz, Sz>
+identity() {
+    mat<T, Sz, Sz> res;
+    for(int i = 0; i < Sz ; ++i) {
+        for(int j = 0; j < Sz; ++j) {
+            res(i, j) = i == j ? 1 : 0;
+        }
+    }
+    return res;
+}
+
+//matrix diagonal as vector (for square matrices)
+template<typename T, std::size_t N>
+inline 
+vec<T, N>
+diag(mat<T, N, N> const& rhs) {
+    vec<T, N> res;
+    for(int i = 0; i < N; ++i) {
+        res[i] = rhs(i, i);
+    }
+    return res;
+}
+
+//matrix row as vector
+template<typename T, std::size_t R, std::size_t C>
+inline 
+vec<T, C>
+row(mat<T, R, C> const& rhs, std::size_t r) {
+    vec<T, C> res;
+    for(int i = 0; i < C; ++i) {
+        res[i] = rhs(r, i);
+    }
+    return res;
+}
+
+//matrix column as vector 
+template<typename T, std::size_t R, std::size_t C>
+inline 
+vec<T, R>
+col(mat<T, R, C> const& rhs, std::size_t c) {
+    vec<T, R> res;
+    for(int i = 0; i < R; ++i) {
+        res[i] = rhs(i, c);
+    }
+    return res;
+}
+
+
+//matrix-matrix product
+template<typename T1, typename T2, std::size_t R1, std::size_t C1, std::size_t C2>
+inline 
+mat<typename promote_traits<T1, T2>::value_type, R1, C2>
+prod(mat<T1, R1, C1> const& lhs, mat<T2, C1, C2> const& rhs) {
+    mat<typename promote_traits<T1, T2>::value_type, R1, C2> res;
+    for(int i = 0; i < R1; ++i) {
+        for(int j = 0; j < C2; ++j) {
+            res(i, j) = 0;
+            for(int k = 0; k < C1; ++k) {
+                res(i, j) += lhs(i, k) * rhs(k, j);
+            }
+        }
+    }
+    return res;
+}
+
+//matrix - column vector product
+template<typename T1, typename T2, std::size_t R, std::size_t C>
+inline 
+vec<typename promote_traits<T1, T2>::value_type, R>
+prod(mat<T1, R, C> const& lhs, vec<T2, C> const& rhs) {
+    vec<typename promote_traits<T1, T2>::value_type, R> res;
+    for(int i = 0; i < R; ++i) {
+        res(i) = 0;
+        for(int j = 0; j < C; ++j) {
+            res(i) += lhs(i, j) * rhs(j);  
+        }
+    }
+    return res;
+}
+
+
+} // namespace mvl 
+
+#endif

Extras/MayaPlugin/mvl/quat.h

@@ -0,0 +1,280 @@
+/*
+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>
+*/
+
+//quat.h
+
+#ifndef MVL_QUAT_H
+#define MVL_QUAT_H
+
+#include <limits>
+
+#include "vec.h"
+#include "mat.h"
+
+//quaternions are vectors of size 4
+// it's assumed that the layout is in the form (w, (x, y, z)),
+// so that the identity quaternion is (1, 0, 0, 0)
+
+namespace mvl {
+
+//quaternion conjugate
+template<typename T>
+inline vec<T, 4>
+qconj(vec<T, 4> const& rhs) {
+    return vec<T, 4>(-rhs[0], rhs[1], rhs[2], rhs[3]);
+}
+
+//quaternion identity
+template<typename T>
+inline 
+vec<T, 4>
+qidentity() {
+    return vec<T, 4>(1, 0, 0, 0);
+}
+
+//quaternion - quaternion  product
+template<typename T1, typename T2>
+inline 
+vec<typename promote_traits<T1, T2>::value_type, 4>
+qprod(vec<T1, 4> const& lhs, vec<T2, 4> const& rhs) {
+   typedef typename promote_traits<T1, T2>::value_type value_type;
+   return vec<value_type, 4>((lhs(0)*rhs(0)) - (lhs(1)*rhs(1)) - (lhs(2)*rhs(2)) - (lhs(3)*rhs(3)),
+                             (lhs(0)*rhs(1)) + (lhs(1)*rhs(0)) + (lhs(2)*rhs(3)) - (lhs(3)*rhs(2)),
+                             (lhs(0)*rhs(2)) - (lhs(1)*rhs(3)) + (lhs(2)*rhs(0)) + (lhs(3)*rhs(1)),
+                             (lhs(0)*rhs(3)) + (lhs(1)*rhs(2)) - (lhs(2)*rhs(1)) + (lhs(3)*rhs(0)));
+} 
+  
+//quanternion - vector product (rotation)
+template<typename T1, typename T2>
+inline 
+vec<typename promote_traits<T1, T2>::value_type, 3>
+qprod(vec<T1, 4> const& q, vec<T2, 3> const& v) {
+    typedef typename promote_traits<T1, T2>::value_type value_type;
+    vec<value_type, 4> tmp = qprod(qprod(q, vec<value_type, 4>(0, v[0], v[1], v[2])), qconj(q));
+    return vec<value_type, 3>(tmp[0], tmp[1], tmp[2]);
+}
+
+//spherical interpolation between q0 and q1
+template <typename T1, typename T2, typename T3>
+inline 
+vec<typename promote_traits<T1, T2>::value_type, 4>
+qslerp(vec<T1, 4> const& q1, vec<T2, 4> const& q2, T3 t) {
+    typedef typename promote_traits<T1, T2>::value_type value_type;
+	value_type omega, cosom, sinom, scale0, scale1;
+	vec<value_type, 4> tmp;
+
+	cosom =	dot(q1, q2);
+
+	if (cosom < static_cast<value_type>(0.0)) {
+			cosom = -cosom;
+			tmp = -q2;
+	} else {
+		tmp = q2;
+	}
+
+	if ((static_cast<value_type>(1.0) - cosom) > std::numeric_limits<value_type>::epsilon()) {
+		omega  = (value_type) acos(cosom);
+		sinom  = sin(omega);
+		scale0 = sin((static_cast<value_type>(1.0) - t) * omega) / sinom;
+		scale1 = sin(t * omega) / sinom;
+	} else {
+		scale0 = static_cast<value_type>(1.0) - t;
+		scale1 = t;
+	}
+
+    return scale0 * q1 + scale1 * tmp;
+}
+
+//init quaternion from axis-angle
+template<typename T1, typename T2> 
+inline 
+vec<typename promote_traits<T1, T2>::value_type, 4>
+q_from_axis_angle(vec<T1, 3> const& axis, T2 theta)  {
+    typedef typename promote_traits<T1, T2>::value_type value_type;
+    value_type sin_theta = sin(static_cast<value_type>(static_cast<value_type>(0.5)) * theta);
+    return vec<value_type, 4>(cos(static_cast<value_type>(static_cast<value_type>(0.5)) * theta),
+                              sin_theta * axis[0],
+                              sin_theta * axis[1],
+                              sin_theta * axis[2]);
+}                    
+
+//get the axis/angle from quaternion
+template<typename T1, typename T2, typename T3> 
+inline 
+void
+q_to_axis_angle(vec<T1, 4> const& q, vec<T2, 3>& axis, T3& theta) {
+    
+	T3 half_theta= acos(q[0]);
+	
+	if(half_theta > 10 * std::numeric_limits<T3>::epsilon()) {
+		
+		T3 oost = 1 / sin(half_theta);
+		
+		axis[0] = oost * q[1];
+		axis[1] = oost * q[2];
+		axis[2] = oost * q[3];
+		theta = 2 * half_theta;
+	} else {
+        axis[0] = axis[1] = axis[2] = 0;
+		theta = 0;
+	}
+}
+
+//init quaternion from rotation matrix
+template<typename T1> 
+inline 
+vec<T1, 4>
+q_from_mat(mat<T1, 3, 3> const& m)  {
+    T1 trace, s, hos;
+    trace = m(0, 0) + m(1, 1) + m(2, 2);
+    if (trace > static_cast<T1>(0.0)) {
+        s = sqrt(trace + static_cast<T1>(1.0));
+        hos = static_cast<T1>(0.5) / s;
+        return vec<T1, 4>(s * static_cast<T1>(0.5), (m(2, 1) - m(1, 2)) * hos, (m(0, 2) - m(2, 0)) * hos, (m(1, 0) - m(0, 1)) * hos);
+    } else {
+        int biggest;
+        enum {A,T,I};
+        if (m(0, 0) > m(1, 1))	{
+            if (m(2, 2) > m(0, 0)) biggest = I;	
+            else biggest = A;
+        } else {
+            if (m(2, 2) > m(0, 0)) biggest = I;
+            else biggest = T;
+        }
+        switch (biggest) {
+        case A:
+            s = sqrt( m(0, 0) - (m(1, 1) + m(2, 2)) + static_cast<T1>(1.0));
+            if (s > (100 * std::numeric_limits<T1>::epsilon())) {
+                hos = static_cast<T1>(0.5) / s;
+                return vec<T1, 4>((m(2, 1) - m(1, 2)) * hos, s * static_cast<T1>(0.5), (m(0, 1) + m(1, 0)) * hos, (m(0, 2) + m(2, 0)) * hos);
+            }
+            // I
+            s = sqrt( m(2, 2) - (m(0, 0) + m(1, 1)) + static_cast<T1>(1.0));
+            if (s > (100 * std::numeric_limits<T1>::epsilon())) {
+                hos = static_cast<T1>(0.5) / s;
+                return vec<T1, 4>((m(1, 0) - m(0, 1)) * hos, (m(2, 0) + m(0, 2)) * hos, (m(2, 1) + m(1, 2)) * hos, s * static_cast<T1>(0.5));
+            }
+            // T
+            s = sqrt( m(1, 1) - (m(2, 2) + m(0, 0)) + static_cast<T1>(1.0));
+            if (s > (100 * std::numeric_limits<T1>::epsilon())) {
+                hos = static_cast<T1>(0.5) / s;
+                return vec<T1, 4>((m(0, 2) - m(2, 0)) * hos, (m(1, 0) + m(0, 1)) * hos, s * static_cast<T1>(0.5), (m(1, 2) + m(2, 1)) * hos);
+            }
+            break;
+        case T:
+            s = sqrt( m(1, 1) - (m(2, 2) + m(0, 0)) + static_cast<T1>(1.0));
+            if (s > (100 * std::numeric_limits<T1>::epsilon())) {
+                hos = static_cast<T1>(0.5) / s;
+                return vec<T1, 4>((m(0, 2) - m(2, 0)) * hos, (m(1, 0) + m(0, 1)) * hos, s * static_cast<T1>(0.5), (m(1, 2) + m(2, 1)) * hos);
+            }
+            // I
+            s = sqrt( m(2, 2) - (m(0, 0) + m(1, 1)) + static_cast<T1>(1.0));
+            if (s > (100 * std::numeric_limits<T1>::epsilon())) {
+                hos = static_cast<T1>(0.5) / s;
+                return vec<T1, 4>((m(1, 0) - m(0, 1)) * hos, (m(2, 0) + m(0, 2)) * hos, (m(2, 1) + m(1, 2)) * hos, s * static_cast<T1>(0.5));
+            }
+            // A
+            s = sqrt( m(0, 0) - (m(1, 1) + m(2, 2)) + static_cast<T1>(1.0));
+            if (s > (100 * std::numeric_limits<T1>::epsilon())) {
+                hos = static_cast<T1>(0.5) / s;
+                return vec<T1, 4>((m(2, 1) - m(1, 2)) * hos, s * static_cast<T1>(0.5), (m(0, 1) + m(1, 0)) * hos, (m(0, 2) + m(2, 0)) * hos);
+            }
+            break;
+        case I:
+            s = sqrt( m(2, 2) - (m(0, 0) + m(1, 1)) + static_cast<T1>(1.0));
+            if (s > (100 * std::numeric_limits<T1>::epsilon())) {
+                hos = static_cast<T1>(0.5) / s;
+                return vec<T1, 4>((m(1, 0) - m(0, 1)) * hos, (m(2, 0) + m(0, 2)) * hos, (m(2, 1) + m(1, 2)) * hos, s * static_cast<T1>(0.5));
+            }
+            // A
+            s = sqrt( m(0, 0) - (m(1, 1) + m(2, 2)) + static_cast<T1>(1.0));
+            if (s > (100 * std::numeric_limits<T1>::epsilon())) {
+                hos = static_cast<T1>(0.5) / s;
+                return vec<T1, 4>((m(2, 1) - m(1, 2)) * hos, s * static_cast<T1>(0.5), (m(0, 1) + m(1, 0)) * hos, (m(0, 2) + m(2, 0)) * hos);
+            }
+            // T
+            s = sqrt( m(1, 1) - (m(2, 2) + m(0, 0)) + static_cast<T1>(1.0));
+            if (s > (100 * std::numeric_limits<T1>::epsilon())) {
+                hos = static_cast<T1>(0.5) / s;
+                return vec<T1, 4>((m(0, 2) - m(2, 0)) * hos, (m(1, 0) + m(0, 1)) * hos, s * static_cast<T1>(0.5), (m(1, 2) + m(2, 1)) * hos);
+            }
+            break;
+        }
+    }	
+}                    
+
+//get rotation matrix from quaternion
+template<typename T> 
+inline 
+void
+q_to_mat(vec<T, 4> const& q, mat<T, 3, 3>& m) {
+	T X2,Y2,Z2;		//2*QX, 2*QY, 2*QZ
+	T XX2,YY2,ZZ2;	//2*QX*QX, 2*QY*QY, 2*QZ*QZ
+	T XY2,XZ2,XW2;	//2*QX*QY, 2*QX*QZ, 2*QX*QW
+	T YZ2,YW2,ZW2;	// ...
+
+	X2  = 2 * q[1];
+	XX2 = X2 * q[1];
+	XY2 = X2 * q[2];
+	XZ2 = X2 * q[3];
+	XW2 = X2 * q[0];
+
+	Y2  = 2 * q[2];
+	YY2 = Y2 * q[2];
+	YZ2 = Y2 * q[3];
+	YW2 = Y2 * q[0];
+	
+	Z2  = 2 * q[3];
+	ZZ2 = Z2 * q[3];
+	ZW2 = Z2 * q[0];
+	
+	m(0, 0) = 1 - YY2 - ZZ2;
+	m(0, 1) = XY2  - ZW2;
+	m(0, 2) = XZ2  + YW2;
+
+	m(1, 0) = XY2  + ZW2;
+	m(1, 1) = 1 - XX2 - ZZ2;
+	m(1, 2) = YZ2  - XW2;
+
+	m(2, 0) = XZ2  - YW2;
+	m(2, 1) = YZ2  + XW2;
+	m(2, 2) = 1 - XX2 - YY2;
+
+}
+
+template<typename T, size_t R, size_t C>
+mat<T, R, C>
+cmat(T const* m)
+{
+    mat<T, R, C> res;
+    for(int i = 0; i < R; ++i) {
+        for(int j = 0; j < C; ++j) {
+            res(i, j) = m[i * C + j];
+        }
+    }
+    return res;
+}
+
+} //namespace mvl
+
+
+#endif

Extras/MayaPlugin/mvl/traits.h

@@ -0,0 +1,85 @@
+/*
+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>
+*/
+
+//traits.h
+
+#ifndef MVL_TRAITS_H
+#define MVL_TRAITS_H
+
+namespace mvl {
+
+//simple promotion for now
+
+//check if a type is a POD
+template<typename T> 
+struct isPOD { enum { value = false }; };
+template<> struct isPOD<char> { enum { value = true }; };
+template<> struct isPOD<short> { enum { value = true }; };
+template<> struct isPOD<int> { enum { value = true }; };
+template<> struct isPOD<float> { enum { value = true }; };
+template<> struct isPOD<double> { enum { value = true }; };
+template<> struct isPOD<long double> { enum { value = true }; };
+
+//
+template<bool Condition, typename T1, typename T2> struct ifThenElse { typedef T2 value_type; };
+template<typename T1, typename T2> struct ifThenElse<true, T1, T2> { typedef T1 value_type; };
+
+template<typename T1, typename T2> 
+struct promote_traits 
+{
+	typedef typename ifThenElse<isPOD<T1>::value, T2, T1>::value_type value_type;                  
+};
+
+template<typename T>                                  
+struct promote_traits<T, T>               
+{                                           
+    typedef T value_type;                  
+};                                          
+
+#define TRAITS_DEFINE_MACRO(T1, T2, TP)     \
+template<>                                  \
+struct promote_traits<T1, T2>               \
+{                                           \
+    typedef TP value_type;                  \
+};                                          \
+template<>                                  \
+struct promote_traits<T2, T1>               \
+{                                           \
+    typedef TP value_type;                  \
+};                                      
+    
+TRAITS_DEFINE_MACRO(int, float, float)
+TRAITS_DEFINE_MACRO(int, double, double)
+TRAITS_DEFINE_MACRO(int, long double, long double)
+
+TRAITS_DEFINE_MACRO(float, double, double)
+TRAITS_DEFINE_MACRO(float, long double, long double)
+
+TRAITS_DEFINE_MACRO(double, long double, long double)
+
+#undef TRAITS_DEFINE_MACRO
+
+
+} // namespace mvl 
+
+#endif
+

Extras/MayaPlugin/mvl/util.h

@@ -0,0 +1,62 @@
+/*
+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>
+*/
+
+//util.h
+
+#ifndef MVL_UTIL_H
+#define MVL_UTIL_H
+
+#include <cmath>
+#include "base.h"
+#include "traits.h"
+#include "vec.h"
+
+namespace mvl {
+
+//translation
+template<typename T>
+inline
+mat<T, 4, 4> translation(vec<T, 3> const& v)
+{
+    return mat<T, 4, 4>(1, 0, 0, v(0),
+                        0, 1, 0, v(1),
+                        0, 0, 1, v(2),
+                        0, 0, 0, 1);  
+    return res;
+}
+
+//scale
+template<typename T>
+inline
+mat<T, 4, 4> scale(vec<T, 3> const& v)
+{
+   return mat<T, 4, 4> (v(0), 0, 0, 0,
+                        0, v(1), 0, 0,
+                        0, 0, v(2), 0,
+                        0, 0, 0, 1);  
+}
+
+} // namespace mvl
+
+
+
+#endif

Extras/MayaPlugin/mvl/vec.h

@@ -0,0 +1,347 @@
+/*
+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>
+*/
+
+//vec.h
+
+#ifndef MVL_VEC_H
+#define MVL_VEC_H
+
+#include <iostream>
+#include <cmath>
+#include "base.h"
+#include "traits.h"
+
+namespace mvl {
+
+template<typename T, std::size_t Sz> 
+class vec
+{
+public:
+    typedef T                                       value_type;
+    typedef T&                                      reference;
+    typedef T const&                                const_reference;
+    typedef T*                                      iterator;
+    typedef T const*                                const_iterator;
+    typedef std::reverse_iterator<iterator>         reverse_iterator;
+    typedef std::reverse_iterator<const_iterator>   const_reverse_iterator;
+
+public:
+    enum {
+        Size        = Sz,
+    };
+   
+public:
+    //constructors
+    explicit vec() {}
+
+    template<typename T2>
+    vec(vec<T2, Size> const& v)
+    {
+        *this = v;
+    }
+
+    explicit vec(value_type val)
+    {
+        for(int i = 0; i < Size; ++i) {
+            m_data[i] = val;
+        }
+    }  
+
+    explicit vec(value_type x0, value_type x1)
+    {   
+        m_data[0] = x0; m_data[1] = x1;
+    }
+
+    explicit vec(value_type x0, value_type x1, value_type x2)
+    {   
+        m_data[0] = x0; m_data[1] = x1; m_data[2] = x2;   
+    }
+
+    explicit vec(value_type x0, value_type x1, value_type x2, value_type x3)
+    {   
+        m_data[0] = x0; m_data[1] = x1; m_data[2] = x2; m_data[3] = x3;  
+    }
+
+    explicit vec(value_type x0, value_type x1, value_type x2, value_type x3, value_type x4)
+    {   
+        m_data[0] = x0; m_data[1] = x1; m_data[2] = x2; m_data[3] = x3; m_data[4] = x4;
+    }
+
+    explicit vec(value_type x0, value_type x1, value_type x2, value_type x3, value_type x4, value_type x5)
+    {   
+        m_data[0] = x0; m_data[1] = x1; m_data[2] = x2; m_data[3] = x3; m_data[4] = x4; m_data[5] = x5; 
+    }
+
+public:
+    //data access
+    value_type operator[](std::size_t i) const  { return m_data[i]; }
+    reference operator[](std::size_t i)         { return m_data[i]; }
+
+    value_type operator()(std::size_t i) const  { return m_data[i]; }
+    reference operator()(std::size_t i)         { return m_data[i]; }
+
+public:
+    //stl
+    static std::size_t size()               { return Size; }
+    static std::size_t max_size()           { return Size; }
+    static bool empty()                     { return false; }
+
+    iterator begin()                        { return m_data; }
+    iterator end()                          { return m_data + Size; }
+    const_iterator begin() const            { return m_data; }
+    const_iterator end() const              { return m_data + Size; }
+    reverse_iterator rbegin()               { return reverse_iterator(end()); }
+    reverse_iterator rend()                 { return reverse_iterator(begin()); }
+    const_reverse_iterator rbegin() const   { return const_reverse_iterator(end()); }
+    const_reverse_iterator rend() const     { return const_reverse_iterator(begin()); }
+
+    value_type front()                      { return m_data[0]; }
+    value_type back()                       { return m_data[Size - 1]; }
+    const_reference front() const           { return m_data[0]; }
+    const_reference back() const            { return m_data[Size - 1]; }
+
+    friend std::ostream& operator << (std::ostream& out, vec const& v) {
+        out << "("; 
+        for(size_t i = 0; i < Size - 1; i++) {
+                out << v(i) << ", ";
+        }
+        out << v(Size - 1) << ")"; 
+        return out;
+    }
+
+public:
+    //assignment 
+    vec& operator=(vec const& rhs) {
+        for(int i = 0; i < Size; ++i) {
+            m_data[i] = rhs[i];
+        }
+        return *this;
+    } 
+
+    template<typename T2>
+    vec& operator=(vec<T2, Size> const& rhs) {
+        for(int i = 0; i < Size; ++i) {
+            m_data[i] = rhs[i];
+        }
+        return *this;
+    } 
+
+private:
+    T   m_data[Size];
+};
+
+
+//assignment operators 
+// OP(vec<T1>, vec<T2>)
+// OP(vec<T>, T)
+
+#define VEC_IMPLEMENT_MACRO(OP)                                                         \
+template<typename T1, typename T2, std::size_t Sz>                                      \
+inline                                                                                  \
+vec<T1, Sz>&                                                                            \
+operator OP(vec<T1, Sz>& lhs, vec<T2, Sz> const& rhs) {                                 \
+    for(int i = 0; i < Sz; ++i) {                                                       \
+        lhs[i] OP rhs[i];                                                               \
+    }                                                                                   \
+    return lhs;                                                                         \
+}                                                                                       \
+                                                                                        \
+template<typename T, std::size_t Sz>                                                    \
+inline                                                                                  \
+vec<T, Sz>&                                                                             \
+operator OP(vec<T, Sz>& lhs, T const& rhs) {                                            \
+    for(int i = 0; i < Sz; ++i) {                                                       \
+        lhs[i] OP rhs;                                                                  \
+    }                                                                                   \
+    return lhs;                                                                         \
+}                                                                                       \
+  
+VEC_IMPLEMENT_MACRO(+=)
+VEC_IMPLEMENT_MACRO(-=)
+VEC_IMPLEMENT_MACRO(*=)
+VEC_IMPLEMENT_MACRO(/=)
+
+#undef VEC_IMPLEMENT_MACRO
+
+//operator + (vec, vec)
+template<typename T1, typename T2, std::size_t Sz>                                                  
+inline 
+vec<typename promote_traits<T1, T2>::value_type, Sz>                                                                                             
+operator + (vec<T1, Sz> const& lhs, vec<T2, Sz> const& rhs)
+{        
+    vec<typename promote_traits<T1, T2>::value_type, Sz> res;
+    for(int i = 0; i < Sz; ++i) {                                                       
+        res[i] = lhs[i] + rhs[i];
+    }
+    return res;
+}                                                                                           
+
+//operator - (vec, vec)
+template<typename T1, typename T2, std::size_t Sz>                                                  
+inline 
+vec<typename promote_traits<T1, T2>::value_type, Sz>                                                                                             
+operator - (vec<T1, Sz> const& lhs, vec<T2, Sz> const& rhs)
+{        
+    vec<typename promote_traits<T1, T2>::value_type, Sz> res;
+    for(int i = 0; i < Sz; ++i) {                                                       
+        res[i] = lhs[i] - rhs[i];
+    }
+    return res;
+}                                                                                           
+
+//operator * (vec, POD)
+template<typename T1, typename T2, std::size_t Sz>                                                    
+inline    
+vec<typename promote_traits<T1, T2>::value_type, Sz>                                                                                             
+operator * (vec<T1, Sz> const& lhs, T2 const& rhs) {                                            
+    vec<typename promote_traits<T1, T2>::value_type, Sz> res;
+    for(int i = 0; i < Sz; ++i) {                                                       
+        res[i] = lhs[i] * rhs;
+    }
+    return res;
+}                                                                                                   
+
+//operator * (POD, vec)
+template<typename T1, typename T2, std::size_t Sz>                                                 
+inline
+vec<typename promote_traits<T1, T2>::value_type, Sz>                                                                                             
+operator * (T1 const& lhs, vec<T2, Sz> const& rhs) {                                          
+    vec<typename promote_traits<T1, T2>::value_type, Sz> res;
+    for(int i = 0; i < Sz; ++i) {                                                       
+        res[i] = lhs * rhs[i];
+    }
+    return res;
+}                                                                                                
+
+//operator / (vec, POD)
+template<typename T1, typename T2, std::size_t Sz>                                                    
+inline                                                                                              
+vec<typename promote_traits<T1, T2>::value_type, Sz>                                                                                             
+operator / (vec<T1, Sz> const& lhs, T2 const& rhs) {                                            
+    vec<typename promote_traits<T1, T2>::value_type, Sz> res;
+    for(int i = 0; i < Sz; ++i) {                                                       
+        res[i] = lhs[i] / rhs;
+    }
+    return res;
+}                                                                                                   
+
+//element_prod(vec, vec)
+template<typename T1, typename T2, std::size_t Sz>                                                  
+inline                                                                                              
+vec<typename promote_traits<T1, T2>::value_type, Sz>                                                                                             
+element_prod(vec<T1, Sz> const& lhs, vec<T2, Sz> const& rhs) {                            
+    vec<typename promote_traits<T1, T2>::value_type, Sz> res;
+    for(int i = 0; i < Sz; ++i) {                                                       
+        res[i] = lhs[i] * rhs[i];
+    }
+    return res;
+}
+
+//element_div(vec, vec)
+template<typename T1, typename T2, std::size_t Sz>                                                  
+inline                                                                                              
+vec<typename promote_traits<T1, T2>::value_type, Sz>                                                                                             
+element_div(vec<T1, Sz> const& lhs, vec<T2, Sz> const& rhs) {                            
+    vec<typename promote_traits<T1, T2>::value_type, Sz> res;
+    for(int i = 0; i < Sz; ++i) {                                                       
+        res[i] = lhs[i] / rhs[i];
+    }
+    return res;
+}
+
+//unary operator -(expr_vec)
+template<typename T, std::size_t Sz>                                                  
+inline                                                                                              
+vec<T, Sz>
+operator -(vec<T, Sz> const& rhs) {                            
+    vec<T, Sz> res;
+    for(int i = 0; i < Sz; ++i) {                                                       
+        res[i] = -rhs[i];
+    }
+    return res;
+}                                                                                                   
+
+//dot product
+template<typename T1, typename T2, std::size_t Sz>
+inline 
+typename promote_traits<T1, T2>::value_type
+dot(vec<T1, Sz> const& lhs, vec<T2, Sz> const& rhs)
+{
+    typename promote_traits<T1, T2>::value_type res(0);
+    for(int i = 0; i < Sz; ++i) {                                                       
+        res += rhs[i] * lhs[i];
+    }
+    return res;
+}
+
+
+//cross product
+template<typename T1, typename T2>
+inline 
+vec<typename promote_traits<T1, T2>::value_type, 3>
+cross(vec<T1, 3> const& lhs, vec<T2, 3> const& rhs) {
+   typedef typename promote_traits<T1, T2>::value_type value_type;
+   return vec<value_type, 3>(lhs(1)*rhs(2) - rhs(1)*lhs(2),
+                             rhs(0)*lhs(2) - lhs(0)*rhs(2),
+                             lhs(0)*rhs(1) - rhs(0)*lhs(1));
+} 
+
+//length of the vector
+template<typename T, std::size_t Sz>
+inline T
+norm2(vec<T, Sz> const& rhs)
+{
+    return static_cast<T>(sqrt(dot(rhs, rhs)));
+}
+
+//length of the vector squared
+template<typename T, std::size_t Sz>
+inline T
+norm_squared(vec<T, Sz> const& rhs)
+{
+    return dot(rhs, rhs);
+}
+
+//normalize the vector
+template<typename T, std::size_t Sz>
+inline 
+vec<T, Sz>
+normalize(vec<T, Sz> const& v) {
+    typedef T value_type;
+    T tmp = norm2(v);
+    if(tmp == value_type(0)) {
+        tmp = value_type(0); 
+    } else {
+        tmp = value_type(1) / tmp; 
+    }
+    vec<T, Sz> res;
+    for(int i = 0; i < Sz; ++i) {                                                       
+        res[i] = v[i] * tmp;
+    }
+    return res;
+}    
+
+
+} //namespace mvl 
+
+#endif
+

Extras/MayaPlugin/pdbIO.cpp

@@ -0,0 +1,308 @@
+/*
+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>
+*/
+
+#include "pdbIO.h"
+#include <string.h>
+#include <map>
+#include <stdexcept>
+
+#define	PDB_MAGIC 670
+
+//headers used for reading and writing
+   
+struct pdb_channel_data_t
+{
+    int                 type;
+    unsigned int        datasize;
+    unsigned int        blocksize;
+    int                 num_blocks;
+    //void                **block;
+    int                 block;
+};
+
+struct pdb_channel_t
+{
+    //char                    *name;
+    int                     name;
+    int                     type;
+    unsigned int            size;
+    unsigned int            active_start;
+    unsigned int            active_end;
+
+    char                    hide;
+    char                    disconnect;
+    //pdb_channel_data_t     *data;
+    int                     data;
+
+    //pdb_channel_t          *link;
+    int                     link;        
+    //pdb_channel_t          *next;
+    int                     next;
+};
+
+struct pdb_channel_header_t
+{
+    char                magic;
+    unsigned short      swap;
+    char                encoding;
+    char                type;
+};
+
+/*
+struct pdb_data_t
+{
+    int         numAttributes;
+    int         numParticles;
+    float       time;
+    // short      *types;
+    int          types;
+    // char      **names;
+    int          names;
+    // void      **data;
+    int          data;
+};
+             */
+
+
+struct pdb_header_t
+{
+    int			    magic;
+    unsigned short	swap;
+    float		    version;
+    float		    time;
+    unsigned int	data_size;
+    unsigned int	num_data;
+    char		    padding[32];
+    //pdb_channel_t   **data;
+    int             data;
+};
+
+/*
+struct pdb_channel_data_t
+{
+    int                 type;
+    unsigned            datasize;
+    unsigned long       blocksize;
+    int                 num_blocks;
+    void                **block;
+};
+
+struct pdb_channel_t
+{
+    char                    *name;
+    int                     type;
+    unsigned long           size;
+    unsigned long           active_start;
+    unsigned long           active_end;
+
+    char                    hide;
+    char                    disconnect;
+    pdb_channel_data_t     *data;
+
+    pdb_channel_t          *link;
+    pdb_channel_t          *next;
+};
+
+struct pdb_channel_header_t
+{
+    char                magic;
+    unsigned short      swap;
+    char                encoding;
+    char                type;
+};
+
+struct pdb_data_t
+{
+    int         numAttributes;
+    int         numParticles;
+    float       time;
+    short      *types;
+    char      **names;
+    void      **data;
+};
+
+
+
+struct pdb_header_t
+{
+    int			    magic;
+    unsigned short	swap;
+    float		    version;
+    float		    time;
+    unsigned		data_size;
+    unsigned		num_data;
+    char		    padding[32];
+    pdb_channel_t   **data;
+};
+
+*/
+
+void read_string( std::istream &in, std::string &str )
+{
+    int c;
+    while( (c = in.get()) ) {
+        if ( in.eof()) {
+            str.clear();
+            return;
+        }
+        str.push_back(c);
+    }
+}
+
+void write_string( std::ostream &out, std::string &str )
+{
+    for(size_t i = 0; i < str.size(); ++i) {
+        out.put(str[i]);
+    }
+    out.put(0);
+}
+
+bool pdb_io_t::read(std::istream &in)
+{
+    pdb_header_t            header;
+    pdb_channel_header_t    channel_header;
+    pdb_channel_t           channel;
+    pdb_channel_data_t      channel_data;
+
+
+    // read the header 
+    in.read( (char*)&header, sizeof(pdb_header_t) );
+    m_time = header.time;
+    m_num_particles = header.data_size;
+
+    m_attributes.clear();
+    m_attributes.resize( header.num_data );
+
+    for (unsigned int i=0; i<header.num_data; i++) { 
+        //
+    	in.read( (char*)&channel_header, sizeof(pdb_channel_header_t));
+
+        in.read( (char*)&channel, sizeof(pdb_channel_t));
+
+        read_string(in, m_attributes[i].m_name);
+        m_attributes[i].m_type = channel.type;
+
+       // std::cout << m_attributes[i].m_name << std::endl;
+
+        in.read( (char*)&channel_data, sizeof(pdb_channel_data_t));
+
+    	switch( channel.type ) {
+        case kVector: 
+            throw std::runtime_error("pdb_io_t::read: channel_data.datasize == sizeof(vec3_t)");
+            m_attributes[i].m_num_elements = 1;
+            m_attributes[i].m_vector_data.resize(m_attributes[i].m_num_elements * header.data_size);
+            in.read( (char*)&(m_attributes[i].m_vector_data[0]), channel_data.datasize * header.data_size);  
+            break;
+        case kReal:
+           // throw std::runtime_error("pdb_io_t::read: channel_data.datasize == sizeof(vec3_t)");
+            m_attributes[i].m_num_elements = channel_data.datasize / sizeof(float);
+            m_attributes[i].m_real_data.resize(m_attributes[i].m_num_elements * header.data_size);
+            in.read( (char*)&(m_attributes[i].m_real_data[0]), channel_data.datasize * header.data_size);  
+            break;
+        case kLong:
+           // assert(channel_data.datasize == sizeof(int));    
+          //  throw std::runtime_error("pdb_io_t::read: channel_data.datasize == sizeof(vec3_t)");
+            m_attributes[i].m_num_elements = 1;
+            m_attributes[i].m_long_data.resize(m_attributes[i].m_num_elements * header.data_size);
+            in.read( (char*)&(m_attributes[i].m_long_data[0]), channel_data.datasize * header.data_size);  
+            break;
+    	}
+    }
+    return true;
+}
+
+
+bool pdb_io_t::write(std::ostream &out)
+{
+    pdb_header_t            header;
+    pdb_channel_header_t    channel_header;
+    pdb_channel_t           channel;
+    pdb_channel_data_t      channel_data;
+
+
+    // read the header 
+    header.magic = PDB_MAGIC;
+    header.swap = 0;
+    header.version = 1.0;
+    header.time = m_time;
+    header.data_size = m_num_particles;
+    header.num_data = m_attributes.size();
+    memset(header.padding, 0, 32 * sizeof(char) + sizeof(int));
+
+    out.write( (char*)&header, sizeof(pdb_header_t) );
+
+    for (size_t i = 0; i < m_attributes.size(); ++i) { 
+        //
+        channel_header.magic = 0;
+        channel_header.swap = 0;
+        channel_header.encoding = 0;
+        channel_header.type = m_attributes[i].m_type;
+    	out.write( (char*)&channel_header, sizeof(pdb_channel_header_t));
+
+        channel.name = 0;
+        channel.type = m_attributes[i].m_type;
+        channel.size = 0;
+        channel.active_start = 0;
+        channel.active_end = 0;
+        channel.hide = 0;
+        channel.disconnect = 0;
+        channel.data = 0;
+        channel.link = 0;
+        channel.next = 0;
+        out.write( (char*)&channel, sizeof(pdb_channel_t));
+
+        write_string(out, m_attributes[i].m_name);
+
+        channel_data.type = m_attributes[i].m_type;
+        //size of a single element
+        switch(m_attributes[i].m_type) {
+        case kVector:
+            channel_data.datasize = sizeof(vec3_t);
+            break;
+        case kReal:
+            channel_data.datasize = sizeof(float) * m_attributes[i].m_real_data.size() / m_num_particles;
+            break;
+        case kLong:
+            channel_data.datasize = sizeof(int) * m_attributes[i].m_long_data.size() / m_num_particles;
+            break;
+        }
+        channel_data.blocksize = 0;
+        channel_data.num_blocks = 0;
+        channel_data.block = 0;
+        out.write( (char*)&channel_data, sizeof(pdb_channel_data_t));
+
+    	switch(m_attributes[i].m_type ) {
+        case kVector: 
+            out.write( (char*)&(m_attributes[i].m_vector_data[0]), channel_data.datasize * header.data_size);  
+            break;
+        case kReal:
+            out.write( (char*)&(m_attributes[i].m_real_data[0]), channel_data.datasize * header.data_size);  
+            break;
+        case kLong:
+            out.write( (char*)&(m_attributes[i].m_long_data[0]), channel_data.datasize * header.data_size);  
+            break;
+    	}
+    }
+    return true;
+}
+
+

Extras/MayaPlugin/pdbIO.h

@@ -0,0 +1,76 @@
+/*
+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>
+*/
+
+#ifndef PDBIO_H
+#define PDBIO_H
+
+#include <iostream>
+#include <vector>
+
+struct pdb_io_t
+{
+    enum Type {
+        kVector     = 1,
+        kReal       = 2,
+        kLong       = 3,
+        kChar       = 4,
+        kPointer    = 5
+    };
+
+    struct vec3_t
+    {
+        float x;
+        float y;
+        float z;
+    };
+
+    struct attribute_t
+    {
+        std::string     m_name;
+        int             m_type;
+        int             m_num_elements;
+
+        //
+        std::vector< vec3_t >   m_vector_data;
+        std::vector< float >    m_real_data;
+        std::vector< int >     m_long_data;
+
+    };
+
+//data
+    float   m_time;
+    int     m_num_particles;
+    std::vector< attribute_t > m_attributes;
+
+
+//methods
+
+    bool read(std::istream &in);
+    bool write(std::ostream &out);
+
+    pdb_io_t():
+        m_time(0.0f) 
+    {}
+};
+      
+#endif
+

Extras/MayaPlugin/plane_shape.h

@@ -0,0 +1,44 @@
+/*
+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>
+*/
+
+//plane_shape.h
+
+#ifndef DYN_PLANE_SHAPE_H
+#define DYN_PLANE_SHAPE_H
+
+#include "collision_shape.h"
+#include "plane_shape_impl.h"
+
+class plane_shape_t: public collision_shape_t
+{
+public:
+    //typedefs
+    typedef shared_ptr<plane_shape_t> pointer;
+
+protected:
+    friend class solver_t;
+
+    plane_shape_t(collision_shape_impl_t* impl): collision_shape_t(impl) { }
+
+};
+
+#endif

Extras/MayaPlugin/plane_shape_impl.h

@@ -0,0 +1,39 @@
+/*
+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>
+*/
+
+//plane_shape_impl.h
+
+#ifndef DYN_PLANE_SHAPE_IMPL_H
+#define DYN_PLANE_SHAPE_IMPL_H
+
+#include "collision_shape_impl.h"
+
+class plane_shape_impl_t: public collision_shape_impl_t
+{
+public:
+    //typedefs
+
+private:
+
+};
+
+#endif

Extras/MayaPlugin/pluginMain.cpp

@@ -0,0 +1,135 @@
+/*
+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>
+*/
+
+//pluginMain.cpp
+
+#include <GL/glew.h>
+#include <GL/glut.h>
+#include <maya/MFnPlugin.h>
+#include <maya/MGlobal.h>
+#include <maya/MDGMessage.h>
+
+#include "mayaUtils.h"
+#include "rigidBodyNode.h"
+#include "rigidBodyArrayNode.h"
+#include "collisionShapeNode.h"
+#include "dSolverNode.h"
+#include "dSolverCmd.h"
+#include "dRigidBodyCmd.h"
+#include "dRigidBodyArrayCmd.h" 
+#include "mvl/util.h"
+
+MStatus initializePlugin( MObject obj )
+{
+    MStatus   status;
+    MFnPlugin plugin( obj, "Walt Disney Feature Animation", "1.0", "Any");
+
+    int argc = 1;
+    char* argv[1] = {"ciao"};
+    glutInit(&argc, argv);
+
+    solver_t::initialize();
+
+    // 
+    status = plugin.registerNode( rigidBodyNode::typeName, rigidBodyNode::typeId,
+                                  rigidBodyNode::creator,
+                                  rigidBodyNode::initialize,
+                                  MPxNode::kLocatorNode );
+    MCHECKSTATUS(status, "registering rigidBodyNode")
+    MDGMessage::addNodeRemovedCallback(rigidBodyNode::nodeRemoved, rigidBodyNode::typeName);
+
+    //
+    status = plugin.registerNode( rigidBodyArrayNode::typeName, rigidBodyArrayNode::typeId,
+                                  rigidBodyArrayNode::creator,
+                                  rigidBodyArrayNode::initialize,
+                                  MPxNode::kLocatorNode );
+    MCHECKSTATUS(status, "registering rigidBodyArrayNode")
+    MDGMessage::addNodeRemovedCallback(rigidBodyArrayNode::nodeRemoved, rigidBodyArrayNode::typeName);
+
+
+    // 
+    status = plugin.registerNode( collisionShapeNode::typeName, collisionShapeNode::typeId,
+                                  collisionShapeNode::creator,
+                                  collisionShapeNode::initialize,
+                                  MPxNode::kDependNode );
+    MCHECKSTATUS(status, "registering collisionShapeNode")
+
+    // 
+    status = plugin.registerNode( dSolverNode::typeName, dSolverNode::typeId,
+                                  dSolverNode::creator, 
+                                  dSolverNode::initialize,
+                                  MPxNode::kDependNode );
+    MCHECKSTATUS(status, "registering dSolverNode")
+
+    status = plugin.registerCommand( dSolverCmd::typeName,
+                                     dSolverCmd::creator,
+                                     dSolverCmd::syntax);
+    MCHECKSTATUS(status, "registering dSolverCmd")
+
+    status = plugin.registerCommand( dRigidBodyCmd::typeName,
+                                     dRigidBodyCmd::creator,
+                                     dRigidBodyCmd::syntax);
+    MCHECKSTATUS(status, "registering dRigidBodyCmd")
+
+
+    status = plugin.registerCommand( dRigidBodyArrayCmd::typeName,
+                                     dRigidBodyArrayCmd::creator,
+                                     dRigidBodyArrayCmd::syntax);
+    MCHECKSTATUS(status, "registering dRigidBodyArrayCmd")
+
+    MGlobal::executeCommand( "source dynamicaUI.mel" );
+    MGlobal::executeCommand( "dynamicaUI_initialize" );
+    
+    return status;
+}
+
+MStatus uninitializePlugin( MObject obj )
+{
+    MStatus   status;
+    MFnPlugin plugin( obj );
+
+    status = plugin.deregisterCommand(dRigidBodyArrayCmd::typeName);
+    MCHECKSTATUS(status, "deregistering dRigidBodyArrayCmd")
+
+    status = plugin.deregisterCommand(dRigidBodyCmd::typeName);
+    MCHECKSTATUS(status, "deregistering dRigidBodyCmd")
+
+    status = plugin.deregisterCommand(dSolverCmd::typeName);
+    MCHECKSTATUS(status, "deregistering dSolverGlobalsCmd")
+
+    status = plugin.deregisterNode(dSolverNode::typeId);
+    MCHECKSTATUS(status, "deregistering dSolverNode")
+
+    status = plugin.deregisterNode(collisionShapeNode::typeId);
+    MCHECKSTATUS(status, "deregistering collisionShapeNode")
+
+    status = plugin.deregisterNode(rigidBodyArrayNode::typeId);
+    MCHECKSTATUS(status, "deregistering rigidBodyArrayNode")
+
+    status = plugin.deregisterNode(rigidBodyNode::typeId);
+    MCHECKSTATUS(status, "deregistering rigidBodyNode")
+
+    solver_t::cleanup();
+
+    return status;
+}
+

Extras/MayaPlugin/rigidBodyArrayNode.cpp

@@ -0,0 +1,544 @@
+/*
+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>
+*/
+
+//rigidBodyArrayNode.cpp
+
+//#include <GL/glut.h>
+
+#include <maya/MFnDependencyNode.h>
+#include <maya/MPlugArray.h>
+#include <maya/MFnMessageAttribute.h>
+#include <maya/MFnNumericAttribute.h>
+#include <maya/MFnMatrixAttribute.h>
+#include <maya/MFnTypedAttribute.h>
+#include <maya/MMatrix.h>
+#include <maya/MFnMatrixData.h>
+#include <maya/MFnStringData.h>
+#include <maya/MFnTransform.h>
+#include <maya/MQuaternion.h>
+#include <maya/MEulerRotation.h>
+#include <maya/MNodeMessage.h>
+#include <maya/MVector.h>
+
+#include "rigidBodyArrayNode.h"
+#include "collisionShapeNode.h"
+#include "mayaUtils.h"
+
+#include "solver.h"
+
+MTypeId     rigidBodyArrayNode::typeId( 0x100314 );
+MString     rigidBodyArrayNode::typeName( "dRigidBodyArray" );
+
+MObject     rigidBodyArrayNode::ia_collisionShape;
+MObject     rigidBodyArrayNode::ia_solver;
+MObject     rigidBodyArrayNode::ia_numBodies;
+MObject     rigidBodyArrayNode::ia_active;
+MObject     rigidBodyArrayNode::ia_mass;
+MObject     rigidBodyArrayNode::ia_restitution;
+MObject     rigidBodyArrayNode::ia_friction;
+MObject     rigidBodyArrayNode::ia_linearDamping;
+MObject     rigidBodyArrayNode::ia_angularDamping;
+MObject     rigidBodyArrayNode::ia_initialPosition;
+MObject     rigidBodyArrayNode::ia_initialRotation;
+MObject     rigidBodyArrayNode::ia_initialVelocity;
+MObject     rigidBodyArrayNode::ia_initialSpin;
+MObject     rigidBodyArrayNode::ia_fileIO;
+MObject     rigidBodyArrayNode::ia_fioFiles;
+MObject     rigidBodyArrayNode::ia_fioPositionAttribute;
+MObject     rigidBodyArrayNode::ia_fioRotationAttribute;
+MObject     rigidBodyArrayNode::io_position;
+MObject     rigidBodyArrayNode::io_rotation;
+MObject     rigidBodyArrayNode::ca_rigidBodies;
+MObject     rigidBodyArrayNode::ca_rigidBodyParam;
+
+MStatus rigidBodyArrayNode::initialize()
+{
+    MStatus status;
+    MFnMessageAttribute fnMsgAttr;
+    MFnNumericAttribute fnNumericAttr;
+    MFnMatrixAttribute  fnMatrixAttr;
+    MFnTypedAttribute	fnTypedAttr;
+    MFnStringData       fnStringData;
+
+    ia_collisionShape = fnMsgAttr.create("inCollisionShape", "incs", &status);
+    MCHECKSTATUS(status, "creating inCollisionShape attribute")
+    status = addAttribute(ia_collisionShape);
+    MCHECKSTATUS(status, "adding inCollisionShape attribute")
+
+    ia_solver = fnMsgAttr.create("solver", "solv", &status);
+    MCHECKSTATUS(status, "creating solver attribute")
+    status = addAttribute(ia_solver);
+    MCHECKSTATUS(status, "adding solver attribute")
+
+    ia_numBodies = fnNumericAttr.create("numBodies", "nbds", MFnNumericData::kInt, 1, &status);
+    MCHECKSTATUS(status, "creating numBodies attribute")
+    fnNumericAttr.setKeyable(false);
+    status = addAttribute(ia_numBodies);
+    MCHECKSTATUS(status, "adding numBodies attribute")
+
+    ia_active = fnNumericAttr.create("active", "ac", MFnNumericData::kBoolean, 1, &status);
+    MCHECKSTATUS(status, "creating active attribute")
+    fnNumericAttr.setKeyable(true);
+    status = addAttribute(ia_active);
+    MCHECKSTATUS(status, "adding active attribute")
+
+    ia_mass = fnNumericAttr.create("mass", "ma", MFnNumericData::kDouble, 1.0, &status);
+    MCHECKSTATUS(status, "creating mass attribute")
+    fnNumericAttr.setKeyable(true);
+    status = addAttribute(ia_mass);
+    MCHECKSTATUS(status, "adding mass attribute")
+
+    ia_restitution = fnNumericAttr.create("restitution", "rst", MFnNumericData::kDouble, 0.1, &status);
+    MCHECKSTATUS(status, "creating restitution attribute")
+    fnNumericAttr.setKeyable(true);
+    status = addAttribute(ia_restitution);
+    MCHECKSTATUS(status, "adding restitution attribute")
+
+    ia_friction = fnNumericAttr.create("friction", "fc", MFnNumericData::kDouble, 0.5, &status);
+    MCHECKSTATUS(status, "creating friction attribute")
+    fnNumericAttr.setKeyable(true);
+    status = addAttribute(ia_friction);
+    MCHECKSTATUS(status, "adding friction attribute")
+
+    ia_linearDamping = fnNumericAttr.create("linearDamping", "ld", MFnNumericData::kDouble, 0.3, &status);
+    MCHECKSTATUS(status, "creating linearDamping attribute")
+    fnNumericAttr.setKeyable(true);
+    status = addAttribute(ia_linearDamping);
+    MCHECKSTATUS(status, "adding linearDamping attribute")
+
+    ia_angularDamping = fnNumericAttr.create("angularDamping", "ad", MFnNumericData::kDouble, 0.3, &status);
+    MCHECKSTATUS(status, "creating angularDamping attribute")
+    fnNumericAttr.setKeyable(true);
+    status = addAttribute(ia_angularDamping);
+    MCHECKSTATUS(status, "adding angularDamping attribute")
+
+    ia_initialPosition = fnNumericAttr.createPoint("initialPosition", "inpo", &status);
+    MCHECKSTATUS(status, "creating initialPosition attribute")
+    fnNumericAttr.setArray(true);
+    status = addAttribute(ia_initialPosition);
+    MCHECKSTATUS(status, "adding initialPosition attribute")
+
+    ia_initialRotation = fnNumericAttr.createPoint("initialRotation", "inro", &status);
+    MCHECKSTATUS(status, "creating initialRotation attribute")
+    fnNumericAttr.setArray(true);
+    status = addAttribute(ia_initialRotation);
+    MCHECKSTATUS(status, "adding initialRotation attribute")
+
+    ia_initialVelocity = fnNumericAttr.createPoint("initialVelocity", "inve", &status);
+    MCHECKSTATUS(status, "creating initialVelocity attribute")
+    fnNumericAttr.setArray(true);
+    status = addAttribute(ia_initialVelocity);
+    MCHECKSTATUS(status, "adding initialVelocity attribute")
+
+    ia_initialSpin = fnNumericAttr.createPoint("initialSpin", "insp", &status);
+    MCHECKSTATUS(status, "creating initialSpin attribute")
+    fnNumericAttr.setArray(true);
+    status = addAttribute(ia_initialSpin);
+    MCHECKSTATUS(status, "adding initialSpin attribute")
+
+    ia_fileIO = fnNumericAttr.create("fileIO", "fio", MFnNumericData::kBoolean, 0, &status);
+    MCHECKSTATUS(status, "creating fileIO attribute")
+    fnNumericAttr.setKeyable(false);
+    status = addAttribute(ia_fileIO);
+    MCHECKSTATUS(status, "adding fileIO attribute")
+
+    ia_fioFiles = fnTypedAttr.create( "files", "fls", MFnData::kString, 
+                                     fnStringData.create("/tmp/rigidBodyArray.${frame}.pdb"), &status );
+    MCHECKSTATUS(status, "creating ia_fioFiles attribute")
+    fnTypedAttr.setKeyable(false);
+    status = addAttribute(ia_fioFiles);
+    MCHECKSTATUS(status, "adding ia_fioFiles attribute")
+
+ /*   ia_fioPositionAttribute = fnTypedAttr.create( "positionAttribute", "posa", MFnData::kString, 
+                                     fnStringData.create("position"), &status );
+    MCHECKSTATUS(status, "creating ia_fioPositionAttribute attribute")
+    fnTypedAttr.setKeyable(false);
+    status = addAttribute(ia_fioPositionAttribute);
+    MCHECKSTATUS(status, "adding ia_fioPositionAttribute attribute")
+
+    ia_fioRotationAttribute = fnTypedAttr.create( "rotationAttribute", "rota", MFnData::kString, 
+                                     fnStringData.create("rotation"), &status );
+    MCHECKSTATUS(status, "creating ia_fioRotationAttribute attribute")
+    fnTypedAttr.setKeyable(false);
+    status = addAttribute(ia_fioRotationAttribute);
+    MCHECKSTATUS(status, "adding ia_fioRotationAttribute attribute")*/
+
+    /*
+    MObject     rigidBodyArrayNode::ia_fioFiles;
+MObject     rigidBodyArrayNode::ia_fioPositionAttribute;
+MObject     rigidBodyArrayNode::ia_fioRotationAttribute;*/
+
+    io_position = fnNumericAttr.createPoint("position", "pos", &status);
+    MCHECKSTATUS(status, "creating position attribute")
+    fnNumericAttr.setArray(true);
+    status = addAttribute(io_position);
+    MCHECKSTATUS(status, "adding io_position attribute")
+
+    io_rotation = fnNumericAttr.createPoint("rotation", "rot", &status);
+    MCHECKSTATUS(status, "creating rotation attribute")
+    fnNumericAttr.setArray(true);
+    status = addAttribute(io_rotation);
+    MCHECKSTATUS(status, "adding io_rotation attribute")
+
+    ca_rigidBodies = fnNumericAttr.create("ca_rigidBodies", "carb", MFnNumericData::kBoolean, 0, &status);
+    MCHECKSTATUS(status, "creating ca_rigidBodies attribute")
+    fnNumericAttr.setConnectable(false);
+    fnNumericAttr.setHidden(true);
+    fnNumericAttr.setStorable(false);
+    fnNumericAttr.setKeyable(false);
+    status = addAttribute(ca_rigidBodies);
+    MCHECKSTATUS(status, "adding ca_rigidBodies attribute")
+
+    ca_rigidBodyParam = fnNumericAttr.create("ca_rigidBodyParam", "carbp", MFnNumericData::kBoolean, 0, &status);
+    MCHECKSTATUS(status, "creating ca_rigidBodyParam attribute")
+    fnNumericAttr.setConnectable(false);
+    fnNumericAttr.setHidden(true);
+    fnNumericAttr.setStorable(false);
+    fnNumericAttr.setKeyable(false);
+    status = addAttribute(ca_rigidBodyParam);
+    MCHECKSTATUS(status, "adding ca_rigidBodyParam attribute")
+
+    status = attributeAffects(ia_numBodies, ca_rigidBodies);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_numBodies, ca_rigidBodies)")
+
+    status = attributeAffects(ia_numBodies, ca_rigidBodyParam);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_numBodies, ca_rigidBodyParam)")
+
+    status = attributeAffects(ia_collisionShape, ca_rigidBodies);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_collisionShape, ca_rigidBodies)")
+
+    status = attributeAffects(ia_collisionShape, ca_rigidBodyParam);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_collisionShape, ca_rigidBodyParam)")
+
+    status = attributeAffects(ia_mass, ca_rigidBodyParam);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_mass, ca_rigidBodyParam)")
+
+    status = attributeAffects(ia_restitution, ca_rigidBodyParam);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_restitution, ca_rigidBodyParam)")
+
+    status = attributeAffects(ia_friction, ca_rigidBodyParam);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_friction, ca_rigidBodyParam)")
+
+    status = attributeAffects(ia_linearDamping, ca_rigidBodyParam);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_linearDamping, ca_rigidBodyParam)")
+
+    status = attributeAffects(ia_angularDamping, ca_rigidBodyParam);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_angularDamping, ca_rigidBodyParam)")
+
+    return MS::kSuccess;
+}
+
+rigidBodyArrayNode::rigidBodyArrayNode()
+{
+    // std::cout << "rigidBodyArrayNode::rigidBodyArrayNode" << std::endl;
+}
+
+rigidBodyArrayNode::~rigidBodyArrayNode()
+{
+    // std::cout << "rigidBodyArrayNode::~rigidBodyArrayNode" << std::endl;
+    for(size_t i = 0; i < m_rigid_bodies.size(); ++i) {
+        solver_t::remove_rigid_body(m_rigid_bodies[i]);
+    }
+}
+
+void rigidBodyArrayNode::nodeRemoved(MObject& node, void *clientData)
+{
+   // std::cout << "rigidBodyArrayNode::nodeRemoved" << std::endl;
+    MFnDependencyNode fnNode(node);
+    rigidBodyArrayNode *thisNode = static_cast<rigidBodyArrayNode*>(fnNode.userNode());
+    for(size_t i = 0; i < thisNode->m_rigid_bodies.size(); ++i) {
+        solver_t::remove_rigid_body(thisNode->m_rigid_bodies[i]);
+    }
+}
+
+void rigidBodyArrayNode::postConstructor()
+{
+   // MStatus status;
+   // MObject thisObject = thisMObject();
+  //  MCallbackId cid = MNodeMessage::addAttributeAddedOrRemovedCallback(thisObject, attributeAddedOrRemoved, NULL, &status);
+}
+
+void* rigidBodyArrayNode::creator()
+{
+    return new rigidBodyArrayNode();
+}
+
+
+bool rigidBodyArrayNode::setInternalValueInContext ( const  MPlug & plug,
+                                                   const  MDataHandle & dataHandle,
+                                                   MDGContext & ctx)
+{
+   /* if ((plug == pdbFiles) || (plug == ia_scale) || (plug == ia_percent)) {
+        m_framesDirty = true;
+    } else if(plug == textureFiles) {
+        gpufx::m_renderer.setColorTextureDirty();
+    }*/
+    return false; //setInternalValueInContext(plug,dataHandle,ctx);
+}
+
+MStatus rigidBodyArrayNode::compute(const MPlug& plug, MDataBlock& data)
+{
+    //std::cout << "rigidBodyArrayNode::compute: " << plug.name() << std::endl;
+    //MTime time = data.inputValue( rigidBodyArrayNode::inTime ).asTime();
+    if(plug == ca_rigidBodies) {
+        computeRigidBodies(plug, data);
+    } else if(plug == ca_rigidBodyParam) {
+        computeRigidBodyParam(plug, data);
+    } else if(plug.isElement()) {
+        if(plug.array() == worldMatrix) {
+            computeWorldMatrix(plug, data);
+        } else {
+            return MStatus::kUnknownParameter;
+        }
+    } else {
+        return MStatus::kUnknownParameter;
+    }
+    return MStatus::kSuccess;
+}
+
+void rigidBodyArrayNode::draw( M3dView & view, const MDagPath &path,
+                             M3dView::DisplayStyle style,
+                             M3dView::DisplayStatus status )
+{
+  //  std::cout << "rigidBodyArrayNode::draw" << std::endl;
+
+    update();
+
+    view.beginGL();
+    glPushAttrib( GL_ALL_ATTRIB_BITS );
+
+    glPushMatrix();
+    //remove the parent transform here
+    double m[4][4];
+    m_worldMatrix.inverse().get(m);
+    glMultMatrixd(&(m[0][0]));
+
+    if(!m_rigid_bodies.empty()) {
+        mat4x4f xform;
+        if(style == M3dView::kFlatShaded ||
+           style == M3dView::kGouraudShaded) {
+            glEnable(GL_LIGHTING);
+            float material[] = { 0.4, 0.3, 1.0, 1.0  };
+            glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, material);
+            for(size_t i = 0; i < m_rigid_bodies.size(); ++i) {  
+                glPushMatrix();
+                m_rigid_bodies[i]->get_transform(xform);
+                glMultMatrixf(xform.begin());
+                m_rigid_bodies[i]->collision_shape()->gl_draw(collision_shape_t::kDSSolid);
+                glPopMatrix();
+            }
+        } 
+    
+    
+        if( status == M3dView::kActive ||
+            status == M3dView::kLead ||
+            status == M3dView::kHilite ||
+            ( style != M3dView::kGouraudShaded && style != M3dView::kFlatShaded ) ) {
+            
+            glDisable(GL_LIGHTING);
+            for(size_t i = 0; i < m_rigid_bodies.size(); ++i) {  
+                glPushMatrix();
+                m_rigid_bodies[i]->get_transform(xform);
+                glMultMatrixf(xform.begin());
+                m_rigid_bodies[i]->collision_shape()->gl_draw(collision_shape_t::kDSWireframe);
+                glPopMatrix();
+            }
+        }
+    }
+    glPopMatrix();
+    glPopAttrib();
+    view.endGL();
+}
+
+bool rigidBodyArrayNode::isBounded() const
+{
+    //return true;
+    return false;
+}
+
+MBoundingBox rigidBodyArrayNode::boundingBox() const
+{
+    // std::cout << "rigidBodyArrayNode::boundingBox()" << std::endl;
+    //load the pdbs
+    MObject node = thisMObject();
+
+    MPoint corner1(-1, -1, -1);
+    MPoint corner2(1, 1, 1);
+    return MBoundingBox(corner1, corner2);
+}
+
+//standard attributes
+
+void rigidBodyArrayNode::computeRigidBodies(const MPlug& plug, MDataBlock& data)
+{
+  //  std::cout << "rigidBodyArrayNode::computeRigidBodies" << std::endl;
+
+    MObject thisObject(thisMObject());
+    MPlug plgCollisionShape(thisObject, ia_collisionShape);
+    MObject update;
+    //force evaluation of the shape
+    plgCollisionShape.getValue(update);
+    size_t numBodies = data.inputValue(ia_numBodies).asInt();
+   // MDataHandle coll = data.inputValue(ia_collisionShape);
+
+   // collisionShapeNode * pCollisionShapeNode = NULL;
+    collision_shape_t::pointer  collision_shape;
+    if(plgCollisionShape.isConnected()) {
+        MPlugArray connections;
+        plgCollisionShape.connectedTo(connections, true, true);
+        if(connections.length() != 0) {
+            MFnDependencyNode fnNode(connections[0].node());
+            if(fnNode.typeId() == collisionShapeNode::typeId) {
+                collisionShapeNode *pCollisionShapeNode = static_cast<collisionShapeNode*>(fnNode.userNode());
+                collision_shape = pCollisionShapeNode->collisionShape();    
+            } else {
+                std::cout << "rigidBodyArrayNode connected to a non-collision shape node!" << std::endl;
+            }
+        }
+    }
+
+    if(!collision_shape) {
+        //not connected to a collision shape, put a default one
+        collision_shape = solver_t::create_sphere_shape();
+    }
+
+    //save the positions and orientations to restore them
+    std::vector<vec3f> positions(m_rigid_bodies.size());
+    std::vector<quatf> rotations(m_rigid_bodies.size());
+    for(size_t i = 0; i < m_rigid_bodies.size(); ++i) {
+        m_rigid_bodies[i]->get_transform(positions[i], rotations[i]);
+        solver_t::remove_rigid_body(m_rigid_bodies[i]);
+    }
+
+    m_rigid_bodies.resize(numBodies);
+    for(size_t i = 0; i < m_rigid_bodies.size(); ++i) {
+        m_rigid_bodies[i] = solver_t::create_rigid_body(collision_shape);
+        m_rigid_bodies[i]->set_transform(positions[i], rotations[i]);
+        solver_t::add_rigid_body(m_rigid_bodies[i]);
+    }
+
+    data.outputValue(ca_rigidBodies).set(true);
+    data.setClean(plug);
+}
+
+
+void rigidBodyArrayNode::computeRigidBodyParam(const MPlug& plug, MDataBlock& data)
+{
+  //  std::cout << "rigidBodyArrayNode::computeRigidBodyParam" << std::endl;
+
+    MObject thisObject(thisMObject());
+    MObject update;
+    
+    MPlug(thisObject, ca_rigidBodies).getValue(update);
+
+    double mass = data.inputValue(ia_mass).asDouble();
+    vec3f inertia;
+    if(!m_rigid_bodies.empty())  {
+        inertia = mass * m_rigid_bodies[0]->collision_shape()->local_inertia();
+    }
+    double restitution = data.inputValue(ia_restitution).asDouble();
+    double friction = data.inputValue(ia_friction).asDouble();
+    double linearDamping = data.inputValue(ia_linearDamping).asDouble();
+    double angularDamping = data.inputValue(ia_angularDamping).asDouble();
+
+    for(size_t i = 0; i < m_rigid_bodies.size(); ++i) {
+        m_rigid_bodies[i]->set_mass(mass);
+        m_rigid_bodies[i]->set_inertia(inertia);
+        m_rigid_bodies[i]->set_restitution(restitution);
+        m_rigid_bodies[i]->set_friction(friction);
+        m_rigid_bodies[i]->set_linear_damping(linearDamping);
+        m_rigid_bodies[i]->set_angular_damping(angularDamping);    
+    }
+
+    data.outputValue(ca_rigidBodyParam).set(true);
+    data.setClean(plug);
+}
+
+void rigidBodyArrayNode::computeWorldMatrix(const MPlug& plug, MDataBlock& data)
+{
+    //std::cout << "rigidBodyArrayNode::computeWorldMatrix" << std::endl;
+    MObject thisObject(thisMObject());
+    MFnDagNode fnDagNode(thisObject);
+
+    MObject update;
+    MPlug(thisObject, ca_rigidBodies).getValue(update);
+    MPlug(thisObject, ca_rigidBodyParam).getValue(update);
+    
+    MFnTransform fnParentTransform(fnDagNode.parent(0));
+    MTransformationMatrix dm(fnParentTransform.transformation().asMatrix() * m_worldMatrix.inverse());
+    MVector mtranslation = dm.getTranslation(MSpace::kTransform);
+    MQuaternion mrotation = dm.rotation();
+
+  //  std::cout << mtranslation << std::endl;
+
+    MArrayDataHandle hInitPosArray = data.outputArrayValue(ia_initialPosition);
+    if(hInitPosArray.elementCount() < m_rigid_bodies.size()) {
+        std::cout << "rigidBodyArrayNode::computeWorldMatrix: array size mismatch" << std::endl;
+    }
+    for(size_t i = 0; i < m_rigid_bodies.size(); ++i) {
+        MDataHandle hInitPos = hInitPosArray.outputValue(); 
+        float3 &ipos = hInitPos.asFloat3();
+
+        vec3f pos, newpos;
+        quatf rot, newrot;
+
+        m_rigid_bodies[i]->get_transform(pos, rot);
+
+        newpos = pos + vec3f(mtranslation.x, mtranslation.y, mtranslation.z);
+//        newrot = qprod(rot, quatf(mrotation.w, mrotation.x, mrotation.y, mrotation.z));
+        newrot = rot;
+
+        m_rigid_bodies[i]->set_transform(newpos, newrot);
+
+        hInitPos.set3Float(ipos[0] + mtranslation.x, ipos[1] + mtranslation.y, ipos[2] + mtranslation.z);
+
+        hInitPosArray.next();
+    }
+
+    m_worldMatrix = fnParentTransform.transformation().asMatrix();
+
+    data.setClean(plug);
+}
+
+std::vector<rigid_body_t::pointer>& rigidBodyArrayNode::rigid_bodies()
+{
+  //  std::cout << "rigidBodyArrayNode::rigid_bodies" << std::endl;
+
+    MObject thisObject(thisMObject());
+    MObject update;
+    MPlug(thisObject, ca_rigidBodies).getValue(update);
+    MPlug(thisObject, ca_rigidBodyParam).getValue(update);
+
+    return m_rigid_bodies;
+} 
+
+
+void rigidBodyArrayNode::update()
+{
+    MObject thisObject(thisMObject());
+
+    MObject update;
+    MPlug(thisObject, ca_rigidBodies).getValue(update);
+    MPlug(thisObject, ca_rigidBodyParam).getValue(update);
+    MPlug(thisObject, ia_solver).getValue(update);
+    MPlug(thisObject, worldMatrix).elementByLogicalIndex(0).getValue(update);
+}

Extras/MayaPlugin/rigidBodyArrayNode.h

@@ -0,0 +1,120 @@
+/*
+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>
+*/
+
+//rigidBodyArrayNode.h
+
+#ifndef DYN_RIGID_BODY_ARRAY_NODE_H
+#define DYN_RIGID_BODY_ARRAY_NODE_H
+
+#include <maya/MString.h>
+#include <maya/MTypeId.h>
+#include <maya/MPxLocatorNode.h>
+#include <maya/MMatrix.h>
+
+#include <vector>
+
+#include "solver.h"
+
+class rigidBodyArrayNode: public MPxLocatorNode
+{
+public:
+    rigidBodyArrayNode();
+    virtual ~rigidBodyArrayNode();
+
+    virtual void postConstructor();
+
+    virtual bool        setInternalValueInContext ( const  MPlug & plug,
+                                                    const  MDataHandle & dataHandle,
+                                                    MDGContext & ctx);
+
+  //  virtual MStatus  	setDependentsDirty ( const  MPlug & plug,  MPlugArray & plugArray);
+
+    virtual MStatus     compute( const MPlug& plug, MDataBlock& data );
+
+    virtual void        draw( M3dView & view, const MDagPath & path,
+                              M3dView::DisplayStyle style,
+                              M3dView::DisplayStatus status );
+
+
+    virtual bool            isBounded() const ;
+    virtual MBoundingBox    boundingBox() const;
+
+    virtual bool        excludeAsLocator() const { return false; }
+    virtual bool        isTransparent() const { return false; }
+
+    static  void *      creator();
+    static  MStatus     initialize();
+
+public:
+
+    std::vector<rigid_body_t::pointer>& rigid_bodies();
+    
+public:
+
+    //Attributes
+    static  MObject     ia_collisionShape;
+    static  MObject     ia_solver;
+    static  MObject     ia_numBodies;
+    static  MObject     ia_active;
+    static  MObject     ia_mass;
+    static  MObject     ia_restitution;
+    static  MObject     ia_friction;
+    static  MObject     ia_linearDamping;
+    static  MObject     ia_angularDamping;
+
+    static  MObject     ia_initialPosition;
+    static  MObject     ia_initialRotation;
+    static  MObject     ia_initialVelocity;
+    static  MObject     ia_initialSpin;
+
+    static  MObject     ia_fileIO;
+    static  MObject     ia_fioFiles;
+    static  MObject     ia_fioPositionAttribute;
+    static  MObject     ia_fioRotationAttribute;
+
+    static  MObject     io_position;
+    static  MObject     io_rotation;
+
+    static  MObject     ca_rigidBodies;
+    static  MObject     ca_rigidBodyParam;
+
+public:
+    static  MTypeId     typeId;
+    static  MString     typeName;
+
+private:
+    void update();
+    void computeRigidBodies(const MPlug& plug, MDataBlock& data);
+    void computeRigidBodyParam(const MPlug& plug, MDataBlock& data); 
+    void computeWorldMatrix(const MPlug& plug, MDataBlock& data);
+
+public:
+    static void nodeRemoved(MObject& node, void *clientData);
+
+private:
+    std::vector<rigid_body_t::pointer>  m_rigid_bodies;
+    MMatrix                             m_worldMatrix;
+};
+
+
+
+#endif

Extras/MayaPlugin/rigidBodyNode.cpp

@@ -0,0 +1,526 @@
+/*
+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>
+*/
+
+//rigidBodyNode.cpp
+
+//#include <GL/glut.h>
+
+#include <maya/MFnDependencyNode.h>
+#include <maya/MPlugArray.h>
+#include <maya/MFnMessageAttribute.h>
+#include <maya/MFnNumericAttribute.h>
+#include <maya/MFnMatrixAttribute.h>
+#include <maya/MMatrix.h>
+#include <maya/MFnMatrixData.h>
+#include <maya/MFnTransform.h>
+#include <maya/MQuaternion.h>
+#include <maya/MEulerRotation.h>
+#include <maya/MVector.h>
+
+#include "rigidBodyNode.h"
+#include "collisionShapeNode.h"
+#include "mayaUtils.h"
+
+#include "solver.h"
+
+MTypeId     rigidBodyNode::typeId( 0x100306 );
+MString     rigidBodyNode::typeName( "dRigidBody" );
+
+MObject     rigidBodyNode::ia_collisionShape;
+MObject     rigidBodyNode::ia_solver;
+MObject     rigidBodyNode::ia_active;
+MObject     rigidBodyNode::ia_mass;
+MObject     rigidBodyNode::ia_restitution;
+MObject     rigidBodyNode::ia_friction;
+MObject     rigidBodyNode::ia_linearDamping;
+MObject     rigidBodyNode::ia_angularDamping;
+MObject     rigidBodyNode::ia_initialPosition;
+MObject     rigidBodyNode::ia_initialRotation;
+MObject     rigidBodyNode::ia_initialVelocity;
+MObject     rigidBodyNode::ia_initialSpin;
+MObject     rigidBodyNode::ca_rigidBody;
+MObject     rigidBodyNode::ca_rigidBodyParam;
+
+
+MStatus rigidBodyNode::initialize()
+{
+    MStatus status;
+    MFnMessageAttribute fnMsgAttr;
+    MFnNumericAttribute fnNumericAttr;
+    MFnMatrixAttribute fnMatrixAttr;
+
+    ia_collisionShape = fnMsgAttr.create("inCollisionShape", "incs", &status);
+    MCHECKSTATUS(status, "creating inCollisionShape attribute")
+    status = addAttribute(ia_collisionShape);
+    MCHECKSTATUS(status, "adding inCollisionShape attribute")
+
+    ia_solver = fnMsgAttr.create("solver", "solv", &status);
+    MCHECKSTATUS(status, "creating solver attribute")
+    status = addAttribute(ia_solver);
+    MCHECKSTATUS(status, "adding solver attribute")
+
+    ia_active = fnNumericAttr.create("active", "ac", MFnNumericData::kBoolean, 1, &status);
+    MCHECKSTATUS(status, "creating active attribute")
+    fnNumericAttr.setKeyable(true);
+    status = addAttribute(ia_active);
+    MCHECKSTATUS(status, "adding active attribute")
+
+    ia_mass = fnNumericAttr.create("mass", "ma", MFnNumericData::kDouble, 1.0, &status);
+    MCHECKSTATUS(status, "creating mass attribute")
+    fnNumericAttr.setKeyable(true);
+    status = addAttribute(ia_mass);
+    MCHECKSTATUS(status, "adding mass attribute")
+
+    ia_restitution = fnNumericAttr.create("restitution", "rst", MFnNumericData::kDouble, 0.1, &status);
+    MCHECKSTATUS(status, "creating restitution attribute")
+    fnNumericAttr.setKeyable(true);
+    status = addAttribute(ia_restitution);
+    MCHECKSTATUS(status, "adding restitution attribute")
+
+    ia_friction = fnNumericAttr.create("friction", "fc", MFnNumericData::kDouble, 0.5, &status);
+    MCHECKSTATUS(status, "creating friction attribute")
+    fnNumericAttr.setKeyable(true);
+    status = addAttribute(ia_friction);
+    MCHECKSTATUS(status, "adding friction attribute")
+
+    ia_linearDamping = fnNumericAttr.create("linearDamping", "ld", MFnNumericData::kDouble, 0.3, &status);
+    MCHECKSTATUS(status, "creating linearDamping attribute")
+    fnNumericAttr.setKeyable(true);
+    status = addAttribute(ia_linearDamping);
+    MCHECKSTATUS(status, "adding linearDamping attribute")
+
+    ia_angularDamping = fnNumericAttr.create("angularDamping", "ad", MFnNumericData::kDouble, 0.3, &status);
+    MCHECKSTATUS(status, "creating angularDamping attribute")
+    fnNumericAttr.setKeyable(true);
+    status = addAttribute(ia_angularDamping);
+    MCHECKSTATUS(status, "adding angularDamping attribute")
+
+    ia_initialPosition = fnNumericAttr.createPoint("initialPosition", "inpo", &status);
+    MCHECKSTATUS(status, "creating initialPosition attribute")
+    status = addAttribute(ia_initialPosition);
+    MCHECKSTATUS(status, "adding initialPosition attribute")
+
+    ia_initialRotation = fnNumericAttr.createPoint("initialRotation", "inro", &status);
+    MCHECKSTATUS(status, "creating initialRotation attribute")
+    status = addAttribute(ia_initialRotation);
+    MCHECKSTATUS(status, "adding initialRotation attribute")
+
+    ia_initialVelocity = fnNumericAttr.createPoint("initialVelocity", "inve", &status);
+    MCHECKSTATUS(status, "creating initialVelocity attribute")
+    status = addAttribute(ia_initialVelocity);
+    MCHECKSTATUS(status, "adding initialVelocity attribute")
+
+    ia_initialSpin = fnNumericAttr.createPoint("initialSpin", "insp", &status);
+    MCHECKSTATUS(status, "creating initialSpin attribute")
+    status = addAttribute(ia_initialSpin);
+    MCHECKSTATUS(status, "adding initialSpin attribute")
+
+    ca_rigidBody = fnNumericAttr.create("ca_rigidBody", "carb", MFnNumericData::kBoolean, 0, &status);
+    MCHECKSTATUS(status, "creating ca_rigidBody attribute")
+    fnNumericAttr.setConnectable(false);
+    fnNumericAttr.setHidden(true);
+    fnNumericAttr.setStorable(false);
+    fnNumericAttr.setKeyable(false);
+    status = addAttribute(ca_rigidBody);
+    MCHECKSTATUS(status, "adding ca_rigidBody attribute")
+
+    ca_rigidBodyParam = fnNumericAttr.create("ca_rigidBodyParam", "carbp", MFnNumericData::kBoolean, 0, &status);
+    MCHECKSTATUS(status, "creating ca_rigidBodyParam attribute")
+    fnNumericAttr.setConnectable(false);
+    fnNumericAttr.setHidden(true);
+    fnNumericAttr.setStorable(false);
+    fnNumericAttr.setKeyable(false);
+    status = addAttribute(ca_rigidBodyParam);
+    MCHECKSTATUS(status, "adding ca_rigidBodyParam attribute")
+
+
+    status = attributeAffects(ia_collisionShape, ca_rigidBody);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_collisionShape, ca_rigidBody)")
+
+    status = attributeAffects(ia_collisionShape, ca_rigidBodyParam);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_collisionShape, ca_rigidBodyParam)")
+
+    status = attributeAffects(ia_mass, ca_rigidBodyParam);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_mass, ca_rigidBodyParam)")
+
+    status = attributeAffects(ia_restitution, ca_rigidBodyParam);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_restitution, ca_rigidBodyParam)")
+
+    status = attributeAffects(ia_friction, ca_rigidBodyParam);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_friction, ca_rigidBodyParam)")
+
+    status = attributeAffects(ia_linearDamping, ca_rigidBodyParam);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_linearDamping, ca_rigidBodyParam)")
+
+    status = attributeAffects(ia_angularDamping, ca_rigidBodyParam);
+    MCHECKSTATUS(status, "adding attributeAffects(ia_angularDamping, ca_rigidBodyParam)")
+
+ //   status = attributeAffects(ia_active, ca_rigidBodyParam);
+  //  MCHECKSTATUS(status, "adding attributeAffects(ia_active, ca_rigidBodyParam)")
+
+    return MS::kSuccess;
+}
+
+rigidBodyNode::rigidBodyNode()
+{
+    // std::cout << "rigidBodyNode::rigidBodyNode" << std::endl;
+}
+
+rigidBodyNode::~rigidBodyNode()
+{
+    // std::cout << "rigidBodyNode::~rigidBodyNode" << std::endl;
+}
+
+void rigidBodyNode::nodeRemoved(MObject& node, void *clientData)
+{
+   // std::cout << "rigidBodyNode::nodeRemoved" << std::endl;
+    MFnDependencyNode fnNode(node);
+    solver_t::remove_rigid_body(static_cast<rigidBodyNode*>(fnNode.userNode())->m_rigid_body);
+}
+
+void* rigidBodyNode::creator()
+{
+    return new rigidBodyNode();
+}
+
+
+bool rigidBodyNode::setInternalValueInContext ( const  MPlug & plug,
+                                                   const  MDataHandle & dataHandle,
+                                                   MDGContext & ctx)
+{
+   /* if ((plug == pdbFiles) || (plug == ia_scale) || (plug == ia_percent)) {
+        m_framesDirty = true;
+    } else if(plug == textureFiles) {
+        gpufx::m_renderer.setColorTextureDirty();
+    }*/
+    return false; //setInternalValueInContext(plug,dataHandle,ctx);
+}
+
+/*
+MStatus rigidBodyNode::setDependentsDirty( const  MPlug & plug,  MPlugArray & plugArray)
+{
+    std::cout << "rigidBodyNode::setDependentsDirty: " << plug.name().asChar() << std::endl;
+    MObject thisNode = thisMObject();
+    if(plug == ia_solver) {
+        MPlug plgAffected(thisNode, ca_update);
+        plugArray.append(plgAffected);
+        plgAffected.setValue(true);
+    } else if(plug == ia_collisionShape) {
+        //ia_collisionShape -> ca_rigidBody
+        MPlug plgAffected(thisNode, ca_rigidBody);
+        plugArray.append(plgAffected);
+        plgAffected.setValue(true);
+
+        //ia_collisionShape -> ca_rigidBodyParam
+        plgAffected.setAttribute(ca_rigidBodyParam);
+        plugArray.append(plgAffected);
+        plgAffected.setValue(true);
+    } else if(plug == ca_rigidBody) {
+        //ca_rigidBody -> ca_update
+        MPlug plgAffected(thisNode, ca_update);
+        plugArray.append(plgAffected);
+        plgAffected.setValue(true);
+
+        //ca_rigidBody -> ca_rigidBodyParam
+        plgAffected.setAttribute(ca_rigidBodyParam);
+        plugArray.append(plgAffected);
+        plgAffected.setValue(true);
+    } else if(plug == ia_mass) {
+        //ia_mass -> ca_rigidBodyParam
+        MPlug plgAffected(thisNode, ca_rigidBodyParam);
+        plugArray.append(plgAffected);
+        plgAffected.setValue(true);
+
+        plgAffected.setAttribute(ca_update);
+        plugArray.append(plgAffected);
+        plgAffected.setValue(true);
+    } else if(plug == ca_rigidBodyParam) {
+        //ca_rigidBodyParam -> ca_update
+        MPlug plgAffected(thisNode, ca_update);
+        plugArray.append(plgAffected);
+        plgAffected.setValue(true);
+    }
+    return MS::kSuccess;
+}*/
+
+
+MStatus rigidBodyNode::compute(const MPlug& plug, MDataBlock& data)
+{
+    //std::cout << "rigidBodyNode::compute: " << plug.name() << std::endl;
+    //MTime time = data.inputValue( rigidBodyNode::inTime ).asTime();
+    if(plug == ca_rigidBody) {
+        computeRigidBody(plug, data);
+    } else if(plug == ca_rigidBodyParam) {
+        computeRigidBodyParam(plug, data);
+    } else if(plug.isElement()) {
+        if(plug.array() == worldMatrix && plug.logicalIndex() == 0) {
+            computeWorldMatrix(plug, data);
+        } else {
+            return MStatus::kUnknownParameter;
+        }
+    } else {
+        return MStatus::kUnknownParameter;
+    }
+    return MStatus::kSuccess;
+}
+
+void rigidBodyNode::draw( M3dView & view, const MDagPath &path,
+                             M3dView::DisplayStyle style,
+                             M3dView::DisplayStatus status )
+{
+  //  std::cout << "rigidBodyNode::draw" << std::endl;
+
+    update();
+
+    view.beginGL();
+    glPushAttrib( GL_ALL_ATTRIB_BITS );
+
+    if(m_rigid_body) {
+        //remove the scale, since it's already include in the node transform 
+        vec3f scale;
+        m_rigid_body->collision_shape()->get_scale(scale);
+
+        glPushMatrix();
+        glScalef(1/scale[0], 1/scale[1], 1/scale[2]); 
+    
+        if(style == M3dView::kFlatShaded ||
+           style == M3dView::kGouraudShaded) {
+            glEnable(GL_LIGHTING);
+            float material[] = { 0.4, 0.7, 1.0, 1.0  };
+            glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, material);
+            m_rigid_body->collision_shape()->gl_draw(collision_shape_t::kDSSolid);
+        } 
+    
+    
+        if( status == M3dView::kActive ||
+            status == M3dView::kLead ||
+            status == M3dView::kHilite ||
+            ( style != M3dView::kGouraudShaded && style != M3dView::kFlatShaded ) ) {
+            
+            glDisable(GL_LIGHTING);
+            m_rigid_body->collision_shape()->gl_draw(collision_shape_t::kDSWireframe);
+    
+        }
+        glPopMatrix();
+    }
+    glPopAttrib();
+    view.endGL();
+}
+
+bool rigidBodyNode::isBounded() const
+{
+    //return true;
+    return false;
+}
+
+MBoundingBox rigidBodyNode::boundingBox() const
+{
+    // std::cout << "rigidBodyNode::boundingBox()" << std::endl;
+    //load the pdbs
+    MObject node = thisMObject();
+
+    MPoint corner1(-1, -1, -1);
+    MPoint corner2(1, 1, 1);
+    return MBoundingBox(corner1, corner2);
+}
+
+//standard attributes
+void rigidBodyNode::computeRigidBody(const MPlug& plug, MDataBlock& data)
+{
+   // std::cout << "rigidBodyNode::computeRigidBody" << std::endl;
+
+    MObject thisObject(thisMObject());
+    MPlug plgCollisionShape(thisObject, ia_collisionShape);
+    MObject update;
+    //force evaluation of the shape
+    plgCollisionShape.getValue(update);
+
+    vec3f prevCenter(0, 0, 0);
+    quatf prevRotation(qidentity<float>());
+    if(m_rigid_body) {
+        prevCenter = m_rigid_body->collision_shape()->center();
+        prevRotation = m_rigid_body->collision_shape()->rotation();
+    }
+
+    collision_shape_t::pointer  collision_shape;
+    if(plgCollisionShape.isConnected()) {
+        MPlugArray connections;
+        plgCollisionShape.connectedTo(connections, true, true);
+        if(connections.length() != 0) {
+            MFnDependencyNode fnNode(connections[0].node());
+            if(fnNode.typeId() == collisionShapeNode::typeId) {
+                collisionShapeNode *pCollisionShapeNode = static_cast<collisionShapeNode*>(fnNode.userNode());
+                collision_shape = pCollisionShapeNode->collisionShape();    
+            } else {
+                std::cout << "rigidBodyNode connected to a non-collision shape node!" << std::endl;
+            }
+        }
+    }
+
+    if(!collision_shape) {
+        //not connected to a collision shape, put a default one
+        collision_shape = solver_t::create_sphere_shape();
+    }
+
+   /* vec3f deltaCenter = prevCenter - collision_shape->center();
+    quatf deltaRotation = qprod(qconj(collision_shape->rotation()), prevRotation); 
+
+    MDataHandle hInitPos = data.outputValue(ia_initialPosition);
+    float3 &ipos = hInitPos.asFloat3();
+
+    MDataHandle hInitRot = data.outputValue(ia_initialRotation);
+    float3 &irot = hInitRot.asFloat3();
+    MQuaternion iquat = MEulerRotation(deg2rad(irot[0]), deg2rad(irot[1]), deg2rad(irot[2])).asQuaternion();
+
+   // MVector deltapos(mtranslation.x - pos[0], mtranslation.y - pos[1], mtranslation.z - pos[2]);
+   // MQuaternion deltarot = MQuaternion(rot[1], rot[2], rot[3], rot[0]).conjugate() * mrotation; 
+
+    MVector newipos(ipos[0] + deltaCenter[0], ipos[1] + deltaCenter[1], ipos[2] + deltaCenter[2]); */
+   // MEulerRotation newirot((iquat * deltarot).asEulerRotation());
+
+    //hInitPos.set3Float(newipos.x, newipos.y, newipos.z);
+   // hInitRot.set3Float(rad2deg(newirot.x), rad2deg(newirot.y), rad2deg(newirot.z));*/
+
+    solver_t::remove_rigid_body(m_rigid_body);
+    m_rigid_body = solver_t::create_rigid_body(collision_shape);
+    solver_t::add_rigid_body(m_rigid_body);
+
+    data.outputValue(ca_rigidBody).set(true);
+    data.setClean(plug);
+}
+
+
+void rigidBodyNode::computeWorldMatrix(const MPlug& plug, MDataBlock& data)
+{
+   // std::cout << "rigidBodyNode::computeWorldMatrix" << std::endl;
+
+    MObject thisObject(thisMObject());
+    MFnDagNode fnDagNode(thisObject);
+
+    MObject update;
+    MPlug(thisObject, ca_rigidBody).getValue(update);
+    MPlug(thisObject, ca_rigidBodyParam).getValue(update);
+    
+    vec3f pos;
+    quatf rot;
+
+    MFnTransform fnParentTransform(fnDagNode.parent(0));
+    MVector mtranslation = fnParentTransform.getTranslation(MSpace::kTransform);
+    MQuaternion mrotation;
+    fnParentTransform.getRotation(mrotation, MSpace::kTransform);
+    double mscale[3];
+    fnParentTransform.getScale(mscale);
+
+  // std::cout << mtranslation << std::endl;
+
+    m_rigid_body->get_transform(pos, rot);
+
+    MDataHandle hInitPos = data.outputValue(ia_initialPosition);
+    float3 &ipos = hInitPos.asFloat3();
+
+    MDataHandle hInitRot = data.outputValue(ia_initialRotation);
+    float3 &irot = hInitRot.asFloat3();
+    MQuaternion iquat = MEulerRotation(deg2rad(irot[0]), deg2rad(irot[1]), deg2rad(irot[2])).asQuaternion();
+
+    MVector deltapos(mtranslation.x - pos[0], mtranslation.y - pos[1], mtranslation.z - pos[2]);
+    MQuaternion deltarot = MQuaternion(rot[1], rot[2], rot[3], rot[0]).conjugate() * mrotation; 
+
+    MVector newipos(ipos[0] + deltapos.x, ipos[1] + deltapos.y, ipos[2] + deltapos.z); 
+    MEulerRotation newirot((iquat * deltarot).asEulerRotation());
+
+    hInitPos.set3Float(newipos.x, newipos.y, newipos.z);
+    hInitRot.set3Float(rad2deg(newirot.x), rad2deg(newirot.y), rad2deg(newirot.z));
+
+    m_rigid_body->set_transform(vec3f(mtranslation.x, mtranslation.y, mtranslation.z),
+                                quatf(mrotation.w, mrotation.x, mrotation.y, mrotation.z));
+
+    data.setClean(plug);
+
+    //set the scale to the collision shape
+    m_rigid_body->collision_shape()->set_scale(vec3f(mscale[0], mscale[1], mscale[2]));
+/*
+    MPlug plgCollisionShape(thisObject, ia_collisionShape);
+    //force evaluation of the shape
+    plgCollisionShape.getValue(update);
+    
+    if(plgCollisionShape.isConnected()) {
+        MPlugArray connections;
+        plgCollisionShape.connectedTo(connections, true, true);
+        if(connections.length() != 0) {
+            MFnDependencyNode fnNode(connections[0].node());
+            if(fnNode.typeId() == collisionShapeNode::typeId) {
+                MPlug plgScale(fnNode.object(), collisionShapeNode::ia_scale);
+                plgScale.child(0).setValue(mscale[0]);
+                plgScale.child(1).setValue(mscale[1]);
+                plgScale.child(2).setValue(mscale[2]);
+            } else {
+                std::cout << "rigidBodyNode connected to a non-collision shape node!" << std::endl;
+            }
+        }
+    }*/
+
+}
+
+void rigidBodyNode::computeRigidBodyParam(const MPlug& plug, MDataBlock& data)
+{
+   // std::cout << "rigidBodyNode::computeRigidBodyParam" << std::endl;
+
+    MObject thisObject(thisMObject());
+    MObject update;
+    
+    MPlug(thisObject, ca_rigidBody).getValue(update);
+    double mass = data.inputValue(ia_mass).asDouble();
+    m_rigid_body->set_mass(mass);
+    m_rigid_body->set_inertia(mass * m_rigid_body->collision_shape()->local_inertia());
+    m_rigid_body->set_restitution(data.inputValue(ia_restitution).asDouble());
+    m_rigid_body->set_friction(data.inputValue(ia_friction).asDouble());
+    m_rigid_body->set_linear_damping(data.inputValue(ia_linearDamping).asDouble());
+    m_rigid_body->set_angular_damping(data.inputValue(ia_angularDamping).asDouble());
+   // m_rigid_body->set_kinematic(!data.inputValue(ia_active).asBool());
+
+    data.outputValue(ca_rigidBodyParam).set(true);
+    data.setClean(plug);
+}
+
+rigid_body_t::pointer rigidBodyNode::rigid_body()
+{
+ //   std::cout << "rigidBodyNode::rigid_body" << std::endl;
+
+    MObject thisObject(thisMObject());
+    MObject update;
+    MPlug(thisObject, ca_rigidBody).getValue(update);
+    MPlug(thisObject, ca_rigidBodyParam).getValue(update);
+
+    return m_rigid_body;
+} 
+
+void rigidBodyNode::update()
+{
+    MObject thisObject(thisMObject());
+
+    MObject update;
+    MPlug(thisObject, ca_rigidBody).getValue(update);
+    MPlug(thisObject, ca_rigidBodyParam).getValue(update);
+    MPlug(thisObject, ia_solver).getValue(update);
+    MPlug(thisObject, worldMatrix).elementByLogicalIndex(0).getValue(update);
+//    MPlug plg = MPlug(thisObject, worldMatrix).elementByLogicalIndex(0);
+}

Extras/MayaPlugin/rigidBodyNode.h

@@ -0,0 +1,107 @@
+/*
+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>
+*/
+
+//rigidBodyNode.h
+
+#ifndef DYN_RIGID_BODY_NODE_H
+#define DYN_RIGID_BODY_NODE_H
+
+#include <maya/MString.h>
+#include <maya/MTypeId.h>
+#include <maya/MPxLocatorNode.h>
+
+#include "solver.h"
+
+class rigidBodyNode: public MPxLocatorNode
+{
+public:
+    rigidBodyNode();
+    virtual ~rigidBodyNode();
+
+    virtual bool        setInternalValueInContext ( const  MPlug & plug,
+                                                    const  MDataHandle & dataHandle,
+                                                    MDGContext & ctx);
+
+  //  virtual MStatus  	setDependentsDirty ( const  MPlug & plug,  MPlugArray & plugArray);
+
+    virtual MStatus     compute( const MPlug& plug, MDataBlock& data );
+
+    virtual void        draw( M3dView & view, const MDagPath & path,
+                              M3dView::DisplayStyle style,
+                              M3dView::DisplayStatus status );
+
+
+    virtual bool            isBounded() const ;
+    virtual MBoundingBox    boundingBox() const;
+
+    virtual bool        excludeAsLocator() const { return false; }
+    virtual bool        isTransparent() const { return false; }
+
+    static  void *      creator();
+    static  MStatus     initialize();
+
+public:
+
+    rigid_body_t::pointer rigid_body();
+    
+public:
+
+    //Attributes
+    static  MObject     ia_collisionShape;
+    static  MObject     ia_solver;
+    static  MObject     ia_active;
+    static  MObject     ia_mass;
+    static  MObject     ia_restitution;
+    static  MObject     ia_friction;
+    static  MObject     ia_linearDamping;
+    static  MObject     ia_angularDamping;
+
+    static  MObject     ia_initialPosition;
+    static  MObject     ia_initialRotation;
+    static  MObject     ia_initialVelocity;
+    static  MObject     ia_initialSpin;
+
+    static  MObject     ca_rigidBody;
+    static  MObject     ca_rigidBodyParam;
+
+public:
+    static  MTypeId     typeId;
+    static  MString     typeName;
+
+private:
+    void update();
+    void computeRigidBody(const MPlug& plug, MDataBlock& data);
+    void computeWorldMatrix(const MPlug& plug, MDataBlock& data);
+    void computeRigidBodyParam(const MPlug& plug, MDataBlock& data);
+
+public:
+    static void nodeRemoved(MObject& node, void *clientData);
+
+private:
+    rigid_body_t::pointer       m_rigid_body;
+
+
+};
+
+
+
+#endif

Extras/MayaPlugin/rigid_body.h

@@ -0,0 +1,89 @@
+/*
+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>
+*/
+
+//rigid_body.h
+
+#ifndef DYN_RIGID_BODY_H
+#define DYN_RIGID_BODY_H
+
+#include "shared_ptr.h"
+#include "collision_shape.h"
+#include "mathUtils.h"
+
+#include "rigid_body_impl.h"
+
+class rigid_body_t
+{
+public:
+    //typedefs
+    typedef shared_ptr<rigid_body_t> pointer;
+
+    //
+    collision_shape_t::pointer collision_shape() { return m_collision_shape;   }
+
+    //
+    void set_kinematic(bool kinematic) {    m_impl->set_kinematic(kinematic);   }
+
+    //
+    void set_mass(float mass)               { m_impl->set_mass(mass);   }
+    void set_inertia(vec3f const& I)        { m_impl->set_inertia(I);   }
+    void set_restitution(float r)           { m_impl->set_restitution(r); }
+    void set_friction(float f)              { m_impl->set_friction(f);    }
+    void set_linear_damping(float d)         { m_impl->set_linear_damping(d);   }
+    void set_angular_damping(float d)        { m_impl->set_angular_damping(d);   }
+
+    void set_transform(vec3f const& position, quatf const& rotation)    { m_impl->set_transform(position, rotation);  }
+    void get_transform(vec3f& position, quatf& rotation) const          { m_impl->get_transform(position, rotation);   }
+    void get_transform(mat4x4f& xform) const                            { m_impl->get_transform(xform); }
+
+    //
+    void set_linear_velocity(vec3f const& v)                            { m_impl->set_linear_velocity(v);    }
+    void get_linear_velocity(vec3f& v) const                            { m_impl->get_linear_velocity(v);    }
+
+    void set_angular_velocity(vec3f const& v)                           { m_impl->set_angular_velocity(v);   }
+    void get_angular_velocity(vec3f& v) const                           { m_impl->get_angular_velocity(v);   }
+
+    //
+    void clear_forces()                                                 { m_impl->clear_forces(); }
+    void apply_central_force(vec3f const& f)                            { m_impl->apply_central_force(f);    }
+    void apply_torque(vec3f const& t)                                   { m_impl->apply_torque(t);    }
+
+public:
+    virtual ~rigid_body_t() {};
+
+protected:
+    friend class solver_t;    
+    rigid_body_t(rigid_body_impl_t* impl, collision_shape_t::pointer& shape): m_impl(impl), m_collision_shape(shape) 
+    {
+    }
+
+    rigid_body_impl_t* impl() { return m_impl.get(); }
+ //   rigid_body_impl_t const* impl() const { return m_impl.get(); }
+
+private:
+    shared_ptr<rigid_body_impl_t>           m_impl;
+    collision_shape_t::pointer              m_collision_shape;
+};
+
+
+
+#endif

Extras/MayaPlugin/rigid_body_impl.h

@@ -0,0 +1,63 @@
+/*
+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>
+*/
+
+
+//rigid_body_impl.h
+
+#ifndef DYN_RIGID_BODY_IMPL_H
+#define DYN_RIGID_BODY_IMPL_H
+
+#include "rigid_body_impl.h"
+#include "mathUtils.h"
+
+class rigid_body_impl_t
+{
+public:
+    virtual void set_kinematic(bool kinematic) = 0;
+
+    //
+    virtual void set_mass(float mass) = 0;               
+    virtual void set_inertia(vec3f const& I) = 0;      
+    virtual void set_restitution(float r) = 0;          
+    virtual void set_friction(float f) = 0;              
+    virtual void set_linear_damping(float d) = 0;         
+    virtual void set_angular_damping(float d) = 0;        
+
+    virtual void set_transform(vec3f const& position, quatf const& rotation) = 0;
+    virtual void get_transform(vec3f& position, quatf& rotation) const = 0;
+    virtual void get_transform(mat4x4f& xform) const = 0;
+
+    virtual void set_linear_velocity(vec3f const& v) = 0;                       
+    virtual void get_linear_velocity(vec3f& v) const = 0;                           
+
+    virtual void set_angular_velocity(vec3f const& v) = 0;                          
+    virtual void get_angular_velocity(vec3f& v) const = 0;
+
+    virtual void clear_forces() = 0;
+    virtual void apply_central_force(vec3f const& f) = 0;
+    virtual void apply_torque(vec3f const& t) = 0;
+
+public:
+    virtual ~rigid_body_impl_t() {};
+};
+
+#endif

Extras/MayaPlugin/scripts/AEdCollisionShapeTemplate.mel

@@ -0,0 +1,41 @@
+/*
+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>
+*/
+
+//AEdCollisionShapeTemplate.mel
+
+global proc AEdCollisionShapeTemplate( string $nodeName )
+{
+	
+    editorTemplate -beginScrollLayout;
+
+    editorTemplate -addControl inShape;
+    editorTemplate -addControl outCollisionShape;
+    editorTemplate -addControl type;
+    editorTemplate -addControl scale;
+    
+    AEdependNodeTemplate $nodeName;
+
+    editorTemplate -addExtraControls;
+    editorTemplate -endScrollLayout;
+
+}
+

Extras/MayaPlugin/scripts/AEdRigidBodyArrayTemplate.mel

@@ -0,0 +1,89 @@
+/*
+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>
+*/
+
+//AEdRigidBodyArrayTemplate.mel
+
+global proc AEdRigidBodyArrayTemplate( string $nodeName )
+{
+	
+    editorTemplate -beginScrollLayout;
+	
+    editorTemplate -addControl inCollisionShape;
+    editorTemplate -addControl numBodies;
+    editorTemplate -addControl active;
+    editorTemplate -addControl mass;
+    editorTemplate -addControl restitution;
+    editorTemplate -addControl friction;
+    editorTemplate -addControl linearDamping;
+    editorTemplate -addControl angularDamping;
+
+    editorTemplate -beginLayout "Initial configuration" -collapse 1;
+    editorTemplate -addControl initialPosition;
+    editorTemplate -addControl initialRotation;
+    editorTemplate -addControl initialVelocity;
+    editorTemplate -addControl initialSpin;
+    editorTemplate -endLayout;
+
+    editorTemplate -beginLayout "Current configuration" -collapse 1;
+    editorTemplate -addControl position;
+    editorTemplate -addControl rotation;
+    editorTemplate -endLayout;
+
+    editorTemplate -beginLayout "File IO" -collapse 1;
+    editorTemplate -addControl fileIO;
+    editorTemplate -addControl files;
+    editorTemplate -addControl positionAttribute;
+    editorTemplate -addControl rotationAttribute;
+    editorTemplate -endLayout;
+
+    editorTemplate -addControl solver;
+
+    editorTemplate -beginLayout (uiRes("m_AElocatorTemplate.kLocatorAttributes")) -collapse 1;
+    AElocatorCommon $nodeName;
+    editorTemplate -endLayout;
+		
+    {
+	editorTemplate -suppress "motionBlur";
+	editorTemplate -suppress "visibleInReflections";
+	editorTemplate -suppress "visibleInRefractions";
+	editorTemplate -suppress "maxVisibilitySamplesOverride";
+	editorTemplate -suppress "maxVisibilitySamples";
+	editorTemplate -suppress "geometryAntialiasingOverride";
+	editorTemplate -suppress "antialiasingLevel";
+	editorTemplate -suppress "shadingSamplesOverride";
+	editorTemplate -suppress "shadingSamples";
+	editorTemplate -suppress "maxShadingSamples";
+	editorTemplate -suppress "volumeSamplesOverride";
+	editorTemplate -suppress "volumeSamples";
+	editorTemplate -suppress "depthJitter";
+	editorTemplate -suppress "ignoreSelfShadowing";
+	editorTemplate -suppress "primaryVisibility";
+	editorTemplate -suppress "compInstObjGroups";
+    }
+
+    AEshapeTemplate $nodeName;
+
+    editorTemplate -addExtraControls;
+    editorTemplate -endScrollLayout;
+
+}
+

Extras/MayaPlugin/scripts/AEdRigidBodyTemplate.mel

@@ -0,0 +1,102 @@
+/*
+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>
+*/
+
+//AEdRigidBodyTemplate.mel
+
+global proc AEdRigidBodyTemplate( string $nodeName )
+{
+	
+    editorTemplate -beginScrollLayout;
+	
+   /* editorTemplate -callCustom
+	"AEgpufxLCtextureFiles 1"
+	"AEgpufxLCtextureFiles 0"
+	"textureFiles";
+    editorTemplate -suppress "textureFiles";*/
+
+    editorTemplate -addControl inCollisionShape;
+    editorTemplate -addControl active;
+    editorTemplate -addControl mass;
+    editorTemplate -addControl restitution;
+    editorTemplate -addControl friction;
+    editorTemplate -addControl linearDamping;
+    editorTemplate -addControl angularDamping;
+
+    editorTemplate -beginLayout "Initial configuration" -collapse 0;
+    editorTemplate -addControl initialPosition;
+    editorTemplate -addControl initialRotation;
+    editorTemplate -addControl initialVelocity;
+    editorTemplate -addControl initialSpin;
+    editorTemplate -endLayout;
+
+    editorTemplate -addControl solver;
+
+    editorTemplate -beginLayout (uiRes("m_AElocatorTemplate.kLocatorAttributes")) -collapse 1;
+    AElocatorCommon $nodeName;
+    editorTemplate -endLayout;
+		
+    {
+	editorTemplate -suppress "motionBlur";
+	editorTemplate -suppress "visibleInReflections";
+	editorTemplate -suppress "visibleInRefractions";
+	editorTemplate -suppress "maxVisibilitySamplesOverride";
+	editorTemplate -suppress "maxVisibilitySamples";
+	editorTemplate -suppress "geometryAntialiasingOverride";
+	editorTemplate -suppress "antialiasingLevel";
+	editorTemplate -suppress "shadingSamplesOverride";
+	editorTemplate -suppress "shadingSamples";
+	editorTemplate -suppress "maxShadingSamples";
+	editorTemplate -suppress "volumeSamplesOverride";
+	editorTemplate -suppress "volumeSamples";
+	editorTemplate -suppress "depthJitter";
+	editorTemplate -suppress "ignoreSelfShadowing";
+	editorTemplate -suppress "primaryVisibility";
+	editorTemplate -suppress "compInstObjGroups";
+    }
+
+    AEshapeTemplate $nodeName;
+
+    editorTemplate -addExtraControls;
+    editorTemplate -endScrollLayout;
+
+}
+
+/*
+global proc AEgpufxLCpdbFiles(int $create, string $node)
+{
+    if ($create) {
+	rowLayout -nc 3 -cw 3 57;
+	{
+	    text -l "Pdb Files";
+	    textField -ann "Path to the pdb files" pdbFilesTF;
+	    button -l "Reload" -ann "Reload pdb files" reloadPdbFilesB;
+	    setParent ..;
+	}
+    }
+
+    connectControl pdbFilesTF $node;
+
+    // use dgdirty if we start using attributeAffects
+    button -e -c ("string $attr = getAttr(\"" +$node +"\"); setAttr " + $node + " -type \"string\" \"\"; setAttr " + $node + " -type \"string\" $attr;") reloadPdbFilesB;
+}
+
+*/

Extras/MayaPlugin/scripts/AEdSolverTemplate.mel

@@ -0,0 +1,50 @@
+/*
+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>
+*/
+
+//AEdSolverTemplate.mel
+
+global proc AEdSolverTemplate( string $nodeName )
+{
+	
+    editorTemplate -beginScrollLayout;
+	
+    editorTemplate -addControl ssSolverType;
+
+    editorTemplate -addControl gravity;
+
+    editorTemplate -addControl substeps;
+
+    editorTemplate -addControl enabled;
+
+    editorTemplate -addControl splitImpulse;
+
+    editorTemplate -addControl startTime;
+
+    editorTemplate -addControl rigidBodies;
+
+    AEdependNodeTemplate $nodeName;
+
+    editorTemplate -addExtraControls;
+    editorTemplate -endScrollLayout;
+
+}
+

Extras/MayaPlugin/scripts/dynamica.mel

@@ -0,0 +1,23 @@
+/*
+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>
+*/
+
+//dynamica.mel

Extras/MayaPlugin/scripts/dynamicaUI.mel

@@ -0,0 +1,643 @@
+/*
+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>
+*/
+
+//dynamicaUI.mel
+
+//
+global string $dynamicaUIWindow = "dynamicaUIWindow";
+
+global proc dynamicaUI_initialize()
+{
+    dynamicaUI_createShelfButton();
+
+    //add script jobs
+    //scriptJob -e "SceneOpened" gpufxGUI_updateSettings; 
+}
+
+//main window      
+global proc dynamicaUI_createWindow()
+{
+    global string $dynamicaUIWindow;
+
+    //check if the window exists
+    if ( `window -ex $dynamicaUIWindow` )
+    {
+        showWindow $dynamicaUIWindow;
+        return;
+    }
+
+    //create dSolver node if necessary
+    dSolver;
+
+    $dynamicaUIWindow = `window -t "dynamica"`;
+
+    string $mainForm = `formLayout`;
+    string $tabs = `tabLayout -innerMarginWidth 5 -innerMarginHeight 5`;
+
+    formLayout -e
+        -attachForm $tabs "top"    0
+        -attachForm $tabs "left"   0
+        -attachForm $tabs "bottom" 0
+        -attachForm $tabs "right"  0
+    $mainForm;
+
+
+    string $mainLayt = dynamicaUI_createMainTab();
+    string $solverLayt = dynamicaUI_createSolverTab();
+
+    tabLayout -e -tabLabel $mainLayt "Create" -tabLabel $solverLayt "Solver" $tabs;
+
+    showWindow $dynamicaUIWindow;
+   // window -e -wh 479 664 $dynamicaUIWindow;
+}
+
+
+
+global proc dynamicaUI_createShelfButton()
+{
+    // The shelf we want to add the button to.
+    string $shelf = "EfxToolsLumiere";
+
+    // The icon we want to use on the button.
+    string $iconImage = "dynamica.xpm";
+
+    // Tle button label.
+    string $iconBtnLabel = "dynamica";
+
+    // Specify the shelf as the parent for our tool button.  If there
+    // is no such shelf, we create it.
+    //
+    string $btnParent;
+    if ( `shelfLayout -ex $shelf` )
+    {
+        $btnParent = $shelf;
+
+        // Check to see if the shelf already has the gpufx button.  If so,
+        // we want to delete it before we remake it so we don't end up with
+        // duplicate buttons on the shelf.
+
+        string $existingShelfButtons[] = `shelfLayout -q -ca $shelf`;
+        for ( $btn in $existingShelfButtons )
+            if ( `shelfButton -q -l $btn` == $iconBtnLabel )
+                deleteUI $btn;
+    } else {
+        // Create the shelf under the global shelf parent.
+        global string $gShelfTopLevel;
+        $btnParent = `shelfLayout -p $gShelfTopLevel $shelf`;
+    }
+
+    // Make (or remake) the tool button.
+    shelfButton -label $iconBtnLabel -image1 $iconImage
+                -command "dynamicaUI_createWindow" -p $btnParent;
+
+}
+
+global proc string dynamicaUI_createSolverTab()
+{	
+    global string $dynamicaUI_STsolverType;
+    global string $dynamicaUI_STgravityX;
+    global string $dynamicaUI_STgravityY;
+    global string $dynamicaUI_STgravityZ;
+    global string $dynamicaUI_STenabled;
+    global string $dynamicaUI_STsplitImpulse;
+    global string $dynamicaUI_STsubsteps;
+
+    string $mainForm = `columnLayout -adj 1`;
+    {
+        string $solverTypeFrame = `frameLayout -collapsable false -label "Solver Type" -borderStyle "etchedIn"`;
+        {
+            rowLayout -nc 1 -adj 1 -cat 1 "left" 30;
+            {
+                int $solverType = `getAttr dSolver1.ssSolverType` + 1; // 1-based
+                $dynamicaUI_STsolverType = `textScrollList -append "Bullet Physics" -append "Ageia PhysX" -append "Stanford PhysBAM"
+                                            -selectIndexedItem $solverType
+                                            -numberOfRows 1
+                                            -sc dynamicaUI_STSolverTypeChanged`;
+                setParent ..;
+            }
+            setParent ..;
+        }
+        string $gravityFrame = `frameLayout -collapsable false -label "Gravity" -borderStyle "etchedIn"`;
+        {
+            rowLayout -nc 3 -cat 1 "both" 0 -cat 2 "both" 0 -cat 3 "both" 0 -cw3 50 50 50;
+            {
+                float $gravity[] = `getAttr dSolver1.gravity`; 
+                $dynamicaUI_STgravityX = `floatField -precision 3 -value $gravity[0] -changeCommand dynamicaUI_STgravityChanged`;
+                $dynamicaUI_STgravityY = `floatField -precision 3 -value $gravity[1] -changeCommand dynamicaUI_STgravityChanged`;
+                $dynamicaUI_STgravityZ = `floatField -precision 3 -value $gravity[2] -changeCommand dynamicaUI_STgravityChanged`;
+
+                setParent ..;
+            }
+            setParent ..;
+        }
+        string $substepsFrame = `frameLayout -collapsable false -label "Substeps" -borderStyle "etchedIn"`;
+        {
+            rowLayout -nc 1 -cat 1 "both" 0 -cw1 50;
+            {
+                int $substeps = `getAttr dSolver1.substeps`; 
+                $dynamicaUI_STsubsteps = `intField -value $substeps -changeCommand dynamicaUI_STsubstepsChanged`;
+
+                setParent ..;
+            }
+            setParent ..;
+        }
+        string $enabledFrame = `frameLayout -collapsable false -label "Solver State" -borderStyle "etchedIn"`;
+        {
+            rowLayout -nc 1 -adj 1 -cat 1 "left" 30;
+            {
+                int $enabled = `getAttr dSolver1.enabled`;
+                $dynamicaUI_STenabled = `checkBox -label "Enabled" -value $enabled
+                                            -cc dynamicaUI_STenabledChanged`;
+                setParent ..;
+            }
+            setParent ..;
+        }
+        string $splitImpulseFrame = `frameLayout -collapsable false -label "SplitImpulse" -borderStyle "etchedIn"`;
+        {
+            rowLayout -nc 1 -adj 1 -cat 1 "left" 30;
+            {
+                int $enabled = `getAttr dSolver1.splitImpulse`;
+                $dynamicaUI_STsplitImpulse = `checkBox -label "Enabled" -value $enabled
+                                            -cc dynamicaUI_STsplitImpulseChanged`;
+                setParent ..;
+            }
+            setParent ..;
+        }
+        setParent ..;
+    }
+
+    return $mainForm;
+}
+
+global proc string dynamicaUI_createMainTab()
+{	
+    string $mainForm = `columnLayout -adj 1`;
+    {
+	frameLayout -collapsable true -label "Active Rigid Bodies" -borderStyle "in";
+	{
+	    rowLayout -nc 5;
+	    {
+		string $createActiveSphereRBBtn = `iconTextButton -style "iconAndTextVertical" -label "Sphere"
+                                                    -width 100 -image1 "dynamicaCreateActiveSphereRB.xpm" -c ("dynamicaUI_createActiveSphereRB")
+                                                    -ann "Create an active sphere rigid body"`;
+
+		string $createActiveBoxRBBtn = `iconTextButton -style "iconAndTextVertical" -label "Box"
+                                                    -width 100 -image1 "dynamicaCreateActiveBoxRB.xpm" -c ("dynamicaUI_createActiveBoxRB")
+                                                    -ann "Create an active box rigid body"`;
+
+		string $createActivePlaneRBBtn = `iconTextButton -style "iconAndTextVertical" -label "Plane"
+                                                    -width 100 -image1 "dynamicaCreateActivePlaneRB.xpm" -c ("dynamicaUI_createActivePlaneRB")
+                                                    -ann "Create an active plane rigid body"`;
+
+		string $createActiveHullRBBtn = `iconTextButton -style "iconAndTextVertical" -label "Hull"
+                                                    -width 100 -image1 "dynamicaCreateActiveHullRB.xpm" -c ("dynamicaUI_createActiveHullRB")
+                                                    -ann "Create an active hull rigid body"`;
+
+		string $createActiveMeshRBBtn = `iconTextButton -style "iconAndTextVertical" -label "Mesh"
+                                                    -width 100 -image1 "dynamicaCreateActiveMeshRB.xpm" -c ("dynamicaUI_createActiveMeshRB")
+                                                    -ann "Create an active mesh rigid body"`;
+	
+		setParent ..;
+	    }
+	    setParent ..;
+	}
+
+	frameLayout -collapsable true -label "Passive Rigid Bodies" -borderStyle "in";
+	{
+	    rowLayout -nc 5;
+	    {
+		string $createPassiveSphereRBBtn = `iconTextButton -style "iconAndTextVertical" -label "Sphere"
+                                                    -width 100 -image1 "dynamicaCreatePassiveSphereRB.xpm" -c ("dynamicaUI_createPassiveSphereRB")
+                                                    -ann "Create an passive sphere rigid body"`;
+
+		string $createPassiveBoxRBBtn = `iconTextButton -style "iconAndTextVertical" -label "Box"
+                                                    -width 100 -image1 "dynamicaCreatePassiveBoxRB.xpm" -c ("dynamicaUI_createPassiveBoxRB")
+                                                    -ann "Create an passive box rigid body"`;
+
+		string $createPassivePlaneRBBtn = `iconTextButton -style "iconAndTextVertical" -label "Plane"
+                                                    -width 100 -image1 "dynamicaCreatePassivePlaneRB.xpm" -c ("dynamicaUI_createPassivePlaneRB")
+                                                    -ann "Create an passive plane rigid body"`;
+
+		string $createPassiveHullRBBtn = `iconTextButton -style "iconAndTextVertical" -label "Hull"
+                                                    -width 100 -image1 "dynamicaCreatePassiveHullRB.xpm" -c ("dynamicaUI_createPassiveHullRB")
+                                                    -ann "Create an passive hull rigid body"`;
+
+		string $createPassiveMeshRBBtn = `iconTextButton -style "iconAndTextVertical" -label "Mesh"
+                                                    -width 100 -image1 "dynamicaCreatePassiveMeshRB.xpm" -c ("dynamicaUI_createPassiveMeshRB")
+                                                    -ann "Create an passive mesh rigid body"`;
+
+		setParent ..;
+	    }
+	    setParent ..;
+	}
+
+
+	frameLayout -collapsable true -label "Active Rigid Body Arrays" -borderStyle "in";
+	{
+	    rowLayout -nc 5;
+	    {
+		string $createActiveSphereRBArrayBtn = `iconTextButton -style "iconAndTextVertical" -label "Sphere"
+                                                    -width 100 -image1 "dynamicaCreateActiveSphereRBArray.xpm" -c ("dynamicaUI_createActiveSphereRBArray")
+                                                    -ann "Create an active sphere rigid body array"`;
+
+		string $createActiveBoxRBArrayBtn = `iconTextButton -style "iconAndTextVertical" -label "Box"
+                                                    -width 100 -image1 "dynamicaCreateActiveBoxRBArray.xpm" -c ("dynamicaUI_createActiveBoxRBArray")
+                                                    -ann "Create an active box rigid body array"`;
+
+		string $createActivePlaneRBArrayBtn = `iconTextButton -style "iconAndTextVertical" -label "Plane"
+                                                    -width 100 -image1 "dynamicaCreateActivePlaneRBArray.xpm" -c ("dynamicaUI_createActivePlaneRBArray")
+                                                    -ann "Create an active plane rigid body array"`;
+
+		string $createActiveHullRBArrayBtn = `iconTextButton -style "iconAndTextVertical" -label "Hull"
+                                                    -width 100 -image1 "dynamicaCreateActiveHullRBArray.xpm" -c ("dynamicaUI_createActiveHullRBArray")
+                                                    -ann "Create an active hull rigid body array"`;
+
+		string $createActiveMeshRBArrayBtn = `iconTextButton -style "iconAndTextVertical" -label "Mesh"
+                                                    -width 100 -image1 "dynamicaCreateActiveMeshRBArray.xpm" -c ("dynamicaUI_createActiveMeshRBArray")
+                                                    -ann "Create an active mesh rigid body array"`;
+	
+		setParent ..;
+	    }
+	    setParent ..;
+	}
+
+	frameLayout -collapsable true -label "Passive Rigid Body Arrays" -borderStyle "in";
+	{
+	    rowLayout -nc 5;
+	    {
+		string $createPassiveSphereRBArrayBtn = `iconTextButton -style "iconAndTextVertical" -label "Sphere"
+                                                    -width 100 -image1 "dynamicaCreatePassiveSphereRBArray.xpm" -c ("dynamicaUI_createPassiveSphereRBArray")
+                                                    -ann "Create an passive sphere rigid body array"`;
+
+		string $createPassiveBoxRBArrayBtn = `iconTextButton -style "iconAndTextVertical" -label "Box"
+                                                    -width 100 -image1 "dynamicaCreatePassiveBoxRBArray.xpm" -c ("dynamicaUI_createPassiveBoxRBArray")
+                                                    -ann "Create an passive box rigid body array"`;
+
+		string $createPassivePlaneRBArrayBtn = `iconTextButton -style "iconAndTextVertical" -label "Plane"
+                                                    -width 100 -image1 "dynamicaCreatePassivePlaneRBArray.xpm" -c ("dynamicaUI_createPassivePlaneRBArray")
+                                                    -ann "Create an passive plane rigid body array"`;
+
+		string $createPassiveHullRBArrayBtn = `iconTextButton -style "iconAndTextVertical" -label "Hull"
+                                                    -width 100 -image1 "dynamicaCreatePassiveHullRBArray.xpm" -c ("dynamicaUI_createPassiveHullRBArray")
+                                                    -ann "Create an passive hull rigid body array"`;
+
+		string $createPassiveMeshRBArrayBtn = `iconTextButton -style "iconAndTextVertical" -label "Mesh"
+                                                    -width 100 -image1 "dynamicaCreatePassiveMeshRBArray.xpm" -c ("dynamicaUI_createPassiveMeshRBArray")
+                                                    -ann "Create an passive mesh rigid body array"`;
+
+		setParent ..;
+	    }
+	    setParent ..;
+	}
+	setParent ..;
+    }
+    return $mainForm;
+}
+
+global proc dynamicaUI_STSolverTypeChanged()
+{
+    //create dSolver node if necessary
+    dSolver;
+
+    global string $dynamicaUI_STsolverType;
+    int $type[] = `textScrollList -q -selectIndexedItem $dynamicaUI_STsolverType`; 
+    $type[0] = $type[0] -1; //1-based
+    setAttr dSolver1.ssSolverType $type[0]; 
+}
+
+global proc dynamicaUI_STgravityChanged()
+{
+    //create dSolver node if necessary
+    dSolver;
+
+    global string $dynamicaUI_STgravityX;
+    global string $dynamicaUI_STgravityY;
+    global string $dynamicaUI_STgravityZ;
+
+    float $gx = `floatField -query -value $dynamicaUI_STgravityX`;
+    float $gy = `floatField -query -value $dynamicaUI_STgravityY`;
+    float $gz = `floatField -query -value $dynamicaUI_STgravityZ`;
+
+    setAttr dSolver1.gravity -type double3 $gx $gy $gz;
+
+}
+
+global proc dynamicaUI_STenabledChanged()
+{
+    //create dSolver node if necessary
+    dSolver;
+
+    global string $dynamicaUI_STenabled;
+
+    int $enabled = `checkBox -query -value $dynamicaUI_STenabled`;
+
+    setAttr dSolver1.enabled $enabled;
+
+}
+
+global proc dynamicaUI_STsplitImpulseChanged()
+{
+    //create dSolver node if necessary
+    dSolver;
+
+    global string $dynamicaUI_STsplitImpulse;
+
+    int $enabled = `checkBox -query -value $dynamicaUI_STsplitImpulse`;
+
+    setAttr dSolver1.splitImpulse $enabled;
+
+}
+
+global proc dynamicaUI_STsubstepsChanged()
+{
+    //create dSolver node if necessary
+    dSolver;
+
+    global string $dynamicaUI_STsubsteps;
+
+    int $substeps = `intField -query -value $dynamicaUI_STsubsteps`;
+
+    setAttr dSolver1.substeps $substeps;
+
+}
+
+proc dynamicaUI_createRigidBody(int $active, int $collisionShapeType)
+{
+    string $selection[] = `ls -selection -dag -leaf -showType -type "geometry"`;
+
+    //create dSolver node if necessary
+    dSolver;
+   
+    string $rigidBodyNode = `dRigidBody`;
+    string $collisionShapeNode = `createNode dCollisionShape`;
+    connectAttr ($collisionShapeNode + ".outCollisionShape") ($rigidBodyNode + ".inCollisionShape");
+    string $rigidBodyTransforms[] = `listRelatives -parent $rigidBodyNode`;
+
+    if(size($selection) != 0) {
+        string $shapeTransforms[] = `listRelatives -parent $selection[0]`;
+        if($selection[1] == "mesh") {
+            connectAttr ($selection[0] + ".message") ($collisionShapeNode + ".inShape");
+            hide $shapeTransforms[0];
+        }
+        //pick the selected object's transform only if we are creating a hull or a mesh
+        if($collisionShapeType == 0 || $collisionShapeType == 1) {
+            float $pos[]= `getAttr ($shapeTransforms[0] + ".translate")`;
+            float $rot[]= `getAttr ($shapeTransforms[0] + ".rotate")`;
+
+            setAttr ($rigidBodyTransforms[0] + ".translate") -type double3 $pos[0] $pos[1] $pos[2];
+            //setAttr ($rigidBodyNode + ".initialPosition") -type double3 $pos[0] $pos[1] $pos[2];
+
+            setAttr ($rigidBodyTransforms[0] + ".rotate") -type double3 $rot[0] $rot[1] $rot[2];
+            // setAttr ($rigidBodyNode + ".initialRotation") -type double3 $rot[0] $rot[1] $rot[2];
+        }
+    }
+
+    setAttr ($rigidBodyNode + ".active" ) $active;
+    setAttr ($collisionShapeNode + ".type" ) $collisionShapeType;
+
+    select -r $rigidBodyTransforms[0];
+}
+
+global proc dynamicaUI_createArrayUIdismissCB(string $button)
+{
+    global string $dynamicaUI_createArrayUI_sizeCT;
+    global string $dynamicaUI_createArrayUI_offsetCT;
+
+    global int $dynamicaUI_createArrayUI_size[];
+    global float $dynamicaUI_createArrayUI_offset[];
+
+    $dynamicaUI_createArrayUI_size = `intFieldGrp -query -value $dynamicaUI_createArrayUI_sizeCT`; 
+    $dynamicaUI_createArrayUI_offset = `floatFieldGrp -query -value $dynamicaUI_createArrayUI_offsetCT`; 
+    layoutDialog -dismiss $button;
+}
+
+global proc dynamicaUI_createArrayUI()
+{
+    global string $dynamicaUI_createArrayUI_sizeCT;
+    global string $dynamicaUI_createArrayUI_offsetCT;
+
+    // Get the dialog's formLayout.
+    string $form = `setParent -q`;
+
+    // layoutDialog's are not resizable, so hard code a size here,
+    // to make sure all UI elements are visible.
+    formLayout -e -width 350 $form;
+
+    string $b1 = `button -l "OK"    -c "dynamicaUI_createArrayUIdismissCB(\"OK\")"`;
+    string $b2 = `button -l "Cancel"-c "dynamicaUI_createArrayUIdismissCB(\"Cancel\")"`;
+
+    $dynamicaUI_createArrayUI_sizeCT = `intFieldGrp -columnAlign 1 "left" -adj 1 -numberOfFields 3 -label "Array Size" -v1 1 -v2 1 -v3 1`;
+    $dynamicaUI_createArrayUI_offsetCT = `floatFieldGrp -columnAlign 1 "left" -adj 1 -numberOfFields 3 -label "Array Offset" -v1 2.0 -v2 2.0 -v3 2.0`;
+
+    formLayout -edit
+        -attachForm            $dynamicaUI_createArrayUI_sizeCT   "top"    5
+        -attachForm            $dynamicaUI_createArrayUI_sizeCT   "left"   5
+        -attachNone            $dynamicaUI_createArrayUI_sizeCT   "bottom"
+        -attachForm            $dynamicaUI_createArrayUI_sizeCT   "right"  5 
+
+        -attachControl         $dynamicaUI_createArrayUI_offsetCT  "top"   5 $dynamicaUI_createArrayUI_sizeCT
+        -attachForm            $dynamicaUI_createArrayUI_offsetCT  "left"   5
+        -attachNone            $dynamicaUI_createArrayUI_offsetCT  "bottom"
+        -attachForm            $dynamicaUI_createArrayUI_offsetCT   "right"  5 
+
+        -attachControl         $b1  "top"   5 $dynamicaUI_createArrayUI_offsetCT
+        -attachForm            $b1  "left"   5
+        -attachNone            $b1  "bottom"
+        -attachPosition        $b1  "right"  5 33
+
+        -attachControl         $b2  "top"    5 $dynamicaUI_createArrayUI_offsetCT
+        -attachPosition        $b2  "left"   5 33
+        -attachNone            $b2  "bottom"
+        -attachPosition        $b2  "right"  5 66
+
+    $form;
+}
+
+global proc dynamicaUI_createActiveRigidBody()
+{
+    dynamicaUI_createRigidBody(true, 0);
+}
+
+global proc dynamicaUI_createPassiveRigidBody()
+{
+    dynamicaUI_createRigidBody(false, 0);
+}
+
+global proc dynamicaUI_createActiveSphereRB()
+{
+    dynamicaUI_createRigidBody(true, 5);
+}
+
+global proc dynamicaUI_createActiveBoxRB()
+{
+    dynamicaUI_createRigidBody(true, 4);
+}
+
+global proc dynamicaUI_createActivePlaneRB()
+{
+    dynamicaUI_createRigidBody(true, 6);
+}
+
+global proc dynamicaUI_createActiveHullRB()
+{
+    dynamicaUI_createRigidBody(true, 0);
+}
+
+global proc dynamicaUI_createActiveMeshRB()
+{
+    dynamicaUI_createRigidBody(true, 1);
+}
+
+global proc dynamicaUI_createPassiveSphereRB()
+{
+    dynamicaUI_createRigidBody(false, 5);
+}
+
+global proc dynamicaUI_createPassiveBoxRB()
+{
+    dynamicaUI_createRigidBody(false, 4);
+}
+
+global proc dynamicaUI_createPassivePlaneRB()
+{
+    dynamicaUI_createRigidBody(false, 6);
+}
+
+global proc dynamicaUI_createPassiveHullRB()
+{
+    dynamicaUI_createRigidBody(false, 0);
+}
+
+global proc dynamicaUI_createPassiveMeshRB()
+{
+    dynamicaUI_createRigidBody(false, 1);
+}
+
+proc dynamicaUI_createRigidBodyArray(int $active, int $collisionShapeType)
+{
+    global int $dynamicaUI_createArrayUI_size[];
+    global float $dynamicaUI_createArrayUI_offset[];
+
+    if(`layoutDialog -title "Create Rigid Body Array" -ui "dynamicaUI_createArrayUI"` == "OK") {    
+        string $selection[] = `ls -selection -dag -leaf -showType -type "geometry"`;
+
+        //create dSolver node if necessary
+        dSolver;
+
+        string $rigidBodyArrayNode = `dRigidBodyArray`;
+        string $collisionShapeNode = `createNode dCollisionShape`;
+        connectAttr ($collisionShapeNode + ".outCollisionShape") ($rigidBodyArrayNode + ".inCollisionShape");
+        string $rigidBodyTransforms[] = `listRelatives -parent $rigidBodyArrayNode`;
+    
+        if(size($selection) != 0) {
+            string $shapeTransforms[] = `listRelatives -parent $selection[0]`;
+            if($selection[1] == "mesh") {
+                connectAttr ($selection[0] + ".message") ($collisionShapeNode + ".inShape");
+                hide $shapeTransforms[0];
+            }
+        }
+    
+        setAttr ($rigidBodyArrayNode + ".active" ) $active;
+        setAttr ($collisionShapeNode + ".type" ) $collisionShapeType;
+    
+        select -r $rigidBodyTransforms[0];
+
+        int $size[]= $dynamicaUI_createArrayUI_size;
+        float $off[]= $dynamicaUI_createArrayUI_offset;
+        float $x0[];
+        $x0[0] = -0.5 * $size[0] * $off[0];
+        $x0[1] = -0.5 * $size[1] * $off[1];
+        $x0[2] = -0.5 * $size[2] * $off[2];
+        setAttr ($rigidBodyArrayNode + ".numBodies") ($size[0] * $size[1] * $size[2]);
+        for($i = 0; $i < $size[0]; $i++) {
+            for($j = 0; $j < $size[1]; $j++) {
+                for($k = 0; $k < $size[2]; $k++) {
+                    setAttr ($rigidBodyArrayNode + ".initialPosition[" + string($i + $size[0] * $j + $size[0] * $size[1] * $k) + "]") ($x0[0] + $i * $off[0]) ($x0[1] + $j * $off[1]) ($x0[2] + $k * $off[2]);
+                }
+            }
+        }     
+    }
+}
+
+global proc dynamicaUI_createActiveSphereRBArray()
+{
+    dynamicaUI_createRigidBodyArray(true, 5);
+}
+
+global proc dynamicaUI_createActiveBoxRBArray()
+{
+    dynamicaUI_createRigidBodyArray(true, 4);
+}
+
+global proc dynamicaUI_createActivePlaneRBArray()
+{
+    dynamicaUI_createRigidBodyArray(true, 6);
+}
+
+global proc dynamicaUI_createActiveHullRBArray()
+{
+    dynamicaUI_createRigidBodyArray(true, 0);
+}
+
+global proc dynamicaUI_createActiveMeshRBArray()
+{
+    dynamicaUI_createRigidBodyArray(true, 1);
+}
+
+global proc dynamicaUI_createPassiveSphereRBArray()
+{
+    dynamicaUI_createRigidBodyArray(false, 5);
+}
+
+global proc dynamicaUI_createPassiveBoxRBArray()
+{
+    dynamicaUI_createRigidBodyArray(false, 4);
+}
+
+global proc dynamicaUI_createPassivePlaneRBArray()
+{
+    dynamicaUI_createRigidBodyArray(false, 6);
+}
+
+global proc dynamicaUI_createPassiveHullRBArray()
+{
+    dynamicaUI_createRigidBodyArray(false, 0);
+}
+
+global proc dynamicaUI_createPassiveMeshRBArray()
+{
+    dynamicaUI_createRigidBodyArray(false, 1);
+}
+
+global proc dyn_demo1()
+{
+    dynamicaUI_createActiveSphereRBArray();
+    string $children[] = `listRelatives -shapes`;
+    setAttr ($children[0] + ".numBodies") 1000;
+    for($i = 0; $i < 10; $i++) {
+        for($j = 0; $j < 10; $j++) {
+            for($k = 0; $k < 10; $k++) {
+                setAttr ($children[0] + ".initialPosition[" + string($i + 10 * $j + 100 * $k) + "]") ($i * 2) (10 + $k * 2) ($j * 2);
+            }
+        }
+    }
+}

Extras/MayaPlugin/shared_ptr.h

@@ -0,0 +1,200 @@
+/*
+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>
+*/
+
+//shared_ptr.h
+
+#ifndef DYN_SHARED_PTR_H
+#define DYN_SHARED_PTR_H
+
+#define DYN_SHARED_PTR_THREAD_SAFE
+
+#ifdef WIN32
+
+#include <windows.h>
+
+class shared_count {
+public:
+    shared_count(): m_count(1) {   }
+    ~shared_count() {    }
+
+    long increment()
+    {
+#ifdef DYN_SHARED_PTR_THREAD_SAFE
+        return InterlockedIncrement(&m_count);
+#else
+        return ++m_count;
+#endif
+    }
+
+    long decrement() {
+#ifdef DYN_SHARED_PTR_THREAD_SAFE
+        return InterlockedDecrement(&m_count);
+#else
+        return ++m_count;
+#endif
+        return c;
+    }
+
+    long use_count() { return m_count;  }
+
+private:
+    long m_count;
+};
+
+#else //ifdef WIN32
+
+#include <pthread.h>
+
+class shared_count {
+public:
+    shared_count(): m_count(1) {
+#ifdef DYN_SHARED_PTR_THREAD_SAFE
+        pthread_mutex_init(&m_mutex, 0);
+#endif
+    }
+    ~shared_count() { 
+#ifdef DYN_SHARED_PTR_THREAD_SAFE
+        pthread_mutex_destroy(&m_mutex);
+#endif
+    }
+
+    long increment()
+    {
+#ifdef DYN_SHARED_PTR_THREAD_SAFE
+        pthread_mutex_lock(&m_mutex);
+#endif
+        long c = ++m_count;  
+#ifdef DYN_SHARED_PTR_THREAD_SAFE
+        pthread_mutex_unlock(&m_mutex);
+#endif
+        return c;
+     }
+
+    long decrement() {
+#ifdef DYN_SHARED_PTR_THREAD_SAFE
+        pthread_mutex_lock(&m_mutex);
+#endif
+        long c = --m_count;  
+#ifdef DYN_SHARED_PTR_THREAD_SAFE
+        pthread_mutex_unlock(&m_mutex);
+#endif
+        return c;
+    }
+
+    long use_count() { return m_count;  }
+
+private:
+    long m_count;
+    mutable pthread_mutex_t m_mutex;
+};
+
+#endif
+
+template<typename T>
+class shared_ptr
+{
+public:
+    shared_ptr(): m_ptr(NULL), m_count(NULL) { }
+    shared_ptr(shared_ptr<T> const& other):
+            m_ptr(other.m_ptr),
+            m_count(other.m_count)
+    {
+        if(other.m_count != NULL) other.m_count->increment();
+    }
+
+    template<typename U>
+    shared_ptr(shared_ptr<U> const& other):
+            m_ptr(other.m_ptr),
+            m_count(other.m_count)
+    {
+        if(other.m_count != NULL)  other.m_count->increment();
+    }
+
+    shared_ptr(T const* other): m_ptr(const_cast<T*>(other)), m_count(NULL)
+    {
+        if(other != NULL) m_count = new shared_count;
+    }
+
+    ~shared_ptr() 
+    {
+        giveup_ownership();
+    }
+
+    void reset(T const* other) 
+    {
+        if(m_ptr == other) return;
+        giveup_ownership();
+        m_ptr = const_cast<T*>(other);
+        if(other != NULL) m_count = new shared_count;
+        else m_count = NULL;
+    }
+
+    T* get() { return m_ptr; }
+    T const* get() const { return m_ptr; }
+    T* operator->() {   return m_ptr; }
+    T const* operator->() const { return m_ptr; }
+    operator bool() { return m_ptr != NULL; }
+
+    bool operator<(shared_ptr<T> const& rhs) const { return m_ptr < rhs.m_ptr; }
+
+    shared_ptr<T>& operator=(shared_ptr<T> const& other) {
+        if(m_ptr == other.m_ptr) return *this;
+        giveup_ownership();
+        m_ptr = other.m_ptr;
+        m_count = other.m_count;
+        if(other.m_count != NULL) m_count->increment();
+        return *this;
+    }
+
+    template<typename U> 
+    shared_ptr<T>& operator=(shared_ptr<U>& other) {
+        if(m_ptr == other.m_ptr) return *this;
+        giveup_ownership();
+        m_ptr = other.m_ptr;
+        m_count = other.m_count;
+        if(other.m_count != NULL) m_count->increment();
+        return *this;
+    }
+
+protected:
+
+    template<typename U> friend class shared_ptr;
+    void giveup_ownership()
+    {
+        if(m_count != NULL) {
+            if( m_count->decrement() == 0) {
+                delete m_ptr;
+                m_ptr = NULL;
+                delete m_count;
+                m_count = NULL;
+            }
+        }
+    }
+
+protected:
+    T           *m_ptr;
+   shared_count *m_count;
+
+};
+
+
+#endif

Extras/MayaPlugin/solver.cpp

@@ -0,0 +1,124 @@
+/*
+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>
+*/
+
+//solver.cpp
+
+#include "solver.h"
+#include "bt_solver.h"
+
+shared_ptr<solver_impl_t> solver_t::m_impl;
+std::set<rigid_body_t::pointer> solver_t::m_rigid_bodies;
+
+
+void solver_t::initialize()
+{
+    m_impl.reset(new bt_solver_t);
+}
+
+void solver_t::cleanup()
+{
+    
+}
+
+//creation methods
+sphere_shape_t::pointer solver_t::create_sphere_shape(float radius)
+{
+    return sphere_shape_t::pointer(new sphere_shape_t(m_impl->create_sphere_shape(radius)));
+}
+
+plane_shape_t::pointer solver_t::create_plane_shape(vec3f const& normal, float d)
+{
+    return plane_shape_t::pointer(new plane_shape_t(m_impl->create_plane_shape(normal, d)));
+}
+
+box_shape_t::pointer solver_t::create_box_shape(vec3f const& halfExtents)
+{
+    return box_shape_t::pointer(new box_shape_t(m_impl->create_box_shape(halfExtents)));
+}
+
+convex_hull_shape_t::pointer solver_t::create_convex_hull_shape(vec3f const* vertices, size_t num_vertices,
+                                                                vec3f const* normals,
+                                                             unsigned int const *indices, size_t num_indices)
+{
+    return convex_hull_shape_t::pointer(new convex_hull_shape_t(m_impl->create_convex_hull_shape(vertices, num_vertices,
+                                                                                                 normals,
+                                                                                                 indices, num_indices)));
+}
+
+mesh_shape_t::pointer solver_t::create_mesh_shape(vec3f const* vertices, size_t num_vertices,
+                                                  vec3f const* normals,
+                                                  unsigned int const *indices, size_t num_indices)
+{
+    return mesh_shape_t::pointer(new mesh_shape_t(m_impl->create_mesh_shape(vertices, num_vertices,
+                                                                            normals,
+                                                                            indices, num_indices)));
+}
+
+rigid_body_t::pointer solver_t::create_rigid_body(collision_shape_t::pointer& cs)
+{
+    return rigid_body_t::pointer(new rigid_body_t(m_impl->create_rigid_body(cs->impl()), cs));
+}
+
+//add/remove from world
+void solver_t::add_rigid_body(rigid_body_t::pointer& rb)
+{
+    if(rb) {
+        if(m_rigid_bodies.find(rb) == m_rigid_bodies.end()) {
+            m_rigid_bodies.insert(rb);
+            m_impl->add_rigid_body(rb->impl());
+        }
+    }
+}
+
+void solver_t::remove_rigid_body(rigid_body_t::pointer& rb)
+{
+    if(rb) {
+        if(m_rigid_bodies.find(rb) != m_rigid_bodies.end()) {
+            m_impl->remove_rigid_body(rb->impl());
+            m_rigid_bodies.erase(rb);
+        }
+    }
+}
+
+void solver_t::remove_all_rigid_bodies()
+{
+    std::set<rigid_body_t::pointer>::iterator it;
+    for(it = m_rigid_bodies.begin(); it != m_rigid_bodies.end(); ++it) { 
+        m_impl->remove_rigid_body(const_cast<rigid_body_t*>((*it).get())->impl());
+    }
+    m_rigid_bodies.clear();
+}
+
+void solver_t::set_gravity(vec3f const& g)
+{
+    m_impl->set_gravity(g);
+}
+
+void solver_t::set_split_impulse(bool enabled)
+{
+    m_impl->set_split_impulse(enabled);
+}
+
+void solver_t::step_simulation(float dt)
+{
+    m_impl->step_simulation(dt);
+}

Extras/MayaPlugin/solver.h

@@ -0,0 +1,88 @@
+/*
+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>
+*/
+
+//solver.h
+
+//basic class for all solvers
+
+#ifndef DYN_SOLVER_H
+#define DYN_SOLVER_H
+
+#include <set>
+
+#include "mathUtils.h"
+#include "shared_ptr.h"
+
+#include "rigid_body.h"
+#include "sphere_shape.h"
+#include "plane_shape.h"
+#include "box_shape.h"
+#include "convex_hull_shape.h"
+#include "mesh_shape.h"
+#include "solver_impl.h"
+
+class solver_t
+{
+public:
+    static void initialize();
+    static void cleanup();
+
+    //creation methods
+    static sphere_shape_t::pointer create_sphere_shape(float radius = 1.0); 
+
+    static plane_shape_t::pointer create_plane_shape(vec3f const& normal = vec3f(0, 1, 0), float d = 0); 
+
+    static box_shape_t::pointer create_box_shape(vec3f const& halfExtents = vec3f(0.5f, 0.5f, 0.5f)); 
+
+    static convex_hull_shape_t::pointer create_convex_hull_shape(vec3f const* vertices, size_t num_vertices,
+                                                                 vec3f const* normals,
+                                                                 unsigned int const *indices, size_t num_indices); 
+
+    static mesh_shape_t::pointer create_mesh_shape(vec3f const* vertices, size_t num_vertices,
+                                                   vec3f const* normals,
+                                                   unsigned int const *indices, size_t num_indices); 
+
+    static rigid_body_t::pointer create_rigid_body(collision_shape_t::pointer& cs);
+
+    //add/remove from world
+    static void add_rigid_body(rigid_body_t::pointer& rb);
+    static void remove_rigid_body(rigid_body_t::pointer& rb);
+    static void remove_all_rigid_bodies();
+
+    //
+    static void set_gravity(vec3f const& g);
+
+    //
+    static void set_split_impulse(bool enabled); 
+
+    //
+    static void step_simulation(float dt);
+
+private:
+    static shared_ptr<solver_impl_t> m_impl;
+    static std::set<rigid_body_t::pointer> m_rigid_bodies;
+};
+
+
+
+#endif
+

Extras/MayaPlugin/solver_impl.h

@@ -0,0 +1,65 @@
+/*
+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>
+*/
+
+//solver_impl.h
+
+#ifndef DYN_SOLVER_IMPL_H
+#define DYN_SOLVER_IMPL_H
+
+#include "rigid_body_impl.h"
+#include "collision_shape_impl.h"
+
+class solver_impl_t
+{
+public:
+    virtual collision_shape_impl_t* create_sphere_shape(float radius) = 0;
+
+    virtual collision_shape_impl_t* create_plane_shape(vec3f const& normal, float d) = 0;
+
+    virtual collision_shape_impl_t* create_box_shape(vec3f const& halfExtents) = 0;
+
+    virtual collision_shape_impl_t* create_convex_hull_shape(vec3f const* vertices, size_t num_vertices,
+                                                             vec3f const* normals,
+                                                             unsigned int const *indices, size_t num_indices) = 0; 
+
+    virtual collision_shape_impl_t* create_mesh_shape(vec3f const* vertices, size_t num_vertices,
+                                                             vec3f const* normals,
+                                                             unsigned int const *indices, size_t num_indices) = 0; 
+
+    virtual rigid_body_impl_t* create_rigid_body(collision_shape_impl_t* cs) = 0;
+    
+    virtual void add_rigid_body(rigid_body_impl_t* rb) = 0;
+
+    virtual void remove_rigid_body(rigid_body_impl_t* rb) = 0;
+
+    virtual void set_gravity(vec3f const& g) = 0;
+
+    virtual void set_split_impulse(bool enabled) = 0;
+
+    virtual void step_simulation(float dt) = 0;
+
+public:
+    virtual ~solver_impl_t() { }
+};
+
+#endif
+

Extras/MayaPlugin/sphere_shape.h

@@ -0,0 +1,45 @@
+/*
+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>
+*/
+
+//sphere_shape.h
+
+#ifndef DYN_SPHERE_SHAPE_H
+#define DYN_SPHERE_SHAPE_H
+
+#include "collision_shape.h"
+#include "sphere_shape_impl.h"
+
+class sphere_shape_t: public collision_shape_t
+{
+public:
+    //typedefs
+    typedef shared_ptr<sphere_shape_t> pointer;
+
+
+protected:
+    friend class solver_t;
+
+    sphere_shape_t(collision_shape_impl_t* impl): collision_shape_t(impl) { }
+
+};
+
+#endif

Extras/MayaPlugin/sphere_shape_impl.h

@@ -0,0 +1,38 @@
+/*
+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>
+*/
+
+//sphere_shape_impl.h
+
+#ifndef DYN_SPHERE_SHAPE_IMPL_H
+#define DYN_SPHERE_SHAPE_IMPL_H
+
+#include "collision_shape_impl.h"
+
+class sphere_shape_impl_t: public collision_shape_impl_t
+{
+public:
+
+private:
+
+};
+
+#endif