Added example of tetrahedral (volumetric) softbodies

Keep camera distance positive when using mouse zoom
Updated autogenerated msvc projectfiles
Added glut 64 bit support

Demos/AllBulletDemos/DemoEntries.cpp

@@ -115,11 +115,14 @@ btDemoEntry g_demoEntries[] =
 	{"Dynamic Control Demo",MotorDemo::Create},
 	{"ConcaveDemo",ConcaveDemo::Create},
 	{"Concave Convexcast Demo",ConcaveConvexcastDemo::Create},
-	{"SoftBody Cloth",SoftDemo0::Create},
-
-	{"SoftBody Ropes Attach",SoftDemo4::Create},
-	{"SoftBody Cloth Attach",SoftDemo5::Create},
 	{"SoftBody Cluster Collide1",SoftDemo19::Create},
+	
+	{"SoftBody Ropes Attach",SoftDemo4::Create},
+	
+	{"SoftBody Cloth Attach",SoftDemo5::Create},
+
+	{"SoftBody Cloth",SoftDemo0::Create},
+		
 //	{"SoftBody Volume",SoftDemo2::Create},
 	{"SoftBody Pressure",SoftDemo1::Create},
 	{"SoftBody Cluster Car",SoftDemo24::Create},
@@ -145,6 +148,10 @@ btDemoEntry g_demoEntries[] =
 	{"SoftBody Cluster Combine",SoftDemo23::Create},
 //	{"SoftBody Cluster Stack Soft",SoftDemo26::Create},
 	{"SoftBody Cluster Stack Mixed",SoftDemo27::Create},
+
+	{"SoftBody TetGen Tetrahedral Cube",SoftDemo28::Create},
+	{"SoftBody TetGen Tetrahedral Bunny",SoftDemo29::Create},
+
 	
 //	{"SliderConstraint",SliderConstraintDemo::Create},
 	

Demos/OpenGL/DemoApplication.cpp

@@ -884,6 +884,10 @@ void	DemoApplication::mouseMotionFunc(int x,int y)
 		else if(m_mouseButtons & 4) 
 		{
 			m_cameraDistance -= dy * 0.2f;
+			if (m_cameraDistance<0.1)
+				m_cameraDistance = 0.1;
+
+			
 		} 
 	}
 

Demos/SoftDemo/SoftDemo.cpp

@@ -771,9 +771,10 @@ static void	Init_Cloth(SoftDemo* pdemo)
 		btVector3(-s,0,+s),
 		btVector3(+s,0,+s),
 		31,31,
-
 		//		31,31,
 		1+2+4+8,true);
+	
+	psb->getCollisionShape()->setMargin(0.5);
 	btSoftBody::Material* pm=psb->appendMaterial();
 	pm->m_kLST		=	0.4;
 	pm->m_flags		-=	btSoftBody::fMaterial::DebugDraw;
@@ -1259,7 +1260,51 @@ static void	Init_ClusterStackMixed(SoftDemo* pdemo)
 	}
 }
 
-unsigned	current_demo=19;
+
+//
+// TetraBunny
+//
+static void	Init_TetraBunny(SoftDemo* pdemo)
+{
+	btSoftBody* psb=btSoftBodyHelpers::CreateFromTetGenData(pdemo->m_softBodyWorldInfo,
+															TetraBunny::getElements(),
+															0,
+															TetraBunny::getNodes(),
+															false,true,true);
+	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
+	psb->rotate(btQuaternion(SIMD_PI/2,0,0));
+	psb->setVolumeMass(150);
+	psb->m_cfg.piterations=2;
+	pdemo->m_cutting=true;	
+}
+
+//
+// TetraCube
+//
+static void	Init_TetraCube(SoftDemo* pdemo)
+{
+	btSoftBody* psb=btSoftBodyHelpers::CreateFromTetGenData(pdemo->m_softBodyWorldInfo,
+															TetraCube::getElements(),
+															0,
+															TetraCube::getNodes(),
+															false,true,true);
+	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
+	psb->scale(btVector3(4,4,4));
+	psb->translate(btVector3(0,5,0));
+	psb->setVolumeMass(300);
+	
+	///fix one vertex
+	psb->setMass(0,0);
+	//psb->setMass(10,0);
+	//psb->setMass(20,0);
+	psb->m_cfg.piterations=1;
+	//psb->m_materials[0]->m_kLST=0.05;
+	pdemo->m_cutting=true;	
+}
+
+
+
+unsigned	current_demo=21;
 
 void	SoftDemo::clientResetScene()
 {
@@ -1326,6 +1371,8 @@ void	SoftDemo::clientResetScene()
 		Init_ClusterRobot,
 		Init_ClusterStackSoft,
 		Init_ClusterStackMixed,
+		Init_TetraCube,
+		Init_TetraBunny,
 	};
 	current_demo=current_demo%(sizeof(demofncs)/sizeof(demofncs[0]));
 
@@ -1813,4 +1860,3 @@ void	SoftDemo::exitPhysics()
 
 
 
-

Demos/SoftDemo/SoftDemo.h

@@ -178,7 +178,8 @@ MACRO_SOFT_DEMO(24)//Init_ClusterCar
 MACRO_SOFT_DEMO(25)//Init_ClusterRobot
 MACRO_SOFT_DEMO(26)//Init_ClusterStackSoft
 MACRO_SOFT_DEMO(27)//Init_ClusterStackMixed
-
+MACRO_SOFT_DEMO(28)//Init_TetraCube
+MACRO_SOFT_DEMO(29)//Init_TetraBunny
 
 
 #endif //CCD_PHYSICS_DEMO_H

Glut/GL/glut.h

@@ -52,7 +52,11 @@ typedef unsigned short int wchar_t;
 #pragma comment (lib, "opengl32.lib")  /* link with Microsoft OpenGL lib */
 #pragma comment (lib, "glu32.lib")     /* link with OpenGL Utility lib */
 #pragma message("Note: including lib: glut32.lib\n")
+#ifdef _WIN64
+#pragma comment (lib, "glut64.lib")    /* link with Win32 GLUT lib */
+#else
 #pragma comment (lib, "glut32.lib")    /* link with Win32 GLUT lib */
+#endif
 
 #pragma warning (disable:4244)	/* Disable bogus conversion warnings. */
 #pragma warning (disable:4305)  /* VC++ 5.0 version of above warning. */

msvc/6/appAllBulletDemos.dsp

@@ -222,10 +222,6 @@ SOURCE=..\..\Demos\AllBulletDemos\..\BasicDemo\BasicDemo.cpp
 # End Source File
 # Begin Source File
 
-SOURCE=..\..\Demos\AllBulletDemos\..\Benchmarks\BenchmarkDemo.cpp
-# End Source File
-# Begin Source File
-
 SOURCE=..\..\Demos\AllBulletDemos\..\BspDemo\BspConverter.cpp
 # End Source File
 # Begin Source File

msvc/6/appBenchmarks.dsp

@@ -47,11 +47,11 @@ RSC=rc.exe
 # PROP Ignore_Export_Lib 0
 # PROP Target_Dir ""
 # ADD BASE CPP /nologo /vmb /vms /W3 /Gm /G5 /D "WIN32" /FD /c
-# ADD CPP /nologo /vmb /vms /W3 /Gm /G5 /FD /c /Gy /GF /MD /Ob2 /Zm1000 /Og /Oi /Ot /Oy /D "_MT" /D "_MBCS" /D "NDEBUG" /D "_CONSOLE" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE" /D "WIN32"  /I "." /I "..\.." /I "..\..\src" /I "..\..\Glut" /I "..\..\Demos\OpenGL" /I "..\..\Extras\ConvexHull"
+# ADD CPP /nologo /vmb /vms /W3 /Gm /G5 /FD /c /Gy /GF /MD /Ob2 /Zm1000 /Og /Oi /Ot /Oy /D "_MT" /D "_MBCS" /D "NDEBUG" /D "_CONSOLE" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE" /D "WIN32"  /I "." /I "..\.." /I "..\..\src"
 # ADD BASE MTL /nologo /mktyplib203 /o "NUL" /win32
 # ADD MTL /nologo /mktyplib203 /o "NUL" /win32 /D "NDEBUG" /D "_CONSOLE" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE"
 # ADD BASE RSC /l 0x409
-# ADD RSC /l 0x409 /fo".\..\..\out\release6\build\appBenchmarks\appBenchmarks.res" /i "." /i "..\.." /i "..\..\src" /i "..\..\Glut" /i "..\..\Demos\OpenGL" /i "..\..\Extras\ConvexHull"
+# ADD RSC /l 0x409 /fo".\..\..\out\release6\build\appBenchmarks\appBenchmarks.res" /i "." /i "..\.." /i "..\..\src"
 BSC32=bscmake.exe
 # ADD BASE BSC32 /nologo
 # ADD BSC32 /nologo
@@ -60,7 +60,7 @@ LIB32=link.exe -lib
 # ADD LIB32 /nologo 
 LINK32=link.exe
 # ADD BASE LINK32 user32.lib gdi32.lib advapi32.lib /nologo /machine:I386
-# ADD LINK32 shell32.lib user32.lib gdi32.lib advapi32.lib glut32.lib  /nologo /version:4.0 /machine:I386 /OPT:NOREF /out:"..\..\Benchmarks.exe" /subsystem:console /libpath:"..\..\Glut" 
+# ADD LINK32 shell32.lib user32.lib gdi32.lib advapi32.lib   /nologo /version:4.0 /machine:I386 /OPT:NOREF /out:"..\..\Benchmarks.exe" /subsystem:console  
 
 !ELSEIF  "$(CFG)" == "appBenchmarks - Win32 ReleaseDll"
 
@@ -75,11 +75,11 @@ LINK32=link.exe
 # PROP Intermediate_Dir "..\..\out\release_dll6\build\appBenchmarks\"
 # PROP Target_Dir ""
 # ADD BASE CPP /nologo /vmb /vms /W3 /Gm /G5 /D "WIN32" /FD /c
-# ADD CPP /nologo /vmb /vms /W3 /Gm /G5 /FD /c  /D "_MT" /D "_MBCS" /D "NDEBUG" /D "_CONSOLE" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE" /D "WIN32"  /I "." /I "..\.." /I "..\..\src" /I "..\..\Glut" /I "..\..\Demos\OpenGL" /I "..\..\Extras\ConvexHull"
+# ADD CPP /nologo /vmb /vms /W3 /Gm /G5 /FD /c  /D "_MT" /D "_MBCS" /D "NDEBUG" /D "_CONSOLE" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE" /D "WIN32"  /I "." /I "..\.." /I "..\..\src"
 # ADD BASE MTL /nologo /mktyplib203 /o "NUL" /win32
 # ADD MTL /nologo /mktyplib203 /o "NUL" /win32 /D "NDEBUG" /D "_CONSOLE" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE"
 # ADD BASE RSC /l 0x409
-# ADD RSC /l 0x409 /fo".\..\..\out\release_dll6\build\appBenchmarks\appBenchmarks.res" /i "." /i "..\.." /i "..\..\src" /i "..\..\Glut" /i "..\..\Demos\OpenGL" /i "..\..\Extras\ConvexHull"
+# ADD RSC /l 0x409 /fo".\..\..\out\release_dll6\build\appBenchmarks\appBenchmarks.res" /i "." /i "..\.." /i "..\..\src"
 BSC32=bscmake.exe
 # ADD BASE BSC32 /nologo
 # ADD BSC32 /nologo
@@ -88,7 +88,7 @@ LIB32=link.exe -lib
 # ADD LIB32 /nologo 
 LINK32=link.exe
 # ADD BASE LINK32 user32.lib gdi32.lib advapi32.lib /nologo /machine:I386
-# ADD LINK32 shell32.lib user32.lib gdi32.lib advapi32.lib glut32.lib  /nologo /version:4.0 /machine:I386  /out:"..\..\Benchmarks.exe" /subsystem:console /libpath:"..\..\Glut" 
+# ADD LINK32 shell32.lib user32.lib gdi32.lib advapi32.lib   /nologo /version:4.0 /machine:I386  /out:"..\..\Benchmarks.exe" /subsystem:console  
 
 !ELSEIF  "$(CFG)" == "appBenchmarks - Win32 ReleaseDoublePrecision"
 
@@ -103,11 +103,11 @@ LINK32=link.exe
 # PROP Intermediate_Dir "..\..\out\release_dbl6\build\appBenchmarks\"
 # PROP Target_Dir ""
 # ADD BASE CPP /nologo /vmb /vms /W3 /Gm /G5 /D "WIN32" /FD /c
-# ADD CPP /nologo /vmb /vms /W3 /Gm /G5 /FD /c  /D "_MT" /D "_MBCS" /D "NDEBUG" /D "BT_USE_DOUBLE_PRECISION" /D "_CONSOLE" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE" /D "WIN32"  /I "." /I "..\.." /I "..\..\src" /I "..\..\Glut" /I "..\..\Demos\OpenGL" /I "..\..\Extras\ConvexHull"
+# ADD CPP /nologo /vmb /vms /W3 /Gm /G5 /FD /c  /D "_MT" /D "_MBCS" /D "NDEBUG" /D "BT_USE_DOUBLE_PRECISION" /D "_CONSOLE" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE" /D "WIN32"  /I "." /I "..\.." /I "..\..\src"
 # ADD BASE MTL /nologo /mktyplib203 /o "NUL" /win32
 # ADD MTL /nologo /mktyplib203 /o "NUL" /win32 /D "NDEBUG" /D "BT_USE_DOUBLE_PRECISION" /D "_CONSOLE" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE"
 # ADD BASE RSC /l 0x409
-# ADD RSC /l 0x409 /fo".\..\..\out\release_dbl6\build\appBenchmarks\appBenchmarks.res" /i "." /i "..\.." /i "..\..\src" /i "..\..\Glut" /i "..\..\Demos\OpenGL" /i "..\..\Extras\ConvexHull"
+# ADD RSC /l 0x409 /fo".\..\..\out\release_dbl6\build\appBenchmarks\appBenchmarks.res" /i "." /i "..\.." /i "..\..\src"
 BSC32=bscmake.exe
 # ADD BASE BSC32 /nologo
 # ADD BSC32 /nologo
@@ -116,7 +116,7 @@ LIB32=link.exe -lib
 # ADD LIB32 /nologo 
 LINK32=link.exe
 # ADD BASE LINK32 user32.lib gdi32.lib advapi32.lib /nologo /machine:I386
-# ADD LINK32 shell32.lib user32.lib gdi32.lib advapi32.lib glut32.lib  /nologo /version:4.0 /machine:I386  /out:"..\..\Benchmarks.exe" /subsystem:console /libpath:"..\..\Glut" 
+# ADD LINK32 shell32.lib user32.lib gdi32.lib advapi32.lib   /nologo /version:4.0 /machine:I386  /out:"..\..\Benchmarks.exe" /subsystem:console  
 
 !ELSEIF  "$(CFG)" == "appBenchmarks - Win32 Debug"
 
@@ -132,11 +132,11 @@ LINK32=link.exe
 # PROP Ignore_Export_Lib 1
 # PROP Target_Dir ""
 # ADD BASE CPP /nologo /vmb /vms /W3 /Gm /G5 /D "WIN32" /FD /c
-# ADD CPP /nologo /vmb /vms /W3 /Gm /G5 /FD /c /GR /MDd /Zm1000 /ZI /Od /D "_MT" /D "_MBCS" /D "_DEBUG" /D "_CONSOLE" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE" /D "WIN32"  /I "." /I "..\.." /I "..\..\src" /I "..\..\Glut" /I "..\..\Demos\OpenGL" /I "..\..\Extras\ConvexHull"
+# ADD CPP /nologo /vmb /vms /W3 /Gm /G5 /FD /c /GR /MDd /Zm1000 /ZI /Od /D "_MT" /D "_MBCS" /D "_DEBUG" /D "_CONSOLE" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE" /D "WIN32"  /I "." /I "..\.." /I "..\..\src"
 # ADD BASE MTL /nologo /mktyplib203 /o "NUL" /win32
 # ADD MTL /nologo /mktyplib203 /o "NUL" /win32 /D "_DEBUG" /D "_CONSOLE" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE"
 # ADD BASE RSC /l 0x409
-# ADD RSC /l 0x409 /fo".\..\..\out\debug6\build\appBenchmarks\appBenchmarks.res" /i "." /i "..\.." /i "..\..\src" /i "..\..\Glut" /i "..\..\Demos\OpenGL" /i "..\..\Extras\ConvexHull"
+# ADD RSC /l 0x409 /fo".\..\..\out\debug6\build\appBenchmarks\appBenchmarks.res" /i "." /i "..\.." /i "..\..\src"
 BSC32=bscmake.exe
 # ADD BASE BSC32 /nologo
 # ADD BSC32 /nologo
@@ -145,7 +145,7 @@ LIB32=link.exe -lib
 # ADD LIB32 /nologo 
 LINK32=link.exe
 # ADD BASE LINK32 user32.lib gdi32.lib advapi32.lib /nologo /machine:I386
-# ADD LINK32 shell32.lib user32.lib gdi32.lib advapi32.lib glut32.lib  /nologo /version:4.0 /machine:I386 /debug /pdbtype:sept /out:"..\..\Benchmarks.exe" /subsystem:console /libpath:"..\..\Glut" 
+# ADD LINK32 shell32.lib user32.lib gdi32.lib advapi32.lib   /nologo /version:4.0 /machine:I386 /debug /pdbtype:sept /out:"..\..\Benchmarks.exe" /subsystem:console  
 
 !ELSEIF  "$(CFG)" == "appBenchmarks - Win32 DebugDll"
 
@@ -160,11 +160,11 @@ LINK32=link.exe
 # PROP Intermediate_Dir "..\..\out\debug_dll6\build\appBenchmarks\"
 # PROP Target_Dir ""
 # ADD BASE CPP /nologo /vmb /vms /W3 /Gm /G5 /D "WIN32" /FD /c
-# ADD CPP /nologo /vmb /vms /W3 /Gm /G5 /FD /c  /D "_MT" /D "_MBCS" /D "_DEBUG" /D "_CONSOLE" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE" /D "WIN32"  /I "." /I "..\.." /I "..\..\src" /I "..\..\Glut" /I "..\..\Demos\OpenGL" /I "..\..\Extras\ConvexHull"
+# ADD CPP /nologo /vmb /vms /W3 /Gm /G5 /FD /c  /D "_MT" /D "_MBCS" /D "_DEBUG" /D "_CONSOLE" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE" /D "WIN32"  /I "." /I "..\.." /I "..\..\src"
 # ADD BASE MTL /nologo /mktyplib203 /o "NUL" /win32
 # ADD MTL /nologo /mktyplib203 /o "NUL" /win32 /D "_DEBUG" /D "_CONSOLE" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE"
 # ADD BASE RSC /l 0x409
-# ADD RSC /l 0x409 /fo".\..\..\out\debug_dll6\build\appBenchmarks\appBenchmarks.res" /i "." /i "..\.." /i "..\..\src" /i "..\..\Glut" /i "..\..\Demos\OpenGL" /i "..\..\Extras\ConvexHull"
+# ADD RSC /l 0x409 /fo".\..\..\out\debug_dll6\build\appBenchmarks\appBenchmarks.res" /i "." /i "..\.." /i "..\..\src"
 BSC32=bscmake.exe
 # ADD BASE BSC32 /nologo
 # ADD BSC32 /nologo
@@ -173,7 +173,7 @@ LIB32=link.exe -lib
 # ADD LIB32 /nologo 
 LINK32=link.exe
 # ADD BASE LINK32 user32.lib gdi32.lib advapi32.lib /nologo /machine:I386
-# ADD LINK32 shell32.lib user32.lib gdi32.lib advapi32.lib glut32.lib  /nologo /version:4.0 /machine:I386  /out:"..\..\Benchmarks.exe" /subsystem:console /libpath:"..\..\Glut" 
+# ADD LINK32 shell32.lib user32.lib gdi32.lib advapi32.lib   /nologo /version:4.0 /machine:I386  /out:"..\..\Benchmarks.exe" /subsystem:console  
 
 !ELSEIF  "$(CFG)" == "appBenchmarks - Win32 DebugDoublePrecision"
 
@@ -188,11 +188,11 @@ LINK32=link.exe
 # PROP Intermediate_Dir "..\..\out\debug_dbl6\build\appBenchmarks\"
 # PROP Target_Dir ""
 # ADD BASE CPP /nologo /vmb /vms /W3 /Gm /G5 /D "WIN32" /FD /c
-# ADD CPP /nologo /vmb /vms /W3 /Gm /G5 /FD /c  /D "_MT" /D "_MBCS" /D "_DEBUG" /D "BT_USE_DOUBLE_PRECISION" /D "_CONSOLE" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE" /D "WIN32"  /I "." /I "..\.." /I "..\..\src" /I "..\..\Glut" /I "..\..\Demos\OpenGL" /I "..\..\Extras\ConvexHull"
+# ADD CPP /nologo /vmb /vms /W3 /Gm /G5 /FD /c  /D "_MT" /D "_MBCS" /D "_DEBUG" /D "BT_USE_DOUBLE_PRECISION" /D "_CONSOLE" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE" /D "WIN32"  /I "." /I "..\.." /I "..\..\src"
 # ADD BASE MTL /nologo /mktyplib203 /o "NUL" /win32
 # ADD MTL /nologo /mktyplib203 /o "NUL" /win32 /D "_DEBUG" /D "BT_USE_DOUBLE_PRECISION" /D "_CONSOLE" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE"
 # ADD BASE RSC /l 0x409
-# ADD RSC /l 0x409 /fo".\..\..\out\debug_dbl6\build\appBenchmarks\appBenchmarks.res" /i "." /i "..\.." /i "..\..\src" /i "..\..\Glut" /i "..\..\Demos\OpenGL" /i "..\..\Extras\ConvexHull"
+# ADD RSC /l 0x409 /fo".\..\..\out\debug_dbl6\build\appBenchmarks\appBenchmarks.res" /i "." /i "..\.." /i "..\..\src"
 BSC32=bscmake.exe
 # ADD BASE BSC32 /nologo
 # ADD BSC32 /nologo
@@ -201,7 +201,7 @@ LIB32=link.exe -lib
 # ADD LIB32 /nologo 
 LINK32=link.exe
 # ADD BASE LINK32 user32.lib gdi32.lib advapi32.lib /nologo /machine:I386
-# ADD LINK32 shell32.lib user32.lib gdi32.lib advapi32.lib glut32.lib  /nologo /version:4.0 /machine:I386  /out:"..\..\Benchmarks.exe" /subsystem:console /libpath:"..\..\Glut" 
+# ADD LINK32 shell32.lib user32.lib gdi32.lib advapi32.lib   /nologo /version:4.0 /machine:I386  /out:"..\..\Benchmarks.exe" /subsystem:console  
 
 !ENDIF 
 

msvc/6/wksbullet.dsw

@@ -80,9 +80,6 @@ Package=<4>
     Begin Project Dependency
     Project_Dep_Name libbulletmath
     End Project Dependency
-    Begin Project Dependency
-    Project_Dep_Name libbulletopenglsupport
-    End Project Dependency
 }}}
 
 ###############################################################################

msvc/7/appAllBulletDemos.vcproj

@@ -449,9 +449,6 @@
 			<File
 				RelativePath="..\..\Demos\AllBulletDemos\..\BasicDemo\BasicDemo.cpp">
 			</File>
-			<File
-				RelativePath="..\..\Demos\AllBulletDemos\..\Benchmarks\BenchmarkDemo.cpp">
-			</File>
 			<File
 				RelativePath="..\..\Demos\AllBulletDemos\..\BspDemo\BspConverter.cpp">
 			</File>

msvc/7/appBenchmarks.vcproj

@@ -35,7 +35,7 @@
 				OptimizeForProcessor="1"
 				ExceptionHandling="0"
 				AdditionalOptions=" "
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				PrecompiledHeaderFile="..\..\out\release7\build\appBenchmarks\appBenchmarks.pch"
 				AssemblerListingLocation="..\..\out\release7\build\appBenchmarks\"
 				ObjectFile="..\..\out\release7\build\appBenchmarks\"
@@ -57,11 +57,11 @@
 				OutputFile="..\..\ReleaseBenchmarks.exe"
 				SubSystem="1"
 				AdditionalOptions=" "
-				AdditionalDependencies="glut32.lib"
+				AdditionalDependencies=""
 				IgnoreImportLibrary="TRUE"
 				SuppressStartupBanner="TRUE"
 				GenerateManifest="false"
-				AdditionalLibraryDirectories="..\..\Glut"
+				AdditionalLibraryDirectories=""
 				ProgramDatabaseFile="..\..\out\release7\build\appBenchmarks\Benchmarks.pdb"
 				TargetMachine="1"/>
 			<Tool
@@ -83,7 +83,7 @@
 			<Tool
 				Name="VCResourceCompilerTool"
 				PreprocessorDefinitions="NDEBUG;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE;PROJECTGEN_VERSION=7"
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				Culture="1033"/>
 			<Tool
 				Name="VCWebServiceProxyGeneratorTool"/>
@@ -111,7 +111,7 @@
 				OptimizeForProcessor="1"
 				ExceptionHandling="0"
 				AdditionalOptions=" "
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				PrecompiledHeaderFile="..\..\out\release_dll7\build\appBenchmarks\appBenchmarks.pch"
 				AssemblerListingLocation="..\..\out\release_dll7\build\appBenchmarks\"
 				ObjectFile="..\..\out\release_dll7\build\appBenchmarks\"
@@ -128,11 +128,11 @@
                                 OutputFile="..\..\ReleaseDllBenchmarks.exe"
                                 SubSystem="1"
 				AdditionalOptions=" "
-				AdditionalDependencies="glut32.lib"
+				AdditionalDependencies=""
 				IgnoreImportLibrary="TRUE"
 				SuppressStartupBanner="TRUE"
 				GenerateManifest="false"
-				AdditionalLibraryDirectories="..\..\Glut"
+				AdditionalLibraryDirectories=""
 				ProgramDatabaseFile="..\..\out\release_dll7\build\appBenchmarks\Benchmarks.pdb"
 				TargetMachine="1"/>
 			<Tool
@@ -154,7 +154,7 @@
 			<Tool
 				Name="VCResourceCompilerTool"
 				PreprocessorDefinitions="NDEBUG;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE;PROJECTGEN_VERSION=7"
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				Culture="1033"/>
 			<Tool
 				Name="VCWebServiceProxyGeneratorTool"/>
@@ -175,7 +175,7 @@
 				OptimizeForProcessor="1"
 				ExceptionHandling="0"
 				AdditionalOptions=" "
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				PrecompiledHeaderFile="..\..\out\release_dbl7\build\appBenchmarks\appBenchmarks.pch"
 				AssemblerListingLocation="..\..\out\release_dbl7\build\appBenchmarks\"
 				ObjectFile="..\..\out\release_dbl7\build\appBenchmarks\"
@@ -192,11 +192,11 @@
                                 OutputFile="..\..\ReleaseDblBenchmarks.exe"
                                 SubSystem="1"
 				AdditionalOptions=" "
-				AdditionalDependencies="glut32.lib"
+				AdditionalDependencies=""
 				IgnoreImportLibrary="TRUE"
 				SuppressStartupBanner="TRUE"
 				GenerateManifest="false"
-				AdditionalLibraryDirectories="..\..\Glut"
+				AdditionalLibraryDirectories=""
 				ProgramDatabaseFile="..\..\out\release_dbl7\build\appBenchmarks\Benchmarks.pdb"
 				TargetMachine="1"/>
 			<Tool
@@ -218,7 +218,7 @@
 			<Tool
 				Name="VCResourceCompilerTool"
 				PreprocessorDefinitions="NDEBUG;BT_USE_DOUBLE_PRECISION;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE;PROJECTGEN_VERSION=7"
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				Culture="1033"/>
 			<Tool
 				Name="VCWebServiceProxyGeneratorTool"/>
@@ -244,7 +244,7 @@
 				OptimizeForProcessor="1"
 				ExceptionHandling="0"
 				AdditionalOptions=" "
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				PrecompiledHeaderFile="..\..\out\debug7\build\appBenchmarks\appBenchmarks.pch"
 				AssemblerListingLocation="..\..\out\debug7\build\appBenchmarks\"
 				ObjectFile="..\..\out\debug7\build\appBenchmarks\"
@@ -264,11 +264,11 @@
 				OutputFile="..\..\DebugBenchmarks.exe"
 				SubSystem="1"
 				AdditionalOptions=" "
-				AdditionalDependencies="glut32.lib"
+				AdditionalDependencies=""
 				IgnoreImportLibrary="TRUE"
 				SuppressStartupBanner="TRUE"
 				GenerateManifest="false"
-				AdditionalLibraryDirectories="..\..\Glut"
+				AdditionalLibraryDirectories=""
 				ProgramDatabaseFile="..\..\out\debug7\build\appBenchmarks\Benchmarks.pdb"
 				TargetMachine="1"/>
 			<Tool
@@ -290,7 +290,7 @@
 			<Tool
 				Name="VCResourceCompilerTool"
 				PreprocessorDefinitions="_DEBUG;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE;PROJECTGEN_VERSION=7"
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				Culture="1033"/>
 			<Tool
 				Name="VCWebServiceProxyGeneratorTool"/>
@@ -316,7 +316,7 @@
 				OptimizeForProcessor="1"
 				ExceptionHandling="0"
 				AdditionalOptions=" "
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				PrecompiledHeaderFile="..\..\out\debug_dll7\build\appBenchmarks\appBenchmarks.pch"
 				AssemblerListingLocation="..\..\out\debug_dll7\build\appBenchmarks\"
 				ObjectFile="..\..\out\debug_dll7\build\appBenchmarks\"
@@ -336,11 +336,11 @@
                                 OutputFile="..\..\DebugDllBenchmarks.exe"
                                 SubSystem="1"
 				AdditionalOptions=" "
-				AdditionalDependencies="glut32.lib"
+				AdditionalDependencies=""
 				IgnoreImportLibrary="TRUE"
 				SuppressStartupBanner="TRUE"
 				GenerateManifest="false"
-				AdditionalLibraryDirectories="..\..\Glut"
+				AdditionalLibraryDirectories=""
 				ProgramDatabaseFile="..\..\out\debug_dll7\build\appBenchmarks\Benchmarks.pdb"
 				TargetMachine="1"/>
 			<Tool
@@ -362,7 +362,7 @@
 			<Tool
 				Name="VCResourceCompilerTool"
 				PreprocessorDefinitions="_DEBUG;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE;PROJECTGEN_VERSION=7"
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				Culture="1033"/>
 			<Tool
 				Name="VCWebServiceProxyGeneratorTool"/>
@@ -388,7 +388,7 @@
 				OptimizeForProcessor="1"
 				ExceptionHandling="0"
 				AdditionalOptions=" "
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				PrecompiledHeaderFile="..\..\out\debug_dbl7\build\appBenchmarks\appBenchmarks.pch"
 				AssemblerListingLocation="..\..\out\debug_dbl7\build\appBenchmarks\"
 				ObjectFile="..\..\out\debug_dbl7\build\appBenchmarks\"
@@ -408,11 +408,11 @@
                                 OutputFile="..\..\DebugDblBenchmarks.exe"
                                 SubSystem="1"
 				AdditionalOptions=" "
-				AdditionalDependencies="glut32.lib"
+				AdditionalDependencies=""
 				IgnoreImportLibrary="TRUE"
 				SuppressStartupBanner="TRUE"
 				GenerateManifest="false"
-				AdditionalLibraryDirectories="..\..\Glut"
+				AdditionalLibraryDirectories=""
 				ProgramDatabaseFile="..\..\out\debug_dbl7\build\appBenchmarks\Benchmarks.pdb"
 				TargetMachine="1"/>
 			<Tool
@@ -434,7 +434,7 @@
 			<Tool
 				Name="VCResourceCompilerTool"
 				PreprocessorDefinitions="_DEBUG;BT_USE_DOUBLE_PRECISION;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE;PROJECTGEN_VERSION=7"
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				Culture="1033"/>
 			<Tool
 				Name="VCWebServiceProxyGeneratorTool"/>

msvc/7/wksbullet.sln

@@ -133,7 +133,6 @@ Global
 		{67034B5D-16DD-DC97-82F6-23B9E6108940}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
 		{67034B5D-16DD-DC97-82F6-23B9E6108940}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
 		{67034B5D-16DD-DC97-82F6-23B9E6108940}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{67034B5D-16DD-DC97-82F6-23B9E6108940}.3 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
 		{66BD9781-9018-C022-6C33-D56FB76BB7E0}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
 		{66BD9781-9018-C022-6C33-D56FB76BB7E0}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
 		{66BD9781-9018-C022-6C33-D56FB76BB7E0}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}

msvc/71/appAllBulletDemos.vcproj

@@ -449,9 +449,6 @@
 			<File
 				RelativePath="..\..\Demos\AllBulletDemos\..\BasicDemo\BasicDemo.cpp">
 			</File>
-			<File
-				RelativePath="..\..\Demos\AllBulletDemos\..\Benchmarks\BenchmarkDemo.cpp">
-			</File>
 			<File
 				RelativePath="..\..\Demos\AllBulletDemos\..\BspDemo\BspConverter.cpp">
 			</File>

msvc/71/appBenchmarks.vcproj

@@ -35,7 +35,7 @@
 				OptimizeForProcessor="1"
 				ExceptionHandling="0"
 				AdditionalOptions=" "
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				PrecompiledHeaderFile="..\..\out\release71\build\appBenchmarks\appBenchmarks.pch"
 				AssemblerListingLocation="..\..\out\release71\build\appBenchmarks\"
 				ObjectFile="..\..\out\release71\build\appBenchmarks\"
@@ -57,11 +57,11 @@
 				OutputFile="..\..\ReleaseBenchmarks.exe"
 				SubSystem="1"
 				AdditionalOptions=" "
-				AdditionalDependencies="glut32.lib"
+				AdditionalDependencies=""
 				IgnoreImportLibrary="TRUE"
 				SuppressStartupBanner="TRUE"
 				GenerateManifest="false"
-				AdditionalLibraryDirectories="..\..\Glut"
+				AdditionalLibraryDirectories=""
 				ProgramDatabaseFile="..\..\out\release71\build\appBenchmarks\Benchmarks.pdb"
 				TargetMachine="1"/>
 			<Tool
@@ -83,7 +83,7 @@
 			<Tool
 				Name="VCResourceCompilerTool"
 				PreprocessorDefinitions="NDEBUG;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE;PROJECTGEN_VERSION=71"
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				Culture="1033"/>
 			<Tool
 				Name="VCWebServiceProxyGeneratorTool"/>
@@ -111,7 +111,7 @@
 				OptimizeForProcessor="1"
 				ExceptionHandling="0"
 				AdditionalOptions=" "
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				PrecompiledHeaderFile="..\..\out\release_dll71\build\appBenchmarks\appBenchmarks.pch"
 				AssemblerListingLocation="..\..\out\release_dll71\build\appBenchmarks\"
 				ObjectFile="..\..\out\release_dll71\build\appBenchmarks\"
@@ -128,11 +128,11 @@
                                 OutputFile="..\..\ReleaseDllBenchmarks.exe"
                                 SubSystem="1"
 				AdditionalOptions=" "
-				AdditionalDependencies="glut32.lib"
+				AdditionalDependencies=""
 				IgnoreImportLibrary="TRUE"
 				SuppressStartupBanner="TRUE"
 				GenerateManifest="false"
-				AdditionalLibraryDirectories="..\..\Glut"
+				AdditionalLibraryDirectories=""
 				ProgramDatabaseFile="..\..\out\release_dll71\build\appBenchmarks\Benchmarks.pdb"
 				TargetMachine="1"/>
 			<Tool
@@ -154,7 +154,7 @@
 			<Tool
 				Name="VCResourceCompilerTool"
 				PreprocessorDefinitions="NDEBUG;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE;PROJECTGEN_VERSION=71"
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				Culture="1033"/>
 			<Tool
 				Name="VCWebServiceProxyGeneratorTool"/>
@@ -175,7 +175,7 @@
 				OptimizeForProcessor="1"
 				ExceptionHandling="0"
 				AdditionalOptions=" "
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				PrecompiledHeaderFile="..\..\out\release_dbl71\build\appBenchmarks\appBenchmarks.pch"
 				AssemblerListingLocation="..\..\out\release_dbl71\build\appBenchmarks\"
 				ObjectFile="..\..\out\release_dbl71\build\appBenchmarks\"
@@ -192,11 +192,11 @@
                                 OutputFile="..\..\ReleaseDblBenchmarks.exe"
                                 SubSystem="1"
 				AdditionalOptions=" "
-				AdditionalDependencies="glut32.lib"
+				AdditionalDependencies=""
 				IgnoreImportLibrary="TRUE"
 				SuppressStartupBanner="TRUE"
 				GenerateManifest="false"
-				AdditionalLibraryDirectories="..\..\Glut"
+				AdditionalLibraryDirectories=""
 				ProgramDatabaseFile="..\..\out\release_dbl71\build\appBenchmarks\Benchmarks.pdb"
 				TargetMachine="1"/>
 			<Tool
@@ -218,7 +218,7 @@
 			<Tool
 				Name="VCResourceCompilerTool"
 				PreprocessorDefinitions="NDEBUG;BT_USE_DOUBLE_PRECISION;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE;PROJECTGEN_VERSION=71"
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				Culture="1033"/>
 			<Tool
 				Name="VCWebServiceProxyGeneratorTool"/>
@@ -244,7 +244,7 @@
 				OptimizeForProcessor="1"
 				ExceptionHandling="0"
 				AdditionalOptions=" "
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				PrecompiledHeaderFile="..\..\out\debug71\build\appBenchmarks\appBenchmarks.pch"
 				AssemblerListingLocation="..\..\out\debug71\build\appBenchmarks\"
 				ObjectFile="..\..\out\debug71\build\appBenchmarks\"
@@ -264,11 +264,11 @@
 				OutputFile="..\..\DebugBenchmarks.exe"
 				SubSystem="1"
 				AdditionalOptions=" "
-				AdditionalDependencies="glut32.lib"
+				AdditionalDependencies=""
 				IgnoreImportLibrary="TRUE"
 				SuppressStartupBanner="TRUE"
 				GenerateManifest="false"
-				AdditionalLibraryDirectories="..\..\Glut"
+				AdditionalLibraryDirectories=""
 				ProgramDatabaseFile="..\..\out\debug71\build\appBenchmarks\Benchmarks.pdb"
 				TargetMachine="1"/>
 			<Tool
@@ -290,7 +290,7 @@
 			<Tool
 				Name="VCResourceCompilerTool"
 				PreprocessorDefinitions="_DEBUG;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE;PROJECTGEN_VERSION=71"
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				Culture="1033"/>
 			<Tool
 				Name="VCWebServiceProxyGeneratorTool"/>
@@ -316,7 +316,7 @@
 				OptimizeForProcessor="1"
 				ExceptionHandling="0"
 				AdditionalOptions=" "
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				PrecompiledHeaderFile="..\..\out\debug_dll71\build\appBenchmarks\appBenchmarks.pch"
 				AssemblerListingLocation="..\..\out\debug_dll71\build\appBenchmarks\"
 				ObjectFile="..\..\out\debug_dll71\build\appBenchmarks\"
@@ -336,11 +336,11 @@
                                 OutputFile="..\..\DebugDllBenchmarks.exe"
                                 SubSystem="1"
 				AdditionalOptions=" "
-				AdditionalDependencies="glut32.lib"
+				AdditionalDependencies=""
 				IgnoreImportLibrary="TRUE"
 				SuppressStartupBanner="TRUE"
 				GenerateManifest="false"
-				AdditionalLibraryDirectories="..\..\Glut"
+				AdditionalLibraryDirectories=""
 				ProgramDatabaseFile="..\..\out\debug_dll71\build\appBenchmarks\Benchmarks.pdb"
 				TargetMachine="1"/>
 			<Tool
@@ -362,7 +362,7 @@
 			<Tool
 				Name="VCResourceCompilerTool"
 				PreprocessorDefinitions="_DEBUG;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE;PROJECTGEN_VERSION=71"
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				Culture="1033"/>
 			<Tool
 				Name="VCWebServiceProxyGeneratorTool"/>
@@ -388,7 +388,7 @@
 				OptimizeForProcessor="1"
 				ExceptionHandling="0"
 				AdditionalOptions=" "
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				PrecompiledHeaderFile="..\..\out\debug_dbl71\build\appBenchmarks\appBenchmarks.pch"
 				AssemblerListingLocation="..\..\out\debug_dbl71\build\appBenchmarks\"
 				ObjectFile="..\..\out\debug_dbl71\build\appBenchmarks\"
@@ -408,11 +408,11 @@
                                 OutputFile="..\..\DebugDblBenchmarks.exe"
                                 SubSystem="1"
 				AdditionalOptions=" "
-				AdditionalDependencies="glut32.lib"
+				AdditionalDependencies=""
 				IgnoreImportLibrary="TRUE"
 				SuppressStartupBanner="TRUE"
 				GenerateManifest="false"
-				AdditionalLibraryDirectories="..\..\Glut"
+				AdditionalLibraryDirectories=""
 				ProgramDatabaseFile="..\..\out\debug_dbl71\build\appBenchmarks\Benchmarks.pdb"
 				TargetMachine="1"/>
 			<Tool
@@ -434,7 +434,7 @@
 			<Tool
 				Name="VCResourceCompilerTool"
 				PreprocessorDefinitions="_DEBUG;BT_USE_DOUBLE_PRECISION;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE;PROJECTGEN_VERSION=71"
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				Culture="1033"/>
 			<Tool
 				Name="VCWebServiceProxyGeneratorTool"/>

msvc/71/wksbullet.sln

@@ -133,7 +133,6 @@ Global
 		{67034B5D-16DD-DC97-82F6-23B9E6108940}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
 		{67034B5D-16DD-DC97-82F6-23B9E6108940}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
 		{67034B5D-16DD-DC97-82F6-23B9E6108940}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{67034B5D-16DD-DC97-82F6-23B9E6108940}.3 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
 		{66BD9781-9018-C022-6C33-D56FB76BB7E0}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
 		{66BD9781-9018-C022-6C33-D56FB76BB7E0}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
 		{66BD9781-9018-C022-6C33-D56FB76BB7E0}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}

msvc/8/appAllBulletDemos.vcproj

@@ -449,9 +449,6 @@
 			<File
 				RelativePath="..\..\Demos\AllBulletDemos\..\BasicDemo\BasicDemo.cpp">
 			</File>
-			<File
-				RelativePath="..\..\Demos\AllBulletDemos\..\Benchmarks\BenchmarkDemo.cpp">
-			</File>
 			<File
 				RelativePath="..\..\Demos\AllBulletDemos\..\BspDemo\BspConverter.cpp">
 			</File>

msvc/8/appBenchmarks.vcproj

@@ -35,7 +35,7 @@
 				OptimizeForProcessor="1"
 				ExceptionHandling="0"
 				AdditionalOptions=" "
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				PrecompiledHeaderFile="..\..\out\release8\build\appBenchmarks\appBenchmarks.pch"
 				AssemblerListingLocation="..\..\out\release8\build\appBenchmarks\"
 				ObjectFile="..\..\out\release8\build\appBenchmarks\"
@@ -57,11 +57,11 @@
 				OutputFile="..\..\ReleaseBenchmarks.exe"
 				SubSystem="1"
 				AdditionalOptions=" "
-				AdditionalDependencies="glut32.lib"
+				AdditionalDependencies=""
 				IgnoreImportLibrary="TRUE"
 				SuppressStartupBanner="TRUE"
 				GenerateManifest="false"
-				AdditionalLibraryDirectories="..\..\Glut"
+				AdditionalLibraryDirectories=""
 				ProgramDatabaseFile="..\..\out\release8\build\appBenchmarks\Benchmarks.pdb"
 				TargetMachine="1"/>
 			<Tool
@@ -83,7 +83,7 @@
 			<Tool
 				Name="VCResourceCompilerTool"
 				PreprocessorDefinitions="NDEBUG;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE;PROJECTGEN_VERSION=8"
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				Culture="1033"/>
 			<Tool
 				Name="VCWebServiceProxyGeneratorTool"/>
@@ -111,7 +111,7 @@
 				OptimizeForProcessor="1"
 				ExceptionHandling="0"
 				AdditionalOptions=" "
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				PrecompiledHeaderFile="..\..\out\release_dll8\build\appBenchmarks\appBenchmarks.pch"
 				AssemblerListingLocation="..\..\out\release_dll8\build\appBenchmarks\"
 				ObjectFile="..\..\out\release_dll8\build\appBenchmarks\"
@@ -128,11 +128,11 @@
                                 OutputFile="..\..\ReleaseDllBenchmarks.exe"
                                 SubSystem="1"
 				AdditionalOptions=" "
-				AdditionalDependencies="glut32.lib"
+				AdditionalDependencies=""
 				IgnoreImportLibrary="TRUE"
 				SuppressStartupBanner="TRUE"
 				GenerateManifest="false"
-				AdditionalLibraryDirectories="..\..\Glut"
+				AdditionalLibraryDirectories=""
 				ProgramDatabaseFile="..\..\out\release_dll8\build\appBenchmarks\Benchmarks.pdb"
 				TargetMachine="1"/>
 			<Tool
@@ -154,7 +154,7 @@
 			<Tool
 				Name="VCResourceCompilerTool"
 				PreprocessorDefinitions="NDEBUG;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE;PROJECTGEN_VERSION=8"
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				Culture="1033"/>
 			<Tool
 				Name="VCWebServiceProxyGeneratorTool"/>
@@ -175,7 +175,7 @@
 				OptimizeForProcessor="1"
 				ExceptionHandling="0"
 				AdditionalOptions=" "
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				PrecompiledHeaderFile="..\..\out\release_dbl8\build\appBenchmarks\appBenchmarks.pch"
 				AssemblerListingLocation="..\..\out\release_dbl8\build\appBenchmarks\"
 				ObjectFile="..\..\out\release_dbl8\build\appBenchmarks\"
@@ -192,11 +192,11 @@
                                 OutputFile="..\..\ReleaseDblBenchmarks.exe"
                                 SubSystem="1"
 				AdditionalOptions=" "
-				AdditionalDependencies="glut32.lib"
+				AdditionalDependencies=""
 				IgnoreImportLibrary="TRUE"
 				SuppressStartupBanner="TRUE"
 				GenerateManifest="false"
-				AdditionalLibraryDirectories="..\..\Glut"
+				AdditionalLibraryDirectories=""
 				ProgramDatabaseFile="..\..\out\release_dbl8\build\appBenchmarks\Benchmarks.pdb"
 				TargetMachine="1"/>
 			<Tool
@@ -218,7 +218,7 @@
 			<Tool
 				Name="VCResourceCompilerTool"
 				PreprocessorDefinitions="NDEBUG;BT_USE_DOUBLE_PRECISION;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE;PROJECTGEN_VERSION=8"
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				Culture="1033"/>
 			<Tool
 				Name="VCWebServiceProxyGeneratorTool"/>
@@ -244,7 +244,7 @@
 				OptimizeForProcessor="1"
 				ExceptionHandling="0"
 				AdditionalOptions=" "
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				PrecompiledHeaderFile="..\..\out\debug8\build\appBenchmarks\appBenchmarks.pch"
 				AssemblerListingLocation="..\..\out\debug8\build\appBenchmarks\"
 				ObjectFile="..\..\out\debug8\build\appBenchmarks\"
@@ -264,11 +264,11 @@
 				OutputFile="..\..\DebugBenchmarks.exe"
 				SubSystem="1"
 				AdditionalOptions=" "
-				AdditionalDependencies="glut32.lib"
+				AdditionalDependencies=""
 				IgnoreImportLibrary="TRUE"
 				SuppressStartupBanner="TRUE"
 				GenerateManifest="false"
-				AdditionalLibraryDirectories="..\..\Glut"
+				AdditionalLibraryDirectories=""
 				ProgramDatabaseFile="..\..\out\debug8\build\appBenchmarks\Benchmarks.pdb"
 				TargetMachine="1"/>
 			<Tool
@@ -290,7 +290,7 @@
 			<Tool
 				Name="VCResourceCompilerTool"
 				PreprocessorDefinitions="_DEBUG;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE;PROJECTGEN_VERSION=8"
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				Culture="1033"/>
 			<Tool
 				Name="VCWebServiceProxyGeneratorTool"/>
@@ -316,7 +316,7 @@
 				OptimizeForProcessor="1"
 				ExceptionHandling="0"
 				AdditionalOptions=" "
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				PrecompiledHeaderFile="..\..\out\debug_dll8\build\appBenchmarks\appBenchmarks.pch"
 				AssemblerListingLocation="..\..\out\debug_dll8\build\appBenchmarks\"
 				ObjectFile="..\..\out\debug_dll8\build\appBenchmarks\"
@@ -336,11 +336,11 @@
                                 OutputFile="..\..\DebugDllBenchmarks.exe"
                                 SubSystem="1"
 				AdditionalOptions=" "
-				AdditionalDependencies="glut32.lib"
+				AdditionalDependencies=""
 				IgnoreImportLibrary="TRUE"
 				SuppressStartupBanner="TRUE"
 				GenerateManifest="false"
-				AdditionalLibraryDirectories="..\..\Glut"
+				AdditionalLibraryDirectories=""
 				ProgramDatabaseFile="..\..\out\debug_dll8\build\appBenchmarks\Benchmarks.pdb"
 				TargetMachine="1"/>
 			<Tool
@@ -362,7 +362,7 @@
 			<Tool
 				Name="VCResourceCompilerTool"
 				PreprocessorDefinitions="_DEBUG;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE;PROJECTGEN_VERSION=8"
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				Culture="1033"/>
 			<Tool
 				Name="VCWebServiceProxyGeneratorTool"/>
@@ -388,7 +388,7 @@
 				OptimizeForProcessor="1"
 				ExceptionHandling="0"
 				AdditionalOptions=" "
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				PrecompiledHeaderFile="..\..\out\debug_dbl8\build\appBenchmarks\appBenchmarks.pch"
 				AssemblerListingLocation="..\..\out\debug_dbl8\build\appBenchmarks\"
 				ObjectFile="..\..\out\debug_dbl8\build\appBenchmarks\"
@@ -408,11 +408,11 @@
                                 OutputFile="..\..\DebugDblBenchmarks.exe"
                                 SubSystem="1"
 				AdditionalOptions=" "
-				AdditionalDependencies="glut32.lib"
+				AdditionalDependencies=""
 				IgnoreImportLibrary="TRUE"
 				SuppressStartupBanner="TRUE"
 				GenerateManifest="false"
-				AdditionalLibraryDirectories="..\..\Glut"
+				AdditionalLibraryDirectories=""
 				ProgramDatabaseFile="..\..\out\debug_dbl8\build\appBenchmarks\Benchmarks.pdb"
 				TargetMachine="1"/>
 			<Tool
@@ -434,7 +434,7 @@
 			<Tool
 				Name="VCResourceCompilerTool"
 				PreprocessorDefinitions="_DEBUG;BT_USE_DOUBLE_PRECISION;_CONSOLE;_CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE;PROJECTGEN_VERSION=8"
-				AdditionalIncludeDirectories=".;..\..;..\..\src;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\ConvexHull"
+				AdditionalIncludeDirectories=".;..\..;..\..\src"
 				Culture="1033"/>
 			<Tool
 				Name="VCWebServiceProxyGeneratorTool"/>

msvc/8/wksbullet.sln

@@ -133,7 +133,6 @@ Global
 		{67034B5D-16DD-DC97-82F6-23B9E6108940}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
 		{67034B5D-16DD-DC97-82F6-23B9E6108940}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
 		{67034B5D-16DD-DC97-82F6-23B9E6108940}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}
-		{67034B5D-16DD-DC97-82F6-23B9E6108940}.3 = {7C428E76-9271-6284-20F0-9B38ED6931E3}
 		{66BD9781-9018-C022-6C33-D56FB76BB7E0}.0 = {6ADA430D-009C-2ED4-A787-2AC2D6FEB8CE}
 		{66BD9781-9018-C022-6C33-D56FB76BB7E0}.1 = {61BD1097-CF2E-B296-DAA9-73A6FE135319}
 		{66BD9781-9018-C022-6C33-D56FB76BB7E0}.2 = {7D6E339F-9C2C-31DA-FDB0-5EE50973CF2A}

src/BulletSoftBody/btSoftBody.cpp

@@ -305,6 +305,34 @@ void			btSoftBody::appendFace(int node0,int node1,int node2,Material* mat)
 	m_bUpdateRtCst=true;
 }
 
+//
+void			btSoftBody::appendTetra(int model,Material* mat)
+{
+Tetra	t;
+if(model>=0)
+	t=m_tetras[model];
+	else
+	{ ZeroInitialize(t);t.m_material=mat?mat:m_materials[0]; }
+m_tetras.push_back(t);
+}
+
+//
+void			btSoftBody::appendTetra(int node0,
+										int node1,
+										int node2,
+										int node3,
+										Material* mat)
+{
+	appendTetra(-1,mat);
+	Tetra&	t=m_tetras[m_tetras.size()-1];
+	t.m_n[0]	=	&m_nodes[node0];
+	t.m_n[1]	=	&m_nodes[node1];
+	t.m_n[2]	=	&m_nodes[node2];
+	t.m_n[3]	=	&m_nodes[node3];
+	t.m_rv		=	VolumeOf(t.m_n[0]->m_x,t.m_n[1]->m_x,t.m_n[2]->m_x,t.m_n[3]->m_x);
+	m_bUpdateRtCst=true;
+}
+
 //
 void			btSoftBody::appendAnchor(int node,btRigidBody* body, bool disableCollisionBetweenLinkedBodies)
 {
@@ -490,6 +518,49 @@ void			btSoftBody::setTotalDensity(btScalar density)
 	setTotalMass(getVolume()*density,true);
 }
 
+//
+void			btSoftBody::setVolumeMass(btScalar mass)
+{
+btAlignedObjectArray<btScalar>	ranks;
+ranks.resize(m_nodes.size(),0);
+for(int i=0;i<m_nodes.size();++i)
+	{
+	m_nodes[i].m_im=0;
+	}
+for(int i=0;i<m_tetras.size();++i)
+	{
+	const Tetra& t=m_tetras[i];
+	for(int j=0;j<4;++j)
+		{
+		t.m_n[j]->m_im+=btFabs(t.m_rv);
+		ranks[int(t.m_n[j]-&m_nodes[0])]+=1;
+		}
+	}
+for(int i=0;i<m_nodes.size();++i)
+	{
+	if(m_nodes[i].m_im>0)
+		{
+		m_nodes[i].m_im=ranks[i]/m_nodes[i].m_im;
+		}
+	}
+setTotalMass(mass,false);
+}
+
+//
+void			btSoftBody::setVolumeDensity(btScalar density)
+{
+btScalar	volume=0;
+for(int i=0;i<m_tetras.size();++i)
+	{
+	const Tetra& t=m_tetras[i];
+	for(int j=0;j<4;++j)
+		{
+		volume+=btFabs(t.m_rv);
+		}
+	}
+setVolumeMass(volume*density/6);
+}
+
 //
 void			btSoftBody::transform(const btTransform& trs)
 {

src/BulletSoftBody/btSoftBody.h

@@ -220,6 +220,16 @@ public:
 		btScalar				m_ra;			// Rest area
 		btDbvtNode*				m_leaf;			// Leaf data
 	};
+	/* Tetra		*/ 
+	struct	Tetra : Feature
+	{
+		Node*					m_n[4];			// Node pointers		
+		btScalar				m_rv;			// Rest volume
+		btDbvtNode*				m_leaf;			// Leaf data
+		btVector3				m_c0[4];		// gradients
+		btScalar				m_c1;			// (4*kVST)/(im0+im1+im2+im3)
+		btScalar				m_c2;			// m_c1/sum(|g0..3|^2)
+	};
 	/* RContact		*/ 
 	struct	RContact
 	{
@@ -574,6 +584,7 @@ public:
 	typedef btAlignedObjectArray<btDbvtNode*>	tLeafArray;
 	typedef btAlignedObjectArray<Link>			tLinkArray;
 	typedef btAlignedObjectArray<Face>			tFaceArray;
+	typedef btAlignedObjectArray<Tetra>			tTetraArray;
 	typedef btAlignedObjectArray<Anchor>		tAnchorArray;
 	typedef btAlignedObjectArray<RContact>		tRContactArray;
 	typedef btAlignedObjectArray<SContact>		tSContactArray;
@@ -594,6 +605,7 @@ public:
 	tNodeArray				m_nodes;		// Nodes
 	tLinkArray				m_links;		// Links
 	tFaceArray				m_faces;		// Faces
+	tTetraArray				m_tetras;		// Tetras
 	tAnchorArray			m_anchors;		// Anchors
 	tRContactArray			m_rcontacts;	// Rigid contacts
 	tSContactArray			m_scontacts;	// Soft contacts
@@ -681,6 +693,15 @@ public:
 		int node1,
 		int node2,
 		Material* mat=0);
+	void			appendTetra(int model,Material* mat);
+	//
+	void			appendTetra(int node0,
+										int node1,
+										int node2,
+										int node3,
+										Material* mat=0);
+
+
 	/* Append anchor														*/ 
 	void				appendAnchor(	int node,
 		btRigidBody* body, bool disableCollisionBetweenLinkedBodies=false);
@@ -718,6 +739,10 @@ public:
 		bool fromfaces=false);
 	/* Set total density													*/ 
 	void				setTotalDensity(btScalar density);
+	/* Set volume mass (using tetrahedrons)									*/
+	void				setVolumeMass(		btScalar mass);
+	/* Set volume density (using tetrahedrons)								*/
+	void				setVolumeDensity(	btScalar density);
 	/* Transform															*/ 
 	void				transform(		const btTransform& trs);
 	/* Translate															*/ 

src/BulletSoftBody/btSoftBodyHelpers.cpp

@@ -310,6 +310,26 @@ void			btSoftBodyHelpers::Draw(	btSoftBody* psb,
 			idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,0,10),btVector3(0,0,1));
 		}
 	}
+
+	/* Tetras	*/ 
+	if(0!=(drawflags&fDrawFlags::Tetras))
+	{
+		const btScalar	scl=(btScalar)0.8;
+		const btScalar	alp=(btScalar)1;
+		const btVector3	col((btScalar)0.7,(btScalar)0.7,(btScalar)0.7);
+		for(int i=0;i<psb->m_tetras.size();++i)
+		{
+			const btSoftBody::Tetra&	t=psb->m_tetras[i];
+			if(0==(t.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
+			const btVector3				x[]={t.m_n[0]->m_x,t.m_n[1]->m_x,t.m_n[2]->m_x,t.m_n[3]->m_x};
+			const btVector3				c=(x[0]+x[1]+x[2]+x[3])/4;
+			idraw->drawTriangle((x[0]-c)*scl+c,(x[1]-c)*scl+c,(x[2]-c)*scl+c,col,alp);
+			idraw->drawTriangle((x[0]-c)*scl+c,(x[1]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
+			idraw->drawTriangle((x[1]-c)*scl+c,(x[2]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
+			idraw->drawTriangle((x[2]-c)*scl+c,(x[0]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
+		}	
+	}
+
 	/* Notes	*/ 
 	if(0!=(drawflags&fDrawFlags::Notes))
 	{
@@ -857,3 +877,130 @@ btSoftBody*		btSoftBodyHelpers::CreateFromConvexHull(btSoftBodyWorldInfo& worldI
 	psb->randomizeConstraints();
 	return(psb);
 }
+
+
+
+
+static int nextLine(const char* buffer)
+{
+	int numBytesRead=0;
+
+	while (*buffer != '\n')
+	{
+		buffer++;
+		numBytesRead++;
+	}
+
+	
+	if (buffer[0]==0x0a)
+	{
+		buffer++;
+		numBytesRead++;
+	}
+	return numBytesRead;
+}
+
+/* Create from TetGen .ele, .face, .node data							*/ 
+btSoftBody*	btSoftBodyHelpers::CreateFromTetGenData(btSoftBodyWorldInfo& worldInfo,
+													const char* ele,
+													const char* face,
+													const char* node,
+													bool bfacelinks,
+													bool btetralinks,
+													bool bfacesfromtetras)
+{
+btAlignedObjectArray<btVector3>	pos;
+int								nnode=0;
+int								ndims=0;
+int								nattrb=0;
+int								hasbounds=0;
+int result = sscanf(node,"%d %d %d %d",&nnode,&ndims,&nattrb,&hasbounds);
+result = sscanf(node,"%d %d %d %d",&nnode,&ndims,&nattrb,&hasbounds);
+node += nextLine(node);
+
+pos.resize(nnode);
+for(int i=0;i<pos.size();++i)
+	{
+	int			index=0;
+	//int			bound=0;
+	float	x,y,z,a;
+	sscanf(node,"%d %f %f %f",&index,&x,&y,&z);
+
+//	sn>>index;
+//	sn>>x;sn>>y;sn>>z;
+	node += nextLine(node);
+
+	//for(int j=0;j<nattrb;++j) 
+	//	sn>>a;
+
+	//if(hasbounds) 
+	//	sn>>bound;
+
+	pos[index].setX(btScalar(x));
+	pos[index].setY(btScalar(y));
+	pos[index].setZ(btScalar(z));
+	}
+btSoftBody*						psb=new btSoftBody(&worldInfo,nnode,&pos[0],0);
+#if 0
+if(face&&face[0])
+	{
+	int								nface=0;
+	sf>>nface;sf>>hasbounds;
+	for(int i=0;i<nface;++i)
+		{
+		int			index=0;
+		int			bound=0;
+		int			ni[3];
+		sf>>index;
+		sf>>ni[0];sf>>ni[1];sf>>ni[2];
+		sf>>bound;
+		psb->appendFace(ni[0],ni[1],ni[2]);	
+		if(btetralinks)
+			{
+			psb->appendLink(ni[0],ni[1],0,true);
+			psb->appendLink(ni[1],ni[2],0,true);
+			psb->appendLink(ni[2],ni[0],0,true);
+			}
+		}
+	}
+#endif
+
+if(ele&&ele[0])
+	{
+	int								ntetra=0;
+	int								ncorner=0;
+	int								neattrb=0;
+	sscanf(ele,"%d %d %d",&ntetra,&ncorner,&neattrb);
+	ele += nextLine(ele);
+	
+	//se>>ntetra;se>>ncorner;se>>neattrb;
+	for(int i=0;i<ntetra;++i)
+		{
+		int			index=0;
+		int			ni[4],a;
+
+		//se>>index;
+		//se>>ni[0];se>>ni[1];se>>ni[2];se>>ni[3];
+		sscanf(ele,"%d %d %d %d %d",&index,&ni[0],&ni[1],&ni[2],&ni[3]);
+		ele+=nextLine(ele);
+		//for(int j=0;j<neattrb;++j) 
+		//	se>>a;
+		psb->appendTetra(ni[0],ni[1],ni[2],ni[3]);
+		if(btetralinks)
+			{
+			psb->appendLink(ni[0],ni[1],0,true);
+			psb->appendLink(ni[1],ni[2],0,true);
+			psb->appendLink(ni[2],ni[0],0,true);
+			psb->appendLink(ni[0],ni[3],0,true);
+			psb->appendLink(ni[1],ni[3],0,true);
+			psb->appendLink(ni[2],ni[3],0,true);
+			}
+		}
+	}
+printf("Nodes:  %u\r\n",psb->m_nodes.size());
+printf("Links:  %u\r\n",psb->m_links.size());
+printf("Faces:  %u\r\n",psb->m_faces.size());
+printf("Tetras: %u\r\n",psb->m_tetras.size());
+return(psb);
+}
+

src/BulletSoftBody/btSoftBodyHelpers.h

@@ -114,6 +114,28 @@ struct	btSoftBodyHelpers
 	static	btSoftBody*		CreateFromConvexHull(	btSoftBodyWorldInfo& worldInfo,
 		const btVector3* vertices,
 		int nvertices);
+
+
+	/* Export TetGen compatible .smesh file									*/ 
+	static void				ExportAsSMeshFile(	btSoftBody* psb,
+												const char* filename);	
+	/* Create from TetGen .ele, .face, .node files							*/ 
+	static btSoftBody*		CreateFromTetGenFile(	btSoftBodyWorldInfo& worldInfo,
+													const char* ele,
+													const char* face,
+													const char* node,
+													bool bfacelinks,
+													bool btetralinks,
+													bool bfacesfromtetras);
+	/* Create from TetGen .ele, .face, .node data							*/ 
+	static btSoftBody*		CreateFromTetGenData(	btSoftBodyWorldInfo& worldInfo,
+													const char* ele,
+													const char* face,
+													const char* node,
+													bool bfacelinks,
+													bool btetralinks,
+													bool bfacesfromtetras);
+	
 };
 
 #endif //SOFT_BODY_HELPERS_H